version: 66.04
glider: 103
mission: 11
dive: 141
start: 3 23 109 5 16 24
data:
$ID,103
$MISSION,11
$DIVE,141
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,55
$KALMAN_USE,0
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,225
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-145812.95
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2440
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3788
$ROLL_DEG,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,8
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,572
$VBD_MAX,3921
$C_VBD,2902
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.802039
$PRESSURE_SLOPE,0.0001162
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043321555
$SEABIRD_T_H,0.00063294952
$SEABIRD_T_I,2.4435583e-05
$SEABIRD_T_J,2.6458358e-06
$SEABIRD_C_G,-10.239935
$SEABIRD_C_H,1.1471217
$SEABIRD_C_I,-0.0012735804
$SEABIRD_C_J,0.00018857721
$GPS1,050924,6239.639,-1135.257,36,1.6,36,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-52.5
$GPS2,051531,6239.628,-1135.473,12,1.5,30,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,0.072
$KALMAN_X,18647.4,-1029.8,3303.9,-39628.4,7897.8
$KALMAN_Y,-2888.9,1263.8,16588.6,9643.0,-15262.4
$MHEAD_RNG_PITCHd_Wd,300.2,37871,-11.1,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.10,-146.6,0.0,0.0,0,90,0.00,0.00,-73.43,0.000,6,0.000,0.000,53,2641,3501
$GC,94,-1.10,-146.6,3.0,-4.7,3,116,12.18,2.28,0.00,0.000,4,0.161,0.086,2194,3793,3502
$GC,277,-1.10,-146.6,30.2,-9.3,11,281,0.00,2.15,0.00,0.000,6,0.000,0.072,2194,2655,3502
$GC,604,-1.10,-146.6,62.5,-11.0,27,607,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3787,3502
$GC,682,-1.10,-146.6,69.7,-7.8,30,686,0.00,2.12,0.00,0.000,6,0.000,0.063,2194,2635,3502
$GC,1003,-1.10,-146.6,95.8,-7.9,46,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2634,3502
$GC,1313,-1.10,-146.6,123.6,-8.2,61,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2635,3502
$GC,1622,-1.10,-146.6,146.7,-7.9,76,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2635,3502
$GC,1931,-1.10,-146.6,168.0,-6.6,91,1935,0.00,2.25,0.00,0.000,4,0.000,0.091,2194,3789,3502
$GC,1971,-1.10,-146.6,170.6,-6.2,93,1975,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2642,3502
$GC,2304,-1.10,-146.6,194.9,-8.3,109,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,2613,-1.10,-146.6,221.1,-8.5,124,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,2922,-1.10,-146.6,245.3,-7.5,139,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,3232,-1.10,-146.6,270.1,-8.8,154,3236,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3787,3502
$GC,3288,-1.10,-146.6,274.8,-8.7,156,3293,0.00,2.10,0.00,0.000,6,0.000,0.060,2194,2640,3502
$GC,3610,-1.10,-146.6,300.1,-7.5,172,3611,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,3918,-1.10,-146.6,323.4,-7.8,187,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3501
$GC,4227,-1.10,-146.6,345.5,-6.7,202,4231,0.00,2.22,0.00,0.000,4,0.000,0.089,2194,3790,3501
$GC,4278,-1.10,-146.6,349.4,-7.9,204,4282,0.00,2.08,0.00,0.000,6,0.000,0.057,2194,2639,3501
$GC,4605,-1.10,-146.6,372.1,-7.1,220,4609,0.00,2.22,0.00,0.000,4,0.000,0.088,2194,3792,3501
$GC,4661,-1.10,-146.6,376.3,-7.3,222,4665,0.00,2.05,0.00,0.000,6,0.000,0.055,2194,2652,3501
$GC,4982,-1.10,-146.6,398.7,-7.4,238,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,5292,-1.10,-146.6,422.8,-7.9,253,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,5601,-1.10,-146.6,444.1,-6.4,268,5605,0.00,2.17,0.00,0.000,4,0.000,0.083,2194,3791,3501
$GC,5662,-1.10,-146.6,448.2,-6.9,270,5669,0.00,2.03,0.00,0.000,6,0.000,0.053,2194,2654,3501
$GC,5979,-1.10,-146.6,465.5,-5.5,286,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3501
$GC,6288,-1.10,-146.6,484.3,-6.6,301,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3501
$GC,6597,-1.10,-146.6,505.1,-6.7,316,6601,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3790,3501
$GC,6643,-1.10,-146.6,508.5,-8.2,318,6647,0.00,2.05,0.00,0.000,6,0.000,0.051,2194,2641,3501
$GC,6976,-1.10,-146.6,532.3,-7.0,334,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3500
$GC,7285,-1.10,-146.6,552.8,-6.8,349,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3500
$GC,7594,-1.10,-146.6,573.8,-6.1,364,7598,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3794,3499
$GC,7634,-1.10,-146.6,576.5,-7.4,365,7640,0.00,2.03,0.00,0.000,6,0.000,0.052,2194,2652,3499
$GC,7950,-1.10,-146.6,598.0,-7.3,381,7954,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3790,3499
$GC,8006,-1.10,-146.6,602.5,-8.6,383,8009,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2651,3499
$GC,8327,-1.10,-146.6,626.5,-7.6,399,8331,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3787,3498
$GC,8418,-1.10,-146.6,633.5,-7.7,403,8422,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2640,3498
$GC,8751,-1.10,-146.6,658.6,-7.6,419,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3497
$GC,9060,-1.10,-146.6,680.2,-6.6,434,9064,0.00,2.25,0.00,0.000,6,0.000,0.096,2194,3790,3496
$STATE,9065,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9065,begin apogee
$GC,9075,-0.42,0.0,680.8,6.7,434,9203,0.73,0.00,124.72,1.143,6,0.091,0.000,2344,1995,2901
$STATE,9204,end apogee,CONTROL_FINISHED_OK
$STATE,9204,begin climb
$GC,9208,1.10,146.6,686.7,0.0,440,9341,1.55,2.75,123.25,1.105,4,0.052,0.072,2679,586,2304
$GC,9590,1.19,215.7,678.2,4.1,457,9656,0.00,2.55,59.22,1.101,6,0.000,0.040,2678,2026,2022
$GC,9975,1.23,250.0,657.7,5.1,476,10011,0.12,2.65,29.65,1.088,4,0.044,0.071,2722,3404,1883
$GC,10105,1.23,250.0,648.7,7.7,481,10110,0.00,2.58,0.00,0.000,6,0.000,0.051,2722,1988,1882
$GC,10431,1.23,250.0,624.3,7.7,497,10436,0.00,2.67,0.00,0.000,4,0.000,0.069,2722,3412,1882
$GC,10494,1.23,250.0,619.2,8.9,500,10498,0.00,2.55,0.00,0.000,6,0.000,0.048,2722,1997,1882
$GC,10821,1.23,250.0,586.2,11.1,516,10825,0.00,2.65,0.00,0.000,4,0.000,0.067,2722,3412,1881
$GC,10860,1.23,250.0,581.6,11.8,518,10865,0.00,2.55,0.00,0.000,6,0.000,0.048,2722,1993,1881
$GC,11187,1.23,250.0,546.6,10.5,534,11188,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1993,1881
$GC,11496,1.23,250.0,519.1,6.6,549,11497,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1993,1881
$GC,11805,1.34,341.3,506.1,3.5,564,11889,0.00,2.72,76.60,1.055,4,0.000,0.067,2722,3409,1510
$GC,11955,1.35,347.4,499.3,5.8,570,11967,0.00,2.55,6.90,0.855,6,0.000,0.048,2722,1995,1485
$GC,12289,1.35,347.4,473.5,8.6,587,12293,0.00,2.65,0.00,0.000,4,0.000,0.069,2722,3403,1485
$GC,12328,1.35,347.4,470.1,8.6,589,12333,0.00,2.55,0.00,0.000,6,0.000,0.049,2722,1990,1484
$GC,12655,1.35,347.4,437.7,11.0,605,12660,0.00,2.65,0.00,0.000,4,0.000,0.067,2722,3406,1484
$GC,12713,1.35,347.4,431.1,11.4,607,12719,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1998,1485
$GC,13029,1.35,347.4,397.1,10.1,623,13033,0.00,2.65,0.00,0.000,4,0.000,0.069,2722,3410,1485
$GC,13062,1.35,347.4,393.7,9.9,624,13068,0.00,2.58,0.00,0.000,6,0.000,0.053,2722,1995,1485
$GC,13377,1.35,347.4,366.4,8.2,640,13382,0.00,2.65,0.00,0.000,4,0.000,0.069,2722,3411,1485
$GC,13428,1.35,347.4,362.1,8.5,642,13432,0.00,2.58,0.00,0.000,6,0.000,0.054,2722,1996,1485
$GC,13744,1.35,347.4,336.5,8.3,657,13748,0.00,2.65,0.00,0.000,4,0.000,0.070,2722,3407,1486
$GC,13783,1.35,347.4,333.0,8.9,659,13788,0.00,2.58,0.00,0.000,6,0.000,0.054,2722,1994,1485
$GC,14110,1.35,347.4,303.7,9.4,675,14114,0.00,2.65,0.00,0.000,4,0.000,0.070,2722,3405,1486
$GC,14149,1.35,347.4,300.1,9.7,677,14154,0.00,2.58,0.00,0.000,6,0.000,0.055,2722,1990,1486
$GC,14476,1.35,347.4,271.5,8.1,693,14481,0.00,2.65,0.00,0.000,4,0.000,0.069,2722,3406,1486
$GC,14527,1.35,347.4,267.1,8.4,695,14531,0.00,2.58,0.00,0.000,6,0.000,0.056,2722,1995,1486
$GC,14843,1.35,347.4,244.3,6.6,710,14847,0.00,2.62,0.00,0.000,4,0.000,0.070,2722,3400,1486
$GC,14898,1.35,347.4,240.5,7.1,712,14904,0.00,2.58,0.00,0.000,6,0.000,0.057,2722,1990,1487
$GC,15214,1.35,347.4,215.4,8.3,728,15218,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,3401,1487
$GC,15258,1.35,347.4,211.5,8.9,730,15263,0.00,2.58,0.00,0.000,6,0.000,0.056,2722,1988,1487
$GC,15580,1.35,347.4,185.0,8.5,746,15584,0.00,2.65,0.00,0.000,4,0.000,0.067,2722,3412,1487
$GC,15630,1.35,347.4,180.4,9.2,748,15634,0.00,2.58,0.00,0.000,6,0.000,0.057,2722,2000,1488
$GC,15946,1.35,347.4,154.4,8.4,763,15947,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2000,1488
$GC,16255,1.35,347.4,126.1,9.2,778,16260,0.00,2.62,0.00,0.000,4,0.000,0.070,2722,3409,1488
$GC,16328,1.35,347.4,118.9,9.2,781,16332,0.00,2.58,0.00,0.000,6,0.000,0.057,2722,1997,1488
$GC,16646,1.35,347.4,88.7,9.6,796,16647,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1997,1488
$GC,16953,1.35,347.4,60.2,8.7,811,16955,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1996,1488
$GC,17263,1.35,347.4,41.9,7.1,826,17267,0.00,2.62,0.00,0.000,4,0.000,0.068,2722,3407,1489
$GC,17296,1.35,347.4,39.1,8.5,827,17302,0.00,2.58,0.00,0.000,6,0.000,0.060,2722,1993,1489
$GC,17613,1.35,347.4,7.9,9.7,843,17618,0.00,2.60,0.00,0.000,4,0.000,0.062,2722,3407,1489
$GC,17658,1.35,347.4,3.2,9.4,845,17662,0.00,2.53,0.00,0.000,6,0.000,0.046,2722,1993,1489
$STATE,17688,end climb,SURFACE_DEPTH_REACHED
$STATE,17688,begin surface coast
$FINISH,0.4,1.027133
$STATE,17711,end surface coast,CONTROL_FINISHED_OK
$STATE,17711,begin surface
$SM_CCo,17796,0.00,0.000,0,0,1488,346.85
$SM_GC,1.29,11.82,0.00,0.00,0.034,0.000,0.000,47,2637,1488,-10.94,-0.37,346.85
$IRIDIUM_FIX,6207.28,-1130.49,160698,232343
$TT8_MAMPS,0.028379
$HUMID,1764
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.70
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,600.2,90.1
$24V_AH,23.4,29.005
$10V_AH,10.1,15.546
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.400,147.975,420.350,0.000,0.000,28.098,35.043,156.557,6.750,0.000,0.000,30.959,1551.713,13618.994,516.993,1928.059,543.767,33.374,1498.467,0.000,1867.620,0.000,35.774,0.000
$DEVICE_MAMPS,161.070,95.875,1142.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,606.353,614.293,510.014,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44255,848
$CAP_FILE_SIZE,124690,0
$CFSIZE,260165632,249303040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230309,101407,6238.936,-1144.680,29,1.6,29,-11.2