version: 66.04
glider: 103
mission: 11
dive: 233
start: 4 14 109 9 27 12
data:
$ID,103
$MISSION,11
$DIVE,233
$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,1
$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,-147429.86
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,091607,6353.036,-1321.955,37,1.1,37,-12.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-59.7
$GPS2,092619,6353.107,-1322.105,11,1.1,15,-12.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.182,0.121
$KALMAN_X,-75952.6,1478.9,2248.1,1759.7,-37833.5
$KALMAN_Y,-46384.4,363.3,-1700.3,141706.0,-8145.3
$MHEAD_RNG_PITCHd_Wd,68.8,14285,-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,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.22,0.000,2,0.000,0.000,53,2653,3036
$GC,62,-1.10,-146.6,3.6,-10.2,2,88,12.15,2.22,-8.50,0.000,4,0.159,0.107,2195,3783,3502
$GC,251,-1.10,-146.6,28.5,-8.8,10,255,0.00,2.10,0.00,0.000,6,0.000,0.064,2195,2647,3502
$GC,573,-1.10,-146.6,54.1,-7.8,26,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,882,-1.10,-146.6,81.4,-9.2,41,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,1192,-1.10,-146.6,110.7,-10.1,56,1195,0.00,2.22,0.00,0.000,4,0.000,0.092,2195,3785,3501
$GC,1253,-1.10,-146.6,117.6,-10.5,58,1260,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2648,3501
$GC,1571,-1.10,-146.6,145.7,-8.9,74,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,1879,-1.10,-146.6,172.0,-8.5,89,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,2188,-1.10,-146.6,196.5,-7.3,104,2192,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3790,3501
$GC,2238,-1.10,-146.6,200.9,-9.0,106,2242,0.00,2.10,0.00,0.000,6,0.000,0.060,2195,2644,3501
$GC,2559,-1.10,-146.6,222.7,-6.0,122,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,2869,-1.10,-146.6,242.1,-6.7,137,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,3178,-1.10,-146.6,262.9,-7.0,152,3181,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3786,3501
$GC,3228,-1.10,-146.6,266.5,-6.9,154,3232,0.00,2.08,0.00,0.000,6,0.000,0.059,2195,2654,3501
$GC,3555,-1.10,-146.6,288.6,-6.6,170,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3501
$GC,3864,-1.10,-146.6,309.3,-6.8,185,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3501
$GC,4174,-1.10,-146.6,331.4,-8.4,200,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3501
$GC,4483,-1.10,-146.6,357.3,-7.1,215,4487,0.00,2.17,0.00,0.000,4,0.000,0.087,2195,3782,3501
$GC,4556,-1.10,-146.6,362.8,-7.4,218,4560,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2644,3501
$GC,4883,-1.10,-146.6,388.8,-7.8,234,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,5192,-1.10,-146.6,416.0,-9.5,249,5196,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3782,3501
$GC,5231,-1.10,-146.6,420.3,-11.0,250,5238,0.00,2.05,0.00,0.000,6,0.000,0.057,2195,2646,3501
$GC,5548,-1.10,-146.6,458.5,-12.2,266,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3501
$GC,5858,-1.10,-146.6,493.3,-10.1,281,5861,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3783,3501
$GC,5892,-1.10,-146.6,497.2,-11.3,282,5895,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2650,3501
$GC,6213,-1.10,-146.6,538.7,-12.6,298,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3501
$GC,6523,-1.10,-146.6,572.6,-10.4,313,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3501
$GC,6831,-1.10,-146.6,609.0,-11.5,328,6836,0.00,2.60,0.00,0.000,4,0.000,0.067,2195,1224,3501
$GC,6872,-1.10,-146.6,613.3,-10.9,330,6876,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2656,3501
$GC,7199,-1.10,-146.6,641.7,-7.8,346,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2657,3501
$GC,7508,-1.10,-146.6,664.0,-5.9,361,7512,0.00,2.15,0.00,0.000,4,0.000,0.088,2195,3785,3501
$GC,7626,-1.10,-146.6,671.2,-6.4,366,7630,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2643,3501
$GC,7954,-1.10,-146.6,689.2,-5.1,382,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3501
$GC,8263,-1.10,-146.6,700.8,-2.2,397,8267,0.00,2.22,0.00,0.000,4,0.000,0.088,2195,3792,3501
$GC,8342,-1.10,-146.6,703.4,-4.8,400,8346,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2650,3501
$GC,8665,-1.10,-146.6,715.9,-3.8,416,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3501
$GC,8974,-1.10,-146.6,722.5,-2.4,431,8978,0.00,2.60,0.00,0.000,4,0.000,0.068,2195,1226,3501
$GC,9064,-1.10,-146.6,724.7,-1.6,435,9068,0.00,2.62,0.00,0.000,6,0.000,0.062,2195,2653,3500
$GC,9385,-1.10,-146.6,736.7,-5.0,451,9389,0.00,2.17,0.00,0.000,4,0.000,0.093,2195,3783,3500
$GC,9425,-1.10,-146.6,738.5,-5.2,452,9431,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2643,3500
$GC,9741,-1.10,-146.6,751.0,-6.1,468,9745,0.00,2.58,0.00,0.000,4,0.000,0.069,2195,1235,3499
$GC,9797,-1.10,-146.6,754.2,-5.5,470,9801,0.00,2.62,0.00,0.000,6,0.000,0.064,2195,2654,3499
$GC,10113,-1.10,-146.6,774.1,-6.9,485,10116,0.00,2.20,0.00,0.000,4,0.000,0.095,2196,3790,3498
$STATE,10205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10205,begin apogee
$GC,10216,-0.42,0.0,781.1,7.7,489,10346,0.73,0.00,125.93,1.203,6,0.097,0.000,2343,1996,2902
$STATE,10346,end apogee,CONTROL_FINISHED_OK
$STATE,10346,begin climb
$GC,10350,1.10,146.6,786.9,0.0,495,10483,1.58,2.70,125.12,1.169,4,0.058,0.066,2679,578,2304
$GC,10736,1.17,203.2,775.3,4.4,512,10791,0.00,2.55,49.47,1.149,6,0.000,0.038,2679,2017,2073
$GC,11120,1.18,211.3,753.8,5.8,531,11134,0.00,2.65,8.52,1.001,4,0.000,0.067,2679,3400,2040
$GC,11164,1.18,211.3,751.0,6.4,533,11169,0.00,2.58,0.00,0.000,6,0.000,0.048,2679,1983,2040
$GC,11491,1.18,211.3,728.8,7.0,549,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1983,2039
$GC,11800,1.18,211.3,706.0,6.9,564,11804,0.00,2.65,0.00,0.000,4,0.000,0.064,2679,3405,2038
$GC,11923,1.19,215.7,698.2,5.9,569,11933,0.00,2.55,5.18,0.871,6,0.000,0.047,2679,1988,2022
$GC,12256,1.21,237.7,677.8,5.4,586,12282,0.12,2.65,19.95,1.105,4,0.044,0.064,2721,586,1932
$GC,12310,1.21,237.7,673.7,7.7,588,12316,0.00,2.53,0.00,0.000,6,0.000,0.038,2721,2006,1932
$GC,12626,1.31,311.8,655.0,3.9,604,12696,0.00,2.67,63.62,1.124,4,0.000,0.067,2721,3405,1630
$GC,12736,1.34,341.3,650.1,5.2,609,12773,0.00,2.58,26.52,1.075,6,0.000,0.050,2721,1994,1510
$GC,13083,1.37,361.4,631.9,5.4,626,13107,0.00,2.75,18.62,1.052,4,0.000,0.068,2720,3400,1428
$GC,13148,1.37,361.4,628.1,6.1,629,13153,0.00,2.58,0.00,0.000,6,0.000,0.051,2721,1990,1428
$GC,13475,1.37,361.4,607.7,6.5,645,13480,0.00,2.65,0.00,0.000,4,0.000,0.066,2721,3405,1428
$GC,13526,1.37,361.4,604.2,6.6,647,13530,0.00,2.55,0.00,0.000,6,0.000,0.048,2720,1994,1427
$GC,13842,1.37,361.4,583.4,6.9,662,13846,0.00,2.62,0.00,0.000,4,0.000,0.066,2720,3406,1428
$GC,13887,1.37,361.4,579.9,7.9,664,13892,0.00,2.55,0.00,0.000,6,0.000,0.048,2721,1990,1428
$GC,14209,1.38,374.7,559.0,5.6,680,14231,0.00,2.75,13.00,0.983,4,0.000,0.069,2720,3403,1374
$GC,14255,1.38,374.7,555.8,6.7,682,14259,0.00,2.55,0.00,0.000,6,0.000,0.048,2721,2002,1374
$GC,14581,1.39,383.8,536.2,5.7,698,14596,0.10,2.67,9.30,0.922,4,0.049,0.067,2752,3407,1337
$GC,14625,1.39,383.8,533.1,6.8,699,14630,0.00,2.55,0.00,0.000,6,0.000,0.047,2752,1998,1337
$GC,14946,1.39,383.8,506.2,9.9,715,14950,0.00,2.62,0.00,0.000,4,0.000,0.067,2752,3410,1337
$GC,14990,1.39,383.8,501.9,9.6,717,14994,0.00,2.55,0.00,0.000,6,0.000,0.048,2752,1996,1337
$GC,15311,1.39,383.8,469.2,11.1,733,15312,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1996,1337
$GC,15620,1.39,383.8,432.1,12.3,748,15625,0.00,2.62,0.00,0.000,4,0.000,0.067,2752,3407,1337
$GC,15660,1.39,383.8,427.1,12.5,750,15664,0.00,2.53,0.00,0.000,6,0.000,0.051,2752,2003,1337
$GC,15987,1.39,383.8,386.8,11.6,766,15988,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2003,1338
$GC,16296,1.39,383.8,350.4,12.1,781,16300,0.00,2.62,0.00,0.000,4,0.000,0.068,2752,3406,1338
$GC,16351,1.39,383.8,343.0,13.1,783,16357,0.00,2.58,0.00,0.000,6,0.000,0.053,2752,1989,1338
$GC,16667,1.39,383.8,305.4,11.6,799,16669,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1989,1338
$GC,16976,1.39,383.8,269.6,11.4,814,16981,0.00,2.65,0.00,0.000,4,0.000,0.070,2752,3405,1339
$GC,17032,1.39,383.8,263.2,11.6,816,17038,0.00,2.55,0.00,0.000,6,0.000,0.054,2752,2000,1338
$GC,17348,1.39,383.8,229.5,10.5,832,17350,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2000,1338
$GC,17657,1.39,383.8,196.1,11.4,847,17662,0.00,2.62,0.00,0.000,4,0.000,0.071,2752,3405,1339
$GC,17679,1.39,383.8,193.5,12.0,848,17684,0.00,2.55,0.00,0.000,6,0.000,0.052,2752,1997,1339
$GC,18001,1.39,383.8,160.9,9.7,864,18006,0.00,2.65,0.00,0.000,4,0.000,0.070,2752,3415,1339
$GC,18023,1.39,383.8,158.5,10.5,865,18028,0.00,2.58,0.00,0.000,6,0.000,0.054,2752,1998,1339
$GC,18345,1.39,383.8,126.2,10.0,881,18346,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1997,1339
$GC,18655,1.39,383.8,94.5,10.5,896,18659,0.00,2.65,0.00,0.000,4,0.000,0.070,2752,3414,1339
$GC,18705,1.39,383.8,88.5,10.7,898,18709,0.00,2.60,0.00,0.000,6,0.000,0.055,2752,1989,1339
$GC,19021,1.39,383.8,53.4,9.9,913,19022,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1989,1339
$GC,19331,1.39,383.8,21.4,11.0,928,19335,0.00,2.67,0.00,0.000,4,0.000,0.072,2752,3412,1339
$GC,19364,1.39,383.8,17.6,10.5,929,19370,0.00,2.58,0.00,0.000,6,0.000,0.058,2752,1998,1339
$STATE,19512,end climb,SURFACE_DEPTH_REACHED
$STATE,19512,begin surface coast
$FINISH,0.5,1.021277
$STATE,19534,end surface coast,CONTROL_FINISHED_OK
$STATE,19534,begin surface
$SM_CCo,19619,0.00,0.000,0,0,1339,383.40
$SM_GC,1.24,11.93,0.00,0.00,0.031,0.000,0.000,47,2638,1339,-10.93,-0.34,383.40
$IRIDIUM_FIX,6327.46,-1323.10,090798,090907
$TT8_MAMPS,0.028379
$HUMID,1792
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,65.3
$24V_AH,23.3,42.003
$10V_AH,10.1,23.865
$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,26.600,159.150,465.250,0.000,0.000,59.333,61.473,250.080,6.250,0.000,0.000,18.294,1699.845,15133.854,534.408,2076.522,779.597,33.355,1608.163,0.000,2031.787,0.000,44.743,0.000
$DEVICE_MAMPS,158.769,106.613,1203.423,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,661.229,693.774,516.752,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47409,938
$CAP_FILE_SIZE,139436,0
$CFSIZE,260165632,243302400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140409,145531,6355.973,-1315.949,42,1.0,42,-12.6