version: 66.04
glider: 103
mission: 11
dive: 25
start: 2 26 109 11 6 39
data:
$ID,103
$MISSION,11
$DIVE,25
$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,412.5
$T_MISSION,440
$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,300
$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,-143446.66
$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,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,17
$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
$GPS1,110107,6126.877,-926.908,38,1.2,38,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-61.4
$GPS2,110549,6126.866,-926.918,9,1.2,14,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,AW
$TGT_LATLONG,6130.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.039,0.240
$KALMAN_X,-12179.1,69.5,487.2,13727.0,-5353.6
$KALMAN_Y,-48213.7,1080.6,713.9,75314.6,-10472.1
$MHEAD_RNG_PITCHd_Wd,18.5,6411,-14.9,-8.000
$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,-1.42,-146.6,0.0,0.0,0,58,0.00,0.00,-40.88,0.000,2,0.000,0.000,46,2757,3011
$GC,62,-1.42,-146.6,3.1,-8.0,2,88,11.82,2.62,-9.20,0.000,4,0.163,0.074,2123,1335,3500
$GC,105,-1.42,-146.6,11.3,-11.5,4,110,0.00,2.65,0.00,0.000,6,0.000,0.065,2123,2753,3500
$GC,427,-1.42,-146.6,45.5,-8.9,20,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2753,3500
$GC,736,-1.42,-146.6,82.1,-13.6,35,741,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,1332,3500
$GC,803,-1.42,-146.6,92.7,-15.4,38,808,0.00,2.62,0.00,0.000,6,0.000,0.063,2123,2749,3500
$GC,1127,-1.42,-146.6,131.0,-11.7,54,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2748,3499
$GC,1434,-1.42,-146.6,163.8,-11.4,69,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2749,3499
$GC,1744,-1.42,-146.6,201.6,-9.9,84,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2749,3499
$GC,2053,-1.42,-146.6,235.3,-11.4,99,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2749,3499
$GC,2362,-1.42,-146.6,270.2,-9.7,114,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2748,3499
$GC,2672,-1.42,-146.6,294.8,-6.6,129,2676,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,1331,3499
$GC,2705,-1.42,-146.6,297.2,-7.2,130,2711,0.00,2.60,0.00,0.000,6,0.000,0.062,2123,2753,3499
$GC,3022,-1.42,-146.6,325.5,-8.8,146,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2753,3499
$GC,3332,-1.42,-146.6,351.2,-7.1,161,3333,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2753,3499
$GC,3640,-1.42,-146.6,379.8,-10.5,176,3644,0.00,2.60,0.00,0.000,4,0.000,0.065,2123,1335,3499
$GC,3667,-1.42,-146.6,382.8,-10.1,177,3671,0.00,2.60,0.00,0.000,6,0.000,0.061,2123,2751,3499
$GC,3983,-1.42,-146.6,411.3,-7.8,192,3987,0.00,2.62,0.00,0.000,4,0.000,0.066,2123,1325,3499
$GC,4016,-1.42,-146.6,414.1,-7.9,193,4023,0.00,2.62,0.00,0.000,6,0.000,0.061,2123,2756,3499
$GC,4332,-1.42,-146.6,438.8,-8.7,209,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3499
$GC,4642,-1.42,-146.6,466.0,-8.7,224,4646,0.00,2.62,0.00,0.000,4,0.000,0.067,2123,1330,3499
$GC,4686,-1.42,-146.6,469.6,-7.6,226,4691,0.00,2.62,0.00,0.000,6,0.000,0.063,2123,2756,3499
$GC,5007,-1.42,-146.6,497.6,-9.0,242,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3499
$GC,5316,-1.42,-146.6,527.9,-10.2,257,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3499
$GC,5625,-1.42,-146.6,560.2,-10.9,272,5630,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,1332,3499
$GC,5659,-1.42,-146.6,564.4,-12.4,273,5665,0.00,2.60,0.00,0.000,6,0.000,0.059,2123,2758,3499
$GC,5974,-1.42,-146.6,599.5,-10.9,289,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2758,3499
$GC,6284,-1.42,-146.6,630.3,-9.9,304,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2758,3499
$GC,6593,-1.42,-146.6,659.0,-9.5,319,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2759,3499
$GC,6902,-1.42,-146.6,689.6,-10.2,334,6907,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,1323,3499
$GC,6965,-1.42,-146.6,696.1,-10.9,337,6969,0.00,2.60,0.00,0.000,6,0.000,0.060,2123,2750,3499
$GC,7291,-1.42,-146.6,730.5,-10.5,353,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2751,3499
$GC,7601,-1.42,-146.6,763.1,-10.5,368,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2751,3499
$STATE,7783,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7783,begin apogee
$GC,7793,-0.42,0.0,782.5,10.1,377,7925,1.12,0.00,124.65,1.206,6,0.098,0.000,2346,1693,2902
$STATE,7926,end apogee,CONTROL_FINISHED_OK
$STATE,7926,begin climb
$GC,7929,1.42,146.6,789.3,0.0,384,8061,1.88,2.65,123.40,1.192,4,0.056,0.059,2748,299,2304
$GC,8276,1.52,229.5,781.7,5.0,400,8353,0.10,2.47,70.70,1.171,6,0.052,0.031,2781,1742,1966
$GC,8669,1.52,229.5,748.9,9.4,419,8673,0.00,2.40,0.00,0.000,4,0.000,0.048,2781,3092,1966
$GC,8753,1.52,229.5,740.5,9.9,423,8758,0.00,2.50,0.00,0.000,6,0.000,0.041,2781,1682,1966
$GC,9080,1.52,229.5,706.3,10.7,439,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1682,1966
$GC,9390,1.52,229.5,674.4,10.1,454,9394,0.00,2.53,0.00,0.000,4,0.000,0.048,2781,3090,1966
$GC,9467,1.52,229.5,666.9,9.5,457,9473,0.00,2.47,0.00,0.000,6,0.000,0.041,2781,1690,1966
$GC,9783,1.52,229.5,639.7,8.4,473,9787,0.00,2.50,0.00,0.000,4,0.000,0.047,2781,3092,1966
$GC,9850,1.52,229.5,633.6,9.4,476,9854,0.00,2.45,0.00,0.000,6,0.000,0.040,2781,1700,1966
$GC,10172,1.52,229.5,603.7,9.8,492,10176,0.00,2.47,0.00,0.000,4,0.000,0.048,2781,3088,1966
$GC,10216,1.52,229.5,599.3,9.5,494,10221,0.00,2.45,0.00,0.000,6,0.000,0.041,2781,1701,1966
$GC,10538,1.52,229.5,565.7,10.9,510,10542,0.00,2.50,0.00,0.000,4,0.000,0.049,2781,3097,1966
$GC,10593,1.52,229.5,559.4,11.1,512,10599,0.00,2.47,0.00,0.000,6,0.000,0.041,2781,1695,1966
$GC,10909,1.52,229.5,527.5,9.5,528,10913,0.00,2.50,0.00,0.000,4,0.000,0.049,2781,3094,1966
$GC,10960,1.52,229.5,522.7,9.3,530,10964,0.00,2.47,0.00,0.000,6,0.000,0.043,2781,1694,1966
$GC,11281,1.52,229.5,493.0,9.1,546,11285,0.00,2.50,0.00,0.000,4,0.000,0.050,2781,3093,1966
$GC,11315,1.52,229.5,489.9,8.3,547,11321,0.00,2.47,0.00,0.000,6,0.000,0.042,2781,1692,1966
$GC,11630,1.52,229.5,461.8,8.5,563,11634,0.00,2.50,0.00,0.000,4,0.000,0.050,2781,3098,1966
$GC,11664,1.52,229.5,458.7,8.5,564,11668,0.00,2.47,0.00,0.000,6,0.000,0.043,2781,1700,1966
$GC,11979,1.52,229.5,432.7,8.3,579,11983,0.00,2.47,0.00,0.000,4,0.000,0.051,2781,3089,1966
$GC,12013,1.52,229.5,429.7,8.4,580,12017,0.00,2.47,0.00,0.000,6,0.000,0.044,2781,1693,1966
$GC,12329,1.52,229.5,402.6,8.5,595,12333,0.00,2.50,0.00,0.000,4,0.000,0.053,2781,3089,1966
$GC,12374,1.52,229.5,398.7,8.4,597,12379,0.00,2.47,0.00,0.000,6,0.000,0.045,2781,1694,1966
$GC,12701,1.52,229.5,369.2,9.2,613,12706,0.00,2.53,0.00,0.000,4,0.000,0.054,2781,3096,1966
$GC,12752,1.52,229.5,364.2,9.4,615,12756,0.00,2.50,0.00,0.000,6,0.000,0.047,2781,1691,1966
$GC,13067,1.52,229.5,332.9,10.0,630,13071,0.00,2.50,0.00,0.000,4,0.000,0.054,2781,3087,1966
$GC,13113,1.52,229.5,328.6,8.8,632,13117,0.00,2.47,0.00,0.000,6,0.000,0.047,2781,1696,1966
$GC,13440,1.52,229.5,298.0,9.8,648,13444,0.00,2.50,0.00,0.000,4,0.000,0.054,2781,3086,1966
$GC,13490,1.52,229.5,292.8,9.9,650,13495,0.00,2.47,0.00,0.000,6,0.000,0.048,2781,1698,1966
$GC,13806,1.52,229.5,263.1,9.0,665,13810,0.00,2.50,0.00,0.000,4,0.000,0.056,2781,3084,1966
$GC,13847,1.52,229.5,259.4,8.9,666,13853,0.00,2.47,0.00,0.000,6,0.000,0.049,2781,1700,1966
$GC,14163,1.52,229.5,230.8,9.2,682,14167,0.00,2.50,0.00,0.000,4,0.000,0.057,2781,3087,1966
$GC,14207,1.52,229.5,226.7,8.9,684,14212,0.00,2.47,0.00,0.000,6,0.000,0.048,2781,1701,1966
$GC,14529,1.52,229.5,196.4,9.5,700,14533,0.00,2.50,0.00,0.000,4,0.000,0.056,2781,3087,1966
$GC,14578,1.52,229.5,191.7,9.0,702,14583,0.00,2.47,0.00,0.000,6,0.000,0.048,2781,1701,1966
$GC,14894,1.52,229.5,163.4,9.1,717,14898,0.00,2.50,0.00,0.000,4,0.000,0.057,2781,3085,1966
$GC,14946,1.52,229.5,158.5,8.9,719,14950,0.00,2.47,0.00,0.000,6,0.000,0.049,2781,1701,1966
$GC,15267,1.52,229.5,128.9,9.5,735,15272,0.00,2.53,0.00,0.000,4,0.000,0.058,2781,3094,1966
$GC,15308,1.52,229.5,125.1,9.0,737,15313,0.00,2.50,0.00,0.000,6,0.000,0.049,2781,1694,1966
$GC,15635,1.52,229.5,95.1,9.2,753,15636,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1693,1966
$GC,15944,1.52,229.5,67.1,9.3,768,15949,0.00,2.53,0.00,0.000,4,0.000,0.056,2781,3094,1966
$GC,16017,1.52,229.5,59.6,10.6,771,16021,0.00,2.50,0.00,0.000,6,0.000,0.051,2781,1698,1966
$GC,16335,1.52,229.5,28.7,10.2,786,16336,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1698,1966
$STATE,16620,end climb,SURFACE_DEPTH_REACHED
$STATE,16620,begin surface coast
$FINISH,0.4,1.027421
$STATE,16641,end surface coast,CONTROL_FINISHED_OK
$STATE,16641,begin surface
$SM_CCo,16667,45.42,0.732,0,0,1679,300.00
$SM_GC,1.42,0.00,0.00,45.42,0.000,0.000,0.732,51,2718,1679,-10.98,-0.88,300.00
$IRIDIUM_FIX,6059.36,-932.91,230598,070752
$TT8_MAMPS,0.029146
$HUMID,1763
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.0,92.0
$24V_AH,23.3,13.493
$10V_AH,10.1,5.956
$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,26.950,145.400,318.750,45.425,0.000,24.312,27.062,120.298,6.000,0.000,0.000,14.883,1453.833,12903.380,470.901,1713.881,456.059,33.355,1347.551,0.000,1676.140,0.000,41.609,0.000
$DEVICE_MAMPS,163.371,73.632,1206.491,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,560.926,590.749,463.646,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41121,801
$CAP_FILE_SIZE,115988,0
$CFSIZE,260165632,256290816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260209,154636,6128.303,-929.704,39,1.0,44,-9.5