version: 66.04
glider: 103
mission: 11
dive: 26
start: 2 26 109 15 53 0
data:
$ID,103
$MISSION,11
$DIVE,26
$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,-143462.69
$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,20
$R_STBD_OVSHOOT,10
$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
$GPS1,154636,6128.303,-929.704,39,1.0,44,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-60.4
$GPS2,155208,6128.264,-929.847,15,1.5,15,-9.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.100,0.222
$KALMAN_X,-14959.5,322.9,-303.9,14441.6,-4498.3
$KALMAN_Y,-50899.0,1813.5,288.4,80304.2,-10221.5
$MHEAD_RNG_PITCHd_Wd,33.8,33617,-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,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,51,2720,3075
$GC,63,-1.42,-146.6,3.4,-7.3,2,88,11.85,2.58,-7.72,0.000,4,0.161,0.075,2123,1330,3500
$GC,122,-1.42,-146.6,14.5,-12.9,5,126,0.00,2.67,0.00,0.000,6,0.000,0.065,2123,2762,3501
$GC,443,-1.42,-146.6,48.8,-9.9,21,444,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2761,3501
$GC,752,-1.42,-146.6,81.0,-11.2,36,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2761,3500
$GC,1063,-1.42,-146.6,114.0,-9.7,51,1067,0.00,2.60,0.00,0.000,4,0.000,0.063,2123,1335,3500
$GC,1103,-1.42,-146.6,118.2,-10.0,53,1107,0.00,2.62,0.00,0.000,6,0.000,0.064,2123,2756,3500
$GC,1429,-1.42,-146.6,152.2,-10.7,69,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3500
$GC,1738,-1.42,-146.6,184.0,-10.0,84,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3500
$GC,2048,-1.42,-146.6,217.7,-10.5,99,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3500
$GC,2358,-1.42,-146.6,251.3,-10.8,114,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3500
$GC,2666,-1.42,-146.6,284.1,-10.6,129,2671,0.00,2.62,0.00,0.000,4,0.000,0.067,2123,1332,3500
$GC,2700,-1.42,-146.6,287.8,-10.3,130,2706,0.00,2.60,0.00,0.000,6,0.000,0.061,2123,2757,3501
$GC,3016,-1.42,-146.6,319.5,-10.3,146,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2757,3500
$GC,3326,-1.42,-146.6,352.2,-10.9,161,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2757,3500
$GC,3635,-1.42,-146.6,387.8,-11.6,176,3639,0.00,2.62,0.00,0.000,4,0.000,0.068,2123,1332,3500
$GC,3667,-1.42,-146.6,391.6,-11.7,177,3673,0.00,2.60,0.00,0.000,6,0.000,0.061,2123,2753,3500
$GC,3984,-1.42,-146.6,426.5,-11.2,193,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2753,3500
$GC,4292,-1.42,-146.6,461.4,-11.3,208,4297,0.00,2.60,0.00,0.000,4,0.000,0.065,2123,1334,3500
$GC,4326,-1.42,-146.6,465.3,-11.5,209,4332,0.00,2.60,0.00,0.000,6,0.000,0.059,2123,2760,3501
$GC,4642,-1.42,-146.6,501.8,-11.6,225,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2760,3500
$GC,4951,-1.42,-146.6,535.5,-10.6,240,4955,0.00,2.62,0.00,0.000,4,0.000,0.063,2123,1322,3500
$GC,4984,-1.42,-146.6,539.1,-10.7,241,4990,0.00,2.60,0.00,0.000,6,0.000,0.058,2123,2751,3500
$GC,5299,-1.42,-146.6,570.7,-10.1,257,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2751,3500
$GC,5609,-1.42,-146.6,601.7,-10.0,272,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2752,3500
$GC,5918,-1.42,-146.6,633.3,-10.1,287,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2752,3500
$GC,6227,-1.42,-146.6,664.4,-9.6,302,6232,0.00,2.60,0.00,0.000,4,0.000,0.061,2123,1322,3500
$GC,6272,-1.42,-146.6,668.5,-9.0,304,6276,0.00,2.60,0.00,0.000,6,0.000,0.058,2123,2753,3500
$GC,6595,-1.42,-146.6,700.8,-10.4,320,6599,0.00,2.60,0.00,0.000,4,0.000,0.062,2123,1323,3500
$GC,6623,-1.42,-146.6,704.0,-10.5,321,6628,0.00,2.60,0.00,0.000,6,0.000,0.058,2123,2753,3500
$GC,6939,-1.42,-146.6,734.8,-9.8,336,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2753,3500
$GC,7249,-1.42,-146.6,763.1,-9.5,351,7253,0.00,2.58,0.00,0.000,4,0.000,0.064,2123,1334,3499
$GC,7305,-1.42,-146.6,768.7,-9.6,353,7309,0.00,2.58,0.00,0.000,6,0.000,0.058,2123,2750,3499
$GC,7620,-1.42,-146.6,797.7,-8.4,368,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2750,3499
$GC,7930,-1.42,-146.6,819.9,-7.5,383,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2750,3499
$GC,8239,-1.42,-146.6,846.2,-8.7,398,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2750,3499
$GC,8548,-1.42,-146.6,873.1,-8.7,413,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2750,3499
$GC,8860,-1.42,-146.6,900.8,-9.0,428,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2750,3499
$GC,9167,-1.42,-146.6,929.1,-9.1,443,9168,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3478
$STATE,9247,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9247,begin apogee
$GC,9256,-0.42,0.0,937.0,9.6,447,9380,1.12,0.00,120.57,1.349,6,0.099,0.000,2345,1693,2902
$STATE,9381,end apogee,CONTROL_FINISHED_OK
$STATE,9381,begin climb
$GC,9384,1.42,146.6,942.1,0.0,453,9518,1.88,2.65,125.93,1.302,4,0.058,0.061,2746,290,2301
$GC,9634,1.50,206.3,936.4,5.8,464,9691,0.00,2.50,51.78,1.260,6,0.000,0.031,2746,1746,2061
$GC,10010,1.50,206.3,906.9,8.3,483,10014,0.00,2.40,0.00,0.000,4,0.000,0.050,2746,3085,2061
$GC,10105,1.50,206.3,898.5,8.5,487,10109,0.00,2.47,0.00,0.000,6,0.000,0.042,2746,1696,2060
$GC,10420,1.50,206.3,872.6,8.3,502,10425,0.00,2.53,0.00,0.000,4,0.000,0.051,2746,3090,2058
$GC,10461,1.50,206.3,869.2,8.6,504,10465,0.00,2.47,0.00,0.000,6,0.000,0.042,2746,1696,2056
$GC,10787,1.52,230.3,844.4,7.1,520,10815,0.12,2.55,21.83,1.205,4,0.044,0.045,2787,3089,1963
$GC,10854,1.52,230.3,838.7,8.6,523,10859,0.00,2.47,0.00,0.000,6,0.000,0.039,2786,1695,1963
$GC,11176,1.52,230.3,808.9,9.7,539,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1696,1962
$GC,11485,1.52,230.3,781.3,8.6,554,11489,0.00,2.47,0.00,0.000,4,0.000,0.047,2786,3083,1963
$GC,11557,1.52,230.3,775.1,8.7,557,11562,0.00,2.45,0.00,0.000,6,0.000,0.039,2786,1693,1962
$GC,11873,1.52,230.3,748.3,8.7,572,11877,0.00,2.55,0.00,0.000,4,0.000,0.061,2786,296,1963
$GC,11923,1.52,230.3,743.5,9.1,574,11928,0.00,2.40,0.00,0.000,6,0.000,0.031,2786,1702,1963
$GC,12239,1.52,230.3,714.8,9.1,589,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1706,1963
$GC,12548,1.52,230.3,686.8,9.0,604,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1706,1962
$GC,12858,1.52,230.3,658.9,9.3,619,12862,0.00,2.47,0.00,0.000,4,0.000,0.049,2786,3097,1963
$GC,12904,1.52,230.3,654.7,9.8,621,12908,0.00,2.47,0.00,0.000,6,0.000,0.041,2787,1691,1963
$GC,13231,1.52,230.3,625.0,9.0,637,13232,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1691,1963
$GC,13540,1.52,230.3,598.0,8.9,652,13544,0.00,2.50,0.00,0.000,4,0.000,0.048,2786,3096,1963
$GC,13584,1.52,230.3,593.9,8.2,654,13588,0.00,2.45,0.00,0.000,6,0.000,0.039,2786,1700,1963
$GC,13905,1.52,230.3,563.2,10.0,670,13906,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1700,1962
$GC,14214,1.52,230.3,534.3,9.2,685,14218,0.00,2.47,0.00,0.000,4,0.000,0.049,2786,3090,1962
$GC,14269,1.52,230.3,529.1,9.1,687,14275,0.00,2.45,0.00,0.000,6,0.000,0.041,2786,1697,1962
$GC,14585,1.52,230.3,502.7,8.2,703,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1697,1961
$GC,14894,1.54,243.5,478.4,7.5,718,14913,0.00,0.00,12.50,0.968,6,0.000,0.000,2786,1697,1909
$GC,15223,1.54,243.5,450.9,8.7,734,15224,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1697,1909
$GC,15532,1.54,243.5,423.4,9.1,749,15533,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1697,1909
$GC,15841,1.54,243.5,394.8,9.2,764,15845,0.00,2.50,0.00,0.000,4,0.000,0.053,2786,3089,1909
$GC,15892,1.54,243.5,389.8,9.6,766,15896,0.00,2.47,0.00,0.000,6,0.000,0.045,2786,1696,1909
$GC,16213,1.54,243.5,361.0,9.0,782,16214,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1696,1909
$GC,16522,1.54,243.5,331.1,10.2,797,16526,0.00,2.53,0.00,0.000,4,0.000,0.054,2786,3096,1909
$GC,16584,1.54,243.5,324.6,10.6,800,16588,0.00,2.47,0.00,0.000,6,0.000,0.048,2786,1698,1909
$GC,16917,1.54,243.5,290.7,10.3,816,16918,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1698,1909
$GC,17226,1.54,243.5,261.3,9.4,831,17230,0.00,2.53,0.00,0.000,4,0.000,0.056,2786,3093,1909
$GC,17298,1.54,243.5,254.3,9.8,834,17302,0.00,2.50,0.00,0.000,6,0.000,0.048,2786,1693,1909
$GC,17614,1.54,243.5,225.3,10.1,849,17615,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1693,1909
$GC,17923,1.54,243.5,194.9,10.0,864,17927,0.00,2.53,0.00,0.000,4,0.000,0.057,2786,3089,1908
$GC,17963,1.54,243.5,191.0,9.0,866,17967,0.00,2.50,0.00,0.000,6,0.000,0.049,2786,1689,1909
$GC,18290,1.54,243.5,158.1,10.6,882,18291,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1689,1909
$GC,18599,1.54,243.5,128.6,9.4,897,18600,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1689,1909
$GC,18909,1.55,251.1,104.3,7.7,912,18918,0.00,0.00,7.12,0.716,6,0.000,0.000,2786,1689,1878
$GC,19219,1.55,251.1,73.4,10.4,927,19224,0.00,2.55,0.00,0.000,4,0.000,0.058,2786,3092,1878
$GC,19264,1.55,251.1,68.5,9.5,929,19268,0.00,2.50,0.00,0.000,6,0.000,0.049,2786,1694,1878
$GC,19585,1.55,251.1,37.1,9.7,945,19586,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1694,1878
$GC,19894,1.55,251.1,6.9,10.0,960,19896,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1694,1878
$STATE,19953,end climb,SURFACE_DEPTH_REACHED
$STATE,19953,begin surface coast
$FINISH,0.6,1.014838
$STATE,19977,end surface coast,CONTROL_FINISHED_OK
$STATE,19977,begin surface
$SM_CCo,20003,32.05,0.734,0,0,1678,300.00
$SM_GC,1.51,0.00,0.00,32.05,0.000,0.000,0.734,46,2721,1678,-11.01,-0.82,300.00
$IRIDIUM_FIX,6103.81,-929.22,230598,111133
$TT8_MAMPS,0.029146
$HUMID,1771
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.8,44.3
$24V_AH,23.2,13.635
$10V_AH,10.1,6.041
$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,27.025,120.750,339.725,32.050,0.000,29.669,31.202,148.325,8.250,0.000,0.000,15.407,1685.522,15789.521,473.245,1890.544,530.541,33.352,1414.424,0.000,1852.509,0.000,57.332,0.000
$DEVICE_MAMPS,161.070,85.137,1349.153,734.019,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,671.890,719.778,526.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47323,964
$CAP_FILE_SIZE,126802,0
$CFSIZE,260165632,256217088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260209,212806,6130.823,-929.053,30,1.3,30,-9.5