version: 66.04
glider: 103
mission: 11
dive: 27
start: 2 26 109 21 34 35
data:
$ID,103
$MISSION,11
$DIVE,27
$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,-143478.47
$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,21
$R_STBD_OVSHOOT,9
$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
$GPS1,212806,6130.823,-929.053,30,1.3,30,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-60.0
$GPS2,213343,6130.828,-929.052,10,1.7,15,-9.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.174,0.170
$KALMAN_X,-17709.2,695.5,638.2,16581.1,-6822.1
$KALMAN_Y,-50989.7,1391.2,1208.1,84629.6,-9465.1
$MHEAD_RNG_PITCHd_Wd,55.2,28994,-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,-41.55,0.000,2,0.000,0.000,46,2723,3036
$GC,63,-1.42,-146.6,3.2,-7.8,2,88,11.90,2.58,-8.55,0.000,4,0.165,0.077,2125,1338,3502
$GC,145,-1.42,-146.6,15.6,-9.9,5,151,0.00,2.65,0.00,0.000,6,0.000,0.067,2125,2760,3502
$GC,462,-1.42,-146.6,48.3,-11.4,21,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3501
$GC,770,-1.42,-146.6,82.0,-10.1,36,771,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3501
$GC,1080,-1.42,-146.6,115.1,-11.2,51,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3501
$GC,1389,-1.42,-146.6,146.6,-10.2,66,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3501
$GC,1698,-1.42,-146.6,178.1,-10.1,81,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3501
$GC,2008,-1.42,-146.6,208.5,-9.9,96,2012,0.00,2.62,0.00,0.000,4,0.000,0.065,2125,1332,3501
$GC,2052,-1.42,-146.6,212.8,-9.6,98,2056,0.00,2.62,0.00,0.000,6,0.000,0.061,2125,2758,3501
$GC,2372,-1.42,-146.6,242.6,-9.2,114,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3501
$GC,2682,-1.42,-146.6,271.6,-9.4,129,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3500
$GC,2991,-1.42,-146.6,299.9,-8.8,144,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3500
$GC,3300,-1.42,-146.6,326.9,-8.8,159,3305,0.00,2.62,0.00,0.000,4,0.000,0.064,2126,1326,3499
$GC,3341,-1.42,-146.6,330.7,-9.6,161,3345,0.00,2.62,0.00,0.000,6,0.000,0.059,2125,2759,3499
$GC,3667,-1.42,-146.6,362.6,-10.2,177,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3497
$GC,3977,-1.42,-146.6,394.3,-10.3,192,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3494
$GC,4288,-1.42,-146.6,425.9,-9.8,207,4293,0.00,2.60,0.00,0.000,4,0.000,0.064,2125,1338,3494
$GC,4323,-1.42,-146.6,429.7,-10.0,208,4329,0.00,2.60,0.00,0.000,6,0.000,0.060,2125,2759,3494
$GC,4639,-1.42,-146.6,461.7,-10.2,224,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3494
$GC,4949,-1.42,-146.6,492.4,-9.7,239,4953,0.00,2.60,0.00,0.000,4,0.000,0.062,2126,1330,3494
$GC,4993,-1.42,-146.6,496.8,-9.4,241,4997,0.00,2.60,0.00,0.000,6,0.000,0.058,2126,2756,3494
$GC,5313,-1.42,-146.6,527.7,-9.8,257,5315,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2756,3493
$GC,5623,-1.42,-146.6,557.7,-9.7,272,5627,0.00,2.58,0.00,0.000,4,0.000,0.063,2125,1331,3493
$GC,5656,-1.42,-146.6,561.0,-9.2,273,5662,0.00,2.60,0.00,0.000,6,0.000,0.058,2125,2758,3493
$GC,5971,-1.42,-146.6,589.8,-9.3,289,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3493
$GC,6281,-1.42,-146.6,618.4,-9.3,304,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3495
$GC,6590,-1.42,-146.6,649.4,-10.4,319,6595,0.00,2.60,0.00,0.000,4,0.000,0.064,2125,1331,3495
$GC,6651,-1.42,-146.6,655.9,-11.2,321,6657,0.00,2.60,0.00,0.000,6,0.000,0.061,2125,2752,3495
$GC,6967,-1.42,-146.6,689.2,-10.4,337,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2751,3495
$GC,7276,-1.42,-146.6,721.5,-10.3,352,7281,0.00,2.60,0.00,0.000,4,0.000,0.064,2125,1326,3495
$GC,7321,-1.42,-146.6,726.1,-10.2,354,7325,0.00,2.60,0.00,0.000,6,0.000,0.060,2125,2749,3495
$GC,7642,-1.42,-146.6,758.4,-10.1,370,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2749,3495
$GC,7951,-1.42,-146.6,788.0,-9.2,385,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2749,3495
$GC,8260,-1.42,-146.6,816.7,-9.5,400,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2749,3495
$GC,8570,-1.42,-146.6,847.0,-9.9,415,8574,0.00,2.60,0.00,0.000,4,0.000,0.067,2125,1332,3496
$GC,8632,-1.42,-146.6,853.1,-9.4,418,8636,0.00,2.60,0.00,0.000,6,0.000,0.061,2125,2749,3496
$GC,8958,-1.42,-146.6,885.6,-10.1,434,8962,0.00,2.60,0.00,0.000,4,0.000,0.064,2125,1325,3496
$GC,9002,-1.42,-146.6,890.0,-10.0,436,9007,0.00,2.60,0.00,0.000,6,0.000,0.059,2125,2752,3496
$STATE,9074,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9074,begin apogee
$GC,9083,-0.42,0.0,897.2,9.9,440,9211,1.12,0.00,124.72,1.295,6,0.101,0.000,2347,1693,2902
$STATE,9212,end apogee,CONTROL_FINISHED_OK
$STATE,9212,begin climb
$GC,9215,1.42,146.6,902.7,0.0,446,9348,1.77,2.62,124.30,1.273,4,0.027,0.060,2761,300,2304
$GC,9606,1.47,186.1,890.0,6.6,463,9646,0.00,2.47,34.62,1.239,6,0.000,0.031,2761,1750,2143
$GC,9964,1.50,208.2,865.6,7.2,481,9986,0.00,0.00,20.27,1.200,6,0.000,0.000,2761,1751,2053
$GC,10292,1.50,208.2,838.4,8.9,497,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1751,2053
$GC,10601,1.50,208.2,811.5,8.3,512,10605,0.00,2.38,0.00,0.000,4,0.000,0.048,2761,3086,2054
$GC,10653,1.51,214.7,807.2,7.8,514,10670,0.00,2.45,7.35,1.031,6,0.000,0.039,2761,1696,2026
$GC,10979,1.53,230.6,782.7,7.4,530,11002,0.00,2.53,15.12,1.151,4,0.000,0.047,2761,3082,1961
$GC,11053,1.54,240.2,777.4,7.6,533,11069,0.00,2.45,9.80,1.080,6,0.000,0.039,2761,1701,1922
$GC,11379,1.55,254.1,752.7,7.5,549,11400,0.00,2.55,13.05,1.114,4,0.000,0.047,2760,3076,1866
$GC,11479,1.58,272.2,745.3,7.3,553,11502,0.00,2.45,16.65,1.125,6,0.000,0.040,2761,1693,1792
$GC,11820,1.58,272.2,716.3,8.9,570,11825,0.10,2.50,0.00,0.000,4,0.049,0.048,2795,3084,1792
$GC,11870,1.58,272.2,711.3,10.0,572,11874,0.00,2.45,0.00,0.000,6,0.000,0.038,2795,1691,1792
$GC,12186,1.58,272.2,678.8,10.7,587,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1691,1792
$GC,12495,1.58,272.2,645.8,10.7,602,12499,0.00,2.47,0.00,0.000,4,0.000,0.045,2795,3090,1792
$GC,12546,1.58,272.2,640.3,10.6,604,12551,0.00,2.45,0.00,0.000,6,0.000,0.038,2796,1697,1792
$GC,12868,1.58,272.2,605.9,10.7,620,12869,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1697,1792
$GC,13177,1.58,272.2,572.8,10.7,635,13181,0.00,2.47,0.00,0.000,4,0.000,0.047,2796,3091,1792
$GC,13217,1.58,272.2,568.5,10.2,637,13221,0.00,2.45,0.00,0.000,6,0.000,0.040,2796,1696,1792
$GC,13544,1.58,272.2,532.6,11.1,653,13548,0.00,2.47,0.00,0.000,4,0.000,0.048,2796,3086,1792
$GC,13578,1.58,272.2,528.8,10.4,654,13584,0.00,2.45,0.00,0.000,6,0.000,0.041,2796,1694,1792
$GC,13894,1.58,272.2,494.3,11.1,670,13895,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1694,1792
$GC,14203,1.58,272.2,460.4,11.0,685,14207,0.00,2.47,0.00,0.000,4,0.000,0.050,2795,3081,1792
$GC,14254,1.58,272.2,454.7,10.7,687,14258,0.00,2.45,0.00,0.000,6,0.000,0.043,2796,1689,1792
$GC,14575,1.58,272.2,419.1,11.2,703,14576,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1689,1792
$GC,14884,1.58,272.2,384.0,11.3,718,14889,0.00,2.50,0.00,0.000,4,0.000,0.052,2796,3086,1792
$GC,14929,1.58,272.2,378.8,11.5,720,14933,0.00,2.47,0.00,0.000,6,0.000,0.045,2796,1690,1792
$GC,15251,1.58,272.2,342.1,11.5,736,15255,0.00,2.50,0.00,0.000,4,0.000,0.053,2796,3084,1792
$GC,15284,1.58,272.2,338.1,11.8,737,15290,0.00,2.47,0.00,0.000,6,0.000,0.046,2796,1691,1792
$GC,15599,1.58,272.2,304.0,10.9,753,15604,0.00,2.50,0.00,0.000,4,0.000,0.054,2796,3080,1792
$GC,15633,1.58,272.2,300.0,11.1,754,15639,0.00,2.45,0.00,0.000,6,0.000,0.048,2796,1703,1792
$GC,15949,1.58,272.2,264.8,11.2,770,15950,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1703,1792
$GC,16258,1.58,272.2,231.0,10.4,785,16259,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1703,1792
$GC,16567,1.58,272.2,198.7,9.4,800,16571,0.00,2.50,0.00,0.000,4,0.000,0.056,2795,3086,1792
$GC,16600,1.58,272.2,195.3,11.2,801,16604,0.00,2.47,0.00,0.000,6,0.000,0.048,2796,1687,1793
$GC,16921,1.58,272.2,164.6,10.7,817,16925,0.00,2.53,0.00,0.000,4,0.000,0.055,2796,3085,1792
$GC,16955,1.58,272.2,160.5,11.8,818,16961,0.00,2.47,0.00,0.000,6,0.000,0.048,2796,1697,1793
$GC,17272,1.58,272.2,124.0,12.3,834,17273,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1697,1792
$GC,17580,1.58,272.2,90.5,11.1,849,17585,0.00,2.50,0.00,0.000,4,0.000,0.057,2796,3081,1792
$GC,17625,1.58,272.2,85.0,12.6,851,17629,0.00,2.47,0.00,0.000,6,0.000,0.051,2796,1700,1792
$GC,17946,1.58,272.2,49.6,10.5,867,17947,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1700,1792
$GC,18256,1.58,272.2,18.3,10.0,882,18260,0.00,2.53,0.00,0.000,4,0.000,0.063,2796,3083,1792
$GC,18296,1.58,272.2,13.9,9.7,884,18300,0.00,2.47,0.00,0.000,6,0.000,0.051,2796,1692,1792
$STATE,18400,end climb,SURFACE_DEPTH_REACHED
$STATE,18400,begin surface coast
$FINISH,0.5,1.013819
$STATE,18421,end surface coast,CONTROL_FINISHED_OK
$STATE,18421,begin surface
$SM_CCo,18446,20.12,0.731,0,0,1679,300.00
$SM_GC,1.41,0.00,0.00,20.12,0.000,0.000,0.731,47,2710,1679,-11.01,-1.13,300.00
$IRIDIUM_FIX,6103.81,-1024.73,230598,151521
$TT8_MAMPS,0.029146
$HUMID,1772
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.4,55.3
$24V_AH,23.2,13.781
$10V_AH,10.1,6.121
$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,26.825,135.500,365.900,20.125,0.000,28.958,31.557,148.735,7.500,0.000,0.000,15.153,1591.308,14362.113,491.327,1833.419,525.155,33.354,1423.692,0.000,1792.383,0.000,51.233,0.000
$DEVICE_MAMPS,164.905,85.904,1295.463,730.951,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.317,658.496,485.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44286,890
$CAP_FILE_SIZE,123818,0
$CFSIZE,260165632,256159744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270209,024337,6132.063,-924.057,34,1.8,34,-9.4