version: 66.04
glider: 103
mission: 11
dive: 28
start: 2 27 109 2 50 13
data:
$ID,103
$MISSION,11
$DIVE,28
$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,-143514.08
$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,23
$R_STBD_OVSHOOT,11
$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
$GPS1,024337,6132.063,-924.057,34,1.8,34,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-61.8
$GPS2,024922,6132.036,-924.074,15,3.1,34,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.173,0.171
$KALMAN_X,-16886.2,956.5,368.4,20183.3,-4210.1
$KALMAN_Y,-50166.2,401.5,179.7,88064.7,-4008.5
$MHEAD_RNG_PITCHd_Wd,54.8,25292,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.75,0.000,2,0.000,0.000,47,2711,3029
$GC,62,-1.42,-146.6,3.4,-8.3,2,85,12.00,0.00,-8.73,0.000,6,0.165,0.000,2124,2712,3501
$GC,389,-1.42,-146.6,42.5,-11.3,18,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3502
$GC,697,-1.42,-146.6,77.5,-11.0,33,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3502
$GC,1006,-1.42,-146.6,115.7,-12.7,48,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3502
$GC,1315,-1.42,-146.6,153.0,-10.3,63,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3502
$GC,1624,-1.42,-146.6,188.0,-11.4,78,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3502
$GC,1933,-1.42,-146.6,219.9,-10.6,93,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3501
$GC,2244,-1.42,-146.6,251.7,-10.4,108,2245,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3501
$GC,2552,-1.42,-146.6,283.3,-10.6,123,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3501
$GC,2861,-1.42,-146.6,317.1,-11.0,138,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3501
$GC,3171,-1.42,-146.6,349.7,-10.5,153,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3501
$GC,3480,-1.42,-146.6,382.0,-10.3,168,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3502
$GC,3789,-1.42,-146.6,413.4,-10.0,183,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2712,3501
$GC,4098,-1.42,-146.6,443.5,-9.7,198,4103,0.00,2.53,0.00,0.000,4,0.000,0.067,2124,1332,3501
$GC,4132,-1.42,-146.6,446.7,-9.4,199,4138,0.00,2.60,0.00,0.000,6,0.000,0.060,2124,2754,3501
$GC,4450,-1.42,-146.6,475.7,-9.1,215,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2755,3501
$GC,4757,-1.42,-146.6,504.1,-9.3,230,4761,0.00,2.58,0.00,0.000,4,0.000,0.062,2124,1340,3501
$GC,4801,-1.42,-146.6,508.4,-9.8,232,4805,0.00,2.58,0.00,0.000,6,0.000,0.057,2124,2754,3501
$GC,5122,-1.42,-146.6,538.2,-9.7,248,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2754,3501
$GC,5431,-1.42,-146.6,569.2,-10.5,263,5435,0.00,2.60,0.00,0.000,4,0.000,0.063,2124,1327,3501
$GC,5481,-1.42,-146.6,574.6,-10.3,265,5489,0.00,2.58,0.00,0.000,6,0.000,0.054,2124,2752,3501
$GC,5805,-1.42,-146.6,607.7,-10.3,281,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3501
$GC,6115,-1.42,-146.6,639.5,-10.4,296,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2753,3508
$GC,6424,-1.42,-146.6,670.7,-9.9,311,6428,0.00,2.60,0.00,0.000,4,0.000,0.063,2124,1327,3508
$GC,6469,-1.42,-146.6,675.2,-9.8,313,6473,0.00,2.60,0.00,0.000,6,0.000,0.058,2124,2757,3508
$GC,6789,-1.42,-146.6,705.3,-9.2,329,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3508
$GC,7099,-1.42,-146.6,733.8,-9.1,344,7103,0.00,2.60,0.00,0.000,4,0.000,0.062,2124,1328,3507
$GC,7131,-1.42,-146.6,736.9,-9.1,345,7138,0.00,2.58,0.00,0.000,6,0.000,0.059,2124,2750,3507
$GC,7448,-1.42,-146.6,766.6,-9.9,361,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3507
$GC,7757,-1.42,-146.6,797.9,-10.8,376,7761,0.00,2.58,0.00,0.000,4,0.000,0.061,2124,1335,3507
$GC,7818,-1.42,-146.6,804.7,-11.0,379,7823,0.00,2.58,0.00,0.000,6,0.000,0.058,2124,2751,3507
$GC,8145,-1.42,-146.6,840.6,-10.6,395,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3507
$GC,8455,-1.42,-146.6,871.6,-9.2,410,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3506
$STATE,8514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8514,begin apogee
$GC,8523,-0.42,0.0,877.4,9.5,413,8657,1.12,0.00,126.95,1.282,6,0.100,0.000,2346,1700,2902
$STATE,8657,end apogee,CONTROL_FINISHED_OK
$STATE,8657,begin climb
$GC,8661,1.42,146.6,883.8,0.0,420,8794,1.88,2.62,124.25,1.248,4,0.057,0.042,2748,3122,2304
$GC,9052,1.50,209.8,871.9,5.7,437,9112,0.00,2.53,54.42,1.228,6,0.000,0.037,2748,1691,2046
$GC,9432,1.56,257.0,844.9,6.3,456,9479,0.15,2.60,41.38,1.210,4,0.041,0.043,2794,3121,1854
$GC,9631,1.56,257.0,828.5,8.0,465,9635,0.00,2.53,0.00,0.000,6,0.000,0.038,2794,1696,1854
$GC,9952,1.56,257.0,799.2,9.6,481,9956,0.00,2.58,0.00,0.000,4,0.000,0.060,2794,290,1854
$GC,10041,1.56,257.0,789.7,10.9,485,10045,0.00,2.47,0.00,0.000,6,0.000,0.031,2794,1732,1853
$GC,10362,1.56,257.0,755.7,10.9,501,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1733,1854
$GC,10672,1.56,257.0,721.6,10.8,516,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1734,1854
$GC,10981,1.56,257.0,689.7,10.1,531,10982,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1734,1854
$GC,11290,1.56,257.0,659.7,9.4,546,11294,0.00,2.42,0.00,0.000,4,0.000,0.050,2794,3101,1854
$GC,11323,1.56,257.0,656.5,9.5,547,11327,0.00,2.47,0.00,0.000,6,0.000,0.040,2794,1698,1853
$GC,11639,1.56,257.0,626.6,9.4,562,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1698,1854
$GC,11948,1.56,257.0,596.7,9.7,577,11952,0.00,2.50,0.00,0.000,4,0.000,0.047,2794,3105,1854
$GC,11994,1.56,257.0,592.1,9.7,579,11998,0.00,2.45,0.00,0.000,6,0.000,0.040,2794,1700,1853
$GC,12326,1.56,257.0,557.6,10.6,595,12327,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1700,1854
$GC,12635,1.56,257.0,524.8,10.7,610,12637,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1700,1854
$GC,12945,1.56,257.0,492.6,9.8,625,12949,0.00,2.50,0.00,0.000,4,0.000,0.049,2794,3100,1854
$GC,12989,1.56,257.0,488.2,9.7,627,12993,0.00,2.47,0.00,0.000,6,0.000,0.041,2794,1697,1853
$GC,13316,1.56,257.0,457.2,9.2,643,13317,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1697,1854
$GC,13625,1.56,257.0,429.1,9.1,658,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1697,1854
$GC,13934,1.56,257.0,399.6,9.9,673,13938,0.00,2.50,0.00,0.000,4,0.000,0.051,2794,3093,1854
$GC,13974,1.56,257.0,395.5,10.0,675,13978,0.00,2.47,0.00,0.000,6,0.000,0.044,2794,1693,1854
$GC,14301,1.56,257.0,361.7,10.4,691,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1693,1854
$GC,14610,1.56,257.0,328.6,10.7,706,14614,0.00,2.53,0.00,0.000,4,0.000,0.053,2794,3099,1854
$GC,14654,1.56,257.0,323.7,10.6,708,14659,0.00,2.50,0.00,0.000,6,0.000,0.046,2794,1696,1854
$GC,14975,1.56,257.0,288.9,10.9,724,14976,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1696,1854
$GC,15284,1.56,257.0,255.6,11.0,739,15288,0.00,2.53,0.00,0.000,4,0.000,0.055,2794,3093,1854
$GC,15317,1.56,257.0,251.8,10.6,740,15323,0.00,2.47,0.00,0.000,6,0.000,0.048,2794,1696,1854
$GC,15633,1.56,257.0,218.5,10.1,756,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1696,1854
$GC,15942,1.56,257.0,188.0,9.9,771,15946,0.00,2.53,0.00,0.000,4,0.000,0.056,2794,3098,1854
$GC,15994,1.56,257.0,182.6,10.1,773,15999,0.00,2.50,0.00,0.000,6,0.000,0.048,2794,1696,1854
$GC,16316,1.56,257.0,152.0,8.7,789,16317,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1696,1854
$GC,16625,1.56,257.0,119.0,12.6,804,16627,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1696,1854
$GC,16935,1.56,257.0,78.1,12.6,819,16936,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1696,1854
$GC,17246,1.57,263.2,55.0,7.8,834,17259,0.00,2.62,6.68,0.689,4,0.000,0.061,2794,294,1828
$GC,17328,1.57,263.2,47.7,8.8,837,17335,0.00,2.40,0.00,0.000,6,0.000,0.034,2794,1685,1828
$GC,17644,1.57,263.2,15.0,10.1,853,17649,0.00,2.58,0.00,0.000,4,0.000,0.061,2794,3108,1828
$GC,17689,1.57,263.2,10.3,11.4,855,17693,0.00,2.53,0.00,0.000,6,0.000,0.050,2795,1701,1828
$STATE,17760,end climb,SURFACE_DEPTH_REACHED
$STATE,17760,begin surface coast
$FINISH,0.6,1.014896
$STATE,17782,end surface coast,CONTROL_FINISHED_OK
$STATE,17782,begin surface
$SM_CCo,17808,24.45,0.729,0,0,1679,300.00
$SM_GC,1.16,0.00,0.00,24.45,0.000,0.000,0.729,49,2745,1679,-11.00,-0.14,300.00
$IRIDIUM_FIX,6108.28,-930.70,230598,212156
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.5,85.6
$24V_AH,23.3,13.922
$10V_AH,10.1,6.199
$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,27.275,95.325,353.675,24.450,0.000,29.967,29.403,142.976,7.000,0.000,0.000,34.986,1508.459,13975.697,459.791,1744.921,488.577,33.346,1319.925,0.000,1690.897,0.000,48.077,0.000
$DEVICE_MAMPS,164.905,84.370,1281.657,729.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.203,633.056,472.175,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41065,860
$CAP_FILE_SIZE,111646,0
$CFSIZE,260165632,256118784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270209,074837,6133.479,-921.246,31,1.0,31,-9.4