version: 66.04
glider: 103
mission: 11
dive: 29
start: 2 27 109 7 54 41
data:
$ID,103
$MISSION,11
$DIVE,29
$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,-143529.08
$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,17
$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
$GPS1,074837,6133.479,-921.246,31,1.0,31,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-57.9
$GPS2,075351,6133.505,-921.257,13,1.4,14,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,BW
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.172,0.171
$KALMAN_X,-17943.2,670.4,189.9,24243.5,-4329.9
$KALMAN_Y,-51508.8,143.4,534.2,92059.6,-4477.3
$MHEAD_RNG_PITCHd_Wd,54.6,21983,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,61,0.00,0.00,-41.40,0.000,2,0.000,0.000,49,2747,3010
$GC,64,-1.42,-146.6,3.3,-9.3,2,90,11.80,2.03,-9.15,0.000,4,0.162,0.111,2125,3782,3501
$GC,326,-1.42,-146.6,36.2,-12.2,13,332,0.00,1.90,0.00,0.000,6,0.000,0.054,2125,2748,3501
$GC,642,-1.42,-146.6,66.8,-8.7,29,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2748,3501
$GC,951,-1.42,-146.6,96.5,-9.3,44,955,0.00,2.58,0.00,0.000,4,0.000,0.065,2125,1334,3500
$GC,1023,-1.42,-146.6,103.8,-11.0,47,1028,0.00,2.62,0.00,0.000,6,0.000,0.064,2125,2750,3500
$GC,1341,-1.42,-146.6,142.6,-9.0,62,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2750,3500
$GC,1651,-1.42,-146.6,176.9,-12.1,77,1655,0.00,2.60,0.00,0.000,4,0.000,0.061,2125,1323,3500
$GC,1691,-1.42,-146.6,182.7,-14.1,79,1695,0.00,2.65,0.00,0.000,6,0.000,0.063,2125,2759,3500
$GC,2017,-1.42,-146.6,222.3,-11.6,95,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3500
$GC,2326,-1.42,-146.6,255.6,-12.2,110,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3500
$GC,2636,-1.42,-146.6,293.0,-12.1,125,2640,0.00,2.60,0.00,0.000,4,0.000,0.065,2125,1334,3500
$GC,2663,-1.42,-146.6,295.8,-10.4,126,2667,0.00,2.62,0.00,0.000,6,0.000,0.062,2125,2760,3500
$GC,2980,-1.42,-146.6,326.8,-9.9,141,2984,0.00,2.62,0.00,0.000,4,0.000,0.067,2125,1326,3500
$GC,3007,-1.42,-146.6,329.9,-10.2,142,3012,0.00,2.62,0.00,0.000,6,0.000,0.060,2125,2757,3501
$GC,3323,-1.42,-146.6,363.9,-11.1,157,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2757,3500
$GC,3633,-1.42,-146.6,398.4,-11.4,172,3637,0.00,2.62,0.00,0.000,4,0.000,0.069,2125,1334,3501
$GC,3665,-1.42,-146.6,402.3,-10.8,173,3671,0.00,2.60,0.00,0.000,6,0.000,0.061,2125,2750,3500
$GC,3981,-1.42,-146.6,437.0,-10.9,189,3982,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2750,3500
$GC,4291,-1.42,-146.6,470.3,-10.7,204,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2750,3501
$GC,4600,-1.42,-146.6,503.2,-10.5,219,4604,0.00,2.60,0.00,0.000,4,0.000,0.066,2125,1333,3500
$GC,4633,-1.42,-146.6,506.8,-10.8,220,4639,0.00,2.58,0.00,0.000,6,0.000,0.060,2125,2752,3500
$GC,4949,-1.42,-146.6,538.7,-10.0,236,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3501
$GC,5259,-1.42,-146.6,568.8,-9.7,251,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3500
$GC,5567,-1.42,-146.6,598.3,-9.6,266,5572,0.00,2.58,0.00,0.000,4,0.000,0.064,2125,1332,3506
$GC,5612,-1.42,-146.6,603.0,-9.9,268,5616,0.00,2.60,0.00,0.000,6,0.000,0.058,2126,2758,3506
$GC,5933,-1.42,-146.6,635.8,-10.3,284,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3506
$GC,6242,-1.42,-146.6,666.4,-9.7,299,6246,0.00,2.58,0.00,0.000,4,0.000,0.062,2125,1332,3506
$GC,6292,-1.42,-146.6,671.4,-9.4,301,6296,0.00,2.58,0.00,0.000,6,0.000,0.058,2125,2754,3507
$GC,6608,-1.42,-146.6,699.8,-8.8,316,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3506
$GC,6918,-1.42,-146.6,728.0,-9.5,331,6922,0.00,2.60,0.00,0.000,4,0.000,0.064,2126,1332,3506
$GC,6957,-1.42,-146.6,731.9,-9.7,333,6962,0.00,2.58,0.00,0.000,6,0.000,0.058,2125,2750,3507
$GC,7284,-1.42,-146.6,761.9,-8.8,349,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2750,3507
$GC,7594,-1.42,-146.6,790.7,-9.2,364,7598,0.00,2.60,0.00,0.000,4,0.000,0.065,2125,1322,3506
$GC,7638,-1.42,-146.6,794.9,-8.8,366,7642,0.00,2.60,0.00,0.000,6,0.000,0.057,2125,2755,3506
$GC,7959,-1.42,-146.6,824.3,-8.3,382,7963,0.00,2.58,0.00,0.000,4,0.000,0.055,2125,1319,3506
$GC,8003,-1.42,-146.6,824.4,-0.1,384,8007,0.00,2.60,0.00,0.000,6,0.000,0.056,2125,2753,3506
$STATE,8197,end dive,NO_VERTICAL_VELOCITY
$STATE,8197,begin apogee
$GC,8207,-0.42,0.0,824.4,0.0,394,8341,1.02,0.00,126.22,1.241,6,0.056,0.000,2349,1687,2902
$STATE,8341,end apogee,CONTROL_FINISHED_OK
$STATE,8341,begin climb
$GC,8344,1.42,146.6,824.2,0.0,401,8477,1.88,2.62,122.90,1.213,4,0.056,0.039,2749,3113,2304
$GC,8617,1.56,255.1,818.2,4.0,413,8715,0.12,2.50,91.38,1.200,6,0.046,0.036,2788,1696,1862
$GC,9031,1.56,255.1,780.5,10.5,434,9035,0.00,2.58,0.00,0.000,4,0.000,0.062,2788,300,1862
$GC,9224,1.56,255.1,758.3,12.5,442,9230,0.00,2.47,0.00,0.000,6,0.000,0.032,2788,1733,1862
$GC,9539,1.56,255.1,724.7,10.2,458,9543,0.00,2.42,0.00,0.000,4,0.000,0.048,2788,3096,1862
$GC,9607,1.56,255.1,717.9,10.3,461,9611,0.00,2.47,0.00,0.000,6,0.000,0.040,2788,1697,1862
$GC,9927,1.56,255.1,687.0,9.5,477,9932,0.00,2.50,0.00,0.000,4,0.000,0.046,2787,3097,1862
$GC,9978,1.56,255.1,682.0,10.0,479,9982,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,1693,1862
$GC,10293,1.56,255.1,650.3,10.1,494,10297,0.00,2.50,0.00,0.000,4,0.000,0.044,2788,3102,1862
$GC,10340,1.56,255.1,645.7,9.9,496,10344,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,1694,1862
$GC,10666,1.56,255.1,613.3,9.7,512,10670,0.00,2.50,0.00,0.000,4,0.000,0.045,2788,3102,1862
$GC,10722,1.56,255.1,608.0,9.7,514,10728,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,1694,1862
$GC,11037,1.56,255.1,575.6,10.9,530,11038,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1694,1862
$GC,11347,1.56,255.1,543.8,10.1,545,11351,0.00,2.50,0.00,0.000,4,0.000,0.047,2788,3100,1862
$GC,11414,1.56,255.1,536.9,10.2,548,11418,0.00,2.47,0.00,0.000,6,0.000,0.040,2788,1694,1862
$GC,11735,1.56,255.1,504.7,10.2,564,11739,0.00,2.50,0.00,0.000,4,0.000,0.049,2788,3097,1862
$GC,11785,1.56,255.1,499.4,9.6,566,11789,0.00,2.45,0.00,0.000,6,0.000,0.041,2788,1698,1862
$GC,12106,1.56,255.1,468.3,9.7,582,12110,0.00,2.50,0.00,0.000,4,0.000,0.049,2788,3099,1862
$GC,12145,1.56,255.1,464.4,9.4,584,12149,0.00,2.47,0.00,0.000,6,0.000,0.041,2788,1694,1862
$GC,12472,1.56,255.1,432.5,9.8,600,12476,0.00,2.50,0.00,0.000,4,0.000,0.050,2788,3096,1862
$GC,12522,1.56,255.1,427.2,10.0,602,12526,0.00,2.47,0.00,0.000,6,0.000,0.043,2787,1695,1862
$GC,12843,1.56,255.1,393.2,10.7,618,12847,0.00,2.50,0.00,0.000,4,0.000,0.051,2788,3094,1862
$GC,12887,1.56,255.1,388.2,11.0,620,12891,0.00,2.47,0.00,0.000,6,0.000,0.044,2788,1693,1862
$GC,13208,1.56,255.1,355.5,10.2,636,13212,0.00,2.50,0.00,0.000,4,0.000,0.053,2787,3096,1862
$GC,13264,1.56,255.1,349.5,10.4,638,13269,0.00,2.47,0.00,0.000,6,0.000,0.044,2788,1699,1862
$GC,13580,1.56,255.1,316.1,11.1,653,13584,0.00,2.50,0.00,0.000,4,0.000,0.053,2788,3093,1862
$GC,13624,1.56,255.1,311.1,10.6,655,13629,0.00,2.47,0.00,0.000,6,0.000,0.044,2788,1696,1862
$GC,13946,1.56,255.1,275.9,11.8,671,13950,0.00,2.53,0.00,0.000,4,0.000,0.054,2788,3097,1862
$GC,14008,1.56,255.1,268.7,11.7,674,14012,0.00,2.47,0.00,0.000,6,0.000,0.046,2788,1703,1862
$GC,14335,1.56,255.1,233.4,10.9,690,14336,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1703,1862
$GC,14644,1.56,255.1,199.0,12.3,705,14648,0.00,2.53,0.00,0.000,4,0.000,0.054,2788,3101,1862
$GC,14693,1.56,255.1,192.5,12.6,707,14698,0.00,2.50,0.00,0.000,6,0.000,0.047,2788,1697,1862
$GC,15009,1.56,255.1,157.4,10.8,722,15010,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1697,1862
$GC,15319,1.56,255.1,127.4,8.9,737,15323,0.00,2.53,0.00,0.000,4,0.000,0.057,2788,3093,1862
$GC,15369,1.56,255.1,122.8,8.2,739,15373,0.00,2.50,0.00,0.000,6,0.000,0.048,2788,1691,1862
$GC,15685,1.56,255.1,92.4,9.8,754,15689,0.00,2.53,0.00,0.000,4,0.000,0.060,2788,299,1862
$GC,15747,1.56,255.1,84.7,12.9,757,15752,0.00,2.40,0.00,0.000,6,0.000,0.034,2788,1689,1862
$GC,16075,1.56,255.1,44.8,13.1,773,16079,0.00,2.55,0.00,0.000,4,0.000,0.058,2788,3104,1862
$GC,16154,1.56,255.1,35.5,10.7,776,16160,0.00,2.50,0.00,0.000,6,0.000,0.050,2788,1700,1862
$STATE,16468,end climb,SURFACE_DEPTH_REACHED
$STATE,16469,begin surface coast
$FINISH,0.5,1.014129
$STATE,16489,end surface coast,CONTROL_FINISHED_OK
$STATE,16489,begin surface
$SM_CCo,16515,29.33,0.735,0,0,1678,300.00
$SM_GC,1.23,0.00,0.00,29.33,0.000,0.000,0.735,52,2738,1678,-10.98,-0.31,300.00
$IRIDIUM_FIX,6108.28,-927.00,240598,020220
$TT8_MAMPS,0.029146
$HUMID,1773
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.9,112.1
$24V_AH,23.3,14.058
$10V_AH,10.1,6.274
$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,26.950,154.950,340.500,29.325,0.000,24.469,28.116,140.867,6.250,0.000,0.000,14.376,1459.981,12639.884,479.584,1787.846,491.224,33.343,1392.029,0.000,1749.725,0.000,43.279,0.000
$DEVICE_MAMPS,161.837,111.215,1241.006,734.786,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,556.650,578.835,451.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38027,793
$CAP_FILE_SIZE,119301,0
$CFSIZE,260165632,256061440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270209,123137,6135.026,-916.162,30,2.0,30,-9.4