version: 66.04
glider: 103
mission: 11
dive: 35
start: 2 28 109 14 5 8
data:
$ID,103
$MISSION,11
$DIVE,35
$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,550
$T_MISSION,580
$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,-143643.66
$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,18
$R_STBD_OVSHOOT,28
$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
$GPS1,135837,6147.342,-909.731,34,1.2,34,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-59.5
$GPS2,140414,6147.321,-909.600,12,1.2,12,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.138,0.170
$KALMAN_X,-17482.1,876.4,514.3,33622.2,184.3
$KALMAN_Y,-56326.7,122.9,115.6,122881.3,-1639.2
$MHEAD_RNG_PITCHd_Wd,330.4,47949,-11.1,-6.000
$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,-1.10,-146.6,0.0,0.0,0,69,0.00,0.00,-51.47,0.000,2,0.000,0.000,51,2740,3418
$GC,72,-1.10,-146.6,4.9,-8.3,3,95,12.18,2.65,-1.23,0.000,4,0.162,0.080,2193,1337,3502
$GC,247,-1.10,-146.6,30.4,-8.9,10,253,0.00,2.60,0.00,0.000,6,0.000,0.065,2193,2743,3502
$GC,564,-1.10,-146.6,56.4,-6.1,26,565,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2743,3502
$GC,872,-1.10,-146.6,77.0,-7.4,41,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2743,3502
$GC,1181,-1.10,-146.6,99.4,-7.7,56,1186,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1329,3502
$GC,1215,-1.10,-146.6,102.4,-8.0,57,1221,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2747,3502
$GC,1532,-1.10,-146.6,127.8,-7.8,73,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2747,3502
$GC,1841,-1.10,-146.6,151.1,-7.6,88,1845,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1332,3502
$GC,1875,-1.10,-146.6,153.9,-7.7,89,1881,0.00,2.62,0.00,0.000,6,0.000,0.063,2193,2753,3502
$GC,2190,-1.10,-146.6,180.9,-8.9,105,2195,0.00,2.62,0.00,0.000,4,0.000,0.066,2193,1333,3502
$GC,2231,-1.10,-146.6,184.5,-9.0,107,2235,0.00,2.60,0.00,0.000,6,0.000,0.057,2193,2762,3502
$GC,2557,-1.10,-146.6,213.0,-7.9,123,2561,0.00,2.65,0.00,0.000,4,0.000,0.067,2193,1331,3502
$GC,2584,-1.10,-146.6,215.5,-8.9,124,2589,0.00,2.60,0.00,0.000,6,0.000,0.056,2193,2755,3502
$GC,2900,-1.10,-146.6,239.6,-7.4,139,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2755,3502
$GC,3209,-1.10,-146.6,262.5,-7.2,154,3213,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1335,3502
$GC,3249,-1.10,-146.6,265.4,-7.6,156,3254,0.00,2.58,0.00,0.000,6,0.000,0.058,2194,2748,3502
$GC,3576,-1.10,-146.6,290.2,-7.6,172,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2747,3502
$GC,3885,-1.10,-146.6,314.0,-7.7,187,3889,0.00,2.60,0.00,0.000,4,0.000,0.064,2193,1333,3502
$GC,3924,-1.10,-146.6,317.0,-7.7,189,3929,0.00,2.58,0.00,0.000,6,0.000,0.055,2193,2753,3502
$GC,4251,-1.10,-146.6,342.6,-7.8,205,4256,0.00,2.60,0.00,0.000,4,0.000,0.064,2193,1338,3502
$GC,4285,-1.10,-146.6,345.3,-8.1,206,4291,0.00,2.58,0.00,0.000,6,0.000,0.054,2193,2757,3502
$GC,4601,-1.10,-146.6,369.0,-7.9,222,4605,0.00,2.60,0.00,0.000,4,0.000,0.064,2193,1334,3502
$GC,4651,-1.10,-146.6,373.0,-7.5,224,4655,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2751,3502
$GC,4966,-1.10,-146.6,397.2,-7.4,239,4968,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2751,3502
$GC,5276,-1.10,-146.6,419.4,-7.0,254,5280,0.00,2.60,0.00,0.000,4,0.000,0.061,2193,1328,3502
$GC,5326,-1.10,-146.6,423.1,-7.6,256,5331,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2753,3503
$GC,5648,-1.10,-146.6,447.0,-7.7,272,5652,0.00,2.60,0.00,0.000,4,0.000,0.062,2193,1330,3502
$GC,5675,-1.10,-146.6,449.2,-8.1,273,5680,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2757,3503
$GC,5997,-1.10,-146.6,472.4,-7.1,289,6001,0.00,2.60,0.00,0.000,4,0.000,0.063,2193,1336,3502
$GC,6030,-1.10,-146.6,474.8,-7.1,290,6037,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2759,3503
$GC,6346,-1.10,-146.6,496.4,-6.7,306,6350,0.00,2.60,0.00,0.000,4,0.000,0.061,2193,1330,3502
$GC,6373,-1.10,-146.6,498.2,-6.2,307,6378,0.00,2.60,0.00,0.000,6,0.000,0.056,2193,2761,3503
$GC,6689,-1.10,-146.6,518.5,-6.8,322,6693,0.00,2.60,0.00,0.000,4,0.000,0.061,2193,1336,3503
$GC,6722,-1.10,-146.6,520.9,-7.4,323,6728,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2751,3503
$GC,7038,-1.10,-146.6,543.0,-6.8,339,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2751,3503
$GC,7347,-1.10,-146.6,564.1,-6.8,354,7351,0.00,2.58,0.00,0.000,4,0.000,0.058,2193,1330,3502
$GC,7386,-1.10,-146.6,566.8,-7.2,355,7392,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2763,3503
$GC,7702,-1.10,-146.6,587.7,-6.8,371,7703,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2763,3502
$GC,8011,-1.10,-146.6,610.9,-6.6,386,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2763,3503
$GC,8321,-1.10,-146.6,629.3,-6.0,401,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2763,3502
$GC,8630,-1.10,-146.6,648.9,-3.9,416,8634,0.00,2.62,0.00,0.000,4,0.000,0.064,2193,1332,3502
$GC,8738,-1.10,-146.6,653.8,-3.6,421,8742,0.00,2.58,0.00,0.000,6,0.000,0.057,2193,2751,3501
$GC,9064,-1.10,-146.6,673.3,-7.0,437,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2751,3501
$STATE,9309,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9309,begin apogee
$GC,9319,-0.42,0.0,695.5,5.7,449,9445,0.75,0.00,123.20,1.196,6,0.083,0.000,2348,1696,2902
$STATE,9446,end apogee,CONTROL_FINISHED_OK
$STATE,9446,begin climb
$GC,9449,1.10,146.6,701.8,0.0,455,9582,1.55,2.78,122.47,1.127,4,0.057,0.074,2678,293,2304
$GC,9655,1.27,283.9,705.2,2.2,464,9778,0.17,2.55,115.05,1.114,6,0.040,0.039,2732,1731,1744
$GC,10095,1.27,283.9,671.3,9.4,486,10099,0.00,2.53,0.00,0.000,4,0.000,0.059,2731,3106,1743
$GC,10145,1.27,283.9,665.9,9.6,488,10149,0.00,2.60,0.00,0.000,6,0.000,0.054,2732,1691,1743
$GC,10460,1.27,283.9,634.8,10.7,503,10461,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1691,1742
$GC,10770,1.27,283.9,605.3,8.9,518,10774,0.00,2.62,0.00,0.000,4,0.000,0.062,2731,3104,1741
$GC,10967,1.27,283.9,587.9,8.6,526,10974,0.00,2.60,0.00,0.000,6,0.000,0.057,2731,1691,1741
$GC,11283,1.27,283.9,560.6,8.6,542,11288,0.00,2.60,0.00,0.000,4,0.000,0.060,2731,3100,1740
$GC,11384,1.27,283.9,552.2,8.4,546,11391,0.00,2.58,0.00,0.000,6,0.000,0.054,2731,1689,1740
$GC,11700,1.27,283.9,527.8,8.1,562,11704,0.00,2.58,0.00,0.000,4,0.000,0.057,2731,3099,1740
$GC,11762,1.27,283.9,522.0,9.1,565,11767,0.00,2.55,0.00,0.000,6,0.000,0.051,2732,1690,1740
$GC,12089,1.27,283.9,489.1,10.3,581,12093,0.00,2.58,0.00,0.000,4,0.000,0.056,2731,3105,1740
$GC,12206,1.27,283.9,477.3,9.8,586,12211,0.00,2.55,0.00,0.000,6,0.000,0.050,2732,1687,1740
$GC,12523,1.27,283.9,448.7,8.5,601,12527,0.00,2.58,0.00,0.000,4,0.000,0.055,2731,3107,1740
$GC,12634,1.27,283.9,439.5,7.4,606,12639,0.00,2.55,0.00,0.000,6,0.000,0.051,2732,1693,1741
$GC,12956,1.27,283.9,415.0,7.7,622,12960,0.00,2.55,0.00,0.000,4,0.000,0.055,2732,3097,1742
$GC,13041,1.27,283.9,407.9,8.3,626,13045,0.00,2.53,0.00,0.000,6,0.000,0.051,2732,1697,1742
$GC,13368,1.27,283.9,379.8,8.6,642,13372,0.00,2.55,0.00,0.000,4,0.000,0.056,2732,3101,1743
$GC,13463,1.27,283.9,371.8,8.4,646,13467,0.00,2.53,0.00,0.000,6,0.000,0.051,2732,1701,1743
$GC,13779,1.27,283.9,346.3,8.2,661,13783,0.00,2.53,0.00,0.000,4,0.000,0.056,2731,3095,1743
$GC,13874,1.27,283.9,338.7,7.5,665,13878,0.00,2.53,0.00,0.000,6,0.000,0.051,2732,1696,1743
$GC,14201,1.27,283.9,314.6,7.0,681,14206,0.00,2.55,0.00,0.000,4,0.000,0.059,2731,3094,1743
$GC,14315,1.27,283.9,306.2,7.5,686,14319,0.00,2.53,0.00,0.000,6,0.000,0.052,2732,1696,1743
$GC,14636,1.27,283.9,279.9,8.9,702,14640,0.00,2.58,0.00,0.000,4,0.000,0.060,2731,3101,1743
$GC,14731,1.27,283.9,270.9,9.2,706,14735,0.00,2.55,0.00,0.000,6,0.000,0.053,2732,1692,1743
$GC,15047,1.27,283.9,240.7,9.6,721,15051,0.00,2.58,0.00,0.000,4,0.000,0.060,2732,3103,1744
$GC,15138,1.27,283.9,232.1,9.3,725,15142,0.00,2.55,0.00,0.000,6,0.000,0.054,2731,1693,1744
$GC,15464,1.27,283.9,202.1,9.1,741,15469,0.00,2.58,0.00,0.000,4,0.000,0.061,2732,3100,1744
$GC,15577,1.27,283.9,191.7,9.8,746,15581,0.00,2.55,0.00,0.000,6,0.000,0.054,2731,1693,1744
$GC,15897,1.27,283.9,160.7,10.3,762,15902,0.00,2.58,0.00,0.000,4,0.000,0.060,2732,3101,1745
$GC,15987,1.27,283.9,150.7,12.4,766,15991,0.00,2.53,0.00,0.000,6,0.000,0.052,2732,1700,1745
$GC,16308,1.27,283.9,118.8,9.7,782,16313,0.00,2.55,0.00,0.000,4,0.000,0.061,2732,3095,1745
$GC,16409,1.27,283.9,109.1,9.8,786,16416,0.00,2.53,0.00,0.000,6,0.000,0.056,2732,1694,1745
$GC,16727,1.27,283.9,79.8,8.0,802,16731,0.00,2.58,0.00,0.000,4,0.000,0.060,2732,3104,1745
$GC,16767,1.27,283.9,76.5,8.1,804,16771,0.00,2.53,0.00,0.000,6,0.000,0.053,2732,1701,1745
$GC,17094,1.27,283.9,46.4,10.5,820,17098,0.00,2.55,0.00,0.000,4,0.000,0.060,2732,3098,1746
$GC,17134,1.27,283.9,43.0,8.9,822,17138,0.00,2.53,0.00,0.000,6,0.000,0.054,2732,1702,1746
$GC,17461,1.27,283.9,13.3,9.1,838,17465,0.00,2.58,0.00,0.000,4,0.000,0.063,2732,3102,1746
$GC,17523,1.27,283.9,8.0,9.1,841,17527,0.00,2.55,0.00,0.000,6,0.000,0.058,2732,1699,1746
$STATE,17599,end climb,SURFACE_DEPTH_REACHED
$STATE,17600,begin surface coast
$FINISH,0.2,1.015036
$STATE,17621,end surface coast,CONTROL_FINISHED_OK
$STATE,17622,begin surface
$SM_CCo,17647,12.15,0.711,0,0,1678,300.00
$SM_GC,1.87,0.00,0.00,12.15,0.000,0.000,0.711,48,2739,1678,-11.00,-0.31,300.00
$IRIDIUM_FIX,6117.23,-906.85,250598,080817
$TT8_MAMPS,0.029146
$HUMID,1764
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,625.4,79.5
$24V_AH,23.3,14.995
$10V_AH,10.1,6.781
$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,26.375,184.600,360.725,12.150,0.000,28.269,27.331,152.599,5.750,0.000,0.000,12.813,1583.612,13364.631,492.814,2016.661,538.892,33.361,1526.134,0.000,1974.054,0.000,36.730,0.000
$DEVICE_MAMPS,161.837,79.768,1195.753,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,595.751,619.128,516.557,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44338,846
$CAP_FILE_SIZE,132617,0
$CFSIZE,260165632,255672320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280209,190036,6148.038,-912.478,27,1.9,27,-9.4