version: 66.04
glider: 103
mission: 11
dive: 36
start: 2 28 109 19 6 55
data:
$ID,103
$MISSION,11
$DIVE,36
$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,-143660.25
$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,15
$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
$GPS1,190036,6148.038,-912.478,27,1.9,27,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-62.2
$GPS2,190601,6147.997,-912.292,10,1.8,15,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.088,0.200
$KALMAN_X,-14653.3,678.0,324.4,28818.3,2010.1
$KALMAN_Y,-60584.9,-123.2,-34.4,128839.1,-5758.2
$MHEAD_RNG_PITCHd_Wd,345.6,45394,-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,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,71,0.00,0.00,-53.50,0.000,6,0.000,0.000,48,2741,3502
$GC,75,-1.10,-146.6,2.9,-7.2,2,96,12.15,2.62,0.00,0.000,4,0.161,0.061,2193,1337,3502
$GC,349,-1.10,-146.6,37.8,-7.8,14,354,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2749,3501
$GC,671,-1.10,-146.6,62.1,-8.4,30,675,0.00,2.62,0.00,0.000,4,0.000,0.068,2193,1337,3501
$GC,720,-1.10,-146.6,65.8,-6.8,32,725,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2754,3501
$GC,1037,-1.10,-146.6,91.8,-8.6,47,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2754,3502
$GC,1346,-1.10,-146.6,116.7,-7.0,62,1350,0.00,2.62,0.00,0.000,4,0.000,0.064,2193,1332,3501
$GC,1396,-1.10,-146.6,120.2,-7.1,64,1400,0.00,2.60,0.00,0.000,6,0.000,0.057,2193,2753,3501
$GC,1712,-1.10,-146.6,145.9,-9.2,79,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2753,3502
$GC,2021,-1.10,-146.6,169.7,-8.5,94,2025,0.00,2.62,0.00,0.000,4,0.000,0.066,2193,1333,3501
$GC,2061,-1.10,-146.6,173.6,-10.2,96,2065,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2760,3501
$GC,2388,-1.10,-146.6,201.3,-9.1,112,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2760,3502
$GC,2697,-1.10,-146.6,225.3,-8.0,127,2702,0.00,2.62,0.00,0.000,4,0.000,0.065,2193,1335,3501
$GC,2742,-1.10,-146.6,229.0,-7.7,129,2746,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2759,3502
$GC,3063,-1.10,-146.6,254.4,-7.8,145,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2759,3501
$GC,3372,-1.10,-146.6,277.2,-7.1,160,3376,0.00,2.62,0.00,0.000,4,0.000,0.065,2193,1332,3502
$GC,3444,-1.10,-146.6,282.6,-7.3,163,3449,0.00,2.60,0.00,0.000,6,0.000,0.057,2193,2760,3501
$GC,3760,-1.10,-146.6,305.0,-7.0,178,3764,0.00,2.62,0.00,0.000,4,0.000,0.064,2193,1323,3501
$GC,3800,-1.10,-146.6,307.8,-6.9,180,3804,0.00,2.60,0.00,0.000,6,0.000,0.055,2193,2756,3501
$GC,4127,-1.10,-146.6,332.0,-7.7,196,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2756,3502
$GC,4436,-1.10,-146.6,355.9,-7.9,211,4440,0.00,2.60,0.00,0.000,4,0.000,0.063,2193,1336,3502
$GC,4498,-1.10,-146.6,360.8,-7.7,214,4502,0.00,2.60,0.00,0.000,6,0.000,0.059,2193,2760,3502
$GC,4825,-1.10,-146.6,385.4,-7.4,230,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2760,3502
$GC,5134,-1.10,-146.6,408.5,-7.5,245,5138,0.00,2.62,0.00,0.000,4,0.000,0.064,2193,1331,3502
$GC,5166,-1.10,-146.6,411.2,-7.9,246,5173,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2746,3502
$GC,5482,-1.10,-146.6,436.5,-8.3,262,5487,0.00,2.58,0.00,0.000,4,0.000,0.063,2193,1330,3502
$GC,5510,-1.10,-146.6,438.9,-8.5,263,5514,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2757,3502
$GC,5826,-1.10,-146.6,465.0,-7.7,278,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2757,3502
$GC,6135,-1.10,-146.6,488.0,-7.1,293,6139,0.00,2.60,0.00,0.000,4,0.000,0.064,2193,1336,3502
$GC,6191,-1.10,-146.6,492.3,-8.0,295,6197,0.00,2.58,0.00,0.000,6,0.000,0.059,2193,2752,3502
$GC,6507,-1.10,-146.6,514.5,-7.0,311,6512,0.00,2.58,0.00,0.000,4,0.000,0.062,2193,1333,3502
$GC,6548,-1.10,-146.6,517.7,-8.1,313,6552,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2760,3502
$GC,6874,-1.10,-146.6,542.6,-6.9,329,6878,0.00,2.62,0.00,0.000,4,0.000,0.063,2193,1329,3502
$GC,6924,-1.10,-146.6,546.4,-7.7,331,6928,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2754,3502
$GC,7240,-1.10,-146.6,570.7,-7.9,346,7245,0.00,2.60,0.00,0.000,4,0.000,0.062,2192,1332,3502
$GC,7313,-1.10,-146.6,576.3,-7.7,349,7317,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2758,3502
$GC,7629,-1.10,-146.6,596.0,-6.1,364,7633,0.00,2.60,0.00,0.000,4,0.000,0.060,2192,1330,3502
$GC,7684,-1.10,-146.6,599.9,-6.7,366,7697,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2751,3502
$GC,8000,-1.10,-146.6,621.4,-6.9,382,8004,0.00,2.60,0.00,0.000,4,0.000,0.064,2192,1331,3502
$GC,8067,-1.10,-146.6,625.6,-5.6,385,8072,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2756,3502
$GC,8388,-1.10,-146.6,647.0,-7.6,401,8393,0.00,2.62,0.00,0.000,4,0.000,0.065,2192,1332,3501
$GC,8451,-1.10,-146.6,651.0,-4.9,404,8456,0.00,2.62,0.00,0.000,6,0.000,0.063,2193,2754,3501
$GC,8778,-1.10,-146.6,674.2,-8.4,420,8783,0.00,2.65,0.00,0.000,4,0.000,0.071,2193,1331,3499
$GC,8874,-1.10,-146.6,679.8,-6.8,424,8878,0.00,2.65,0.00,0.000,6,0.000,0.067,2193,2753,3498
$STATE,8919,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8919,begin apogee
$GC,8929,-0.42,0.0,683.8,8.4,426,9055,0.77,0.00,122.85,1.176,6,0.090,0.000,2349,1702,2902
$STATE,9056,end apogee,CONTROL_FINISHED_OK
$STATE,9056,begin climb
$GC,9059,1.10,146.6,687.5,0.0,432,9189,1.55,2.72,122.53,1.126,4,0.057,0.061,2679,3114,2304
$GC,9437,1.11,149.7,681.3,5.9,449,9449,0.00,2.62,4.20,0.793,6,0.000,0.056,2679,1693,2291
$GC,9758,1.20,225.1,665.6,3.9,465,9829,0.00,2.75,62.92,1.168,4,0.000,0.059,2679,3118,1984
$GC,9928,1.20,225.1,654.8,8.0,472,9934,0.00,2.62,0.00,0.000,6,0.000,0.056,2679,1696,1984
$GC,10244,1.23,250.7,635.6,5.3,488,10274,0.12,2.72,22.58,1.151,4,0.045,0.058,2718,3117,1879
$GC,10347,1.23,250.7,626.8,10.2,492,10353,0.00,2.62,0.00,0.000,6,0.000,0.056,2718,1693,1879
$GC,10663,1.23,250.7,602.4,7.8,508,10668,0.00,2.65,0.00,0.000,4,0.000,0.061,2718,3124,1878
$GC,10696,1.23,250.7,599.5,8.2,509,10702,0.00,2.62,0.00,0.000,6,0.000,0.058,2718,1700,1878
$GC,11012,1.23,250.7,571.8,8.4,525,11016,0.00,2.60,0.00,0.000,4,0.000,0.058,2718,3122,1878
$GC,11052,1.23,250.7,568.4,9.0,527,11056,0.00,2.60,0.00,0.000,6,0.000,0.054,2718,1698,1878
$GC,11378,1.23,250.7,544.7,8.1,543,11382,0.00,2.65,0.00,0.000,4,0.000,0.073,2718,289,1877
$GC,11507,1.23,250.7,533.1,9.3,549,11512,0.00,2.53,0.00,0.000,6,0.000,0.038,2718,1720,1877
$GC,11834,1.23,250.7,507.0,7.9,565,11838,0.00,2.53,0.00,0.000,4,0.000,0.060,2718,3111,1877
$GC,12000,1.23,250.7,494.6,7.4,572,12004,0.00,2.58,0.00,0.000,6,0.000,0.053,2718,1694,1877
$GC,12316,1.23,250.7,470.0,8.0,587,12320,0.00,2.58,0.00,0.000,4,0.000,0.055,2718,3109,1877
$GC,12411,1.23,250.7,462.0,8.0,591,12415,0.00,2.55,0.00,0.000,6,0.000,0.051,2718,1700,1877
$GC,12727,1.23,250.7,435.9,8.4,606,12731,0.00,2.58,0.00,0.000,4,0.000,0.056,2718,3116,1877
$GC,12822,1.23,250.7,427.9,7.9,610,12826,0.00,2.58,0.00,0.000,6,0.000,0.051,2718,1691,1877
$GC,13143,1.23,250.7,401.9,8.1,626,13148,0.00,2.58,0.00,0.000,4,0.000,0.055,2718,3109,1878
$GC,13251,1.23,250.7,393.3,8.2,631,13256,0.00,2.55,0.00,0.000,6,0.000,0.049,2718,1689,1878
$GC,13578,1.23,250.7,367.7,7.8,647,13583,0.00,2.60,0.00,0.000,4,0.000,0.058,2718,3114,1878
$GC,13645,1.23,250.7,362.0,8.5,650,13650,0.00,2.58,0.00,0.000,6,0.000,0.051,2718,1688,1878
$GC,13967,1.23,250.7,336.6,8.0,666,13972,0.00,2.60,0.00,0.000,4,0.000,0.058,2718,3113,1879
$GC,14068,1.23,250.7,328.3,8.3,670,14075,0.00,2.55,0.00,0.000,6,0.000,0.054,2718,1699,1879
$GC,14384,1.23,250.7,302.1,8.7,686,14389,0.00,2.58,0.00,0.000,4,0.000,0.058,2718,3114,1880
$GC,14491,1.23,250.7,292.4,8.5,690,14497,0.00,2.55,0.00,0.000,6,0.000,0.053,2719,1698,1880
$GC,14807,1.23,250.7,265.6,8.3,706,14811,0.00,2.58,0.00,0.000,4,0.000,0.059,2718,3109,1880
$GC,14896,1.23,250.7,258.2,7.8,710,14901,0.00,2.55,0.00,0.000,6,0.000,0.053,2718,1698,1881
$GC,15218,1.23,250.7,229.8,9.1,726,15223,0.00,2.58,0.00,0.000,4,0.000,0.056,2718,3117,1881
$GC,15291,1.23,250.7,223.0,9.3,729,15295,0.00,2.58,0.00,0.000,6,0.000,0.054,2719,1696,1881
$GC,15607,1.23,250.7,196.2,8.3,744,15611,0.00,2.58,0.00,0.000,4,0.000,0.059,2718,3112,1881
$GC,15709,1.23,250.7,187.5,8.2,748,15715,0.00,2.58,0.00,0.000,6,0.000,0.053,2718,1688,1881
$GC,16025,1.23,250.7,162.4,7.5,764,16029,0.00,2.58,0.00,0.000,4,0.000,0.058,2718,3104,1881
$GC,16110,1.23,250.7,155.5,8.7,768,16114,0.00,2.55,0.00,0.000,6,0.000,0.054,2719,1693,1882
$GC,16437,1.23,250.7,128.5,8.6,784,16441,0.00,2.58,0.00,0.000,4,0.000,0.058,2718,3110,1882
$GC,16515,1.23,250.7,121.6,9.1,787,16522,0.00,2.55,0.00,0.000,6,0.000,0.054,2718,1693,1882
$GC,16831,1.23,250.7,94.3,8.3,803,16835,0.00,2.58,0.00,0.000,4,0.000,0.059,2718,3107,1882
$GC,16931,1.23,250.7,85.4,9.1,807,16938,0.00,2.55,0.00,0.000,6,0.000,0.054,2718,1690,1882
$GC,17248,1.23,250.7,58.8,8.6,823,17252,0.00,2.58,0.00,0.000,4,0.000,0.058,2719,3107,1883
$GC,17348,1.23,250.7,49.9,7.6,827,17354,0.00,2.53,0.00,0.000,6,0.000,0.054,2718,1699,1883
$GC,17665,1.23,250.7,23.2,8.8,843,17670,0.00,2.58,0.00,0.000,4,0.000,0.059,2718,3112,1883
$GC,17773,1.23,250.7,14.9,8.1,848,17778,0.00,2.58,0.00,0.000,6,0.000,0.055,2719,1691,1883
$STATE,17933,end climb,SURFACE_DEPTH_REACHED
$STATE,17933,begin surface coast
$FINISH,0.2,1.027451
$STATE,17955,end surface coast,CONTROL_FINISHED_OK
$STATE,17955,begin surface
$SM_CCo,17980,33.15,0.736,0,0,1678,300.00
$SM_GC,1.52,0.00,0.00,33.15,0.000,0.000,0.736,49,2738,1678,-11.00,-0.34,300.00
$IRIDIUM_FIX,6126.23,-908.29,250598,141426
$TT8_MAMPS,0.029146
$HUMID,1767
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,600.2,92.1
$24V_AH,23.3,15.124
$10V_AH,10.1,6.867
$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,26.325,206.600,335.075,33.150,0.000,29.891,28.388,138.596,6.250,0.000,0.000,15.966,1642.812,13454.221,545.482,2164.711,533.260,33.362,1627.716,0.000,2116.609,0.000,35.147,0.000
$DEVICE_MAMPS,161.070,72.865,1175.811,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.951,620.642,519.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44215,857
$CAP_FILE_SIZE,140009,0
$CFSIZE,260165632,255598592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010309,000830,6151.945,-911.160,40,1.5,40,-9.4