version: 66.04
glider: 103
mission: 11
dive: 87
start: 3 12 109 18 33 25
data:
$ID,103
$MISSION,11
$DIVE,87
$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,225
$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,-144695.62
$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,2650
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,7
$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
$GPS1,182407,6219.377,-1046.724,36,1.0,36,-10.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-59.6
$GPS2,183232,6219.347,-1046.659,13,1.7,13,-10.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.111,0.188
$KALMAN_X,34366.4,111.9,-1689.7,-86851.1,1911.5
$KALMAN_Y,-16372.7,231.7,-550.4,54731.7,-12568.3
$MHEAD_RNG_PITCHd_Wd,340.0,15508,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.75,0.000,2,0.000,0.000,48,2647,3047
$GC,62,-1.10,-146.6,3.3,-7.7,2,89,12.12,2.65,-8.60,0.000,4,0.158,0.087,2193,1243,3502
$GC,130,-1.10,-146.6,12.9,-8.8,5,134,0.00,2.65,0.00,0.000,6,0.000,0.067,2193,2659,3503
$GC,451,-1.10,-146.6,39.5,-9.2,21,454,0.00,2.17,0.00,0.000,4,0.000,0.094,2193,3783,3503
$GC,519,-1.10,-146.6,44.7,-7.3,24,523,0.00,2.05,0.00,0.000,6,0.000,0.055,2193,2652,3503
$GC,853,-1.10,-146.6,69.7,-8.3,40,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,1162,-1.10,-146.6,94.4,-7.7,55,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,1471,-1.10,-146.6,118.4,-7.4,70,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,1782,-1.10,-146.6,140.6,-7.3,85,1786,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3784,3502
$GC,1821,-1.10,-146.6,143.7,-7.8,86,1827,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2639,3502
$GC,2137,-1.10,-146.6,168.4,-8.5,102,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3502
$GC,2446,-1.10,-146.6,196.1,-9.7,117,2450,0.00,2.22,0.00,0.000,4,0.000,0.089,2193,3787,3502
$GC,2493,-1.10,-146.6,200.5,-9.2,119,2497,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2645,3502
$GC,2825,-1.10,-146.6,229.6,-8.5,135,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3502
$GC,3135,-1.10,-146.6,255.1,-7.8,150,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3502
$GC,3444,-1.10,-146.6,279.2,-8.0,165,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3501
$GC,3753,-1.10,-146.6,304.1,-8.5,180,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3501
$GC,4063,-1.10,-146.6,329.3,-8.2,195,4066,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3782,3501
$GC,4108,-1.10,-146.6,333.1,-8.8,197,4112,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2640,3501
$GC,4441,-1.10,-146.6,362.0,-9.0,213,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3501
$GC,4751,-1.10,-146.6,389.9,-9.0,228,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3501
$GC,5060,-1.10,-146.6,418.8,-9.4,243,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3501
$GC,5369,-1.10,-146.6,446.2,-8.8,258,5372,0.00,2.22,0.00,0.000,4,0.000,0.088,2193,3792,3501
$GC,5419,-1.10,-146.6,450.8,-9.5,260,5423,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2650,3501
$GC,5747,-1.10,-146.6,478.2,-8.2,276,5748,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,6058,-1.10,-146.6,500.6,-6.9,291,6060,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,6366,-1.10,-146.6,519.5,-6.3,306,6370,0.00,2.58,0.00,0.000,4,0.000,0.067,2193,1234,3501
$GC,6388,-1.10,-146.6,520.8,-5.5,307,6392,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2653,3501
$GC,6709,-1.10,-146.6,536.3,-4.5,323,6713,0.00,2.15,0.00,0.000,4,0.000,0.088,2194,3785,3501
$GC,6749,-1.10,-146.6,538.3,-5.3,324,6755,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2640,3501
$GC,7067,-1.10,-146.6,550.4,-3.9,340,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3501
$GC,7374,-1.10,-146.6,562.6,-4.4,355,7378,0.00,2.22,0.00,0.000,4,0.000,0.089,2193,3789,3501
$GC,7413,-1.10,-146.6,564.9,-6.4,356,7419,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2645,3501
$GC,7729,-1.10,-146.6,583.4,-6.5,372,7733,0.00,2.58,0.00,0.000,4,0.000,0.068,2193,1226,3501
$GC,7775,-1.10,-146.6,586.8,-7.0,374,7779,0.00,2.58,0.00,0.000,6,0.000,0.057,2193,2652,3501
$GC,8102,-1.10,-146.6,610.6,-7.4,390,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3502
$GC,8411,-1.10,-146.6,634.7,-7.4,405,8414,0.00,2.15,0.00,0.000,4,0.000,0.087,2193,3787,3501
$GC,8438,-1.10,-146.6,636.6,-7.0,406,8442,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2647,3501
$GC,8766,-1.10,-146.6,660.5,-6.4,422,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,9075,-1.10,-146.6,683.3,-8.2,437,9079,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3789,3501
$GC,9122,-1.10,-146.6,687.5,-10.0,439,9126,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2650,3501
$GC,9455,-1.10,-146.6,715.6,-6.8,455,9456,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3500
$GC,9765,-1.10,-146.6,730.9,-5.4,470,9769,0.00,2.58,0.00,0.000,4,0.000,0.070,2193,1239,3500
$GC,9822,-1.10,-146.6,735.2,-7.3,472,9828,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2660,3500
$STATE,9970,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9970,begin apogee
$GC,9978,-0.42,0.0,747.2,8.2,480,10106,0.77,0.00,124.82,1.143,6,0.094,0.000,2347,1990,2902
$STATE,10107,end apogee,CONTROL_FINISHED_OK
$STATE,10107,begin climb
$GC,10110,1.10,146.6,753.7,0.0,486,10243,1.55,2.72,122.55,1.114,4,0.056,0.065,2680,585,2304
$GC,10353,1.18,206.0,751.2,4.4,497,10411,0.00,2.55,51.28,1.094,6,0.000,0.039,2680,2022,2062
$GC,10723,1.18,206.0,725.8,6.6,515,10728,0.00,2.70,0.00,0.000,4,0.000,0.069,2679,582,2061
$GC,10835,1.18,206.0,719.1,6.5,520,10840,0.00,2.53,0.00,0.000,6,0.000,0.043,2679,1997,2060
$GC,11156,1.18,206.0,698.9,6.0,536,11161,0.00,2.62,0.00,0.000,4,0.000,0.069,2679,3406,2059
$GC,11241,1.23,248.0,694.1,4.8,540,11285,0.12,2.58,35.47,1.120,6,0.047,0.051,2718,1986,1891
$GC,11597,1.23,248.0,672.7,6.0,557,11602,0.00,2.58,0.00,0.000,4,0.000,0.064,2718,588,1890
$GC,11637,1.23,248.0,669.2,8.2,559,11642,0.00,2.50,0.00,0.000,6,0.000,0.038,2718,2006,1890
$GC,11965,1.23,248.0,643.1,8.6,575,11969,0.00,2.60,0.00,0.000,4,0.000,0.066,2718,3414,1890
$GC,12004,1.23,248.0,639.2,9.5,577,12009,0.00,2.55,0.00,0.000,6,0.000,0.046,2718,1989,1889
$GC,12331,1.23,248.0,606.7,10.4,593,12333,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1989,1889
$GC,12641,1.23,248.0,580.3,7.5,608,12645,0.00,2.53,0.00,0.000,4,0.000,0.061,2718,597,1889
$GC,12786,1.23,248.0,567.8,9.5,614,12792,0.00,2.47,0.00,0.000,6,0.000,0.036,2718,2014,1889
$GC,13102,1.23,248.0,541.7,7.4,630,13103,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2015,1889
$GC,13411,1.23,248.0,520.7,6.2,645,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2015,1890
$GC,13720,1.23,248.0,498.6,7.9,660,13724,0.00,2.60,0.00,0.000,4,0.000,0.060,2718,593,1890
$GC,13754,1.23,248.0,495.5,8.2,661,13758,0.00,2.47,0.00,0.000,6,0.000,0.037,2719,2009,1890
$GC,14075,1.24,260.4,475.0,5.7,677,14096,0.00,2.67,11.73,0.911,4,0.000,0.065,2719,3410,1840
$GC,14136,1.25,263.7,471.1,5.9,679,14146,0.00,2.55,4.62,0.705,6,0.000,0.047,2718,1994,1827
$GC,14474,1.25,263.7,450.1,6.7,696,14475,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1995,1827
$GC,14783,1.25,263.7,425.6,8.4,711,14788,0.00,2.55,0.00,0.000,4,0.000,0.061,2719,588,1827
$GC,14817,1.25,263.7,422.4,8.4,712,14823,0.00,2.47,0.00,0.000,6,0.000,0.038,2718,2004,1827
$GC,15133,1.25,263.7,394.3,8.8,728,15134,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2004,1828
$GC,15442,1.25,263.7,366.6,8.9,743,15443,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2004,1828
$GC,15751,1.25,263.7,339.4,8.6,758,15755,0.00,2.58,0.00,0.000,4,0.000,0.066,2719,3411,1828
$GC,15796,1.25,263.7,335.4,8.7,760,15801,0.00,2.53,0.00,0.000,6,0.000,0.050,2719,2005,1828
$GC,16124,1.25,263.7,307.3,8.5,776,16125,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2005,1828
$GC,16433,1.25,263.7,281.0,8.6,791,16437,0.00,2.62,0.00,0.000,4,0.000,0.067,2718,3415,1829
$GC,16477,1.25,263.7,277.2,8.7,793,16482,0.00,2.55,0.00,0.000,6,0.000,0.051,2719,1997,1829
$GC,16799,1.25,263.7,252.0,7.6,809,16803,0.00,2.58,0.00,0.000,4,0.000,0.064,2718,581,1829
$GC,16832,1.25,263.7,249.2,7.5,810,16838,0.00,2.47,0.00,0.000,6,0.000,0.038,2719,2008,1829
$GC,17148,1.25,263.7,224.7,7.9,826,17150,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2008,1829
$GC,17457,1.25,263.7,201.6,8.0,841,17459,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2007,1829
$GC,17767,1.25,263.7,179.0,8.4,856,17771,0.00,2.60,0.00,0.000,4,0.000,0.063,2719,585,1829
$GC,17806,1.25,263.7,175.7,8.3,858,17810,0.00,2.47,0.00,0.000,6,0.000,0.039,2718,2006,1829
$GC,18139,1.25,263.7,150.0,6.3,874,18140,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2007,1830
$GC,18449,1.25,263.7,123.7,9.3,889,18453,0.00,2.58,0.00,0.000,4,0.000,0.067,2718,3407,1830
$GC,18481,1.25,263.7,120.5,10.0,890,18488,0.00,2.53,0.00,0.000,6,0.000,0.053,2719,1999,1830
$GC,18799,1.25,263.7,91.7,9.3,906,18800,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1999,1830
$GC,19107,1.25,263.7,65.5,8.6,921,19108,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1999,1830
$GC,19416,1.25,263.7,38.3,8.8,936,19417,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1998,1830
$GC,19726,1.25,263.7,14.0,7.3,951,19727,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1998,1831
$STATE,19908,end climb,SURFACE_DEPTH_REACHED
$STATE,19908,begin surface coast
$FINISH,0.5,1.014524
$STATE,19930,end surface coast,CONTROL_FINISHED_OK
$STATE,19930,begin surface
$SM_CCo,20015,0.00,0.000,0,0,1830,262.96
$SM_GC,1.73,11.75,0.00,0.00,0.031,0.000,0.000,48,2652,1830,-10.93,0.06,262.96
$IRIDIUM_FIX,6158.08,-1047.71,060698,181854
$TT8_MAMPS,0.028379
$HUMID,1758
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.5,30.4
$24V_AH,23.4,22.030
$10V_AH,10.1,11.459
$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,26.325,133.225,350.475,0.000,0.000,55.360,113.715,147.243,6.500,0.000,0.000,13.537,1712.530,15722.665,444.920,1977.590,661.529,33.356,1439.334,0.000,1941.536,0.000,45.896,0.000
$DEVICE_MAMPS,158.002,93.574,1142.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,672.622,709.143,569.380,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47430,961
$CAP_FILE_SIZE,130492,0
$CFSIZE,260165632,252289024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,000827,6222.614,-1045.559,29,2.5,48,-10.5