version: 66.04
glider: 103
mission: 11
dive: 88
start: 3 13 109 0 15 24
data:
$ID,103
$MISSION,11
$DIVE,88
$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,-144729.41
$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,19
$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
$GPS1,000827,6222.614,-1045.559,29,2.5,48,-10.5
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-60.0
$GPS2,001431,6222.612,-1045.473,12,1.3,30,-10.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.118,0.184
$KALMAN_X,40354.5,227.7,-2765.7,-90891.2,5103.7
$KALMAN_Y,-13414.3,1153.3,-2940.7,59213.6,-6505.4
$MHEAD_RNG_PITCHd_Wd,337.9,13219,-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,-41.80,0.000,2,0.000,0.000,48,2656,3222
$GC,62,-1.10,-146.6,3.9,-10.0,2,86,12.23,2.20,-4.70,0.000,4,0.162,0.104,2195,3788,3502
$GC,181,-1.10,-146.6,23.2,-11.1,7,185,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2651,3502
$GC,510,-1.10,-146.6,54.8,-9.0,23,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,818,-1.10,-146.6,79.0,-7.9,38,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,1127,-1.10,-146.6,100.7,-6.7,53,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,1436,-1.10,-146.6,123.2,-7.3,68,1440,0.00,2.20,0.00,0.000,4,0.000,0.091,2195,3783,3502
$GC,1487,-1.10,-146.6,127.3,-7.4,70,1491,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2642,3502
$GC,1815,-1.10,-146.6,150.3,-6.6,86,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,2124,-1.10,-146.6,170.7,-6.1,101,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,2433,-1.10,-146.6,192.5,-7.5,116,2437,0.00,2.22,0.00,0.000,4,0.000,0.090,2195,3789,3501
$GC,2467,-1.10,-146.6,195.1,-7.6,117,2471,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2642,3502
$GC,2789,-1.10,-146.6,215.0,-5.8,133,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,3098,-1.10,-146.6,233.8,-6.3,148,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,3408,-1.10,-146.6,253.4,-5.9,163,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,3717,-1.10,-146.6,272.5,-5.9,178,3720,0.00,2.20,0.00,0.000,4,0.000,0.089,2195,3782,3502
$GC,3762,-1.10,-146.6,275.5,-6.4,180,3766,0.00,2.05,0.00,0.000,6,0.000,0.057,2195,2643,3501
$GC,4096,-1.10,-146.6,295.2,-5.1,196,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,4405,-1.10,-146.6,315.7,-6.7,211,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,4714,-1.10,-146.6,337.7,-7.0,226,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,5023,-1.10,-146.6,359.5,-7.4,241,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,5333,-1.10,-146.6,383.6,-7.9,256,5336,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3789,3502
$GC,5378,-1.10,-146.6,387.6,-8.7,258,5382,0.00,2.05,0.00,0.000,6,0.000,0.056,2195,2651,3502
$GC,5711,-1.10,-146.6,413.8,-8.0,274,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3502
$GC,6020,-1.10,-146.6,440.4,-8.4,289,6021,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3502
$GC,6329,-1.10,-146.6,467.5,-9.2,304,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3502
$GC,6639,-1.10,-146.6,493.9,-8.2,319,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3502
$GC,6948,-1.10,-146.6,519.1,-8.2,334,6952,0.00,2.60,0.00,0.000,4,0.000,0.069,2195,1224,3502
$GC,6988,-1.10,-146.6,522.5,-8.8,336,6993,0.00,2.60,0.00,0.000,6,0.000,0.059,2195,2655,3502
$GC,7315,-1.10,-146.6,553.8,-10.3,352,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2655,3502
$GC,7624,-1.10,-146.6,579.7,-8.0,367,7625,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2655,3502
$GC,7933,-1.10,-146.6,602.7,-6.6,382,7937,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3790,3501
$GC,7995,-1.10,-146.6,607.3,-7.8,384,8001,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2643,3501
$GC,8315,-1.10,-146.6,625.7,-5.6,400,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3501
$GC,8620,-1.10,-146.6,650.8,-9.3,415,8621,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,8929,-1.10,-146.6,673.6,-6.5,430,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3500
$GC,9239,-1.10,-146.6,691.2,-5.8,445,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3500
$GC,9548,-1.10,-146.6,707.0,-3.9,460,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3500
$STATE,9689,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9689,begin apogee
$GC,9697,-0.42,0.0,715.7,6.6,467,9825,0.75,0.00,124.38,1.124,6,0.089,0.000,2346,1990,2903
$STATE,9826,end apogee,CONTROL_FINISHED_OK
$STATE,9826,begin climb
$GC,9829,1.10,146.6,720.4,0.0,473,9962,1.55,2.75,122.53,1.094,4,0.053,0.058,2680,3425,2304
$GC,10132,1.14,176.9,709.1,5.2,487,10166,0.00,2.58,26.80,1.050,6,0.000,0.044,2680,1990,2180
$GC,10486,1.34,337.2,693.2,1.6,504,10632,0.20,2.80,134.45,1.095,4,0.035,0.065,2744,3422,1527
$GC,10770,1.34,337.2,678.1,8.3,517,10775,0.00,2.60,0.00,0.000,6,0.000,0.049,2744,1992,1526
$GC,11097,1.34,337.2,650.0,10.1,533,11101,0.00,2.60,0.00,0.000,4,0.000,0.065,2744,586,1526
$GC,11130,1.34,337.2,646.4,10.5,534,11136,0.00,2.53,0.00,0.000,6,0.000,0.039,2744,2013,1526
$GC,11446,1.34,337.2,616.8,9.3,550,11447,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2013,1526
$GC,11755,1.34,337.2,586.6,10.2,565,11760,0.00,2.58,0.00,0.000,4,0.000,0.065,2744,3411,1525
$GC,11783,1.34,337.2,583.6,11.0,566,11788,0.00,2.55,0.00,0.000,6,0.000,0.045,2744,1989,1525
$GC,12099,1.34,337.2,550.2,10.7,581,12103,0.00,2.55,0.00,0.000,4,0.000,0.061,2744,589,1525
$GC,12208,1.34,337.2,538.1,11.3,585,12214,0.00,2.47,0.00,0.000,6,0.000,0.038,2744,2007,1525
$GC,12524,1.34,337.2,506.3,10.2,601,12528,0.00,2.58,0.00,0.000,4,0.000,0.064,2744,3412,1525
$GC,12563,1.34,337.2,501.9,10.6,603,12568,0.00,2.53,0.00,0.000,6,0.000,0.045,2744,1998,1525
$GC,12891,1.34,337.2,467.2,10.4,619,12895,0.00,2.55,0.00,0.000,4,0.000,0.061,2744,591,1526
$GC,12935,1.34,337.2,462.2,10.4,621,12939,0.00,2.47,0.00,0.000,6,0.000,0.038,2744,2002,1526
$GC,13256,1.34,337.2,429.1,10.1,637,13260,0.00,2.58,0.00,0.000,4,0.000,0.064,2744,3408,1526
$GC,13296,1.34,337.2,424.9,10.7,639,13300,0.00,2.53,0.00,0.000,6,0.000,0.048,2744,1997,1526
$GC,13623,1.34,337.2,391.8,10.4,655,13627,0.00,2.55,0.00,0.000,4,0.000,0.061,2744,591,1526
$GC,13667,1.34,337.2,387.1,10.5,657,13671,0.00,2.47,0.00,0.000,6,0.000,0.039,2744,2001,1526
$GC,13994,1.34,337.2,355.4,9.8,673,13998,0.00,2.60,0.00,0.000,4,0.000,0.065,2744,3420,1526
$GC,14027,1.34,337.2,352.0,9.8,674,14033,0.00,2.55,0.00,0.000,6,0.000,0.048,2744,1997,1526
$GC,14342,1.34,337.2,322.0,9.5,690,14347,0.00,2.58,0.00,0.000,4,0.000,0.063,2744,583,1526
$GC,14370,1.34,337.2,319.2,10.5,691,14375,0.00,2.50,0.00,0.000,6,0.000,0.039,2744,2007,1526
$GC,14687,1.34,337.2,288.3,9.9,706,14691,0.00,2.58,0.00,0.000,4,0.000,0.067,2744,3412,1527
$GC,14714,1.34,337.2,285.3,10.7,707,14719,0.00,2.55,0.00,0.000,6,0.000,0.050,2744,1994,1527
$GC,15036,1.34,337.2,254.1,9.7,723,15040,0.00,2.55,0.00,0.000,4,0.000,0.064,2744,591,1527
$GC,15063,1.34,337.2,251.2,10.0,724,15067,0.00,2.47,0.00,0.000,6,0.000,0.041,2744,1998,1527
$GC,15385,1.34,337.2,219.3,10.2,740,15389,0.00,2.60,0.00,0.000,4,0.000,0.067,2744,3412,1527
$GC,15412,1.34,337.2,216.5,10.9,741,15417,0.00,2.55,0.00,0.000,6,0.000,0.051,2744,1997,1527
$GC,15728,1.34,337.2,185.0,10.1,756,15730,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1997,1527
$GC,16038,1.34,337.2,155.9,9.6,771,16042,0.00,2.62,0.00,0.000,4,0.000,0.068,2744,3408,1528
$GC,16071,1.34,337.2,152.2,10.8,772,16077,0.00,2.55,0.00,0.000,6,0.000,0.052,2744,1996,1528
$GC,16387,1.34,337.2,121.1,10.3,788,16391,0.00,2.58,0.00,0.000,4,0.000,0.064,2744,585,1528
$GC,16427,1.34,337.2,116.9,11.3,790,16431,0.00,2.50,0.00,0.000,6,0.000,0.041,2744,2007,1528
$GC,16760,1.34,337.2,83.5,10.1,806,16764,0.00,2.60,0.00,0.000,4,0.000,0.069,2744,3419,1527
$GC,16793,1.34,337.2,79.8,10.2,807,16799,0.00,2.55,0.00,0.000,6,0.000,0.053,2744,1999,1528
$GC,17110,1.34,337.2,48.0,11.2,823,17115,0.00,2.58,0.00,0.000,4,0.000,0.064,2744,587,1527
$GC,17144,1.34,337.2,44.0,11.9,824,17150,0.00,2.47,0.00,0.000,6,0.000,0.041,2744,2003,1527
$GC,17460,1.34,337.2,11.6,10.3,840,17461,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2004,1527
$STATE,17560,end climb,SURFACE_DEPTH_REACHED
$STATE,17560,begin surface coast
$FINISH,0.5,1.019596
$STATE,17584,end surface coast,CONTROL_FINISHED_OK
$STATE,17584,begin surface
$SM_CCo,17668,0.00,0.000,0,0,1527,337.29
$SM_GC,1.37,11.73,0.00,0.00,0.024,0.000,0.000,40,2640,1527,-10.94,-0.25,337.29
$IRIDIUM_FIX,6153.50,-1052.26,060698,181847
$TT8_MAMPS,0.028379
$HUMID,1771
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.7,99.0
$24V_AH,23.4,22.170
$10V_AH,10.1,11.539
$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,26.450,125.500,408.150,0.000,0.000,22.953,29.399,163.496,5.250,0.000,0.000,33.160,1512.669,13708.632,475.249,1788.715,542.024,33.353,1389.229,0.000,1747.692,0.000,36.771,0.000
$DEVICE_MAMPS,161.837,104.312,1124.422,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,595.812,626.132,502.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41094,846
$CAP_FILE_SIZE,118346,0
$CFSIZE,260165632,252243968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,051107,6222.922,-1048.437,38,1.5,38,-10.5