version: 66.04
glider: 103
mission: 11
dive: 90
start: 3 13 109 10 34 27
data:
$ID,103
$MISSION,11
$DIVE,90
$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,-144782.31
$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,20
$R_STBD_OVSHOOT,13
$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
$GPS1,102737,6225.653,-1044.912,26,1.6,26,-10.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-60.0
$GPS2,103334,6225.657,-1044.739,36,1.6,36,-10.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.203,0.080
$KALMAN_X,44376.9,-544.9,-635.3,-95584.3,9884.2
$KALMAN_Y,-19992.3,-84.3,-1759.6,71506.5,-10365.3
$MHEAD_RNG_PITCHd_Wd,302.1,13144,-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,-41.75,0.000,2,0.000,0.000,46,2651,3082
$GC,62,-1.10,-146.6,3.6,-9.3,2,88,12.20,2.25,-7.43,0.000,4,0.160,0.107,2196,3778,3501
$GC,341,-1.10,-146.6,35.1,-9.2,14,344,0.00,2.08,0.00,0.000,6,0.000,0.060,2196,2651,3501
$GC,662,-1.10,-146.6,61.6,-9.7,30,666,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3790,3501
$GC,770,-1.10,-146.6,70.7,-7.4,35,774,0.00,2.10,0.00,0.000,6,0.000,0.058,2196,2640,3501
$GC,1103,-1.10,-146.6,94.3,-8.1,51,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3501
$GC,1413,-1.10,-146.6,122.1,-9.3,66,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3501
$GC,1722,-1.10,-146.6,143.8,-6.9,81,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3501
$GC,2031,-1.10,-146.6,167.4,-7.5,96,2035,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3783,3501
$GC,2070,-1.10,-146.6,170.3,-7.4,97,2076,0.00,2.08,0.00,0.000,6,0.000,0.056,2196,2640,3501
$GC,2386,-1.10,-146.6,191.9,-6.5,113,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3501
$GC,2695,-1.10,-146.6,212.7,-7.1,128,2699,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3785,3501
$GC,2723,-1.10,-146.6,214.9,-7.3,129,2727,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2641,3501
$GC,3050,-1.10,-146.6,235.4,-6.1,145,3054,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3785,3501
$GC,3095,-1.10,-146.6,238.4,-7.0,147,3099,0.00,2.08,0.00,0.000,6,0.000,0.059,2195,2646,3501
$GC,3428,-1.10,-146.6,261.2,-7.5,163,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3501
$GC,3737,-1.10,-146.6,282.8,-6.7,178,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3502
$GC,4046,-1.10,-146.6,302.1,-6.3,193,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,4357,-1.10,-146.6,325.4,-7.3,208,4360,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3787,3501
$GC,4402,-1.10,-146.6,328.6,-6.9,210,4406,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2645,3502
$GC,4736,-1.10,-146.6,352.5,-7.3,226,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3502
$GC,5046,-1.10,-146.6,375.9,-8.0,241,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,5357,-1.10,-146.6,400.1,-7.8,256,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3502
$GC,5664,-1.10,-146.6,425.6,-8.4,271,5668,0.00,2.20,0.00,0.000,4,0.000,0.086,2196,3790,3501
$GC,5710,-1.10,-146.6,430.2,-9.8,273,5714,0.00,2.08,0.00,0.000,6,0.000,0.056,2196,2639,3502
$GC,6043,-1.10,-146.6,459.6,-9.2,289,6047,0.00,2.20,0.00,0.000,4,0.000,0.085,2196,3785,3502
$GC,6099,-1.10,-146.6,464.4,-7.9,291,6103,0.00,2.05,0.00,0.000,6,0.000,0.056,2195,2648,3501
$GC,6420,-1.10,-146.6,492.1,-9.8,307,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,6730,-1.10,-146.6,520.4,-8.5,322,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3501
$GC,7039,-1.10,-146.6,540.5,-5.8,337,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3502
$GC,7348,-1.10,-146.6,560.3,-6.7,352,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3501
$GC,7658,-1.10,-146.6,579.4,-6.0,367,7661,0.00,2.17,0.00,0.000,4,0.000,0.086,2196,3783,3501
$GC,7714,-1.10,-146.6,583.1,-6.3,369,7718,0.00,2.03,0.00,0.000,6,0.000,0.055,2195,2651,3501
$GC,8035,-1.10,-146.6,601.7,-6.1,385,8039,0.00,2.17,0.00,0.000,4,0.000,0.087,2196,3783,3501
$GC,8131,-1.10,-146.6,609.4,-9.1,389,8134,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2645,3501
$GC,8458,-1.10,-146.6,636.7,-8.9,405,8462,0.00,2.58,0.00,0.000,4,0.000,0.071,2196,1238,3500
$GC,8520,-1.10,-146.6,642.1,-8.7,408,8524,0.00,2.58,0.00,0.000,6,0.000,0.060,2195,2659,3500
$GC,8846,-1.10,-146.6,671.2,-9.2,424,8850,0.00,2.15,0.00,0.000,4,0.000,0.087,2196,3792,3500
$GC,8869,-1.10,-146.6,673.4,-9.6,425,8873,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2649,3499
$STATE,9014,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9014,begin apogee
$GC,9022,-0.42,0.0,683.9,6.8,432,9150,0.75,0.00,124.32,1.104,6,0.091,0.000,2346,2001,2902
$STATE,9150,end apogee,CONTROL_FINISHED_OK
$STATE,9151,begin climb
$GC,9154,1.10,146.6,688.2,0.0,438,9281,1.55,0.00,122.70,1.074,6,0.058,0.000,2678,2000,2304
$GC,9586,1.21,232.5,678.0,3.6,459,9669,0.12,2.70,72.40,1.079,4,0.044,0.063,2718,3420,1953
$GC,9866,1.21,232.5,659.9,6.6,471,9872,0.00,2.60,0.00,0.000,6,0.000,0.051,2718,1995,1952
$GC,10182,1.21,232.5,638.7,7.3,487,10186,0.00,2.62,0.00,0.000,4,0.000,0.070,2717,583,1952
$GC,10310,1.21,232.5,627.4,9.8,492,10317,0.00,2.55,0.00,0.000,6,0.000,0.040,2718,2021,1952
$GC,10626,1.21,232.5,600.4,8.8,508,10631,0.00,2.55,0.00,0.000,4,0.000,0.067,2718,3405,1952
$GC,10728,1.21,232.5,591.9,8.6,512,10734,0.00,2.55,0.00,0.000,6,0.000,0.050,2718,1993,1952
$GC,11043,1.21,232.5,571.0,6.4,528,11048,0.00,2.58,0.00,0.000,4,0.000,0.064,2718,590,1951
$GC,11110,1.21,232.5,566.3,7.7,531,11115,0.00,2.47,0.00,0.000,6,0.000,0.038,2718,2000,1952
$GC,11432,1.21,232.5,542.5,7.7,547,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2000,1951
$GC,11741,1.21,232.5,517.1,8.4,562,11745,0.00,2.60,0.00,0.000,4,0.000,0.066,2718,3412,1951
$GC,11763,1.21,232.5,515.1,8.8,563,11767,0.00,2.55,0.00,0.000,6,0.000,0.047,2718,1988,1951
$GC,12084,1.21,232.5,491.0,7.1,579,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1988,1951
$GC,12393,1.21,232.5,469.1,7.4,594,12397,0.00,2.53,0.00,0.000,4,0.000,0.062,2717,590,1951
$GC,12420,1.21,232.5,466.9,7.8,595,12425,0.00,2.47,0.00,0.000,6,0.000,0.038,2718,2005,1952
$GC,12742,1.21,232.5,444.9,6.7,611,12747,0.00,2.58,0.00,0.000,4,0.000,0.067,2718,3406,1952
$GC,12776,1.21,232.5,442.5,6.9,612,12782,0.00,2.53,0.00,0.000,6,0.000,0.048,2718,1998,1952
$GC,13092,1.21,232.5,421.2,6.8,628,13096,0.00,2.62,0.00,0.000,4,0.000,0.066,2718,3413,1952
$GC,13136,1.21,232.5,417.8,6.9,630,13140,0.00,2.55,0.00,0.000,6,0.000,0.049,2718,1993,1953
$GC,13457,1.21,232.5,394.1,7.5,646,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1993,1953
$GC,13766,1.21,232.5,369.8,7.7,661,13768,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1993,1953
$GC,14076,1.21,232.5,346.7,7.2,676,14080,0.00,2.62,0.00,0.000,4,0.000,0.066,2718,3410,1953
$GC,14103,1.21,232.5,344.5,7.8,677,14108,0.00,2.55,0.00,0.000,6,0.000,0.049,2718,1989,1954
$GC,14419,1.21,232.5,322.3,7.2,692,14423,0.00,2.55,0.00,0.000,4,0.000,0.062,2718,586,1954
$GC,14452,1.21,232.5,319.6,7.7,693,14458,0.00,2.47,0.00,0.000,6,0.000,0.038,2718,2001,1954
$GC,14768,1.21,232.5,296.5,7.1,709,14772,0.00,2.58,0.00,0.000,4,0.000,0.067,2718,3406,1954
$GC,14795,1.21,232.5,294.2,8.0,710,14800,0.00,2.53,0.00,0.000,6,0.000,0.050,2718,1998,1955
$GC,15118,1.21,232.5,270.9,7.3,726,15122,0.00,2.55,0.00,0.000,4,0.000,0.063,2718,591,1955
$GC,15162,1.21,232.5,267.4,7.4,728,15166,0.00,2.47,0.00,0.000,6,0.000,0.038,2718,2007,1955
$GC,15483,1.21,232.5,242.3,8.3,744,15484,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2007,1955
$GC,15792,1.21,232.5,217.5,8.1,759,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2007,1955
$GC,16101,1.21,232.5,193.1,7.7,774,16102,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2007,1956
$GC,16410,1.21,232.5,168.8,8.1,789,16411,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2007,1956
$GC,16720,1.21,232.5,143.3,8.6,804,16721,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2007,1956
$GC,17029,1.21,232.5,120.7,6.2,819,17034,0.00,2.62,0.00,0.000,4,0.000,0.064,2718,581,1956
$GC,17063,1.21,232.5,118.3,7.4,820,17069,0.00,2.47,0.00,0.000,6,0.000,0.040,2718,2002,1956
$GC,17380,1.21,232.5,95.2,8.3,836,17382,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2002,1956
$GC,17688,1.21,232.5,68.2,8.6,851,17693,0.00,2.60,0.00,0.000,4,0.000,0.070,2718,3410,1957
$GC,17722,1.21,232.5,65.0,9.1,852,17728,0.00,2.53,0.00,0.000,6,0.000,0.053,2718,2002,1956
$GC,18039,1.21,232.5,40.7,7.7,868,18044,0.00,2.58,0.00,0.000,4,0.000,0.066,2718,588,1957
$GC,18104,1.21,232.5,35.7,7.8,871,18109,0.00,2.47,0.00,0.000,6,0.000,0.041,2718,2003,1957
$GC,18432,1.21,232.5,13.1,6.6,887,18433,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2004,1957
$STATE,18616,end climb,SURFACE_DEPTH_REACHED
$STATE,18616,begin surface coast
$FINISH,0.6,1.027482
$STATE,18636,end surface coast,CONTROL_FINISHED_OK
$STATE,18636,begin surface
$SM_CCo,18721,0.00,0.000,0,0,1956,231.81
$SM_GC,2.00,11.73,0.00,0.00,0.030,0.000,0.000,44,2645,1956,-10.93,-0.14,231.81
$IRIDIUM_FIX,6158.08,-1047.71,070698,050501
$TT8_MAMPS,0.028379
$HUMID,1762
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.4,42.1
$24V_AH,23.4,22.410
$10V_AH,10.1,11.706
$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,26.350,131.200,319.425,0.000,0.000,23.630,34.068,147.961,5.750,0.000,0.000,36.977,1617.423,14555.153,429.562,1942.669,530.916,33.349,1377.768,0.000,1882.920,0.000,41.171,0.000
$DEVICE_MAMPS,160.303,107.380,1103.713,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,628.398,666.219,554.028,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44318,897
$CAP_FILE_SIZE,123821,0
$CFSIZE,260165632,252108800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,154737,6224.848,-1043.966,32,1.0,32,-10.5