version: 66.04
glider: 103
mission: 11
dive: 91
start: 3 13 109 15 54 41
data:
$ID,103
$MISSION,11
$DIVE,91
$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,-144797.47
$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,18
$R_STBD_OVSHOOT,9
$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
$GPS1,154737,6224.848,-1043.966,32,1.0,32,-10.5
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-55.6
$GPS2,155350,6224.785,-1043.969,14,1.1,14,-10.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.194,0.101
$KALMAN_X,51638.9,-713.1,-594.9,-102071.2,17587.1
$KALMAN_Y,-25282.8,913.0,-1205.9,73643.3,-15976.3
$MHEAD_RNG_PITCHd_Wd,308.0,13753,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-40.83,0.000,2,0.000,0.000,44,2649,3333
$GC,62,-1.10,-146.6,4.3,-11.6,2,85,12.18,2.25,-2.70,0.000,4,0.160,0.106,2194,3780,3503
$GC,338,-1.10,-146.6,38.3,-9.0,14,342,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2646,3502
$GC,665,-1.10,-146.6,62.6,-7.6,30,669,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3786,3502
$GC,889,-1.10,-146.6,79.8,-9.0,40,893,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2642,3503
$GC,1217,-1.10,-146.6,103.0,-7.6,56,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,1526,-1.10,-146.6,126.7,-9.2,71,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3503
$GC,1835,-1.10,-146.6,149.9,-7.5,86,1840,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3792,3502
$GC,1862,-1.10,-146.6,151.9,-7.1,87,1866,0.00,2.10,0.00,0.000,6,0.000,0.058,2194,2640,3502
$GC,2190,-1.10,-146.6,175.6,-7.1,103,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,2498,-1.10,-146.6,197.8,-7.4,118,2502,0.00,2.22,0.00,0.000,4,0.000,0.088,2194,3789,3503
$GC,2537,-1.10,-146.6,200.8,-7.8,119,2543,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2651,3503
$GC,2853,-1.10,-146.6,223.4,-6.8,135,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3502
$GC,3162,-1.10,-146.6,245.8,-7.5,150,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3502
$GC,3472,-1.10,-146.6,268.7,-7.3,165,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3503
$GC,3781,-1.10,-146.6,291.1,-7.0,180,3782,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,4090,-1.10,-146.6,314.5,-7.5,195,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,4400,-1.10,-146.6,339.1,-8.1,210,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,4709,-1.10,-146.6,362.3,-7.6,225,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,5018,-1.10,-146.6,385.1,-7.0,240,5022,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3787,3503
$GC,5064,-1.10,-146.6,388.3,-7.0,242,5068,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2641,3503
$GC,5397,-1.10,-146.6,412.9,-7.6,258,5398,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3503
$GC,5706,-1.10,-146.6,437.4,-8.6,273,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3503
$GC,6015,-1.10,-146.6,466.1,-9.4,288,6019,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3790,3503
$GC,6087,-1.10,-146.6,473.2,-10.0,291,6091,0.00,2.08,0.00,0.000,6,0.000,0.056,2194,2642,3503
$GC,6414,-1.10,-146.6,504.0,-9.5,307,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3503
$GC,6724,-1.10,-146.6,534.7,-10.1,322,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3503
$GC,7033,-1.10,-146.6,565.1,-9.7,337,7034,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3503
$GC,7342,-1.10,-146.6,590.7,-7.3,352,7343,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3503
$GC,7652,-1.10,-146.6,609.2,-5.6,367,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3502
$GC,7961,-1.10,-146.6,630.5,-8.1,382,7965,0.00,2.58,0.00,0.000,4,0.000,0.070,2194,1233,3502
$GC,8010,-1.10,-146.6,634.8,-8.9,384,8015,0.00,2.62,0.00,0.000,6,0.000,0.062,2194,2665,3503
$GC,8326,-1.10,-146.6,657.6,-6.3,399,8330,0.00,2.12,0.00,0.000,4,0.000,0.088,2194,3783,3502
$GC,8450,-1.10,-146.6,664.5,-5.5,404,8454,0.00,2.05,0.00,0.000,6,0.000,0.057,2194,2646,3502
$GC,8772,-1.10,-146.6,683.8,-6.6,420,8775,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3785,3502
$GC,8788,-1.10,-146.6,684.9,-6.5,420,8795,0.00,2.05,0.00,0.000,6,0.000,0.055,2194,2644,3502
$GC,9105,-1.10,-146.6,706.0,-7.1,436,9109,0.00,2.60,0.00,0.000,4,0.000,0.074,2194,1235,3501
$STATE,9129,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9129,begin apogee
$GC,9138,-0.42,0.0,708.5,8.9,437,9269,0.75,0.00,124.82,1.129,6,0.100,0.000,2346,2020,2902
$STATE,9270,end apogee,CONTROL_FINISHED_OK
$STATE,9270,begin climb
$GC,9274,1.10,146.6,715.7,0.0,444,9400,1.58,0.00,122.45,1.109,6,0.061,0.000,2679,2022,2304
$GC,9709,1.37,360.4,716.6,0.1,465,9897,0.25,2.67,179.05,1.112,4,0.034,0.065,2747,3405,1432
$GC,9945,1.37,360.4,699.8,10.0,476,9949,0.00,2.55,0.00,0.000,6,0.000,0.047,2748,1997,1432
$GC,10261,1.37,360.4,667.3,9.8,491,10266,0.00,2.67,0.00,0.000,4,0.000,0.070,2748,3415,1431
$GC,10306,1.37,360.4,662.7,10.1,493,10311,0.00,2.58,0.00,0.000,6,0.000,0.051,2748,2003,1431
$GC,10628,1.37,360.4,636.7,7.7,509,10632,0.00,2.65,0.00,0.000,4,0.000,0.069,2748,3407,1430
$GC,10677,1.37,360.4,632.5,8.6,511,10682,0.00,2.58,0.00,0.000,6,0.000,0.051,2748,1990,1430
$GC,10994,1.37,360.4,604.9,9.9,526,10998,0.00,2.60,0.00,0.000,4,0.000,0.067,2748,586,1429
$GC,11066,1.37,360.4,596.7,11.9,529,11071,0.00,2.53,0.00,0.000,6,0.000,0.042,2748,2007,1430
$GC,11382,1.37,360.4,560.1,11.9,544,11386,0.00,2.60,0.00,0.000,4,0.000,0.068,2748,3410,1429
$GC,11438,1.37,360.4,553.4,12.7,546,11444,0.00,2.53,0.00,0.000,6,0.000,0.049,2748,2000,1429
$GC,11753,1.37,360.4,516.5,11.4,562,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2000,1429
$GC,12063,1.37,360.4,480.9,11.6,577,12067,0.00,2.62,0.00,0.000,4,0.000,0.066,2749,3409,1429
$GC,12102,1.37,360.4,475.5,12.9,578,12108,0.00,2.55,0.00,0.000,6,0.000,0.049,2748,1995,1430
$GC,12418,1.37,360.4,436.3,12.0,594,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1995,1429
$GC,12727,1.37,360.4,399.9,11.6,609,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1995,1429
$GC,13036,1.37,360.4,365.6,10.8,624,13037,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1995,1429
$GC,13345,1.37,360.4,333.4,10.6,639,13350,0.00,2.62,0.00,0.000,4,0.000,0.067,2748,3406,1429
$GC,13379,1.37,360.4,329.5,11.3,640,13385,0.00,2.55,0.00,0.000,6,0.000,0.053,2748,1990,1429
$GC,13695,1.37,360.4,295.0,11.0,656,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1990,1430
$GC,14004,1.37,360.4,261.1,11.7,671,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1990,1430
$GC,14313,1.37,360.4,226.7,10.8,686,14318,0.00,2.65,0.00,0.000,4,0.000,0.069,2748,3413,1431
$GC,14341,1.37,360.4,223.5,10.8,687,14346,0.00,2.58,0.00,0.000,6,0.000,0.054,2748,1993,1431
$GC,14663,1.37,360.4,192.0,9.1,703,14667,0.00,2.58,0.00,0.000,4,0.000,0.067,2748,586,1431
$GC,14696,1.37,360.4,189.1,7.9,704,14702,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,2005,1431
$GC,15012,1.37,360.4,155.7,10.9,720,15013,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2005,1431
$GC,15322,1.37,360.4,121.1,11.7,735,15326,0.00,2.60,0.00,0.000,4,0.000,0.069,2748,3417,1431
$GC,15343,1.37,360.4,118.3,12.1,736,15348,0.00,2.58,0.00,0.000,6,0.000,0.054,2748,1992,1432
$GC,15667,1.37,360.4,85.9,8.7,752,15671,0.00,2.58,0.00,0.000,4,0.000,0.067,2748,586,1432
$GC,15722,1.37,360.4,80.8,9.0,754,15729,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,2010,1432
$GC,16038,1.37,360.4,49.3,10.9,770,16040,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2012,1432
$GC,16348,1.37,360.4,16.9,13.4,785,16352,0.00,2.65,0.00,0.000,4,0.000,0.071,2748,588,1432
$GC,16394,1.37,360.4,11.1,11.9,787,16398,0.00,2.53,0.00,0.000,6,0.000,0.048,2748,2005,1432
$STATE,16464,end climb,SURFACE_DEPTH_REACHED
$STATE,16464,begin surface coast
$FINISH,0.5,1.027485
$STATE,16487,end surface coast,CONTROL_FINISHED_OK
$STATE,16487,begin surface
$SM_CCo,16571,0.00,0.000,0,0,1432,360.59
$SM_GC,1.29,11.98,0.00,0.00,0.035,0.000,0.000,53,2649,1432,-10.93,-0.03,360.59
$IRIDIUM_FIX,6202.67,-1045.75,070698,101025
$TT8_MAMPS,0.028379
$HUMID,1771
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.8,42.6
$24V_AH,23.4,22.559
$10V_AH,10.1,11.781
$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,26.725,106.700,426.325,0.000,0.000,29.997,29.489,182.248,6.250,0.000,0.000,14.528,1414.367,12806.016,504.951,1680.085,533.814,33.357,1345.357,0.000,1644.092,0.000,45.705,0.000
$DEVICE_MAMPS,159.536,105.846,1129.024,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,556.296,580.070,482.488,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,40990,792
$CAP_FILE_SIZE,109424,0
$CFSIZE,260165632,252067840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130309,203227,6225.115,-1047.769,38,2.3,57,-10.5