version: 66.04
glider: 103
mission: 11
dive: 133
start: 3 21 109 9 21 36
data:
$ID,103
$MISSION,11
$DIVE,133
$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,0
$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,-145638.86
$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,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
$GPS1,091500,6235.011,-1106.567,38,1.3,38,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-61.1
$GPS2,092044,6235.096,-1106.514,14,2.0,14,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.177,-0.128
$KALMAN_X,5514.6,-1814.9,860.5,1430.8,7193.4
$KALMAN_Y,2353.3,-736.8,6917.0,7730.1,16512.3
$MHEAD_RNG_PITCHd_Wd,244.9,30152,-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,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.40,0.000,2,0.000,0.000,51,2646,3339
$GC,62,-1.10,-146.6,4.2,-10.1,2,85,12.07,2.25,-2.65,0.000,4,0.157,0.104,2197,3781,3502
$GC,158,-1.10,-146.6,20.7,-9.1,6,162,0.00,2.10,0.00,0.000,6,0.000,0.064,2197,2649,3502
$GC,486,-1.10,-146.6,46.4,-7.7,22,490,0.00,2.22,0.00,0.000,4,0.000,0.089,2197,3792,3502
$GC,530,-1.10,-146.6,49.9,-7.5,24,534,0.00,2.10,0.00,0.000,6,0.000,0.062,2197,2642,3502
$GC,858,-1.10,-146.6,75.8,-7.4,40,862,0.00,2.25,0.00,0.000,4,0.000,0.090,2197,3794,3502
$GC,891,-1.10,-146.6,78.3,-7.6,41,897,0.00,2.10,0.00,0.000,6,0.000,0.061,2197,2644,3502
$GC,1208,-1.10,-146.6,100.9,-7.6,57,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2644,3502
$GC,1516,-1.10,-146.6,122.7,-6.8,72,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2644,3502
$GC,1825,-1.10,-146.6,143.1,-7.1,87,1829,0.00,2.22,0.00,0.000,4,0.000,0.087,2197,3793,3502
$GC,1871,-1.10,-146.6,146.7,-8.7,89,1875,0.00,2.08,0.00,0.000,6,0.000,0.061,2197,2652,3502
$GC,2204,-1.10,-146.6,171.6,-7.5,105,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2651,3502
$GC,2513,-1.10,-146.6,197.4,-8.3,120,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2651,3503
$GC,2823,-1.10,-146.6,219.4,-6.7,135,2826,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3792,3503
$GC,2868,-1.10,-146.6,222.5,-6.7,137,2872,0.00,2.10,0.00,0.000,6,0.000,0.062,2197,2646,3503
$GC,3201,-1.10,-146.6,247.6,-8.6,153,3205,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3787,3503
$GC,3251,-1.10,-146.6,252.5,-9.4,155,3255,0.00,2.08,0.00,0.000,6,0.000,0.061,2197,2647,3503
$GC,3579,-1.10,-146.6,283.9,-9.6,171,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3503
$GC,3889,-1.10,-146.6,311.6,-8.4,186,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3503
$GC,4197,-1.10,-146.6,335.9,-7.6,201,4201,0.00,2.20,0.00,0.000,4,0.000,0.085,2197,3790,3503
$GC,4254,-1.10,-146.6,340.6,-8.9,203,4257,0.00,2.08,0.00,0.000,6,0.000,0.059,2197,2650,3503
$GC,4575,-1.10,-146.6,364.3,-7.1,219,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2650,3503
$GC,4884,-1.10,-146.6,386.6,-7.0,234,4888,0.00,2.17,0.00,0.000,4,0.000,0.084,2197,3790,3503
$GC,4923,-1.10,-146.6,389.6,-7.5,235,4929,0.00,2.05,0.00,0.000,6,0.000,0.058,2197,2650,3503
$GC,5240,-1.10,-146.6,413.2,-7.8,251,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2650,3503
$GC,5549,-1.10,-146.6,437.7,-8.0,266,5552,0.00,2.17,0.00,0.000,4,0.000,0.084,2197,3787,3503
$GC,5588,-1.10,-146.6,441.1,-8.2,267,5594,0.00,2.08,0.00,0.000,6,0.000,0.058,2197,2644,3503
$GC,5904,-1.10,-146.6,466.7,-8.3,283,5907,0.00,2.20,0.00,0.000,4,0.000,0.084,2197,3790,3503
$GC,5960,-1.10,-146.6,471.7,-8.8,285,5963,0.00,2.08,0.00,0.000,6,0.000,0.056,2197,2641,3503
$GC,6281,-1.10,-146.6,499.6,-8.6,301,6286,0.00,2.55,0.00,0.000,4,0.000,0.066,2197,1236,3503
$GC,6327,-1.10,-146.6,503.6,-8.8,303,6332,0.00,2.62,0.00,0.000,6,0.000,0.064,2197,2667,3502
$GC,6653,-1.10,-146.6,528.9,-7.1,319,6657,0.00,2.10,0.00,0.000,4,0.000,0.084,2197,3779,3502
$GC,6700,-1.10,-146.6,532.2,-7.7,321,6703,0.00,2.05,0.00,0.000,6,0.000,0.054,2197,2640,3502
$GC,7033,-1.10,-146.6,556.0,-6.8,337,7036,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3780,3502
$GC,7078,-1.10,-146.6,559.0,-6.5,339,7082,0.00,2.05,0.00,0.000,6,0.000,0.055,2197,2642,3502
$GC,7414,-1.10,-146.6,575.7,-4.1,355,7417,0.00,2.20,0.00,0.000,4,0.000,0.088,2197,3783,3501
$GC,7460,-1.10,-146.6,578.1,-5.6,357,7464,0.00,2.05,0.00,0.000,6,0.000,0.055,2197,2645,3501
$GC,7793,-1.10,-146.6,593.0,-4.6,373,7794,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2645,3501
$GC,8102,-1.10,-146.6,613.9,-7.9,388,8106,0.00,2.20,0.00,0.000,4,0.000,0.089,2197,3783,3500
$GC,8130,-1.10,-146.6,616.2,-8.0,389,8134,0.00,2.08,0.00,0.000,6,0.000,0.058,2197,2636,3500
$GC,8457,-1.10,-146.6,642.0,-7.5,405,8461,0.00,2.60,0.00,0.000,4,0.000,0.077,2197,1235,3500
$GC,8501,-1.10,-146.6,645.1,-6.4,407,8506,0.00,2.62,0.00,0.000,6,0.000,0.064,2197,2658,3500
$STATE,8695,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8695,begin apogee
$GC,8704,-0.42,0.0,660.3,7.5,417,8832,0.73,0.00,124.50,1.128,6,0.075,0.000,2347,1996,2902
$STATE,8832,end apogee,CONTROL_FINISHED_OK
$STATE,8832,begin climb
$GC,8836,1.10,146.6,664.6,0.0,423,8968,1.58,2.75,122.18,1.098,4,0.061,0.068,2680,587,2304
$GC,9187,1.19,219.6,662.0,4.0,439,9255,0.00,2.55,62.28,1.086,6,0.000,0.041,2680,2019,2006
$GC,9571,1.22,239.5,638.5,5.4,458,9595,0.12,2.75,17.88,1.044,4,0.044,0.067,2724,588,1925
$GC,9623,1.22,239.5,635.1,6.7,460,9630,0.00,2.53,0.00,0.000,6,0.000,0.038,2724,2008,1925
$GC,9940,1.22,239.5,610.4,7.0,476,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2010,1924
$GC,10249,1.22,239.5,584.4,9.0,491,10253,0.00,2.60,0.00,0.000,4,0.000,0.069,2724,3412,1924
$GC,10281,1.22,239.5,581.3,9.1,492,10288,0.00,2.58,0.00,0.000,6,0.000,0.050,2724,1989,1924
$GC,10597,1.22,239.5,556.4,7.7,508,10601,0.00,2.60,0.00,0.000,4,0.000,0.069,2724,586,1923
$GC,10621,1.22,239.5,554.6,7.9,509,10625,0.00,2.50,0.00,0.000,6,0.000,0.040,2724,2000,1923
$GC,10947,1.22,239.5,528.9,7.9,525,10951,0.00,2.60,0.00,0.000,4,0.000,0.067,2724,3407,1923
$GC,11019,1.22,239.5,522.9,8.5,528,11023,0.00,2.55,0.00,0.000,6,0.000,0.050,2724,1994,1923
$GC,11341,1.22,239.5,498.6,7.5,544,11345,0.00,2.62,0.00,0.000,4,0.000,0.066,2724,3407,1922
$GC,11368,1.22,239.5,496.3,8.0,545,11372,0.00,2.55,0.00,0.000,6,0.000,0.049,2724,1993,1922
$GC,11684,1.22,239.5,474.7,6.3,560,11688,0.00,2.58,0.00,0.000,4,0.000,0.066,2724,589,1922
$GC,11807,1.22,239.5,466.5,6.5,565,11813,0.00,2.47,0.00,0.000,6,0.000,0.040,2724,2005,1922
$GC,12123,1.22,239.5,447.7,6.3,581,12127,0.00,2.58,0.00,0.000,4,0.000,0.067,2724,3406,1922
$GC,12173,1.22,239.5,444.3,6.4,583,12178,0.00,2.53,0.00,0.000,6,0.000,0.048,2724,1998,1922
$GC,12489,1.22,239.5,424.2,6.6,598,12493,0.00,2.58,0.00,0.000,4,0.000,0.065,2724,593,1922
$GC,12528,1.22,239.5,421.3,7.0,599,12534,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,2005,1922
$GC,12844,1.22,239.5,397.3,7.8,615,12848,0.00,2.58,0.00,0.000,4,0.000,0.067,2724,3406,1923
$GC,12871,1.22,239.5,394.9,8.9,616,12875,0.00,2.53,0.00,0.000,6,0.000,0.048,2724,1999,1923
$GC,13187,1.22,239.5,368.6,8.3,631,13188,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1999,1923
$GC,13496,1.22,239.5,343.9,7.5,646,13497,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1999,1923
$GC,13806,1.22,239.5,319.6,7.6,661,13810,0.00,2.58,0.00,0.000,4,0.000,0.064,2724,588,1924
$GC,13829,1.22,239.5,317.7,8.0,662,13833,0.00,2.47,0.00,0.000,6,0.000,0.039,2724,2002,1924
$GC,14155,1.22,239.5,292.9,7.5,678,14156,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2002,1924
$GC,14465,1.22,239.5,269.6,7.6,693,14466,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2002,1925
$GC,14774,1.22,239.5,245.5,7.7,708,14778,0.00,2.60,0.00,0.000,4,0.000,0.064,2724,587,1925
$GC,14806,1.22,239.5,242.8,8.2,709,14812,0.00,2.47,0.00,0.000,6,0.000,0.039,2724,2000,1925
$GC,15122,1.22,239.5,219.8,7.3,725,15123,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2000,1925
$GC,15431,1.22,239.5,197.0,7.6,740,15433,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2000,1925
$GC,15741,1.22,239.5,174.3,7.2,755,15742,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2000,1926
$GC,16050,1.22,239.5,152.3,6.7,770,16055,0.00,2.60,0.00,0.000,4,0.000,0.069,2724,3415,1926
$GC,16078,1.22,239.5,150.2,7.2,771,16083,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,1994,1926
$GC,16395,1.22,239.5,128.2,6.9,786,16396,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1994,1927
$GC,16704,1.22,239.5,106.0,7.3,801,16705,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1994,1927
$GC,17013,1.22,239.5,82.3,7.7,816,17017,0.00,2.58,0.00,0.000,4,0.000,0.066,2724,586,1927
$GC,17085,1.22,239.5,76.4,8.2,819,17089,0.00,2.50,0.00,0.000,6,0.000,0.039,2724,2011,1927
$GC,17403,1.22,239.5,52.1,8.0,834,17407,0.00,2.58,0.00,0.000,4,0.000,0.067,2724,3415,1927
$GC,17443,1.22,239.5,48.8,7.7,836,17447,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,2000,1928
$GC,17770,1.22,239.5,23.0,8.2,852,17771,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1999,1928
$STATE,18035,end climb,SURFACE_DEPTH_REACHED
$STATE,18035,begin surface coast
$FINISH,0.4,1.016651
$STATE,18057,end surface coast,CONTROL_FINISHED_OK
$STATE,18057,begin surface
$SM_CCo,18142,0.00,0.000,0,0,1927,239.17
$SM_GC,1.90,11.77,0.00,0.00,0.032,0.000,0.000,49,2642,1927,-10.93,-0.23,239.17
$IRIDIUM_FIX,6207.28,-1110.37,150698,030319
$TT8_MAMPS,0.029146
$HUMID,1770
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,15.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,651.3,18.4
$24V_AH,23.4,27.841
$10V_AH,10.1,14.841
$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,26.275,149.775,326.825,0.000,0.000,27.629,34.171,151.328,6.000,0.000,0.000,14.075,1577.887,14067.375,426.112,1870.857,541.131,31.448,1372.588,0.000,1833.833,0.000,41.728,0.000
$DEVICE_MAMPS,157.235,104.312,1128.257,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,613.375,634.639,547.427,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44290,866
$CAP_FILE_SIZE,124556,0
$CFSIZE,260165632,249810944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210309,142507,6236.795,-1119.167,32,1.9,32,-10.9