version: 66.04
glider: 103
mission: 11
dive: 135
start: 3 21 109 19 17 34
data:
$ID,103
$MISSION,11
$DIVE,135
$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,-145674.11
$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,17
$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
$GPS1,190807,6237.349,-1134.505,40,1.6,41,-11.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-57.5
$GPS2,191644,6237.312,-1134.795,14,1.5,20,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.061,-0.210
$KALMAN_X,-4810.0,-469.9,-2434.2,-10440.5,-5510.3
$KALMAN_Y,5929.1,-220.7,10925.0,3751.5,-3546.0
$MHEAD_RNG_PITCHd_Wd,175.0,14254,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,82,0.00,0.00,-61.38,0.000,2,0.000,0.000,53,2655,3483
$GC,85,-1.10,-146.6,5.3,-10.1,3,107,12.15,2.25,-0.30,0.000,4,0.161,0.100,2196,3786,3502
$GC,180,-1.10,-146.6,24.0,-8.0,7,184,0.00,2.12,0.00,0.000,6,0.000,0.067,2196,2650,3502
$GC,508,-1.10,-146.6,49.9,-8.0,23,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,817,-1.10,-146.6,75.7,-8.2,38,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,1126,-1.10,-146.6,101.1,-8.0,53,1130,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3790,3502
$GC,1167,-1.10,-146.6,104.4,-8.2,55,1171,0.00,2.10,0.00,0.000,6,0.000,0.064,2196,2650,3502
$GC,1500,-1.10,-146.6,130.7,-7.4,71,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,1809,-1.10,-146.6,157.1,-9.2,86,1813,0.00,2.65,0.00,0.000,4,0.000,0.075,2196,1223,3502
$GC,1836,-1.10,-146.6,159.7,-8.8,87,1841,0.00,2.67,0.00,0.000,6,0.000,0.066,2196,2662,3502
$GC,2152,-1.10,-146.6,187.2,-8.9,102,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2662,3502
$GC,2461,-1.10,-146.6,213.9,-8.5,117,2465,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3793,3502
$GC,2507,-1.10,-146.6,217.9,-8.9,119,2511,0.00,2.10,0.00,0.000,6,0.000,0.060,2196,2642,3502
$GC,2840,-1.10,-146.6,249.0,-9.7,135,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3502
$GC,3149,-1.10,-146.6,279.0,-9.3,150,3152,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3787,3502
$GC,3182,-1.10,-146.6,282.3,-10.3,151,3186,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2650,3503
$GC,3504,-1.10,-146.6,311.3,-8.4,167,3505,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3503
$GC,3813,-1.10,-146.6,334.3,-6.7,182,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3503
$GC,4123,-1.10,-146.6,353.9,-5.4,197,4126,0.00,2.20,0.00,0.000,4,0.000,0.088,2196,3787,3503
$GC,4191,-1.10,-146.6,358.4,-6.9,200,4195,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2649,3503
$GC,4524,-1.10,-146.6,380.4,-6.9,216,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3503
$GC,4833,-1.10,-146.6,403.8,-8.2,231,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3503
$GC,5143,-1.10,-146.6,429.3,-7.8,246,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3503
$GC,5453,-1.10,-146.6,450.9,-6.9,261,5456,0.00,2.20,0.00,0.000,4,0.000,0.085,2196,3793,3503
$GC,5526,-1.10,-146.6,456.8,-7.7,264,5530,0.00,2.08,0.00,0.000,6,0.000,0.057,2196,2648,3503
$GC,5853,-1.10,-146.6,482.6,-8.0,280,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3503
$GC,6162,-1.10,-146.6,504.7,-6.8,295,6166,0.00,2.58,0.00,0.000,4,0.000,0.067,2196,1235,3503
$GC,6190,-1.10,-146.6,506.6,-7.1,296,6194,0.00,2.62,0.00,0.000,6,0.000,0.064,2196,2658,3503
$GC,6507,-1.10,-146.6,527.7,-6.6,311,6511,0.00,2.15,0.00,0.000,4,0.000,0.087,2196,3789,3502
$GC,6620,-1.10,-146.6,536.2,-7.4,316,6624,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2650,3503
$GC,6953,-1.10,-146.6,561.9,-7.8,332,6957,0.00,2.60,0.00,0.000,4,0.000,0.072,2196,1235,3502
$GC,6987,-1.10,-146.6,564.9,-8.7,333,6993,0.00,2.62,0.00,0.000,6,0.000,0.063,2196,2660,3502
$GC,7303,-1.10,-146.6,587.9,-6.2,349,7306,0.00,2.15,0.00,0.000,4,0.000,0.090,2196,3787,3502
$GC,7394,-1.10,-146.6,594.2,-7.5,353,7397,0.00,2.05,0.00,0.000,6,0.000,0.052,2196,2646,3501
$GC,7726,-1.10,-146.6,615.8,-6.4,369,7731,0.00,2.60,0.00,0.000,4,0.000,0.069,2196,1227,3501
$GC,7760,-1.10,-146.6,618.1,-7.2,370,7767,0.00,2.65,0.00,0.000,6,0.000,0.064,2196,2662,3500
$GC,8077,-1.10,-146.6,638.9,-7.2,386,8078,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2662,3500
$GC,8385,-1.10,-146.6,661.2,-6.7,401,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2662,3499
$GC,8695,-1.10,-146.6,682.3,-5.1,416,8699,0.00,2.17,0.00,0.000,4,0.000,0.097,2196,3784,3498
$GC,8746,-1.10,-146.6,685.8,-7.2,418,8750,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2642,3498
$GC,9073,-1.10,-146.6,709.6,-6.3,434,9077,0.00,2.60,0.00,0.000,4,0.000,0.076,2196,1239,3497
$GC,9117,-1.10,-146.6,713.2,-7.5,436,9122,0.00,2.62,0.00,0.000,6,0.000,0.067,2196,2652,3497
$GC,9439,-1.10,-146.6,723.4,0.1,452,9443,0.00,2.65,0.00,0.000,4,0.000,0.071,2196,1230,3496
$STATE,9536,end dive,NO_VERTICAL_VELOCITY
$STATE,9536,begin apogee
$GC,9545,-0.42,0.0,723.2,0.0,456,9673,0.68,0.00,125.12,1.203,6,0.061,0.000,2346,2020,2902
$STATE,9674,end apogee,CONTROL_FINISHED_OK
$STATE,9674,begin climb
$GC,9677,1.10,146.6,723.2,0.0,463,9809,1.62,2.83,123.35,1.156,4,0.068,0.084,2680,595,2304
$GC,10065,1.18,207.0,717.1,4.3,480,10123,0.00,2.50,52.08,1.157,6,0.000,0.042,2680,2000,2058
$GC,10436,1.20,227.6,697.6,5.4,498,10461,0.00,2.78,18.58,1.112,4,0.000,0.074,2680,590,1974
$GC,10540,1.20,227.6,690.9,6.7,502,10547,0.00,2.55,0.00,0.000,6,0.000,0.047,2680,2002,1973
$GC,10856,1.20,227.6,669.2,7.5,518,10860,0.00,2.62,0.00,0.000,4,0.000,0.075,2680,3406,1973
$GC,10896,1.20,227.6,666.1,7.9,520,10900,0.00,2.58,0.00,0.000,6,0.000,0.054,2680,1996,1973
$GC,11223,1.22,242.7,646.5,5.6,536,11245,0.12,2.75,13.98,1.101,4,0.044,0.072,2722,3412,1913
$GC,11273,1.22,242.7,643.0,6.8,538,11278,0.00,2.60,0.00,0.000,6,0.000,0.052,2721,1997,1912
$GC,11595,1.25,264.2,625.3,5.4,554,11617,0.00,0.00,19.55,1.117,6,0.000,0.000,2722,1997,1824
$GC,11926,1.25,264.2,599.3,9.9,570,11927,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1997,1824
$GC,12235,1.25,264.2,572.0,7.5,585,12240,0.00,2.65,0.00,0.000,4,0.000,0.073,2722,3407,1823
$GC,12286,1.25,264.2,568.1,7.0,587,12290,0.00,2.58,0.00,0.000,6,0.000,0.054,2721,1998,1823
$GC,12602,1.25,264.2,548.3,6.6,602,12606,0.00,2.62,0.00,0.000,4,0.000,0.070,2722,586,1823
$GC,12657,1.25,264.2,544.1,7.4,604,12663,0.00,2.53,0.00,0.000,6,0.000,0.041,2722,2010,1823
$GC,12973,1.25,264.2,517.9,9.2,620,12977,0.00,2.60,0.00,0.000,4,0.000,0.071,2722,3408,1823
$GC,13028,1.25,264.2,512.6,9.3,622,13034,0.00,2.58,0.00,0.000,6,0.000,0.053,2722,1990,1823
$GC,13344,1.25,264.2,486.4,7.3,638,13348,0.00,2.65,0.00,0.000,4,0.000,0.069,2722,3416,1823
$GC,13377,1.25,264.2,484.0,6.6,639,13383,0.00,2.58,0.00,0.000,6,0.000,0.052,2722,1998,1823
$GC,13693,1.28,290.1,466.4,5.3,655,13723,0.00,2.72,22.83,1.013,4,0.000,0.068,2722,591,1719
$GC,13741,1.28,290.1,463.4,6.7,657,13745,0.00,2.53,0.00,0.000,6,0.000,0.039,2722,2004,1719
$GC,14061,1.28,290.1,440.5,7.6,673,14066,0.00,2.62,0.00,0.000,4,0.000,0.071,2722,3414,1719
$GC,14102,1.28,290.1,437.3,8.7,675,14106,0.00,2.58,0.00,0.000,6,0.000,0.051,2722,1992,1719
$GC,14429,1.28,290.1,410.7,8.5,691,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1992,1719
$GC,14738,1.28,290.1,388.8,6.9,706,14742,0.00,2.65,0.00,0.000,4,0.000,0.067,2722,3408,1720
$GC,14778,1.28,290.1,385.8,7.2,708,14782,0.00,2.55,0.00,0.000,6,0.000,0.052,2722,2001,1720
$GC,15104,1.28,290.1,360.8,7.7,724,15105,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2000,1721
$GC,15414,1.28,290.1,336.1,8.2,739,15415,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2000,1721
$GC,15723,1.28,290.1,310.8,7.8,754,15727,0.00,2.62,0.00,0.000,4,0.000,0.069,2722,3407,1722
$GC,15756,1.28,290.1,307.9,8.9,755,15762,0.00,2.55,0.00,0.000,6,0.000,0.054,2722,1994,1722
$GC,16072,1.28,290.1,285.5,7.4,771,16073,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1994,1723
$GC,16382,1.28,290.1,259.8,8.1,786,16386,0.00,2.65,0.00,0.000,4,0.000,0.069,2722,3419,1723
$GC,16444,1.28,290.1,254.2,8.8,789,16448,0.00,2.60,0.00,0.000,6,0.000,0.055,2722,1990,1723
$GC,16770,1.28,290.1,225.3,9.6,805,16775,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,3409,1723
$GC,16792,1.28,290.1,223.2,9.1,806,16796,0.00,2.58,0.00,0.000,6,0.000,0.056,2722,1996,1723
$GC,17113,1.28,290.1,195.7,8.6,822,17117,0.00,2.65,0.00,0.000,4,0.000,0.070,2722,3414,1724
$GC,17146,1.28,290.1,192.7,8.1,823,17152,0.00,2.60,0.00,0.000,6,0.000,0.056,2722,1987,1724
$GC,17462,1.28,290.1,165.4,8.3,839,17466,0.00,2.65,0.00,0.000,4,0.000,0.069,2722,3407,1724
$GC,17512,1.28,290.1,161.1,8.3,841,17516,0.00,2.58,0.00,0.000,6,0.000,0.057,2722,1992,1724
$GC,17828,1.28,290.1,134.5,8.4,856,17832,0.00,2.65,0.00,0.000,4,0.000,0.070,2722,3409,1724
$GC,17878,1.28,290.1,130.4,7.6,858,17882,0.00,2.58,0.00,0.000,6,0.000,0.057,2722,1996,1725
$GC,18194,1.28,290.1,106.3,7.9,873,18198,0.00,2.65,0.00,0.000,4,0.000,0.069,2722,3417,1725
$GC,18221,1.28,290.1,103.8,8.9,874,18226,0.00,2.60,0.00,0.000,6,0.000,0.058,2722,1996,1725
$GC,18538,1.28,290.1,74.5,9.8,889,18542,0.00,2.65,0.00,0.000,4,0.000,0.070,2722,3416,1725
$GC,18578,1.28,290.1,70.3,10.4,891,18582,0.00,2.60,0.00,0.000,6,0.000,0.060,2721,1996,1725
$GC,18904,1.28,290.1,38.8,9.7,907,18906,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1996,1725
$GC,19214,1.28,290.1,11.5,10.1,922,19218,0.00,2.65,0.00,0.000,4,0.000,0.072,2722,3407,1726
$GC,19241,1.28,290.1,9.1,6.2,923,19246,0.00,2.58,0.00,0.000,6,0.000,0.054,2722,1989,1726
$STATE,19327,end climb,SURFACE_DEPTH_REACHED
$STATE,19328,begin surface coast
$FINISH,0.5,1.027391
$STATE,19349,end surface coast,CONTROL_FINISHED_OK
$STATE,19350,begin surface
$SM_CCo,19434,0.00,0.000,0,0,1725,288.72
$SM_GC,1.10,11.80,0.00,0.00,0.032,0.000,0.000,52,2645,1725,-10.94,-0.14,288.72
$IRIDIUM_FIX,6211.90,-1136.00,150698,191954
$TT8_MAMPS,0.028379
$HUMID,1779
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.70
$XPDR_PINGS,27
$24V_AH,23.3,28.136
$10V_AH,10.1,15.006
$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,26.375,174.775,375.475,0.000,0.000,62.563,53.111,207.038,13.250,0.000,0.000,20.485,1696.065,15032.535,497.006,2046.153,675.746,33.346,1542.656,0.000,1992.176,0.000,48.073,0.000
$DEVICE_MAMPS,161.070,100.477,1203.423,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.566,667.672,539.238,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47566,928
$CAP_FILE_SIZE,139014,0
$CFSIZE,260165632,249675776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220309,004237,6232.217,-1138.351,31,1.9,31,-11.1