version: 66.04
glider: 103
mission: 11
dive: 38
start: 3 1 109 4 8 47
data:
$ID,103
$MISSION,11
$DIVE,38
$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,300
$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,-143690.45
$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,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,10
$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
$GPS1,040306,6153.163,-912.186,36,0.9,36,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-56.8
$GPS2,040755,6153.173,-912.114,9,1.0,14,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.205,-0.075
$KALMAN_X,-3060.2,-659.5,-594.2,19662.1,18597.1
$KALMAN_Y,-60666.5,620.7,-5.4,137705.2,-5198.0
$MHEAD_RNG_PITCHd_Wd,259.5,39483,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.67,0.000,2,0.000,0.000,46,2744,3204
$GC,81,-1.10,-146.6,4.0,-7.3,3,104,12.20,2.70,-4.93,0.000,4,0.161,0.081,2194,1337,3502
$GC,160,-1.10,-146.6,17.2,-8.3,6,165,0.00,2.65,0.00,0.000,6,0.000,0.065,2194,2756,3502
$GC,477,-1.10,-146.6,43.1,-8.4,21,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2756,3502
$GC,787,-1.10,-146.6,67.6,-7.0,36,792,0.00,2.65,0.00,0.000,4,0.000,0.068,2194,1331,3502
$GC,815,-1.10,-146.6,69.9,-7.3,37,820,0.00,2.65,0.00,0.000,6,0.000,0.064,2194,2758,3502
$GC,1132,-1.10,-146.6,93.9,-7.9,52,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2759,3502
$GC,1441,-1.10,-146.6,118.3,-7.6,67,1445,0.00,2.65,0.00,0.000,4,0.000,0.067,2194,1331,3502
$GC,1481,-1.10,-146.6,121.6,-8.4,69,1485,0.00,2.62,0.00,0.000,6,0.000,0.063,2194,2760,3502
$GC,1808,-1.10,-146.6,145.9,-7.3,85,1812,0.00,2.65,0.00,0.000,4,0.000,0.067,2194,1332,3502
$GC,1848,-1.10,-146.6,148.8,-7.6,87,1852,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2751,3502
$GC,2174,-1.10,-146.6,172.1,-7.0,103,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2751,3502
$GC,2483,-1.10,-146.6,194.0,-7.1,118,2488,0.00,2.62,0.00,0.000,4,0.000,0.064,2194,1327,3502
$GC,2524,-1.10,-146.6,197.0,-7.7,120,2528,0.00,2.62,0.00,0.000,6,0.000,0.060,2194,2757,3502
$GC,2851,-1.10,-146.6,221.2,-7.8,136,2855,0.00,2.62,0.00,0.000,4,0.000,0.065,2194,1333,3502
$GC,2878,-1.10,-146.6,223.4,-7.1,137,2883,0.00,2.58,0.00,0.000,6,0.000,0.058,2194,2752,3502
$GC,3194,-1.10,-146.6,247.3,-7.6,152,3198,0.00,2.60,0.00,0.000,4,0.000,0.061,2194,1332,3502
$GC,3234,-1.10,-146.6,250.3,-7.5,154,3239,0.00,2.60,0.00,0.000,6,0.000,0.056,2194,2760,3502
$GC,3561,-1.10,-146.6,274.3,-7.2,170,3565,0.00,2.60,0.00,0.000,4,0.000,0.061,2194,1337,3502
$GC,3588,-1.10,-146.6,276.4,-7.3,171,3592,0.00,2.58,0.00,0.000,6,0.000,0.055,2194,2753,3502
$GC,3904,-1.10,-146.6,297.2,-6.6,186,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2753,3502
$GC,4213,-1.10,-146.6,317.5,-6.5,201,4217,0.00,2.60,0.00,0.000,4,0.000,0.062,2193,1335,3502
$GC,4264,-1.10,-146.6,321.1,-6.6,203,4269,0.00,2.60,0.00,0.000,6,0.000,0.058,2194,2757,3502
$GC,4585,-1.10,-146.6,341.5,-5.9,219,4590,0.00,2.62,0.00,0.000,4,0.000,0.064,2194,1328,3502
$GC,4619,-1.10,-146.6,343.9,-6.9,220,4625,0.00,2.60,0.00,0.000,6,0.000,0.059,2194,2756,3502
$GC,4936,-1.10,-146.6,362.6,-5.9,236,4940,0.00,2.62,0.00,0.000,4,0.000,0.064,2194,1331,3502
$GC,4963,-1.10,-146.6,364.5,-6.4,237,4967,0.00,2.60,0.00,0.000,6,0.000,0.059,2194,2756,3502
$GC,5279,-1.10,-146.6,383.1,-5.8,252,5283,0.00,2.60,0.00,0.000,4,0.000,0.063,2194,1337,3502
$GC,5318,-1.10,-146.6,385.6,-6.2,254,5323,0.00,2.60,0.00,0.000,6,0.000,0.063,2194,2749,3502
$GC,5645,-1.10,-146.6,406.1,-6.3,270,5649,0.00,2.60,0.00,0.000,4,0.000,0.064,2194,1335,3502
$GC,5678,-1.10,-146.6,408.4,-6.6,271,5684,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2753,3502
$GC,5994,-1.10,-146.6,429.6,-7.1,287,5998,0.00,2.62,0.00,0.000,4,0.000,0.066,2194,1327,3502
$GC,6033,-1.10,-146.6,432.5,-7.1,289,6038,0.00,2.60,0.00,0.000,6,0.000,0.060,2194,2750,3502
$GC,6360,-1.10,-146.6,456.3,-7.2,305,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3502
$GC,6669,-1.10,-146.6,478.9,-7.6,320,6670,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3502
$GC,6978,-1.10,-146.6,502.7,-7.3,335,6982,0.00,2.60,0.00,0.000,4,0.000,0.063,2194,1328,3502
$GC,7011,-1.10,-146.6,505.3,-7.9,336,7017,0.00,2.60,0.00,0.000,6,0.000,0.058,2194,2750,3502
$GC,7327,-1.10,-146.6,528.2,-6.7,352,7331,0.00,1.95,0.00,0.000,4,0.000,0.082,2194,3790,3502
$GC,7418,-1.10,-146.6,534.2,-6.6,356,7422,0.00,1.85,0.00,0.000,6,0.000,0.041,2194,2749,3502
$GC,7751,-1.10,-146.6,557.0,-5.5,372,7755,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1337,3501
$GC,7795,-1.10,-146.6,559.1,-5.0,374,7800,0.00,2.60,0.00,0.000,6,0.000,0.059,2194,2756,3501
$GC,8117,-1.10,-146.6,573.8,-4.1,390,8121,0.00,2.62,0.00,0.000,4,0.000,0.067,2194,1332,3501
$GC,8201,-1.10,-146.6,577.8,-6.1,394,8206,0.00,2.62,0.00,0.000,6,0.000,0.062,2194,2761,3501
$STATE,8505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8505,begin apogee
$GC,8514,-0.42,0.0,600.4,8.2,409,8640,0.77,0.00,122.38,1.103,6,0.095,0.000,2348,1704,2902
$STATE,8641,end apogee,CONTROL_FINISHED_OK
$STATE,8641,begin climb
$GC,8644,1.10,146.6,605.9,0.0,415,8770,1.55,0.00,120.80,1.053,6,0.057,0.000,2678,1704,2304
$GC,9078,1.10,146.6,599.2,6.0,436,9082,0.00,2.62,0.00,0.000,4,0.000,0.061,2678,3121,2303
$GC,9218,1.16,192.1,591.2,4.7,442,9263,0.00,2.60,38.80,1.083,6,0.000,0.050,2678,1689,2118
$GC,9580,1.16,192.1,566.1,8.0,460,9584,0.00,2.65,0.00,0.000,4,0.000,0.059,2678,3124,2117
$GC,9769,1.25,262.9,555.7,4.0,468,9838,0.15,2.62,58.33,1.092,6,0.041,0.058,2724,1702,1830
$GC,10148,1.25,262.9,529.8,7.6,487,10152,0.00,2.62,0.00,0.000,4,0.000,0.060,2724,3122,1830
$GC,10304,1.25,262.9,518.7,7.3,494,10309,0.00,2.62,0.00,0.000,6,0.000,0.057,2724,1694,1830
$GC,10626,1.25,262.9,492.4,7.7,510,10630,0.00,2.62,0.00,0.000,4,0.000,0.061,2724,3119,1829
$GC,10688,1.26,271.2,488.3,5.8,513,10703,0.00,2.60,8.50,0.976,6,0.000,0.054,2724,1695,1796
$GC,11020,1.26,271.2,464.4,7.2,529,11024,0.00,2.62,0.00,0.000,4,0.000,0.071,2724,290,1796
$GC,11109,1.26,271.2,457.5,8.3,533,11113,0.00,2.50,0.00,0.000,6,0.000,0.036,2724,1714,1796
$GC,11430,1.26,271.2,431.5,8.3,549,11434,0.00,2.55,0.00,0.000,4,0.000,0.061,2724,3110,1796
$GC,11514,1.26,271.2,424.3,8.5,553,11518,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1696,1796
$GC,11841,1.26,271.2,396.4,8.6,569,11845,0.00,2.60,0.00,0.000,4,0.000,0.059,2724,3114,1796
$GC,11935,1.26,271.2,387.9,9.5,573,11940,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1700,1796
$GC,12251,1.26,271.2,359.0,9.0,588,12255,0.00,2.58,0.00,0.000,4,0.000,0.059,2724,3110,1796
$GC,12336,1.26,271.2,351.4,9.6,592,12340,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1692,1796
$GC,12662,1.26,271.2,321.8,9.2,608,12666,0.00,2.60,0.00,0.000,4,0.000,0.060,2724,3110,1796
$GC,12792,1.26,271.2,310.0,9.7,614,12796,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1693,1797
$GC,13118,1.26,271.2,279.6,9.5,630,13122,0.00,2.60,0.00,0.000,4,0.000,0.060,2724,3112,1797
$GC,13207,1.26,271.2,271.0,9.2,634,13211,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1696,1797
$GC,13528,1.26,271.2,239.0,10.1,650,13532,0.00,2.58,0.00,0.000,4,0.000,0.059,2724,3103,1798
$GC,13628,1.26,271.2,228.8,10.4,654,13634,0.00,2.55,0.00,0.000,6,0.000,0.055,2724,1699,1798
$GC,13944,1.26,271.2,200.8,9.2,670,13948,0.00,2.58,0.00,0.000,4,0.000,0.058,2724,3110,1798
$GC,14033,1.26,271.2,192.2,8.8,674,14037,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1692,1798
$GC,14354,1.26,271.2,165.3,8.0,690,14358,0.00,2.60,0.00,0.000,4,0.000,0.060,2724,3110,1798
$GC,14466,1.26,271.2,156.4,8.0,695,14470,0.00,2.58,0.00,0.000,6,0.000,0.056,2724,1694,1799
$GC,14787,1.26,271.2,131.1,7.9,711,14792,0.00,2.58,0.00,0.000,4,0.000,0.059,2724,3103,1799
$GC,14900,1.26,271.2,121.6,8.6,716,14904,0.00,2.55,0.00,0.000,6,0.000,0.055,2724,1698,1799
$GC,15221,1.26,271.2,96.3,8.0,732,15225,0.00,2.58,0.00,0.000,4,0.000,0.060,2724,3107,1799
$GC,15321,1.26,271.2,87.9,8.6,736,15327,0.00,2.55,0.00,0.000,6,0.000,0.057,2724,1696,1799
$GC,15637,1.26,271.2,61.9,7.9,752,15642,0.00,2.60,0.00,0.000,4,0.000,0.061,2724,3114,1800
$GC,15723,1.26,271.2,55.4,7.8,756,15727,0.00,2.58,0.00,0.000,6,0.000,0.058,2724,1700,1800
$GC,16052,1.26,271.2,30.8,8.6,772,16056,0.00,2.58,0.00,0.000,4,0.000,0.062,2724,3106,1800
$GC,16163,1.26,271.2,21.0,7.8,777,16168,0.00,2.58,0.00,0.000,6,0.000,0.057,2724,1691,1800
$STATE,16421,end climb,SURFACE_DEPTH_REACHED
$STATE,16421,begin surface coast
$FINISH,0.2,1.004806
$STATE,16441,end surface coast,CONTROL_FINISHED_OK
$STATE,16442,begin surface
$SM_CCo,16467,20.88,0.729,0,0,1679,300.00
$SM_GC,0.90,0.00,0.00,20.88,0.000,0.000,0.729,48,2747,1679,-11.00,-0.08,300.00
$IRIDIUM_FIX,6126.23,-904.52,260598,000014
$TT8_MAMPS,0.029146
$HUMID,1774
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.1,34.2
$24V_AH,23.4,15.393
$10V_AH,10.1,7.016
$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,26.425,184.650,348.800,20.875,0.000,29.620,27.422,118.438,4.750,0.000,0.000,14.741,1504.962,12346.663,496.458,1956.992,475.947,33.365,1493.391,0.000,1914.668,0.000,33.354,0.000
$DEVICE_MAMPS,161.070,82.069,1102.946,729.417,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,559.194,581.086,513.097,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41130,791
$CAP_FILE_SIZE,127732,0
$CFSIZE,260165632,255500288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010309,084500,6154.488,-914.110,39,1.6,44,-9.5