version: 66.04
glider: 103
mission: 11
dive: 42
start: 3 1 109 21 40 42
data:
$ID,103
$MISSION,11
$DIVE,42
$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,-143749.05
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,31
$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
$GPS1,213436,6156.763,-917.038,29,1.3,29,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.9
$GPS2,213950,6156.768,-916.858,15,1.6,15,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.215,0.039
$KALMAN_X,13284.8,-1955.6,-1278.7,1133.6,29167.5
$KALMAN_Y,-53201.7,-1996.3,-171.6,139724.4,4579.6
$MHEAD_RNG_PITCHd_Wd,289.7,32530,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.10,-146.6,0.0,0.0,0,70,0.00,0.00,-50.72,0.000,2,0.000,0.000,42,2739,3316
$GC,74,-1.10,-146.6,4.3,-7.2,3,96,12.27,2.80,-2.92,0.000,4,0.163,0.080,2195,1236,3502
$GC,153,-1.10,-146.6,19.3,-9.3,6,157,0.00,2.58,0.00,0.000,6,0.000,0.060,2195,2633,3502
$GC,469,-1.10,-146.6,44.3,-7.2,21,472,0.00,2.20,0.00,0.000,4,0.000,0.085,2195,3785,3502
$GC,541,-1.10,-146.6,50.8,-9.2,24,545,0.00,2.03,0.00,0.000,6,0.000,0.047,2195,2649,3502
$GC,869,-1.10,-146.6,79.3,-7.1,40,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,1178,-1.10,-146.6,106.5,-9.9,55,1179,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,1487,-1.10,-146.6,130.6,-7.5,70,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,1796,-1.10,-146.6,154.9,-8.0,85,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,2105,-1.10,-146.6,180.2,-8.0,100,2109,0.00,2.17,0.00,0.000,4,0.000,0.081,2195,3788,3502
$GC,2189,-1.10,-146.6,187.3,-9.0,103,2195,0.00,2.03,0.00,0.000,6,0.000,0.045,2195,2646,3502
$GC,2505,-1.10,-146.6,212.4,-7.6,119,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3503
$GC,2814,-1.10,-146.6,235.5,-7.6,134,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3503
$GC,3124,-1.10,-146.6,258.8,-7.5,149,3127,0.00,2.17,0.00,0.000,4,0.000,0.081,2195,3784,3502
$GC,3157,-1.10,-146.6,261.5,-8.1,150,3161,0.00,2.03,0.00,0.000,6,0.000,0.045,2195,2643,3502
$GC,3479,-1.10,-146.6,286.8,-7.8,166,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3502
$GC,3788,-1.10,-146.6,312.3,-8.4,181,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,4098,-1.10,-146.6,338.4,-8.1,196,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,4407,-1.10,-146.6,362.5,-7.4,211,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,4716,-1.10,-146.6,383.0,-6.4,226,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,5025,-1.10,-146.6,403.9,-7.1,241,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,5335,-1.10,-146.6,425.0,-7.9,256,5340,0.00,2.17,0.00,0.000,4,0.000,0.081,2195,3786,3502
$GC,5435,-1.10,-146.6,432.9,-6.7,260,5439,0.00,2.03,0.00,0.000,6,0.000,0.044,2195,2641,3502
$GC,5757,-1.10,-146.6,456.0,-7.3,276,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,6067,-1.10,-146.6,478.7,-7.9,291,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,6376,-1.10,-146.6,498.7,-6.3,306,6380,0.00,2.58,0.00,0.000,4,0.000,0.068,2195,1229,3502
$GC,6431,-1.10,-146.6,502.5,-6.7,308,6437,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2656,3502
$GC,6747,-1.10,-146.6,523.5,-6.9,324,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2656,3501
$GC,7056,-1.10,-146.6,543.5,-6.5,339,7060,0.00,2.65,0.00,0.000,4,0.000,0.071,2195,1233,3501
$GC,7085,-1.10,-146.6,545.5,-6.8,340,7089,0.00,2.62,0.00,0.000,6,0.000,0.064,2195,2657,3500
$STATE,7150,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7150,begin apogee
$GC,7159,-0.42,0.0,550.7,7.5,343,7284,0.77,0.00,121.28,1.050,6,0.098,0.000,2348,1798,2902
$STATE,7284,end apogee,CONTROL_FINISHED_OK
$STATE,7284,begin climb
$GC,7287,1.10,146.6,555.6,0.0,349,7415,1.55,2.75,119.35,1.017,4,0.058,0.078,2678,390,2304
$GC,7673,1.17,197.8,549.1,4.6,366,7726,0.00,2.53,43.12,1.021,6,0.000,0.038,2677,1824,2095
$GC,8038,1.19,218.4,528.8,5.4,384,8058,0.00,0.00,18.38,1.030,6,0.000,0.000,2677,1824,2011
$GC,8365,1.19,219.3,508.8,6.0,400,8369,0.00,2.55,0.00,0.000,4,0.000,0.067,2678,3204,2010
$GC,8522,1.19,220.2,499.6,6.0,407,8526,0.00,2.60,0.00,0.000,6,0.000,0.058,2678,1798,2010
$GC,8843,1.23,253.9,482.0,5.1,423,8879,0.15,2.72,30.12,1.085,4,0.041,0.074,2724,385,1865
$GC,8913,1.23,253.9,477.2,7.5,425,8917,0.00,2.53,0.00,0.000,6,0.000,0.040,2724,1795,1865
$GC,9229,1.23,253.9,452.8,7.7,440,9233,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,3209,1865
$GC,9391,1.23,253.9,441.0,7.1,447,9395,0.00,2.62,0.00,0.000,6,0.000,0.058,2724,1790,1865
$GC,9707,1.23,253.9,418.6,7.0,462,9711,0.00,2.65,0.00,0.000,4,0.000,0.064,2724,3210,1865
$GC,9846,1.23,253.9,408.5,7.0,468,9850,0.00,2.60,0.00,0.000,6,0.000,0.056,2724,1793,1865
$GC,10162,1.23,253.9,384.1,7.2,483,10166,0.00,2.62,0.00,0.000,4,0.000,0.062,2724,3210,1864
$GC,10251,1.23,253.9,377.5,7.5,487,10255,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1797,1865
$GC,10572,1.23,253.9,352.8,7.9,503,10576,0.00,2.60,0.00,0.000,4,0.000,0.063,2724,3204,1865
$GC,10651,1.23,253.9,346.9,7.6,506,10657,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1791,1865
$GC,10967,1.23,253.9,322.7,7.7,522,10971,0.00,2.62,0.00,0.000,4,0.000,0.062,2724,3213,1865
$GC,10994,1.23,253.9,320.6,7.1,523,10998,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1795,1865
$GC,11310,1.23,253.9,295.8,8.1,538,11314,0.00,2.60,0.00,0.000,4,0.000,0.063,2724,3204,1866
$GC,11360,1.23,253.9,291.6,8.3,540,11364,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1789,1866
$GC,11675,1.23,253.9,269.6,6.7,555,11680,0.00,2.60,0.00,0.000,4,0.000,0.064,2724,3206,1866
$GC,11753,1.23,253.9,263.9,7.5,558,11759,0.00,2.55,0.00,0.000,6,0.000,0.054,2724,1801,1867
$GC,12069,1.24,255.7,243.8,6.0,574,12074,0.00,2.60,0.00,0.000,4,0.000,0.063,2724,3212,1867
$GC,12115,1.25,268.4,241.0,5.6,576,12134,0.00,2.58,13.57,0.864,6,0.000,0.055,2724,1797,1806
$GC,12462,1.25,268.4,217.8,7.4,593,12466,0.00,2.60,0.00,0.000,4,0.000,0.064,2724,3204,1806
$GC,12557,1.25,268.4,210.5,7.7,597,12561,0.00,2.58,0.00,0.000,6,0.000,0.055,2724,1793,1807
$GC,12873,1.25,268.4,187.5,7.4,612,12877,0.00,2.60,0.00,0.000,4,0.000,0.063,2724,3204,1807
$GC,12935,1.25,268.4,182.9,7.1,615,12939,0.00,2.55,0.00,0.000,6,0.000,0.055,2724,1799,1807
$GC,13261,1.25,268.4,157.5,7.7,631,13266,0.00,2.60,0.00,0.000,4,0.000,0.064,2724,3209,1807
$GC,13329,1.25,268.4,152.3,7.4,634,13333,0.00,2.58,0.00,0.000,6,0.000,0.056,2724,1796,1807
$GC,13651,1.30,304.0,131.2,5.0,650,13686,0.00,2.70,29.62,0.775,4,0.000,0.064,2724,3197,1662
$GC,13766,1.34,335.7,124.9,5.1,655,13797,0.00,2.58,26.40,0.728,6,0.000,0.057,2724,1798,1532
$GC,14109,1.41,395.1,107.2,4.4,671,14163,0.10,2.70,47.55,0.718,4,0.058,0.065,2752,3213,1291
$GC,14220,1.41,395.1,100.6,6.8,676,14224,0.00,2.60,0.00,0.000,6,0.000,0.054,2752,1797,1291
$GC,14541,1.41,395.1,56.9,14.3,692,14545,0.00,2.62,0.00,0.000,4,0.000,0.064,2752,3209,1290
$GC,14607,1.41,395.1,48.0,10.0,695,14612,0.00,2.58,0.00,0.000,6,0.000,0.055,2752,1799,1290
$GC,14931,1.41,395.1,13.9,11.9,711,14935,0.00,2.62,0.00,0.000,4,0.000,0.067,2752,3206,1290
$GC,15020,1.41,395.1,5.5,9.2,715,15024,0.00,2.58,0.00,0.000,6,0.000,0.057,2752,1801,1290
$STATE,15071,end climb,SURFACE_DEPTH_REACHED
$STATE,15071,begin surface coast
$FINISH,0.2,1.015125
$STATE,15092,end surface coast,CONTROL_FINISHED_OK
$STATE,15092,begin surface
$SM_CCo,15177,0.00,0.000,0,0,1290,395.42
$SM_GC,1.08,11.82,0.00,0.00,0.025,0.000,0.000,43,2646,1290,-10.93,-0.11,395.42
$IRIDIUM_FIX,6135.28,-911.93,260598,171719
$TT8_MAMPS,0.029146
$HUMID,1778
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,526.1,33.2
$24V_AH,23.4,15.898
$10V_AH,10.1,7.317
$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,26.675,129.700,449.400,0.000,0.000,23.629,27.399,141.398,4.750,0.000,0.000,15.336,1344.600,11435.947,506.815,1738.457,462.862,33.364,1399.419,0.000,1693.546,0.000,33.016,0.000
$DEVICE_MAMPS,162.604,85.137,1085.305,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,509.562,522.606,470.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34866,719
$CAP_FILE_SIZE,111127,0
$CFSIZE,260165632,255303680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020309,015455,6156.854,-915.551,39,1.8,39,-9.5