version: 66.04
glider: 103
mission: 11
dive: 45
start: 3 2 109 11 21 20
data:
$ID,103
$MISSION,11
$DIVE,45
$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,-143814.27
$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,13
$R_STBD_OVSHOOT,16
$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
$GPS1,111407,6154.430,-917.322,28,2.0,28,-9.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-58.5
$GPS2,112026,6154.400,-917.075,16,2.0,16,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.217,0.029
$KALMAN_X,23936.7,-2214.8,-1135.8,-9585.1,28184.0
$KALMAN_Y,-67705.9,294.6,1006.9,146311.3,-14974.5
$MHEAD_RNG_PITCHd_Wd,287.0,34647,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.08,0.000,6,0.000,0.000,47,2658,3500
$GC,80,-1.10,-146.6,6.2,-11.8,3,102,12.25,2.65,0.00,0.000,4,0.163,0.058,2194,1229,3500
$GC,216,-1.10,-146.6,27.6,-8.3,9,221,0.00,2.65,0.00,0.000,6,0.000,0.067,2194,2648,3500
$GC,543,-1.10,-146.6,54.2,-7.9,25,546,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3787,3500
$GC,649,-1.10,-146.6,63.5,-8.5,29,656,0.00,2.05,0.00,0.000,6,0.000,0.049,2194,2637,3500
$GC,967,-1.10,-146.6,90.3,-8.7,45,971,0.00,2.22,0.00,0.000,4,0.000,0.084,2194,3792,3500
$GC,1017,-1.10,-146.6,94.8,-8.7,47,1020,0.00,2.05,0.00,0.000,6,0.000,0.047,2194,2644,3500
$GC,1338,-1.10,-146.6,121.6,-7.9,63,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3500
$GC,1648,-1.10,-146.6,145.5,-7.7,78,1651,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3785,3500
$GC,1698,-1.10,-146.6,149.6,-7.8,80,1703,0.00,2.03,0.00,0.000,6,0.000,0.047,2194,2649,3500
$GC,2025,-1.10,-146.6,174.2,-7.9,96,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3500
$GC,2335,-1.10,-146.6,198.5,-7.7,111,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3500
$GC,2644,-1.10,-146.6,223.4,-8.1,126,2647,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3792,3500
$GC,2683,-1.10,-146.6,226.9,-8.6,127,2689,0.00,2.05,0.00,0.000,6,0.000,0.047,2194,2640,3500
$GC,2999,-1.10,-146.6,254.0,-8.6,143,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3500
$GC,3308,-1.10,-146.6,281.4,-8.6,158,3311,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3783,3500
$GC,3354,-1.10,-146.6,285.3,-8.7,160,3357,0.00,2.03,0.00,0.000,6,0.000,0.049,2194,2648,3500
$GC,3687,-1.10,-146.6,312.2,-7.7,176,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,3996,-1.10,-146.6,335.3,-7.6,191,3999,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3792,3500
$GC,4035,-1.10,-146.6,338.4,-7.7,192,4041,0.00,2.05,0.00,0.000,6,0.000,0.049,2194,2644,3500
$GC,4351,-1.10,-146.6,361.3,-7.4,208,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3500
$GC,4660,-1.10,-146.6,384.1,-7.3,223,4663,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3784,3500
$GC,4699,-1.10,-146.6,387.1,-7.7,224,4705,0.00,2.03,0.00,0.000,6,0.000,0.049,2194,2649,3500
$GC,5015,-1.10,-146.6,409.2,-7.0,240,5016,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3500
$GC,5324,-1.10,-146.6,432.2,-7.6,255,5328,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3784,3500
$GC,5357,-1.10,-146.6,434.8,-8.0,256,5361,0.00,2.03,0.00,0.000,6,0.000,0.049,2194,2649,3500
$GC,5679,-1.10,-146.6,458.3,-7.2,272,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3500
$GC,5988,-1.10,-146.6,480.4,-7.2,287,5991,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3784,3500
$GC,6079,-1.10,-146.6,487.2,-7.6,291,6083,0.00,2.03,0.00,0.000,6,0.000,0.050,2194,2650,3500
$GC,6412,-1.10,-146.6,511.2,-7.7,307,6415,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3787,3500
$GC,6485,-1.10,-146.6,516.7,-7.2,310,6489,0.00,2.05,0.00,0.000,6,0.000,0.049,2194,2636,3500
$GC,6812,-1.10,-146.6,538.8,-6.7,326,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2635,3501
$GC,7122,-1.10,-146.6,558.4,-6.2,341,7125,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3787,3501
$GC,7178,-1.10,-146.6,562.3,-6.7,343,7181,0.00,2.03,0.00,0.000,6,0.000,0.050,2194,2651,3500
$GC,7499,-1.10,-146.6,584.0,-7.3,359,7503,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1240,3501
$GC,7567,-1.10,-146.6,589.1,-7.1,362,7572,0.00,2.58,0.00,0.000,6,0.000,0.059,2194,2653,3501
$GC,7889,-1.10,-146.6,611.1,-6.5,378,7892,0.00,2.17,0.00,0.000,4,0.000,0.094,2194,3780,3501
$STATE,7936,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7936,begin apogee
$GC,7948,-0.42,0.0,614.7,7.8,380,8073,0.73,0.00,121.78,1.071,6,0.083,0.000,2345,1798,2902
$STATE,8074,end apogee,CONTROL_FINISHED_OK
$STATE,8074,begin climb
$GC,8077,1.10,146.6,620.2,0.0,386,8205,1.58,2.75,119.53,1.052,4,0.064,0.071,2678,388,2304
$GC,8340,1.17,199.8,614.7,4.5,398,8390,0.00,2.55,44.42,1.042,6,0.000,0.039,2678,1827,2087
$GC,8710,1.20,228.8,595.5,5.2,416,8741,0.10,2.60,25.20,1.057,4,0.049,0.065,2715,3198,1969
$GC,8928,1.20,228.8,580.6,7.6,426,8932,0.00,2.58,0.00,0.000,6,0.000,0.054,2715,1793,1967
$GC,9254,1.20,228.8,558.9,6.8,442,9259,0.00,2.62,0.00,0.000,4,0.000,0.070,2715,386,1967
$GC,9355,1.20,228.8,551.2,8.2,446,9362,0.00,2.50,0.00,0.000,6,0.000,0.041,2715,1794,1966
$GC,9671,1.20,228.8,526.8,7.4,462,9675,0.00,2.60,0.00,0.000,4,0.000,0.065,2715,3204,1966
$GC,9890,1.20,228.8,510.9,7.5,472,9895,0.00,2.58,0.00,0.000,6,0.000,0.054,2715,1792,1966
$GC,10217,1.20,228.8,487.8,7.1,488,10222,0.00,2.62,0.00,0.000,4,0.000,0.062,2715,3209,1966
$GC,10290,1.20,228.8,482.2,7.7,491,10294,0.00,2.58,0.00,0.000,6,0.000,0.051,2715,1788,1966
$GC,10606,1.20,228.8,460.1,6.8,506,10611,0.00,2.60,0.00,0.000,4,0.000,0.060,2715,3205,1966
$GC,10656,1.20,228.8,456.4,8.2,508,10661,0.00,2.55,0.00,0.000,6,0.000,0.049,2715,1793,1966
$GC,10972,1.20,228.8,434.2,7.2,523,10977,0.00,2.60,0.00,0.000,4,0.000,0.060,2715,3207,1966
$GC,11023,1.20,228.8,430.3,7.9,525,11027,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1793,1966
$GC,11339,1.20,228.8,407.1,7.4,540,11343,0.00,2.60,0.00,0.000,4,0.000,0.061,2715,3206,1966
$GC,11405,1.20,228.8,402.0,7.3,543,11409,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1793,1966
$GC,11726,1.20,228.8,379.2,7.2,559,11730,0.00,2.60,0.00,0.000,4,0.000,0.061,2715,3207,1967
$GC,11804,1.20,228.8,373.6,6.9,562,11810,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1792,1967
$GC,12120,1.20,228.8,350.7,7.5,578,12124,0.00,2.60,0.00,0.000,4,0.000,0.061,2715,3206,1967
$GC,12254,1.20,228.8,340.0,8.0,584,12258,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1793,1967
$GC,12574,1.20,228.8,314.7,7.7,600,12579,0.00,2.60,0.00,0.000,4,0.000,0.061,2715,3212,1968
$GC,12687,1.20,228.8,306.0,7.5,605,12691,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1800,1968
$GC,13008,1.20,228.8,281.7,7.6,621,13013,0.00,2.60,0.00,0.000,4,0.000,0.064,2715,3212,1968
$GC,13104,1.20,228.8,274.2,7.6,625,13108,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1799,1968
$GC,13419,1.20,228.8,250.9,7.3,640,13424,0.00,2.60,0.00,0.000,4,0.000,0.064,2715,3208,1969
$GC,13504,1.20,228.8,244.3,7.9,644,13509,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1795,1969
$GC,13832,1.20,228.8,220.7,7.0,660,13836,0.00,2.60,0.00,0.000,4,0.000,0.062,2715,3210,1969
$GC,13921,1.20,228.8,214.1,7.0,664,13925,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,1792,1969
$GC,14241,1.20,228.8,190.5,7.5,680,14246,0.00,2.60,0.00,0.000,4,0.000,0.061,2715,3206,1970
$GC,14326,1.20,228.8,184.3,7.0,684,14331,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1789,1970
$GC,14653,1.20,228.8,162.4,6.4,700,14657,0.00,2.60,0.00,0.000,4,0.000,0.062,2715,3205,1970
$GC,14738,1.20,228.8,156.5,7.2,704,14742,0.00,2.53,0.00,0.000,6,0.000,0.051,2715,1799,1971
$GC,15065,1.20,228.8,132.3,7.9,720,15069,0.00,2.60,0.00,0.000,4,0.000,0.062,2715,3213,1971
$GC,15128,1.20,228.8,127.1,7.9,723,15132,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1796,1971
$GC,15456,1.20,228.8,100.1,7.0,739,15460,0.00,2.60,0.00,0.000,4,0.000,0.061,2715,3210,1970
$GC,15511,1.20,228.8,94.9,8.7,741,15518,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,1796,1971
$GC,15828,1.28,293.1,73.3,4.2,757,15884,0.00,2.67,50.72,0.739,4,0.000,0.061,2715,3204,1707
$GC,15918,1.28,293.1,66.2,8.1,760,15922,0.00,2.60,0.00,0.000,6,0.000,0.055,2715,1793,1707
$GC,16236,1.28,293.1,41.5,6.8,775,16240,0.00,2.60,0.00,0.000,4,0.000,0.060,2715,3205,1707
$GC,16376,1.28,293.1,26.6,9.6,781,16380,0.00,2.58,0.00,0.000,6,0.000,0.054,2715,1789,1707
$STATE,16669,end climb,SURFACE_DEPTH_REACHED
$STATE,16670,begin surface coast
$FINISH,0.2,1.003419
$STATE,16690,end surface coast,CONTROL_FINISHED_OK
$STATE,16690,begin surface
$SM_CCo,16715,4.25,0.521,0,0,1679,300.00
$SM_GC,1.42,0.00,0.00,4.25,0.000,0.000,0.521,50,2642,1679,-10.99,-0.23,300.00
$IRIDIUM_FIX,6126.23,-918.74,270598,060647
$TT8_MAMPS,0.029146
$HUMID,1749
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.3,49.2
$24V_AH,23.4,16.270
$10V_AH,10.1,7.555
$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,26.475,167.900,361.650,4.250,0.000,32.984,55.386,167.177,4.750,0.000,0.000,16.101,1517.619,12543.473,469.524,2007.395,563.510,33.390,1487.715,0.000,1962.460,0.000,33.404,0.000
$DEVICE_MAMPS,163.371,94.341,1071.499,520.793,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,564.358,581.824,499.470,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41210,796
$CAP_FILE_SIZE,126973,0
$CFSIZE,260165632,255115264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020309,160125,6152.925,-916.465,45,1.7,45,-9.5