version: 66.04
glider: 103
mission: 11
dive: 70
start: 3 8 109 7 42 50
data:
$ID,103
$MISSION,11
$DIVE,70
$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,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,-144360.03
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,12
$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
$GPS1,073607,6211.682,-1009.228,33,1.2,33,-10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-64.6
$GPS2,074156,6211.706,-1009.116,15,1.2,15,-10.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.089,-0.053
$KALMAN_X,2375.9,-818.7,16543.1,-39493.7,-21034.2
$KALMAN_Y,2736.1,304.8,-2591.3,23393.1,7031.4
$MHEAD_RNG_PITCHd_Wd,249.5,23139,-27.3,-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,-2.31,-29.1,0.0,0.0,0,57,0.00,0.00,-34.88,0.000,6,0.000,0.000,50,2650,3022
$GC,60,-2.31,-29.1,3.8,-10.3,2,75,10.65,2.20,0.00,0.000,4,0.160,0.087,1927,3787,3023
$GC,329,-2.31,-29.1,49.6,-16.0,13,332,0.00,2.08,0.00,0.000,6,0.000,0.054,1927,2644,3023
$GC,656,-2.31,-29.1,101.6,-16.4,29,659,0.00,2.20,0.00,0.000,4,0.000,0.085,1927,3783,3023
$GC,847,-2.31,-29.1,135.7,-17.7,37,850,0.00,2.05,0.00,0.000,6,0.000,0.053,1927,2647,3023
$GC,1168,-2.31,-29.1,190.4,-16.6,53,1173,0.00,2.58,0.00,0.000,4,0.000,0.067,1927,1234,3023
$GC,1236,-2.31,-29.1,201.7,-16.9,56,1240,0.00,2.62,0.00,0.000,6,0.000,0.063,1927,2659,3023
$GC,1557,-2.31,-29.1,251.9,-15.3,72,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2659,3023
$GC,1866,-2.31,-29.1,298.2,-15.0,87,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2659,3023
$GC,2175,-2.31,-29.1,344.3,-14.4,102,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2659,3023
$GC,2484,-2.31,-29.1,389.4,-15.1,117,2488,0.00,2.15,0.00,0.000,4,0.000,0.088,1927,3783,3023
$GC,2540,-2.31,-29.1,398.5,-17.0,119,2544,0.00,2.03,0.00,0.000,6,0.000,0.052,1927,2647,3023
$GC,2861,-2.31,-29.1,445.8,-14.7,135,2865,0.00,2.58,0.00,0.000,4,0.000,0.067,1927,1233,3023
$GC,2907,-2.31,-29.1,452.4,-14.4,137,2911,0.00,2.62,0.00,0.000,6,0.000,0.066,1927,2652,3023
$GC,3228,-2.31,-29.1,497.5,-14.2,153,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2652,3023
$GC,3537,-2.31,-29.1,541.2,-14.0,168,3541,0.00,2.60,0.00,0.000,4,0.000,0.067,1927,1228,3023
$GC,3599,-2.31,-29.1,549.9,-13.9,171,3604,0.00,2.62,0.00,0.000,6,0.000,0.064,1927,2660,3023
$GC,3932,-2.31,-29.1,595.6,-13.4,187,3936,0.00,2.15,0.00,0.000,4,0.000,0.091,1927,3781,3023
$GC,3982,-2.31,-29.1,603.0,-14.8,189,3986,0.00,2.05,0.00,0.000,6,0.000,0.054,1927,2643,3023
$GC,4309,-2.31,-29.1,648.8,-13.7,205,4313,0.00,2.58,0.00,0.000,4,0.000,0.070,1927,1226,3022
$GC,4387,-2.31,-29.1,659.9,-14.3,208,4392,0.00,2.65,0.00,0.000,6,0.000,0.066,1927,2658,3023
$GC,4703,-2.31,-29.1,702.6,-12.9,223,4706,0.00,2.17,0.00,0.000,4,0.000,0.091,1927,3792,3023
$GC,4787,-2.31,-29.1,713.4,-12.4,226,4793,0.00,2.08,0.00,0.000,6,0.000,0.056,1927,2642,3023
$GC,5103,-2.31,-29.1,749.0,-11.3,242,5107,0.00,2.25,0.00,0.000,4,0.000,0.095,1928,3790,3023
$GC,5142,-2.31,-29.1,753.9,-12.5,243,5148,0.00,2.08,0.00,0.000,6,0.000,0.057,1927,2644,3023
$GC,5458,-2.31,-29.1,791.6,-12.2,259,5462,0.00,2.28,0.00,0.000,4,0.000,0.100,1927,3791,3022
$GC,5519,-2.31,-29.1,799.8,-13.0,261,5525,0.00,2.10,0.00,0.000,6,0.000,0.061,1927,2642,3022
$STATE,5688,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5688,begin apogee
$GC,5697,-0.42,0.0,819.9,11.6,270,5731,2.22,0.00,26.95,1.239,6,0.127,0.000,2346,1898,2902
$STATE,5731,end apogee,CONTROL_FINISHED_OK
$STATE,5731,begin climb
$GC,5734,2.31,29.1,821.7,0.0,272,5770,2.70,2.67,25.98,1.223,4,0.048,0.053,2952,3317,2783
$GC,5838,2.43,131.3,825.0,-8.1,276,5930,0.00,2.55,86.65,1.256,6,0.000,0.042,2952,1889,2366
$GC,6252,2.43,131.3,798.4,8.8,297,6257,0.00,2.60,0.00,0.000,4,0.000,0.069,2952,495,2366
$GC,6510,2.43,131.3,772.8,9.6,308,6517,0.00,2.50,0.00,0.000,6,0.000,0.036,2952,1926,2365
$GC,6826,2.43,131.3,745.1,8.6,324,6831,0.00,2.50,0.00,0.000,4,0.000,0.058,2952,3306,2364
$GC,7084,2.43,131.3,723.5,8.2,335,7090,0.00,2.50,0.00,0.000,6,0.000,0.043,2952,1891,2364
$GC,7400,2.43,131.3,698.1,7.9,351,7404,0.00,2.55,0.00,0.000,4,0.000,0.054,2952,3301,2363
$GC,7624,2.43,131.3,681.0,8.5,361,7629,0.00,2.47,0.00,0.000,6,0.000,0.041,2952,1899,2362
$GC,7946,2.43,131.3,655.4,8.1,377,7950,0.00,2.53,0.00,0.000,4,0.000,0.051,2952,3306,2362
$GC,7973,2.43,131.3,653.2,8.0,378,7977,0.00,2.47,0.00,0.000,6,0.000,0.039,2952,1897,2362
$GC,8289,2.43,131.3,628.9,8.1,393,8293,0.00,2.58,0.00,0.000,4,0.000,0.064,2952,489,2362
$GC,8546,2.43,131.3,606.8,8.4,404,8552,0.00,2.45,0.00,0.000,6,0.000,0.034,2952,1917,2362
$GC,8862,2.43,131.3,584.1,7.3,420,8866,0.00,2.60,0.00,0.000,4,0.000,0.061,2952,495,2362
$GC,9120,2.43,131.3,563.3,8.6,431,9124,0.00,2.42,0.00,0.000,6,0.000,0.033,2952,1913,2362
$GC,9436,2.43,131.3,539.4,7.6,446,9440,0.00,2.60,0.00,0.000,4,0.000,0.059,2952,489,2362
$GC,9693,2.43,131.3,517.4,9.0,457,9699,0.00,2.42,0.00,0.000,6,0.000,0.033,2952,1907,2362
$GC,10009,2.43,131.3,490.7,8.7,473,10013,0.00,2.42,0.00,0.000,4,0.000,0.049,2952,3294,2362
$GC,10266,2.43,131.3,467.4,9.9,484,10270,0.00,2.42,0.00,0.000,6,0.000,0.037,2952,1890,2362
$GC,10587,2.43,131.3,440.7,8.0,500,10591,0.00,2.50,0.00,0.000,4,0.000,0.048,2952,3298,2362
$GC,10642,2.43,131.3,436.1,8.3,502,10648,0.00,2.42,0.00,0.000,6,0.000,0.037,2952,1900,2362
$GC,10958,2.43,131.3,411.4,7.7,518,10962,0.00,2.53,0.00,0.000,4,0.000,0.060,2952,492,2362
$GC,11215,2.43,131.3,389.9,8.7,529,11219,0.00,2.40,0.00,0.000,6,0.000,0.032,2953,1912,2363
$GC,11536,2.43,131.3,364.0,8.0,545,11540,0.00,2.58,0.00,0.000,4,0.000,0.057,2952,491,2363
$GC,11793,2.43,131.3,341.9,8.9,556,11800,0.00,2.40,0.00,0.000,6,0.000,0.032,2952,1903,2364
$GC,12109,2.43,131.3,317.9,7.5,572,12113,0.00,2.55,0.00,0.000,4,0.000,0.056,2952,492,2364
$GC,12367,2.43,131.3,297.6,7.6,583,12373,0.00,2.40,0.00,0.000,6,0.000,0.032,2952,1905,2364
$GC,12683,2.43,131.3,274.9,7.2,599,12687,0.00,2.53,0.00,0.000,4,0.000,0.055,2952,495,2364
$GC,12940,2.43,131.3,254.8,8.2,610,12944,0.00,2.40,0.00,0.000,6,0.000,0.033,2952,1912,2364
$GC,13262,2.43,131.3,231.6,7.1,626,13266,0.00,2.55,0.00,0.000,4,0.000,0.054,2952,496,2365
$GC,13519,2.43,131.3,212.2,7.3,637,13525,0.00,2.40,0.00,0.000,6,0.000,0.034,2952,1902,2365
$GC,13835,2.43,131.3,188.8,7.4,653,13839,0.00,2.53,0.00,0.000,4,0.000,0.054,2952,492,2365
$GC,14092,2.43,131.3,168.5,8.3,664,14096,0.00,2.40,0.00,0.000,6,0.000,0.034,2952,1901,2365
$GC,14414,2.43,131.3,147.2,6.5,680,14418,0.00,2.47,0.00,0.000,4,0.000,0.053,2952,3295,2365
$GC,14672,2.43,131.3,130.6,6.1,691,14678,0.00,2.42,0.00,0.000,6,0.000,0.038,2952,1887,2365
$GC,14988,2.43,131.3,108.7,7.8,707,14992,0.00,2.53,0.00,0.000,4,0.000,0.053,2952,3296,2365
$GC,15133,2.43,131.3,97.7,7.0,713,15140,0.00,2.42,0.00,0.000,6,0.000,0.038,2952,1889,2365
$GC,15451,2.43,131.3,75.4,7.3,729,15455,0.00,2.50,0.00,0.000,4,0.000,0.058,2952,493,2365
$GC,15708,2.43,131.3,54.5,8.3,740,15715,0.00,2.40,0.00,0.000,6,0.000,0.032,2952,1912,2365
$GC,16025,2.43,131.3,29.9,7.5,756,16029,0.00,2.55,0.00,0.000,4,0.000,0.054,2952,493,2365
$GC,16283,2.43,131.3,10.6,7.0,767,16289,0.00,2.40,0.00,0.000,6,0.000,0.035,2952,1892,2365
$STATE,16410,end climb,SURFACE_DEPTH_REACHED
$STATE,16410,begin surface coast
$FINISH,0.3,1.027442
$STATE,16432,end surface coast,CONTROL_FINISHED_OK
$STATE,16432,begin surface
$SM_CCo,16458,65.07,0.738,0,0,1984,225.19
$SM_GC,1.54,0.00,0.00,65.07,0.000,0.000,0.738,48,2635,1984,-11.00,-0.42,225.19
$IRIDIUM_FIX,6144.36,-1005.54,020698,010128
$TT8_MAMPS,0.029146
$HUMID,1743
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.7,52.0
$24V_AH,23.3,19.576
$10V_AH,10.1,9.807
$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,28.400,153.175,139.575,65.075,0.000,24.247,26.611,163.710,7.000,0.000,0.000,15.752,1577.860,11973.320,339.953,2438.599,540.509,33.353,1488.579,0.000,2372.763,0.000,49.286,0.000
$DEVICE_MAMPS,159.536,108.147,1255.579,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,539.936,567.832,453.403,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38033,775
$CAP_FILE_SIZE,132333,0
$CFSIZE,260165632,253468672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080309,121955,6212.073,-1009.500,60,1.1,60,-10.1