version: 66.04
glider: 103
mission: 11
dive: 82
start: 3 11 109 14 8 14
data:
$ID,103
$MISSION,11
$DIVE,82
$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,-144602.12
$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,20
$R_STBD_OVSHOOT,11
$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
$GPS1,140127,6211.368,-1037.105,29,2.4,48,-10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-58.7
$GPS2,140720,6211.290,-1037.093,15,1.7,15,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.108,0.173
$KALMAN_X,31048.7,113.3,-1490.1,-75469.8,5401.4
$KALMAN_Y,-529.1,773.2,-1911.9,24759.6,1173.7
$MHEAD_RNG_PITCHd_Wd,338.5,7104,-12.3,-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,-1.18,-124.3,0.0,0.0,0,77,0.00,0.00,-55.45,0.000,6,0.000,0.000,53,2644,3410
$GC,80,-1.18,-124.3,6.8,-13.5,3,102,12.00,2.62,0.00,0.000,4,0.159,0.061,2177,1239,3410
$GC,310,-1.18,-124.3,38.8,-7.3,13,314,0.00,2.62,0.00,0.000,6,0.000,0.064,2177,2655,3410
$GC,631,-1.18,-124.3,64.9,-8.0,29,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2655,3410
$GC,940,-1.18,-124.3,87.8,-6.8,44,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2655,3411
$GC,1251,-1.18,-124.3,110.7,-7.4,59,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2655,3410
$GC,1559,-1.18,-124.3,135.0,-7.8,74,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2655,3411
$GC,1868,-1.18,-124.3,160.2,-7.6,89,1871,0.00,2.17,0.00,0.000,4,0.000,0.090,2177,3789,3410
$GC,1925,-1.18,-124.3,165.5,-10.1,91,1929,0.00,2.08,0.00,0.000,6,0.000,0.058,2177,2648,3410
$GC,2247,-1.18,-124.3,190.9,-6.9,107,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2648,3410
$GC,2556,-1.18,-124.3,212.7,-7.0,122,2560,0.00,2.20,0.00,0.000,4,0.000,0.085,2177,3792,3410
$GC,2595,-1.18,-124.3,215.5,-7.3,123,2601,0.00,2.08,0.00,0.000,6,0.000,0.057,2177,2643,3410
$GC,2911,-1.18,-124.3,235.0,-6.1,139,2914,0.00,2.20,0.00,0.000,4,0.000,0.084,2177,3786,3410
$GC,2957,-1.18,-124.3,238.0,-7.0,141,2961,0.00,2.05,0.00,0.000,6,0.000,0.058,2177,2647,3410
$GC,3289,-1.18,-124.3,261.1,-6.7,157,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2647,3410
$GC,3598,-1.18,-124.3,285.0,-8.1,172,3602,0.00,2.17,0.00,0.000,4,0.000,0.083,2177,3783,3410
$GC,3644,-1.18,-124.3,289.0,-9.0,174,3648,0.00,2.03,0.00,0.000,6,0.000,0.054,2177,2658,3410
$GC,3976,-1.18,-124.3,317.1,-8.7,190,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3412
$GC,4285,-1.18,-124.3,345.6,-9.7,205,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3412
$GC,4596,-1.18,-124.3,375.8,-9.9,220,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3411
$GC,4904,-1.18,-124.3,408.7,-10.3,235,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,5213,-1.18,-124.3,439.2,-9.4,250,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,5523,-1.18,-124.3,466.1,-8.4,265,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,5832,-1.18,-124.3,489.3,-7.4,280,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2178,2657,3410
$GC,6141,-1.18,-128.0,509.5,-5.9,295,6142,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,6451,-1.20,-146.6,526.6,-5.3,310,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,6760,-1.20,-146.6,548.9,-8.1,325,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,7069,-1.20,-146.6,574.9,-8.6,340,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,7381,-1.20,-146.6,601.2,-8.3,355,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,7687,-1.20,-146.6,628.4,-8.9,370,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,7997,-1.20,-146.6,653.7,-8.7,385,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,8306,-1.20,-146.6,685.3,-10.2,400,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,8615,-1.20,-146.6,711.4,-6.6,415,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2657,3410
$GC,8925,-1.20,-146.6,727.2,-5.7,430,8929,0.00,2.60,0.00,0.000,4,0.000,0.067,2177,1225,3410
$GC,8969,-1.20,-146.6,730.5,-7.1,432,8973,0.00,2.58,0.00,0.000,6,0.000,0.055,2177,2651,3410
$GC,9290,-1.20,-146.6,761.4,-10.7,448,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2651,3410
$GC,9599,-1.20,-146.6,793.5,-9.4,463,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2651,3410
$GC,9909,-1.20,-146.6,807.8,-4.8,478,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,2177,2651,3410
$GC,10218,-1.20,-146.6,820.0,-1.8,493,10222,0.00,2.15,0.00,0.000,4,0.000,0.085,2177,3790,3410
$GC,10264,-1.20,-146.6,821.4,-3.1,495,10268,0.00,2.05,0.00,0.000,6,0.000,0.051,2177,2639,3410
$GC,10597,-1.20,-146.6,841.0,-8.6,511,10601,0.00,2.58,0.00,0.000,4,0.000,0.071,2177,1231,3410
$GC,10636,-1.20,-146.6,844.7,-9.0,513,10641,0.00,2.60,0.00,0.000,6,0.000,0.060,2177,2657,3409
$GC,10963,-1.20,-146.6,875.0,-7.3,529,10968,0.00,2.62,0.00,0.000,4,0.000,0.067,2177,1229,3409
$GC,11032,-1.20,-146.6,879.5,-8.1,532,11037,0.00,2.62,0.00,0.000,6,0.000,0.064,2177,2652,3409
$STATE,11123,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11123,begin apogee
$GC,11132,-0.42,0.0,886.4,7.2,537,11246,0.85,0.00,107.78,1.233,6,0.090,0.000,2349,1995,2902
$STATE,11247,end apogee,CONTROL_FINISHED_OK
$STATE,11247,begin climb
$GC,11250,1.20,146.6,889.1,0.0,543,11382,1.65,0.00,125.00,1.201,6,0.058,0.000,2700,1995,2304
$GC,11705,1.32,237.7,876.7,3.0,565,11789,0.12,2.75,78.05,1.199,4,0.044,0.058,2741,3426,1933
$GC,11844,1.32,237.7,868.5,8.3,571,11848,0.00,2.58,0.00,0.000,6,0.000,0.042,2741,1994,1933
$GC,12164,1.32,237.7,835.6,9.3,587,12169,0.00,2.60,0.00,0.000,4,0.000,0.065,2741,586,1932
$GC,12237,1.32,237.7,828.8,7.4,590,12242,0.00,2.53,0.00,0.000,6,0.000,0.037,2741,2019,1932
$GC,12553,1.35,262.1,815.1,5.2,605,12582,0.00,2.70,21.98,1.153,4,0.000,0.062,2741,592,1833
$GC,12754,1.49,382.7,808.6,2.1,614,12865,0.12,2.50,102.82,1.189,6,0.047,0.041,2779,2005,1341
$GC,13187,1.49,382.7,780.2,10.1,635,13191,0.00,2.62,0.00,0.000,4,0.000,0.062,2779,585,1340
$GC,13242,1.49,382.7,773.7,12.4,637,13249,0.00,2.53,0.00,0.000,6,0.000,0.040,2779,2008,1340
$GC,13558,1.49,382.7,726.2,16.9,653,13559,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2009,1340
$GC,13867,1.49,382.7,674.6,15.8,668,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2009,1340
$GC,14177,1.49,382.7,631.3,13.2,683,14181,0.00,2.60,0.00,0.000,4,0.000,0.059,2779,588,1341
$GC,14273,1.49,382.7,619.2,12.6,687,14277,0.00,2.50,0.00,0.000,6,0.000,0.038,2779,2013,1341
$GC,14589,1.49,382.7,578.3,13.4,702,14590,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2013,1341
$GC,14898,1.49,382.7,540.8,12.2,717,14902,0.00,2.60,0.00,0.000,4,0.000,0.059,2779,589,1341
$GC,14931,1.49,382.7,536.5,12.5,718,14937,0.00,2.47,0.00,0.000,6,0.000,0.039,2780,2000,1341
$GC,15247,1.49,382.7,497.2,12.3,734,15248,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2000,1341
$GC,15556,1.49,382.7,458.1,12.5,749,15557,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2000,1341
$GC,15865,1.49,382.7,418.0,13.5,764,15869,0.00,2.58,0.00,0.000,4,0.000,0.060,2779,586,1341
$GC,15907,1.49,382.7,412.5,13.6,766,15911,0.00,2.50,0.00,0.000,6,0.000,0.040,2779,2008,1341
$GC,16234,1.49,382.7,370.5,12.0,782,16236,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2008,1341
$GC,16543,1.49,382.7,334.9,11.3,797,16545,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2008,1342
$GC,16853,1.49,382.7,297.9,12.3,812,16857,0.00,2.60,0.00,0.000,4,0.000,0.061,2779,588,1341
$GC,16915,1.49,382.7,290.2,11.5,815,16919,0.00,2.50,0.00,0.000,6,0.000,0.041,2780,2007,1342
$GC,17242,1.49,382.7,252.2,11.2,831,17243,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2007,1342
$GC,17551,1.49,382.7,217.4,11.4,846,17553,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2007,1342
$GC,17860,1.49,382.7,181.8,11.5,861,17865,0.00,2.60,0.00,0.000,4,0.000,0.062,2780,588,1342
$GC,17893,1.49,382.7,177.5,11.7,862,17899,0.00,2.50,0.00,0.000,6,0.000,0.041,2780,2007,1342
$GC,18210,1.49,382.7,139.6,12.0,878,18211,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2007,1342
$GC,18519,1.49,382.7,102.2,13.2,893,18520,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2007,1342
$GC,18828,1.49,382.7,64.2,13.1,908,18829,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2006,1342
$GC,19137,1.49,382.7,24.4,12.5,923,19142,0.00,2.62,0.00,0.000,4,0.000,0.067,2780,588,1342
$GC,19204,1.49,382.7,14.4,14.2,926,19209,0.00,2.47,0.00,0.000,6,0.000,0.039,2779,1999,1343
$STATE,19318,end climb,SURFACE_DEPTH_REACHED
$STATE,19319,begin surface coast
$FINISH,0.4,1.012566
$STATE,19339,end surface coast,CONTROL_FINISHED_OK
$STATE,19339,begin surface
$SM_CCo,19424,0.00,0.000,0,0,1342,382.67
$SM_GC,1.25,12.18,0.00,0.00,0.038,0.000,0.000,53,2645,1342,-10.93,-0.14,382.67
$IRIDIUM_FIX,6148.92,-1039.73,050698,080832
$TT8_MAMPS,0.028379
$HUMID,1763
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.7,44.3
$24V_AH,23.3,21.377
$10V_AH,10.1,11.023
$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,26.925,95.875,435.625,0.000,0.000,29.784,28.379,163.664,7.500,0.000,0.000,15.376,1637.139,15207.626,502.323,1895.446,531.178,33.361,1450.638,0.000,1851.188,0.000,53.409,0.000
$DEVICE_MAMPS,158.769,89.739,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,652.378,686.707,511.394,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47444,933
$CAP_FILE_SIZE,121351,0
$CFSIZE,260165632,252616704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110309,193307,6212.916,-1044.166,32,1.3,32,-10.4