version: 66.04
glider: 103
mission: 11
dive: 93
start: 3 14 109 1 41 19
data:
$ID,103
$MISSION,11
$DIVE,93
$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,-144845.42
$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,17
$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
$GPS1,013021,6229.021,-1047.235,40,2.9,59,-10.6
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-52.4
$GPS2,014026,6229.132,-1047.168,13,1.6,31,-10.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,EW
$TGT_LATLONG,6225.000,-1100.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,-0.016
$KALMAN_X,59655.9,-994.6,-2180.0,-110989.4,19214.6
$KALMAN_Y,-21113.0,1320.1,250.9,75603.5,-5371.2
$MHEAD_RNG_PITCHd_Wd,276.5,13403,-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,-60.22,0.000,6,0.000,0.000,51,2661,3501
$GC,81,-1.10,-146.6,6.3,-12.9,3,103,12.18,2.70,0.00,0.000,4,0.160,0.068,2194,1234,3501
$GC,317,-1.10,-146.6,35.6,-7.8,13,321,0.00,2.65,0.00,0.000,6,0.000,0.068,2194,2651,3501
$GC,633,-1.10,-146.6,60.4,-7.8,28,637,0.00,2.67,0.00,0.000,4,0.000,0.075,2194,1230,3501
$GC,666,-1.10,-146.6,63.0,-7.7,29,672,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2661,3501
$GC,983,-1.10,-146.6,85.5,-6.8,45,987,0.00,2.17,0.00,0.000,4,0.000,0.092,2194,3784,3501
$GC,1017,-1.10,-146.6,88.1,-7.5,46,1021,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2651,3501
$GC,1339,-1.10,-146.6,109.3,-6.6,62,1342,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3792,3501
$GC,1386,-1.10,-146.6,112.6,-7.3,64,1390,0.00,2.10,0.00,0.000,6,0.000,0.058,2194,2640,3501
$GC,1721,-1.10,-146.6,134.9,-6.9,80,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3501
$GC,2028,-1.10,-146.6,155.4,-6.6,95,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3501
$GC,2338,-1.10,-146.6,177.2,-6.7,110,2342,0.00,2.60,0.00,0.000,4,0.000,0.076,2195,1236,3501
$GC,2355,-1.10,-146.6,178.3,-6.9,111,2359,0.00,2.58,0.00,0.000,6,0.000,0.057,2194,2651,3501
$GC,2681,-1.10,-146.6,199.6,-6.7,127,2686,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3786,3501
$GC,2737,-1.10,-146.6,203.1,-4.8,129,2741,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2651,3501
$GC,3059,-1.10,-146.6,224.7,-6.1,145,3064,0.00,2.62,0.00,0.000,4,0.000,0.077,2194,1233,3501
$GC,3086,-1.10,-146.6,226.5,-6.6,146,3090,0.00,2.62,0.00,0.000,6,0.000,0.062,2195,2659,3501
$GC,3407,-1.10,-146.6,246.3,-6.2,162,3411,0.00,2.17,0.00,0.000,4,0.000,0.093,2195,3790,3501
$GC,3445,-1.10,-146.6,248.9,-6.9,163,3451,0.00,2.10,0.00,0.000,6,0.000,0.058,2194,2639,3501
$GC,3761,-1.10,-146.6,268.4,-6.1,179,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2637,3501
$GC,4071,-1.10,-146.6,286.2,-6.0,194,4075,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3783,3501
$GC,4110,-1.10,-146.6,288.8,-7.0,195,4116,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2641,3501
$GC,4427,-1.10,-146.6,309.1,-7.1,211,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,4736,-1.10,-146.6,332.0,-7.4,226,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3501
$GC,5045,-1.10,-146.6,357.8,-9.0,241,5048,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3787,3501
$GC,5090,-1.10,-146.6,362.0,-9.6,243,5094,0.00,2.08,0.00,0.000,6,0.000,0.060,2195,2645,3501
$GC,5423,-1.10,-146.6,388.3,-7.7,259,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,5733,-1.10,-146.6,410.4,-5.9,274,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3501
$GC,6042,-1.10,-146.6,427.0,-5.4,289,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3501
$GC,6351,-1.10,-146.6,449.4,-7.7,304,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,6661,-1.10,-146.6,476.3,-9.5,319,6665,0.00,2.60,0.00,0.000,4,0.000,0.074,2195,1233,3501
$GC,6701,-1.10,-146.6,480.2,-9.3,321,6705,0.00,2.58,0.00,0.000,6,0.000,0.058,2194,2651,3500
$GC,7028,-1.10,-146.6,505.3,-6.2,337,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3500
$GC,7337,-1.10,-146.6,523.0,-5.5,352,7341,0.00,2.17,0.00,0.000,4,0.000,0.090,2195,3792,3500
$GC,7405,-1.10,-146.6,527.1,-6.4,355,7409,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2645,3500
$GC,7741,-1.10,-146.6,550.8,-7.9,371,7744,0.00,2.20,0.00,0.000,4,0.000,0.090,2194,3782,3500
$GC,7780,-1.10,-146.6,554.6,-8.8,372,7786,0.00,2.05,0.00,0.000,6,0.000,0.058,2195,2651,3500
$GC,8096,-1.10,-146.6,579.3,-7.6,388,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2651,3499
$GC,8405,-1.10,-146.6,605.2,-8.2,403,8409,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3792,3498
$GC,8474,-1.10,-146.6,611.3,-9.0,406,8478,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2651,3498
$GC,8807,-1.10,-146.6,638.7,-7.1,422,8811,0.00,2.65,0.00,0.000,4,0.000,0.080,2194,1232,3498
$STATE,8826,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8826,begin apogee
$GC,8835,-0.42,0.0,640.4,7.8,423,8961,0.73,0.00,122.82,1.111,6,0.094,0.000,2343,2016,2902
$STATE,8962,end apogee,CONTROL_FINISHED_OK
$STATE,8962,begin climb
$GC,8965,1.10,146.6,647.1,0.0,429,9092,1.58,0.00,121.70,1.078,6,0.057,0.000,2683,2019,2304
$GC,9398,1.23,246.8,640.0,3.2,450,9485,0.10,0.00,84.12,1.079,6,0.054,0.000,2715,2020,1895
$GC,9791,1.23,246.8,611.2,9.9,469,9795,0.00,2.60,0.00,0.000,4,0.000,0.071,2714,3410,1893
$GC,9880,1.23,246.8,602.4,9.3,473,9885,0.00,2.60,0.00,0.000,6,0.000,0.053,2714,1989,1893
$GC,10202,1.23,252.2,579.3,5.9,489,10213,0.00,2.70,5.78,0.856,4,0.000,0.069,2714,3410,1873
$GC,10265,1.24,255.6,575.5,5.9,492,10275,0.00,2.58,4.72,0.785,6,0.000,0.052,2715,2000,1859
$GC,10591,1.24,255.6,553.0,7.8,508,10595,0.00,2.65,0.00,0.000,4,0.000,0.069,2714,3415,1859
$GC,10658,1.24,255.6,547.0,9.2,511,10662,0.00,2.58,0.00,0.000,6,0.000,0.051,2715,1988,1859
$GC,10979,1.24,255.6,521.4,7.0,527,10980,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1988,1858
$GC,11288,1.24,255.6,497.6,7.1,542,11289,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1988,1858
$GC,11597,1.24,255.6,474.2,6.5,557,11601,0.00,2.58,0.00,0.000,4,0.000,0.067,2715,589,1858
$GC,11737,1.24,255.6,464.3,6.9,563,11741,0.00,2.50,0.00,0.000,6,0.000,0.038,2715,2013,1858
$GC,12052,1.24,255.6,440.5,8.3,578,12057,0.00,2.58,0.00,0.000,4,0.000,0.070,2715,3405,1858
$GC,12103,1.24,255.6,436.3,8.0,580,12107,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,1995,1858
$GC,12419,1.24,255.6,408.8,8.5,595,12423,0.00,2.58,0.00,0.000,4,0.000,0.065,2715,588,1858
$GC,12459,1.24,255.6,405.3,8.9,596,12465,0.00,2.50,0.00,0.000,6,0.000,0.039,2715,2009,1858
$GC,12775,1.24,255.6,383.8,6.3,612,12779,0.00,2.58,0.00,0.000,4,0.000,0.068,2715,3406,1858
$GC,12803,1.25,263.2,382.2,5.8,613,12817,0.00,2.55,7.68,0.837,6,0.000,0.051,2714,1990,1829
$GC,13145,1.25,263.2,358.5,7.5,630,13146,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1990,1829
$GC,13454,1.25,263.2,332.3,8.5,645,13459,0.00,2.58,0.00,0.000,4,0.000,0.064,2715,583,1830
$GC,13495,1.25,263.2,328.7,8.6,647,13499,0.00,2.50,0.00,0.000,6,0.000,0.038,2715,2008,1829
$GC,13822,1.25,263.2,297.5,9.2,663,13826,0.00,2.60,0.00,0.000,4,0.000,0.069,2715,3413,1830
$GC,13877,1.25,263.2,292.1,9.1,665,13883,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,1996,1830
$GC,14193,1.25,263.2,262.4,9.6,681,14198,0.00,2.65,0.00,0.000,4,0.000,0.069,2715,3416,1830
$GC,14227,1.25,263.2,259.0,9.8,682,14233,0.00,2.58,0.00,0.000,6,0.000,0.054,2715,1996,1830
$GC,14542,1.25,263.2,231.3,8.4,698,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1996,1830
$GC,14852,1.25,263.2,209.1,6.2,713,14856,0.00,2.65,0.00,0.000,4,0.000,0.068,2715,3415,1831
$GC,14902,1.25,263.2,205.7,6.5,715,14906,0.00,2.58,0.00,0.000,6,0.000,0.054,2715,1995,1831
$GC,15218,1.28,294.5,188.5,5.1,730,15247,0.00,0.00,27.23,0.800,6,0.000,0.000,2715,1995,1701
$GC,15548,1.28,294.5,168.2,7.0,746,15552,0.00,2.65,0.00,0.000,4,0.000,0.070,2715,3406,1700
$GC,15610,1.28,294.5,163.1,8.2,749,15614,0.00,2.58,0.00,0.000,6,0.000,0.056,2715,1994,1700
$GC,15937,1.28,294.5,134.6,9.2,765,15942,0.00,2.65,0.00,0.000,4,0.000,0.071,2715,3406,1701
$GC,15971,1.28,294.5,131.4,8.9,766,15977,0.00,2.58,0.00,0.000,6,0.000,0.057,2715,1987,1700
$GC,16288,1.28,294.5,103.3,9.2,782,16293,0.00,2.67,0.00,0.000,4,0.000,0.071,2715,3414,1701
$GC,16316,1.28,294.5,100.4,10.3,783,16320,0.00,2.60,0.00,0.000,6,0.000,0.057,2715,1989,1701
$GC,16633,1.28,294.5,69.2,9.6,798,16634,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1989,1701
$GC,16942,1.28,294.5,43.5,7.0,813,16943,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1988,1701
$GC,17252,1.28,294.5,15.8,9.3,828,17257,0.00,2.70,0.00,0.000,4,0.000,0.078,2715,3412,1701
$GC,17303,1.28,294.5,10.1,10.7,830,17307,0.00,2.62,0.00,0.000,6,0.000,0.064,2714,1993,1701
$STATE,17389,end climb,SURFACE_DEPTH_REACHED
$STATE,17389,begin surface coast
$FINISH,0.1,1.027570
$STATE,17411,end surface coast,CONTROL_FINISHED_OK
$STATE,17411,begin surface
$SM_CCo,17496,0.00,0.000,0,0,1700,294.85
$SM_GC,1.03,11.90,0.00,0.00,0.038,0.000,0.000,56,2648,1700,-10.92,-0.06,294.85
$IRIDIUM_FIX,6207.28,-1051.20,080698,010106
$TT8_MAMPS,0.029146
$HUMID,1769
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.8,24.5
$24V_AH,23.4,22.845
$10V_AH,10.1,11.948
$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,26.475,147.900,374.050,0.000,0.000,56.906,62.259,271.947,5.500,0.000,0.000,31.385,1525.932,13540.604,493.498,1823.303,715.665,33.393,1413.085,0.000,1769.279,0.000,39.691,0.000
$DEVICE_MAMPS,160.303,94.341,1111.383,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,602.554,600.863,515.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41186,835
$CAP_FILE_SIZE,126395,0
$CFSIZE,260165632,251932672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140309,063407,6228.564,-1057.647,35,1.2,35,-10.7