version: 66.04
glider: 103
mission: 11
dive: 127
start: 3 19 109 21 30 54
data:
$ID,103
$MISSION,11
$DIVE,127
$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,-145514.38
$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,27
$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
$GPS1,212530,6232.525,-1128.869,36,1.5,42,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-58.5
$GPS2,213002,6232.516,-1129.019,13,1.1,13,-11.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,0.020
$KALMAN_X,-22657.7,2690.8,662.1,-19715.2,-35194.4
$KALMAN_Y,-4368.7,1360.6,537.9,-11046.6,-7056.9
$MHEAD_RNG_PITCHd_Wd,95.6,10483,-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,-146.6,0.0,0.0,0,69,0.00,0.00,-51.75,0.000,2,0.000,0.000,52,2641,3384
$GC,72,-1.10,-146.6,4.6,-7.0,3,95,12.12,2.25,-1.88,0.000,4,0.161,0.103,2192,3782,3503
$GC,286,-1.10,-146.6,30.2,-7.5,12,290,0.00,2.05,0.00,0.000,6,0.000,0.058,2193,2657,3503
$GC,608,-1.10,-146.6,53.3,-7.3,28,612,0.00,2.60,0.00,0.000,4,0.000,0.066,2193,1235,3503
$GC,648,-1.10,-146.6,56.4,-7.7,30,652,0.00,2.62,0.00,0.000,6,0.000,0.063,2193,2659,3503
$GC,975,-1.10,-146.6,79.3,-7.2,46,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2659,3503
$GC,1284,-1.10,-146.6,104.6,-8.7,61,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2659,3503
$GC,1593,-1.10,-146.6,130.3,-7.7,76,1597,0.00,2.15,0.00,0.000,4,0.000,0.084,2193,3793,3503
$GC,1666,-1.10,-146.6,136.4,-8.4,79,1670,0.00,2.08,0.00,0.000,6,0.000,0.054,2193,2643,3504
$GC,1993,-1.10,-146.6,160.0,-6.9,95,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3504
$GC,2302,-1.10,-146.6,182.9,-8.2,110,2306,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3786,3504
$GC,2353,-1.10,-146.6,187.1,-8.3,112,2356,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2653,3504
$GC,2680,-1.10,-146.6,211.7,-7.6,128,2681,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3504
$GC,2989,-1.10,-146.6,236.0,-7.7,143,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3504
$GC,3298,-1.10,-146.6,260.4,-8.0,158,3302,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3787,3505
$GC,3337,-1.10,-146.6,263.6,-8.1,159,3343,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2643,3504
$GC,3653,-1.10,-146.6,288.8,-8.1,175,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3505
$GC,3962,-1.10,-146.6,312.5,-7.5,190,3966,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3789,3505
$GC,4024,-1.10,-146.6,317.2,-7.2,192,4030,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2645,3505
$GC,4340,-1.10,-146.6,339.5,-6.7,208,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3505
$GC,4649,-1.10,-146.6,360.2,-6.9,223,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3505
$GC,4959,-1.10,-146.6,382.3,-7.5,238,4962,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3793,3505
$GC,5005,-1.10,-146.6,385.8,-7.8,240,5008,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2650,3505
$GC,5338,-1.10,-146.6,411.8,-8.0,256,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3505
$GC,5647,-1.10,-146.6,437.5,-8.6,271,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3505
$GC,5956,-1.10,-146.6,465.8,-9.5,286,5960,0.00,2.17,0.00,0.000,4,0.000,0.083,2193,3790,3505
$GC,6024,-1.10,-146.6,472.5,-9.8,289,6028,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2647,3505
$GC,6357,-1.10,-146.6,504.3,-9.3,305,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3505
$GC,6666,-1.10,-146.6,534.2,-9.6,320,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3505
$GC,6976,-1.10,-146.6,562.3,-8.9,335,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3505
$GC,7285,-1.10,-146.6,584.5,-6.1,350,7288,0.00,2.20,0.00,0.000,4,0.000,0.084,2193,3793,3505
$GC,7346,-1.10,-146.6,588.2,-6.1,352,7352,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2650,3505
$GC,7662,-1.10,-146.6,604.9,-6.4,368,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3505
$GC,7971,-1.10,-146.6,631.9,-8.5,383,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3505
$GC,8281,-1.10,-146.6,652.1,-6.0,398,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3505
$GC,8590,-1.10,-146.6,677.7,-9.0,413,8594,0.00,2.17,0.00,0.000,4,0.000,0.088,2193,3783,3505
$GC,8730,-1.10,-146.6,689.7,-8.0,419,8734,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2647,3505
$GC,9058,-1.10,-146.6,709.1,-5.3,435,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3505
$GC,9367,-1.10,-146.6,726.8,-6.0,450,9371,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3792,3504
$GC,9406,-1.10,-146.6,729.5,-6.9,451,9412,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2652,3504
$STATE,9719,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9719,begin apogee
$GC,9727,-0.42,0.0,748.4,5.2,467,9856,0.77,0.00,125.15,1.197,6,0.094,0.000,2348,1996,2902
$STATE,9856,end apogee,CONTROL_FINISHED_OK
$STATE,9857,begin climb
$GC,9860,1.10,146.6,752.1,0.0,473,9993,1.55,2.72,123.32,1.150,4,0.059,0.071,2678,595,2304
$GC,10251,1.13,169.3,748.9,5.4,490,10279,0.00,2.53,20.75,1.108,6,0.000,0.041,2678,2016,2211
$GC,10589,1.17,201.8,730.0,5.1,507,10624,0.00,2.80,28.42,1.140,4,0.000,0.072,2678,590,2079
$GC,10826,1.25,263.0,719.3,4.3,517,10887,0.15,2.53,52.33,1.150,6,0.038,0.044,2727,2000,1829
$GC,11203,1.25,263.0,689.9,8.5,536,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2002,1828
$GC,11513,1.25,263.0,666.5,7.3,551,11517,0.00,2.62,0.00,0.000,4,0.000,0.071,2727,3406,1827
$GC,11552,1.25,263.0,663.7,7.3,553,11557,0.00,2.55,0.00,0.000,6,0.000,0.050,2728,1995,1827
$GC,11880,1.25,263.0,634.0,11.2,569,11884,0.00,2.65,0.00,0.000,4,0.000,0.067,2727,3414,1827
$GC,11924,1.25,263.0,629.3,9.5,571,11928,0.00,2.55,0.00,0.000,6,0.000,0.048,2727,2001,1827
$GC,12245,1.25,263.0,599.8,9.6,587,12249,0.00,2.62,0.00,0.000,4,0.000,0.067,2727,3407,1826
$GC,12323,1.25,263.0,591.5,9.6,590,12329,0.00,2.53,0.00,0.000,6,0.000,0.048,2727,1994,1827
$GC,12639,1.25,263.0,560.2,10.5,606,12640,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1995,1827
$GC,12948,1.25,263.0,529.3,10.2,621,12952,0.00,2.55,0.00,0.000,4,0.000,0.063,2727,586,1827
$GC,12981,1.25,263.0,525.6,10.6,622,12987,0.00,2.50,0.00,0.000,6,0.000,0.036,2728,2019,1827
$GC,13297,1.25,263.0,496.6,8.2,638,13301,0.00,2.62,0.00,0.000,4,0.000,0.062,2728,588,1827
$GC,13347,1.25,263.0,492.2,8.6,640,13351,0.00,2.47,0.00,0.000,6,0.000,0.035,2728,2010,1827
$GC,13663,1.28,290.4,467.8,5.2,655,13692,0.00,2.67,23.77,0.975,4,0.000,0.061,2728,593,1718
$GC,13715,1.28,290.4,464.8,6.3,657,13721,0.00,2.50,0.00,0.000,6,0.000,0.038,2728,1996,1718
$GC,14030,1.28,290.4,435.2,8.3,673,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1997,1718
$GC,14340,1.28,290.4,412.4,7.0,688,14341,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1997,1719
$GC,14649,1.28,290.4,392.2,6.0,703,14650,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1997,1719
$GC,14958,1.28,290.4,370.9,7.5,718,14959,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1997,1720
$GC,15267,1.28,290.4,344.2,8.8,733,15269,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1997,1720
$GC,15577,1.28,290.4,315.8,9.4,748,15581,0.00,2.60,0.00,0.000,4,0.000,0.067,2728,3417,1721
$GC,15627,1.28,290.4,311.1,8.9,750,15631,0.00,2.55,0.00,0.000,6,0.000,0.051,2727,2002,1721
$GC,15943,1.28,290.4,283.7,8.6,765,15947,0.00,2.58,0.00,0.000,4,0.000,0.065,2728,589,1721
$GC,15987,1.28,290.4,279.5,9.4,767,15991,0.00,2.50,0.00,0.000,6,0.000,0.040,2727,2010,1721
$GC,16307,1.28,290.4,250.9,9.0,783,16312,0.00,2.58,0.00,0.000,4,0.000,0.067,2728,3414,1722
$GC,16330,1.28,290.4,248.7,8.9,784,16334,0.00,2.55,0.00,0.000,6,0.000,0.051,2728,1997,1721
$GC,16651,1.28,290.4,218.5,9.6,800,16652,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1997,1722
$GC,16960,1.28,290.4,190.6,8.9,815,16961,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1997,1722
$GC,17269,1.28,290.4,162.7,9.0,830,17273,0.00,2.62,0.00,0.000,4,0.000,0.067,2728,3409,1723
$GC,17302,1.28,290.4,159.5,8.6,831,17308,0.00,2.55,0.00,0.000,6,0.000,0.053,2728,1997,1723
$GC,17618,1.28,290.4,130.5,9.3,847,17619,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1997,1723
$GC,17927,1.28,290.4,102.9,8.9,862,17929,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1997,1723
$GC,18237,1.28,290.4,76.7,8.4,877,18241,0.00,2.62,0.00,0.000,4,0.000,0.066,2728,3414,1723
$GC,18264,1.28,290.4,74.0,10.3,878,18269,0.00,2.58,0.00,0.000,6,0.000,0.054,2728,1993,1723
$GC,18582,1.28,290.4,46.9,7.3,893,18583,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1993,1723
$GC,18890,1.28,290.4,20.4,9.6,908,18891,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1992,1723
$STATE,19114,end climb,SURFACE_DEPTH_REACHED
$STATE,19114,begin surface coast
$FINISH,0.5,1.003338
$STATE,19135,end surface coast,CONTROL_FINISHED_OK
$STATE,19135,begin surface
$SM_CCo,19220,0.00,0.000,0,0,1723,289.21
$SM_GC,1.51,11.68,0.00,0.00,0.026,0.000,0.000,42,2649,1723,-10.94,0.00,289.21
$IRIDIUM_FIX,6207.28,-1121.34,130698,181858
$TT8_MAMPS,0.029146
$HUMID,1772
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,700.1,57.4
$24V_AH,23.4,27.007
$10V_AH,10.1,14.293
$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,26.275,117.450,373.750,0.000,0.000,25.432,30.031,110.405,7.250,0.000,0.000,15.458,1630.976,14966.568,460.701,1956.807,482.289,33.344,1436.601,0.000,1924.745,0.000,45.102,0.000
$DEVICE_MAMPS,161.070,102.778,1197.287,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,656.142,673.695,549.065,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47461,920
$CAP_FILE_SIZE,122169,0
$CFSIZE,260165632,250208256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200309,025231,6230.759,-1131.723,40,1.5,40,-11.0