version: 66.04
glider: 103
mission: 11
dive: 54
start: 3 4 109 13 25 47
data:
$ID,103
$MISSION,11
$DIVE,54
$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,-143976.5
$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,18
$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
$GPS1,131506,6159.409,-940.031,63,1.5,74,-9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-52.5
$GPS2,132457,6159.352,-939.850,19,1.5,19,-9.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.008,0.218
$KALMAN_X,24314.9,172.4,4655.9,-38570.0,734.6
$KALMAN_Y,-85115.6,909.5,-31.4,173311.0,-7757.9
$MHEAD_RNG_PITCHd_Wd,7.8,13671,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,62,0.00,0.00,-41.85,0.000,2,0.000,0.000,47,2655,3025
$GC,65,-1.10,-146.6,3.7,-11.1,2,92,12.38,2.67,-8.32,0.000,4,0.166,0.084,2196,1233,3503
$GC,143,-1.10,-146.6,20.3,-14.7,5,149,0.00,2.62,0.00,0.000,6,0.000,0.064,2196,2653,3503
$GC,460,-1.10,-146.6,63.6,-8.0,21,464,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3783,3503
$GC,522,-1.10,-146.6,70.8,-12.2,23,528,0.00,2.08,0.00,0.000,6,0.000,0.054,2197,2654,3503
$GC,838,-1.10,-146.6,103.3,-5.1,39,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2654,3503
$GC,1147,-1.10,-146.6,122.0,-5.7,54,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2654,3502
$GC,1456,-1.10,-146.6,144.4,-7.7,69,1460,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3790,3502
$GC,1518,-1.10,-146.6,148.1,-4.3,71,1525,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2640,3502
$GC,1834,-1.10,-146.6,169.3,-6.4,87,1838,0.00,2.22,0.00,0.000,4,0.000,0.087,2197,3787,3502
$GC,1873,-1.10,-146.6,171.6,-6.3,89,1877,0.00,2.05,0.00,0.000,6,0.000,0.052,2196,2648,3502
$GC,2206,-1.10,-146.6,196.7,-7.8,105,2207,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3502
$GC,2515,-1.10,-146.6,221.7,-8.2,120,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3502
$GC,2825,-1.10,-146.6,245.1,-6.6,135,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3502
$GC,3134,-1.10,-146.6,269.2,-7.7,150,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3502
$GC,3443,-1.10,-146.6,291.5,-7.9,165,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3502
$GC,3752,-1.10,-146.6,317.3,-8.5,180,3756,0.00,2.20,0.00,0.000,4,0.000,0.089,2197,3783,3502
$GC,3791,-1.10,-146.6,320.4,-8.3,181,3797,0.00,2.03,0.00,0.000,6,0.000,0.051,2196,2649,3502
$GC,4107,-1.10,-146.6,344.0,-7.5,197,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,4416,-1.10,-146.6,366.1,-7.0,212,4418,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,4726,-1.10,-146.6,388.5,-7.5,227,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,5035,-1.10,-146.6,414.0,-8.5,242,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,5344,-1.10,-146.6,439.5,-8.1,257,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,5653,-1.10,-146.6,463.8,-8.2,272,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,5963,-1.10,-146.6,487.7,-7.5,287,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,6272,-1.10,-146.6,510.9,-7.9,302,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,6581,-1.10,-146.6,534.6,-7.5,317,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,6891,-1.10,-146.6,555.9,-6.5,332,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3504
$GC,7200,-1.10,-146.6,577.1,-6.8,347,7203,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3790,3504
$GC,7233,-1.10,-146.6,579.6,-7.1,348,7237,0.00,2.03,0.00,0.000,6,0.000,0.049,2196,2650,3504
$GC,7555,-1.10,-146.6,602.1,-7.5,364,7559,0.00,2.55,0.00,0.000,4,0.000,0.061,2196,1227,3504
$GC,7599,-1.10,-146.6,605.3,-7.1,366,7603,0.00,2.60,0.00,0.000,6,0.000,0.057,2197,2661,3504
$GC,7920,-1.10,-146.6,628.3,-7.6,382,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2661,3504
$GC,8229,-1.10,-146.6,649.5,-5.3,397,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2661,3503
$GC,8538,-1.10,-146.6,668.5,-6.6,412,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2661,3503
$STATE,8638,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8639,begin apogee
$GC,8647,-0.42,0.0,675.6,7.1,417,8775,0.75,0.00,124.10,1.091,6,0.095,0.000,2346,1896,2902
$STATE,8775,end apogee,CONTROL_FINISHED_OK
$STATE,8776,begin climb
$GC,8779,1.10,146.6,679.8,0.0,423,8909,1.55,2.67,121.70,1.062,4,0.056,0.062,2678,481,2304
$GC,9019,1.23,250.1,676.9,3.1,434,9112,0.15,2.55,86.55,1.048,6,0.039,0.036,2728,1931,1882
$GC,9422,1.23,250.1,645.5,10.1,453,9426,0.00,2.70,0.00,0.000,4,0.000,0.063,2728,482,1881
$GC,9501,1.23,250.1,636.3,12.1,456,9507,0.00,2.50,0.00,0.000,6,0.000,0.038,2728,1898,1881
$GC,9817,1.23,250.1,608.5,6.9,472,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1899,1881
$GC,10126,1.23,250.1,587.9,7.4,487,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1900,1880
$GC,10436,1.23,250.1,555.2,11.2,502,10440,0.00,2.60,0.00,0.000,4,0.000,0.061,2729,489,1880
$GC,10469,1.23,250.1,551.2,11.3,503,10475,0.00,2.47,0.00,0.000,6,0.000,0.036,2728,1903,1879
$GC,10785,1.23,250.1,518.9,9.7,519,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1903,1879
$GC,11094,1.23,250.1,491.7,8.4,534,11095,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1903,1879
$GC,11403,1.23,250.1,465.4,8.5,549,11407,0.00,2.55,0.00,0.000,4,0.000,0.061,2729,3308,1879
$GC,11454,1.23,250.1,461.1,8.0,551,11458,0.00,2.53,0.00,0.000,6,0.000,0.045,2728,1889,1879
$GC,11774,1.23,250.1,434.4,8.3,567,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1889,1880
$GC,12084,1.23,250.1,410.7,7.5,582,12088,0.00,2.60,0.00,0.000,4,0.000,0.061,2728,3307,1880
$GC,12128,1.23,250.1,407.3,7.2,584,12132,0.00,2.53,0.00,0.000,6,0.000,0.046,2729,1889,1880
$GC,12449,1.23,250.1,384.4,6.9,600,12453,0.00,2.60,0.00,0.000,4,0.000,0.061,2728,3307,1880
$GC,12488,1.23,250.1,381.4,7.5,602,12493,0.00,2.53,0.00,0.000,6,0.000,0.047,2728,1889,1879
$GC,12815,1.23,250.1,358.3,7.2,618,12817,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1890,1880
$GC,13125,1.23,250.1,333.8,8.3,633,13129,0.00,2.58,0.00,0.000,4,0.000,0.062,2728,3301,1881
$GC,13197,1.23,250.1,328.1,7.4,636,13202,0.00,2.50,0.00,0.000,6,0.000,0.048,2728,1900,1881
$GC,13513,1.23,250.1,304.7,7.3,651,13517,0.00,2.53,0.00,0.000,4,0.000,0.059,2728,493,1881
$GC,13586,1.23,250.1,299.0,7.5,654,13590,0.00,2.45,0.00,0.000,6,0.000,0.035,2729,1902,1881
$GC,13907,1.23,250.1,278.6,7.3,670,13908,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1903,1882
$GC,14216,1.23,250.1,260.3,6.6,685,14220,0.00,2.55,0.00,0.000,4,0.000,0.064,2728,3306,1882
$GC,14266,1.23,250.1,256.5,7.6,687,14270,0.00,2.53,0.00,0.000,6,0.000,0.048,2729,1890,1882
$GC,14587,1.23,250.1,230.4,8.9,703,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1890,1882
$GC,14896,1.23,250.1,196.0,11.9,718,14900,0.00,2.60,0.00,0.000,4,0.000,0.063,2728,3316,1882
$GC,14958,1.23,250.1,186.8,15.5,721,14963,0.00,2.55,0.00,0.000,6,0.000,0.049,2729,1889,1882
$GC,15286,1.27,285.8,156.9,5.0,737,15318,0.00,0.00,29.80,0.750,6,0.000,0.000,2728,1888,1735
$GC,15636,1.45,431.7,140.3,2.0,754,15759,0.12,0.00,115.43,0.729,6,0.052,0.000,2761,1888,1141
$GC,16072,1.45,431.7,92.5,12.0,775,16077,0.00,2.65,0.00,0.000,4,0.000,0.064,2762,3315,1142
$GC,16112,1.45,431.7,87.1,11.5,777,16117,0.00,2.55,0.00,0.000,6,0.000,0.049,2762,1900,1142
$GC,16440,1.45,431.7,40.6,13.6,793,16441,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,1897,1141
$STATE,16726,end climb,SURFACE_DEPTH_REACHED
$STATE,16726,begin surface coast
$FINISH,0.2,1.001932
$STATE,16747,end surface coast,CONTROL_FINISHED_OK
$STATE,16747,begin surface
$SM_CCo,16833,0.00,0.000,0,0,1141,431.97
$SM_GC,0.86,11.85,0.00,0.00,0.025,0.000,0.000,46,2644,1141,-10.93,-0.17,431.97
$IRIDIUM_FIX,6135.28,-935.27,290598,131300
$TT8_MAMPS,0.029146
$HUMID,1757
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.7,34.3
$24V_AH,23.4,17.553
$10V_AH,10.1,8.366
$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,26.800,90.925,477.575,0.000,0.000,51.042,63.186,277.993,6.000,0.000,0.000,19.856,1406.514,13175.947,526.051,1629.479,678.547,33.370,1353.817,0.000,1587.794,0.000,44.336,0.000
$DEVICE_MAMPS,165.672,90.506,1090.674,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,564.327,595.951,465.399,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41075,808
$CAP_FILE_SIZE,109047,0
$CFSIZE,260165632,254537728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,180757,6201.705,-935.287,40,2.9,59,-9.7