version: 66.04
glider: 103
mission: 11
dive: 55
start: 3 4 109 18 14 59
data:
$ID,103
$MISSION,11
$DIVE,55
$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,-144006.95
$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,21
$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
$GPS1,180757,6201.705,-935.287,40,2.9,59,-9.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-45.8
$GPS2,181406,6201.583,-935.209,13,1.5,29,-9.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.213,0.050
$KALMAN_X,31558.7,110.2,2156.2,-39113.3,7738.1
$KALMAN_Y,-83942.5,-216.0,-2759.5,180147.8,-1982.2
$MHEAD_RNG_PITCHd_Wd,292.8,14301,-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,-60.60,0.000,2,0.000,0.000,46,2648,3116
$GC,81,-1.10,-146.6,3.8,-6.6,3,107,12.15,2.30,-6.53,0.000,4,0.159,0.111,2196,3786,3502
$GC,359,-1.10,-146.6,42.6,-6.6,15,363,0.00,2.05,0.00,0.000,6,0.000,0.055,2196,2657,3502
$GC,681,-1.10,-146.6,59.6,-5.4,31,682,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2657,3502
$GC,992,-1.10,-146.6,80.0,-5.9,46,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2657,3502
$GC,1300,-1.10,-146.6,104.4,-7.9,61,1303,0.00,2.17,0.00,0.000,4,0.000,0.086,2196,3784,3502
$GC,1346,-1.10,-146.6,107.9,-8.0,63,1350,0.00,2.08,0.00,0.000,6,0.000,0.055,2196,2640,3502
$GC,1679,-1.10,-146.6,142.4,-11.7,79,1682,0.00,2.22,0.00,0.000,4,0.000,0.086,2196,3792,3502
$GC,1707,-1.10,-146.6,145.8,-11.6,80,1710,0.00,2.08,0.00,0.000,6,0.000,0.052,2196,2639,3502
$GC,2034,-1.10,-146.6,173.2,-6.3,96,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3502
$GC,2344,-1.10,-146.6,195.7,-7.6,111,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3502
$GC,2653,-1.10,-146.6,220.0,-11.0,126,2656,0.00,2.22,0.00,0.000,4,0.000,0.088,2196,3788,3501
$GC,2680,-1.10,-146.6,223.7,-12.4,127,2684,0.00,2.05,0.00,0.000,6,0.000,0.052,2196,2648,3502
$GC,3007,-1.10,-146.6,257.4,-7.5,143,3011,0.00,2.20,0.00,0.000,4,0.000,0.089,2196,3783,3501
$GC,3053,-1.10,-146.6,260.7,-7.9,145,3057,0.00,2.05,0.00,0.000,6,0.000,0.052,2196,2642,3501
$GC,3386,-1.10,-146.6,288.6,-8.9,161,3391,0.00,2.58,0.00,0.000,4,0.000,0.071,2196,1233,3501
$GC,3427,-1.10,-146.6,292.1,-9.0,163,3431,0.00,2.58,0.00,0.000,6,0.000,0.057,2196,2653,3502
$GC,3753,-1.10,-146.6,317.6,-7.2,179,3757,0.00,2.15,0.00,0.000,4,0.000,0.088,2196,3783,3501
$GC,3814,-1.10,-146.6,322.3,-7.8,181,3820,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2640,3501
$GC,4130,-1.10,-146.6,345.5,-8.1,197,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3501
$GC,4439,-1.10,-146.6,369.1,-7.3,212,4443,0.00,2.20,0.00,0.000,4,0.000,0.086,2196,3783,3501
$GC,4495,-1.10,-146.6,373.3,-8.2,214,4499,0.00,2.03,0.00,0.000,6,0.000,0.051,2196,2650,3501
$GC,4817,-1.10,-146.6,396.8,-8.1,230,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3501
$GC,5126,-1.10,-146.6,422.7,-8.3,245,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3501
$GC,5435,-1.10,-146.6,448.5,-8.4,260,5439,0.00,2.17,0.00,0.000,4,0.000,0.084,2196,3785,3501
$GC,5485,-1.10,-146.6,452.6,-8.4,262,5489,0.00,2.03,0.00,0.000,6,0.000,0.049,2196,2647,3501
$GC,5812,-1.10,-146.6,477.5,-7.5,278,5816,0.00,2.55,0.00,0.000,4,0.000,0.064,2196,1236,3501
$GC,5839,-1.10,-146.6,479.6,-7.7,279,5844,0.00,2.55,0.00,0.000,6,0.000,0.054,2196,2655,3501
$GC,6155,-1.10,-146.6,503.1,-7.6,294,6159,0.00,2.15,0.00,0.000,4,0.000,0.085,2196,3792,3501
$GC,6218,-1.10,-146.6,507.9,-6.9,296,6224,0.00,2.05,0.00,0.000,6,0.000,0.049,2196,2641,3501
$GC,6534,-1.10,-146.6,529.7,-6.9,312,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3501
$GC,6844,-1.10,-146.6,550.7,-6.5,327,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3501
$GC,7153,-1.10,-146.6,570.0,-6.0,342,7157,0.00,2.17,0.00,0.000,4,0.000,0.084,2196,3783,3501
$GC,7186,-1.10,-146.6,572.0,-6.1,343,7189,0.00,2.03,0.00,0.000,6,0.000,0.049,2196,2644,3501
$GC,7508,-1.10,-146.6,587.5,-4.0,359,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3501
$GC,7817,-1.10,-146.6,601.6,-5.5,374,7818,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3501
$GC,8126,-1.10,-146.6,622.0,-6.5,389,8127,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3500
$GC,8435,-1.10,-146.6,643.5,-7.1,404,8439,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3786,3500
$GC,8513,-1.10,-146.6,649.3,-6.9,407,8517,0.00,2.03,0.00,0.000,6,0.000,0.051,2196,2652,3500
$STATE,8750,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8750,begin apogee
$GC,8758,-0.42,0.0,664.9,6.2,419,8883,0.75,0.00,121.93,1.108,6,0.095,0.000,2346,1896,2902
$STATE,8884,end apogee,CONTROL_FINISHED_OK
$STATE,8884,begin climb
$GC,8888,1.10,146.6,669.9,0.0,425,9016,1.55,2.67,120.57,1.065,4,0.055,0.064,2678,486,2304
$GC,9225,1.15,188.1,662.1,4.9,440,9265,0.00,2.53,35.38,1.036,6,0.000,0.036,2678,1928,2135
$GC,9584,1.18,206.1,642.8,5.5,458,9606,0.00,2.62,16.45,1.003,4,0.000,0.061,2678,3301,2060
$GC,9780,1.18,206.1,631.4,6.2,466,9787,0.00,2.55,0.00,0.000,6,0.000,0.048,2678,1889,2060
$GC,10097,1.21,236.5,614.2,5.2,482,10129,0.12,2.67,26.17,1.058,4,0.044,0.060,2721,3306,1937
$GC,10174,1.21,236.5,608.9,7.3,485,10181,0.00,2.53,0.00,0.000,6,0.000,0.044,2721,1897,1937
$GC,10490,1.21,236.5,585.7,7.4,501,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1896,1936
$GC,10799,1.21,236.5,562.5,7.2,516,10804,0.00,2.58,0.00,0.000,4,0.000,0.058,2721,3302,1936
$GC,10885,1.21,236.5,556.3,7.4,520,10889,0.00,2.50,0.00,0.000,6,0.000,0.044,2721,1896,1937
$GC,11212,1.21,236.5,532.9,7.2,536,11213,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1896,1937
$GC,11522,1.21,236.5,510.5,7.0,551,11526,0.00,2.58,0.00,0.000,4,0.000,0.058,2721,3309,1936
$GC,11584,1.21,236.5,505.8,7.8,554,11588,0.00,2.50,0.00,0.000,6,0.000,0.044,2721,1898,1937
$GC,11910,1.21,236.5,484.0,6.5,570,11914,0.00,2.55,0.00,0.000,4,0.000,0.058,2721,3298,1937
$GC,11954,1.21,236.5,480.9,7.2,572,11958,0.00,2.50,0.00,0.000,6,0.000,0.044,2721,1889,1937
$GC,12275,1.21,236.5,459.3,6.8,588,12276,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1889,1937
$GC,12584,1.21,236.5,439.0,6.7,603,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1890,1937
$GC,12893,1.21,236.5,417.9,6.3,618,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1890,1937
$GC,13203,1.21,236.5,399.5,6.0,633,13207,0.00,2.58,0.00,0.000,4,0.000,0.060,2721,3301,1937
$GC,13264,1.21,236.5,395.4,6.5,635,13270,0.00,2.47,0.00,0.000,6,0.000,0.047,2721,1902,1937
$GC,13580,1.24,260.6,377.5,5.3,651,13603,0.00,0.00,21.08,0.881,6,0.000,0.000,2721,1902,1839
$GC,13909,1.24,260.6,354.9,7.3,667,13913,0.00,2.58,0.00,0.000,4,0.000,0.063,2721,3298,1839
$GC,13942,1.24,260.6,351.7,8.8,668,13946,0.00,2.50,0.00,0.000,6,0.000,0.048,2721,1899,1839
$GC,14257,1.24,260.6,315.3,13.2,683,14262,0.00,2.58,0.00,0.000,4,0.000,0.062,2721,3309,1839
$GC,14302,1.24,260.6,310.6,9.4,685,14306,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,1897,1839
$GC,14623,1.24,260.6,284.9,6.1,701,14624,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1896,1839
$GC,14932,1.24,260.6,263.2,8.8,716,14937,0.00,2.60,0.00,0.000,4,0.000,0.064,2721,3308,1839
$GC,14977,1.25,270.1,260.0,5.7,718,14994,0.00,2.53,9.35,0.755,6,0.000,0.048,2721,1896,1800
$GC,15303,1.25,270.1,242.9,6.7,734,15308,0.00,2.60,0.00,0.000,4,0.000,0.062,2721,3311,1800
$GC,15345,1.25,270.1,239.9,7.3,736,15350,0.00,2.55,0.00,0.000,6,0.000,0.050,2721,1892,1800
$GC,15672,1.25,270.1,210.6,8.4,752,15674,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1892,1800
$GC,15982,1.25,270.1,180.8,10.2,767,15986,0.00,2.60,0.00,0.000,4,0.000,0.065,2721,3299,1800
$GC,16037,1.25,270.1,176.0,8.3,769,16043,0.00,2.53,0.00,0.000,6,0.000,0.049,2721,1891,1800
$GC,16353,1.25,270.1,143.3,10.6,785,16357,0.00,2.62,0.00,0.000,4,0.000,0.067,2721,3305,1800
$GC,16380,1.25,270.1,140.1,11.6,786,16385,0.00,2.55,0.00,0.000,6,0.000,0.051,2721,1889,1800
$GC,16698,1.25,270.1,103.5,12.7,801,16702,0.00,2.60,0.00,0.000,4,0.000,0.064,2721,3300,1800
$GC,16731,1.25,270.1,100.5,7.2,802,16737,0.00,2.50,0.00,0.000,6,0.000,0.050,2721,1898,1800
$GC,17047,1.25,270.1,67.2,10.3,818,17048,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1897,1800
$GC,17358,1.25,270.1,40.1,9.4,833,17359,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1896,1800
$GC,17666,1.30,309.3,20.7,4.9,848,17708,0.00,2.65,31.85,0.669,4,0.000,0.064,2721,3302,1640
$GC,17764,1.37,366.1,17.2,4.4,852,17818,0.00,2.60,45.28,0.653,6,0.000,0.064,2721,1903,1409
$STATE,18021,end climb,SURFACE_DEPTH_REACHED
$STATE,18021,begin surface coast
$FINISH,0.2,1.015338
$STATE,18045,end surface coast,CONTROL_FINISHED_OK
$STATE,18045,begin surface
$SM_CCo,18130,0.00,0.000,0,0,1407,366.72
$SM_GC,1.06,11.77,0.00,0.00,0.028,0.000,0.000,44,2635,1407,-10.93,-0.42,366.72
$IRIDIUM_FIX,6135.28,-1150.96,290598,131314
$TT8_MAMPS,0.029146
$HUMID,1745
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.0,48.3
$24V_AH,23.4,17.686
$10V_AH,10.1,8.449
$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,26.350,136.675,428.050,0.000,0.000,28.373,27.937,175.187,5.250,0.000,0.000,29.827,1573.287,13934.827,516.657,1935.028,539.475,33.358,1499.256,0.000,1878.169,0.000,36.631,0.000
$DEVICE_MAMPS,158.769,111.215,1107.548,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,606.360,639.756,523.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44361,866
$CAP_FILE_SIZE,124919,0
$CFSIZE,260165632,254464000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,231836,6200.604,-936.604,39,1.7,50,-9.7