version: 66.04
glider: 103
mission: 11
dive: 57
start: 3 5 109 4 47 54
data:
$ID,103
$MISSION,11
$DIVE,57
$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,-144071.98
$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,16
$R_STBD_OVSHOOT,15
$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
$GPS1,044055,6201.354,-935.356,71,1.0,71,-9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-58.4
$GPS2,044701,6201.343,-935.282,13,2.0,30,-9.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.215,0.038
$KALMAN_X,47921.3,-690.8,-576.8,-51968.9,22086.4
$KALMAN_Y,-91885.4,705.6,-321.7,184272.8,-9010.3
$MHEAD_RNG_PITCHd_Wd,289.8,14447,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.80,0.000,2,0.000,0.000,50,2650,3242
$GC,62,-1.10,-146.6,3.8,-10.9,2,85,12.12,2.20,-4.43,0.000,4,0.160,0.107,2192,3779,3501
$GC,338,-1.10,-146.6,33.9,-9.0,14,342,0.00,2.08,0.00,0.000,6,0.000,0.061,2192,2653,3501
$GC,666,-1.10,-146.6,58.9,-9.4,30,670,0.00,2.20,0.00,0.000,4,0.000,0.092,2193,3779,3501
$GC,923,-1.10,-146.6,80.9,-7.5,41,930,0.00,2.05,0.00,0.000,6,0.000,0.057,2192,2642,3501
$GC,1239,-1.10,-146.6,102.3,-8.1,57,1243,0.00,2.22,0.00,0.000,4,0.000,0.090,2192,3786,3501
$GC,1376,-1.10,-146.6,112.3,-7.5,63,1380,0.00,2.05,0.00,0.000,6,0.000,0.054,2192,2652,3501
$GC,1709,-1.10,-146.6,140.0,-9.4,79,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2651,3501
$GC,2018,-1.10,-146.6,165.4,-8.9,94,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2651,3501
$GC,2327,-1.10,-146.6,192.5,-9.6,109,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3501
$GC,2637,-1.10,-146.6,220.2,-8.9,124,2641,0.00,2.17,0.00,0.000,4,0.000,0.089,2192,3784,3501
$GC,2670,-1.10,-146.6,223.4,-9.5,125,2674,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2646,3501
$GC,2992,-1.10,-146.6,248.5,-7.9,141,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,3301,-1.10,-146.6,274.4,-8.5,156,3305,0.00,2.20,0.00,0.000,4,0.000,0.087,2192,3786,3501
$GC,3340,-1.10,-146.6,277.8,-8.7,157,3346,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2647,3501
$GC,3656,-1.10,-146.6,302.1,-7.0,173,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2646,3502
$GC,3965,-1.10,-146.6,323.4,-6.9,188,3969,0.00,2.20,0.00,0.000,4,0.000,0.089,2192,3782,3502
$GC,4004,-1.10,-146.6,326.2,-7.4,189,4010,0.00,2.05,0.00,0.000,6,0.000,0.054,2192,2635,3502
$GC,4320,-1.10,-146.6,349.2,-7.3,205,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2635,3502
$GC,4629,-1.10,-146.6,373.4,-8.1,220,4633,0.00,2.20,0.00,0.000,4,0.000,0.084,2193,3782,3502
$GC,4680,-1.10,-146.6,377.7,-8.1,222,4683,0.00,2.03,0.00,0.000,6,0.000,0.052,2193,2652,3502
$GC,5007,-1.10,-146.6,404.7,-8.2,238,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,5316,-1.10,-146.6,428.8,-7.5,253,5319,0.00,2.17,0.00,0.000,4,0.000,0.084,2192,3789,3502
$GC,5366,-1.10,-146.6,433.2,-8.9,255,5370,0.00,2.05,0.00,0.000,6,0.000,0.054,2192,2647,3502
$GC,5694,-1.10,-146.6,459.8,-7.7,271,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3502
$GC,6003,-1.10,-146.6,483.3,-8.0,286,6006,0.00,2.17,0.00,0.000,4,0.000,0.085,2193,3782,3502
$GC,6042,-1.10,-146.6,486.7,-8.8,287,6048,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2640,3502
$GC,6358,-1.10,-146.6,510.8,-7.4,303,6361,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3787,3502
$GC,6427,-1.10,-146.6,516.1,-8.4,306,6430,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2643,3502
$GC,6759,-1.10,-146.6,539.9,-7.0,322,6763,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3780,3502
$GC,6798,-1.10,-146.6,542.8,-7.8,323,6804,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2642,3502
$GC,7114,-1.10,-146.6,564.2,-6.6,339,7118,0.00,2.17,0.00,0.000,4,0.000,0.085,2193,3779,3502
$GC,7176,-1.10,-146.6,568.4,-6.8,341,7182,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2653,3502
$GC,7492,-1.10,-146.6,590.5,-7.2,357,7496,0.00,2.58,0.00,0.000,4,0.000,0.067,2192,1233,3502
$GC,7541,-1.10,-146.6,594.4,-7.5,359,7546,0.00,2.58,0.00,0.000,6,0.000,0.060,2192,2647,3502
$GC,7857,-1.10,-146.6,619.5,-8.3,374,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2648,3502
$GC,8167,-1.10,-146.6,643.3,-7.0,389,8170,0.00,2.17,0.00,0.000,4,0.000,0.090,2193,3785,3502
$GC,8245,-1.10,-146.6,648.6,-5.9,392,8249,0.00,2.05,0.00,0.000,6,0.000,0.052,2192,2641,3501
$STATE,8317,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8317,begin apogee
$GC,8326,-0.42,0.0,653.7,7.3,396,8452,0.77,0.00,123.07,1.072,6,0.095,0.000,2346,1893,2902
$STATE,8453,end apogee,CONTROL_FINISHED_OK
$STATE,8453,begin climb
$GC,8456,1.10,146.6,657.8,0.0,402,8588,1.55,2.67,121.35,1.045,4,0.059,0.064,2678,479,2303
$GC,8690,1.15,188.2,654.7,4.9,413,8733,0.00,2.53,35.58,1.013,6,0.000,0.035,2678,1921,2134
$GC,9042,1.15,188.2,631.6,6.9,430,9046,0.00,2.53,0.00,0.000,4,0.000,0.060,2678,3303,2133
$GC,9204,1.15,188.2,620.7,6.5,437,9209,0.00,2.55,0.00,0.000,6,0.000,0.046,2678,1884,2133
$GC,9526,1.19,214.8,602.0,5.3,453,9555,0.00,2.67,22.98,1.020,4,0.000,0.066,2678,491,2026
$GC,9609,1.21,231.1,597.4,5.5,456,9630,0.12,2.50,14.98,0.986,6,0.044,0.039,2721,1899,1959
$GC,9943,1.24,255.6,578.2,5.3,472,9972,0.00,2.62,21.52,1.012,4,0.000,0.061,2721,3304,1859
$GC,9990,1.24,255.6,575.2,6.0,474,9994,0.00,2.55,0.00,0.000,6,0.000,0.046,2721,1896,1859
$GC,10311,1.24,255.6,554.3,7.2,490,10315,0.00,2.60,0.00,0.000,4,0.000,0.058,2721,3314,1858
$GC,10389,1.24,255.6,548.6,7.2,493,10395,0.00,2.53,0.00,0.000,6,0.000,0.044,2721,1896,1858
$GC,10704,1.24,255.6,525.5,7.9,509,10706,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1896,1858
$GC,11014,1.24,255.6,501.1,7.7,524,11018,0.00,2.58,0.00,0.000,4,0.000,0.060,2722,3304,1858
$GC,11082,1.24,255.6,495.4,8.2,527,11086,0.00,2.50,0.00,0.000,6,0.000,0.045,2721,1897,1859
$GC,11409,1.24,255.6,471.0,7.5,543,11413,0.00,2.58,0.00,0.000,4,0.000,0.060,2721,3303,1859
$GC,11471,1.24,255.6,466.2,7.3,546,11476,0.00,2.50,0.00,0.000,6,0.000,0.047,2721,1901,1859
$GC,11798,1.24,255.6,441.8,7.7,562,11803,0.00,2.58,0.00,0.000,4,0.000,0.061,2721,3305,1859
$GC,11843,1.24,255.6,438.0,7.9,564,11847,0.00,2.50,0.00,0.000,6,0.000,0.047,2721,1901,1859
$GC,12164,1.24,255.6,411.2,8.2,580,12168,0.00,2.58,0.00,0.000,4,0.000,0.062,2721,3304,1859
$GC,12208,1.24,255.6,407.4,8.1,582,12212,0.00,2.50,0.00,0.000,6,0.000,0.047,2721,1899,1859
$GC,12534,1.24,255.6,380.6,8.4,598,12539,0.00,2.58,0.00,0.000,4,0.000,0.062,2721,3305,1859
$GC,12579,1.24,255.6,376.7,8.8,600,12584,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,1894,1859
$GC,12901,1.24,255.6,350.9,8.0,616,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1894,1860
$GC,13210,1.24,255.6,328.3,7.5,631,13215,0.00,2.60,0.00,0.000,4,0.000,0.064,2721,3306,1860
$GC,13255,1.24,255.6,325.1,7.6,633,13260,0.00,2.53,0.00,0.000,6,0.000,0.050,2721,1900,1860
$GC,13577,1.24,255.6,299.9,8.2,649,13581,0.00,2.58,0.00,0.000,4,0.000,0.064,2721,3304,1860
$GC,13617,1.24,255.6,296.4,9.2,651,13621,0.00,2.53,0.00,0.000,6,0.000,0.051,2721,1896,1860
$GC,13943,1.24,255.6,267.4,8.6,667,13948,0.00,2.60,0.00,0.000,4,0.000,0.065,2721,3305,1861
$GC,13965,1.24,255.6,265.4,8.7,668,13970,0.00,2.53,0.00,0.000,6,0.000,0.050,2721,1898,1861
$GC,14287,1.24,255.6,239.3,8.4,684,14291,0.00,2.60,0.00,0.000,4,0.000,0.064,2721,3309,1861
$GC,14320,1.24,255.6,236.6,7.6,685,14326,0.00,2.53,0.00,0.000,6,0.000,0.051,2721,1892,1861
$GC,14636,1.24,255.6,211.4,8.0,701,14637,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1892,1861
$GC,14946,1.24,255.6,185.6,8.5,716,14950,0.00,2.60,0.00,0.000,4,0.000,0.067,2721,3303,1861
$GC,14990,1.24,255.6,182.1,7.1,718,14994,0.00,2.53,0.00,0.000,6,0.000,0.052,2721,1901,1861
$GC,15316,1.24,255.6,156.1,8.3,734,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1901,1861
$GC,15626,1.24,255.6,130.3,7.9,749,15631,0.00,2.60,0.00,0.000,4,0.000,0.066,2721,3311,1861
$GC,15660,1.24,255.6,128.0,6.7,750,15666,0.00,2.53,0.00,0.000,6,0.000,0.049,2721,1890,1861
$GC,15978,1.24,255.6,106.0,6.1,766,15982,0.00,2.55,0.00,0.000,4,0.000,0.064,2721,489,1862
$GC,16022,1.24,255.6,102.0,8.3,768,16027,0.00,2.47,0.00,0.000,6,0.000,0.039,2722,1900,1862
$GC,16344,1.24,255.6,74.9,8.4,784,16345,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1901,1862
$GC,16653,1.24,255.6,52.6,8.6,799,16657,0.00,2.58,0.00,0.000,4,0.000,0.065,2721,3314,1862
$GC,16680,1.24,255.6,50.4,9.0,800,16684,0.00,2.58,0.00,0.000,6,0.000,0.055,2721,1888,1862
$GC,16996,1.24,255.6,25.1,6.5,815,17000,0.00,2.53,0.00,0.000,4,0.000,0.057,2721,482,1862
$GC,17114,1.26,273.8,18.5,5.5,820,17135,0.00,2.50,16.17,0.659,6,0.000,0.038,2721,1911,1785
$GC,17452,1.49,460.0,2.5,0.8,837,17461,0.17,0.00,6.85,0.589,2,0.048,0.000,2778,1917,1753
$STATE,17462,end climb,SURFACE_DEPTH_REACHED
$STATE,17462,begin surface coast
$FINISH,0.3,1.013075
$STATE,17596,end surface coast,CONTROL_FINISHED_OK
$STATE,17597,begin surface
$SM_CCo,17682,0.00,0.000,0,0,1753,281.85
$SM_GC,1.10,12.12,0.00,0.00,0.035,0.000,0.000,51,2652,1753,-10.93,0.06,281.85
$IRIDIUM_FIX,6139.81,-931.51,290598,232325
$TT8_MAMPS,0.028379
$HUMID,1755
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,601.2,61.3
$24V_AH,23.4,17.919
$10V_AH,10.1,8.620
$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,26.875,160.150,362.500,0.000,0.000,31.058,29.194,161.263,5.250,0.000,0.000,30.157,1572.425,13457.973,458.713,2005.928,549.087,33.397,1465.829,0.000,1949.190,0.000,38.002,0.000
$DEVICE_MAMPS,159.536,106.613,1072.266,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,591.738,619.997,548.857,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44198,844
$CAP_FILE_SIZE,129277,0
$CFSIZE,260165632,254328832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050309,094445,6200.088,-936.345,72,2.1,91,-9.7