version: 66.04
glider: 103
mission: 11
dive: 97
start: 3 14 109 23 38 6
data:
$ID,103
$MISSION,11
$DIVE,97
$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,-144923.09
$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,21
$R_STBD_OVSHOOT,25
$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
$GPS1,233026,6230.940,-1058.469,38,2.1,57,-10.7
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-58.0
$GPS2,233714,6231.121,-1058.280,13,1.7,13,-10.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.116,-0.185
$KALMAN_X,70107.6,255.6,-766.6,-133773.0,11982.0
$KALMAN_Y,-9993.0,1612.9,868.6,67285.0,6560.9
$MHEAD_RNG_PITCHd_Wd,222.8,35737,-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,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.53,0.000,2,0.000,0.000,51,2666,3216
$GC,62,-1.10,-146.6,4.2,-12.8,2,86,12.10,2.17,-4.68,0.000,4,0.157,0.107,2194,3774,3501
$GC,187,-1.10,-146.6,21.3,-7.7,7,190,0.00,2.08,0.00,0.000,6,0.000,0.065,2194,2658,3501
$GC,510,-1.10,-146.6,49.0,-8.0,23,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2658,3501
$GC,818,-1.10,-146.6,75.2,-8.7,38,821,0.00,2.17,0.00,0.000,4,0.000,0.088,2194,3778,3501
$GC,868,-1.10,-146.6,79.7,-8.5,40,872,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2647,3501
$GC,1195,-1.10,-146.6,106.3,-8.8,56,1198,0.00,2.20,0.00,0.000,4,0.000,0.094,2194,3770,3501
$GC,1234,-1.10,-146.6,110.0,-8.8,57,1241,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2646,3501
$GC,1550,-1.10,-146.6,138.1,-9.5,73,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3501
$GC,1859,-1.10,-146.6,166.3,-8.8,88,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3501
$GC,2169,-1.10,-146.6,193.0,-8.5,103,2172,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3779,3501
$GC,2219,-1.10,-146.6,197.4,-8.0,105,2223,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2647,3502
$GC,2547,-1.10,-146.6,222.6,-7.8,121,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3501
$GC,2856,-1.10,-146.6,245.0,-6.9,136,2860,0.00,2.17,0.00,0.000,4,0.000,0.089,2194,3770,3501
$GC,2918,-1.10,-146.6,249.6,-7.4,138,2928,0.00,2.05,0.00,0.000,6,0.000,0.061,2194,2650,3501
$GC,3234,-1.10,-146.6,269.1,-6.1,154,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,3543,-1.10,-146.6,287.6,-5.9,169,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,3852,-1.10,-146.6,305.2,-5.9,184,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,4162,-1.10,-146.6,323.1,-5.8,199,4166,0.00,2.15,0.00,0.000,4,0.000,0.085,2194,3773,3502
$GC,4196,-1.10,-146.6,325.2,-6.3,200,4200,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2649,3502
$GC,4518,-1.10,-146.6,344.7,-6.3,216,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3502
$GC,4827,-1.10,-146.6,365.5,-7.2,231,4831,0.00,2.15,0.00,0.000,4,0.000,0.087,2194,3770,3502
$GC,4889,-1.10,-146.6,370.4,-7.7,233,4895,0.00,2.05,0.00,0.000,6,0.000,0.060,2194,2644,3502
$GC,5205,-1.10,-146.6,394.4,-7.9,249,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3502
$GC,5514,-1.10,-146.6,418.4,-7.7,264,5518,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3777,3502
$GC,5553,-1.10,-146.6,421.5,-8.5,265,5559,0.00,2.03,0.00,0.000,6,0.000,0.058,2194,2651,3502
$GC,5870,-1.10,-146.6,443.7,-6.7,281,5874,0.00,2.60,0.00,0.000,4,0.000,0.068,2194,1226,3502
$GC,5897,-1.10,-146.6,445.5,-6.0,282,5901,0.00,2.58,0.00,0.000,6,0.000,0.060,2194,2643,3502
$GC,6213,-1.10,-146.6,464.5,-5.9,297,6217,0.00,2.17,0.00,0.000,4,0.000,0.088,2194,3785,3502
$GC,6305,-1.10,-146.6,469.9,-5.4,301,6308,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2640,3502
$GC,6638,-1.10,-146.6,487.5,-5.3,317,6641,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3790,3501
$GC,6684,-1.10,-146.6,490.1,-5.9,319,6688,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2649,3501
$GC,7017,-1.10,-146.6,507.9,-5.3,335,7021,0.00,2.60,0.00,0.000,4,0.000,0.071,2194,1230,3501
$GC,7057,-1.10,-146.6,510.1,-5.7,337,7062,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2664,3501
$GC,7384,-1.10,-146.6,530.2,-7.1,353,7387,0.00,2.15,0.00,0.000,4,0.000,0.093,2194,3783,3500
$GC,7417,-1.10,-146.6,532.9,-7.9,354,7421,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2644,3500
$GC,7738,-1.10,-146.6,555.5,-7.5,370,7742,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3783,3500
$GC,7829,-1.10,-146.6,562.8,-8.1,374,7833,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2646,3500
$GC,8162,-1.10,-146.6,591.2,-8.2,390,8166,0.00,2.60,0.00,0.000,4,0.000,0.072,2194,1235,3499
$GC,8202,-1.10,-146.6,594.9,-9.6,392,8206,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2653,3499
$GC,8528,-1.10,-146.6,620.6,-7.2,408,8532,0.00,2.20,0.00,0.000,4,0.000,0.096,2194,3790,3498
$GC,8597,-1.10,-146.6,625.7,-8.2,411,8601,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2652,3498
$GC,8931,-1.10,-146.6,653.6,-8.7,427,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3497
$STATE,9113,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9114,begin apogee
$GC,9122,-0.42,0.0,668.0,7.7,436,9249,0.77,0.00,123.68,1.146,6,0.097,0.000,2349,1996,2902
$STATE,9250,end apogee,CONTROL_FINISHED_OK
$STATE,9250,begin climb
$GC,9253,1.10,146.6,671.1,0.0,442,9384,1.55,2.78,121.90,1.111,4,0.061,0.071,2677,581,2304
$GC,9628,1.10,146.6,657.6,9.5,459,9634,0.00,2.55,0.00,0.000,6,0.000,0.041,2677,2013,2303
$GC,9944,1.10,146.6,639.9,8.6,475,9948,0.00,2.58,0.00,0.000,4,0.000,0.065,2677,3409,2303
$GC,10011,1.18,208.7,635.7,4.3,478,10069,0.00,2.55,52.72,1.103,6,0.000,0.044,2677,1986,2051
$GC,10382,1.18,208.7,611.6,8.9,496,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1986,2050
$GC,10688,1.20,224.5,592.1,5.6,511,10710,0.12,2.72,14.73,1.036,4,0.044,0.067,2717,3405,1986
$GC,10766,1.20,224.5,587.3,6.5,514,10771,0.00,2.55,0.00,0.000,6,0.000,0.048,2717,1995,1986
$GC,11083,1.22,238.9,567.4,5.6,529,11101,0.00,0.00,13.57,1.025,6,0.000,0.000,2717,1995,1928
$GC,11412,1.22,245.3,547.4,5.8,545,11420,0.00,0.00,6.88,0.913,6,0.000,0.000,2717,1995,1902
$GC,11721,1.22,245.3,528.1,6.5,560,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1995,1902
$GC,12030,1.22,245.3,503.3,8.1,575,12031,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1994,1902
$GC,12339,1.22,245.3,480.8,6.3,590,12343,0.00,2.60,0.00,0.000,4,0.000,0.070,2717,593,1902
$GC,12363,1.23,247.6,479.4,5.9,591,12373,0.00,2.50,3.85,0.698,6,0.000,0.040,2717,2009,1892
$GC,12696,1.29,302.8,463.5,4.5,607,12750,0.00,2.67,46.60,1.028,4,0.000,0.069,2717,3410,1667
$GC,12802,1.29,302.8,457.1,7.1,612,12807,0.00,2.60,0.00,0.000,6,0.000,0.054,2717,1996,1667
$GC,13129,1.29,302.8,432.7,8.1,628,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1996,1667
$GC,13438,1.29,302.8,404.9,9.0,643,13442,0.00,2.65,0.00,0.000,4,0.000,0.069,2717,3412,1667
$GC,13493,1.29,302.8,399.5,9.6,645,13499,0.00,2.58,0.00,0.000,6,0.000,0.054,2717,1995,1667
$GC,13809,1.29,302.8,370.8,9.2,661,13810,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1994,1667
$GC,14118,1.29,302.8,342.8,9.1,676,14123,0.00,2.65,0.00,0.000,4,0.000,0.069,2717,3408,1667
$GC,14164,1.29,302.8,338.7,9.6,678,14168,0.00,2.58,0.00,0.000,6,0.000,0.055,2717,1998,1668
$GC,14485,1.29,302.8,302.7,11.4,694,14486,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1997,1668
$GC,14794,1.29,302.8,265.7,12.8,709,14799,0.00,2.65,0.00,0.000,4,0.000,0.070,2717,3411,1668
$GC,14834,1.29,302.8,260.6,12.6,711,14838,0.00,2.60,0.00,0.000,6,0.000,0.057,2717,1989,1668
$GC,15161,1.29,302.8,218.0,12.8,727,15165,0.00,2.67,0.00,0.000,4,0.000,0.071,2717,3416,1669
$GC,15200,1.29,302.8,212.6,13.5,729,15205,0.00,2.60,0.00,0.000,6,0.000,0.057,2717,1991,1669
$GC,15527,1.29,302.8,173.1,11.5,745,15532,0.00,2.65,0.00,0.000,4,0.000,0.070,2717,3407,1669
$GC,15555,1.29,302.8,169.7,11.8,746,15560,0.00,2.58,0.00,0.000,6,0.000,0.055,2717,1995,1669
$GC,15872,1.29,302.8,136.9,9.8,761,15876,0.00,2.65,0.00,0.000,4,0.000,0.070,2717,3412,1669
$GC,15912,1.29,302.8,132.9,10.3,763,15916,0.00,2.60,0.00,0.000,6,0.000,0.059,2717,1989,1669
$GC,16239,1.29,302.8,101.6,9.3,779,16243,0.00,2.65,0.00,0.000,4,0.000,0.070,2717,3406,1670
$GC,16266,1.29,302.8,98.9,9.2,780,16270,0.00,2.60,0.00,0.000,6,0.000,0.059,2717,1988,1670
$GC,16584,1.29,302.8,71.1,8.3,795,16588,0.00,2.58,0.00,0.000,4,0.000,0.070,2717,590,1670
$GC,16616,1.29,302.8,68.2,9.6,796,16623,0.00,2.47,0.00,0.000,6,0.000,0.042,2717,2001,1670
$GC,16933,1.29,302.8,42.9,8.3,812,16937,0.00,2.62,0.00,0.000,4,0.000,0.072,2717,3416,1670
$GC,16977,1.29,302.8,38.5,11.0,814,16982,0.00,2.62,0.00,0.000,6,0.000,0.061,2717,1987,1671
$GC,17299,1.29,302.8,7.0,10.0,830,17301,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1987,1670
$STATE,17359,end climb,SURFACE_DEPTH_REACHED
$STATE,17360,begin surface coast
$FINISH,0.2,1.027550
$STATE,17380,end surface coast,CONTROL_FINISHED_OK
$STATE,17380,begin surface
$SM_CCo,17465,0.00,0.000,0,0,1670,302.21
$SM_GC,1.19,11.80,0.00,0.00,0.033,0.000,0.000,55,2652,1670,-10.92,0.06,302.21
$IRIDIUM_FIX,6158.08,-1058.57,080698,181840
$TT8_MAMPS,0.028379
$HUMID,1774
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.40
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,625.2,52.6
$24V_AH,23.3,23.370
$10V_AH,10.1,12.293
$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,26.350,146.500,383.925,0.000,0.000,27.998,26.676,223.048,8.500,0.000,0.000,13.397,1538.328,13416.091,475.756,1841.705,595.194,33.362,1418.422,0.000,1801.532,0.000,42.506,0.000
$DEVICE_MAMPS,157.235,106.613,1145.898,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,609.106,587.812,501.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41088,834
$CAP_FILE_SIZE,125238,0
$CFSIZE,260165632,251678720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150309,043036,6231.882,-1104.893,43,1.5,47,-10.7