version: 66.04
glider: 103
mission: 11
dive: 104
start: 3 16 109 14 53 35
data:
$ID,103
$MISSION,11
$DIVE,104
$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,-145073.86
$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,19
$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
$GPS1,144625,6232.219,-1107.776,40,1.8,40,-10.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-55.4
$GPS2,145243,6232.250,-1107.304,15,1.1,32,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.184,-0.118
$KALMAN_X,101868.5,1030.4,-2850.9,-172102.4,25024.7
$KALMAN_Y,6016.9,579.3,1783.3,53527.4,6668.2
$MHEAD_RNG_PITCHd_Wd,248.0,28270,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,60,0.00,0.00,-41.80,0.000,2,0.000,0.000,42,2650,3272
$GC,63,-1.10,-146.6,4.6,-12.2,2,84,12.38,2.20,-3.55,0.000,4,0.161,0.104,2195,3784,3501
$GC,135,-1.10,-146.6,22.6,-13.8,5,141,0.00,2.10,0.00,0.000,6,0.000,0.066,2195,2649,3501
$GC,451,-1.10,-146.6,45.3,-5.4,21,455,0.00,2.22,0.00,0.000,4,0.000,0.094,2195,3783,3501
$GC,498,-1.10,-146.6,48.2,-6.7,23,501,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2641,3501
$GC,825,-1.10,-146.6,78.2,-11.9,39,829,0.00,2.22,0.00,0.000,4,0.000,0.089,2195,3786,3501
$GC,897,-1.10,-146.6,86.9,-12.6,42,901,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2642,3501
$GC,1219,-1.10,-146.6,110.5,-7.2,58,1223,0.00,2.22,0.00,0.000,4,0.000,0.087,2195,3790,3501
$GC,1258,-1.10,-146.6,113.3,-7.2,59,1264,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2650,3501
$GC,1576,-1.10,-146.6,140.4,-8.7,75,1579,0.00,2.20,0.00,0.000,4,0.000,0.089,2195,3786,3501
$GC,1622,-1.10,-146.6,143.6,-6.1,77,1626,0.00,2.08,0.00,0.000,6,0.000,0.059,2195,2645,3501
$GC,1955,-1.10,-146.6,170.8,-6.3,93,1959,0.00,2.22,0.00,0.000,4,0.000,0.088,2195,3793,3501
$GC,2033,-1.10,-146.6,176.6,-6.8,96,2037,0.00,2.08,0.00,0.000,6,0.000,0.060,2195,2652,3501
$GC,2354,-1.10,-146.6,196.9,-5.7,112,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3501
$GC,2664,-1.10,-146.6,218.3,-7.9,127,2667,0.00,2.20,0.00,0.000,4,0.000,0.086,2195,3792,3501
$GC,2709,-1.10,-146.6,221.7,-6.9,129,2713,0.00,2.10,0.00,0.000,6,0.000,0.060,2195,2641,3501
$GC,3042,-1.10,-146.6,245.6,-7.7,145,3045,0.00,2.22,0.00,0.000,4,0.000,0.087,2195,3793,3501
$GC,3081,-1.10,-146.6,248.8,-8.1,146,3087,0.00,2.10,0.00,0.000,6,0.000,0.059,2195,2638,3501
$GC,3397,-1.10,-146.6,273.7,-7.6,162,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3501
$GC,3706,-1.10,-146.6,298.4,-8.1,177,3710,0.00,2.20,0.00,0.000,4,0.000,0.085,2195,3785,3501
$GC,3762,-1.10,-146.6,303.1,-8.6,179,3766,0.00,2.05,0.00,0.000,6,0.000,0.056,2195,2639,3501
$GC,4083,-1.10,-146.6,328.6,-7.8,195,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2637,3501
$GC,4392,-1.10,-146.6,352.3,-7.6,210,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2637,3501
$GC,4704,-1.10,-146.6,376.6,-8.0,225,4708,0.00,2.20,0.00,0.000,4,0.000,0.085,2195,3785,3501
$GC,4750,-1.10,-146.6,380.4,-7.9,227,4754,0.00,2.03,0.00,0.000,6,0.000,0.053,2195,2654,3501
$GC,5083,-1.10,-146.6,405.5,-6.9,243,5086,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3790,3501
$GC,5144,-1.10,-146.6,409.9,-6.7,245,5151,0.00,2.05,0.00,0.000,6,0.000,0.056,2195,2641,3501
$GC,5461,-1.10,-146.6,431.6,-7.1,261,5464,0.00,2.20,0.00,0.000,4,0.000,0.084,2195,3789,3501
$GC,5507,-1.10,-146.6,435.3,-8.0,263,5510,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2648,3501
$GC,5839,-1.10,-146.6,462.4,-8.1,279,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,6148,-1.10,-146.6,485.0,-7.0,294,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,6458,-1.10,-146.6,503.0,-5.3,309,6462,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3786,3501
$GC,6554,-1.10,-146.6,508.3,-5.6,313,6558,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2641,3501
$GC,6881,-1.10,-146.6,524.6,-5.5,329,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,7190,-1.10,-146.6,545.6,-7.3,344,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,7499,-1.10,-146.6,568.1,-7.3,359,7503,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3785,3501
$GC,7561,-1.10,-146.6,573.0,-7.9,361,7567,0.00,2.05,0.00,0.000,6,0.000,0.056,2195,2644,3501
$GC,7877,-1.10,-146.6,599.0,-8.9,377,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,8189,-1.10,-146.6,626.5,-8.4,392,8192,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3784,3500
$GC,8224,-1.10,-146.6,630.0,-9.9,393,8227,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2642,3500
$GC,8545,-1.10,-146.6,658.4,-7.8,409,8549,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3790,3500
$GC,8652,-1.10,-146.6,666.4,-7.3,413,8658,0.00,2.05,0.00,0.000,6,0.000,0.057,2195,2653,3500
$STATE,8965,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8965,begin apogee
$GC,8973,-0.42,0.0,688.9,6.6,429,9100,0.77,0.00,123.32,1.137,6,0.096,0.000,2350,1989,2902
$STATE,9101,end apogee,CONTROL_FINISHED_OK
$STATE,9101,begin climb
$GC,9104,1.10,146.6,693.8,0.0,435,9234,1.52,2.70,121.78,1.099,4,0.056,0.076,2678,586,2304
$GC,9492,1.38,369.8,695.9,-0.2,452,9690,0.28,2.55,185.75,1.105,6,0.037,0.043,2746,2019,1394
$GC,10017,1.38,369.8,654.7,9.8,478,10022,0.00,2.67,0.00,0.000,4,0.000,0.067,2746,586,1393
$GC,10080,1.38,369.8,648.6,10.4,481,10084,0.00,2.50,0.00,0.000,6,0.000,0.042,2746,1996,1393
$GC,10412,1.38,369.8,617.4,9.1,497,10416,0.00,2.65,0.00,0.000,4,0.000,0.071,2746,3414,1392
$GC,10480,1.38,369.8,610.8,10.1,500,10485,0.00,2.58,0.00,0.000,6,0.000,0.048,2746,1988,1392
$GC,10802,1.38,369.8,580.2,9.5,516,10806,0.00,2.58,0.00,0.000,4,0.000,0.065,2746,588,1392
$GC,10842,1.38,369.8,576.1,10.3,518,10847,0.00,2.50,0.00,0.000,6,0.000,0.041,2746,2002,1392
$GC,11170,1.38,369.8,542.4,10.5,534,11174,0.00,2.60,0.00,0.000,4,0.000,0.067,2746,3408,1391
$GC,11214,1.38,369.8,537.6,10.8,536,11218,0.00,2.55,0.00,0.000,6,0.000,0.048,2746,1990,1391
$GC,11535,1.38,369.8,505.4,10.2,552,11539,0.00,2.65,0.00,0.000,4,0.000,0.066,2746,3416,1391
$GC,11568,1.38,369.8,501.9,10.9,553,11574,0.00,2.55,0.00,0.000,6,0.000,0.047,2746,1995,1391
$GC,11883,1.38,369.8,469.6,10.3,569,11888,0.00,2.62,0.00,0.000,4,0.000,0.064,2746,3409,1391
$GC,11917,1.38,369.8,466.0,10.2,570,11923,0.00,2.53,0.00,0.000,6,0.000,0.047,2746,1990,1391
$GC,12233,1.38,369.8,432.1,11.0,586,12238,0.00,2.65,0.00,0.000,4,0.000,0.066,2746,3419,1392
$GC,12267,1.38,369.8,428.0,11.4,587,12273,0.00,2.55,0.00,0.000,6,0.000,0.049,2746,2000,1391
$GC,12582,1.38,369.8,392.6,11.4,603,12587,0.00,2.58,0.00,0.000,4,0.000,0.064,2746,589,1392
$GC,12616,1.38,369.8,388.4,12.1,604,12622,0.00,2.50,0.00,0.000,6,0.000,0.043,2746,2004,1392
$GC,12932,1.38,369.8,352.0,11.7,620,12936,0.00,2.58,0.00,0.000,4,0.000,0.068,2747,3408,1392
$GC,12972,1.38,369.8,347.5,11.8,621,12978,0.00,2.55,0.00,0.000,6,0.000,0.049,2746,1990,1392
$GC,13288,1.38,369.8,312.9,10.5,637,13289,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,1990,1392
$GC,13597,1.38,369.8,281.0,10.0,652,13601,0.00,2.65,0.00,0.000,4,0.000,0.067,2746,3414,1393
$GC,13619,1.38,369.8,278.7,10.1,653,13623,0.00,2.55,0.00,0.000,6,0.000,0.051,2746,2000,1393
$GC,13939,1.38,369.8,244.1,11.7,669,13944,0.00,2.58,0.00,0.000,4,0.000,0.066,2746,589,1393
$GC,13962,1.38,369.8,241.7,10.1,670,13966,0.00,2.50,0.00,0.000,6,0.000,0.042,2746,2006,1393
$GC,14283,1.38,369.8,212.3,9.8,686,14287,0.00,2.60,0.00,0.000,4,0.000,0.071,2746,3419,1393
$GC,14310,1.38,369.8,209.0,12.0,687,14315,0.00,2.58,0.00,0.000,6,0.000,0.052,2746,1992,1393
$GC,14626,1.38,369.8,174.1,12.3,702,14630,0.00,2.58,0.00,0.000,4,0.000,0.066,2746,582,1394
$GC,14660,1.38,369.8,170.5,10.2,703,14664,0.00,2.50,0.00,0.000,6,0.000,0.042,2746,2000,1394
$GC,14976,1.38,369.8,133.1,13.2,718,14980,0.00,2.60,0.00,0.000,4,0.000,0.071,2746,3408,1394
$GC,15016,1.38,369.8,128.8,11.4,720,15021,0.00,2.55,0.00,0.000,6,0.000,0.054,2746,2003,1394
$GC,15343,1.38,369.8,96.1,9.4,736,15347,0.00,2.62,0.00,0.000,4,0.000,0.071,2746,3408,1394
$GC,15370,1.38,369.8,93.0,10.8,737,15375,0.00,2.58,0.00,0.000,6,0.000,0.055,2746,1990,1394
$GC,15688,1.38,369.8,51.5,12.2,752,15692,0.00,2.58,0.00,0.000,4,0.000,0.067,2746,585,1394
$GC,15738,1.38,369.8,45.5,13.6,754,15742,0.00,2.50,0.00,0.000,6,0.000,0.043,2746,2003,1394
$GC,16055,1.38,369.8,13.1,11.1,769,16060,0.00,2.65,0.00,0.000,4,0.000,0.072,2746,585,1394
$GC,16089,1.38,369.8,7.9,14.6,770,16095,0.00,2.50,0.00,0.000,6,0.000,0.042,2746,2012,1395
$STATE,16155,end climb,SURFACE_DEPTH_REACHED
$STATE,16155,begin surface coast
$FINISH,0.7,1.013712
$STATE,16177,end surface coast,CONTROL_FINISHED_OK
$STATE,16177,begin surface
$SM_CCo,16262,0.00,0.000,0,0,1394,369.91
$SM_GC,1.61,11.98,0.00,0.00,0.035,0.000,0.000,49,2650,1394,-10.93,0.00,369.91
$IRIDIUM_FIX,6202.67,-1119.51,100698,090928
$TT8_MAMPS,0.029146
$HUMID,1763
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.1,47.5
$24V_AH,23.4,24.372
$10V_AH,10.1,12.912
$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,26.925,163.600,430.850,0.000,0.000,23.791,27.959,178.130,5.500,0.000,0.000,34.484,1444.196,12333.889,505.159,1802.665,547.797,33.369,1447.388,0.000,1738.467,0.000,38.248,0.000
$DEVICE_MAMPS,161.070,104.312,1137.461,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,547.993,565.452,460.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38017,775
$CAP_FILE_SIZE,121478,0
$CFSIZE,260165632,251236352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160309,192601,6233.133,-1105.562,47,1.7,47,-10.8