version: 66.04
glider: 103
mission: 11
dive: 37
start: 3 1 109 0 14 50
data:
$ID,103
$MISSION,11
$DIVE,37
$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,-143675.09
$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,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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
$GPS1,000830,6151.945,-911.160,40,1.5,40,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-59.9
$GPS2,001356,6152.007,-911.002,14,1.5,14,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.190,0.108
$KALMAN_X,-9114.8,-427.1,230.6,25630.3,7561.1
$KALMAN_Y,-59823.9,391.6,369.7,134538.6,-4466.2
$MHEAD_RNG_PITCHd_Wd,309.1,41502,-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,-41.55,0.000,2,0.000,0.000,49,2740,3027
$GC,62,-1.10,-146.6,3.0,-7.6,2,89,12.23,2.62,-8.98,0.000,4,0.162,0.077,2195,1332,3499
$GC,336,-1.10,-146.6,29.4,-7.9,14,340,0.00,2.65,0.00,0.000,6,0.000,0.061,2195,2762,3499
$GC,652,-1.10,-146.6,54.4,-8.1,29,656,0.00,2.65,0.00,0.000,4,0.000,0.066,2195,1334,3499
$GC,685,-1.10,-146.6,57.0,-8.1,30,691,0.00,2.60,0.00,0.000,6,0.000,0.059,2195,2757,3499
$GC,1002,-1.10,-146.6,82.9,-8.0,46,1007,0.00,2.62,0.00,0.000,4,0.000,0.063,2195,1333,3499
$GC,1036,-1.10,-146.6,85.8,-7.8,47,1042,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2759,3499
$GC,1352,-1.10,-146.6,109.6,-7.7,63,1356,0.00,2.65,0.00,0.000,4,0.000,0.065,2195,1329,3499
$GC,1402,-1.10,-146.6,113.6,-7.7,65,1406,0.00,2.60,0.00,0.000,6,0.000,0.057,2195,2751,3499
$GC,1718,-1.10,-146.6,137.1,-7.1,80,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3499
$GC,2027,-1.10,-146.6,158.7,-6.5,95,2031,0.00,2.62,0.00,0.000,4,0.000,0.064,2195,1330,3499
$GC,2071,-1.10,-146.6,161.8,-6.3,97,2075,0.00,2.62,0.00,0.000,6,0.000,0.062,2195,2750,3499
$GC,2392,-1.10,-146.6,182.3,-6.3,113,2396,0.00,2.62,0.00,0.000,4,0.000,0.067,2195,1331,3499
$GC,2425,-1.10,-146.6,184.6,-6.8,114,2431,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2750,3499
$GC,2741,-1.10,-146.6,205.6,-6.8,130,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3499
$GC,3050,-1.10,-146.6,226.6,-6.6,145,3054,0.00,2.62,0.00,0.000,4,0.000,0.067,2195,1330,3499
$GC,3089,-1.10,-146.6,229.3,-6.5,147,3094,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2760,3499
$GC,3419,-1.10,-146.6,250.9,-6.9,163,3423,0.00,2.65,0.00,0.000,4,0.000,0.067,2195,1330,3499
$GC,3459,-1.10,-146.6,253.9,-7.5,165,3463,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2761,3499
$GC,3786,-1.10,-146.6,276.6,-7.0,181,3790,0.00,2.65,0.00,0.000,4,0.000,0.066,2195,1327,3499
$GC,3830,-1.10,-146.6,280.0,-7.1,183,3834,0.00,2.62,0.00,0.000,6,0.000,0.058,2195,2760,3499
$GC,4151,-1.10,-146.6,302.7,-6.8,199,4155,0.00,2.65,0.00,0.000,4,0.000,0.067,2195,1327,3499
$GC,4189,-1.10,-146.6,305.4,-6.9,200,4196,0.00,2.60,0.00,0.000,6,0.000,0.057,2195,2760,3499
$GC,4506,-1.10,-146.6,326.7,-6.9,216,4510,0.00,2.65,0.00,0.000,4,0.000,0.067,2195,1330,3500
$GC,4533,-1.10,-146.6,328.8,-7.1,217,4537,0.00,2.60,0.00,0.000,6,0.000,0.056,2195,2756,3500
$GC,4849,-1.10,-146.6,351.8,-7.5,232,4853,0.00,2.62,0.00,0.000,4,0.000,0.067,2195,1333,3500
$GC,4882,-1.10,-146.6,354.5,-7.8,233,4887,0.00,2.58,0.00,0.000,6,0.000,0.056,2195,2749,3500
$GC,5198,-1.10,-146.6,377.5,-7.0,248,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2749,3500
$GC,5507,-1.10,-146.6,399.9,-7.5,263,5512,0.00,2.60,0.00,0.000,4,0.000,0.067,2195,1332,3500
$GC,5553,-1.10,-146.6,403.5,-8.4,265,5557,0.00,2.60,0.00,0.000,6,0.000,0.061,2195,2752,3500
$GC,5880,-1.10,-146.6,428.3,-7.2,281,5884,0.00,2.62,0.00,0.000,4,0.000,0.067,2195,1330,3500
$GC,5907,-1.10,-146.6,430.5,-7.0,282,5911,0.00,2.60,0.00,0.000,6,0.000,0.059,2195,2751,3500
$GC,6223,-1.10,-146.6,453.3,-7.2,297,6227,0.00,2.60,0.00,0.000,4,0.000,0.064,2195,1336,3500
$GC,6250,-1.10,-146.6,455.4,-7.0,298,6255,0.00,2.58,0.00,0.000,6,0.000,0.057,2195,2751,3500
$GC,6572,-1.10,-146.6,478.0,-6.9,314,6576,0.00,2.60,0.00,0.000,4,0.000,0.063,2195,1332,3500
$GC,6599,-1.10,-146.6,479.9,-7.2,315,6604,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2756,3500
$GC,6915,-1.10,-146.6,501.4,-6.7,330,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2756,3500
$GC,7225,-1.10,-146.6,520.1,-5.0,345,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2756,3500
$GC,7534,-1.10,-146.6,541.9,-7.9,360,7538,0.00,2.60,0.00,0.000,4,0.000,0.061,2195,1330,3500
$GC,7589,-1.10,-146.6,546.6,-8.5,362,7595,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2750,3500
$GC,7905,-1.10,-146.6,569.1,-6.6,378,7909,0.00,2.60,0.00,0.000,4,0.000,0.064,2195,1332,3499
$GC,7945,-1.10,-146.6,572.1,-7.9,380,7949,0.00,2.62,0.00,0.000,6,0.000,0.062,2195,2757,3499
$STATE,8124,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8124,begin apogee
$GC,8133,-0.42,0.0,582.1,3.7,389,8258,0.68,0.00,121.70,1.072,6,0.031,0.000,2358,1696,2902
$STATE,8259,end apogee,CONTROL_FINISHED_OK
$STATE,8259,begin climb
$GC,8262,1.10,146.6,582.1,0.0,395,8391,1.42,2.72,120.68,1.039,4,0.032,0.074,2682,292,2304
$GC,8649,1.42,403.1,580.6,-1.1,412,8869,0.30,2.53,209.00,1.049,6,0.035,0.040,2764,1721,1258
$GC,9190,1.42,403.1,519.6,14.8,439,9195,0.00,2.58,0.00,0.000,4,0.000,0.064,2764,3107,1258
$GC,9381,1.42,403.1,494.0,13.0,447,9387,0.00,2.60,0.00,0.000,6,0.000,0.059,2764,1702,1257
$GC,9697,1.42,403.1,452.3,12.6,463,9701,0.00,2.60,0.00,0.000,4,0.000,0.062,2764,3104,1257
$GC,9797,1.42,403.1,439.6,12.1,467,9803,0.00,2.58,0.00,0.000,6,0.000,0.054,2764,1695,1257
$GC,10113,1.42,403.1,402.6,11.2,483,10117,0.00,2.58,0.00,0.000,4,0.000,0.060,2764,3103,1257
$GC,10185,1.42,403.1,394.5,11.1,486,10189,0.00,2.58,0.00,0.000,6,0.000,0.054,2764,1691,1257
$GC,10506,1.42,403.1,358.4,11.6,502,10510,0.00,2.60,0.00,0.000,4,0.000,0.060,2764,3103,1257
$GC,10601,1.42,403.1,347.1,11.6,506,10605,0.00,2.55,0.00,0.000,6,0.000,0.053,2764,1700,1257
$GC,10917,1.42,403.1,308.3,12.2,521,10921,0.00,2.58,0.00,0.000,4,0.000,0.059,2764,3108,1257
$GC,11002,1.42,403.1,297.8,11.7,525,11006,0.00,2.58,0.00,0.000,6,0.000,0.054,2764,1693,1257
$GC,11329,1.42,403.1,257.9,12.3,541,11333,0.00,2.58,0.00,0.000,4,0.000,0.061,2764,3098,1257
$GC,11420,1.42,403.1,246.7,11.7,545,11424,0.00,2.55,0.00,0.000,6,0.000,0.053,2764,1691,1257
$GC,11741,1.42,403.1,208.8,11.5,561,11745,0.00,2.60,0.00,0.000,4,0.000,0.060,2764,3110,1258
$GC,11830,1.42,403.1,198.3,11.4,565,11834,0.00,2.58,0.00,0.000,6,0.000,0.054,2764,1693,1258
$GC,12152,1.42,403.1,161.7,11.5,581,12156,0.00,2.60,0.00,0.000,4,0.000,0.062,2764,3104,1258
$GC,12236,1.42,403.1,151.6,11.4,585,12240,0.00,2.53,0.00,0.000,6,0.000,0.055,2764,1701,1258
$GC,12569,1.42,403.1,113.5,11.6,601,12574,0.00,2.58,0.00,0.000,4,0.000,0.062,2764,3100,1258
$GC,12656,1.42,403.1,103.6,10.9,605,12660,0.00,2.55,0.00,0.000,6,0.000,0.054,2764,1694,1258
$GC,12984,1.42,403.1,64.8,12.4,621,12989,0.00,2.60,0.00,0.000,4,0.000,0.062,2764,3106,1258
$GC,13080,1.42,403.1,52.3,12.6,625,13084,0.00,2.55,0.00,0.000,6,0.000,0.054,2764,1701,1258
$GC,13397,1.42,403.1,14.8,12.3,640,13402,0.00,2.60,0.00,0.000,4,0.000,0.066,2764,3105,1258
$GC,13465,1.42,403.1,6.3,12.3,643,13469,0.00,2.55,0.00,0.000,6,0.000,0.053,2764,1695,1258
$STATE,13515,end climb,SURFACE_DEPTH_REACHED
$STATE,13515,begin surface coast
$FINISH,0.1,1.014792
$STATE,13537,end surface coast,CONTROL_FINISHED_OK
$STATE,13537,begin surface
$SM_CCo,13623,0.00,0.000,0,0,1259,403.27
$SM_GC,1.02,11.80,0.00,0.00,0.023,0.000,0.000,46,2744,1259,-10.94,-0.17,403.27
$IRIDIUM_FIX,6126.23,-913.51,250598,191924
$TT8_MAMPS,0.028379
$HUMID,1768
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.1,16.1
$24V_AH,23.4,15.271
$10V_AH,10.1,6.936
$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,26.425,160.125,451.375,0.000,0.000,24.446,27.692,145.706,4.750,0.000,0.000,14.219,1238.344,10049.188,514.733,1651.854,491.647,33.366,1392.059,0.000,1618.086,0.000,33.316,0.000
$DEVICE_MAMPS,161.837,79.001,1072.266,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,459.998,474.033,426.172,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31667,647
$CAP_FILE_SIZE,108364,0
$CFSIZE,260165632,255582208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010309,040306,6153.163,-912.186,36,0.9,36,-9.5