version: 66.04
glider: 103
mission: 11
dive: 41
start: 3 1 109 17 16 42
data:
$ID,103
$MISSION,11
$DIVE,41
$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,-143733.09
$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,13
$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
$GPS1,171041,6157.529,-914.668,41,1.5,45,-9.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-59.1
$GPS2,171550,6157.507,-914.592,14,1.1,14,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.217,0.021
$KALMAN_X,11818.2,-1832.7,-1308.4,4509.4,32661.3
$KALMAN_Y,-50552.3,-1016.9,-379.5,137693.0,7483.9
$MHEAD_RNG_PITCHd_Wd,285.1,33692,-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,-146.6,0.0,0.0,0,71,0.00,0.00,-53.90,0.000,6,0.000,0.000,48,2732,3502
$GC,74,-1.10,-146.6,3.0,-8.4,2,95,12.18,2.08,0.00,0.000,4,0.160,0.085,2196,3787,3501
$GC,157,-1.10,-146.6,21.5,-7.7,5,163,0.00,1.90,0.00,0.000,6,0.000,0.048,2196,2747,3502
$GC,475,-1.10,-146.6,45.4,-7.9,21,479,0.00,2.65,0.00,0.000,4,0.000,0.074,2196,1325,3502
$GC,515,-1.10,-146.6,48.7,-7.8,23,519,0.00,2.65,0.00,0.000,6,0.000,0.064,2196,2756,3502
$GC,841,-1.10,-146.6,74.1,-7.7,39,846,0.00,2.65,0.00,0.000,4,0.000,0.069,2196,1333,3501
$GC,882,-1.10,-146.6,77.2,-7.7,41,886,0.00,2.62,0.00,0.000,6,0.000,0.063,2196,2753,3502
$GC,1209,-1.10,-146.6,103.2,-7.8,57,1213,0.00,2.65,0.00,0.000,4,0.000,0.070,2196,1332,3502
$GC,1242,-1.10,-146.6,105.9,-8.0,58,1248,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2754,3502
$GC,1559,-1.10,-146.6,130.9,-7.7,74,1561,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2754,3502
$GC,1867,-1.10,-146.6,155.0,-7.7,89,1871,0.00,2.62,0.00,0.000,4,0.000,0.069,2196,1332,3502
$GC,1929,-1.10,-146.6,160.4,-8.0,92,1933,0.00,2.60,0.00,0.000,6,0.000,0.060,2196,2747,3502
$GC,2255,-1.10,-146.6,185.8,-7.6,108,2259,0.00,2.62,0.00,0.000,4,0.000,0.067,2196,1326,3502
$GC,2317,-1.10,-146.6,190.8,-8.7,111,2322,0.00,2.62,0.00,0.000,6,0.000,0.061,2196,2757,3502
$GC,2644,-1.10,-146.6,216.5,-7.9,127,2649,0.00,2.65,0.00,0.000,4,0.000,0.070,2196,1332,3502
$GC,2689,-1.10,-146.6,220.0,-8.3,129,2694,0.00,2.62,0.00,0.000,6,0.000,0.061,2196,2761,3502
$GC,3011,-1.10,-146.6,242.8,-7.0,145,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2761,3502
$GC,3320,-1.10,-146.6,263.4,-6.8,160,3324,0.00,2.65,0.00,0.000,4,0.000,0.069,2196,1332,3502
$GC,3359,-1.10,-146.6,266.4,-7.4,162,3364,0.00,2.62,0.00,0.000,6,0.000,0.061,2196,2763,3502
$GC,3686,-1.10,-146.6,288.9,-6.6,178,3690,0.00,2.65,0.00,0.000,4,0.000,0.068,2196,1332,3501
$GC,3748,-1.10,-146.6,293.2,-7.1,181,3753,0.00,2.60,0.00,0.000,6,0.000,0.062,2196,2754,3502
$GC,4075,-1.10,-146.6,315.5,-7.2,197,4080,0.00,2.65,0.00,0.000,4,0.000,0.069,2196,1330,3502
$GC,4115,-1.10,-146.6,318.4,-7.4,199,4119,0.00,2.62,0.00,0.000,6,0.000,0.061,2196,2760,3501
$GC,4442,-1.10,-146.6,342.1,-7.4,215,4446,0.00,2.62,0.00,0.000,4,0.000,0.064,2196,1332,3501
$GC,4481,-1.10,-146.6,345.0,-7.4,217,4485,0.00,2.60,0.00,0.000,6,0.000,0.059,2196,2756,3502
$GC,4807,-1.10,-146.6,369.2,-7.4,233,4812,0.00,2.65,0.00,0.000,4,0.000,0.068,2196,1323,3502
$GC,4847,-1.10,-146.6,372.4,-8.2,235,4852,0.00,2.60,0.00,0.000,6,0.000,0.058,2196,2747,3502
$GC,5175,-1.10,-146.6,401.4,-9.8,251,5179,0.00,2.60,0.00,0.000,4,0.000,0.064,2196,1332,3502
$GC,5214,-1.10,-146.6,405.2,-9.4,253,5219,0.00,2.62,0.00,0.000,6,0.000,0.059,2196,2767,3502
$GC,5541,-1.10,-146.6,434.1,-8.7,269,5545,0.00,2.65,0.00,0.000,4,0.000,0.067,2196,1332,3501
$GC,5641,-1.10,-146.6,443.7,-9.9,273,5647,0.00,2.60,0.00,0.000,6,0.000,0.058,2196,2755,3501
$GC,5957,-1.10,-146.6,468.7,-7.2,289,5961,0.00,1.92,0.00,0.000,4,0.000,0.077,2196,3789,3502
$GC,6025,-1.10,-146.6,473.4,-7.6,292,6029,0.00,1.83,0.00,0.000,6,0.000,0.042,2196,2747,3501
$GC,6358,-1.10,-146.6,492.3,-4.6,308,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2747,3501
$GC,6667,-1.10,-146.6,511.3,-6.7,323,6672,0.00,2.60,0.00,0.000,4,0.000,0.072,2196,1337,3501
$GC,6763,-1.10,-146.6,516.9,-5.7,327,6767,0.00,2.62,0.00,0.000,6,0.000,0.065,2196,2753,3501
$GC,7079,-1.10,-146.6,538.4,-6.7,342,7083,0.00,2.65,0.00,0.000,4,0.000,0.071,2196,1332,3500
$GC,7128,-1.10,-146.6,541.8,-6.6,344,7133,0.00,2.65,0.00,0.000,6,0.000,0.066,2196,2757,3500
$STATE,7297,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7297,begin apogee
$GC,7307,-0.42,0.0,553.7,6.9,352,7430,0.75,0.00,120.30,1.117,6,0.087,0.000,2347,1704,2902
$STATE,7431,end apogee,CONTROL_FINISHED_OK
$STATE,7431,begin climb
$GC,7434,1.10,146.6,559.2,0.0,358,7563,1.55,2.78,119.97,1.027,4,0.061,0.076,2676,297,2304
$GC,7717,1.18,207.0,556.7,4.3,371,7773,0.00,2.53,50.47,1.015,6,0.000,0.038,2676,1726,2058
$GC,8087,1.19,218.8,536.7,5.7,388,8109,0.10,2.62,11.45,0.986,4,0.050,0.061,2714,3099,2009
$GC,8205,1.21,229.9,529.1,5.7,393,8222,0.00,2.60,10.95,0.996,6,0.000,0.058,2714,1694,1964
$GC,8531,1.21,229.9,509.3,6.4,409,8535,0.00,2.60,0.00,0.000,4,0.000,0.061,2714,3106,1963
$GC,8625,1.21,229.9,502.8,7.2,413,8630,0.00,2.60,0.00,0.000,6,0.000,0.058,2714,1693,1963
$GC,8941,1.21,230.0,482.3,6.0,428,8946,0.00,2.60,0.00,0.000,4,0.000,0.061,2714,3098,1963
$GC,9120,1.21,230.0,471.2,6.2,436,9125,0.00,2.60,0.00,0.000,6,0.000,0.061,2714,1692,1962
$GC,9447,1.21,230.0,448.4,6.3,452,9451,0.00,2.60,0.00,0.000,4,0.000,0.062,2714,3097,1961
$GC,9560,1.26,271.9,442.3,4.8,457,9600,0.00,2.58,34.58,1.031,6,0.000,0.059,2714,1700,1793
$GC,9931,1.28,287.3,422.2,5.6,475,9952,0.00,2.65,14.25,1.019,4,0.000,0.061,2714,3108,1730
$GC,10031,1.28,287.3,415.6,7.1,479,10036,0.00,2.62,0.00,0.000,6,0.000,0.058,2714,1689,1730
$GC,10347,1.28,287.3,393.9,7.2,494,10351,0.00,2.60,0.00,0.000,4,0.000,0.057,2714,3106,1730
$GC,10470,1.28,287.3,385.3,7.4,499,10476,0.00,2.60,0.00,0.000,6,0.000,0.058,2714,1691,1730
$GC,10786,1.28,287.3,361.7,7.5,515,10790,0.00,2.60,0.00,0.000,4,0.000,0.059,2714,3106,1730
$GC,10903,1.28,287.3,352.6,7.8,520,10908,0.00,2.58,0.00,0.000,6,0.000,0.057,2714,1698,1730
$GC,11219,1.28,287.3,327.5,7.7,535,11223,0.00,2.58,0.00,0.000,4,0.000,0.058,2714,3105,1730
$GC,11326,1.28,287.3,318.7,8.3,540,11330,0.00,2.58,0.00,0.000,6,0.000,0.058,2714,1696,1730
$GC,11653,1.28,287.3,292.2,8.6,556,11657,0.00,2.58,0.00,0.000,4,0.000,0.059,2714,3101,1731
$GC,11770,1.28,287.3,281.9,8.5,561,11775,0.00,2.58,0.00,0.000,6,0.000,0.057,2714,1693,1731
$GC,12087,1.28,287.3,256.0,8.1,576,12091,0.00,2.58,0.00,0.000,4,0.000,0.058,2714,3098,1732
$GC,12221,1.28,287.3,244.9,8.4,582,12225,0.00,2.58,0.00,0.000,6,0.000,0.058,2714,1690,1732
$GC,12542,1.28,287.3,219.8,7.7,598,12546,0.00,2.60,0.00,0.000,4,0.000,0.060,2714,3110,1732
$GC,12664,1.28,287.3,210.2,7.3,603,12671,0.00,2.58,0.00,0.000,6,0.000,0.057,2714,1697,1733
$GC,12980,1.28,287.3,184.9,8.1,619,12984,0.00,2.58,0.00,0.000,4,0.000,0.058,2714,3107,1733
$GC,13094,1.28,287.3,176.0,7.8,624,13098,0.00,2.58,0.00,0.000,6,0.000,0.056,2714,1691,1733
$GC,13415,1.28,287.3,150.4,8.1,640,13419,0.00,2.60,0.00,0.000,4,0.000,0.062,2714,3105,1734
$GC,13567,1.28,287.3,137.4,9.6,647,13571,0.00,2.58,0.00,0.000,6,0.000,0.058,2714,1693,1734
$GC,13894,1.28,287.3,113.6,6.7,663,13898,0.00,2.60,0.00,0.000,4,0.000,0.062,2714,3108,1734
$GC,14039,1.30,309.2,104.2,5.4,669,14067,0.00,2.55,19.65,0.755,6,0.000,0.058,2714,1701,1641
$GC,14378,1.30,309.2,79.9,7.8,686,14383,0.00,2.58,0.00,0.000,4,0.000,0.061,2714,3104,1641
$GC,14496,1.30,309.2,70.3,7.4,691,14500,0.00,2.58,0.00,0.000,6,0.000,0.058,2714,1694,1641
$GC,14812,1.30,309.2,45.4,8.3,706,14816,0.00,2.58,0.00,0.000,4,0.000,0.058,2714,3108,1641
$GC,14913,1.30,309.2,36.1,9.0,710,14919,0.00,2.55,0.00,0.000,6,0.000,0.058,2714,1703,1641
$GC,15230,1.30,309.2,7.1,9.6,726,15235,0.00,2.55,0.00,0.000,4,0.000,0.057,2714,3102,1641
$STATE,15300,end climb,SURFACE_DEPTH_REACHED
$STATE,15300,begin surface coast
$FINISH,0.1,1.027464
$STATE,15324,end surface coast,CONTROL_FINISHED_OK
$STATE,15324,begin surface
$SM_CCo,15408,0.00,0.000,0,0,1640,309.32
$SM_GC,0.97,11.57,0.00,0.00,0.023,0.000,0.000,42,2741,1640,-10.93,-0.25,309.32
$IRIDIUM_FIX,6135.28,-825.95,260598,131318
$TT8_MAMPS,0.028379
$HUMID,1781
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,18.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,526.2,37.2
$24V_AH,23.4,15.764
$10V_AH,10.1,7.244
$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,26.150,179.975,381.625,0.000,0.000,29.617,31.472,133.737,4.750,0.000,0.000,14.632,1435.175,11338.475,492.694,1971.632,478.410,33.361,1494.704,0.000,1919.909,0.000,33.021,0.000
$DEVICE_MAMPS,159.536,85.137,1116.752,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,520.728,526.077,487.666,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37935,730
$CAP_FILE_SIZE,124421,0
$CFSIZE,260165632,255344640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010309,213436,6156.763,-917.038,29,1.3,29,-9.5