version: 66.04
glider: 103
mission: 11
dive: 44
start: 3 2 109 6 35 12
data:
$ID,103
$MISSION,11
$DIVE,44
$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,-143797.55
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,8
$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
$GPS1,062906,6154.134,-916.691,40,1.1,40,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-55.3
$GPS2,063420,6154.102,-916.601,12,1.3,12,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.194,0.101
$KALMAN_X,22187.3,-1895.1,-1981.5,-6893.4,33103.4
$KALMAN_Y,-65279.6,833.4,-470.7,144326.8,-12850.2
$MHEAD_RNG_PITCHd_Wd,307.2,35300,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.10,-146.6,0.0,0.0,0,78,0.00,0.00,-58.35,0.000,2,0.000,0.000,50,2645,3337
$GC,81,-1.10,-146.6,4.5,-8.5,3,104,12.15,2.62,-2.60,0.000,4,0.159,0.081,2195,1238,3502
$GC,262,-1.10,-146.6,27.9,-7.3,11,267,0.00,2.65,0.00,0.000,6,0.000,0.064,2195,2663,3502
$GC,589,-1.10,-146.6,53.0,-8.1,27,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2663,3502
$GC,898,-1.10,-146.6,75.4,-7.3,42,902,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3786,3502
$GC,949,-1.10,-146.6,79.5,-8.2,44,953,0.00,2.05,0.00,0.000,6,0.000,0.050,2195,2645,3502
$GC,1276,-1.10,-146.6,104.1,-7.7,60,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3502
$GC,1587,-1.10,-146.6,127.6,-6.7,75,1591,0.00,2.20,0.00,0.000,4,0.000,0.084,2195,3787,3502
$GC,1626,-1.10,-146.6,131.0,-8.3,76,1633,0.00,2.03,0.00,0.000,6,0.000,0.048,2195,2645,3502
$GC,1942,-1.10,-146.6,154.7,-6.9,92,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,2252,-1.10,-146.6,175.9,-7.0,107,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,2561,-1.10,-146.6,198.3,-7.0,122,2565,0.00,2.20,0.00,0.000,4,0.000,0.084,2195,3789,3502
$GC,2611,-1.10,-146.6,202.0,-7.7,124,2615,0.00,2.05,0.00,0.000,6,0.000,0.048,2195,2640,3502
$GC,2938,-1.10,-146.6,227.2,-8.0,140,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3502
$GC,3247,-1.10,-146.6,253.7,-8.3,155,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,3557,-1.10,-146.6,276.6,-7.0,170,3560,0.00,2.20,0.00,0.000,4,0.000,0.083,2195,3787,3502
$GC,3612,-1.10,-146.6,280.7,-7.6,172,3616,0.00,2.03,0.00,0.000,6,0.000,0.048,2195,2644,3502
$GC,3934,-1.10,-146.6,303.0,-6.9,188,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,4243,-1.10,-146.6,322.8,-6.3,203,4244,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,4552,-1.10,-146.6,342.6,-6.7,218,4556,0.00,2.20,0.00,0.000,4,0.000,0.084,2195,3790,3502
$GC,4621,-1.10,-146.6,347.5,-7.2,221,4625,0.00,2.03,0.00,0.000,6,0.000,0.048,2195,2652,3502
$GC,4954,-1.10,-146.6,369.8,-6.9,237,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3502
$GC,5263,-1.10,-146.6,390.8,-6.9,252,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3502
$GC,5573,-1.10,-146.6,413.2,-7.4,267,5576,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3785,3502
$GC,5618,-1.10,-146.6,416.7,-7.1,269,5622,0.00,2.03,0.00,0.000,6,0.000,0.049,2195,2639,3502
$GC,5951,-1.10,-146.6,439.7,-6.3,285,5954,0.00,2.20,0.00,0.000,4,0.000,0.086,2195,3784,3502
$GC,5984,-1.10,-146.6,441.8,-6.5,286,5988,0.00,2.03,0.00,0.000,6,0.000,0.049,2195,2647,3502
$GC,6306,-1.10,-146.6,462.2,-6.5,302,6310,0.00,2.58,0.00,0.000,4,0.000,0.067,2195,1234,3502
$GC,6333,-1.10,-146.6,464.1,-6.4,303,6338,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2663,3502
$GC,6649,-1.10,-146.6,483.9,-6.1,318,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2663,3502
$GC,6959,-1.10,-146.6,502.3,-5.2,333,6963,0.00,2.12,0.00,0.000,4,0.000,0.084,2195,3788,3502
$GC,7005,-1.10,-146.6,504.8,-5.2,335,7009,0.00,2.03,0.00,0.000,6,0.000,0.048,2195,2650,3502
$GC,7338,-1.10,-146.6,521.2,-5.3,351,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,7647,-1.10,-146.6,540.5,-6.9,366,7652,0.00,2.58,0.00,0.000,4,0.000,0.067,2195,1233,3502
$GC,7683,-1.10,-146.6,543.1,-7.8,367,7689,0.00,2.58,0.00,0.000,6,0.000,0.056,2195,2654,3502
$GC,7999,-1.10,-146.6,564.3,-6.7,383,8002,0.00,2.12,0.00,0.000,4,0.000,0.085,2195,3782,3501
$GC,8071,-1.10,-146.6,568.4,-6.0,386,8075,0.00,2.03,0.00,0.000,6,0.000,0.048,2195,2642,3501
$GC,8398,-1.10,-146.6,588.3,-6.8,402,8403,0.00,2.58,0.00,0.000,4,0.000,0.068,2195,1230,3501
$GC,8466,-1.10,-146.6,593.1,-7.0,405,8470,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2657,3501
$GC,8788,-1.10,-146.6,608.2,-0.0,421,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2659,3500
$STATE,8969,end dive,NO_VERTICAL_VELOCITY
$STATE,8970,begin apogee
$GC,8978,-0.42,0.0,608.2,0.0,430,9104,0.70,0.00,122.50,1.137,6,0.042,0.000,2355,1793,2902
$STATE,9105,end apogee,CONTROL_FINISHED_OK
$STATE,9105,begin climb
$GC,9108,1.10,146.6,608.1,0.0,436,9235,1.48,0.00,122.22,1.102,6,0.044,0.000,2680,1793,2304
$GC,9544,1.27,285.3,597.2,2.2,458,9669,0.17,2.72,114.80,1.063,4,0.039,0.072,2731,399,1738
$GC,9754,1.27,285.3,581.1,11.2,467,9760,0.00,2.53,0.00,0.000,6,0.000,0.041,2731,1814,1738
$GC,10070,1.27,285.3,555.6,7.3,483,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1817,1737
$GC,10379,1.27,285.3,530.9,8.4,498,10383,0.00,2.58,0.00,0.000,4,0.000,0.067,2731,3203,1736
$GC,10633,1.27,285.3,507.7,9.3,509,10637,0.00,2.58,0.00,0.000,6,0.000,0.055,2731,1798,1736
$GC,10954,1.27,285.3,479.3,8.5,525,10958,0.00,2.60,0.00,0.000,4,0.000,0.063,2731,3203,1736
$GC,11043,1.27,285.3,471.7,7.9,529,11047,0.00,2.58,0.00,0.000,6,0.000,0.054,2731,1792,1736
$GC,11363,1.27,285.3,443.8,9.4,545,11368,0.00,2.60,0.00,0.000,4,0.000,0.061,2731,3204,1736
$GC,11453,1.27,285.3,435.6,9.8,549,11457,0.00,2.55,0.00,0.000,6,0.000,0.052,2731,1797,1736
$GC,11774,1.27,285.3,404.6,9.5,565,11778,0.00,2.60,0.00,0.000,4,0.000,0.060,2731,3212,1736
$GC,11823,1.27,285.3,400.1,8.7,567,11827,0.00,2.58,0.00,0.000,6,0.000,0.051,2731,1794,1736
$GC,12145,1.27,285.3,372.3,8.7,583,12149,0.00,2.60,0.00,0.000,4,0.000,0.061,2731,3206,1736
$GC,12234,1.27,285.3,364.2,9.0,587,12238,0.00,2.55,0.00,0.000,6,0.000,0.053,2731,1798,1736
$GC,12555,1.27,285.3,337.4,8.6,603,12559,0.00,2.58,0.00,0.000,4,0.000,0.061,2731,3204,1737
$GC,12616,1.27,285.3,332.0,8.4,605,12623,0.00,2.53,0.00,0.000,6,0.000,0.053,2731,1799,1736
$GC,12932,1.27,285.3,306.4,8.0,621,12936,0.00,2.58,0.00,0.000,4,0.000,0.061,2731,3208,1737
$GC,13011,1.27,285.3,299.5,8.7,624,13015,0.00,2.58,0.00,0.000,6,0.000,0.053,2731,1789,1737
$GC,13327,1.27,285.3,273.4,8.0,639,13331,0.00,2.60,0.00,0.000,4,0.000,0.060,2731,3204,1738
$GC,13405,1.27,285.3,267.0,8.1,642,13409,0.00,2.55,0.00,0.000,6,0.000,0.053,2731,1797,1738
$GC,13721,1.27,285.3,241.9,8.0,657,13725,0.00,2.60,0.00,0.000,4,0.000,0.063,2731,3206,1738
$GC,13776,1.27,285.3,237.5,7.8,659,13781,0.00,2.55,0.00,0.000,6,0.000,0.054,2731,1800,1738
$GC,14092,1.27,285.3,213.0,7.7,674,14096,0.00,2.60,0.00,0.000,4,0.000,0.064,2731,3210,1739
$GC,14170,1.27,285.3,206.5,8.1,677,14176,0.00,2.55,0.00,0.000,6,0.000,0.053,2731,1799,1739
$GC,14486,1.27,285.3,179.0,9.4,693,14490,0.00,2.60,0.00,0.000,4,0.000,0.064,2731,3205,1739
$GC,14570,1.27,285.3,171.1,9.2,697,14574,0.00,2.55,0.00,0.000,6,0.000,0.054,2731,1797,1739
$GC,14897,1.27,285.3,145.3,8.1,713,14902,0.00,2.60,0.00,0.000,4,0.000,0.064,2731,3204,1739
$GC,14984,1.27,285.3,139.0,7.0,717,14989,0.00,2.55,0.00,0.000,6,0.000,0.054,2731,1795,1739
$GC,15312,1.27,285.3,112.5,8.1,733,15316,0.00,2.60,0.00,0.000,4,0.000,0.064,2731,3204,1739
$GC,15378,1.27,285.3,106.6,8.2,736,15383,0.00,2.55,0.00,0.000,6,0.000,0.054,2731,1798,1740
$GC,15700,1.27,285.3,77.4,9.1,752,15705,0.00,2.60,0.00,0.000,4,0.000,0.065,2731,3204,1740
$GC,15779,1.27,285.3,70.8,7.5,755,15785,0.00,2.55,0.00,0.000,6,0.000,0.054,2731,1790,1740
$GC,16096,1.27,285.3,44.6,9.8,771,16101,0.00,2.62,0.00,0.000,4,0.000,0.064,2731,3210,1740
$GC,16197,1.27,285.3,36.9,7.6,775,16203,0.00,2.55,0.00,0.000,6,0.000,0.054,2731,1801,1740
$GC,16513,1.27,285.3,9.9,8.8,791,16517,0.00,2.60,0.00,0.000,4,0.000,0.066,2731,3206,1740
$GC,16553,1.27,285.3,6.0,10.0,793,16557,0.00,2.58,0.00,0.000,6,0.000,0.058,2731,1796,1739
$STATE,16609,end climb,SURFACE_DEPTH_REACHED
$STATE,16609,begin surface coast
$FINISH,0.1,1.013243
$STATE,16631,end surface coast,CONTROL_FINISHED_OK
$STATE,16631,begin surface
$SM_CCo,16656,10.12,0.637,0,0,1678,300.00
$SM_GC,1.90,0.00,0.00,10.12,0.000,0.000,0.637,47,2658,1678,-11.01,0.23,300.00
$IRIDIUM_FIX,6130.75,-919.48,270598,020237
$TT8_MAMPS,0.029146
$HUMID,1781
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.8,95.7
$24V_AH,23.4,16.150
$10V_AH,10.1,7.474
$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,26.275,149.575,359.525,10.125,0.000,29.612,25.801,137.799,4.250,0.000,0.000,12.591,1482.883,12642.354,495.013,1850.747,511.059,33.358,1425.888,0.000,1823.418,0.000,30.281,0.000
$DEVICE_MAMPS,158.769,86.671,1136.694,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,565.936,582.821,511.475,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41080,797
$CAP_FILE_SIZE,119500,0
$CFSIZE,260165632,255176704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020309,111407,6154.430,-917.322,28,2.0,28,-9.5