version: 66.04
glider: 103
mission: 11
dive: 47
start: 3 2 109 21 29 6
data:
$ID,103
$MISSION,11
$DIVE,47
$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,-143848.17
$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,14
$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
$GPS1,211637,6150.766,-919.193,57,1.8,57,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-56.9
$GPS2,212814,6150.666,-918.980,15,1.3,15,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.191,0.106
$KALMAN_X,29167.5,-1833.2,-1661.5,-16353.5,24481.3
$KALMAN_Y,-77726.9,1109.7,1017.1,148605.6,-20860.2
$MHEAD_RNG_PITCHd_Wd,308.5,37791,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,74,0.00,0.00,-54.17,0.000,6,0.000,0.000,48,2636,3501
$GC,78,-1.10,-146.6,2.9,-7.1,2,100,12.18,2.62,0.00,0.000,4,0.160,0.063,2193,1238,3501
$GC,161,-1.10,-146.6,22.3,-8.0,5,168,0.00,2.62,0.00,0.000,6,0.000,0.065,2193,2654,3501
$GC,479,-1.10,-146.6,47.3,-6.8,21,483,0.00,2.20,0.00,0.000,4,0.000,0.092,2193,3790,3501
$GC,552,-1.10,-146.6,54.7,-12.8,24,556,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2653,3501
$GC,881,-1.10,-146.6,83.7,-11.0,40,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3501
$GC,1189,-1.10,-146.6,107.0,-4.2,55,1192,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3785,3501
$GC,1258,-1.10,-146.6,108.0,-1.7,58,1262,0.00,2.05,0.00,0.000,6,0.000,0.049,2193,2639,3501
$GC,1591,-1.10,-146.6,125.3,-5.1,74,1595,0.00,2.22,0.00,0.000,4,0.000,0.087,2193,3786,3501
$GC,1625,-1.10,-146.6,127.3,-6.0,75,1628,0.00,2.05,0.00,0.000,6,0.000,0.049,2193,2642,3501
$GC,1947,-1.10,-146.6,146.5,-7.3,91,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3501
$GC,2256,-1.10,-146.6,172.5,-9.1,106,2260,0.00,2.22,0.00,0.000,4,0.000,0.090,2193,3785,3501
$GC,2312,-1.10,-146.6,176.9,-6.6,108,2315,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2645,3501
$GC,2634,-1.10,-146.6,201.3,-7.5,124,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3501
$GC,2942,-1.10,-146.6,229.2,-9.8,139,2946,0.00,2.22,0.00,0.000,4,0.000,0.088,2193,3793,3501
$GC,2981,-1.10,-146.6,233.3,-10.5,140,2988,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2642,3501
$GC,3298,-1.10,-146.6,262.5,-8.8,156,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3501
$GC,3607,-1.10,-146.6,284.2,-6.4,171,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3501
$GC,3916,-1.10,-146.6,305.6,-7.1,186,3919,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3785,3501
$GC,3962,-1.10,-146.6,308.9,-6.8,188,3965,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2639,3501
$GC,4294,-1.10,-146.6,331.1,-6.4,204,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2639,3501
$GC,4604,-1.10,-146.6,349.9,-6.0,219,4611,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3785,3501
$GC,4640,-1.10,-146.6,352.1,-5.9,220,4644,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2644,3501
$GC,4962,-1.10,-146.6,370.7,-5.7,236,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3501
$GC,5271,-1.10,-146.6,387.9,-5.5,251,5273,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3501
$GC,5581,-1.10,-146.6,404.6,-5.6,266,5584,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3786,3501
$GC,5627,-1.10,-146.6,407.4,-6.0,268,5630,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2652,3501
$GC,5959,-1.10,-146.6,427.4,-6.2,284,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3501
$GC,6269,-1.10,-146.6,448.2,-6.7,299,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,6578,-1.10,-146.6,468.3,-6.4,314,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,6887,-1.10,-146.6,488.7,-6.8,329,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,7197,-1.10,-146.6,511.2,-7.5,344,7198,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3501
$GC,7506,-1.10,-146.6,533.7,-7.4,359,7509,0.00,2.17,0.00,0.000,4,0.000,0.086,2193,3787,3501
$GC,7545,-1.10,-146.6,536.8,-7.2,360,7551,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2647,3501
$GC,7861,-1.10,-146.6,560.3,-7.6,376,7865,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3793,3501
$GC,7917,-1.10,-146.6,564.9,-8.2,378,7921,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2647,3501
$GC,8239,-1.10,-146.6,588.5,-6.7,394,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,8548,-1.10,-146.6,606.7,-6.8,409,8552,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3792,3501
$GC,8643,-1.10,-146.6,614.7,-9.6,413,8647,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2645,3500
$GC,8970,-1.10,-146.6,640.3,-7.1,429,8975,0.00,2.58,0.00,0.000,4,0.000,0.070,2193,1236,3501
$GC,9043,-1.10,-146.6,645.5,-7.3,432,9048,0.00,2.60,0.00,0.000,6,0.000,0.063,2193,2653,3500
$GC,9359,-1.10,-146.6,665.6,-6.5,447,9364,0.00,2.62,0.00,0.000,4,0.000,0.070,2193,1232,3500
$GC,9399,-1.10,-146.6,668.1,-6.9,449,9404,0.00,2.62,0.00,0.000,6,0.000,0.066,2193,2655,3500
$GC,9727,-1.10,-146.6,690.6,-6.6,465,9728,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2655,3499
$STATE,9868,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9868,begin apogee
$GC,9877,-0.42,0.0,700.2,6.6,472,10003,0.77,0.00,122.82,1.148,6,0.090,0.000,2349,1795,2902
$STATE,10004,end apogee,CONTROL_FINISHED_OK
$STATE,10004,begin climb
$GC,10007,1.10,146.6,706.1,0.0,478,10135,1.55,2.75,119.93,1.132,4,0.061,0.061,2677,3219,2304
$GC,10172,1.16,190.8,704.8,4.8,485,10219,0.00,2.62,37.60,1.084,6,0.000,0.053,2677,1789,2124
$GC,10531,1.17,204.7,687.2,5.6,503,10552,0.00,2.75,13.18,1.024,4,0.000,0.064,2677,3211,2067
$GC,10806,1.18,210.8,670.2,5.8,515,10822,0.00,2.60,6.88,0.923,6,0.000,0.055,2677,1798,2042
$GC,11132,1.19,221.1,652.5,5.7,531,11148,0.10,2.67,10.15,1.012,4,0.050,0.062,2710,3216,2000
$GC,11268,1.19,221.1,642.7,7.6,536,11273,0.00,2.60,0.00,0.000,6,0.000,0.053,2710,1793,2000
$GC,11590,1.19,221.1,620.9,7.1,552,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1793,1999
$GC,11899,1.19,221.1,600.6,6.2,567,11903,0.00,2.65,0.00,0.000,4,0.000,0.064,2710,3220,1998
$GC,12006,1.19,221.1,593.7,6.5,572,12010,0.00,2.60,0.00,0.000,6,0.000,0.053,2710,1792,1998
$GC,12332,1.19,221.1,569.4,7.1,588,12337,0.00,2.65,0.00,0.000,4,0.000,0.061,2710,3225,1998
$GC,12377,1.19,221.1,566.2,6.9,590,12381,0.00,2.60,0.00,0.000,6,0.000,0.051,2710,1792,1998
$GC,12698,1.19,221.1,545.2,6.4,606,12703,0.00,2.62,0.00,0.000,4,0.000,0.059,2710,3220,1998
$GC,12799,1.19,221.1,538.8,6.0,610,12806,0.00,2.58,0.00,0.000,6,0.000,0.050,2710,1787,1998
$GC,13115,1.19,221.1,518.9,6.2,626,13120,0.00,2.62,0.00,0.000,4,0.000,0.058,2710,3221,1998
$GC,13149,1.22,244.7,516.6,5.3,627,13176,0.00,2.58,20.45,1.064,6,0.000,0.049,2710,1791,1904
$GC,13485,1.22,244.7,494.8,6.4,644,13490,0.00,2.62,0.00,0.000,4,0.000,0.059,2710,3217,1905
$GC,13535,1.22,244.7,491.2,6.7,646,13540,0.00,2.58,0.00,0.000,6,0.000,0.050,2710,1793,1905
$GC,13851,1.22,244.7,470.8,6.4,661,13856,0.00,2.62,0.00,0.000,4,0.000,0.061,2710,3217,1905
$GC,13902,1.22,244.7,467.3,6.4,663,13906,0.00,2.58,0.00,0.000,6,0.000,0.049,2710,1790,1905
$GC,14217,1.22,244.7,446.1,6.9,678,14222,0.00,2.62,0.00,0.000,4,0.000,0.060,2710,3220,1905
$GC,14285,1.22,244.7,441.2,6.9,681,14289,0.00,2.58,0.00,0.000,6,0.000,0.050,2710,1793,1905
$GC,14605,1.22,244.7,418.3,7.2,697,14610,0.00,2.62,0.00,0.000,4,0.000,0.058,2710,3225,1906
$GC,14684,1.22,244.7,412.4,6.9,700,14690,0.00,2.55,0.00,0.000,6,0.000,0.049,2710,1798,1906
$GC,15000,1.22,244.7,389.9,7.0,716,15004,0.00,2.62,0.00,0.000,4,0.000,0.062,2710,3220,1906
$GC,15068,1.22,244.7,385.1,6.9,719,15072,0.00,2.58,0.00,0.000,6,0.000,0.051,2710,1794,1907
$GC,15389,1.22,244.7,363.8,6.4,735,15393,0.00,2.62,0.00,0.000,4,0.000,0.061,2710,3226,1907
$GC,15473,1.22,244.7,358.3,6.6,739,15478,0.00,2.58,0.00,0.000,6,0.000,0.051,2710,1796,1907
$GC,15800,1.22,244.7,336.9,6.3,755,15805,0.00,2.62,0.00,0.000,4,0.000,0.061,2710,3225,1907
$GC,15856,1.22,244.7,333.1,6.6,757,15862,0.00,2.58,0.00,0.000,6,0.000,0.051,2710,1795,1908
$GC,16172,1.22,244.7,312.5,6.2,773,16176,0.00,2.60,0.00,0.000,4,0.000,0.061,2710,3215,1908
$GC,16234,1.22,244.7,308.7,6.2,776,16239,0.00,2.55,0.00,0.000,6,0.000,0.051,2710,1801,1909
$GC,16562,1.22,244.7,288.3,6.5,792,16566,0.00,2.60,0.00,0.000,4,0.000,0.062,2710,3215,1909
$GC,16628,1.22,244.7,283.5,8.0,795,16633,0.00,2.55,0.00,0.000,6,0.000,0.051,2710,1802,1909
$GC,16949,1.22,244.7,259.4,7.7,811,16954,0.00,2.62,0.00,0.000,4,0.000,0.063,2710,3224,1909
$GC,17022,1.22,244.7,253.5,8.3,814,17026,0.00,2.58,0.00,0.000,6,0.000,0.051,2710,1796,1909
$GC,17338,1.22,244.7,229.4,7.8,829,17342,0.00,2.62,0.00,0.000,4,0.000,0.061,2710,3225,1909
$GC,17410,1.22,244.7,223.8,7.5,832,17415,0.00,2.58,0.00,0.000,6,0.000,0.051,2710,1795,1909
$GC,17726,1.22,244.7,200.1,7.2,847,17730,0.00,2.62,0.00,0.000,4,0.000,0.061,2710,3222,1909
$GC,17788,1.22,244.7,196.0,6.1,850,17792,0.00,2.55,0.00,0.000,6,0.000,0.051,2710,1800,1910
$GC,18115,1.22,244.7,172.6,10.2,866,18119,0.00,2.60,0.00,0.000,4,0.000,0.063,2710,3217,1910
$GC,18155,1.22,244.7,169.2,7.1,868,18159,0.00,2.55,0.00,0.000,6,0.000,0.051,2710,1799,1910
$GC,18482,1.22,244.7,141.6,8.2,884,18483,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1799,1910
$GC,18791,1.22,244.7,112.8,10.3,899,18796,0.00,2.62,0.00,0.000,4,0.000,0.064,2710,3222,1910
$GC,18887,1.22,244.7,103.0,9.8,903,18891,0.00,2.58,0.00,0.000,6,0.000,0.051,2710,1791,1910
$GC,19203,1.22,244.7,78.3,6.5,918,19207,0.00,2.65,0.00,0.000,4,0.000,0.065,2710,3223,1910
$GC,19247,1.25,269.6,75.5,5.3,920,19276,0.00,2.58,22.10,0.721,6,0.000,0.054,2710,1798,1802
$GC,19594,1.25,269.6,50.4,8.8,937,19599,0.00,2.60,0.00,0.000,4,0.000,0.067,2710,386,1802
$GC,19628,1.25,269.6,47.5,7.4,938,19634,0.00,2.50,0.00,0.000,6,0.000,0.040,2710,1814,1802
$GC,19945,1.25,269.6,24.9,7.0,954,19950,0.00,2.55,0.00,0.000,4,0.000,0.064,2710,3207,1802
$GC,20024,1.25,269.6,18.2,9.4,957,20030,0.00,2.55,0.00,0.000,6,0.000,0.053,2710,1791,1802
$STATE,20215,end climb,SURFACE_DEPTH_REACHED
$STATE,20215,begin surface coast
$FINISH,0.3,1.010334
$STATE,20235,end surface coast,CONTROL_FINISHED_OK
$STATE,20235,begin surface
$SM_CCo,20260,19.58,0.651,0,0,1679,300.00
$SM_GC,1.13,0.00,0.00,19.58,0.000,0.000,0.651,49,2658,1679,-11.00,0.23,300.00
$IRIDIUM_FIX,6126.23,-918.01,270598,212128
$TT8_MAMPS,0.029146
$HUMID,1753
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.3,58.9
$24V_AH,23.4,16.538
$10V_AH,10.1,7.738
$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,26.375,190.650,353.100,19.575,0.000,62.683,56.074,384.644,5.750,0.000,0.000,15.343,1797.357,15569.063,513.081,2223.324,872.936,33.368,1642.023,0.000,2177.608,0.000,41.520,0.000
$DEVICE_MAMPS,160.303,92.040,1148.199,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,682.118,718.953,577.897,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47460,968
$CAP_FILE_SIZE,152994,0
$CFSIZE,260165632,254955520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030309,030826,6150.210,-920.864,39,1.4,39,-9.5