version: 66.04
glider: 103
mission: 11
dive: 51
start: 3 3 109 20 37 49
data:
$ID,103
$MISSION,11
$DIVE,51
$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,-143924.97
$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,42
$R_STBD_OVSHOOT,27
$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
$GPS1,203108,6149.978,-939.750,43,1.9,44,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.5
$GPS2,203655,6149.977,-939.790,10,1.6,15,-9.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.111,0.188
$KALMAN_X,23862.9,-814.4,-1123.8,-31234.1,6408.9
$KALMAN_Y,-87878.6,1090.1,1786.3,156688.0,-14509.1
$MHEAD_RNG_PITCHd_Wd,339.0,29198,-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,16,-1.10,-146.6,0.0,0.0,0,73,0.00,0.00,-54.28,0.000,6,0.000,0.000,52,2607,3501
$GC,76,-1.10,-146.6,5.6,-8.8,3,98,12.07,2.28,0.00,0.000,4,0.157,0.081,2195,3775,3502
$GC,351,-1.10,-146.6,40.5,-6.9,15,355,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2666,3502
$GC,678,-1.10,-146.6,62.1,-8.8,31,682,0.00,2.12,0.00,0.000,4,0.000,0.086,2195,3768,3502
$GC,904,-1.10,-146.6,87.0,-11.5,41,907,0.00,2.03,0.00,0.000,6,0.000,0.053,2195,2646,3502
$GC,1237,-1.10,-146.6,120.3,-8.0,57,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,1546,-1.10,-146.6,143.5,-7.0,72,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,1855,-1.10,-146.6,169.8,-7.6,87,1858,0.00,2.17,0.00,0.000,4,0.000,0.085,2195,3772,3502
$GC,1917,-1.10,-146.6,175.2,-8.3,89,1923,0.00,2.03,0.00,0.000,6,0.000,0.051,2195,2644,3502
$GC,2233,-1.10,-146.6,199.9,-8.0,105,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,2542,-1.10,-146.6,224.5,-6.5,120,2547,0.00,2.17,0.00,0.000,4,0.000,0.087,2195,3770,3502
$GC,2581,-1.10,-146.6,227.4,-7.2,121,2587,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2648,3502
$GC,2897,-1.10,-146.6,254.1,-8.7,137,2900,0.00,2.17,0.00,0.000,4,0.000,0.086,2195,3776,3502
$GC,2920,-1.10,-146.6,256.0,-8.1,138,2924,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2640,3502
$GC,3252,-1.10,-146.6,279.4,-6.2,154,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3502
$GC,3563,-1.10,-146.6,300.6,-6.8,169,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2639,3502
$GC,3871,-1.10,-146.6,323.7,-7.6,184,3875,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3775,3502
$GC,3904,-1.10,-146.6,326.5,-8.5,185,3908,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2644,3502
$GC,4226,-1.10,-146.6,352.9,-7.9,201,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,4536,-1.10,-146.6,376.4,-7.1,216,4540,0.00,2.15,0.00,0.000,4,0.000,0.084,2195,3772,3502
$GC,4569,-1.10,-146.6,379.0,-7.8,217,4573,0.00,2.03,0.00,0.000,6,0.000,0.053,2195,2648,3502
$GC,4890,-1.10,-146.6,404.1,-8.0,233,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3502
$GC,5200,-1.10,-146.6,428.7,-7.8,248,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3502
$GC,5509,-1.10,-146.6,452.0,-7.4,263,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3502
$GC,5818,-1.10,-146.6,477.1,-8.6,278,5822,0.00,2.15,0.00,0.000,4,0.000,0.084,2195,3768,3501
$GC,5869,-1.10,-146.6,481.6,-9.5,280,5872,0.00,2.03,0.00,0.000,6,0.000,0.052,2195,2641,3501
$GC,6196,-1.10,-146.6,506.3,-7.8,296,6200,0.00,2.17,0.00,0.000,4,0.000,0.087,2195,3770,3501
$GC,6235,-1.10,-146.6,509.4,-8.2,297,6241,0.00,2.03,0.00,0.000,6,0.000,0.053,2195,2644,3501
$GC,6551,-1.10,-146.6,531.9,-6.4,313,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,6860,-1.10,-146.6,551.6,-6.3,328,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,7169,-1.10,-146.6,572.7,-6.9,343,7173,0.00,2.17,0.00,0.000,4,0.000,0.087,2195,3778,3501
$GC,7215,-1.10,-146.6,576.0,-7.5,345,7219,0.00,2.03,0.00,0.000,6,0.000,0.052,2195,2646,3501
$GC,7548,-1.10,-146.6,599.9,-7.4,361,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3501
$GC,7858,-1.10,-146.6,622.7,-7.0,376,7862,0.00,2.15,0.00,0.000,4,0.000,0.084,2195,3768,3501
$GC,7920,-1.10,-146.6,627.2,-6.9,378,7926,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2649,3501
$GC,8236,-1.10,-146.6,648.3,-6.8,394,8239,0.00,2.15,0.00,0.000,4,0.000,0.086,2195,3769,3501
$GC,8304,-1.10,-146.6,653.1,-7.3,397,8307,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2649,3501
$GC,8637,-1.10,-146.6,678.3,-7.6,413,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3501
$GC,8947,-1.10,-146.6,700.2,-7.5,428,8948,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,9255,-1.10,-146.6,735.0,-11.5,443,9259,0.00,2.15,0.00,0.000,4,0.000,0.084,2195,3772,3501
$GC,9301,-1.10,-146.6,740.3,-12.9,445,9305,0.00,2.00,0.00,0.000,6,0.000,0.051,2195,2649,3501
$GC,9634,-1.10,-146.6,766.2,-3.6,461,9639,0.00,2.55,0.00,0.000,4,0.000,0.062,2195,1233,3501
$GC,9668,-1.10,-146.6,768.5,-6.9,462,9674,0.00,2.55,0.00,0.000,6,0.000,0.058,2195,2639,3501
$GC,9984,-1.10,-146.6,800.2,-10.5,478,9987,0.00,2.17,0.00,0.000,4,0.000,0.088,2195,3782,3501
$STATE,10104,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10104,begin apogee
$GC,10115,-0.42,0.0,811.5,8.2,483,10247,0.75,0.00,125.47,1.168,6,0.105,0.000,2345,1793,2902
$STATE,10248,end apogee,CONTROL_FINISHED_OK
$STATE,10248,begin climb
$GC,10251,1.10,146.6,816.4,0.0,490,10384,1.52,2.75,123.05,1.140,4,0.048,0.069,2679,386,2304
$GC,10606,1.23,251.4,816.2,3.1,506,10706,0.12,2.53,88.82,1.137,6,0.043,0.038,2723,1823,1877
$GC,11014,1.23,251.4,763.4,18.7,526,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1823,1876
$GC,11324,1.23,251.4,729.5,11.0,541,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1823,1875
$GC,11633,1.23,251.4,702.9,9.4,556,11637,0.00,2.55,0.00,0.000,4,0.000,0.066,2722,3197,1875
$GC,11789,1.23,251.4,689.7,7.7,563,11794,0.00,2.58,0.00,0.000,6,0.000,0.054,2723,1790,1874
$GC,12111,1.25,265.5,670.1,5.6,579,12132,0.00,2.70,12.73,1.031,4,0.000,0.064,2723,3191,1819
$GC,12178,1.25,265.5,665.7,7.3,582,12182,0.00,2.55,0.00,0.000,6,0.000,0.051,2723,1798,1819
$GC,12505,1.25,265.5,643.5,7.0,598,12509,0.00,2.60,0.00,0.000,4,0.000,0.063,2723,3200,1819
$GC,12599,1.25,265.5,636.0,8.1,602,12604,0.00,2.55,0.00,0.000,6,0.000,0.049,2723,1789,1819
$GC,12915,1.25,265.5,609.9,8.1,617,12919,0.00,2.58,0.00,0.000,4,0.000,0.060,2723,3197,1819
$GC,12959,1.25,265.5,606.0,8.6,619,12964,0.00,2.53,0.00,0.000,6,0.000,0.049,2723,1798,1819
$GC,13280,1.25,265.5,580.8,7.4,635,13284,0.00,2.58,0.00,0.000,4,0.000,0.059,2723,3201,1819
$GC,13358,1.25,265.5,574.7,7.2,638,13364,0.00,2.53,0.00,0.000,6,0.000,0.048,2723,1793,1819
$GC,13674,1.25,265.5,550.1,7.6,654,13678,0.00,2.58,0.00,0.000,4,0.000,0.059,2723,3197,1819
$GC,13746,1.25,265.5,544.3,7.8,657,13750,0.00,2.50,0.00,0.000,6,0.000,0.047,2723,1799,1819
$GC,14062,1.25,265.5,520.2,7.9,672,14066,0.00,2.55,0.00,0.000,4,0.000,0.058,2723,3197,1820
$GC,14124,1.25,265.5,515.0,8.0,675,14128,0.00,2.50,0.00,0.000,6,0.000,0.048,2723,1793,1820
$GC,14451,1.25,265.5,490.1,7.5,691,14455,0.00,2.58,0.00,0.000,4,0.000,0.058,2723,3201,1820
$GC,14506,1.25,265.5,486.0,7.6,693,14513,0.00,2.53,0.00,0.000,6,0.000,0.047,2723,1790,1820
$GC,14822,1.25,265.5,461.7,8.1,709,14826,0.00,2.58,0.00,0.000,4,0.000,0.058,2723,3201,1820
$GC,14889,1.25,265.5,455.7,8.6,712,14893,0.00,2.50,0.00,0.000,6,0.000,0.048,2723,1798,1820
$GC,15216,1.25,265.5,427.2,8.7,728,15221,0.00,2.55,0.00,0.000,4,0.000,0.060,2723,3193,1821
$GC,15280,1.25,265.5,421.6,8.7,731,15284,0.00,2.50,0.00,0.000,6,0.000,0.049,2723,1799,1821
$GC,15607,1.25,265.5,393.3,8.4,747,15611,0.00,2.55,0.00,0.000,4,0.000,0.059,2723,3194,1821
$GC,15673,1.25,265.5,386.2,10.8,750,15678,0.00,2.50,0.00,0.000,6,0.000,0.048,2723,1800,1821
$GC,15995,1.25,265.5,355.3,9.7,766,16000,0.00,2.55,0.00,0.000,4,0.000,0.061,2723,3194,1821
$GC,16040,1.25,265.5,351.2,8.4,768,16044,0.00,2.50,0.00,0.000,6,0.000,0.050,2723,1801,1821
$GC,16361,1.25,265.5,325.7,7.1,784,16365,0.00,2.55,0.00,0.000,4,0.000,0.061,2723,3193,1821
$GC,16423,1.25,265.5,320.9,7.5,787,16427,0.00,2.50,0.00,0.000,6,0.000,0.051,2723,1801,1821
$GC,16749,1.25,265.5,296.0,6.8,803,16754,0.00,2.58,0.00,0.000,4,0.000,0.064,2723,3197,1822
$GC,16805,1.25,265.5,292.4,6.2,805,16812,0.00,2.50,0.00,0.000,6,0.000,0.050,2723,1798,1821
$GC,17121,1.25,265.5,265.1,8.2,821,17125,0.00,2.58,0.00,0.000,4,0.000,0.062,2723,3203,1822
$GC,17149,1.27,281.1,263.6,5.6,822,17169,0.00,2.53,14.60,0.782,6,0.000,0.051,2723,1800,1756
$GC,17497,1.31,317.4,246.6,5.0,839,17533,0.00,2.65,30.67,0.792,4,0.000,0.065,2723,3190,1607
$GC,17573,1.35,343.8,243.7,5.3,841,17601,0.00,2.55,22.42,0.771,6,0.000,0.054,2723,1795,1500
$GC,17910,1.35,347.1,226.8,5.9,858,17920,0.00,2.62,4.53,0.590,4,0.000,0.064,2723,3194,1486
$GC,18004,1.38,373.7,221.9,5.3,862,18036,0.00,2.55,22.48,0.766,6,0.000,0.053,2723,1795,1378
$GC,18346,1.38,373.7,203.3,6.4,879,18350,0.00,2.60,0.00,0.000,4,0.000,0.065,2723,3190,1378
$GC,18423,1.38,373.7,196.9,8.7,882,18430,0.00,2.55,0.00,0.000,6,0.000,0.054,2723,1792,1378
$GC,18739,1.38,373.7,169.8,10.5,898,18744,0.00,2.62,0.00,0.000,4,0.000,0.066,2723,3201,1378
$GC,18825,1.38,373.7,159.7,12.2,902,18829,0.00,2.58,0.00,0.000,6,0.000,0.055,2723,1792,1378
$GC,19153,1.38,373.7,122.5,11.2,918,19157,0.00,2.62,0.00,0.000,4,0.000,0.067,2723,3201,1378
$GC,19231,1.38,373.7,113.6,10.4,921,19237,0.00,2.55,0.00,0.000,6,0.000,0.053,2723,1790,1378
$GC,19549,1.38,373.7,78.3,11.4,937,19553,0.00,2.62,0.00,0.000,4,0.000,0.067,2723,3198,1378
$GC,19633,1.38,373.7,68.1,10.5,941,19638,0.00,2.58,0.00,0.000,6,0.000,0.058,2723,1791,1378
$GC,19961,1.38,373.7,33.6,11.5,957,19965,0.00,2.60,0.00,0.000,4,0.000,0.066,2723,3191,1378
$GC,20039,1.38,373.7,25.4,9.8,960,20046,0.00,2.53,0.00,0.000,6,0.000,0.058,2723,1799,1378
$STATE,20290,end climb,SURFACE_DEPTH_REACHED
$STATE,20290,begin surface coast
$FINISH,0.3,1.024082
$STATE,20312,end surface coast,CONTROL_FINISHED_OK
$STATE,20312,begin surface
$SM_CCo,20397,0.00,0.000,0,0,1378,374.08
$SM_GC,1.04,11.75,0.00,0.00,0.030,0.000,0.000,48,2627,1378,-10.92,-0.65,374.08
$IRIDIUM_FIX,6126.23,-936.73,280598,141455
$TT8_MAMPS,0.028379
$HUMID,1748
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.7,45.6
$24V_AH,23.4,17.134
$10V_AH,10.1,8.116
$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,26.225,184.950,444.775,0.000,0.000,28.452,31.112,155.139,7.000,0.000,0.000,15.348,1798.143,15489.194,546.834,2337.689,565.583,33.387,1739.573,0.000,2275.905,0.000,49.244,0.000
$DEVICE_MAMPS,157.235,88.205,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,684.789,708.416,526.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50677,974
$CAP_FILE_SIZE,147847,0
$CFSIZE,260165632,254681088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,021906,6152.963,-942.715,38,1.7,43,-9.7