version: 66.04
glider: 103
mission: 11
dive: 52
start: 3 4 109 2 27 36
data:
$ID,103
$MISSION,11
$DIVE,52
$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,-143940.09
$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,2650
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,9
$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
$GPS1,021906,6152.963,-942.715,38,1.7,43,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-59.5
$GPS2,022644,6152.999,-942.655,12,1.7,12,-9.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.040,0.215
$KALMAN_X,21783.8,-130.3,863.5,-34417.5,2825.7
$KALMAN_Y,-86369.1,633.5,1424.1,161599.1,-12213.7
$MHEAD_RNG_PITCHd_Wd,359.2,23120,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,48,2630,3318
$GC,82,-1.10,-146.6,4.4,-8.2,3,104,12.18,2.28,-2.92,0.000,4,0.160,0.110,2196,3783,3503
$GC,178,-1.10,-146.6,21.6,-9.8,7,181,0.00,2.08,0.00,0.000,6,0.000,0.054,2197,2639,3503
$GC,505,-1.10,-146.6,49.7,-8.8,23,509,0.00,2.22,0.00,0.000,4,0.000,0.087,2197,3785,3503
$GC,568,-1.10,-146.6,54.8,-8.1,26,571,0.00,2.05,0.00,0.000,6,0.000,0.053,2197,2652,3503
$GC,901,-1.10,-146.6,82.1,-9.4,42,904,0.00,2.20,0.00,0.000,4,0.000,0.085,2197,3789,3503
$GC,928,-1.10,-146.6,84.7,-8.8,43,932,0.00,2.05,0.00,0.000,6,0.000,0.050,2197,2647,3503
$GC,1257,-1.10,-146.6,116.4,-10.9,59,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3503
$GC,1565,-1.10,-146.6,145.6,-8.0,74,1569,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3786,3503
$GC,1633,-1.10,-146.6,151.8,-8.5,77,1637,0.00,2.05,0.00,0.000,6,0.000,0.052,2197,2649,3503
$GC,1967,-1.10,-146.6,175.3,-6.6,93,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2648,3503
$GC,2275,-1.10,-146.6,197.9,-8.0,108,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3503
$GC,2585,-1.10,-146.6,220.9,-5.7,123,2588,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3787,3503
$GC,2624,-1.10,-146.6,223.8,-7.7,124,2630,0.00,2.05,0.00,0.000,6,0.000,0.053,2197,2650,3503
$GC,2939,-1.10,-146.6,247.4,-7.1,140,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2650,3503
$GC,3249,-1.10,-146.6,271.0,-7.8,155,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2650,3503
$GC,3558,-1.10,-146.6,291.5,-6.8,170,3561,0.00,2.17,0.00,0.000,4,0.000,0.086,2197,3786,3503
$GC,3620,-1.10,-146.6,295.8,-7.1,172,3626,0.00,2.05,0.00,0.000,6,0.000,0.053,2197,2646,3503
$GC,3936,-1.10,-146.6,317.5,-6.3,188,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2646,3503
$GC,4245,-1.10,-146.6,342.2,-7.7,203,4249,0.00,2.20,0.00,0.000,4,0.000,0.084,2197,3791,3502
$GC,4301,-1.10,-146.6,346.6,-7.6,205,4304,0.00,2.08,0.00,0.000,6,0.000,0.054,2197,2639,3502
$GC,4622,-1.10,-146.6,368.6,-6.3,221,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2639,3502
$GC,4932,-1.10,-146.6,389.7,-7.7,236,4936,0.00,2.20,0.00,0.000,4,0.000,0.084,2197,3787,3502
$GC,4978,-1.10,-146.6,393.9,-9.2,238,4982,0.00,2.05,0.00,0.000,6,0.000,0.052,2197,2650,3502
$GC,5310,-1.10,-146.6,422.6,-8.9,254,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2650,3502
$GC,5621,-1.10,-146.6,450.5,-9.0,269,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2650,3502
$GC,5930,-1.10,-146.6,475.5,-7.9,284,5934,0.00,2.17,0.00,0.000,4,0.000,0.083,2197,3787,3502
$GC,5980,-1.10,-146.6,479.8,-8.8,286,5984,0.00,2.05,0.00,0.000,6,0.000,0.051,2197,2642,3502
$GC,6307,-1.10,-146.6,502.9,-6.9,302,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2642,3502
$GC,6617,-1.10,-146.6,523.9,-6.6,317,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,6926,-1.10,-146.6,543.5,-6.4,332,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2642,3502
$GC,7235,-1.10,-146.6,564.7,-7.3,347,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2642,3502
$GC,7545,-1.10,-146.6,590.5,-8.9,362,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2642,3502
$GC,7854,-1.10,-146.6,616.9,-8.0,377,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2639,3502
$GC,8163,-1.10,-146.6,640.6,-6.9,392,8167,0.00,2.20,0.00,0.000,4,0.000,0.083,2197,3793,3502
$GC,8231,-1.10,-146.6,646.1,-8.1,395,8235,0.00,2.05,0.00,0.000,6,0.000,0.051,2197,2641,3502
$GC,8565,-1.10,-146.6,666.7,-4.4,411,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2640,3502
$GC,8874,-1.10,-146.6,687.3,-7.9,426,8878,0.00,2.20,0.00,0.000,4,0.000,0.082,2197,3792,3502
$GC,8936,-1.10,-146.6,692.2,-7.0,428,8942,0.00,2.05,0.00,0.000,6,0.000,0.051,2197,2642,3502
$GC,9251,-1.10,-146.6,714.5,-7.0,444,9256,0.00,2.55,0.00,0.000,4,0.000,0.064,2197,1230,3502
$GC,9296,-1.10,-146.6,717.5,-6.9,446,9301,0.00,2.62,0.00,0.000,6,0.000,0.062,2197,2664,3502
$GC,9617,-1.10,-146.6,738.8,-7.0,462,9621,0.00,2.62,0.00,0.000,4,0.000,0.067,2197,1238,3502
$GC,9667,-1.10,-146.6,742.6,-8.4,464,9672,0.00,2.60,0.00,0.000,6,0.000,0.062,2197,2655,3502
$STATE,9794,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9794,begin apogee
$GC,9803,-0.42,0.0,752.3,7.9,470,9931,0.75,0.00,124.68,1.139,6,0.094,0.000,2346,1896,2901
$STATE,9932,end apogee,CONTROL_FINISHED_OK
$STATE,9932,begin climb
$GC,9935,1.10,146.6,756.4,0.0,476,10068,1.58,2.80,122.30,1.111,4,0.060,0.069,2679,3324,2304
$GC,10326,1.17,201.2,750.3,4.5,493,10378,0.00,2.58,46.85,1.102,6,0.000,0.048,2679,1891,2081
$GC,10700,1.17,201.2,731.0,6.9,512,10704,0.00,2.65,0.00,0.000,4,0.000,0.061,2679,3322,2079
$GC,10766,1.17,201.2,726.5,6.9,515,10771,0.00,2.58,0.00,0.000,6,0.000,0.049,2679,1900,2079
$GC,11088,1.20,221.9,708.8,5.4,531,11113,0.00,2.72,18.33,1.074,4,0.000,0.069,2679,492,1997
$GC,11232,1.20,221.9,699.6,6.1,537,11236,0.00,2.53,0.00,0.000,6,0.000,0.038,2679,1918,1997
$GC,11548,1.25,263.1,683.1,4.9,552,11591,0.15,2.60,35.62,1.101,4,0.044,0.064,2725,3304,1829
$GC,11692,1.25,263.1,672.4,8.8,558,11697,0.00,2.55,0.00,0.000,6,0.000,0.050,2725,1889,1829
$GC,12008,1.25,263.1,643.2,9.1,573,12009,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1889,1829
$GC,12317,1.25,263.1,617.3,7.9,588,12321,0.00,2.58,0.00,0.000,4,0.000,0.064,2725,489,1829
$GC,12381,1.25,263.1,611.6,8.5,591,12385,0.00,2.47,0.00,0.000,6,0.000,0.035,2725,1907,1829
$GC,12708,1.25,263.1,583.6,8.7,607,12712,0.00,2.55,0.00,0.000,4,0.000,0.060,2725,3312,1829
$GC,12741,1.25,263.1,580.5,8.7,608,12747,0.00,2.53,0.00,0.000,6,0.000,0.045,2725,1896,1829
$GC,13057,1.25,263.1,552.1,8.5,624,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1896,1829
$GC,13366,1.25,263.1,527.5,7.8,639,13370,0.00,2.58,0.00,0.000,4,0.000,0.058,2725,3309,1829
$GC,13421,1.25,263.1,522.9,7.7,641,13427,0.00,2.53,0.00,0.000,6,0.000,0.045,2725,1894,1829
$GC,13737,1.25,263.1,496.2,8.8,657,13741,0.00,2.58,0.00,0.000,4,0.000,0.059,2725,3305,1829
$GC,13781,1.25,263.1,491.9,9.4,659,13786,0.00,2.53,0.00,0.000,6,0.000,0.047,2725,1894,1829
$GC,14102,1.25,263.1,461.8,9.8,675,14106,0.00,2.60,0.00,0.000,4,0.000,0.061,2725,3310,1829
$GC,14146,1.25,263.1,457.2,10.0,677,14150,0.00,2.53,0.00,0.000,6,0.000,0.048,2725,1898,1829
$GC,14467,1.25,263.1,426.3,9.3,693,14471,0.00,2.58,0.00,0.000,4,0.000,0.061,2725,3304,1829
$GC,14512,1.25,263.1,422.1,9.8,695,14516,0.00,2.53,0.00,0.000,6,0.000,0.048,2725,1893,1829
$GC,14839,1.25,263.1,391.8,9.1,711,14843,0.00,2.60,0.00,0.000,4,0.000,0.063,2725,3308,1830
$GC,14883,1.25,263.1,387.4,9.7,713,14887,0.00,2.55,0.00,0.000,6,0.000,0.051,2725,1890,1830
$GC,15204,1.30,304.6,366.1,4.9,729,15244,0.00,0.00,35.33,0.879,6,0.000,0.000,2725,1890,1660
$GC,15554,1.30,304.6,347.0,8.5,746,15558,0.00,2.62,0.00,0.000,4,0.000,0.064,2725,3312,1660
$GC,15616,1.30,304.6,341.2,7.9,749,15620,0.00,2.55,0.00,0.000,6,0.000,0.050,2725,1897,1660
$GC,15942,1.30,304.6,314.1,9.6,765,15946,0.00,2.60,0.00,0.000,4,0.000,0.064,2725,3306,1660
$GC,15969,1.30,304.6,311.2,10.4,766,15974,0.00,2.53,0.00,0.000,6,0.000,0.051,2725,1900,1660
$GC,16286,1.30,304.6,279.7,10.2,781,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1900,1660
$GC,16595,1.30,304.6,249.5,7.8,796,16599,0.00,2.60,0.00,0.000,4,0.000,0.065,2725,3309,1660
$GC,16667,1.30,304.6,243.8,8.2,799,16672,0.00,2.55,0.00,0.000,6,0.000,0.054,2725,1893,1660
$GC,16983,1.30,304.6,218.6,8.0,814,16984,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1892,1660
$GC,17292,1.30,304.6,187.6,10.9,829,17296,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3309,1660
$GC,17364,1.30,304.6,179.5,11.3,832,17369,0.00,2.55,0.00,0.000,6,0.000,0.054,2725,1898,1660
$GC,17680,1.30,304.6,150.5,6.8,847,17681,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1898,1660
$GC,17990,1.30,304.6,127.7,7.5,862,17994,0.00,2.60,0.00,0.000,4,0.000,0.067,2725,3303,1660
$GC,18030,1.30,304.6,124.4,7.9,864,18034,0.00,2.55,0.00,0.000,6,0.000,0.054,2725,1894,1660
$GC,18357,1.30,304.6,96.1,8.5,880,18361,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3314,1660
$GC,18412,1.30,304.6,90.9,8.2,882,18418,0.00,2.55,0.00,0.000,6,0.000,0.054,2725,1894,1660
$GC,18728,1.30,304.6,62.4,9.5,898,18729,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1894,1660
$GC,19039,1.30,304.6,31.9,10.7,913,19043,0.00,2.60,0.00,0.000,4,0.000,0.066,2725,3304,1660
$GC,19083,1.30,304.6,26.1,12.6,915,19087,0.00,2.58,0.00,0.000,6,0.000,0.061,2725,1897,1660
$STATE,19382,end climb,SURFACE_DEPTH_REACHED
$STATE,19382,begin surface coast
$FINISH,0.1,1.007739
$STATE,19402,end surface coast,CONTROL_FINISHED_OK
$STATE,19403,begin surface
$SM_CCo,19488,0.00,0.000,0,0,1660,304.66
$SM_GC,1.02,11.70,0.00,0.00,0.028,0.000,0.000,40,2651,1660,-10.93,0.03,304.66
$IRIDIUM_FIX,6126.23,-941.99,280598,202003
$TT8_MAMPS,0.029146
$HUMID,1769
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.1,61.4
$24V_AH,23.4,17.269
$10V_AH,10.1,8.203
$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,26.350,153.025,383.100,0.000,0.000,61.808,56.070,150.277,6.000,0.000,0.000,14.506,1689.440,15113.524,493.468,2039.077,603.099,33.355,1525.877,0.000,1995.612,0.000,41.527,0.000
$DEVICE_MAMPS,159.536,110.448,1138.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.137,684.729,535.261,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47392,931
$CAP_FILE_SIZE,133434,0
$CFSIZE,260165632,254631936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,075337,6156.091,-941.626,36,1.2,36,-9.7