version: 66.04
glider: 103
mission: 11
dive: 59
start: 3 5 109 15 33 40
data:
$ID,103
$MISSION,11
$DIVE,59
$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,225
$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,-144127.41
$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
$GPS1,152437,6200.518,-938.440,70,1.2,70,-9.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-53.7
$GPS2,153250,6200.537,-938.420,18,1.2,18,-9.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,-0.121
$KALMAN_X,56285.0,-1668.3,-2078.7,-60604.7,20568.9
$KALMAN_Y,-94273.2,676.8,856.8,183990.4,-7645.6
$MHEAD_RNG_PITCHd_Wd,246.0,13005,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.88,0.000,6,0.000,0.000,47,2646,3500
$GC,81,-1.10,-146.6,7.0,-14.1,3,102,12.23,2.65,0.00,0.000,4,0.162,0.064,2193,1237,3500
$GC,356,-1.10,-146.6,41.2,-7.2,15,360,0.00,2.67,0.00,0.000,6,0.000,0.071,2193,2661,3500
$GC,677,-1.10,-146.6,59.0,-4.9,31,681,0.00,2.20,0.00,0.000,4,0.000,0.096,2193,3790,3500
$GC,739,-1.10,-146.6,62.9,-6.2,33,745,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2653,3500
$GC,1055,-1.10,-146.6,83.5,-6.6,49,1058,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3787,3500
$GC,1071,-1.10,-146.6,85.3,-8.8,49,1078,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2647,3500
$GC,1388,-1.10,-146.6,113.0,-6.7,65,1392,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1236,3500
$GC,1410,-1.10,-146.6,114.3,-5.7,66,1414,0.00,2.62,0.00,0.000,6,0.000,0.066,2194,2648,3500
$GC,1731,-1.10,-146.6,135.6,-6.5,82,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,2040,-1.10,-146.6,158.8,-8.3,97,2044,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3792,3501
$GC,2101,-1.10,-146.6,164.2,-8.2,99,2107,0.00,2.08,0.00,0.000,6,0.000,0.052,2194,2638,3500
$GC,2417,-1.10,-146.6,190.1,-8.2,115,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2638,3500
$GC,2727,-1.10,-146.6,217.3,-8.9,130,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2638,3500
$GC,3036,-1.10,-146.6,242.5,-7.8,145,3039,0.00,2.22,0.00,0.000,4,0.000,0.089,2194,3787,3500
$GC,3081,-1.10,-146.6,246.4,-8.6,147,3085,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2643,3500
$GC,3414,-1.10,-146.6,272.5,-7.8,163,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3500
$GC,3723,-1.10,-146.6,298.2,-8.0,178,3727,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3794,3500
$GC,3774,-1.10,-146.6,302.7,-8.5,180,3778,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2653,3500
$GC,4101,-1.10,-146.6,328.6,-8.0,196,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3500
$GC,4410,-1.10,-146.6,352.6,-7.5,211,4414,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3791,3500
$GC,4438,-1.10,-146.6,354.9,-8.2,212,4442,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2647,3500
$GC,4765,-1.10,-146.6,379.2,-7.4,228,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,5075,-1.10,-146.6,401.7,-7.2,243,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,5384,-1.10,-146.6,424.6,-7.5,258,5389,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3787,3501
$GC,5417,-1.10,-146.6,427.4,-8.6,259,5421,0.00,2.03,0.00,0.000,6,0.000,0.053,2193,2650,3501
$GC,5739,-1.10,-146.6,451.0,-7.2,275,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3500
$GC,6047,-1.10,-146.6,473.6,-7.5,290,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,6357,-1.10,-146.6,496.7,-7.5,305,6361,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3787,3500
$GC,6403,-1.10,-146.6,500.3,-8.2,307,6407,0.00,2.05,0.00,0.000,6,0.000,0.051,2194,2635,3501
$GC,6738,-1.10,-146.6,525.2,-7.3,323,6741,0.00,2.22,0.00,0.000,4,0.000,0.086,2193,3792,3501
$GC,6765,-1.10,-146.6,527.5,-7.0,324,6769,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2645,3500
$GC,7092,-1.10,-146.6,549.6,-6.7,340,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,7402,-1.10,-146.6,569.4,-5.8,355,7406,0.00,2.55,0.00,0.000,4,0.000,0.064,2194,1233,3500
$GC,7435,-1.10,-146.6,571.6,-6.8,356,7441,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2663,3500
$GC,7751,-1.10,-146.6,593.5,-7.6,372,7755,0.00,2.12,0.00,0.000,4,0.000,0.087,2194,3784,3501
$GC,7887,-1.10,-146.6,605.0,-9.0,378,7890,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2648,3500
$GC,8219,-1.10,-146.6,632.2,-8.1,394,8223,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3787,3501
$GC,8253,-1.10,-146.6,634.9,-7.8,395,8257,0.00,2.03,0.00,0.000,6,0.000,0.049,2194,2643,3500
$GC,8575,-1.10,-146.6,654.4,-5.1,411,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3500
$GC,8884,-1.10,-146.6,672.8,-6.4,426,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3500
$GC,9193,-1.10,-146.6,693.4,-6.4,441,9197,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3783,3500
$GC,9249,-1.10,-146.6,697.3,-6.9,443,9253,0.00,2.03,0.00,0.000,6,0.000,0.052,2194,2651,3500
$GC,9571,-1.10,-146.6,712.9,0.0,459,9575,0.00,2.53,0.00,0.000,4,0.000,0.057,2193,1234,3499
$STATE,9770,end dive,NO_VERTICAL_VELOCITY
$STATE,9770,begin apogee
$GC,9778,-0.42,0.0,712.9,0.0,468,9904,0.70,0.00,122.75,1.136,6,0.057,0.000,2349,1916,2902
$STATE,9905,end apogee,CONTROL_FINISHED_OK
$STATE,9905,begin climb
$GC,9908,1.10,146.6,712.7,0.0,474,10037,1.52,2.72,120.25,1.118,4,0.053,0.065,2679,495,2304
$GC,10284,1.16,192.8,702.8,4.7,491,10329,0.00,2.50,39.72,1.083,6,0.000,0.036,2679,1918,2115
$GC,10654,1.19,215.7,683.6,5.4,509,10679,0.00,2.58,20.52,1.063,4,0.000,0.061,2679,3299,2022
$GC,10820,1.19,215.7,673.7,6.7,516,10826,0.00,2.55,0.00,0.000,6,0.000,0.049,2679,1892,2021
$GC,11136,1.23,246.2,656.1,5.2,532,11165,0.12,0.00,26.42,1.075,6,0.046,0.000,2720,1892,1898
$GC,11465,1.23,246.2,632.9,7.8,548,11470,0.00,2.60,0.00,0.000,4,0.000,0.064,2720,3299,1898
$GC,11521,1.23,246.2,628.7,7.4,550,11528,0.00,2.50,0.00,0.000,6,0.000,0.046,2720,1897,1897
$GC,11838,1.23,246.2,605.7,7.3,566,11842,0.00,2.60,0.00,0.000,4,0.000,0.060,2720,3309,1897
$GC,11915,1.23,246.2,599.9,7.7,569,11921,0.00,2.53,0.00,0.000,6,0.000,0.046,2720,1900,1897
$GC,12231,1.23,246.2,576.7,6.9,585,12235,0.00,2.58,0.00,0.000,4,0.000,0.060,2720,3304,1897
$GC,12258,1.23,246.2,574.8,7.3,586,12263,0.00,2.53,0.00,0.000,6,0.000,0.045,2720,1893,1897
$GC,12575,1.23,246.2,552.2,7.4,601,12579,0.00,2.60,0.00,0.000,4,0.000,0.061,2721,3305,1897
$GC,12602,1.23,246.2,550.0,7.5,602,12607,0.00,2.53,0.00,0.000,6,0.000,0.045,2720,1891,1897
$GC,12924,1.23,246.2,526.9,6.9,618,12928,0.00,2.60,0.00,0.000,4,0.000,0.060,2721,3308,1897
$GC,13003,1.23,246.2,521.3,7.2,621,13009,0.00,2.53,0.00,0.000,6,0.000,0.046,2720,1894,1897
$GC,13319,1.23,246.2,498.4,7.5,637,13323,0.00,2.58,0.00,0.000,4,0.000,0.061,2720,3301,1897
$GC,13369,1.23,246.2,494.6,7.5,639,13373,0.00,2.53,0.00,0.000,6,0.000,0.047,2721,1889,1897
$GC,13685,1.23,246.2,470.8,7.8,654,13689,0.00,2.60,0.00,0.000,4,0.000,0.061,2720,3309,1898
$GC,13740,1.23,246.2,466.1,8.0,656,13746,0.00,2.53,0.00,0.000,6,0.000,0.047,2720,1896,1898
$GC,14056,1.23,246.2,443.3,7.0,672,14060,0.00,2.58,0.00,0.000,4,0.000,0.062,2720,3298,1898
$GC,14089,1.23,246.2,440.9,6.9,673,14095,0.00,2.50,0.00,0.000,6,0.000,0.048,2721,1900,1898
$GC,14404,1.23,246.2,418.7,6.9,689,14408,0.00,2.58,0.00,0.000,4,0.000,0.062,2721,3305,1899
$GC,14432,1.23,246.2,416.5,7.6,690,14437,0.00,2.53,0.00,0.000,6,0.000,0.048,2720,1893,1899
$GC,14754,1.23,246.2,392.5,7.9,706,14759,0.00,2.60,0.00,0.000,4,0.000,0.064,2721,3305,1899
$GC,14810,1.23,246.2,387.8,8.5,708,14816,0.00,2.53,0.00,0.000,6,0.000,0.049,2721,1896,1899
$GC,15126,1.23,246.2,361.9,8.3,724,15130,0.00,2.58,0.00,0.000,4,0.000,0.064,2720,3305,1899
$GC,15171,1.23,246.2,357.9,8.9,726,15175,0.00,2.53,0.00,0.000,6,0.000,0.048,2720,1895,1899
$GC,15492,1.23,246.2,331.9,8.0,742,15496,0.00,2.60,0.00,0.000,4,0.000,0.064,2721,3308,1899
$GC,15531,1.23,246.2,328.6,8.5,744,15536,0.00,2.55,0.00,0.000,6,0.000,0.052,2720,1892,1899
$GC,15858,1.23,246.2,302.3,7.9,760,15862,0.00,2.60,0.00,0.000,4,0.000,0.065,2720,3302,1900
$GC,15898,1.23,246.2,299.0,7.7,762,15902,0.00,2.55,0.00,0.000,6,0.000,0.051,2720,1887,1900
$GC,16224,1.23,246.2,272.2,8.2,778,16228,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3308,1900
$GC,16257,1.23,246.2,269.4,8.2,779,16263,0.00,2.55,0.00,0.000,6,0.000,0.052,2721,1894,1901
$GC,16573,1.23,246.2,242.9,8.4,795,16577,0.00,2.60,0.00,0.000,4,0.000,0.067,2720,3302,1900
$GC,16617,1.23,246.2,239.0,9.4,797,16621,0.00,2.55,0.00,0.000,6,0.000,0.053,2721,1888,1900
$GC,16938,1.23,246.2,212.8,7.9,813,16942,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3306,1901
$GC,16971,1.23,246.2,210.2,7.2,814,16977,0.00,2.53,0.00,0.000,6,0.000,0.051,2721,1898,1901
$GC,17286,1.23,246.2,187.0,6.8,830,17291,0.00,2.58,0.00,0.000,4,0.000,0.067,2720,3298,1901
$GC,17320,1.23,246.2,184.7,6.5,831,17326,0.00,2.53,0.00,0.000,6,0.000,0.052,2721,1896,1901
$GC,17636,1.23,246.2,160.9,8.1,847,17637,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1896,1901
$GC,17946,1.23,246.2,136.8,7.4,862,17950,0.00,2.60,0.00,0.000,4,0.000,0.067,2721,3302,1901
$GC,17996,1.23,246.2,132.6,8.4,864,18000,0.00,2.53,0.00,0.000,6,0.000,0.051,2720,1898,1901
$GC,18312,1.23,246.2,109.0,7.3,879,18313,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1898,1901
$GC,18621,1.31,312.3,89.7,4.2,894,18684,0.00,2.75,52.75,0.739,4,0.000,0.068,2720,3305,1628
$GC,18713,1.31,312.3,83.8,8.3,898,18717,0.00,2.58,0.00,0.000,6,0.000,0.054,2721,1901,1628
$GC,19034,1.31,312.3,57.1,6.9,914,19035,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1901,1627
$GC,19343,1.31,312.3,33.0,7.7,929,19347,0.00,2.60,0.00,0.000,4,0.000,0.065,2720,3306,1627
$GC,19387,1.31,312.3,29.2,7.5,931,19392,0.00,2.58,0.00,0.000,6,0.000,0.057,2720,1894,1627
$GC,19709,1.31,312.3,3.8,8.2,947,19710,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1894,1627
$STATE,19726,end climb,SURFACE_DEPTH_REACHED
$STATE,19727,begin surface coast
$FINISH,0.8,1.027437
$STATE,19748,end surface coast,CONTROL_FINISHED_OK
$STATE,19748,begin surface
$SM_CCo,19833,0.00,0.000,0,0,1627,312.76
$SM_GC,1.34,11.73,0.00,0.00,0.029,0.000,0.000,53,2644,1627,-10.92,-0.17,312.76
$IRIDIUM_FIX,6135.28,-944.30,300598,151536
$TT8_MAMPS,0.028379
$HUMID,1757
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.4,18.185
$10V_AH,10.1,8.805
$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,26.300,184.875,382.425,0.000,0.000,62.756,85.161,149.588,6.500,0.000,0.000,20.614,1746.425,15218.925,511.544,2179.852,661.722,33.358,1618.792,0.000,2125.804,0.000,46.941,0.000
$DEVICE_MAMPS,161.837,95.875,1135.927,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,663.344,697.117,577.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47412,949
$CAP_FILE_SIZE,143809,0
$CFSIZE,260165632,254177280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050309,210531,6158.267,-940.497,41,1.9,41,-9.8