version: 66.04
glider: 103
mission: 11
dive: 61
start: 3 6 109 2 53 55
data:
$ID,103
$MISSION,11
$DIVE,61
$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,0
$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,-144159.11
$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,19
$R_STBD_OVSHOOT,10
$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
$GPS1,024407,6158.835,-944.581,34,1.2,34,-9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-57.7
$GPS2,025308,6158.814,-944.485,16,1.3,16,-9.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.084,0.201
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,347.1,12414,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.00,0.000,2,0.000,0.000,50,2652,3362
$GC,82,-1.10,-146.6,4.3,-7.3,3,105,12.18,2.28,-2.20,0.000,4,0.160,0.110,2196,3781,3503
$GC,174,-1.10,-146.6,21.5,-9.7,7,177,0.00,2.08,0.00,0.000,6,0.000,0.061,2196,2657,3502
$GC,507,-1.10,-146.6,53.9,-10.8,23,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2657,3502
$GC,816,-1.10,-146.6,84.6,-10.7,38,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2657,3503
$GC,1125,-1.10,-146.6,111.1,-8.1,53,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2657,3503
$GC,1436,-1.10,-146.6,132.2,-7.3,68,1439,0.00,2.20,0.00,0.000,4,0.000,0.090,2197,3785,3502
$GC,1475,-1.10,-146.6,135.1,-6.4,69,1481,0.00,2.05,0.00,0.000,6,0.000,0.056,2197,2647,3502
$GC,1791,-1.10,-146.6,154.8,-6.1,85,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3502
$GC,2101,-1.10,-146.6,175.8,-7.1,100,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3502
$GC,2409,-1.10,-146.6,194.5,-4.9,115,2413,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3792,3502
$GC,2456,-1.10,-146.6,197.1,-5.7,117,2459,0.00,2.08,0.00,0.000,6,0.000,0.055,2197,2646,3502
$GC,2789,-1.10,-146.6,215.8,-5.1,133,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3502
$GC,3098,-1.10,-146.6,235.5,-6.2,148,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3502
$GC,3407,-1.10,-146.6,255.2,-6.2,163,3410,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3789,3502
$GC,3453,-1.10,-146.6,258.4,-6.9,165,3456,0.00,2.08,0.00,0.000,6,0.000,0.055,2196,2642,3502
$GC,3786,-1.10,-146.6,281.3,-6.6,181,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2640,3502
$GC,4095,-1.10,-146.6,302.4,-7.4,196,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3502
$GC,4404,-1.10,-146.6,322.8,-7.0,211,4408,0.00,2.22,0.00,0.000,4,0.000,0.091,2197,3786,3502
$GC,4444,-1.10,-146.6,325.5,-6.4,212,4450,0.00,2.08,0.00,0.000,6,0.000,0.054,2196,2638,3502
$GC,4760,-1.10,-146.6,347.6,-6.9,228,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2638,3502
$GC,5069,-1.10,-146.6,368.1,-6.2,243,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3502
$GC,5378,-1.10,-146.6,387.0,-6.2,258,5382,0.00,2.22,0.00,0.000,4,0.000,0.086,2197,3793,3502
$GC,5429,-1.10,-146.6,390.4,-6.5,260,5432,0.00,2.08,0.00,0.000,6,0.000,0.054,2196,2645,3502
$GC,5751,-1.10,-146.6,411.8,-7.0,276,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,6060,-1.10,-146.6,434.0,-7.5,291,6064,0.00,2.20,0.00,0.000,4,0.000,0.086,2197,3790,3502
$GC,6106,-1.10,-146.6,437.5,-7.9,293,6110,0.00,2.05,0.00,0.000,6,0.000,0.052,2197,2648,3502
$GC,6438,-1.10,-146.6,462.2,-7.5,309,6440,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2648,3502
$GC,6748,-1.10,-146.6,484.6,-7.1,324,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3502
$GC,7057,-1.10,-146.6,507.3,-7.2,339,7058,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,7366,-1.10,-146.6,530.9,-7.7,354,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,7676,-1.10,-146.6,555.0,-7.7,369,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3502
$GC,7985,-1.10,-146.6,577.2,-6.9,384,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,8295,-1.10,-146.6,600.7,-7.5,399,8299,0.00,2.55,0.00,0.000,4,0.000,0.063,2196,1233,3502
$GC,8335,-1.10,-146.6,603.8,-8.0,401,8339,0.00,2.58,0.00,0.000,6,0.000,0.058,2197,2654,3503
$GC,8661,-1.10,-146.6,627.4,-6.8,417,8665,0.00,2.15,0.00,0.000,4,0.000,0.085,2197,3790,3502
$GC,8723,-1.10,-146.6,632.0,-7.3,419,8729,0.00,2.05,0.00,0.000,6,0.000,0.052,2197,2646,3502
$GC,9039,-1.10,-146.6,656.0,-8.0,435,9043,0.00,2.58,0.00,0.000,4,0.000,0.067,2197,1229,3502
$GC,9079,-1.10,-146.6,659.2,-7.9,437,9083,0.00,2.60,0.00,0.000,6,0.000,0.058,2196,2663,3502
$GC,9406,-1.10,-146.6,680.1,-4.7,453,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2663,3502
$GC,9715,-1.10,-146.6,700.4,-7.6,468,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2664,3502
$GC,10024,-1.10,-146.6,720.3,-5.9,483,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2663,3501
$STATE,10103,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10103,begin apogee
$GC,10112,-0.42,0.0,725.2,6.0,487,10239,0.75,0.00,123.47,1.137,6,0.095,0.000,2346,1896,2902
$STATE,10240,end apogee,CONTROL_FINISHED_OK
$STATE,10240,begin climb
$GC,10243,1.10,146.6,729.9,0.0,493,10373,1.58,2.67,121.70,1.095,4,0.061,0.067,2679,492,2304
$GC,10404,1.17,202.1,729.5,4.5,500,10457,0.00,2.53,47.58,1.067,6,0.000,0.036,2679,1935,2078
$GC,10778,1.17,202.1,706.6,6.3,519,10783,0.00,2.50,0.00,0.000,4,0.000,0.063,2679,3290,2076
$GC,10890,1.17,202.1,699.5,6.2,524,10895,0.00,2.53,0.00,0.000,6,0.000,0.049,2679,1898,2076
$GC,11212,1.17,202.1,680.3,6.9,540,11216,0.00,2.58,0.00,0.000,4,0.000,0.061,2679,3291,2075
$GC,11252,1.17,202.1,677.4,7.3,542,11256,0.00,2.53,0.00,0.000,6,0.000,0.049,2679,1896,2075
$GC,11579,1.18,211.6,658.4,5.7,558,11593,0.00,2.62,9.12,0.985,4,0.000,0.060,2679,3296,2039
$GC,11742,1.20,227.7,649.1,5.6,565,11763,0.10,2.53,14.98,1.038,6,0.051,0.049,2714,1899,1973
$GC,12093,1.20,227.7,626.3,6.2,582,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1899,1972
$GC,12400,1.20,227.7,607.0,6.2,597,12404,0.00,2.60,0.00,0.000,4,0.000,0.064,2714,485,1972
$GC,12444,1.20,227.7,604.0,6.0,599,12448,0.00,2.47,0.00,0.000,6,0.000,0.037,2714,1897,1972
$GC,12765,1.20,227.7,586.7,6.0,615,12769,0.00,2.55,0.00,0.000,4,0.000,0.061,2714,3303,1972
$GC,12832,1.20,227.7,582.0,6.6,618,12836,0.00,2.50,0.00,0.000,6,0.000,0.045,2714,1891,1972
$GC,13158,1.20,227.7,557.0,7.9,634,13163,0.00,2.58,0.00,0.000,4,0.000,0.058,2714,3302,1972
$GC,13199,1.20,227.7,553.7,7.9,636,13203,0.00,2.50,0.00,0.000,6,0.000,0.045,2714,1897,1973
$GC,13525,1.20,227.7,529.0,7.4,652,13530,0.00,2.58,0.00,0.000,4,0.000,0.058,2714,3312,1973
$GC,13559,1.20,227.7,526.5,6.7,653,13565,0.00,2.53,0.00,0.000,6,0.000,0.044,2714,1894,1973
$GC,13875,1.20,227.7,504.4,6.9,669,13880,0.00,2.58,0.00,0.000,4,0.000,0.058,2714,3304,1973
$GC,13920,1.20,227.7,501.0,6.9,671,13925,0.00,2.50,0.00,0.000,6,0.000,0.045,2714,1898,1974
$GC,14241,1.20,227.7,477.2,7.5,687,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1898,1974
$GC,14550,1.20,227.7,455.6,7.0,702,14555,0.00,2.58,0.00,0.000,4,0.000,0.059,2714,3311,1974
$GC,14595,1.20,227.7,452.4,6.7,704,14599,0.00,2.53,0.00,0.000,6,0.000,0.048,2714,1896,1974
$GC,14916,1.20,227.7,429.9,7.2,720,14917,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1896,1975
$GC,15225,1.20,227.7,406.6,7.1,735,15229,0.00,2.58,0.00,0.000,4,0.000,0.061,2714,3313,1975
$GC,15275,1.20,227.7,402.9,7.1,737,15279,0.00,2.55,0.00,0.000,6,0.000,0.049,2714,1890,1975
$GC,15591,1.20,227.7,379.7,7.4,752,15595,0.00,2.60,0.00,0.000,4,0.000,0.061,2714,3309,1976
$GC,15630,1.20,227.7,376.7,7.5,754,15635,0.00,2.53,0.00,0.000,6,0.000,0.050,2714,1899,1976
$GC,15957,1.20,227.7,354.1,7.0,770,15959,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1899,1976
$GC,16266,1.20,227.7,331.4,7.8,785,16271,0.00,2.58,0.00,0.000,4,0.000,0.063,2714,3302,1976
$GC,16311,1.20,227.7,327.7,8.2,787,16316,0.00,2.53,0.00,0.000,6,0.000,0.051,2714,1896,1976
$GC,16632,1.20,227.7,302.8,6.8,803,16633,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1896,1977
$GC,16941,1.20,227.7,280.9,7.0,818,16945,0.00,2.60,0.00,0.000,4,0.000,0.064,2714,3312,1977
$GC,16991,1.20,227.7,277.2,7.7,820,16995,0.00,2.55,0.00,0.000,6,0.000,0.052,2714,1895,1977
$GC,17307,1.20,227.7,255.8,7.0,835,17308,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1895,1977
$GC,17616,1.20,227.7,233.6,7.6,850,17620,0.00,2.58,0.00,0.000,4,0.000,0.064,2714,3302,1977
$GC,17656,1.20,227.7,229.8,9.1,852,17660,0.00,2.53,0.00,0.000,6,0.000,0.053,2714,1899,1977
$GC,17982,1.20,227.7,205.0,7.3,868,17986,0.00,2.58,0.00,0.000,4,0.000,0.064,2714,3301,1977
$GC,18032,1.20,227.7,200.9,7.9,870,18037,0.00,2.53,0.00,0.000,6,0.000,0.053,2714,1899,1977
$GC,18348,1.20,227.7,175.4,7.7,885,18349,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1899,1977
$GC,18658,1.24,259.3,157.3,5.1,900,18687,0.00,0.00,27.02,0.744,6,0.000,0.000,2714,1899,1845
$GC,18988,1.36,352.9,141.8,3.4,916,19072,0.00,2.75,74.10,0.737,4,0.000,0.068,2714,3306,1463
$GC,19148,1.36,352.9,132.1,7.8,923,19152,0.00,2.60,0.00,0.000,6,0.000,0.058,2714,1898,1463
$GC,19469,1.36,352.9,104.9,10.2,939,19473,0.00,2.62,0.00,0.000,4,0.000,0.066,2714,3309,1463
$GC,19509,1.36,352.9,100.6,11.7,941,19513,0.00,2.60,0.00,0.000,6,0.000,0.058,2714,1888,1463
$GC,19836,1.36,352.9,69.0,8.9,957,19840,0.00,2.62,0.00,0.000,4,0.000,0.067,2714,3301,1463
$GC,19891,1.36,352.9,64.3,9.1,959,19898,0.00,2.55,0.00,0.000,6,0.000,0.055,2714,1893,1463
$GC,20209,1.36,352.9,34.4,8.6,975,20213,0.00,2.62,0.00,0.000,4,0.000,0.067,2714,3302,1463
$GC,20259,1.36,352.9,28.6,11.1,977,20263,0.00,2.58,0.00,0.000,6,0.000,0.057,2714,1892,1463
$STATE,20551,end climb,SURFACE_DEPTH_REACHED
$STATE,20551,begin surface coast
$FINISH,0.3,1.019015
$STATE,20575,end surface coast,CONTROL_FINISHED_OK
$STATE,20575,begin surface
$SM_CCo,20660,0.00,0.000,0,0,1462,353.23
$SM_GC,1.26,11.65,0.00,0.00,0.025,0.000,0.000,40,2645,1462,-10.94,-0.14,353.23
$IRIDIUM_FIX,6135.28,-945.07,310598,020253
$TT8_MAMPS,0.028379
$HUMID,1759
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.1,83.6
$24V_AH,23.4,18.465
$10V_AH,10.1,8.985
$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,26.250,150.050,417.975,0.000,0.000,56.196,122.617,168.453,5.750,0.000,0.000,16.376,1768.651,16140.540,516.850,2072.989,695.917,29.243,1568.557,0.000,2028.899,0.000,41.311,0.000
$DEVICE_MAMPS,159.536,110.448,1136.694,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,694.878,730.673,565.914,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50500,992
$CAP_FILE_SIZE,138470,0
$CFSIZE,260165632,254054400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060309,083931,6201.507,-943.704,39,1.8,39,-9.8