version: 66.04
glider: 103
mission: 11
dive: 62
start: 3 6 109 9 0 31
data:
$ID,103
$MISSION,11
$DIVE,62
$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,-144175.66
$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,18
$R_STBD_OVSHOOT,12
$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
$GPS1,083931,6201.507,-943.704,39,1.8,39,-9.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-57.5
$GPS2,085943,6201.444,-943.398,10,1.3,15,-9.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.184,0.118
$KALMAN_X,909.9,909.9,909.9,-1875.2,17208.4
$KALMAN_Y,-434.1,-434.1,-434.1,6215.3,-8210.2
$MHEAD_RNG_PITCHd_Wd,312.6,8726,-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,-60.53,0.000,2,0.000,0.000,40,2651,3474
$GC,82,-1.10,-146.6,5.1,-9.6,3,104,12.27,2.25,-0.45,0.000,4,0.161,0.100,2193,3782,3504
$GC,138,-1.10,-146.6,19.0,-8.5,5,142,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2645,3504
$GC,459,-1.10,-146.6,44.8,-6.0,21,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3504
$GC,769,-1.10,-146.6,71.0,-10.7,36,773,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3782,3504
$GC,855,-1.10,-146.6,78.5,-9.1,40,859,0.00,2.08,0.00,0.000,6,0.000,0.056,2193,2643,3504
$GC,1190,-1.10,-146.6,104.9,-6.3,56,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3504
$GC,1498,-1.10,-146.6,125.9,-6.9,71,1501,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3782,3504
$GC,1548,-1.10,-146.6,129.9,-8.0,73,1552,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2644,3504
$GC,1874,-1.10,-146.6,158.1,-7.9,89,1878,0.00,2.22,0.00,0.000,4,0.000,0.089,2193,3789,3504
$GC,1930,-1.10,-146.6,162.9,-9.4,91,1934,0.00,2.08,0.00,0.000,6,0.000,0.054,2193,2643,3504
$GC,2252,-1.10,-146.6,188.6,-7.9,107,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3504
$GC,2561,-1.10,-146.6,211.5,-7.5,122,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3503
$GC,2871,-1.10,-146.6,236.2,-8.1,137,2875,0.00,2.60,0.00,0.000,4,0.000,0.071,2192,1228,3504
$GC,2910,-1.10,-146.6,239.5,-8.6,138,2916,0.00,2.62,0.00,0.000,6,0.000,0.064,2193,2652,3503
$GC,3225,-1.10,-146.6,264.8,-7.7,154,3229,0.00,2.17,0.00,0.000,4,0.000,0.090,2193,3789,3503
$GC,3283,-1.10,-146.6,269.5,-8.4,156,3287,0.00,2.08,0.00,0.000,6,0.000,0.054,2193,2639,3503
$GC,3604,-1.10,-146.6,295.4,-7.7,172,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2639,3503
$GC,3914,-1.10,-146.6,319.3,-7.5,187,3917,0.00,2.22,0.00,0.000,4,0.000,0.087,2193,3792,3503
$GC,3953,-1.10,-146.6,322.3,-7.3,188,3959,0.00,2.08,0.00,0.000,6,0.000,0.054,2193,2642,3503
$GC,4269,-1.10,-146.6,346.9,-8.1,204,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3503
$GC,4578,-1.10,-146.6,371.0,-7.9,219,4581,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3786,3503
$GC,4617,-1.10,-146.6,374.4,-8.1,220,4623,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2653,3503
$GC,4933,-1.10,-146.6,397.4,-7.5,236,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3503
$GC,5243,-1.10,-146.6,421.1,-7.7,251,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3503
$GC,5552,-1.10,-146.6,444.5,-7.5,266,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3503
$GC,5861,-1.10,-146.6,468.8,-8.3,281,5865,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3787,3503
$GC,5900,-1.10,-146.6,472.3,-9.3,282,5906,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2647,3503
$GC,6216,-1.10,-146.6,495.9,-6.8,298,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3503
$GC,6525,-1.10,-146.6,518.3,-7.4,313,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3503
$GC,6834,-1.10,-146.6,541.4,-7.6,328,6835,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3503
$GC,7144,-1.10,-146.6,567.1,-8.4,343,7147,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3786,3503
$GC,7189,-1.10,-146.6,571.2,-9.7,345,7193,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2641,3503
$GC,7523,-1.10,-146.6,601.6,-8.9,361,7527,0.00,2.20,0.00,0.000,4,0.000,0.084,2193,3789,3503
$GC,7574,-1.10,-146.6,606.4,-8.9,363,7577,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2639,3503
$GC,7901,-1.10,-146.6,631.2,-7.2,379,7904,0.00,2.20,0.00,0.000,4,0.000,0.083,2193,3789,3503
$GC,7934,-1.10,-146.6,633.8,-7.5,380,7938,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2647,3503
$GC,8256,-1.10,-146.6,658.0,-8.1,396,8260,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3790,3503
$GC,8306,-1.10,-146.6,662.3,-8.7,398,8310,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2646,3503
$GC,8633,-1.10,-146.6,686.2,-6.7,414,8637,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3789,3503
$GC,8672,-1.10,-146.6,689.1,-7.8,415,8678,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2640,3503
$GC,8988,-1.10,-146.6,711.5,-7.2,431,8990,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3503
$STATE,9109,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9109,begin apogee
$GC,9118,-0.42,0.0,720.3,7.3,437,9244,0.77,0.00,122.35,1.158,6,0.095,0.000,2347,1906,2902
$STATE,9244,end apogee,CONTROL_FINISHED_OK
$STATE,9244,begin climb
$GC,9248,1.10,146.6,725.2,0.0,443,9376,1.55,2.72,120.62,1.122,4,0.057,0.068,2679,484,2304
$GC,9494,1.15,187.2,722.5,4.9,454,9535,0.00,2.55,34.95,1.095,6,0.000,0.037,2679,1931,2138
$GC,9855,1.17,203.4,703.4,5.6,472,9876,0.00,2.58,14.62,1.052,4,0.000,0.063,2679,3299,2072
$GC,9922,1.17,203.4,699.3,6.1,475,9927,0.00,2.55,0.00,0.000,6,0.000,0.049,2679,1896,2072
$GC,10250,1.17,203.4,678.9,6.7,491,10254,0.00,2.60,0.00,0.000,4,0.000,0.061,2679,3301,2071
$GC,10329,1.17,203.4,673.9,6.4,494,10335,0.00,2.55,0.00,0.000,6,0.000,0.049,2678,1894,2071
$GC,10645,1.17,203.4,651.1,7.7,510,10649,0.00,2.62,0.00,0.000,4,0.000,0.069,2679,485,2070
$GC,10695,1.17,203.4,647.0,8.2,512,10699,0.00,2.50,0.00,0.000,6,0.000,0.039,2679,1899,2070
$GC,11011,1.17,203.4,624.4,8.1,527,11015,0.00,2.58,0.00,0.000,4,0.000,0.061,2679,3309,2070
$GC,11269,1.22,239.7,608.1,5.0,538,11305,0.12,2.55,30.67,1.098,6,0.044,0.048,2720,1892,1924
$GC,11624,1.22,239.7,586.7,6.6,556,11628,0.00,2.60,0.00,0.000,4,0.000,0.060,2720,3305,1924
$GC,11736,1.22,239.7,578.8,7.1,561,11740,0.00,2.53,0.00,0.000,6,0.000,0.048,2720,1897,1923
$GC,12063,1.22,239.7,557.5,6.7,577,12064,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1897,1923
$GC,12372,1.22,239.7,536.8,6.7,592,12376,0.00,2.58,0.00,0.000,4,0.000,0.058,2720,3310,1923
$GC,12427,1.22,239.7,533.1,6.5,594,12433,0.00,2.53,0.00,0.000,6,0.000,0.046,2720,1894,1924
$GC,12743,1.22,239.7,511.6,7.3,610,12747,0.00,2.58,0.00,0.000,4,0.000,0.058,2720,3306,1924
$GC,12810,1.22,239.7,506.7,6.5,613,12814,0.00,2.50,0.00,0.000,6,0.000,0.046,2720,1897,1924
$GC,13131,1.22,239.7,484.4,7.0,629,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1897,1924
$GC,13440,1.22,239.7,461.1,7.7,644,13444,0.00,2.58,0.00,0.000,4,0.000,0.059,2720,3308,1925
$GC,13472,1.22,239.7,458.3,7.5,645,13479,0.00,2.50,0.00,0.000,6,0.000,0.047,2720,1900,1924
$GC,13789,1.22,239.7,432.8,8.3,661,13790,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1900,1925
$GC,14098,1.22,239.7,407.6,8.4,676,14102,0.00,2.58,0.00,0.000,4,0.000,0.060,2720,3311,1926
$GC,14144,1.22,239.7,403.7,8.2,678,14148,0.00,2.53,0.00,0.000,6,0.000,0.049,2720,1901,1926
$GC,14476,1.22,239.7,378.2,7.5,694,14478,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1901,1926
$GC,14785,1.22,239.7,357.0,6.6,709,14790,0.00,2.58,0.00,0.000,4,0.000,0.062,2720,3305,1926
$GC,14848,1.22,239.7,352.8,6.3,712,14852,0.00,2.53,0.00,0.000,6,0.000,0.051,2720,1901,1926
$GC,15175,1.22,239.7,332.6,6.1,728,15176,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1901,1926
$GC,15484,1.22,239.7,313.6,6.2,743,15488,0.00,2.58,0.00,0.000,4,0.000,0.063,2720,3305,1927
$GC,15545,1.22,239.7,309.6,6.9,745,15552,0.00,2.53,0.00,0.000,6,0.000,0.051,2720,1893,1927
$GC,15862,1.22,239.7,288.3,7.3,761,15866,0.00,2.60,0.00,0.000,4,0.000,0.064,2720,3309,1927
$GC,15895,1.22,239.7,285.7,7.3,762,15899,0.00,2.55,0.00,0.000,6,0.000,0.052,2721,1894,1927
$GC,16211,1.22,239.7,263.1,6.8,777,16215,0.00,2.58,0.00,0.000,4,0.000,0.064,2720,3306,1927
$GC,16238,1.22,239.7,261.0,7.6,778,16243,0.00,2.55,0.00,0.000,6,0.000,0.052,2720,1891,1927
$GC,16560,1.22,239.7,238.1,7.1,794,16561,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1891,1928
$GC,16869,1.22,239.7,213.4,8.9,809,16873,0.00,2.62,0.00,0.000,4,0.000,0.065,2720,3314,1928
$GC,16924,1.22,239.7,208.6,7.9,811,16930,0.00,2.55,0.00,0.000,6,0.000,0.052,2720,1897,1927
$GC,17240,1.22,239.7,186.4,6.8,827,17245,0.00,2.60,0.00,0.000,4,0.000,0.064,2720,3312,1928
$GC,17274,1.22,239.7,183.9,7.0,828,17280,0.00,2.55,0.00,0.000,6,0.000,0.053,2720,1899,1928
$GC,17589,1.22,239.7,158.3,8.1,844,17591,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1898,1928
$GC,17900,1.22,239.7,134.7,7.2,859,17904,0.00,2.60,0.00,0.000,4,0.000,0.064,2720,3313,1928
$GC,17955,1.22,239.7,130.4,6.3,861,17961,0.00,2.55,0.00,0.000,6,0.000,0.056,2720,1901,1928
$GC,18271,1.22,239.7,105.4,9.9,877,18272,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1901,1928
$GC,18580,1.22,239.7,79.1,7.4,892,18585,0.00,2.60,0.00,0.000,4,0.000,0.064,2720,3315,1928
$GC,18621,1.22,239.7,76.1,7.4,894,18625,0.00,2.55,0.00,0.000,6,0.000,0.054,2720,1900,1928
$GC,18948,1.23,251.4,55.7,5.7,910,18966,0.00,0.00,11.68,0.692,6,0.000,0.000,2720,1899,1876
$GC,19278,1.23,251.4,31.3,7.5,926,19282,0.00,2.60,0.00,0.000,4,0.000,0.067,2720,3306,1876
$GC,19342,1.23,251.4,26.4,7.5,929,19346,0.00,2.58,0.00,0.000,6,0.000,0.057,2720,1894,1876
$STATE,19667,end climb,SURFACE_DEPTH_REACHED
$STATE,19667,begin surface coast
$FINISH,0.4,1.021948
$STATE,19688,end surface coast,CONTROL_FINISHED_OK
$STATE,19688,begin surface
$SM_CCo,19773,0.00,0.000,0,0,1876,251.68
$SM_GC,1.66,11.65,0.00,0.00,0.026,0.000,0.000,51,2638,1876,-10.92,-0.34,251.68
$IRIDIUM_FIX,6135.28,-944.30,310598,090934
$TT8_MAMPS,0.029146
$HUMID,1753
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.3,77.9
$24V_AH,23.4,18.614
$10V_AH,10.1,9.081
$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,26.375,161.050,334.900,0.000,0.000,145.493,231.882,443.988,5.500,0.000,0.000,15.916,1717.931,15548.866,465.575,2059.174,1186.930,30.194,1506.168,0.000,2019.363,0.000,39.239,0.000
$DEVICE_MAMPS,161.070,99.710,1158.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.324,702.773,569.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47409,946
$CAP_FILE_SIZE,144861,0
$CFSIZE,260165632,253980672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060309,143124,6202.159,-946.141,26,2.0,43,-9.8