version: 66.04
glider: 103
mission: 11
dive: 65
start: 3 7 109 2 19 50
data:
$ID,103
$MISSION,11
$DIVE,65
$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,-144242.42
$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,17
$R_STBD_OVSHOOT,11
$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
$GPS1,021324,6203.217,-955.283,28,2.0,45,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-62.3
$GPS2,021856,6203.257,-955.283,12,1.5,12,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.173,0.133
$KALMAN_X,1267.6,-273.9,9931.1,-20284.3,-2602.4
$KALMAN_Y,-3643.8,229.9,-1404.4,13039.0,-2195.9
$MHEAD_RNG_PITCHd_Wd,62.3,5604,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.47,0.000,2,0.000,0.000,46,2631,3231
$GC,62,-1.10,-146.6,3.8,-10.1,2,86,12.23,2.65,-4.55,0.000,4,0.162,0.089,2195,1229,3501
$GC,339,-1.10,-146.6,33.8,-7.9,14,343,0.00,2.67,0.00,0.000,6,0.000,0.069,2195,2659,3501
$GC,660,-1.10,-146.6,56.8,-7.0,30,664,0.00,2.67,0.00,0.000,4,0.000,0.074,2195,1235,3501
$GC,738,-1.10,-146.6,64.5,-11.9,33,744,0.00,2.62,0.00,0.000,6,0.000,0.065,2195,2658,3501
$GC,1054,-1.10,-146.6,87.9,-7.1,49,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3501
$GC,1363,-1.10,-146.6,111.8,-8.6,64,1367,0.00,2.17,0.00,0.000,4,0.000,0.092,2195,3787,3501
$GC,1397,-1.10,-146.6,115.0,-9.3,65,1400,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2650,3501
$GC,1719,-1.10,-146.6,141.9,-8.1,81,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3501
$GC,2028,-1.10,-146.6,166.6,-8.5,96,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,2337,-1.10,-146.6,189.4,-7.5,111,2341,0.00,2.20,0.00,0.000,4,0.000,0.091,2195,3783,3501
$GC,2383,-1.10,-146.6,193.0,-7.9,113,2386,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2643,3502
$GC,2715,-1.10,-146.6,215.3,-7.2,129,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3501
$GC,3025,-1.10,-146.6,237.6,-7.8,144,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3501
$GC,3334,-1.10,-146.6,262.9,-7.7,159,3337,0.00,2.22,0.00,0.000,4,0.000,0.088,2195,3792,3501
$GC,3380,-1.10,-146.6,266.7,-8.4,161,3384,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2653,3501
$GC,3713,-1.10,-146.6,292.7,-8.3,177,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3501
$GC,4022,-1.10,-146.6,317.7,-8.3,192,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3502
$GC,4331,-1.10,-146.6,342.5,-7.9,207,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3501
$GC,4641,-1.10,-146.6,366.3,-7.7,222,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3501
$GC,4950,-1.10,-146.6,389.2,-7.2,237,4953,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3793,3501
$GC,5018,-1.10,-146.6,394.3,-7.3,240,5022,0.00,2.05,0.00,0.000,6,0.000,0.053,2195,2649,3501
$GC,5351,-1.10,-146.6,417.8,-7.0,256,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,5661,-1.10,-146.6,440.4,-7.4,271,5664,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3790,3501
$GC,5700,-1.10,-146.6,443.6,-7.9,272,5706,0.00,2.08,0.00,0.000,6,0.000,0.054,2195,2641,3501
$GC,6016,-1.10,-146.6,467.1,-7.8,288,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3501
$GC,6325,-1.10,-146.6,491.3,-7.7,303,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3501
$GC,6634,-1.10,-146.6,514.6,-7.4,318,6638,0.00,2.20,0.00,0.000,4,0.000,0.085,2195,3789,3501
$GC,6696,-1.10,-146.6,519.5,-7.7,320,6702,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2642,3501
$GC,7012,-1.10,-146.6,545.2,-8.4,336,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,7321,-1.10,-146.6,570.8,-8.0,351,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,7630,-1.10,-146.6,592.4,-6.6,366,7635,0.00,2.55,0.00,0.000,4,0.000,0.065,2195,1229,3501
$GC,7658,-1.10,-146.6,594.4,-6.9,367,7663,0.00,2.60,0.00,0.000,6,0.000,0.058,2195,2659,3501
$GC,7974,-1.10,-146.6,613.1,-5.8,382,7978,0.00,2.12,0.00,0.000,4,0.000,0.087,2195,3784,3501
$GC,8036,-1.10,-146.6,617.3,-7.1,384,8042,0.00,2.03,0.00,0.000,6,0.000,0.050,2195,2647,3501
$GC,8352,-1.10,-146.6,642.5,-8.9,400,8353,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,8661,-1.10,-146.6,667.6,-7.8,415,8662,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,8971,-1.10,-146.6,688.8,-5.6,430,8975,0.00,2.58,0.00,0.000,4,0.000,0.066,2195,1227,3501
$GC,9021,-1.10,-146.6,691.0,-3.9,432,9025,0.00,2.60,0.00,0.000,6,0.000,0.057,2195,2658,3501
$GC,9337,-1.10,-146.6,708.7,-7.7,447,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2659,3501
$STATE,9602,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9602,begin apogee
$GC,9611,-0.42,0.0,727.2,6.3,460,9737,0.77,0.00,123.38,1.134,6,0.097,0.000,2348,1892,2902
$STATE,9738,end apogee,CONTROL_FINISHED_OK
$STATE,9738,begin climb
$GC,9741,1.10,146.6,731.3,0.0,466,9869,1.55,2.67,120.28,1.132,4,0.057,0.065,2678,487,2304
$GC,9960,1.13,166.3,729.9,5.5,476,9984,0.00,2.55,18.38,1.025,6,0.000,0.037,2678,1935,2223
$GC,10308,1.20,227.6,715.9,4.3,493,10370,0.10,2.55,51.80,1.148,4,0.052,0.062,2712,3298,1973
$GC,10426,1.20,227.6,708.1,6.9,498,10431,0.00,2.55,0.00,0.000,6,0.000,0.048,2713,1891,1973
$GC,10742,1.21,235.2,690.3,5.8,513,10752,0.00,0.00,7.72,1.008,6,0.000,0.000,2713,1891,1943
$GC,11051,1.21,235.2,670.9,6.0,528,11056,0.00,2.60,0.00,0.000,4,0.000,0.067,2713,491,1943
$GC,11085,1.21,235.2,668.5,7.3,529,11091,0.00,2.47,0.00,0.000,6,0.000,0.038,2713,1892,1943
$GC,11401,1.21,235.2,646.8,6.7,545,11405,0.00,2.60,0.00,0.000,4,0.000,0.064,2713,3308,1943
$GC,11456,1.21,235.2,642.8,7.6,547,11462,0.00,2.55,0.00,0.000,6,0.000,0.048,2713,1891,1943
$GC,11772,1.21,235.2,620.2,6.9,563,11773,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1891,1942
$GC,12081,1.21,235.2,596.5,8.2,578,12082,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1891,1942
$GC,12390,1.21,235.2,574.2,6.4,593,12394,0.00,2.60,0.00,0.000,4,0.000,0.061,2713,3313,1942
$GC,12429,1.21,235.2,571.7,6.5,594,12435,0.00,2.53,0.00,0.000,6,0.000,0.045,2713,1896,1942
$GC,12744,1.21,235.2,551.9,6.6,610,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1896,1942
$GC,13054,1.21,235.2,529.8,7.3,625,13058,0.00,2.58,0.00,0.000,4,0.000,0.059,2713,3304,1942
$GC,13093,1.21,235.2,526.5,8.7,627,13098,0.00,2.50,0.00,0.000,6,0.000,0.044,2713,1896,1943
$GC,13420,1.21,235.2,500.3,8.2,643,13421,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1896,1943
$GC,13730,1.21,235.2,474.4,8.4,658,13734,0.00,2.58,0.00,0.000,4,0.000,0.060,2713,3306,1943
$GC,13796,1.21,235.2,468.4,8.6,661,13800,0.00,2.50,0.00,0.000,6,0.000,0.047,2713,1900,1943
$GC,14123,1.21,235.2,442.3,7.8,677,14128,0.00,2.58,0.00,0.000,4,0.000,0.061,2713,3311,1944
$GC,14157,1.21,235.2,439.6,7.8,678,14163,0.00,2.53,0.00,0.000,6,0.000,0.047,2713,1897,1944
$GC,14473,1.21,235.2,414.9,8.7,694,14474,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1897,1944
$GC,14782,1.21,235.2,389.4,7.9,709,14786,0.00,2.58,0.00,0.000,4,0.000,0.062,2713,3305,1944
$GC,14838,1.21,235.2,384.8,7.5,711,14842,0.00,2.53,0.00,0.000,6,0.000,0.048,2713,1896,1944
$GC,15154,1.21,235.2,362.2,6.5,726,15155,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1896,1944
$GC,15463,1.21,235.2,342.8,6.5,741,15467,0.00,2.60,0.00,0.000,4,0.000,0.064,2713,3312,1944
$GC,15525,1.21,235.2,338.8,7.1,744,15529,0.00,2.55,0.00,0.000,6,0.000,0.050,2713,1888,1944
$GC,15852,1.29,295.3,322.8,4.3,760,15907,0.00,2.75,49.58,0.939,4,0.000,0.067,2713,3305,1698
$GC,15966,1.29,295.3,316.0,6.9,765,15971,0.00,2.58,0.00,0.000,6,0.000,0.053,2713,1896,1698
$GC,16288,1.29,295.3,294.1,7.1,781,16292,0.00,2.62,0.00,0.000,4,0.000,0.066,2713,3309,1698
$GC,16328,1.29,295.3,291.1,7.3,783,16332,0.00,2.55,0.00,0.000,6,0.000,0.052,2713,1900,1697
$GC,16654,1.29,295.3,267.0,7.5,799,16658,0.00,2.60,0.00,0.000,4,0.000,0.065,2713,3305,1697
$GC,16704,1.29,295.3,263.0,8.5,801,16708,0.00,2.58,0.00,0.000,6,0.000,0.054,2713,1889,1697
$GC,17020,1.29,295.3,237.1,8.5,816,17025,0.00,2.62,0.00,0.000,4,0.000,0.067,2713,3302,1698
$GC,17075,1.29,295.3,232.2,8.9,818,17082,0.00,2.55,0.00,0.000,6,0.000,0.054,2713,1897,1698
$GC,17391,1.29,295.3,204.9,8.6,834,17396,0.00,2.60,0.00,0.000,4,0.000,0.066,2713,3302,1698
$GC,17442,1.29,295.3,200.3,9.6,836,17446,0.00,2.55,0.00,0.000,6,0.000,0.054,2713,1899,1698
$GC,17758,1.29,295.3,173.1,8.6,851,17762,0.00,2.60,0.00,0.000,4,0.000,0.067,2713,3301,1698
$GC,17813,1.29,295.3,168.4,8.0,853,17819,0.00,2.55,0.00,0.000,6,0.000,0.055,2713,1897,1698
$GC,18130,1.29,295.3,142.8,8.6,869,18134,0.00,2.62,0.00,0.000,4,0.000,0.067,2713,3311,1698
$GC,18185,1.29,295.3,137.7,8.3,871,18191,0.00,2.55,0.00,0.000,6,0.000,0.057,2713,1901,1698
$GC,18501,1.29,295.3,114.3,6.3,887,18505,0.00,2.60,0.00,0.000,4,0.000,0.067,2713,3304,1698
$GC,18546,1.29,295.3,111.3,7.3,889,18550,0.00,2.55,0.00,0.000,6,0.000,0.052,2713,1889,1698
$GC,18867,1.29,295.3,80.1,9.9,905,18871,0.00,2.62,0.00,0.000,4,0.000,0.067,2713,3306,1698
$GC,18907,1.29,295.3,76.3,8.4,907,18911,0.00,2.55,0.00,0.000,6,0.000,0.056,2713,1894,1699
$GC,19234,1.29,295.3,48.8,9.5,923,19238,0.00,2.62,0.00,0.000,4,0.000,0.066,2713,3312,1699
$GC,19274,1.29,295.3,45.6,8.1,925,19278,0.00,2.58,0.00,0.000,6,0.000,0.060,2713,1898,1699
$GC,19601,1.29,295.3,22.7,7.4,941,19605,0.00,2.60,0.00,0.000,4,0.000,0.067,2713,3302,1699
$GC,19628,1.29,295.3,20.5,7.9,942,19632,0.00,2.60,0.00,0.000,6,0.000,0.064,2713,1894,1699
$STATE,19859,end climb,SURFACE_DEPTH_REACHED
$STATE,19859,begin surface coast
$FINISH,0.4,1.017645
$STATE,19882,end surface coast,CONTROL_FINISHED_OK
$STATE,19882,begin surface
$SM_CCo,19967,0.00,0.000,0,0,1698,295.34
$SM_GC,1.08,11.73,0.00,0.00,0.031,0.000,0.000,46,2640,1698,-10.94,-0.28,295.34
$IRIDIUM_FIX,6139.81,-945.85,310598,202025
$TT8_MAMPS,0.028379
$HUMID,1780
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.2,35.7
$24V_AH,23.4,18.984
$10V_AH,10.1,9.354
$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,26.375,161.750,371.125,0.000,0.000,28.543,27.242,146.956,6.250,0.000,0.000,12.203,1712.439,15506.326,476.518,2053.967,544.448,33.346,1517.521,0.000,2014.837,0.000,44.361,0.000
$DEVICE_MAMPS,161.837,92.040,1148.199,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.881,703.357,564.181,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47377,954
$CAP_FILE_SIZE,134517,0
$CFSIZE,260165632,253792256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070309,075355,6206.180,-949.527,41,1.7,41,-9.9