version: 66.04
glider: 103
mission: 11
dive: 46
start: 3 2 109 16 7 55
data:
$ID,103
$MISSION,11
$DIVE,46
$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,-143832.2
$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,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$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
$GPS1,160125,6152.925,-916.465,45,1.7,45,-9.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-54.9
$GPS2,160701,6152.804,-916.326,12,1.8,17,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.190,0.107
$KALMAN_X,29407.9,-2081.3,-1671.9,-14002.7,32290.9
$KALMAN_Y,-69757.0,854.7,75.6,145770.8,-12581.0
$MHEAD_RNG_PITCHd_Wd,308.9,36915,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.62,0.000,2,0.000,0.000,50,2643,3009
$GC,62,-1.10,-146.6,3.1,-8.4,2,86,12.25,0.00,-9.43,0.000,6,0.160,0.000,2193,2643,3502
$GC,389,-1.10,-146.6,46.2,-11.4,18,393,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3786,3502
$GC,456,-1.10,-146.6,52.2,-8.2,21,459,0.00,2.08,0.00,0.000,6,0.000,0.054,2193,2641,3502
$GC,783,-1.10,-146.6,75.3,-9.0,37,787,0.00,2.22,0.00,0.000,4,0.000,0.084,2193,3790,3502
$GC,846,-1.10,-146.6,80.4,-7.1,40,849,0.00,2.05,0.00,0.000,6,0.000,0.050,2193,2647,3502
$GC,1179,-1.10,-146.6,103.7,-7.2,56,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,1488,-1.10,-146.6,122.9,-7.4,71,1491,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3785,3502
$GC,1534,-1.10,-146.6,126.5,-7.5,73,1538,0.00,2.03,0.00,0.000,6,0.000,0.049,2193,2645,3502
$GC,1866,-1.10,-146.6,153.7,-8.3,89,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3502
$GC,2175,-1.10,-146.6,177.1,-7.6,104,2179,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3785,3502
$GC,2222,-1.10,-146.6,180.8,-8.6,106,2226,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2652,3502
$GC,2554,-1.10,-146.6,204.6,-6.6,122,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3502
$GC,2864,-1.10,-146.6,224.1,-6.5,137,2867,0.00,2.20,0.00,0.000,4,0.000,0.084,2193,3793,3502
$GC,2897,-1.10,-146.6,226.4,-6.6,138,2901,0.00,2.05,0.00,0.000,6,0.000,0.050,2193,2650,3502
$GC,3218,-1.10,-146.6,247.8,-6.8,154,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,3528,-1.10,-146.6,269.1,-6.9,169,3531,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3789,3502
$GC,3555,-1.10,-146.6,271.1,-6.7,170,3559,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2646,3502
$GC,3883,-1.10,-146.6,293.0,-6.5,186,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,4192,-1.10,-146.6,314.9,-7.4,201,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,4501,-1.10,-146.6,339.9,-8.3,216,4505,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3789,3502
$GC,4574,-1.10,-146.6,346.0,-8.5,219,4578,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2647,3502
$GC,4901,-1.10,-146.6,372.1,-8.0,235,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,5211,-1.10,-146.6,395.8,-7.5,250,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,5520,-1.10,-146.6,420.5,-8.5,265,5523,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3790,3502
$GC,5615,-1.10,-146.6,428.6,-7.4,269,5619,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2645,3502
$GC,5942,-1.10,-146.6,454.0,-7.2,285,5946,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3792,3501
$GC,5981,-1.10,-146.6,456.9,-7.3,286,5987,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2647,3501
$GC,6297,-1.10,-146.6,478.7,-6.8,302,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,6606,-1.10,-146.6,502.0,-7.7,317,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,6916,-1.10,-146.6,526.7,-8.1,332,6920,0.00,2.53,0.00,0.000,4,0.000,0.059,2193,1235,3501
$GC,6938,-1.10,-146.6,528.6,-8.2,333,6943,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2654,3501
$GC,7260,-1.10,-146.6,554.5,-7.9,349,7264,0.00,2.12,0.00,0.000,4,0.000,0.087,2193,3782,3501
$GC,7366,-1.10,-146.6,562.9,-7.6,353,7372,0.00,2.03,0.00,0.000,6,0.000,0.049,2193,2644,3501
$GC,7682,-1.10,-146.6,583.8,-7.0,369,7686,0.00,2.58,0.00,0.000,4,0.000,0.067,2193,1226,3502
$GC,7699,-1.10,-146.6,585.2,-7.4,370,7704,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2661,3502
$GC,8027,-1.10,-146.6,606.7,-6.1,386,8031,0.00,2.15,0.00,0.000,4,0.000,0.091,2193,3785,3502
$GC,8077,-1.10,-146.6,610.1,-6.6,388,8081,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2642,3502
$GC,8404,-1.10,-146.6,632.6,-7.8,404,8408,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3782,3502
$GC,8460,-1.10,-146.6,636.9,-7.5,406,8464,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2643,3501
$GC,8782,-1.10,-146.6,658.3,-5.8,422,8783,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3500
$STATE,8944,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8944,begin apogee
$GC,8953,-0.42,0.0,668.7,6.7,430,9078,0.77,0.00,121.43,1.135,6,0.091,0.000,2348,1800,2902
$STATE,9078,end apogee,CONTROL_FINISHED_OK
$STATE,9079,begin climb
$GC,9082,1.10,146.6,672.7,0.0,436,9210,1.55,2.75,119.57,1.108,4,0.056,0.071,2680,389,2304
$GC,9225,1.11,153.8,671.9,5.8,442,9239,0.00,2.55,7.88,0.917,6,0.000,0.038,2680,1824,2275
$GC,9562,1.15,185.4,653.7,5.1,459,9597,0.00,2.65,27.10,1.106,4,0.000,0.062,2680,3200,2146
$GC,9755,1.20,229.7,643.8,4.8,467,9803,0.10,2.58,37.40,1.103,6,0.054,0.052,2711,1790,1965
$GC,10116,1.20,229.7,618.4,7.0,485,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1790,1965
$GC,10421,1.20,229.7,596.3,6.4,500,10426,0.00,2.62,0.00,0.000,4,0.000,0.064,2711,3200,1964
$GC,10561,1.20,229.7,587.1,7.0,506,10566,0.00,2.58,0.00,0.000,6,0.000,0.054,2711,1794,1964
$GC,10877,1.20,229.7,563.1,7.6,521,10882,0.00,2.60,0.00,0.000,4,0.000,0.062,2711,3195,1963
$GC,11134,1.20,229.7,544.7,7.6,532,11141,0.00,2.55,0.00,0.000,6,0.000,0.054,2711,1796,1962
$GC,11450,1.20,229.7,525.3,6.9,548,11455,0.00,2.60,0.00,0.000,4,0.000,0.061,2711,3205,1962
$GC,11596,1.20,229.7,514.8,7.5,554,11602,0.00,2.55,0.00,0.000,6,0.000,0.051,2711,1797,1962
$GC,11912,1.20,229.7,492.7,7.1,570,11916,0.00,2.58,0.00,0.000,4,0.000,0.060,2711,3200,1962
$GC,12029,1.20,229.7,484.1,7.2,575,12033,0.00,2.53,0.00,0.000,6,0.000,0.050,2711,1802,1962
$GC,12345,1.20,229.7,460.4,7.6,590,12349,0.00,2.58,0.00,0.000,4,0.000,0.060,2711,3204,1962
$GC,12467,1.20,229.7,451.2,7.4,595,12474,0.00,2.53,0.00,0.000,6,0.000,0.051,2711,1798,1962
$GC,12784,1.20,229.7,426.5,7.8,611,12788,0.00,2.58,0.00,0.000,4,0.000,0.060,2711,3204,1963
$GC,12856,1.20,229.7,421.0,7.4,614,12860,0.00,2.55,0.00,0.000,6,0.000,0.051,2711,1792,1963
$GC,13172,1.20,229.7,397.1,7.5,629,13176,0.00,2.58,0.00,0.000,4,0.000,0.061,2711,3194,1964
$GC,13244,1.20,229.7,391.4,8.0,632,13248,0.00,2.53,0.00,0.000,6,0.000,0.051,2711,1795,1964
$GC,13560,1.20,229.7,367.8,7.5,647,13564,0.00,2.58,0.00,0.000,4,0.000,0.061,2711,3197,1964
$GC,13622,1.20,229.7,363.2,6.9,650,13626,0.00,2.53,0.00,0.000,6,0.000,0.051,2711,1798,1964
$GC,13949,1.20,229.7,340.2,6.9,666,13953,0.00,2.58,0.00,0.000,4,0.000,0.061,2711,3200,1965
$GC,14011,1.20,229.7,335.5,7.5,669,14015,0.00,2.53,0.00,0.000,6,0.000,0.051,2711,1799,1965
$GC,14338,1.20,229.7,312.6,6.8,685,14342,0.00,2.58,0.00,0.000,4,0.000,0.060,2711,3204,1966
$GC,14393,1.20,229.7,308.7,6.8,687,14399,0.00,2.55,0.00,0.000,6,0.000,0.052,2711,1793,1966
$GC,14709,1.20,229.7,287.9,6.6,703,14713,0.00,2.58,0.00,0.000,4,0.000,0.063,2711,3193,1966
$GC,14786,1.20,229.7,282.5,6.7,706,14793,0.00,2.53,0.00,0.000,6,0.000,0.052,2711,1794,1966
$GC,15102,1.20,229.7,260.2,7.5,722,15107,0.00,2.58,0.00,0.000,4,0.000,0.063,2711,3193,1966
$GC,15153,1.20,229.7,256.3,7.7,724,15157,0.00,2.53,0.00,0.000,6,0.000,0.051,2711,1793,1966
$GC,15468,1.20,229.7,231.2,8.1,739,15473,0.00,2.58,0.00,0.000,4,0.000,0.061,2712,3198,1966
$GC,15535,1.20,229.7,225.7,7.9,742,15540,0.00,2.53,0.00,0.000,6,0.000,0.052,2712,1797,1966
$GC,15857,1.21,229.9,204.3,6.0,758,15861,0.00,2.58,0.00,0.000,4,0.000,0.064,2712,3194,1966
$GC,15920,1.26,271.7,201.2,4.8,761,15962,0.00,2.53,34.28,0.827,6,0.000,0.051,2711,1790,1793
$GC,16271,1.26,271.7,174.8,8.4,778,16275,0.00,2.60,0.00,0.000,4,0.000,0.061,2711,3197,1793
$GC,16311,1.26,271.7,171.2,8.7,780,16315,0.00,2.55,0.00,0.000,6,0.000,0.052,2711,1790,1793
$GC,16638,1.26,271.7,138.0,9.5,796,16642,0.00,2.60,0.00,0.000,4,0.000,0.061,2711,3201,1793
$GC,16687,1.26,271.7,133.2,8.6,798,16692,0.00,2.55,0.00,0.000,6,0.000,0.054,2711,1797,1793
$GC,17004,1.26,271.7,106.0,9.5,813,17008,0.00,2.58,0.00,0.000,4,0.000,0.063,2711,3192,1793
$GC,17066,1.26,271.7,101.0,8.6,816,17070,0.00,2.53,0.00,0.000,6,0.000,0.053,2711,1796,1793
$GC,17393,1.26,271.7,78.8,7.3,832,17394,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1796,1793
$GC,17702,1.26,271.7,54.2,6.9,847,17706,0.00,2.58,0.00,0.000,4,0.000,0.061,2712,3198,1793
$GC,17787,1.29,297.4,47.9,5.3,851,17814,0.00,2.55,21.25,0.726,6,0.000,0.057,2712,1799,1689
$GC,18136,1.29,297.4,22.4,8.5,868,18140,0.00,2.58,0.00,0.000,4,0.000,0.059,2711,3204,1688
$GC,18180,1.29,297.4,18.2,7.9,870,18184,0.00,2.58,0.00,0.000,6,0.000,0.054,2711,1789,1688
$STATE,18374,end climb,SURFACE_DEPTH_REACHED
$STATE,18374,begin surface coast
$FINISH,0.4,1.027437
$STATE,18398,end surface coast,CONTROL_FINISHED_OK
$STATE,18398,begin surface
$SM_CCo,18423,1.70,0.151,0,0,1679,300.00
$SM_GC,1.79,0.00,0.00,1.70,0.000,0.000,0.151,48,2635,1679,-11.00,-0.42,300.00
$IRIDIUM_FIX,6130.75,-910.47,270598,111120
$TT8_MAMPS,0.028379
$HUMID,1755
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.8,27.5
$24V_AH,23.4,16.395
$10V_AH,10.1,7.641
$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,26.375,172.225,368.900,1.700,0.000,30.718,24.989,155.552,5.750,0.000,0.000,17.311,1653.478,13990.310,476.121,2108.540,534.811,33.385,1538.653,0.000,2053.710,0.000,41.088,0.000
$DEVICE_MAMPS,159.536,92.807,1135.160,151.099,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,619.207,643.042,542.087,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44275,881
$CAP_FILE_SIZE,136236,0
$CFSIZE,260165632,255041536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020309,211637,6150.766,-919.193,57,1.8,57,-9.5