version: 66.04
glider: 103
mission: 11
dive: 48
start: 3 3 109 3 21 17
data:
$ID,103
$MISSION,11
$DIVE,48
$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,-143861.25
$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,19
$R_STBD_OVSHOOT,14
$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
$GPS1,030826,6150.210,-920.864,39,1.4,39,-9.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-54.6
$GPS2,032026,6150.183,-920.599,12,1.6,12,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,0.077
$KALMAN_X,30698.9,-1956.4,-924.6,-19966.4,19994.0
$KALMAN_Y,-79579.8,971.5,820.9,149844.7,-16391.4
$MHEAD_RNG_PITCHd_Wd,300.2,37455,-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,-146.6,0.0,0.0,0,72,0.00,0.00,-53.60,0.000,6,0.000,0.000,49,2659,3501
$GC,75,-1.10,-146.6,3.0,-9.0,2,92,12.12,2.62,0.00,0.000,4,0.158,0.061,2190,1236,3501
$GC,182,-1.10,-146.6,25.9,-9.4,7,189,0.00,2.65,0.00,0.000,6,0.000,0.069,2190,2656,3501
$GC,500,-1.10,-146.6,56.0,-9.0,23,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2656,3502
$GC,808,-1.10,-146.6,83.3,-6.2,38,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2657,3502
$GC,1117,-1.10,-146.6,103.6,-6.9,53,1120,0.00,2.17,0.00,0.000,4,0.000,0.092,2190,3783,3501
$GC,1167,-1.10,-146.6,107.6,-8.3,55,1171,0.00,2.05,0.00,0.000,6,0.000,0.053,2190,2645,3501
$GC,1495,-1.10,-146.6,131.5,-7.4,71,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2646,3501
$GC,1804,-1.10,-146.6,152.7,-6.1,86,1808,0.00,2.22,0.00,0.000,4,0.000,0.088,2190,3790,3502
$GC,1842,-1.10,-146.6,155.3,-7.2,87,1848,0.00,2.05,0.00,0.000,6,0.000,0.050,2190,2645,3502
$GC,2159,-1.10,-146.6,175.5,-7.3,103,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2646,3501
$GC,2467,-1.10,-146.6,198.6,-8.0,118,2471,0.00,2.22,0.00,0.000,4,0.000,0.088,2190,3793,3501
$GC,2558,-1.10,-146.6,206.7,-9.6,122,2562,0.00,2.05,0.00,0.000,6,0.000,0.051,2190,2648,3502
$GC,2891,-1.10,-146.6,240.7,-7.8,138,2894,0.00,2.20,0.00,0.000,4,0.000,0.087,2190,3786,3501
$GC,2937,-1.10,-146.6,245.0,-8.8,140,2940,0.00,2.05,0.00,0.000,6,0.000,0.052,2190,2643,3501
$GC,3270,-1.10,-146.6,267.6,-6.6,156,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2643,3502
$GC,3579,-1.10,-146.6,290.2,-8.0,171,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2643,3502
$GC,3889,-1.10,-146.6,316.2,-8.7,186,3893,0.00,2.20,0.00,0.000,4,0.000,0.087,2190,3785,3501
$GC,3935,-1.10,-146.6,320.1,-8.1,188,3938,0.00,2.03,0.00,0.000,6,0.000,0.051,2190,2653,3502
$GC,4268,-1.10,-146.6,344.7,-6.9,204,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2653,3502
$GC,4577,-1.10,-146.6,366.1,-6.5,219,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2653,3501
$GC,4886,-1.10,-146.6,387.9,-7.3,234,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2653,3501
$GC,5196,-1.10,-146.6,410.2,-7.3,249,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2653,3501
$GC,5504,-1.10,-146.6,434.3,-7.9,264,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2653,3501
$GC,5814,-1.10,-146.6,458.4,-7.7,279,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2653,3501
$GC,6123,-1.10,-146.6,483.8,-8.3,294,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2652,3502
$GC,6432,-1.10,-146.6,507.9,-7.1,309,6436,0.00,2.17,0.00,0.000,4,0.000,0.084,2190,3789,3502
$GC,6466,-1.10,-146.6,510.4,-7.4,310,6469,0.00,2.05,0.00,0.000,6,0.000,0.051,2190,2638,3501
$GC,6788,-1.10,-146.6,534.5,-7.9,326,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2638,3501
$GC,7097,-1.10,-146.6,560.8,-8.4,341,7100,0.00,2.20,0.00,0.000,4,0.000,0.084,2190,3790,3502
$GC,7181,-1.10,-146.6,568.1,-8.9,344,7187,0.00,2.03,0.00,0.000,6,0.000,0.051,2190,2653,3502
$GC,7497,-1.10,-146.6,593.4,-8.0,360,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2653,3501
$GC,7806,-1.10,-146.6,615.6,-7.3,375,7809,0.00,2.17,0.00,0.000,4,0.000,0.084,2190,3792,3501
$GC,7901,-1.10,-146.6,622.5,-6.3,379,7905,0.00,2.05,0.00,0.000,6,0.000,0.051,2190,2644,3501
$GC,8228,-1.10,-146.6,646.8,-8.2,395,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2644,3501
$GC,8537,-1.10,-146.6,669.0,-7.0,410,8541,0.00,2.20,0.00,0.000,4,0.000,0.087,2190,3787,3501
$GC,8570,-1.10,-146.6,671.5,-7.6,411,8574,0.00,2.05,0.00,0.000,6,0.000,0.052,2190,2643,3501
$GC,8892,-1.10,-146.6,694.6,-7.0,427,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2643,3501
$GC,9201,-1.10,-146.6,716.3,-6.7,442,9205,0.00,2.20,0.00,0.000,4,0.000,0.089,2190,3789,3500
$GC,9256,-1.10,-146.6,720.2,-8.5,444,9260,0.00,2.08,0.00,0.000,6,0.000,0.058,2190,2644,3500
$STATE,9513,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9513,begin apogee
$GC,9522,-0.42,0.0,738.1,7.5,457,9649,0.77,0.00,123.68,1.148,6,0.093,0.000,2345,1798,2902
$STATE,9650,end apogee,CONTROL_FINISHED_OK
$STATE,9650,begin climb
$GC,9653,1.10,146.6,742.0,0.0,463,9780,1.58,0.00,122.25,1.116,6,0.065,0.000,2677,1798,2305
$GC,10087,1.13,172.0,733.4,5.3,484,10112,0.00,0.00,23.20,1.078,6,0.000,0.000,2677,1798,2200
$GC,10417,1.19,213.6,720.0,4.8,500,10459,0.00,2.72,35.88,1.151,4,0.000,0.064,2677,3224,2030
$GC,10516,1.26,275.1,714.6,4.3,504,10575,0.17,2.65,52.28,1.119,6,0.041,0.053,2726,1785,1780
$GC,10896,1.26,275.1,686.9,8.1,523,10901,0.00,2.67,0.00,0.000,4,0.000,0.062,2726,3220,1779
$GC,10991,1.26,275.1,678.2,9.5,527,10996,0.00,2.60,0.00,0.000,6,0.000,0.053,2726,1800,1779
$GC,11307,1.26,275.1,652.0,8.0,542,11311,0.00,2.65,0.00,0.000,4,0.000,0.064,2726,3223,1779
$GC,11402,1.26,275.1,644.0,8.8,546,11406,0.00,2.60,0.00,0.000,6,0.000,0.054,2726,1801,1779
$GC,11718,1.26,275.1,618.6,7.0,561,11722,0.00,2.62,0.00,0.000,4,0.000,0.063,2727,3224,1778
$GC,11869,1.26,275.1,605.7,7.7,567,11875,0.00,2.60,0.00,0.000,6,0.000,0.052,2726,1796,1778
$GC,12185,1.26,275.1,577.6,9.2,583,12189,0.00,2.62,0.00,0.000,4,0.000,0.060,2726,3222,1778
$GC,12285,1.26,275.1,569.0,7.9,587,12291,0.00,2.58,0.00,0.000,6,0.000,0.048,2726,1793,1778
$GC,12601,1.26,275.1,541.7,8.7,603,12605,0.00,2.62,0.00,0.000,4,0.000,0.059,2726,3223,1778
$GC,12679,1.26,275.1,534.5,8.9,606,12683,0.00,2.58,0.00,0.000,6,0.000,0.048,2726,1795,1778
$GC,12995,1.26,275.1,506.6,9.0,621,12999,0.00,2.60,0.00,0.000,4,0.000,0.058,2726,3218,1778
$GC,13067,1.26,275.1,500.2,8.3,624,13072,0.00,2.58,0.00,0.000,6,0.000,0.048,2726,1789,1778
$GC,13388,1.26,275.1,473.1,8.3,640,13392,0.00,2.62,0.00,0.000,4,0.000,0.058,2727,3225,1779
$GC,13461,1.26,275.1,467.0,8.3,643,13465,0.00,2.58,0.00,0.000,6,0.000,0.048,2726,1795,1779
$GC,13782,1.26,275.1,440.0,8.3,659,13786,0.00,2.62,0.00,0.000,4,0.000,0.059,2726,3227,1779
$GC,13861,1.26,275.1,433.3,8.8,662,13867,0.00,2.58,0.00,0.000,6,0.000,0.049,2726,1796,1780
$GC,14177,1.26,275.1,405.7,8.9,678,14181,0.00,2.62,0.00,0.000,4,0.000,0.060,2726,3229,1780
$GC,14261,1.26,275.1,398.2,9.0,682,14266,0.00,2.58,0.00,0.000,6,0.000,0.051,2726,1800,1781
$GC,14589,1.26,275.1,371.1,8.4,698,14593,0.00,2.60,0.00,0.000,4,0.000,0.060,2726,3220,1781
$GC,14655,1.26,275.1,365.8,8.3,701,14659,0.00,2.58,0.00,0.000,6,0.000,0.050,2726,1796,1781
$GC,14982,1.26,275.1,341.1,7.7,717,14987,0.00,2.62,0.00,0.000,4,0.000,0.062,2726,3222,1781
$GC,15067,1.26,275.1,334.1,8.4,721,15072,0.00,2.58,0.00,0.000,6,0.000,0.051,2726,1793,1782
$GC,15394,1.26,275.1,309.8,7.7,737,15399,0.00,2.65,0.00,0.000,4,0.000,0.064,2726,3228,1782
$GC,15473,1.26,275.1,303.0,8.8,740,15480,0.00,2.58,0.00,0.000,6,0.000,0.051,2726,1793,1782
$GC,15789,1.26,275.1,271.4,8.5,756,15790,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1792,1783
$GC,16099,1.30,306.9,249.4,5.1,771,16133,0.00,2.78,27.40,0.838,4,0.000,0.063,2726,3224,1650
$GC,16218,1.30,306.9,243.9,8.4,776,16223,0.00,2.60,0.00,0.000,6,0.000,0.051,2726,1796,1650
$GC,16535,1.30,306.9,215.2,8.3,791,16539,0.00,2.62,0.00,0.000,4,0.000,0.064,2726,3216,1650
$GC,16579,1.30,306.9,211.6,7.5,793,16583,0.00,2.58,0.00,0.000,6,0.000,0.052,2726,1794,1650
$GC,16900,1.30,306.9,186.0,10.4,809,16904,0.00,2.65,0.00,0.000,4,0.000,0.064,2726,3224,1650
$GC,16940,1.30,306.9,181.4,11.4,811,16944,0.00,2.60,0.00,0.000,6,0.000,0.052,2726,1790,1650
$GC,17267,1.30,306.9,146.8,9.0,827,17271,0.00,2.65,0.00,0.000,4,0.000,0.066,2726,3217,1650
$GC,17333,1.30,306.9,140.6,9.3,830,17338,0.00,2.58,0.00,0.000,6,0.000,0.054,2726,1798,1650
$GC,17656,1.30,306.9,119.4,7.4,846,17660,0.00,2.65,0.00,0.000,4,0.000,0.067,2726,3221,1650
$GC,17711,1.30,306.9,115.0,8.7,848,17718,0.00,2.58,0.00,0.000,6,0.000,0.054,2726,1797,1650
$GC,18027,1.30,306.9,88.0,9.9,864,18032,0.00,2.62,0.00,0.000,4,0.000,0.064,2726,3217,1650
$GC,18077,1.30,306.9,82.7,11.2,866,18082,0.00,2.58,0.00,0.000,6,0.000,0.056,2726,1792,1650
$GC,18400,1.30,306.9,50.5,9.5,882,18404,0.00,2.67,0.00,0.000,4,0.000,0.068,2726,3226,1650
$GC,18427,1.30,306.9,47.8,8.6,883,18431,0.00,2.60,0.00,0.000,6,0.000,0.053,2726,1790,1650
$GC,18744,1.30,306.9,18.7,9.6,898,18749,0.00,2.67,0.00,0.000,4,0.000,0.071,2726,3217,1650
$GC,18817,1.30,306.9,11.4,10.1,901,18822,0.00,2.55,0.00,0.000,6,0.000,0.048,2726,1793,1650
$STATE,18905,end climb,SURFACE_DEPTH_REACHED
$STATE,18905,begin surface coast
$FINISH,0.2,1.013673
$STATE,18926,end surface coast,CONTROL_FINISHED_OK
$STATE,18926,begin surface
$SM_CCo,19011,0.00,0.000,0,0,1650,307.12
$SM_GC,1.16,11.82,0.00,0.00,0.033,0.000,0.000,54,2665,1650,-10.92,0.42,307.12
$IRIDIUM_FIX,6126.23,-923.24,280598,030336
$TT8_MAMPS,0.029146
$HUMID,1763
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.5,71.9
$24V_AH,23.4,16.685
$10V_AH,10.1,7.828
$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,26.475,160.875,384.675,0.000,0.000,85.514,91.010,287.235,5.750,0.000,0.000,12.454,1667.671,14708.928,485.397,2040.900,819.948,33.362,1523.463,0.000,2013.120,0.000,40.537,0.000
$DEVICE_MAMPS,158.002,92.040,1150.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.593,678.778,533.588,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44336,906
$CAP_FILE_SIZE,138052,0
$CFSIZE,260165632,254906368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030309,083930,6148.083,-927.284,40,1.6,45,-9.6