version: 66.04
glider: 103
mission: 11
dive: 49
start: 3 3 109 8 59 14
data:
$ID,103
$MISSION,11
$DIVE,49
$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,-143876.92
$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,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
$GPS1,083930,6148.083,-927.284,40,1.6,45,-9.6
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-59.2
$GPS2,085820,6148.026,-927.214,15,1.3,15,-9.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.197,0.093
$KALMAN_X,29025.4,-1619.6,-1346.4,-24097.9,16018.3
$KALMAN_Y,-84687.6,1239.5,488.0,151043.2,-17719.9
$MHEAD_RNG_PITCHd_Wd,304.9,37129,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-55.53,0.000,6,0.000,0.000,54,2668,3500
$GC,81,-1.10,-146.6,6.8,-13.6,3,102,12.12,2.70,0.00,0.000,4,0.160,0.068,2192,1240,3500
$GC,273,-1.10,-146.6,34.6,-8.5,11,278,0.00,2.62,0.00,0.000,6,0.000,0.067,2192,2648,3500
$GC,590,-1.10,-146.6,65.9,-10.0,26,593,0.00,2.22,0.00,0.000,4,0.000,0.094,2192,3792,3500
$GC,662,-1.10,-146.6,74.3,-11.7,29,666,0.00,2.08,0.00,0.000,6,0.000,0.052,2192,2642,3500
$GC,985,-1.10,-146.6,97.9,-6.4,45,989,0.00,2.22,0.00,0.000,4,0.000,0.088,2192,3784,3500
$GC,1026,-1.10,-146.6,100.9,-6.9,47,1030,0.00,2.05,0.00,0.000,6,0.000,0.051,2192,2644,3500
$GC,1359,-1.10,-146.6,127.0,-8.6,63,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2644,3500
$GC,1667,-1.10,-146.6,151.7,-7.7,78,1671,0.00,2.22,0.00,0.000,4,0.000,0.087,2192,3790,3500
$GC,1737,-1.10,-146.6,156.7,-7.3,81,1740,0.00,2.05,0.00,0.000,6,0.000,0.051,2192,2647,3500
$GC,2069,-1.10,-146.6,181.6,-8.8,97,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2647,3500
$GC,2378,-1.10,-146.6,202.4,-6.7,112,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2647,3500
$GC,2688,-1.10,-146.6,224.5,-6.6,127,2693,0.00,2.22,0.00,0.000,4,0.000,0.089,2192,3792,3500
$GC,2738,-1.10,-146.6,228.7,-8.9,129,2741,0.00,2.05,0.00,0.000,6,0.000,0.052,2192,2650,3500
$GC,3065,-1.10,-146.6,257.4,-8.1,145,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2650,3500
$GC,3374,-1.10,-146.6,283.3,-8.8,160,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2650,3500
$GC,3683,-1.10,-146.6,309.5,-8.2,175,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2650,3500
$GC,3992,-1.10,-146.6,332.2,-7.1,190,3996,0.00,2.17,0.00,0.000,4,0.000,0.087,2192,3783,3500
$GC,4031,-1.10,-146.6,335.2,-7.9,191,4037,0.00,2.03,0.00,0.000,6,0.000,0.051,2192,2650,3500
$GC,4347,-1.10,-146.6,357.6,-7.2,207,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3500
$GC,4656,-1.10,-146.6,380.0,-7.4,222,4660,0.00,2.17,0.00,0.000,4,0.000,0.086,2192,3783,3500
$GC,4696,-1.10,-146.6,383.1,-7.4,223,4701,0.00,2.05,0.00,0.000,6,0.000,0.052,2192,2639,3500
$GC,5011,-1.10,-146.6,408.3,-8.5,239,5012,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2639,3500
$GC,5321,-1.10,-146.6,436.8,-9.5,254,5324,0.00,2.20,0.00,0.000,4,0.000,0.085,2192,3785,3500
$GC,5367,-1.10,-146.6,441.4,-10.0,256,5371,0.00,2.05,0.00,0.000,6,0.000,0.052,2192,2639,3500
$GC,5700,-1.10,-146.6,472.6,-9.1,272,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2639,3500
$GC,6009,-1.10,-146.6,498.7,-7.8,287,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2639,3500
$GC,6318,-1.10,-146.6,522.8,-7.7,302,6322,0.00,2.20,0.00,0.000,4,0.000,0.085,2192,3783,3500
$GC,6391,-1.10,-146.6,529.1,-9.0,305,6395,0.00,2.05,0.00,0.000,6,0.000,0.052,2192,2638,3500
$GC,6718,-1.10,-146.6,557.0,-8.5,321,6722,0.00,2.20,0.00,0.000,4,0.000,0.085,2192,3785,3500
$GC,6758,-1.10,-146.6,560.7,-9.5,322,6764,0.00,2.03,0.00,0.000,6,0.000,0.051,2192,2652,3500
$GC,7073,-1.10,-146.6,588.1,-8.7,338,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2652,3500
$GC,7383,-1.10,-146.6,612.8,-7.3,353,7386,0.00,2.17,0.00,0.000,4,0.000,0.084,2192,3787,3500
$GC,7444,-1.10,-146.6,617.1,-6.9,355,7451,0.00,2.03,0.00,0.000,6,0.000,0.051,2192,2640,3500
$GC,7760,-1.10,-146.6,637.7,-7.1,371,7764,0.00,2.20,0.00,0.000,4,0.000,0.084,2192,3789,3500
$GC,7816,-1.10,-146.6,642.1,-7.6,373,7820,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2649,3500
$GC,8138,-1.10,-146.6,664.6,-6.2,389,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2649,3500
$GC,8447,-1.10,-146.6,689.2,-7.4,404,8451,0.00,2.17,0.00,0.000,4,0.000,0.086,2192,3783,3500
$GC,8548,-1.10,-146.6,696.3,-6.1,408,8551,0.00,2.03,0.00,0.000,6,0.000,0.051,2192,2649,3500
$GC,8870,-1.10,-146.6,713.8,-4.9,424,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2649,3500
$GC,9178,-1.10,-146.6,736.2,-8.8,439,9182,0.00,2.17,0.00,0.000,4,0.000,0.084,2192,3783,3500
$GC,9224,-1.10,-146.6,740.4,-9.2,441,9228,0.00,2.03,0.00,0.000,6,0.000,0.053,2192,2648,3500
$GC,9558,-1.10,-146.6,763.4,-5.9,457,9562,0.00,2.60,0.00,0.000,4,0.000,0.071,2192,1229,3500
$GC,9625,-1.10,-146.6,767.1,-4.7,460,9629,0.00,2.62,0.00,0.000,6,0.000,0.064,2192,2655,3499
$GC,9947,-1.10,-146.6,781.5,-5.0,476,9951,0.00,2.62,0.00,0.000,4,0.000,0.069,2192,1236,3499
$GC,9991,-1.10,-146.6,784.4,-6.6,478,9995,0.00,2.62,0.00,0.000,6,0.000,0.064,2193,2659,3499
$STATE,10041,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10041,begin apogee
$GC,10050,-0.42,0.0,788.5,7.9,481,10178,0.77,0.00,124.47,1.179,6,0.096,0.000,2347,1796,2902
$STATE,10178,end apogee,CONTROL_FINISHED_OK
$STATE,10179,begin climb
$GC,10182,1.10,146.6,793.2,0.0,487,10314,1.55,2.75,123.35,1.138,4,0.055,0.062,2680,3217,2304
$GC,10461,1.19,216.5,787.9,4.1,500,10527,0.00,2.60,59.90,1.127,6,0.000,0.049,2680,1785,2019
$GC,10855,1.29,294.9,771.4,3.8,519,10929,0.17,2.67,66.85,1.140,4,0.037,0.071,2733,393,1699
$GC,11052,1.29,294.9,753.4,9.8,528,11057,0.00,2.55,0.00,0.000,6,0.000,0.041,2733,1823,1699
$GC,11373,1.29,294.9,724.3,8.5,544,11377,0.00,2.55,0.00,0.000,4,0.000,0.065,2733,3204,1698
$GC,11441,1.29,294.9,717.3,11.3,547,11445,0.00,2.58,0.00,0.000,6,0.000,0.053,2733,1795,1698
$GC,11767,1.29,294.9,686.8,9.6,563,11772,0.00,2.62,0.00,0.000,4,0.000,0.061,2733,3210,1697
$GC,11903,1.29,294.9,671.0,13.3,569,11908,0.00,2.58,0.00,0.000,6,0.000,0.050,2733,1790,1697
$GC,12224,1.29,294.9,639.3,7.9,585,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1790,1697
$GC,12533,1.29,294.9,612.5,9.2,600,12538,0.00,2.60,0.00,0.000,4,0.000,0.058,2733,3209,1697
$GC,12641,1.29,294.9,603.0,8.2,605,12645,0.00,2.53,0.00,0.000,6,0.000,0.047,2733,1798,1697
$GC,12968,1.29,294.9,576.5,7.5,621,12972,0.00,2.58,0.00,0.000,4,0.000,0.057,2733,3206,1697
$GC,13017,1.29,294.9,572.8,7.7,623,13022,0.00,2.53,0.00,0.000,6,0.000,0.046,2733,1798,1697
$GC,13333,1.29,294.9,551.5,6.8,638,13338,0.00,2.55,0.00,0.000,4,0.000,0.056,2733,3206,1697
$GC,13390,1.29,294.9,547.5,6.8,640,13396,0.00,2.50,0.00,0.000,6,0.000,0.046,2733,1800,1697
$GC,13706,1.29,294.9,523.1,8.5,656,13710,0.00,2.58,0.00,0.000,4,0.000,0.057,2733,3216,1697
$GC,13773,1.29,294.9,517.5,8.1,659,13777,0.00,2.55,0.00,0.000,6,0.000,0.047,2733,1790,1697
$GC,14094,1.29,294.9,489.6,9.0,675,14098,0.00,2.58,0.00,0.000,4,0.000,0.057,2733,3205,1697
$GC,14156,1.29,294.9,484.0,9.1,678,14160,0.00,2.53,0.00,0.000,6,0.000,0.047,2733,1793,1698
$GC,14483,1.29,294.9,455.7,8.3,694,14487,0.00,2.58,0.00,0.000,4,0.000,0.058,2733,3206,1698
$GC,14527,1.29,294.9,451.9,7.9,696,14531,0.00,2.50,0.00,0.000,6,0.000,0.047,2733,1800,1698
$GC,14854,1.29,294.9,429.2,7.0,712,14858,0.00,2.58,0.00,0.000,4,0.000,0.060,2733,3207,1698
$GC,14898,1.29,294.9,425.9,7.3,714,14902,0.00,2.53,0.00,0.000,6,0.000,0.048,2733,1800,1698
$GC,15219,1.29,294.9,398.3,9.6,730,15223,0.00,2.58,0.00,0.000,4,0.000,0.059,2733,3206,1699
$GC,15263,1.29,294.9,394.2,8.1,732,15267,0.00,2.55,0.00,0.000,6,0.000,0.049,2733,1791,1699
$GC,15584,1.29,294.9,362.7,9.5,748,15588,0.00,2.58,0.00,0.000,4,0.000,0.060,2733,3204,1700
$GC,15623,1.29,294.9,358.8,9.0,749,15629,0.00,2.53,0.00,0.000,6,0.000,0.049,2733,1799,1699
$GC,15938,1.29,294.9,327.4,9.6,765,15943,0.00,2.58,0.00,0.000,4,0.000,0.061,2733,3205,1700
$GC,15989,1.29,294.9,322.3,10.8,767,15993,0.00,2.55,0.00,0.000,6,0.000,0.051,2733,1790,1700
$GC,16305,1.29,294.9,289.4,10.5,782,16309,0.00,2.58,0.00,0.000,4,0.000,0.061,2733,3204,1700
$GC,16360,1.29,294.9,283.3,10.6,784,16365,0.00,2.55,0.00,0.000,6,0.000,0.051,2733,1790,1700
$GC,16676,1.29,294.9,251.7,10.0,799,16681,0.00,2.60,0.00,0.000,4,0.000,0.061,2733,3205,1700
$GC,16739,1.29,294.9,245.5,9.5,802,16743,0.00,2.55,0.00,0.000,6,0.000,0.051,2733,1792,1700
$GC,17065,1.29,294.9,218.3,6.4,818,17070,0.00,2.60,0.00,0.000,4,0.000,0.063,2733,3204,1700
$GC,17121,1.29,294.9,214.4,6.8,820,17128,0.00,2.50,0.00,0.000,6,0.000,0.048,2733,1798,1700
$GC,17438,1.29,294.9,186.6,8.4,836,17442,0.00,2.60,0.00,0.000,4,0.000,0.065,2733,3204,1700
$GC,17471,1.29,294.9,184.3,6.5,837,17477,0.00,2.53,0.00,0.000,6,0.000,0.051,2733,1801,1700
$GC,17786,1.29,294.9,161.6,6.6,853,17791,0.00,2.60,0.00,0.000,4,0.000,0.064,2733,3210,1700
$GC,17820,1.29,294.9,159.1,7.1,854,17826,0.00,2.55,0.00,0.000,6,0.000,0.054,2733,1801,1700
$GC,18136,1.29,294.9,138.1,8.5,870,18141,0.00,2.60,0.00,0.000,4,0.000,0.064,2733,3207,1701
$GC,18177,1.29,294.9,134.2,9.5,872,18181,0.00,2.55,0.00,0.000,6,0.000,0.052,2733,1796,1701
$GC,18504,1.30,306.7,109.6,5.7,888,18525,0.00,2.65,11.57,0.690,4,0.000,0.065,2733,3204,1650
$GC,18565,1.30,306.7,105.2,7.0,890,18571,0.00,2.58,0.00,0.000,6,0.000,0.053,2733,1791,1650
$GC,18881,1.30,306.7,77.3,9.2,906,18882,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1791,1650
$GC,19190,1.30,306.7,50.3,9.5,921,19195,0.00,2.62,0.00,0.000,4,0.000,0.068,2733,3204,1651
$GC,19240,1.30,306.7,44.4,12.1,923,19245,0.00,2.55,0.00,0.000,6,0.000,0.054,2733,1797,1650
$GC,19557,1.30,306.7,9.7,10.4,938,19561,0.00,2.65,0.00,0.000,4,0.000,0.071,2733,3215,1651
$GC,19601,1.30,306.7,5.5,9.6,940,19605,0.00,2.62,0.00,0.000,6,0.000,0.065,2733,1798,1651
$STATE,19651,end climb,SURFACE_DEPTH_REACHED
$STATE,19651,begin surface coast
$FINISH,0.2,1.002391
$STATE,19673,end surface coast,CONTROL_FINISHED_OK
$STATE,19673,begin surface
$SM_CCo,19758,0.00,0.000,0,0,1650,307.12
$SM_GC,1.08,11.77,0.00,0.00,0.029,0.000,0.000,52,2652,1650,-10.93,0.06,307.12
$IRIDIUM_FIX,6126.23,-922.50,280598,090939
$TT8_MAMPS,0.028379
$HUMID,1755
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.5,71.7
$24V_AH,23.4,16.850
$10V_AH,10.1,7.925
$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,26.400,192.575,386.150,0.000,0.000,139.999,145.177,456.156,6.250,0.000,0.000,15.054,1748.349,15318.265,513.483,2186.382,1117.771,33.364,1633.749,0.000,2137.839,0.000,46.625,0.000
$DEVICE_MAMPS,159.536,94.341,1178.879,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,665.587,691.808,538.701,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47484,944
$CAP_FILE_SIZE,155161,0
$CFSIZE,260165632,254820352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030309,142957,6148.902,-933.520,28,2.2,47,-9.6