version: 66.04
glider: 103
mission: 11
dive: 56
start: 3 4 109 23 25 24
data:
$ID,103
$MISSION,11
$DIVE,56
$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,-144041.2
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,16
$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
$GPS1,231836,6200.604,-936.604,39,1.7,50,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-58.0
$GPS2,232431,6200.568,-936.454,16,1.3,33,-9.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.198,0.092
$KALMAN_X,38669.1,53.4,921.7,-46027.0,13055.7
$KALMAN_Y,-89362.5,-449.0,-694.4,181874.7,-7455.4
$MHEAD_RNG_PITCHd_Wd,304.6,14329,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.55,0.000,2,0.000,0.000,43,2640,3396
$GC,82,-1.10,-146.6,4.3,-7.9,3,104,12.27,2.22,-1.73,0.000,4,0.163,0.097,2193,3775,3502
$GC,155,-1.10,-146.6,16.9,-6.6,6,159,0.00,2.08,0.00,0.000,6,0.000,0.063,2193,2654,3502
$GC,484,-1.10,-146.6,46.3,-11.0,22,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3502
$GC,792,-1.10,-146.6,67.2,-3.7,37,796,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3782,3502
$GC,876,-1.10,-146.6,72.3,-7.3,40,883,0.00,2.10,0.00,0.000,6,0.000,0.056,2193,2643,3502
$GC,1193,-1.10,-146.6,88.0,-4.7,56,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,1502,-1.10,-146.6,114.1,-12.0,71,1505,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3783,3502
$GC,1530,-1.10,-146.6,117.2,-10.9,72,1533,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2649,3502
$GC,1857,-1.10,-146.6,140.7,-6.0,88,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3502
$GC,2166,-1.10,-146.6,165.0,-6.6,103,2169,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3783,3501
$GC,2199,-1.10,-146.6,167.3,-6.6,104,2203,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2647,3502
$GC,2521,-1.10,-146.6,189.6,-7.4,120,2525,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3783,3501
$GC,2567,-1.10,-146.6,192.3,-5.3,122,2571,0.00,2.05,0.00,0.000,6,0.000,0.055,2193,2648,3502
$GC,2900,-1.10,-146.6,217.8,-7.4,138,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3502
$GC,3209,-1.10,-146.6,240.1,-6.6,153,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3501
$GC,3518,-1.10,-146.6,263.5,-6.9,168,3522,0.00,2.20,0.00,0.000,4,0.000,0.092,2193,3779,3502
$GC,3574,-1.10,-146.6,267.5,-6.4,170,3578,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2645,3501
$GC,3896,-1.10,-146.6,288.8,-6.8,186,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3502
$GC,4205,-1.10,-146.6,308.4,-6.5,201,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3501
$GC,4515,-1.10,-146.6,329.5,-7.1,216,4519,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3782,3502
$GC,4549,-1.10,-146.6,332.1,-6.8,217,4553,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2639,3502
$GC,4870,-1.10,-146.6,354.1,-7.1,233,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2639,3502
$GC,5180,-1.10,-146.6,377.5,-8.0,248,5184,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3786,3502
$GC,5225,-1.10,-146.6,381.1,-8.2,250,5229,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2641,3502
$GC,5558,-1.10,-146.6,405.7,-7.6,266,5562,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3786,3502
$GC,5604,-1.10,-146.6,409.5,-8.2,268,5608,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2641,3502
$GC,5937,-1.10,-146.6,436.7,-8.3,284,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3502
$GC,6246,-1.10,-146.6,460.8,-7.7,299,6249,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3779,3502
$GC,6292,-1.10,-146.6,464.5,-7.8,301,6296,0.00,2.00,0.00,0.000,6,0.000,0.049,2193,2646,3502
$GC,6624,-1.10,-146.6,492.1,-8.3,317,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,6933,-1.10,-146.6,518.3,-8.6,332,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,7243,-1.10,-146.6,543.9,-8.4,347,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,7552,-1.10,-146.6,567.9,-7.7,362,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,7862,-1.10,-146.6,589.2,-5.2,377,7865,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3780,3502
$GC,7985,-1.10,-146.6,595.4,-5.3,382,7989,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2647,3502
$GC,8307,-1.10,-146.6,614.9,-6.8,398,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,8616,-1.10,-146.6,636.1,-6.2,413,8620,0.00,2.17,0.00,0.000,4,0.000,0.087,2193,3779,3502
$GC,8723,-1.10,-146.6,643.0,-6.5,417,8729,0.00,2.03,0.00,0.000,6,0.000,0.052,2193,2646,3501
$GC,9039,-1.10,-146.6,664.4,-7.1,433,9043,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3786,3501
$GC,9078,-1.10,-146.6,667.1,-7.3,434,9084,0.00,2.05,0.00,0.000,6,0.000,0.051,2193,2635,3501
$STATE,9122,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9123,begin apogee
$GC,9132,-0.42,0.0,670.3,7.0,437,9258,0.77,0.00,123.10,1.091,6,0.099,0.000,2346,1904,2902
$STATE,9259,end apogee,CONTROL_FINISHED_OK
$STATE,9259,begin climb
$GC,9262,1.10,146.6,675.7,0.0,443,9391,1.55,2.70,121.03,1.058,4,0.055,0.064,2679,481,2304
$GC,9535,1.12,158.4,672.3,5.7,455,9551,0.00,2.50,11.57,0.951,6,0.000,0.036,2679,1922,2256
$GC,9867,1.12,158.4,652.6,6.6,472,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1922,2255
$GC,10177,1.12,158.4,632.4,6.1,487,10181,0.00,2.53,0.00,0.000,4,0.000,0.061,2679,3308,2254
$GC,10331,1.13,170.4,624.3,5.7,494,10352,0.00,2.53,11.40,0.978,6,0.000,0.047,2679,1894,2207
$GC,10662,1.13,171.9,605.2,6.0,510,10666,0.00,2.58,0.00,0.000,4,0.000,0.058,2679,3302,2206
$GC,10763,1.13,171.9,598.9,6.1,514,10770,0.00,2.53,0.00,0.000,6,0.000,0.046,2679,1889,2206
$GC,11079,1.13,171.9,580.2,6.1,530,11084,0.00,2.55,0.00,0.000,4,0.000,0.064,2679,493,2206
$GC,11181,1.17,199.6,574.5,5.2,534,11211,0.00,2.45,24.85,1.028,6,0.000,0.038,2679,1895,2088
$GC,11542,1.22,242.4,556.9,4.8,552,11585,0.12,2.62,36.47,1.025,4,0.044,0.060,2722,3306,1913
$GC,11647,1.22,242.4,549.8,7.3,556,11653,0.00,2.53,0.00,0.000,6,0.000,0.045,2722,1896,1913
$GC,11963,1.22,242.4,526.7,7.0,572,11967,0.00,2.58,0.00,0.000,4,0.000,0.061,2722,483,1913
$GC,12035,1.22,242.4,521.6,6.6,575,12039,0.00,2.47,0.00,0.000,6,0.000,0.036,2722,1900,1913
$GC,12351,1.23,251.9,502.1,5.7,590,12366,0.00,2.60,9.68,0.903,4,0.000,0.061,2722,3306,1874
$GC,12423,1.23,251.9,497.4,6.5,593,12427,0.00,2.53,0.00,0.000,6,0.000,0.045,2722,1893,1874
$GC,12744,1.23,251.9,475.7,7.0,609,12748,0.00,2.58,0.00,0.000,4,0.000,0.059,2722,3303,1874
$GC,12777,1.23,251.9,473.3,6.9,610,12783,0.00,2.50,0.00,0.000,6,0.000,0.045,2722,1889,1874
$GC,13093,1.23,251.9,449.9,7.6,626,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1889,1874
$GC,13402,1.23,251.9,426.1,7.6,641,13406,0.00,2.60,0.00,0.000,4,0.000,0.062,2722,3311,1874
$GC,13474,1.23,251.9,420.8,6.9,644,13479,0.00,2.53,0.00,0.000,6,0.000,0.047,2722,1894,1874
$GC,13796,1.23,251.9,399.6,6.7,660,13800,0.00,2.55,0.00,0.000,4,0.000,0.060,2722,485,1874
$GC,13841,1.23,251.9,396.4,7.1,662,13846,0.00,2.47,0.00,0.000,6,0.000,0.036,2722,1905,1875
$GC,14169,1.23,251.9,375.3,6.5,678,14173,0.00,2.55,0.00,0.000,4,0.000,0.062,2722,3312,1875
$GC,14241,1.23,251.9,370.1,7.0,681,14245,0.00,2.53,0.00,0.000,6,0.000,0.047,2722,1894,1875
$GC,14557,1.23,251.9,346.8,7.6,696,14558,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1894,1875
$GC,14866,1.23,251.9,323.4,7.3,711,14871,0.00,2.60,0.00,0.000,4,0.000,0.062,2722,3312,1876
$GC,14922,1.23,251.9,319.0,7.4,713,14928,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,1898,1876
$GC,15238,1.23,251.9,295.1,7.9,729,15239,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1898,1876
$GC,15547,1.23,251.9,267.8,9.1,744,15551,0.00,2.60,0.00,0.000,4,0.000,0.063,2722,3315,1876
$GC,15597,1.23,251.9,263.5,8.3,746,15601,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,1896,1876
$GC,15918,1.23,251.9,239.2,7.5,762,15923,0.00,2.60,0.00,0.000,4,0.000,0.064,2722,3312,1876
$GC,15942,1.23,251.9,237.3,8.4,763,15946,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,1896,1876
$GC,16263,1.23,251.9,210.2,8.0,779,16267,0.00,2.60,0.00,0.000,4,0.000,0.065,2722,3308,1877
$GC,16290,1.23,251.9,207.8,8.3,780,16294,0.00,2.53,0.00,0.000,6,0.000,0.049,2722,1896,1876
$GC,16606,1.23,251.9,182.9,7.3,795,16610,0.00,2.60,0.00,0.000,4,0.000,0.064,2722,3309,1877
$GC,16639,1.23,251.9,180.0,8.4,796,16645,0.00,2.53,0.00,0.000,6,0.000,0.050,2722,1896,1877
$GC,16954,1.23,251.9,154.9,7.4,812,16956,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1895,1877
$GC,17264,1.23,251.9,128.5,9.4,827,17266,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1896,1877
$GC,17573,1.23,251.9,98.1,10.5,842,17578,0.00,2.60,0.00,0.000,4,0.000,0.064,2722,3309,1877
$GC,17613,1.23,251.9,93.9,10.0,844,17618,0.00,2.53,0.00,0.000,6,0.000,0.051,2722,1898,1877
$GC,17941,1.23,251.9,63.4,8.9,860,17942,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1898,1877
$GC,18250,1.23,251.9,37.2,7.9,875,18254,0.00,2.60,0.00,0.000,4,0.000,0.066,2722,3311,1877
$GC,18300,1.23,251.9,33.2,7.6,877,18304,0.00,2.55,0.00,0.000,6,0.000,0.052,2722,1892,1877
$GC,18616,1.23,251.9,9.4,7.5,892,18617,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1892,1878
$STATE,18716,end climb,SURFACE_DEPTH_REACHED
$STATE,18716,begin surface coast
$FINISH,0.4,1.027433
$STATE,18738,end surface coast,CONTROL_FINISHED_OK
$STATE,18738,begin surface
$SM_CCo,18823,0.00,0.000,0,0,1877,251.43
$SM_GC,1.34,11.75,0.00,0.00,0.031,0.000,0.000,51,2645,1877,-10.93,-0.14,251.43
$IRIDIUM_FIX,6139.81,-936.03,290598,181838
$TT8_MAMPS,0.028379
$HUMID,1766
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,600.5,79.8
$24V_AH,23.4,17.800
$10V_AH,10.1,8.535
$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,26.475,149.900,338.100,0.000,0.000,25.713,35.702,145.507,5.000,0.000,0.000,33.626,1638.473,14533.615,453.406,2006.008,544.157,33.356,1456.109,0.000,1948.519,0.000,35.097,0.000
$DEVICE_MAMPS,162.604,97.409,1091.441,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,626.963,661.920,547.181,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44300,898
$CAP_FILE_SIZE,130384,0
$CFSIZE,260165632,254394368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050309,044055,6201.354,-935.356,71,1.0,71,-9.7