version: 66.04
glider: 103
mission: 11
dive: 58
start: 3 5 109 9 53 15
data:
$ID,103
$MISSION,11
$DIVE,58
$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,-144106.17
$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,18
$R_STBD_OVSHOOT,12
$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
$GPS1,094445,6200.088,-936.345,72,2.1,91,-9.7
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-50.8
$GPS2,095222,6200.056,-936.367,13,2.6,32,-9.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.214,0.042
$KALMAN_X,52461.2,-1469.0,-908.9,-56324.4,22596.1
$KALMAN_Y,-95494.5,1005.5,265.3,184615.4,-13032.5
$MHEAD_RNG_PITCHd_Wd,290.8,14953,-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,-41.40,0.000,2,0.000,0.000,51,2652,3059
$GC,62,-1.10,-146.6,3.3,-10.6,2,88,12.12,2.28,-7.62,0.000,4,0.159,0.109,2195,3786,3503
$GC,341,-1.10,-146.6,37.5,-10.4,14,344,0.00,2.08,0.00,0.000,6,0.000,0.055,2195,2646,3503
$GC,662,-1.10,-146.6,60.1,-6.7,30,666,0.00,2.22,0.00,0.000,4,0.000,0.090,2195,3785,3503
$GC,850,-1.10,-146.6,71.0,-5.4,38,854,0.00,2.08,0.00,0.000,6,0.000,0.054,2195,2641,3503
$GC,1174,-1.10,-146.6,89.0,-5.9,54,1178,0.00,2.22,0.00,0.000,4,0.000,0.089,2195,3785,3503
$GC,1237,-1.10,-146.6,93.3,-6.2,57,1240,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2650,3502
$GC,1571,-1.10,-146.6,116.6,-10.5,73,1575,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3787,3502
$GC,1633,-1.10,-146.6,121.9,-8.4,75,1640,0.00,2.10,0.00,0.000,6,0.000,0.054,2195,2649,3502
$GC,1949,-1.10,-146.6,155.8,-9.0,91,1954,0.00,2.62,0.00,0.000,4,0.000,0.071,2194,1224,3502
$GC,1983,-1.10,-146.6,158.6,-8.1,92,1989,0.00,2.65,0.00,0.000,6,0.000,0.067,2195,2650,3502
$GC,2299,-1.10,-146.6,179.4,-5.6,108,2303,0.00,2.17,0.00,0.000,4,0.000,0.089,2195,3786,3502
$GC,2350,-1.10,-146.6,182.0,-5.2,110,2354,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2647,3502
$GC,2678,-1.10,-146.6,201.8,-6.4,126,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,2987,-1.10,-146.6,222.9,-7.3,141,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,3296,-1.10,-146.6,249.1,-8.1,156,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,3606,-1.10,-146.6,271.4,-7.3,171,3609,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3784,3502
$GC,3656,-1.10,-146.6,275.6,-8.5,173,3660,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2642,3502
$GC,3983,-1.10,-146.6,302.2,-8.3,189,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,4293,-1.10,-146.6,325.4,-7.2,204,4297,0.00,2.22,0.00,0.000,4,0.000,0.088,2195,3793,3502
$GC,4340,-1.10,-146.6,329.2,-8.4,206,4343,0.00,2.05,0.00,0.000,6,0.000,0.053,2195,2649,3502
$GC,4672,-1.10,-146.6,353.3,-7.3,222,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,4981,-1.10,-146.6,374.9,-7.0,237,4989,0.00,2.20,0.00,0.000,4,0.000,0.090,2195,3785,3501
$GC,5023,-1.10,-146.6,378.0,-7.2,238,5029,0.00,2.05,0.00,0.000,6,0.000,0.051,2195,2636,3501
$GC,5340,-1.10,-146.6,401.3,-7.5,254,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2636,3501
$GC,5649,-1.10,-146.6,425.5,-8.6,269,5653,0.00,2.20,0.00,0.000,4,0.000,0.084,2195,3786,3501
$GC,5688,-1.10,-146.6,428.9,-8.5,270,5695,0.00,2.03,0.00,0.000,6,0.000,0.051,2195,2647,3501
$GC,6007,-1.10,-146.6,451.4,-7.0,286,6011,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3785,3501
$GC,6053,-1.10,-146.6,455.0,-7.6,288,6056,0.00,2.03,0.00,0.000,6,0.000,0.051,2195,2648,3501
$GC,6386,-1.10,-146.6,479.3,-7.2,304,6387,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,6694,-1.10,-146.6,499.1,-6.3,319,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,7004,-1.10,-146.6,518.7,-6.4,334,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,7313,-1.10,-146.6,537.6,-6.1,349,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,7623,-1.10,-146.6,555.8,-5.8,364,7626,0.00,2.17,0.00,0.000,4,0.000,0.083,2195,3786,3501
$GC,7684,-1.10,-146.6,559.7,-6.4,366,7691,0.00,2.03,0.00,0.000,6,0.000,0.049,2195,2648,3500
$GC,8001,-1.10,-146.6,579.4,-6.3,382,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,8310,-1.10,-146.6,599.1,-6.7,397,8313,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3784,3500
$GC,8349,-1.10,-146.6,601.7,-6.8,398,8355,0.00,2.03,0.00,0.000,6,0.000,0.049,2194,2641,3501
$GC,8665,-1.10,-146.6,622.0,-6.8,414,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3500
$GC,8974,-1.10,-146.6,646.2,-8.1,429,8977,0.00,2.20,0.00,0.000,4,0.000,0.085,2195,3787,3500
$GC,9020,-1.10,-146.6,649.9,-8.4,431,9023,0.00,2.03,0.00,0.000,6,0.000,0.050,2195,2650,3500
$GC,9353,-1.10,-146.6,673.2,-6.9,447,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3500
$GC,9662,-1.10,-146.6,692.8,-6.4,462,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3500
$STATE,9721,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9721,begin apogee
$GC,9730,-0.42,0.0,696.7,6.4,465,9856,0.77,0.00,123.03,1.109,6,0.103,0.000,2347,1903,2902
$STATE,9857,end apogee,CONTROL_FINISHED_OK
$STATE,9857,begin climb
$GC,9860,1.10,146.6,702.2,0.0,471,9989,1.55,2.70,121.22,1.078,4,0.058,0.067,2679,485,2304
$GC,10140,1.13,170.6,697.2,5.3,484,10166,0.00,2.55,21.30,1.039,6,0.000,0.037,2679,1935,2206
$GC,10491,1.16,192.8,678.6,5.4,501,10513,0.00,0.00,20.20,1.042,6,0.000,0.000,2679,1935,2115
$GC,10822,1.17,205.0,659.1,5.7,517,10843,0.00,2.60,11.48,0.987,4,0.000,0.061,2679,3300,2066
$GC,10893,1.17,205.0,654.8,6.6,520,10898,0.00,2.55,0.00,0.000,6,0.000,0.047,2679,1888,2066
$GC,11215,1.18,213.1,635.9,5.8,536,11230,0.00,2.67,8.43,0.945,4,0.000,0.068,2679,493,2033
$GC,11253,1.18,213.1,633.5,6.0,537,11259,0.00,2.50,0.00,0.000,6,0.000,0.038,2678,1899,2033
$GC,11569,1.21,232.2,616.5,5.5,553,11592,0.12,2.67,17.25,1.031,4,0.046,0.058,2721,3308,1955
$GC,11721,1.21,232.2,605.2,8.1,559,11727,0.00,2.53,0.00,0.000,6,0.000,0.044,2721,1896,1955
$GC,12037,1.21,232.2,581.7,7.7,575,12041,0.00,2.58,0.00,0.000,4,0.000,0.062,2721,493,1955
$GC,12077,1.21,232.2,578.8,8.1,577,12081,0.00,2.47,0.00,0.000,6,0.000,0.036,2721,1905,1955
$GC,12404,1.21,232.2,556.6,6.4,593,12408,0.00,2.55,0.00,0.000,4,0.000,0.058,2721,3314,1955
$GC,12476,1.21,232.2,551.9,6.6,596,12480,0.00,2.53,0.00,0.000,6,0.000,0.044,2721,1891,1955
$GC,12792,1.21,232.2,530.5,7.3,611,12797,0.00,2.58,0.00,0.000,4,0.000,0.058,2721,3302,1954
$GC,12837,1.21,232.2,527.0,7.5,613,12841,0.00,2.50,0.00,0.000,6,0.000,0.044,2721,1896,1955
$GC,13158,1.21,232.2,503.2,7.4,629,13162,0.00,2.58,0.00,0.000,4,0.000,0.061,2721,485,1955
$GC,13191,1.21,232.2,500.6,7.2,630,13197,0.00,2.47,0.00,0.000,6,0.000,0.036,2721,1912,1955
$GC,13507,1.21,232.2,476.5,7.8,646,13511,0.00,2.53,0.00,0.000,4,0.000,0.059,2721,3309,1955
$GC,13552,1.21,232.2,472.8,9.0,648,13556,0.00,2.53,0.00,0.000,6,0.000,0.045,2721,1892,1955
$GC,13884,1.21,232.2,448.6,7.2,664,13888,0.00,2.58,0.00,0.000,4,0.000,0.058,2721,3302,1955
$GC,13924,1.21,232.2,445.6,7.5,666,13928,0.00,2.50,0.00,0.000,6,0.000,0.047,2721,1899,1955
$GC,14251,1.21,232.2,421.0,7.9,682,14252,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1899,1956
$GC,14560,1.21,232.2,397.2,7.6,697,14564,0.00,2.58,0.00,0.000,4,0.000,0.059,2721,3311,1956
$GC,14599,1.21,232.2,394.2,7.5,699,14604,0.00,2.53,0.00,0.000,6,0.000,0.047,2721,1893,1956
$GC,14926,1.21,232.2,370.0,7.4,715,14931,0.00,2.60,0.00,0.000,4,0.000,0.061,2721,3314,1956
$GC,14960,1.21,232.2,367.2,7.6,716,14966,0.00,2.53,0.00,0.000,6,0.000,0.046,2721,1896,1957
$GC,15275,1.21,232.2,344.6,7.2,732,15277,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1896,1957
$GC,15585,1.21,232.2,323.0,7.0,747,15589,0.00,2.58,0.00,0.000,4,0.000,0.062,2721,3303,1957
$GC,15624,1.21,232.2,320.1,7.4,749,15629,0.00,2.50,0.00,0.000,6,0.000,0.048,2721,1897,1957
$GC,15957,1.21,232.2,296.7,7.2,765,15958,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1897,1957
$GC,16267,1.21,232.2,275.7,6.3,780,16271,0.00,2.60,0.00,0.000,4,0.000,0.064,2721,3312,1957
$GC,16311,1.21,232.2,272.7,6.7,782,16315,0.00,2.53,0.00,0.000,6,0.000,0.051,2721,1898,1957
$GC,16632,1.21,232.2,252.2,6.7,798,16636,0.00,2.60,0.00,0.000,4,0.000,0.064,2721,3311,1957
$GC,16672,1.21,232.2,249.6,6.6,800,16676,0.00,2.55,0.00,0.000,6,0.000,0.051,2721,1890,1958
$GC,16999,1.28,293.8,231.6,4.3,816,17055,0.00,2.65,50.28,0.797,4,0.000,0.064,2721,481,1703
$GC,17078,1.28,293.8,227.0,7.6,819,17084,0.00,2.53,0.00,0.000,6,0.000,0.038,2721,1898,1704
$GC,17394,1.28,293.8,200.4,9.8,835,17398,0.00,2.60,0.00,0.000,4,0.000,0.065,2721,3314,1703
$GC,17433,1.28,293.8,196.6,10.3,837,17438,0.00,2.55,0.00,0.000,6,0.000,0.050,2721,1897,1703
$GC,17761,1.28,293.8,167.6,9.5,853,17762,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1897,1703
$GC,18071,1.30,304.6,140.4,5.7,868,18083,0.00,0.00,10.25,0.691,6,0.000,0.000,2721,1897,1660
$GC,18381,1.30,304.6,117.0,9.1,883,18385,0.00,2.62,0.00,0.000,4,0.000,0.064,2721,3316,1659
$GC,18414,1.30,304.6,113.8,8.5,884,18420,0.00,2.55,0.00,0.000,6,0.000,0.051,2721,1896,1660
$GC,18730,1.30,304.6,88.6,9.3,900,18735,0.00,2.62,0.00,0.000,4,0.000,0.066,2721,3312,1660
$GC,18752,1.30,304.6,86.3,10.2,901,18756,0.00,2.58,0.00,0.000,6,0.000,0.053,2721,1891,1660
$GC,19073,1.30,304.6,53.9,10.7,917,19078,0.00,2.58,0.00,0.000,4,0.000,0.067,2721,489,1660
$GC,19107,1.32,320.8,51.7,5.6,918,19127,0.00,2.50,14.23,0.670,6,0.000,0.043,2721,1907,1594
$GC,19444,1.32,320.8,24.4,7.9,935,19445,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1909,1594
$STATE,19668,end climb,SURFACE_DEPTH_REACHED
$STATE,19668,begin surface coast
$FINISH,0.3,1.020801
$STATE,19690,end surface coast,CONTROL_FINISHED_OK
$STATE,19690,begin surface
$SM_CCo,19775,0.00,0.000,0,0,1594,320.85
$SM_GC,1.25,11.73,0.00,0.00,0.028,0.000,0.000,47,2643,1594,-10.93,-0.20,320.85
$IRIDIUM_FIX,6139.81,-936.03,300598,040448
$TT8_MAMPS,0.028379
$HUMID,1768
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.4,80.3
$24V_AH,23.4,18.053
$10V_AH,10.1,8.712
$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,26.300,165.850,397.650,0.000,0.000,28.362,28.679,253.220,5.250,0.000,0.000,33.558,1725.060,15221.329,500.693,2120.364,662.068,33.355,1571.017,0.000,2058.041,0.000,36.731,0.000
$DEVICE_MAMPS,158.769,108.914,1109.082,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.893,692.218,559.064,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47416,947
$CAP_FILE_SIZE,140894,0
$CFSIZE,260165632,254246912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050309,152437,6200.518,-938.440,70,1.2,70,-9.7