version: 66.04
glider: 103
mission: 11
dive: 34
start: 2 28 109 8 34 55
data:
$ID,103
$MISSION,11
$DIVE,34
$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,-143630.22
$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,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,23
$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
$GPS1,082827,6143.875,-910.395,33,2.1,52,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-58.9
$GPS2,083401,6143.920,-910.260,14,1.9,14,-9.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.117,0.184
$KALMAN_X,-22505.0,106.0,552.2,38832.0,-5928.0
$KALMAN_Y,-58594.2,495.4,812.1,117799.9,-7520.8
$MHEAD_RNG_PITCHd_Wd,337.0,52072,-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,-146.6,0.0,0.0,0,74,0.00,0.00,-56.25,0.000,2,0.000,0.000,51,2733,3318
$GC,77,-1.10,-146.6,4.2,-6.2,3,100,12.12,2.58,-2.88,0.000,4,0.160,0.075,2193,1339,3501
$GC,239,-1.10,-146.6,26.0,-8.7,10,244,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2745,3501
$GC,567,-1.10,-146.6,53.5,-7.2,26,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2746,3501
$GC,875,-1.10,-146.6,76.6,-7.2,41,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2746,3501
$GC,1185,-1.10,-146.6,98.5,-7.3,56,1189,0.00,2.60,0.00,0.000,4,0.000,0.066,2193,1341,3501
$GC,1217,-1.10,-146.6,101.0,-7.3,57,1224,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2753,3501
$GC,1535,-1.10,-146.6,124.2,-7.3,73,1539,0.00,2.60,0.00,0.000,4,0.000,0.066,2193,1351,3501
$GC,1562,-1.10,-146.6,126.3,-6.8,74,1567,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2755,3501
$GC,1879,-1.10,-146.6,147.6,-7.2,89,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2756,3501
$GC,2188,-1.10,-146.6,171.1,-7.8,104,2192,0.00,2.60,0.00,0.000,4,0.000,0.065,2193,1347,3501
$GC,2232,-1.10,-146.6,174.7,-8.1,106,2237,0.00,2.58,0.00,0.000,6,0.000,0.059,2193,2750,3501
$GC,2558,-1.10,-146.6,199.0,-7.1,122,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2750,3501
$GC,2868,-1.10,-146.6,221.3,-7.1,137,2872,0.00,2.60,0.00,0.000,4,0.000,0.065,2193,1337,3501
$GC,2919,-1.10,-146.6,225.1,-7.3,139,2923,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2757,3501
$GC,3234,-1.10,-146.6,246.6,-6.6,154,3236,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2757,3501
$GC,3544,-1.10,-146.6,267.7,-6.9,169,3548,0.00,2.60,0.00,0.000,4,0.000,0.064,2193,1344,3501
$GC,3616,-1.10,-146.6,272.9,-6.9,172,3620,0.00,2.58,0.00,0.000,6,0.000,0.057,2193,2757,3501
$GC,3932,-1.10,-146.6,293.4,-6.0,187,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2757,3501
$GC,4241,-1.10,-146.6,312.3,-5.9,202,4246,0.00,2.60,0.00,0.000,4,0.000,0.063,2193,1340,3501
$GC,4298,-1.10,-146.6,315.9,-5.9,204,4304,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2750,3501
$GC,4613,-1.10,-146.6,336.7,-7.2,220,4615,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2750,3501
$GC,4923,-1.10,-146.6,357.3,-6.2,235,4927,0.00,2.58,0.00,0.000,4,0.000,0.064,2193,1345,3501
$GC,4967,-1.10,-146.6,360.1,-6.2,237,4971,0.00,2.58,0.00,0.000,6,0.000,0.055,2193,2765,3501
$GC,5288,-1.10,-146.6,378.9,-6.1,253,5292,0.00,2.60,0.00,0.000,4,0.000,0.062,2193,1343,3501
$GC,5321,-1.10,-146.6,381.1,-6.2,254,5327,0.00,2.55,0.00,0.000,6,0.000,0.055,2193,2747,3501
$GC,5637,-1.10,-146.6,398.6,-5.0,270,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2747,3501
$GC,5946,-1.10,-146.6,417.3,-7.0,285,5950,0.00,2.58,0.00,0.000,4,0.000,0.063,2193,1340,3501
$GC,6018,-1.10,-146.6,422.0,-7.1,288,6022,0.00,2.58,0.00,0.000,6,0.000,0.056,2193,2761,3501
$GC,6334,-1.10,-146.6,443.7,-7.5,303,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2761,3501
$GC,6643,-1.10,-146.6,462.3,-6.2,318,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2761,3501
$GC,6952,-1.10,-146.6,483.4,-5.9,333,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2761,3500
$GC,7261,-1.10,-146.6,503.3,-6.4,348,7266,0.00,2.58,0.00,0.000,4,0.000,0.059,2193,1345,3500
$GC,7317,-1.10,-146.6,507.3,-7.4,350,7324,0.00,2.53,0.00,0.000,6,0.000,0.054,2193,2751,3500
$GC,7633,-1.10,-146.6,531.4,-7.4,366,7638,0.00,2.58,0.00,0.000,4,0.000,0.061,2193,1339,3501
$GC,7678,-1.10,-146.6,534.9,-8.0,368,7682,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2750,3501
$GC,7999,-1.10,-146.6,560.6,-7.5,384,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2751,3501
$GC,8308,-1.10,-146.6,586.5,-10.0,399,8313,0.00,2.58,0.00,0.000,4,0.000,0.060,2193,1334,3501
$GC,8398,-1.10,-146.6,596.0,-10.3,403,8402,0.00,2.58,0.00,0.000,6,0.000,0.054,2193,2753,3501
$GC,8719,-1.10,-146.6,627.5,-3.5,419,8723,0.00,2.58,0.00,0.000,4,0.000,0.062,2193,1342,3501
$GC,8781,-1.10,-146.6,630.6,-6.7,422,8785,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2753,3501
$GC,9107,-1.10,-146.6,647.1,-8.4,438,9112,0.00,2.58,0.00,0.000,4,0.000,0.060,2193,1337,3501
$GC,9215,-1.10,-146.6,654.2,-8.2,443,9219,0.00,2.58,0.00,0.000,6,0.000,0.058,2193,2750,3501
$GC,9542,-1.10,-146.6,683.6,-11.1,459,9546,0.00,2.60,0.00,0.000,4,0.000,0.067,2193,1340,3500
$GC,9604,-1.10,-146.6,687.6,-5.3,462,9609,0.00,2.58,0.00,0.000,6,0.000,0.061,2193,2751,3500
$STATE,9723,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9723,begin apogee
$GC,9732,-0.42,0.0,702.1,15.4,468,9859,0.75,0.00,123.60,1.187,6,0.078,0.000,2348,1709,2902
$STATE,9860,end apogee,CONTROL_FINISHED_OK
$STATE,9860,begin climb
$GC,9863,1.10,146.6,707.7,0.0,474,9995,1.55,2.80,122.03,1.132,4,0.057,0.074,2680,291,2304
$GC,10250,1.14,174.7,694.1,5.2,491,10281,0.00,2.53,24.90,1.124,6,0.000,0.038,2680,1725,2189
$GC,10611,1.14,174.7,667.3,8.5,509,10615,0.00,2.53,0.00,0.000,4,0.000,0.064,2680,3094,2187
$GC,10781,1.24,257.3,659.1,3.7,516,10857,0.12,2.60,68.68,1.175,6,0.049,0.060,2719,1691,1852
$GC,11180,1.24,257.3,634.2,6.3,536,11184,0.00,2.65,0.00,0.000,4,0.000,0.077,2719,290,1851
$GC,11242,1.24,257.3,628.1,9.7,539,11246,0.00,2.47,0.00,0.000,6,0.000,0.040,2719,1701,1851
$GC,11574,1.24,257.3,599.0,11.4,555,11575,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1705,1850
$GC,11884,1.24,257.3,572.1,7.2,570,11888,0.00,2.65,0.00,0.000,4,0.000,0.067,2719,289,1850
$GC,11933,1.24,257.3,568.2,7.1,572,11937,0.00,2.47,0.00,0.000,6,0.000,0.036,2719,1704,1850
$GC,12255,1.24,257.3,542.5,8.5,588,12259,0.00,2.53,0.00,0.000,4,0.000,0.057,2719,3103,1850
$GC,12366,1.24,257.3,532.9,8.1,593,12371,0.00,2.55,0.00,0.000,6,0.000,0.052,2719,1696,1849
$GC,12688,1.24,257.3,508.3,7.7,609,12692,0.00,2.55,0.00,0.000,4,0.000,0.053,2719,3106,1850
$GC,12788,1.24,257.3,500.7,7.7,613,12794,0.00,2.53,0.00,0.000,6,0.000,0.048,2719,1700,1850
$GC,13104,1.24,257.3,476.2,8.1,629,13108,0.00,2.55,0.00,0.000,4,0.000,0.054,2719,3111,1850
$GC,13166,1.24,257.3,471.0,8.5,632,13170,0.00,2.55,0.00,0.000,6,0.000,0.049,2719,1692,1850
$GC,13492,1.24,257.3,446.3,7.6,648,13497,0.00,2.58,0.00,0.000,4,0.000,0.054,2719,3112,1851
$GC,13582,1.24,257.3,439.4,7.4,652,13586,0.00,2.55,0.00,0.000,6,0.000,0.049,2719,1693,1851
$GC,13903,1.24,257.3,415.1,7.8,668,13907,0.00,2.55,0.00,0.000,4,0.000,0.055,2718,3104,1851
$GC,13998,1.24,257.3,407.1,8.5,672,14002,0.00,2.53,0.00,0.000,6,0.000,0.050,2719,1701,1852
$GC,14313,1.24,257.3,381.9,7.9,687,14318,0.00,2.55,0.00,0.000,4,0.000,0.056,2719,3110,1852
$GC,14399,1.24,257.3,374.6,8.3,691,14403,0.00,2.55,0.00,0.000,6,0.000,0.050,2719,1691,1853
$GC,14725,1.24,257.3,350.1,7.2,707,14730,0.00,2.58,0.00,0.000,4,0.000,0.056,2719,3108,1853
$GC,14826,1.24,257.3,342.8,7.0,711,14832,0.00,2.55,0.00,0.000,6,0.000,0.051,2719,1694,1853
$GC,15142,1.24,257.3,320.9,6.8,727,15147,0.00,2.58,0.00,0.000,4,0.000,0.058,2719,3110,1854
$GC,15232,1.24,257.3,314.8,6.7,731,15236,0.00,2.55,0.00,0.000,6,0.000,0.051,2719,1696,1854
$GC,15553,1.24,257.3,292.4,7.4,747,15557,0.00,2.58,0.00,0.000,4,0.000,0.059,2719,3107,1854
$GC,15653,1.24,257.3,284.1,8.6,751,15659,0.00,2.55,0.00,0.000,6,0.000,0.053,2719,1696,1854
$GC,15969,1.24,257.3,259.5,7.6,767,15973,0.00,2.58,0.00,0.000,4,0.000,0.058,2719,3110,1854
$GC,16064,1.24,257.3,252.6,7.3,771,16068,0.00,2.55,0.00,0.000,6,0.000,0.053,2719,1699,1855
$GC,16380,1.24,257.3,229.5,7.6,786,16384,0.00,2.58,0.00,0.000,4,0.000,0.060,2719,3111,1855
$GC,16503,1.24,257.3,220.0,8.5,791,16507,0.00,2.55,0.00,0.000,6,0.000,0.053,2719,1699,1855
$GC,16819,1.24,257.3,195.4,7.8,806,16824,0.00,2.58,0.00,0.000,4,0.000,0.058,2719,3111,1855
$GC,16904,1.24,257.3,188.7,7.6,810,16909,0.00,2.55,0.00,0.000,6,0.000,0.053,2719,1700,1855
$GC,17232,1.24,257.3,164.5,7.6,826,17237,0.00,2.55,0.00,0.000,4,0.000,0.060,2719,3100,1855
$GC,17328,1.24,257.3,156.9,8.1,830,17332,0.00,2.55,0.00,0.000,6,0.000,0.053,2719,1689,1855
$GC,17646,1.24,257.3,132.3,7.9,845,17650,0.00,2.58,0.00,0.000,4,0.000,0.060,2719,3101,1855
$GC,17735,1.24,257.3,125.0,8.2,849,17739,0.00,2.53,0.00,0.000,6,0.000,0.052,2719,1700,1855
$GC,18056,1.24,257.3,97.2,9.0,865,18060,0.00,2.55,0.00,0.000,4,0.000,0.060,2719,3100,1855
$GC,18151,1.24,257.3,89.2,6.4,869,18155,0.00,2.53,0.00,0.000,6,0.000,0.053,2719,1696,1855
$GC,18467,1.24,257.3,63.1,8.2,884,18471,0.00,2.58,0.00,0.000,4,0.000,0.061,2719,3102,1855
$GC,18539,1.24,257.3,57.6,6.8,887,18544,0.00,2.55,0.00,0.000,6,0.000,0.053,2719,1691,1855
$GC,18856,1.24,257.3,34.8,7.8,902,18860,0.00,2.60,0.00,0.000,4,0.000,0.062,2719,3109,1856
$GC,18941,1.24,257.3,28.2,7.4,906,18945,0.00,2.55,0.00,0.000,6,0.000,0.054,2719,1699,1855
$GC,19269,1.24,257.3,3.0,7.6,922,19273,0.00,2.60,0.00,0.000,4,0.000,0.067,2719,3109,1856
$STATE,19284,end climb,SURFACE_DEPTH_REACHED
$STATE,19284,begin surface coast
$FINISH,0.4,1.027449
$STATE,19295,end surface coast,CONTROL_FINISHED_OK
$STATE,19295,begin surface
$SM_CCo,19319,28.42,0.732,0,0,1679,300.00
$SM_GC,1.16,0.00,0.00,28.42,0.000,0.000,0.732,51,2740,1679,-10.99,-0.28,300.00
$IRIDIUM_FIX,6117.23,-910.61,250598,030355
$TT8_MAMPS,0.029913
$HUMID,1770
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.8,32.2
$24V_AH,23.3,14.861
$10V_AH,10.1,6.698
$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,26.325,195.400,339.200,28.425,0.000,29.503,28.568,145.909,6.000,0.000,0.000,14.120,1745.984,14607.505,501.157,2272.056,554.769,33.363,1640.866,0.000,2223.929,0.000,42.781,0.000
$DEVICE_MAMPS,160.303,76.700,1186.549,732.485,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,649.226,682.313,559.162,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47525,923
$CAP_FILE_SIZE,145493,0
$CFSIZE,260165632,255725568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280209,135837,6147.342,-909.731,34,1.2,34,-9.4