version: 66.04
glider: 103
mission: 11
dive: 67
start: 3 7 109 13 47 54
data:
$ID,103
$MISSION,11
$DIVE,67
$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,-144299.42
$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,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
$GPS1,134054,6206.071,-955.897,25,2.0,42,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-59.1
$GPS2,134701,6206.087,-955.851,32,2.0,43,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.192,0.104
$KALMAN_X,6102.7,350.1,5181.9,-21531.7,5071.8
$KALMAN_Y,-4258.5,-291.8,-1565.2,19601.5,-2810.1
$MHEAD_RNG_PITCHd_Wd,308.3,37578,-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,-146.6,0.0,0.0,0,71,0.00,0.00,-54.25,0.000,6,0.000,0.000,47,2661,3502
$GC,75,-1.10,-146.6,2.7,-6.1,2,97,12.15,2.70,0.00,0.000,4,0.159,0.067,2197,1235,3502
$GC,226,-1.10,-146.6,30.3,-11.5,8,232,0.00,2.65,0.00,0.000,6,0.000,0.071,2197,2652,3502
$GC,542,-1.10,-146.6,58.1,-9.4,24,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2652,3502
$GC,851,-1.10,-146.6,82.3,-7.4,39,855,0.00,2.20,0.00,0.000,4,0.000,0.094,2197,3786,3502
$GC,890,-1.10,-146.6,85.3,-7.8,40,897,0.00,2.10,0.00,0.000,6,0.000,0.056,2197,2650,3502
$GC,1207,-1.10,-146.6,108.6,-7.9,56,1210,0.00,2.20,0.00,0.000,4,0.000,0.090,2197,3783,3502
$GC,1253,-1.10,-146.6,112.1,-8.1,58,1257,0.00,2.05,0.00,0.000,6,0.000,0.054,2197,2649,3502
$GC,1586,-1.10,-146.6,138.8,-8.5,74,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3502
$GC,1895,-1.10,-146.6,163.1,-7.4,89,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3502
$GC,2204,-1.10,-146.6,185.2,-7.1,104,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3502
$GC,2513,-1.10,-146.6,209.9,-7.7,119,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3502
$GC,2823,-1.10,-146.6,232.1,-7.1,134,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3502
$GC,3132,-1.10,-146.6,255.1,-7.3,149,3135,0.00,2.20,0.00,0.000,4,0.000,0.086,2197,3790,3502
$GC,3188,-1.10,-146.6,259.3,-7.5,151,3192,0.00,2.08,0.00,0.000,6,0.000,0.054,2197,2642,3502
$GC,3509,-1.10,-146.6,281.5,-7.4,167,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2642,3502
$GC,3819,-1.10,-146.6,305.1,-8.1,182,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2641,3503
$GC,4128,-1.10,-146.6,327.8,-7.2,197,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2641,3503
$GC,4437,-1.10,-146.6,349.5,-6.7,212,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2641,3503
$GC,4746,-1.10,-146.6,370.7,-6.9,227,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2641,3502
$GC,5056,-1.10,-146.6,391.7,-6.9,242,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2640,3502
$GC,5365,-1.10,-146.6,413.0,-7.0,257,5368,0.00,2.20,0.00,0.000,4,0.000,0.086,2197,3786,3502
$GC,5415,-1.10,-146.6,417.0,-7.9,259,5419,0.00,2.05,0.00,0.000,6,0.000,0.054,2197,2648,3503
$GC,5742,-1.10,-146.6,441.8,-7.4,275,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2648,3502
$GC,6051,-1.10,-146.6,464.1,-7.3,290,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2648,3502
$GC,6361,-1.10,-146.6,486.2,-7.1,305,6365,0.00,2.17,0.00,0.000,4,0.000,0.083,2197,3784,3502
$GC,6402,-1.10,-146.6,489.3,-8.0,306,6407,0.00,2.05,0.00,0.000,6,0.000,0.054,2197,2644,3502
$GC,6717,-1.10,-146.6,514.5,-8.1,322,6718,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2644,3502
$GC,7027,-1.10,-146.6,538.5,-7.3,337,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2644,3502
$GC,7336,-1.10,-146.6,559.8,-6.6,352,7340,0.00,2.20,0.00,0.000,4,0.000,0.086,2197,3791,3502
$GC,7375,-1.10,-146.6,562.6,-7.7,353,7381,0.00,2.05,0.00,0.000,6,0.000,0.054,2197,2650,3502
$GC,7691,-1.10,-146.6,582.9,-6.6,369,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2650,3502
$GC,8000,-1.10,-146.6,601.9,-6.3,384,8001,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2650,3502
$GC,8309,-1.10,-146.6,622.6,-7.0,399,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2650,3502
$GC,8619,-1.10,-146.6,643.8,-7.2,414,8622,0.00,2.20,0.00,0.000,4,0.000,0.090,2197,3790,3502
$GC,8665,-1.10,-146.6,647.3,-7.3,416,8669,0.00,2.03,0.00,0.000,6,0.000,0.051,2197,2650,3502
$GC,8998,-1.10,-146.6,672.0,-7.6,432,9001,0.00,2.20,0.00,0.000,4,0.000,0.087,2197,3790,3502
$GC,9066,-1.10,-146.6,677.7,-8.5,435,9069,0.00,2.05,0.00,0.000,6,0.000,0.051,2197,2645,3502
$GC,9399,-1.10,-146.6,702.0,-6.9,451,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2646,3502
$GC,9708,-1.10,-146.6,722.7,-6.4,466,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2646,3502
$GC,10017,-1.10,-146.6,742.9,-6.6,481,10021,0.00,2.22,0.00,0.000,4,0.000,0.091,2197,3792,3501
$GC,10079,-1.10,-146.6,747.7,-8.0,483,10085,0.00,2.08,0.00,0.000,6,0.000,0.056,2197,2645,3501
$GC,10395,-1.10,-146.6,767.9,-6.6,499,10399,0.00,2.60,0.00,0.000,4,0.000,0.073,2197,1235,3500
$GC,10422,-1.10,-146.6,769.8,-6.8,500,10427,0.00,2.62,0.00,0.000,6,0.000,0.063,2197,2660,3500
$STATE,10529,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10529,begin apogee
$GC,10538,-0.42,0.0,777.4,6.5,505,10666,0.75,0.00,124.32,1.265,6,0.093,0.000,2347,1894,2902
$STATE,10666,end apogee,CONTROL_FINISHED_OK
$STATE,10667,begin climb
$GC,10670,1.10,146.6,783.2,0.0,511,10798,1.55,0.00,122.95,1.234,6,0.054,0.000,2680,1891,2304
$GC,11104,1.20,225.1,770.5,3.8,532,11173,0.00,0.00,67.22,1.218,6,0.000,0.000,2680,1891,1984
$GC,11475,1.21,230.8,748.8,5.8,550,11489,0.10,2.72,6.45,0.992,4,0.051,0.059,2715,3321,1961
$GC,11557,1.21,230.8,741.6,8.6,553,11563,0.00,2.60,0.00,0.000,6,0.000,0.051,2715,1896,1961
$GC,11873,1.21,230.8,718.5,7.3,569,11874,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1896,1960
$GC,12182,1.21,230.8,695.4,7.1,584,12186,0.00,2.65,0.00,0.000,4,0.000,0.064,2715,3319,1959
$GC,12244,1.21,230.8,690.8,7.1,587,12248,0.00,2.58,0.00,0.000,6,0.000,0.048,2715,1894,1959
$GC,12571,1.21,230.8,669.0,6.4,603,12575,0.00,2.62,0.00,0.000,4,0.000,0.061,2715,3317,1959
$GC,12716,1.21,230.8,658.8,6.9,609,12722,0.00,2.55,0.00,0.000,6,0.000,0.048,2715,1897,1959
$GC,13032,1.21,230.8,635.6,7.4,625,13036,0.00,2.62,0.00,0.000,4,0.000,0.061,2715,3328,1959
$GC,13109,1.21,230.8,629.8,7.4,628,13116,0.00,2.55,0.00,0.000,6,0.000,0.045,2715,1900,1959
$GC,13425,1.21,230.8,607.2,7.6,644,13426,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1900,1959
$GC,13735,1.21,230.8,584.3,7.4,659,13739,0.00,2.60,0.00,0.000,4,0.000,0.059,2715,3324,1959
$GC,13767,1.21,230.8,581.5,7.4,660,13774,0.00,2.53,0.00,0.000,6,0.000,0.045,2715,1898,1959
$GC,14084,1.21,230.8,557.8,7.6,676,14088,0.00,2.60,0.00,0.000,4,0.000,0.058,2715,3324,1959
$GC,14123,1.21,230.8,554.9,7.8,678,14128,0.00,2.53,0.00,0.000,6,0.000,0.044,2715,1899,1959
$GC,14450,1.21,230.8,530.5,7.3,694,14455,0.00,2.60,0.00,0.000,4,0.000,0.060,2715,3326,1959
$GC,14501,1.21,230.8,526.6,7.7,696,14505,0.00,2.55,0.00,0.000,6,0.000,0.046,2715,1894,1959
$GC,14817,1.21,230.8,502.1,7.9,711,14821,0.00,2.60,0.00,0.000,4,0.000,0.059,2715,3320,1960
$GC,14879,1.21,230.8,496.9,8.5,714,14883,0.00,2.53,0.00,0.000,6,0.000,0.047,2715,1899,1960
$GC,15211,1.21,230.8,470.7,7.8,730,15215,0.00,2.60,0.00,0.000,4,0.000,0.059,2715,3325,1960
$GC,15251,1.21,230.8,467.4,8.0,732,15255,0.00,2.55,0.00,0.000,6,0.000,0.047,2715,1896,1960
$GC,15577,1.21,230.8,441.6,7.9,748,15578,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1896,1961
$GC,15886,1.21,230.8,418.0,7.6,763,15891,0.00,2.60,0.00,0.000,4,0.000,0.061,2715,3317,1961
$GC,15950,1.21,230.8,412.9,7.8,766,15954,0.00,2.55,0.00,0.000,6,0.000,0.048,2715,1888,1961
$GC,16282,1.21,230.8,387.6,7.7,782,16283,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1888,1962
$GC,16592,1.21,230.8,363.4,7.7,797,16596,0.00,2.62,0.00,0.000,4,0.000,0.061,2715,3322,1962
$GC,16636,1.21,230.8,359.9,7.6,799,16640,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1901,1962
$GC,16957,1.21,230.8,337.0,7.2,815,16961,0.00,2.60,0.00,0.000,4,0.000,0.062,2715,3319,1962
$GC,17001,1.21,230.8,333.7,7.3,817,17005,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1900,1962
$GC,17322,1.21,230.8,311.0,7.1,833,17323,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1900,1963
$GC,17631,1.21,230.8,288.8,7.4,848,17635,0.00,2.60,0.00,0.000,4,0.000,0.063,2715,3324,1963
$GC,17703,1.21,230.8,283.3,6.3,851,17707,0.00,2.58,0.00,0.000,6,0.000,0.051,2715,1891,1963
$GC,18019,1.21,230.8,260.3,7.5,866,18024,0.00,2.62,0.00,0.000,4,0.000,0.064,2715,3327,1963
$GC,18059,1.21,230.8,257.2,8.2,868,18064,0.00,2.58,0.00,0.000,6,0.000,0.051,2715,1887,1963
$GC,18386,1.21,230.8,231.2,7.9,884,18391,0.00,2.62,0.00,0.000,4,0.000,0.064,2715,3315,1963
$GC,18431,1.21,230.8,227.2,10.3,886,18436,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1889,1963
$GC,18753,1.21,230.8,202.3,6.7,902,18757,0.00,2.62,0.00,0.000,4,0.000,0.064,2715,3318,1963
$GC,18792,1.21,230.8,199.6,7.7,904,18797,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1897,1964
$GC,19119,1.21,230.8,179.0,6.4,920,19121,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1897,1964
$GC,19429,1.21,230.8,155.8,7.3,935,19433,0.00,2.60,0.00,0.000,4,0.000,0.064,2715,3318,1964
$GC,19513,1.21,230.8,147.8,11.2,939,19517,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,1897,1964
$GC,19846,1.21,230.8,115.5,9.4,955,19847,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1897,1964
$GC,20156,1.21,230.8,86.9,8.5,970,20161,0.00,2.62,0.00,0.000,4,0.000,0.066,2715,3321,1964
$GC,20224,1.21,230.8,79.0,11.4,973,20228,0.00,2.58,0.00,0.000,6,0.000,0.057,2715,1901,1964
$GC,20545,1.22,242.4,56.1,5.7,989,20563,0.00,0.00,11.62,0.749,6,0.000,0.000,2715,1901,1913
$GC,20875,1.22,242.4,26.3,11.0,1005,20876,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1900,1913
$GC,21183,1.22,242.4,5.2,8.0,1020,21187,0.00,2.58,0.00,0.000,4,0.000,0.064,2715,489,1913
$GC,21193,1.22,242.4,3.6,11.3,1020,21200,0.00,2.50,0.00,0.000,6,0.000,0.041,2715,1914,1913
$STATE,21218,end climb,SURFACE_DEPTH_REACHED
$STATE,21218,begin surface coast
$FINISH,0.3,1.020438
$STATE,21240,end surface coast,CONTROL_FINISHED_OK
$STATE,21240,begin surface
$SM_CCo,21325,0.00,0.000,0,0,1911,242.85
$SM_GC,1.91,11.62,0.00,0.00,0.025,0.000,0.000,47,2652,1911,-10.93,0.06,242.85
$IRIDIUM_FIX,6139.81,-950.38,010698,080847
$TT8_MAMPS,0.028379
$HUMID,1765
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.7,86.2
$24V_AH,23.3,19.235
$10V_AH,10.1,9.538
$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,26.175,149.950,332.575,0.000,0.000,31.255,28.505,147.854,6.000,0.000,0.000,43.689,1818.554,16705.523,470.016,2130.482,562.353,33.344,1519.265,0.000,2066.340,0.000,41.593,0.000
$DEVICE_MAMPS,158.769,93.574,1264.783,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.248,762.308,572.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50674,1023
$CAP_FILE_SIZE,138860,0
$CFSIZE,260165632,253648896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070309,194455,6208.812,-959.254,59,1.9,59,-10.0