version: 66.04
glider: 103
mission: 11
dive: 98
start: 3 15 109 4 37 20
data:
$ID,103
$MISSION,11
$DIVE,98
$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,-144939.2
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,11
$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
$GPS1,043036,6231.882,-1104.893,43,1.5,47,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-59.4
$GPS2,043626,6231.839,-1105.015,15,1.8,15,-10.7
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.207,-0.070
$KALMAN_X,72373.0,-2951.4,-3509.0,-135898.0,19298.8
$KALMAN_Y,-1522.5,545.2,1069.9,61063.5,13355.8
$MHEAD_RNG_PITCHd_Wd,262.1,30111,-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,-146.6,0.0,0.0,0,71,0.00,0.00,-53.97,0.000,6,0.000,0.000,54,2656,3501
$GC,75,-1.10,-146.6,3.0,-7.7,2,89,12.25,0.00,0.00,0.000,6,0.160,0.000,2192,2656,3502
$GC,393,-1.10,-146.6,40.4,-7.8,18,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2657,3502
$GC,700,-1.10,-146.6,62.9,-6.3,33,704,0.00,2.20,0.00,0.000,4,0.000,0.093,2192,3787,3502
$GC,762,-1.10,-146.6,67.5,-7.8,35,768,0.00,2.08,0.00,0.000,6,0.000,0.061,2192,2653,3502
$GC,1078,-1.10,-146.6,90.6,-7.5,51,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2653,3502
$GC,1389,-1.10,-146.6,113.9,-7.6,66,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2653,3502
$GC,1696,-1.10,-146.6,138.7,-8.0,81,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2653,3502
$GC,2006,-1.10,-146.6,163.4,-7.8,96,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2653,3502
$GC,2315,-1.10,-146.6,187.1,-7.2,111,2319,0.00,2.20,0.00,0.000,4,0.000,0.089,2192,3785,3502
$GC,2360,-1.10,-146.6,190.5,-7.7,113,2364,0.00,2.10,0.00,0.000,6,0.000,0.061,2192,2640,3502
$GC,2692,-1.10,-146.6,212.7,-6.0,129,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2640,3502
$GC,3002,-1.10,-146.6,232.6,-7.1,144,3005,0.00,2.22,0.00,0.000,4,0.000,0.091,2192,3783,3502
$GC,3048,-1.10,-146.6,235.9,-7.7,146,3052,0.00,2.08,0.00,0.000,6,0.000,0.061,2192,2650,3502
$GC,3381,-1.10,-146.6,260.5,-7.2,162,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3502
$GC,3690,-1.10,-146.6,284.0,-7.3,177,3694,0.00,2.20,0.00,0.000,4,0.000,0.090,2192,3783,3502
$GC,3736,-1.10,-146.6,287.6,-8.0,179,3739,0.00,2.08,0.00,0.000,6,0.000,0.062,2192,2649,3502
$GC,4068,-1.10,-146.6,312.4,-7.8,195,4072,0.00,2.20,0.00,0.000,4,0.000,0.089,2192,3786,3503
$GC,4119,-1.10,-146.6,316.3,-8.1,197,4123,0.00,2.10,0.00,0.000,6,0.000,0.061,2192,2641,3503
$GC,4446,-1.10,-146.6,336.9,-6.1,213,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2641,3503
$GC,4755,-1.10,-146.6,360.1,-8.1,228,4759,0.00,2.22,0.00,0.000,4,0.000,0.089,2192,3787,3503
$GC,4806,-1.10,-146.6,364.4,-8.9,230,4809,0.00,2.08,0.00,0.000,6,0.000,0.060,2192,2648,3503
$GC,5133,-1.10,-146.6,390.5,-7.9,246,5137,0.00,2.60,0.00,0.000,4,0.000,0.071,2192,1229,3503
$GC,5166,-1.10,-146.6,393.2,-7.5,247,5172,0.00,2.62,0.00,0.000,6,0.000,0.062,2192,2655,3503
$GC,5482,-1.10,-146.6,414.6,-6.2,263,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2656,3503
$GC,5791,-1.10,-146.6,434.1,-6.8,278,5795,0.00,2.17,0.00,0.000,4,0.000,0.090,2192,3792,3503
$GC,5949,-1.10,-146.6,446.7,-7.8,285,5953,0.00,2.08,0.00,0.000,6,0.000,0.058,2192,2651,3503
$GC,6282,-1.10,-146.6,474.9,-9.4,301,6290,0.00,2.60,0.00,0.000,4,0.000,0.069,2192,1228,3503
$GC,6324,-1.10,-146.6,479.3,-10.3,302,6330,0.00,2.60,0.00,0.000,6,0.000,0.057,2192,2661,3503
$GC,6640,-1.10,-146.6,509.2,-8.9,318,6643,0.00,2.15,0.00,0.000,4,0.000,0.091,2192,3782,3503
$GC,6686,-1.10,-146.6,513.5,-9.2,320,6689,0.00,2.08,0.00,0.000,6,0.000,0.059,2192,2641,3503
$GC,7019,-1.10,-146.6,541.0,-8.5,336,7022,0.00,2.22,0.00,0.000,4,0.000,0.091,2192,3785,3503
$GC,7064,-1.10,-146.6,545.5,-10.3,338,7068,0.00,2.08,0.00,0.000,6,0.000,0.059,2192,2645,3503
$GC,7397,-1.10,-146.6,572.9,-7.0,354,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2644,3502
$GC,7706,-1.10,-146.6,593.7,-7.2,369,7710,0.00,2.22,0.00,0.000,4,0.000,0.093,2192,3786,3501
$GC,7745,-1.10,-146.6,596.9,-8.0,370,7752,0.00,2.05,0.00,0.000,6,0.000,0.060,2192,2652,3501
$GC,8062,-1.10,-146.6,620.6,-6.8,386,8065,0.00,2.20,0.00,0.000,4,0.000,0.091,2192,3782,3501
$GC,8090,-1.10,-146.6,622.5,-6.9,387,8094,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2635,3501
$GC,8417,-1.10,-146.6,647.6,-7.4,403,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2635,3500
$GC,8726,-1.10,-146.6,669.9,-8.4,418,8730,0.00,2.22,0.00,0.000,4,0.000,0.091,2192,3780,3499
$GC,8787,-1.10,-146.6,674.8,-8.1,420,8799,0.00,2.05,0.00,0.000,6,0.000,0.060,2192,2657,3499
$GC,9103,-1.10,-146.6,697.2,-6.6,436,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2657,3499
$GC,9412,-1.10,-146.6,719.1,-7.2,451,9417,0.00,2.62,0.00,0.000,4,0.000,0.074,2192,1235,3498
$GC,9446,-1.10,-146.6,721.2,-6.0,452,9452,0.00,2.62,0.00,0.000,6,0.000,0.067,2192,2651,3498
$STATE,9697,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9697,begin apogee
$GC,9705,-0.42,0.0,737.7,6.8,465,9834,0.77,0.00,124.95,1.198,6,0.097,0.000,2345,2002,2902
$STATE,9834,end apogee,CONTROL_FINISHED_OK
$STATE,9834,begin climb
$GC,9838,1.10,146.6,742.9,0.0,471,9970,1.58,2.78,123.45,1.159,4,0.061,0.073,2679,586,2304
$GC,10156,1.12,160.4,733.8,5.6,485,10176,0.00,2.55,13.25,1.058,6,0.000,0.041,2679,2016,2248
$GC,10493,1.15,186.3,718.0,5.3,502,10523,0.00,2.72,23.40,1.124,4,0.000,0.074,2679,3405,2142
$GC,10553,1.19,213.9,714.9,5.2,504,10583,0.00,2.60,24.80,1.120,6,0.000,0.053,2679,1994,2030
$GC,10913,1.19,213.9,695.1,6.1,522,10915,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1994,2029
$GC,11221,1.19,213.9,676.5,6.0,537,11225,0.00,2.67,0.00,0.000,4,0.000,0.071,2679,3408,2028
$GC,11265,1.22,242.2,674.0,5.2,539,11295,0.12,2.60,24.45,1.135,6,0.047,0.055,2717,1992,1914
$GC,11614,1.22,242.2,649.0,7.9,556,11618,0.00,2.67,0.00,0.000,4,0.000,0.071,2718,3407,1914
$GC,11676,1.22,242.2,644.4,6.9,559,11681,0.00,2.58,0.00,0.000,6,0.000,0.054,2717,1998,1913
$GC,12003,1.22,242.2,625.8,6.0,575,12008,0.00,2.62,0.00,0.000,4,0.000,0.071,2717,592,1913
$GC,12037,1.22,242.2,623.8,6.0,576,12043,0.00,2.50,0.00,0.000,6,0.000,0.040,2717,2004,1913
$GC,12353,1.24,257.6,606.6,5.6,592,12375,0.00,2.70,14.27,1.080,4,0.000,0.071,2717,3411,1852
$GC,12438,1.24,257.6,600.7,7.4,595,12444,0.00,2.58,0.00,0.000,6,0.000,0.052,2717,1995,1852
$GC,12754,1.24,257.6,571.8,11.0,611,12759,0.00,2.65,0.00,0.000,4,0.000,0.068,2717,3406,1852
$GC,12776,1.24,257.6,569.1,11.6,612,12780,0.00,2.55,0.00,0.000,6,0.000,0.050,2718,1998,1852
$GC,13097,1.24,257.6,532.4,11.0,628,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1998,1852
$GC,13406,1.24,257.6,504.4,8.0,643,13410,0.00,2.62,0.00,0.000,4,0.000,0.068,2717,3409,1852
$GC,13452,1.24,257.6,501.0,7.8,645,13456,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,1999,1852
$GC,13773,1.24,257.6,475.6,8.7,661,13777,0.00,2.60,0.00,0.000,4,0.000,0.068,2717,590,1852
$GC,13806,1.24,257.6,472.2,10.0,662,13812,0.00,2.50,0.00,0.000,6,0.000,0.039,2717,2010,1852
$GC,14122,1.24,257.6,442.8,9.3,678,14126,0.00,2.58,0.00,0.000,4,0.000,0.067,2718,3406,1853
$GC,14160,1.24,257.6,439.1,8.9,679,14166,0.00,2.55,0.00,0.000,6,0.000,0.050,2717,1994,1852
$GC,14476,1.24,257.6,411.0,8.5,695,14477,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1994,1853
$GC,14786,1.24,257.6,384.5,9.0,710,14787,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1994,1853
$GC,15095,1.24,257.6,358.8,7.8,725,15096,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1994,1854
$GC,15404,1.24,257.6,334.3,7.9,740,15408,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,3406,1854
$GC,15431,1.24,257.6,331.9,8.8,741,15436,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1996,1855
$GC,15747,1.24,257.6,307.2,8.0,756,15749,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1996,1855
$GC,16057,1.24,257.6,284.0,7.0,771,16061,0.00,2.62,0.00,0.000,4,0.000,0.069,2717,3408,1855
$GC,16084,1.24,257.6,282.0,7.3,772,16088,0.00,2.55,0.00,0.000,6,0.000,0.052,2718,1997,1855
$GC,16400,1.24,257.6,260.5,6.8,787,16401,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1997,1855
$GC,16709,1.24,257.6,240.5,6.7,802,16710,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1997,1856
$GC,17018,1.24,257.6,220.1,6.4,817,17022,0.00,2.62,0.00,0.000,4,0.000,0.068,2717,3406,1856
$GC,17046,1.24,257.6,218.0,7.2,818,17050,0.00,2.55,0.00,0.000,6,0.000,0.053,2717,1997,1856
$GC,17367,1.24,257.6,195.5,7.4,834,17368,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1996,1857
$GC,17676,1.24,257.6,173.6,6.4,849,17680,0.00,2.62,0.00,0.000,4,0.000,0.068,2717,3407,1857
$GC,17703,1.24,257.6,171.6,6.9,850,17708,0.00,2.55,0.00,0.000,6,0.000,0.054,2717,2000,1857
$GC,18019,1.24,257.6,149.2,7.4,865,18020,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2000,1857
$GC,18329,1.24,257.6,124.7,7.7,880,18333,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,3416,1857
$GC,18369,1.24,257.6,121.6,9.1,882,18374,0.00,2.58,0.00,0.000,6,0.000,0.057,2718,2000,1857
$GC,18696,1.24,257.6,97.9,7.3,898,18700,0.00,2.62,0.00,0.000,4,0.000,0.069,2717,3411,1858
$GC,18723,1.24,257.6,95.7,8.8,899,18728,0.00,2.58,0.00,0.000,6,0.000,0.056,2717,1996,1858
$GC,19041,1.24,257.6,73.0,7.1,914,19046,0.00,2.62,0.00,0.000,4,0.000,0.068,2718,3407,1858
$GC,19075,1.24,257.6,70.3,6.9,915,19081,0.00,2.55,0.00,0.000,6,0.000,0.058,2717,2002,1858
$GC,19392,1.24,257.6,47.8,7.0,931,19397,0.00,2.62,0.00,0.000,4,0.000,0.069,2717,3410,1858
$GC,19433,1.24,257.6,43.9,10.3,933,19438,0.00,2.58,0.00,0.000,6,0.000,0.058,2717,1998,1858
$GC,19761,1.26,272.2,22.8,5.6,949,19783,0.00,2.67,14.45,0.681,4,0.000,0.073,2717,583,1792
$GC,19845,1.26,272.2,17.8,7.3,952,19851,0.00,2.50,0.00,0.000,6,0.000,0.041,2717,2003,1792
$STATE,20036,end climb,SURFACE_DEPTH_REACHED
$STATE,20036,begin surface coast
$FINISH,0.4,1.023773
$STATE,20056,end surface coast,CONTROL_FINISHED_OK
$STATE,20056,begin surface
$SM_CCo,20141,0.00,0.000,0,0,1791,272.53
$SM_GC,1.20,11.75,0.00,0.00,0.029,0.000,0.000,49,2645,1791,-10.92,-0.14,272.53
$IRIDIUM_FIX,6202.67,-1100.34,080698,232316
$TT8_MAMPS,0.028379
$HUMID,1772
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.40
$XPDR_PINGS,30
$ALTIM_BOTTOM_PING,700.1,46.3
$24V_AH,23.3,23.502
$10V_AH,10.1,12.382
$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,26.475,168.375,363.025,0.000,0.000,25.672,29.466,150.513,13.750,0.000,0.000,15.492,1742.452,15635.501,487.158,2049.448,575.492,33.361,1536.231,0.000,2004.291,0.000,44.407,0.000
$DEVICE_MAMPS,160.303,92.807,1198.054,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,706.809,684.581,581.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50643,963
$CAP_FILE_SIZE,137370,0
$CFSIZE,260165632,251600896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150309,101436,6229.849,-1114.734,57,1.4,57,-10.8