version: 66.04
glider: 103
mission: 11
dive: 102
start: 3 16 109 3 14 59
data:
$ID,103
$MISSION,11
$DIVE,102
$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,-145023.89
$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,17
$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
$GPS1,030737,6230.530,-1114.630,36,1.3,36,-10.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-55.5
$GPS2,031408,6230.513,-1114.398,16,1.3,16,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.210,-0.060
$KALMAN_X,80204.4,-1657.2,2770.4,-159543.5,13885.5
$KALMAN_Y,-209.5,-417.3,1705.7,57650.0,9344.3
$MHEAD_RNG_PITCHd_Wd,264.9,21915,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-57.10,0.000,6,0.000,0.000,51,2648,3501
$GC,81,-1.10,-146.6,6.5,-12.3,3,97,12.32,0.00,0.00,0.000,6,0.160,0.000,2194,2649,3502
$GC,409,-1.10,-146.6,43.0,-6.6,19,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3502
$GC,717,-1.10,-146.6,68.7,-8.1,34,718,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3502
$GC,1026,-1.10,-146.6,91.5,-8.4,49,1030,0.00,2.22,0.00,0.000,4,0.000,0.095,2194,3790,3502
$GC,1155,-1.10,-146.6,101.1,-4.8,54,1162,0.00,2.12,0.00,0.000,6,0.000,0.064,2194,2655,3502
$GC,1472,-1.10,-146.6,119.4,-7.2,70,1475,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3789,3502
$GC,1550,-1.10,-146.6,125.6,-7.9,73,1554,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2647,3502
$GC,1871,-1.10,-146.6,153.6,-9.7,89,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,2181,-1.10,-146.6,180.5,-10.4,104,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,2490,-1.10,-146.6,206.0,-8.6,119,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,2799,-1.10,-146.6,230.9,-8.2,134,2803,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3786,3502
$GC,2845,-1.10,-146.6,234.7,-8.3,136,2849,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2644,3502
$GC,3178,-1.10,-146.6,262.5,-8.4,152,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,3487,-1.10,-146.6,290.2,-9.0,167,3491,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3788,3502
$GC,3533,-1.10,-146.6,294.5,-9.4,169,3536,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2650,3502
$GC,3865,-1.10,-146.6,323.6,-8.3,185,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,4175,-1.10,-146.6,347.7,-7.7,200,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,4484,-1.10,-146.6,370.9,-7.4,215,4485,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,4793,-1.10,-146.6,393.2,-6.9,230,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,5102,-1.10,-146.6,413.2,-6.6,245,5104,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,5412,-1.10,-146.6,433.1,-6.6,260,5415,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3793,3502
$GC,5485,-1.10,-146.6,439.9,-9.9,263,5489,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2650,3502
$GC,5812,-1.10,-146.6,462.3,-6.7,279,5815,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3787,3502
$GC,5880,-1.10,-146.6,466.3,-6.1,282,5884,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2644,3502
$GC,6213,-1.10,-146.6,487.5,-6.6,298,6217,0.00,2.55,0.00,0.000,4,0.000,0.065,2194,1229,3502
$GC,6251,-1.10,-146.6,490.0,-6.9,299,6257,0.00,2.62,0.00,0.000,6,0.000,0.062,2194,2659,3502
$GC,6567,-1.10,-146.6,512.6,-7.5,315,6571,0.00,2.15,0.00,0.000,4,0.000,0.089,2194,3787,3502
$GC,6630,-1.10,-146.6,517.7,-8.0,317,6636,0.00,2.05,0.00,0.000,6,0.000,0.055,2194,2652,3502
$GC,6946,-1.10,-146.6,540.4,-6.8,333,6950,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3791,3502
$GC,6992,-1.10,-146.6,543.7,-7.2,335,6996,0.00,2.08,0.00,0.000,6,0.000,0.054,2194,2632,3502
$GC,7325,-1.10,-146.6,565.1,-6.1,351,7329,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3786,3502
$GC,7398,-1.10,-146.6,570.3,-6.8,354,7402,0.00,2.05,0.00,0.000,6,0.000,0.056,2194,2651,3502
$GC,7725,-1.10,-146.6,591.7,-7.0,370,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$GC,8034,-1.10,-146.6,611.8,-6.5,385,8036,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$GC,8344,-1.10,-146.6,631.2,-5.7,400,8345,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,8653,-1.10,-146.6,646.2,-4.7,415,8657,0.00,2.20,0.00,0.000,4,0.000,0.089,2194,3790,3500
$GC,8681,-1.10,-146.6,647.6,-4.6,416,8685,0.00,2.08,0.00,0.000,6,0.000,0.056,2194,2636,3500
$GC,9008,-1.10,-146.6,665.9,-6.2,432,9012,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3790,3499
$GC,9070,-1.10,-146.6,669.2,-5.4,434,9076,0.00,2.05,0.00,0.000,6,0.000,0.055,2194,2650,3499
$GC,9386,-1.10,-146.6,689.6,-6.4,450,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3499
$GC,9695,-1.10,-146.6,710.2,-6.7,465,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3498
$GC,10005,-1.10,-146.6,730.6,-6.3,480,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3497
$STATE,10316,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10316,begin apogee
$GC,10324,-0.42,0.0,751.4,8.1,495,10454,0.77,0.00,125.40,1.200,6,0.099,0.000,2348,2000,2902
$STATE,10455,end apogee,CONTROL_FINISHED_OK
$STATE,10455,begin climb
$GC,10458,1.10,146.6,758.1,0.0,502,10587,1.55,0.00,124.22,1.164,6,0.054,0.000,2679,1999,2304
$GC,10909,1.20,225.9,747.5,3.8,524,10986,0.10,2.80,67.95,1.157,4,0.054,0.067,2711,3426,1981
$GC,11110,1.20,225.9,734.4,6.9,533,11114,0.00,2.62,0.00,0.000,6,0.000,0.051,2711,1990,1980
$GC,11430,1.20,225.9,713.2,6.9,549,11435,0.00,2.62,0.00,0.000,4,0.000,0.071,2711,588,1979
$GC,11471,1.20,225.9,710.5,6.9,551,11475,0.00,2.55,0.00,0.000,6,0.000,0.041,2711,2022,1979
$GC,11798,1.20,225.9,689.5,6.2,567,11799,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2023,1979
$GC,12107,1.22,242.8,671.8,5.5,582,12129,0.00,2.65,15.32,1.102,4,0.000,0.070,2711,3411,1912
$GC,12192,1.22,242.8,666.6,6.2,585,12199,0.00,2.58,0.00,0.000,6,0.000,0.051,2711,1999,1912
$GC,12508,1.22,242.8,647.0,6.2,601,12513,0.00,2.62,0.00,0.000,4,0.000,0.071,2711,590,1912
$GC,12575,1.22,242.8,642.5,7.5,604,12580,0.00,2.50,0.00,0.000,6,0.000,0.041,2711,2001,1912
$GC,12897,1.23,246.3,622.8,5.9,620,12907,0.00,2.65,4.75,0.845,4,0.000,0.070,2711,3411,1897
$GC,12936,1.23,246.3,620.3,6.8,622,12941,0.00,2.58,0.00,0.000,6,0.000,0.051,2711,1995,1897
$GC,13263,1.23,246.3,594.2,8.4,638,13268,0.00,2.65,0.00,0.000,4,0.000,0.068,2711,3409,1897
$GC,13303,1.23,246.3,590.4,9.7,640,13308,0.00,2.55,0.00,0.000,6,0.000,0.050,2711,1996,1897
$GC,13631,1.23,246.3,562.0,7.9,656,13635,0.00,2.62,0.00,0.000,4,0.000,0.067,2711,3414,1897
$GC,13720,1.23,246.3,552.7,10.0,660,13724,0.00,2.55,0.00,0.000,6,0.000,0.049,2711,2000,1897
$GC,14041,1.23,246.3,528.3,7.4,676,14046,0.00,2.60,0.00,0.000,4,0.000,0.067,2711,587,1898
$GC,14114,1.23,246.3,522.5,8.1,679,14118,0.00,2.50,0.00,0.000,6,0.000,0.038,2711,2009,1897
$GC,14435,1.23,246.3,497.9,7.7,695,14439,0.00,2.58,0.00,0.000,4,0.000,0.067,2711,3406,1898
$GC,14497,1.23,246.3,492.7,8.2,698,14501,0.00,2.53,0.00,0.000,6,0.000,0.048,2711,1995,1898
$GC,14824,1.23,246.3,468.2,7.7,714,14828,0.00,2.62,0.00,0.000,4,0.000,0.065,2711,3408,1898
$GC,14845,1.23,246.3,466.4,7.5,715,14850,0.00,2.55,0.00,0.000,6,0.000,0.048,2711,1988,1898
$GC,15167,1.23,246.3,441.6,7.7,731,15171,0.00,2.62,0.00,0.000,4,0.000,0.066,2711,3404,1898
$GC,15194,1.23,246.3,439.3,8.1,732,15198,0.00,2.53,0.00,0.000,6,0.000,0.049,2711,1999,1898
$GC,15510,1.23,246.3,416.0,7.4,747,15514,0.00,2.62,0.00,0.000,4,0.000,0.066,2711,3415,1899
$GC,15543,1.23,246.3,413.6,7.5,748,15549,0.00,2.55,0.00,0.000,6,0.000,0.050,2711,2000,1899
$GC,15859,1.25,264.0,395.3,5.5,764,15881,0.00,2.72,16.50,0.923,4,0.000,0.066,2711,3404,1825
$GC,15915,1.26,272.0,391.8,5.8,766,15929,0.00,2.58,8.25,0.834,6,0.000,0.051,2711,1991,1793
$GC,16258,1.26,276.0,371.7,5.9,783,16265,0.00,0.00,5.05,0.720,6,0.000,0.000,2711,1991,1777
$GC,16567,1.26,276.0,352.0,6.5,798,16572,0.00,2.62,0.00,0.000,4,0.000,0.067,2711,3406,1777
$GC,16611,1.26,276.0,349.0,6.7,800,16616,0.00,2.55,0.00,0.000,6,0.000,0.052,2711,2001,1776
$GC,16933,1.26,276.0,326.8,7.6,816,16938,0.00,2.62,0.00,0.000,4,0.000,0.068,2711,3410,1777
$GC,16961,1.26,276.0,324.3,8.5,817,16965,0.00,2.58,0.00,0.000,6,0.000,0.053,2711,1989,1777
$GC,17277,1.26,276.0,299.5,8.0,832,17281,0.00,2.65,0.00,0.000,4,0.000,0.067,2711,3412,1777
$GC,17310,1.26,276.0,296.6,8.4,833,17316,0.00,2.58,0.00,0.000,6,0.000,0.054,2711,1990,1777
$GC,17626,1.26,276.0,269.6,8.8,849,17630,0.00,2.65,0.00,0.000,4,0.000,0.068,2711,3413,1778
$GC,17666,1.26,276.0,266.1,8.8,851,17670,0.00,2.58,0.00,0.000,6,0.000,0.055,2711,1996,1778
$GC,17993,1.26,276.0,238.3,8.2,867,17997,0.00,2.65,0.00,0.000,4,0.000,0.070,2711,3413,1778
$GC,18025,1.26,276.0,235.2,8.4,868,18032,0.00,2.58,0.00,0.000,6,0.000,0.056,2711,2001,1778
$GC,18341,1.26,276.0,208.4,8.8,884,18346,0.00,2.62,0.00,0.000,4,0.000,0.069,2711,3409,1779
$GC,18369,1.26,276.0,205.8,9.3,885,18374,0.00,2.58,0.00,0.000,6,0.000,0.056,2711,1995,1779
$GC,18685,1.26,276.0,177.7,9.3,900,18689,0.00,2.62,0.00,0.000,4,0.000,0.068,2712,3406,1779
$GC,18746,1.26,276.0,171.3,10.9,902,18752,0.00,2.58,0.00,0.000,6,0.000,0.055,2711,1989,1779
$GC,19062,1.26,276.0,138.7,10.7,918,19064,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1989,1779
$GC,19371,1.26,276.0,106.8,9.9,933,19376,0.00,2.65,0.00,0.000,4,0.000,0.067,2711,3413,1780
$GC,19422,1.26,276.0,101.6,9.8,935,19426,0.00,2.58,0.00,0.000,6,0.000,0.058,2711,1999,1780
$GC,19738,1.26,276.0,72.5,9.8,950,19739,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1999,1780
$GC,20047,1.26,276.0,44.6,9.1,965,20051,0.00,2.62,0.00,0.000,4,0.000,0.068,2711,3408,1780
$GC,20092,1.26,276.0,40.5,8.1,967,20096,0.00,2.58,0.00,0.000,6,0.000,0.055,2711,1989,1780
$GC,20413,1.26,276.0,13.1,8.8,983,20414,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1987,1780
$STATE,20616,end climb,SURFACE_DEPTH_REACHED
$STATE,20616,begin surface coast
$FINISH,0.4,1.027519
$STATE,20638,end surface coast,CONTROL_FINISHED_OK
$STATE,20638,begin surface
$SM_CCo,20723,0.00,0.000,0,0,1781,274.98
$SM_GC,1.35,12.05,0.00,0.00,0.046,0.000,0.000,55,2649,1781,-10.92,-0.03,274.98
$IRIDIUM_FIX,6202.67,-1114.94,090698,212146
$TT8_MAMPS,0.029146
$HUMID,1787
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.60
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,751.4,8.8
$24V_AH,23.3,24.094
$10V_AH,10.1,12.745
$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,26.800,169.250,367.450,0.000,0.000,33.144,38.416,185.841,10.000,0.000,0.000,16.027,1802.611,16076.678,488.859,2125.805,614.121,33.358,1562.543,0.000,2077.873,0.000,44.612,0.000
$DEVICE_MAMPS,160.303,95.108,1199.588,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,724.516,706.513,569.870,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50633,994
$CAP_FILE_SIZE,142242,0
$CFSIZE,260165632,251330560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160309,090136,6229.854,-1115.592,36,1.2,36,-10.8