version: 66.04
glider: 103
mission: 11
dive: 128
start: 3 20 109 2 58 55
data:
$ID,103
$MISSION,11
$DIVE,128
$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,-145525.38
$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,18
$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
$GPS1,025231,6230.759,-1131.723,40,1.5,40,-11.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-60.7
$GPS2,025802,6230.747,-1131.823,10,1.6,10,-11.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,0.015
$KALMAN_X,-28470.0,1474.9,996.5,-15409.0,-27304.8
$KALMAN_Y,-5982.0,47.6,-109.0,-10724.6,-4523.4
$MHEAD_RNG_PITCHd_Wd,97.0,7128,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.65,0.000,2,0.000,0.000,42,2653,3091
$GC,62,-1.10,-146.6,3.5,-9.3,2,88,12.27,2.22,-7.32,0.000,4,0.163,0.103,2195,3779,3501
$GC,336,-1.10,-146.6,32.8,-10.0,14,339,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2645,3501
$GC,663,-1.10,-146.6,62.7,-8.4,30,667,0.00,2.22,0.00,0.000,4,0.000,0.087,2195,3793,3501
$GC,709,-1.10,-146.6,66.6,-9.0,32,712,0.00,2.10,0.00,0.000,6,0.000,0.058,2194,2642,3501
$GC,1036,-1.10,-146.6,90.9,-7.2,48,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,1347,-1.10,-146.6,115.5,-8.2,63,1351,0.00,2.22,0.00,0.000,4,0.000,0.087,2195,3793,3501
$GC,1403,-1.10,-146.6,120.2,-7.7,65,1406,0.00,2.10,0.00,0.000,6,0.000,0.059,2195,2642,3501
$GC,1724,-1.10,-146.6,146.9,-8.0,81,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,2034,-1.10,-146.6,172.4,-8.3,96,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,2344,-1.10,-146.6,197.7,-8.0,111,2347,0.00,2.22,0.00,0.000,4,0.000,0.087,2195,3793,3501
$GC,2389,-1.10,-146.6,201.3,-7.8,113,2392,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2652,3501
$GC,2722,-1.10,-146.6,225.7,-7.5,129,2723,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3501
$GC,3032,-1.10,-146.6,250.9,-8.5,144,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3501
$GC,3341,-1.10,-146.6,276.1,-7.5,159,3345,0.00,2.17,0.00,0.000,4,0.000,0.083,2195,3790,3502
$GC,3391,-1.10,-146.6,280.2,-8.0,161,3394,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2647,3502
$GC,3718,-1.10,-146.6,305.9,-7.4,177,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3502
$GC,4027,-1.10,-146.6,328.7,-7.3,192,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,4336,-1.10,-146.6,352.0,-7.3,207,4340,0.00,2.17,0.00,0.000,4,0.000,0.082,2195,3790,3502
$GC,4398,-1.10,-146.6,356.7,-7.6,209,4404,0.00,2.08,0.00,0.000,6,0.000,0.054,2194,2638,3502
$GC,4714,-1.10,-146.6,377.6,-6.0,225,4718,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3789,3502
$GC,4760,-1.10,-146.6,380.3,-6.0,227,4763,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2647,3502
$GC,5093,-1.10,-146.6,401.1,-6.5,243,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,5402,-1.10,-146.6,421.6,-6.3,258,5405,0.00,2.20,0.00,0.000,4,0.000,0.085,2195,3793,3502
$GC,5441,-1.10,-146.6,424.2,-6.3,259,5447,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2650,3502
$GC,5757,-1.10,-146.6,442.0,-5.6,275,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,6066,-1.10,-146.6,460.3,-6.4,290,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,6375,-1.10,-146.6,483.5,-7.5,305,6379,0.00,2.55,0.00,0.000,4,0.000,0.062,2195,1230,3502
$GC,6408,-1.10,-146.6,486.4,-8.7,306,6414,0.00,2.62,0.00,0.000,6,0.000,0.062,2195,2662,3502
$GC,6724,-1.10,-146.6,515.6,-9.1,322,6727,0.00,2.12,0.00,0.000,4,0.000,0.086,2195,3787,3502
$GC,6808,-1.10,-146.6,523.7,-8.9,325,6814,0.00,2.03,0.00,0.000,6,0.000,0.051,2195,2650,3502
$GC,7125,-1.10,-146.6,550.6,-7.7,341,7129,0.00,2.17,0.00,0.000,4,0.000,0.086,2195,3785,3502
$GC,7187,-1.10,-146.6,555.2,-6.5,343,7192,0.00,2.05,0.00,0.000,6,0.000,0.053,2194,2642,3502
$GC,7502,-1.10,-146.6,573.3,-6.0,359,7506,0.00,2.20,0.00,0.000,4,0.000,0.086,2195,3789,3501
$GC,7541,-1.10,-146.6,576.4,-8.0,360,7547,0.00,2.03,0.00,0.000,6,0.000,0.053,2194,2650,3502
$GC,7861,-1.10,-146.6,601.2,-7.4,376,7864,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3789,3501
$GC,7916,-1.10,-146.6,605.4,-7.1,378,7920,0.00,2.05,0.00,0.000,6,0.000,0.055,2195,2648,3501
$GC,8238,-1.10,-146.6,633.0,-9.5,394,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3501
$GC,8547,-1.10,-146.6,657.1,-6.7,409,8551,0.00,2.17,0.00,0.000,4,0.000,0.085,2195,3785,3501
$GC,8598,-1.10,-146.6,660.7,-6.5,411,8601,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2635,3501
$GC,8925,-1.10,-146.6,681.1,-5.9,427,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2635,3501
$GC,9234,-1.10,-146.6,698.7,-5.9,442,9238,0.00,2.20,0.00,0.000,4,0.000,0.086,2195,3783,3500
$GC,9285,-1.10,-146.6,702.3,-7.4,444,9289,0.00,2.03,0.00,0.000,6,0.000,0.055,2195,2654,3500
$GC,9615,-1.10,-146.6,726.4,-7.9,460,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3500
$GC,9921,-1.10,-146.6,753.8,-9.0,475,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3499
$GC,10230,-1.10,-146.6,777.5,-5.9,490,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2653,3498
$STATE,10454,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10455,begin apogee
$GC,10463,-0.42,0.0,792.7,6.7,501,10592,0.75,0.00,125.07,1.212,6,0.092,0.000,2346,1995,2902
$STATE,10592,end apogee,CONTROL_FINISHED_OK
$STATE,10592,begin climb
$GC,10595,1.10,146.6,796.1,0.0,507,10728,1.58,2.75,123.62,1.180,4,0.062,0.072,2678,587,2304
$GC,10986,1.13,168.0,788.5,5.4,525,11011,0.00,2.55,19.55,1.128,6,0.000,0.043,2678,2011,2217
$GC,11329,1.23,252.1,764.7,3.7,542,11407,0.12,2.75,71.45,1.182,4,0.045,0.069,2720,588,1874
$GC,11588,1.23,252.1,744.8,6.5,553,11593,0.00,2.53,0.00,0.000,6,0.000,0.042,2720,2002,1873
$GC,11916,1.25,264.6,723.8,5.7,569,11934,0.00,0.00,12.23,1.098,6,0.000,0.000,2719,2004,1823
$GC,12244,1.25,264.6,701.6,7.4,585,12249,0.00,2.67,0.00,0.000,4,0.000,0.071,2720,577,1822
$GC,12272,1.25,264.6,699.3,7.7,586,12276,0.00,2.55,0.00,0.000,6,0.000,0.043,2720,2010,1821
$GC,12589,1.25,264.6,670.5,9.8,601,12593,0.00,2.67,0.00,0.000,4,0.000,0.068,2720,580,1821
$GC,12622,1.25,264.6,667.0,9.3,602,12628,0.00,2.53,0.00,0.000,6,0.000,0.041,2720,2003,1821
$GC,12938,1.25,264.6,641.6,7.2,618,12942,0.00,2.60,0.00,0.000,4,0.000,0.070,2720,3406,1821
$GC,12982,1.25,264.6,638.5,6.8,620,12987,0.00,2.55,0.00,0.000,6,0.000,0.048,2720,1988,1821
$GC,13303,1.25,264.6,616.9,6.9,636,13308,0.00,2.55,0.00,0.000,4,0.000,0.064,2720,592,1820
$GC,13331,1.25,264.6,614.8,7.3,637,13335,0.00,2.47,0.00,0.000,6,0.000,0.037,2720,2004,1820
$GC,13647,1.25,264.6,592.1,6.9,652,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2004,1820
$GC,13956,1.25,264.6,568.2,8.2,667,13960,0.00,2.58,0.00,0.000,4,0.000,0.066,2720,3405,1821
$GC,13996,1.25,264.6,564.5,9.9,669,14000,0.00,2.53,0.00,0.000,6,0.000,0.046,2720,1990,1821
$GC,14322,1.25,264.6,531.8,9.6,685,14323,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1989,1822
$GC,14631,1.25,264.6,502.0,10.3,700,14632,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1989,1822
$GC,14941,1.25,264.6,480.0,6.2,715,14945,0.00,2.62,0.00,0.000,4,0.000,0.064,2720,3408,1823
$GC,14991,1.28,294.5,477.1,5.2,717,15023,0.00,2.53,26.10,0.985,6,0.000,0.048,2720,1996,1701
$GC,15332,1.28,294.5,458.2,6.3,734,15333,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1701
$GC,15641,1.28,294.5,437.2,7.3,749,15642,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1702
$GC,15951,1.28,294.5,415.4,7.2,764,15952,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1702
$GC,16260,1.28,294.5,393.5,8.1,779,16261,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1703
$GC,16569,1.28,294.5,364.1,8.9,794,16570,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1703
$GC,16879,1.28,294.5,337.4,8.1,809,16880,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1703
$GC,17188,1.28,294.5,314.3,6.6,824,17189,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1703
$GC,17497,1.28,294.5,295.5,6.1,839,17498,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1703
$GC,17806,1.28,294.5,274.6,6.7,854,17811,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3408,1703
$GC,17834,1.28,294.5,272.6,6.8,855,17838,0.00,2.55,0.00,0.000,6,0.000,0.053,2720,1996,1703
$GC,18150,1.28,294.5,250.2,7.2,870,18151,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1703
$GC,18459,1.28,294.5,227.6,7.4,885,18461,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1704
$GC,18768,1.28,294.5,204.0,7.9,900,18773,0.00,2.62,0.00,0.000,4,0.000,0.068,2720,3412,1704
$GC,18796,1.28,294.5,201.6,8.3,901,18801,0.00,2.58,0.00,0.000,6,0.000,0.054,2720,1989,1704
$GC,19112,1.28,294.5,176.1,8.0,916,19114,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1989,1705
$GC,19422,1.28,294.5,148.9,8.4,931,19426,0.00,2.65,0.00,0.000,4,0.000,0.068,2720,3415,1705
$GC,19449,1.28,294.5,146.3,9.6,932,19454,0.00,2.58,0.00,0.000,6,0.000,0.055,2720,1994,1705
$GC,19767,1.28,294.5,119.4,8.5,947,19768,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1994,1705
$GC,20075,1.28,294.5,91.9,9.5,962,20079,0.00,2.62,0.00,0.000,4,0.000,0.069,2720,3403,1705
$GC,20102,1.28,294.5,89.0,10.5,963,20106,0.00,2.55,0.00,0.000,6,0.000,0.056,2720,1999,1705
$GC,20418,1.28,294.5,62.6,7.5,978,20419,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1999,1705
$GC,20728,1.28,294.5,39.9,7.8,993,20729,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1998,1705
$GC,21038,1.28,294.5,12.2,8.9,1008,21043,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3413,1706
$GC,21089,1.28,294.5,7.7,7.3,1010,21093,0.00,2.60,0.00,0.000,6,0.000,0.062,2720,1997,1705
$STATE,21175,end climb,SURFACE_DEPTH_REACHED
$STATE,21175,begin surface coast
$FINISH,0.5,1.010788
$STATE,21197,end surface coast,CONTROL_FINISHED_OK
$STATE,21197,begin surface
$SM_CCo,21282,0.00,0.000,0,0,1705,293.62
$SM_GC,1.39,11.77,0.00,0.00,0.033,0.000,0.000,52,2643,1705,-10.92,-0.20,293.62
$IRIDIUM_FIX,6211.90,-1125.92,130698,212154
$TT8_MAMPS,0.028379
$HUMID,1759
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,726.4,75.5
$24V_AH,23.3,27.145
$10V_AH,10.1,14.385
$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,26.500,134.650,378.025,0.000,0.000,23.821,35.222,146.188,7.250,0.000,0.000,10.371,1809.909,16646.676,468.268,2122.042,563.534,33.369,1529.954,0.000,2089.587,0.000,43.818,0.000
$DEVICE_MAMPS,162.604,102.778,1211.860,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.064,750.977,574.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50581,1015
$CAP_FILE_SIZE,136710,0
$CFSIZE,260165632,250126336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200309,085455,6226.281,-1130.481,41,1.3,41,-10.9