version: 66.04
glider: 103
mission: 11
dive: 129
start: 3 20 109 9 1 25
data:
$ID,103
$MISSION,11
$DIVE,129
$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,-145535.97
$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,12
$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
$GPS1,085455,6226.281,-1130.481,41,1.3,41,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.2
$GPS2,090032,6226.185,-1130.378,9,1.4,9,-10.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.145,0.164
$KALMAN_X,-32518.2,1329.9,1680.4,-10690.3,-22709.2
$KALMAN_Y,-14448.9,-1299.6,257.5,-9704.0,-9455.4
$MHEAD_RNG_PITCHd_Wd,52.4,10846,-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,-41.78,0.000,2,0.000,0.000,52,2646,3083
$GC,62,-1.10,-146.6,3.6,-9.5,2,88,12.10,2.25,-7.43,0.000,4,0.159,0.104,2194,3783,3503
$GC,341,-1.10,-146.6,34.2,-8.1,14,345,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2652,3503
$GC,663,-1.10,-146.6,61.0,-8.9,30,666,0.00,2.20,0.00,0.000,4,0.000,0.085,2194,3790,3503
$GC,786,-1.10,-146.6,72.7,-9.8,35,790,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2650,3503
$GC,1108,-1.10,-146.6,96.3,-7.7,51,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,1417,-1.10,-146.6,121.2,-8.3,66,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,1727,-1.10,-146.6,146.1,-8.0,81,1728,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,2036,-1.10,-146.6,171.9,-8.6,96,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,2347,-1.10,-146.6,200.0,-9.3,111,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,2655,-1.10,-146.6,224.5,-8.7,126,2660,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3785,3503
$GC,2710,-1.10,-146.6,230.0,-9.7,128,2714,0.00,2.05,0.00,0.000,6,0.000,0.053,2194,2647,3503
$GC,3032,-1.10,-146.6,255.7,-7.7,144,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3503
$GC,3341,-1.10,-146.6,279.1,-7.3,159,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3503
$GC,3651,-1.10,-146.6,301.1,-7.6,174,3655,0.00,2.55,0.00,0.000,4,0.000,0.063,2194,1236,3503
$GC,3713,-1.10,-146.6,305.8,-7.9,177,3718,0.00,2.60,0.00,0.000,6,0.000,0.062,2194,2658,3503
$GC,4040,-1.10,-146.6,331.9,-8.0,193,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2658,3503
$GC,4349,-1.10,-146.6,357.4,-8.7,208,4352,0.00,2.12,0.00,0.000,4,0.000,0.084,2194,3785,3503
$GC,4388,-1.10,-146.6,360.7,-8.9,209,4394,0.00,2.03,0.00,0.000,6,0.000,0.048,2194,2640,3503
$GC,4704,-1.10,-146.6,384.9,-8.0,225,4705,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3503
$GC,5013,-1.10,-146.6,412.0,-8.5,240,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3503
$GC,5322,-1.10,-146.6,438.7,-8.1,255,5326,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3789,3503
$GC,5378,-1.10,-146.6,443.4,-8.3,257,5382,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2657,3503
$GC,5699,-1.10,-146.6,469.1,-8.0,273,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3503
$GC,6008,-1.10,-146.6,494.4,-8.0,288,6009,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3503
$GC,6318,-1.10,-146.6,518.5,-7.9,303,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3503
$GC,6627,-1.10,-146.6,545.2,-8.8,318,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3503
$GC,6936,-1.10,-146.6,570.9,-8.1,333,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3503
$GC,7246,-1.10,-146.6,593.6,-7.1,348,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3502
$GC,7555,-1.10,-146.6,614.0,-6.7,363,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3502
$GC,7864,-1.10,-146.6,636.6,-7.5,378,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3502
$GC,8174,-1.10,-146.6,655.2,-5.6,393,8178,0.00,2.58,0.00,0.000,4,0.000,0.062,2194,1225,3502
$GC,8246,-1.10,-146.6,659.6,-6.1,396,8250,0.00,2.58,0.00,0.000,6,0.000,0.058,2195,2648,3502
$GC,8567,-1.10,-146.6,679.2,-6.1,412,8570,0.00,2.15,0.00,0.000,4,0.000,0.084,2194,3789,3502
$GC,8600,-1.10,-146.6,681.5,-7.2,413,8604,0.00,2.03,0.00,0.000,6,0.000,0.048,2194,2645,3502
$GC,8922,-1.10,-146.6,702.8,-6.5,429,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,9231,-1.10,-146.6,724.5,-6.5,444,9235,0.00,2.55,0.00,0.000,4,0.000,0.065,2194,1227,3501
$GC,9287,-1.10,-146.6,727.5,-4.9,446,9293,0.00,2.60,0.00,0.000,6,0.000,0.060,2194,2656,3501
$GC,9603,-1.10,-146.6,745.5,-7.4,462,9604,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3500
$GC,9912,-1.10,-146.6,767.6,-7.0,477,9916,0.00,2.60,0.00,0.000,4,0.000,0.064,2194,1239,3500
$GC,9962,-1.10,-146.6,771.5,-8.0,479,9966,0.00,2.60,0.00,0.000,6,0.000,0.062,2194,2656,3500
$GC,10278,-1.10,-146.6,795.3,-7.5,494,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3499
$GC,10587,-1.10,-146.6,815.7,-7.2,509,10588,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3498
$STATE,10770,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10770,begin apogee
$GC,10778,-0.42,0.0,829.0,6.8,518,10907,0.75,0.00,125.85,1.243,6,0.088,0.000,2347,1997,2902
$STATE,10908,end apogee,CONTROL_FINISHED_OK
$STATE,10908,begin climb
$GC,10911,1.10,146.6,835.4,0.0,524,11044,1.55,2.72,124.07,1.208,4,0.058,0.068,2677,590,2304
$GC,11302,1.10,146.6,822.0,6.4,541,11308,0.00,2.55,0.00,0.000,6,0.000,0.043,2677,2016,2303
$GC,11618,1.12,163.9,807.0,5.5,557,11640,0.00,2.75,16.42,1.151,4,0.000,0.067,2677,584,2233
$GC,11725,1.16,195.1,801.7,5.1,561,11759,0.00,2.55,27.58,1.187,6,0.000,0.041,2677,2010,2106
$GC,12084,1.17,200.5,783.0,5.9,579,12093,0.00,0.00,6.40,0.977,6,0.000,0.000,2677,2012,2084
$GC,12391,1.17,200.5,764.0,7.4,594,12395,0.00,2.60,0.00,0.000,4,0.000,0.071,2677,3405,2083
$GC,12424,1.21,233.0,762.0,5.1,595,12460,0.12,2.58,28.60,1.187,6,0.046,0.051,2715,1986,1952
$GC,12785,1.21,233.0,738.2,6.6,613,12789,0.00,2.60,0.00,0.000,4,0.000,0.069,2715,588,1951
$GC,12829,1.21,233.0,734.5,7.7,615,12833,0.00,2.53,0.00,0.000,6,0.000,0.042,2715,2005,1951
$GC,13150,1.21,233.0,710.4,8.2,631,13151,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2006,1951
$GC,13460,1.21,233.0,689.5,6.5,646,13464,0.00,2.65,0.00,0.000,4,0.000,0.067,2716,586,1950
$GC,13554,1.21,233.0,681.9,7.3,650,13559,0.00,2.53,0.00,0.000,6,0.000,0.041,2715,2009,1950
$GC,13870,1.21,233.0,661.0,6.8,665,13875,0.00,2.60,0.00,0.000,4,0.000,0.069,2716,3413,1950
$GC,13920,1.21,233.0,657.1,6.9,667,13925,0.00,2.55,0.00,0.000,6,0.000,0.048,2716,1994,1950
$GC,14236,1.21,233.0,631.5,8.6,682,14240,0.00,2.58,0.00,0.000,4,0.000,0.063,2715,586,1950
$GC,14303,1.21,233.0,625.7,8.3,685,14307,0.00,2.50,0.00,0.000,6,0.000,0.038,2716,2009,1950
$GC,14624,1.21,233.0,601.9,7.0,701,14628,0.00,2.62,0.00,0.000,4,0.000,0.062,2716,586,1950
$GC,14741,1.21,233.0,593.4,6.7,706,14745,0.00,2.47,0.00,0.000,6,0.000,0.038,2716,2000,1950
$GC,15062,1.21,233.0,568.6,8.4,722,15063,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2000,1950
$GC,15371,1.21,233.0,544.1,7.9,737,15375,0.00,2.58,0.00,0.000,4,0.000,0.063,2716,3411,1950
$GC,15415,1.21,233.0,540.5,8.7,739,15419,0.00,2.53,0.00,0.000,6,0.000,0.045,2716,1993,1950
$GC,15736,1.21,233.0,517.8,6.7,755,15741,0.00,2.60,0.00,0.000,4,0.000,0.063,2716,3404,1951
$GC,15781,1.21,233.0,514.7,6.8,757,15785,0.00,2.53,0.00,0.000,6,0.000,0.046,2716,1989,1951
$GC,16102,1.21,233.0,494.6,6.5,773,16103,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1989,1952
$GC,16411,1.21,233.0,473.0,6.7,788,16415,0.00,2.60,0.00,0.000,4,0.000,0.063,2716,3408,1952
$GC,16444,1.21,233.0,470.6,7.3,789,16450,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,1996,1952
$GC,16760,1.21,233.0,449.1,7.3,805,16761,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1996,1953
$GC,17069,1.21,233.0,427.1,6.9,820,17070,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1996,1953
$GC,17378,1.21,233.0,405.5,6.9,835,17379,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1996,1954
$GC,17687,1.21,233.0,384.6,6.9,850,17688,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1996,1954
$GC,17997,1.21,233.0,361.7,7.7,865,17998,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1996,1954
$GC,18306,1.21,233.0,334.6,9.3,880,18310,0.00,2.62,0.00,0.000,4,0.000,0.066,2716,3415,1955
$GC,18345,1.21,233.0,330.8,10.4,882,18350,0.00,2.55,0.00,0.000,6,0.000,0.051,2716,1997,1954
$GC,18673,1.21,233.0,303.3,8.5,898,18677,0.00,2.55,0.00,0.000,4,0.000,0.061,2716,588,1955
$GC,18722,1.21,233.0,299.3,8.3,900,18727,0.00,2.47,0.00,0.000,6,0.000,0.038,2716,2004,1955
$GC,19038,1.21,233.0,278.2,6.7,915,19042,0.00,2.58,0.00,0.000,4,0.000,0.066,2716,3411,1955
$GC,19065,1.21,233.0,275.9,8.6,916,19069,0.00,2.55,0.00,0.000,6,0.000,0.051,2716,1996,1955
$GC,19393,1.21,233.0,247.7,8.6,932,19394,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1996,1955
$GC,19702,1.21,233.0,221.8,8.6,947,19703,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1996,1956
$GC,20011,1.21,233.0,197.3,7.5,962,20015,0.00,2.62,0.00,0.000,4,0.000,0.068,2716,3406,1956
$GC,20055,1.21,233.0,193.1,8.8,964,20060,0.00,2.55,0.00,0.000,6,0.000,0.054,2716,1993,1956
$GC,20377,1.21,233.0,171.1,6.7,980,20381,0.00,2.55,0.00,0.000,4,0.000,0.064,2716,588,1956
$GC,20443,1.21,233.0,166.2,7.1,983,20447,0.00,2.47,0.00,0.000,6,0.000,0.039,2716,2010,1957
$GC,20772,1.21,233.0,142.1,7.8,999,20773,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2010,1957
$GC,21079,1.21,233.0,117.2,7.7,1014,21084,0.00,2.58,0.00,0.000,4,0.000,0.067,2716,3412,1957
$GC,21158,1.21,233.0,110.6,8.0,1017,21164,0.00,2.55,0.00,0.000,6,0.000,0.054,2716,1989,1957
$GC,21476,1.21,233.0,86.1,7.9,1033,21480,0.00,2.55,0.00,0.000,4,0.000,0.064,2716,588,1957
$GC,21516,1.21,233.0,82.7,8.7,1035,21520,0.00,2.47,0.00,0.000,6,0.000,0.039,2716,2003,1957
$GC,21843,1.21,233.0,59.5,6.8,1051,21844,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2003,1957
$GC,22152,1.21,233.0,39.3,6.7,1066,22156,0.00,2.58,0.00,0.000,4,0.000,0.066,2716,3409,1957
$GC,22185,1.21,233.0,36.7,6.7,1067,22191,0.00,2.55,0.00,0.000,6,0.000,0.056,2716,1994,1957
$GC,22502,1.21,233.0,18.1,6.1,1083,22507,0.00,2.55,0.00,0.000,4,0.000,0.063,2716,588,1957
$GC,22588,1.21,233.0,12.2,7.6,1087,22593,0.00,2.47,0.00,0.000,6,0.000,0.041,2716,2000,1957
$STATE,22748,end climb,SURFACE_DEPTH_REACHED
$STATE,22748,begin surface coast
$FINISH,0.6,1.015541
$STATE,22770,end surface coast,CONTROL_FINISHED_OK
$STATE,22770,begin surface
$SM_CCo,22855,0.00,0.000,0,0,1957,231.81
$SM_GC,2.12,11.73,0.00,0.00,0.031,0.000,0.000,51,2650,1957,-10.93,0.00,231.81
$IRIDIUM_FIX,6207.28,-1129.56,140698,030323
$TT8_MAMPS,0.028379
$HUMID,1758
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,800.4,38.1
$24V_AH,23.3,27.271
$10V_AH,10.1,14.483
$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,26.250,151.125,328.925,0.000,0.000,24.893,35.070,149.946,8.250,0.000,0.000,9.971,1955.682,17880.971,439.127,2319.984,591.374,33.380,1582.358,0.000,2282.312,0.000,48.594,0.000
$DEVICE_MAMPS,158.769,103.545,1242.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,770.712,810.612,625.887,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56870,1096
$CAP_FILE_SIZE,147409,0
$CFSIZE,260165632,250048512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200309,152337,6224.254,-1122.299,40,1.5,40,-10.9