version: 66.04
glider: 103
mission: 11
dive: 130
start: 3 20 109 15 30 22
data:
$ID,103
$MISSION,11
$DIVE,130
$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,-145554.95
$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,20
$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
$GPS1,152337,6224.254,-1122.299,40,1.5,40,-10.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.7
$GPS2,152928,6224.241,-1122.112,18,1.9,18,-10.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.039,0.215
$KALMAN_X,-29782.6,2997.9,2366.3,-8777.7,-19315.7
$KALMAN_Y,-24228.5,104.2,-333.5,-4355.0,-12487.1
$MHEAD_RNG_PITCHd_Wd,21.2,18648,-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,-41.58,0.000,2,0.000,0.000,51,2654,3405
$GC,62,-1.10,-146.6,5.0,-14.4,2,85,12.05,2.22,-1.48,0.000,4,0.157,0.100,2194,3783,3502
$GC,338,-1.10,-146.6,36.1,-7.1,14,342,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2657,3502
$GC,665,-1.10,-146.6,59.5,-7.7,30,669,0.00,2.17,0.00,0.000,4,0.000,0.086,2194,3783,3502
$GC,869,-1.10,-146.6,75.9,-8.2,39,873,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2650,3502
$GC,1202,-1.10,-146.6,98.9,-6.8,55,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,1512,-1.10,-146.6,121.7,-7.6,70,1516,0.00,2.20,0.00,0.000,4,0.000,0.085,2194,3793,3502
$GC,1557,-1.10,-146.6,125.4,-8.5,72,1560,0.00,2.10,0.00,0.000,6,0.000,0.057,2194,2640,3502
$GC,1885,-1.10,-146.6,150.7,-7.9,88,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3502
$GC,2195,-1.10,-146.6,175.4,-8.2,103,2199,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3785,3502
$GC,2246,-1.10,-146.6,179.9,-8.5,105,2249,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2643,3502
$GC,2573,-1.10,-146.6,203.7,-7.2,121,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,2883,-1.10,-146.6,226.1,-7.1,136,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,3192,-1.10,-146.6,248.5,-7.6,151,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,3501,-1.10,-146.6,270.8,-6.8,166,3505,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3793,3502
$GC,3569,-1.10,-146.6,276.0,-8.3,169,3573,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2652,3502
$GC,3902,-1.10,-146.6,299.8,-7.2,185,3907,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3789,3502
$GC,3935,-1.10,-146.6,302.4,-7.9,186,3939,0.00,2.08,0.00,0.000,6,0.000,0.057,2194,2646,3502
$GC,4257,-1.10,-146.6,325.9,-7.2,202,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3502
$GC,4565,-1.10,-146.6,348.3,-7.1,217,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3502
$GC,4875,-1.10,-146.6,367.8,-5.9,232,4876,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3502
$GC,5185,-1.10,-146.6,382.8,-4.2,247,5189,0.00,2.58,0.00,0.000,4,0.000,0.069,2194,1236,3502
$GC,5218,-1.10,-146.6,384.3,-4.1,248,5224,0.00,2.60,0.00,0.000,6,0.000,0.062,2194,2654,3502
$GC,5534,-1.10,-146.6,396.4,-3.8,264,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,5844,-1.10,-146.6,404.6,-2.2,279,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,6153,-1.10,-146.6,410.8,-2.0,294,6154,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,6462,-1.10,-146.6,424.3,-5.8,309,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,6771,-1.10,-146.6,447.0,-7.6,324,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3502
$GC,7080,-1.10,-146.6,468.9,-6.6,339,7084,0.00,2.62,0.00,0.000,4,0.000,0.068,2194,1230,3502
$GC,7107,-1.10,-146.6,470.8,-6.9,340,7112,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2655,3502
$GC,7423,-1.10,-146.6,489.8,-6.1,355,7424,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2655,3502
$GC,7733,-1.10,-146.6,507.4,-4.2,370,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2655,3502
$GC,8041,-1.10,-146.6,530.9,-7.2,385,8045,0.00,2.12,0.00,0.000,4,0.000,0.082,2194,3785,3502
$GC,8080,-1.10,-146.6,534.1,-7.8,386,8087,0.00,2.05,0.00,0.000,6,0.000,0.051,2194,2636,3501
$GC,8397,-1.10,-146.6,557.5,-8.2,402,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2636,3502
$GC,8706,-1.10,-146.6,594.4,-13.2,417,8709,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3780,3501
$GC,8762,-1.10,-146.6,600.8,-11.1,419,8765,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2651,3501
$GC,9083,-1.10,-146.6,643.0,-15.4,435,9087,0.00,2.60,0.00,0.000,4,0.000,0.069,2194,1227,3501
$GC,9183,-1.10,-146.6,657.6,-12.9,439,9190,0.00,2.60,0.00,0.000,6,0.000,0.060,2194,2655,3501
$GC,9499,-1.10,-146.6,692.1,-10.4,455,9501,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2655,3500
$GC,9808,-1.10,-146.6,720.7,-9.3,470,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2655,3500
$GC,10118,-1.10,-146.6,745.4,-6.6,485,10122,0.00,2.65,0.00,0.000,4,0.000,0.075,2194,1233,3499
$GC,10162,-1.10,-146.6,748.2,-6.3,487,10166,0.00,2.62,0.00,0.000,6,0.000,0.067,2194,2649,3499
$GC,10483,-1.10,-146.6,766.9,-5.0,503,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3499
$GC,10792,-1.10,-146.6,784.6,-6.2,518,10796,0.00,2.17,0.00,0.000,4,0.000,0.093,2194,3783,3498
$GC,10843,-1.10,-146.6,787.8,-5.1,520,10847,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2642,3498
$STATE,11126,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11126,begin apogee
$GC,11135,-0.42,0.0,805.5,5.9,534,11263,0.75,0.00,125.38,1.230,6,0.093,0.000,2345,2000,2902
$STATE,11264,end apogee,CONTROL_FINISHED_OK
$STATE,11264,begin climb
$GC,11267,1.10,146.6,811.1,0.0,540,11401,1.58,2.78,124.20,1.188,4,0.059,0.074,2680,585,2304
$GC,11623,1.12,161.7,800.6,5.6,556,11642,0.00,2.55,14.52,1.104,6,0.000,0.041,2680,2017,2242
$GC,11971,1.16,189.3,782.3,5.2,573,12001,0.00,2.65,24.90,1.164,4,0.000,0.072,2679,3403,2130
$GC,12076,1.16,189.3,775.7,6.3,578,12081,0.00,2.60,0.00,0.000,6,0.000,0.053,2679,1984,2129
$GC,12402,1.16,189.3,756.1,6.1,594,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1984,2128
$GC,12712,1.20,225.7,738.3,5.0,609,12754,0.10,2.75,31.62,1.177,4,0.051,0.068,2714,3411,1982
$GC,12805,1.20,225.7,732.6,6.8,613,12810,0.00,2.60,0.00,0.000,6,0.000,0.051,2714,1989,1982
$GC,13126,1.20,225.7,713.9,6.1,629,13127,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1989,1981
$GC,13436,1.22,241.1,695.6,5.6,644,13455,0.00,0.00,14.68,1.120,6,0.000,0.000,2714,1989,1918
$GC,13765,1.22,241.1,673.6,6.6,660,13769,0.00,2.67,0.00,0.000,4,0.000,0.069,2714,3414,1917
$GC,13815,1.24,257.0,670.3,5.6,662,13835,0.00,2.58,14.62,1.104,6,0.000,0.051,2714,1996,1854
$GC,14158,1.24,257.0,648.2,6.1,679,14162,0.00,2.62,0.00,0.000,4,0.000,0.071,2714,588,1854
$GC,14207,1.24,257.0,644.8,6.8,681,14212,0.00,2.50,0.00,0.000,6,0.000,0.041,2714,1996,1854
$GC,14524,1.26,272.6,626.3,5.6,696,14543,0.00,0.00,14.95,1.091,6,0.000,0.000,2714,1997,1790
$GC,14853,1.26,272.6,605.4,7.1,712,14857,0.00,2.60,0.00,0.000,4,0.000,0.067,2714,591,1790
$GC,14931,1.26,272.6,598.8,7.6,715,14935,0.00,2.50,0.00,0.000,6,0.000,0.041,2714,2000,1790
$GC,15247,1.26,272.6,575.1,7.6,730,15252,0.00,2.62,0.00,0.000,4,0.000,0.069,2714,3416,1790
$GC,15304,1.26,272.6,570.8,7.3,732,15310,0.00,2.58,0.00,0.000,6,0.000,0.050,2714,1989,1790
$GC,15620,1.31,313.8,555.2,4.9,748,15659,0.00,0.00,36.05,1.065,6,0.000,0.000,2714,1989,1622
$GC,15969,1.34,343.5,535.8,5.2,765,16001,0.00,2.70,26.30,1.029,4,0.000,0.066,2714,3407,1501
$GC,16041,1.35,344.7,531.2,6.0,768,16045,0.00,2.58,0.00,0.000,6,0.000,0.050,2714,1997,1501
$GC,16357,1.40,391.3,514.2,4.7,783,16405,0.15,2.72,40.90,1.019,4,0.049,0.064,2753,3406,1306
$GC,16422,1.40,391.3,510.1,6.3,786,16426,0.00,2.58,0.00,0.000,6,0.000,0.046,2753,1989,1306
$GC,16743,1.40,391.3,487.5,7.3,802,16744,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1989,1306
$GC,17052,1.40,391.3,462.8,8.0,817,17056,0.00,2.62,0.00,0.000,4,0.000,0.064,2753,3409,1306
$GC,17092,1.40,391.3,459.3,9.8,819,17096,0.00,2.53,0.00,0.000,6,0.000,0.048,2753,1997,1306
$GC,17418,1.40,391.3,429.5,9.6,835,17419,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1997,1307
$GC,17727,1.40,391.3,402.5,9.2,850,17728,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1997,1307
$GC,18037,1.40,391.3,374.0,9.1,865,18041,0.00,2.62,0.00,0.000,4,0.000,0.065,2753,3410,1307
$GC,18070,1.40,391.3,371.0,8.3,866,18076,0.00,2.55,0.00,0.000,6,0.000,0.051,2753,2001,1308
$GC,18385,1.40,391.3,343.5,9.9,882,18386,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2001,1307
$GC,18695,1.40,391.3,313.6,9.8,897,18699,0.00,2.58,0.00,0.000,4,0.000,0.067,2753,586,1308
$GC,18734,1.40,391.3,309.6,10.5,899,18738,0.00,2.50,0.00,0.000,6,0.000,0.042,2753,2010,1308
$GC,19067,1.53,496.8,287.0,3.1,915,19159,0.00,2.67,85.97,0.874,4,0.000,0.071,2753,3407,876
$GC,19196,1.61,555.4,280.4,4.4,921,19253,0.17,2.60,48.17,0.834,6,0.038,0.053,2809,1990,637
$GC,19566,1.61,555.4,231.9,15.8,939,19571,0.00,2.65,0.00,0.000,4,0.000,0.065,2809,3408,639
$GC,19588,1.61,555.4,227.4,17.3,940,19593,0.00,2.58,0.00,0.000,6,0.000,0.050,2809,1989,638
$GC,19911,1.61,555.4,175.7,16.9,956,19912,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1989,639
$GC,20219,1.61,555.4,123.2,17.1,971,20224,0.00,2.65,0.00,0.000,4,0.000,0.067,2809,3407,638
$GC,20252,1.61,555.4,117.5,16.9,972,20259,0.00,2.55,0.00,0.000,6,0.000,0.051,2809,1992,639
$GC,20570,1.61,555.4,64.2,16.6,988,20572,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1992,638
$GC,20878,1.61,555.4,14.3,15.8,1003,20882,0.00,2.67,0.00,0.000,4,0.000,0.070,2808,3419,639
$GC,20927,1.61,555.4,6.0,16.0,1005,20932,0.00,2.60,0.00,0.000,6,0.000,0.057,2809,1993,639
$STATE,20972,end climb,SURFACE_DEPTH_REACHED
$STATE,20973,begin surface coast
$FINISH,0.6,1.016702
$STATE,20994,end surface coast,CONTROL_FINISHED_OK
$STATE,20995,begin surface
$SM_CCo,21080,0.00,0.000,0,0,638,555.11
$SM_GC,1.27,12.10,0.00,0.00,0.027,0.000,0.000,53,2646,638,-10.92,-0.11,555.11
$IRIDIUM_FIX,6202.67,-1132.26,140698,090951
$TT8_MAMPS,0.028379
$HUMID,1767
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,16.80
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,775.9,38.8
$24V_AH,23.3,27.470
$10V_AH,10.1,14.575
$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,26.900,145.275,602.275,0.000,0.000,30.181,27.244,155.536,10.250,0.000,0.000,18.361,1795.097,16230.898,652.422,2175.042,570.927,33.344,1771.222,0.000,2125.869,0.000,55.065,0.000
$DEVICE_MAMPS,157.235,100.477,1230.268,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.168,741.667,523.761,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50473,1008
$CAP_FILE_SIZE,141107,0
$CFSIZE,260165632,249987072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200309,212301,6226.340,-1113.842,41,1.4,41,-10.8