version: 66.04
glider: 103
mission: 11
dive: 136
start: 3 22 109 0 51 24
data:
$ID,103
$MISSION,11
$DIVE,136
$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,0
$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,-145691.03
$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
$GPS1,004237,6232.217,-1138.351,31,1.9,31,-11.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-54.8
$GPS2,005032,6232.135,-1137.949,16,1.2,16,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.164,0.144
$KALMAN_X,-12850.8,984.6,-633.7,-8437.3,-13727.8
$KALMAN_Y,11043.7,441.4,2471.9,-3174.2,2993.0
$MHEAD_RNG_PITCHd_Wd,322.3,38612,-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,-41.55,0.000,2,0.000,0.000,52,2650,3083
$GC,62,-1.10,-146.6,3.2,-7.4,2,88,12.05,2.72,-7.90,0.000,4,0.157,0.095,2194,1234,3502
$GC,190,-1.10,-146.6,18.6,-9.0,7,196,0.00,2.62,0.00,0.000,6,0.000,0.066,2194,2651,3502
$GC,507,-1.10,-146.6,46.2,-8.1,23,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3502
$GC,815,-1.10,-146.6,68.4,-6.4,38,819,0.00,2.17,0.00,0.000,4,0.000,0.091,2194,3784,3502
$GC,861,-1.10,-146.6,71.6,-7.2,40,865,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2651,3502
$GC,1194,-1.10,-146.6,95.7,-7.3,56,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3502
$GC,1504,-1.10,-146.6,116.0,-6.4,71,1507,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3787,3502
$GC,1543,-1.10,-146.6,118.5,-6.0,72,1550,0.00,2.12,0.00,0.000,6,0.000,0.061,2194,2645,3502
$GC,1860,-1.10,-146.6,138.2,-6.2,88,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3502
$GC,2168,-1.10,-146.6,157.8,-6.5,103,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3502
$GC,2478,-1.10,-146.6,177.8,-6.6,118,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3502
$GC,2787,-1.10,-146.6,198.9,-7.1,133,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3502
$GC,3096,-1.10,-146.6,221.1,-7.2,148,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3502
$GC,3406,-1.10,-146.6,241.4,-7.0,163,3410,0.00,2.20,0.00,0.000,4,0.000,0.090,2194,3783,3502
$GC,3456,-1.10,-146.6,245.3,-8.1,165,3460,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2645,3502
$GC,3784,-1.10,-146.6,270.7,-8.0,181,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3503
$GC,4094,-1.10,-146.6,294.4,-7.6,196,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,4402,-1.10,-146.6,319.6,-8.4,211,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,4712,-1.10,-146.6,345.6,-7.9,226,4716,0.00,2.60,0.00,0.000,4,0.000,0.072,2194,1231,3502
$GC,4739,-1.10,-146.6,348.0,-8.8,227,4743,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2653,3502
$GC,5055,-1.10,-146.6,372.2,-7.1,242,5059,0.00,2.15,0.00,0.000,4,0.000,0.085,2194,3787,3502
$GC,5127,-1.10,-146.6,377.3,-7.4,245,5131,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2644,3502
$GC,5455,-1.10,-146.6,402.6,-7.8,261,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,5764,-1.10,-146.6,427.1,-7.6,276,5768,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3786,3502
$GC,5803,-1.10,-146.6,430.5,-8.8,277,5809,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2643,3502
$GC,6119,-1.10,-146.6,454.6,-8.4,293,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3502
$GC,6428,-1.10,-146.6,478.2,-7.4,308,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,6738,-1.10,-146.6,497.0,-5.8,323,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,7047,-1.10,-146.6,515.9,-7.0,338,7051,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3785,3501
$GC,7074,-1.10,-146.6,518.0,-7.8,339,7078,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2641,3501
$GC,7401,-1.10,-146.6,545.5,-8.5,355,7405,0.00,2.20,0.00,0.000,4,0.000,0.086,2195,3785,3501
$GC,7440,-1.10,-146.6,549.2,-9.7,356,7446,0.00,2.05,0.00,0.000,6,0.000,0.056,2194,2652,3501
$GC,7756,-1.10,-146.6,577.4,-9.1,372,7760,0.00,2.60,0.00,0.000,4,0.000,0.071,2194,1231,3501
$GC,7841,-1.10,-146.6,585.5,-9.0,376,7846,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2666,3500
$GC,8168,-1.10,-146.6,617.6,-9.9,392,8172,0.00,2.12,0.00,0.000,4,0.000,0.090,2194,3785,3500
$GC,8268,-1.10,-146.6,626.5,-8.6,396,8272,0.00,2.05,0.00,0.000,6,0.000,0.055,2194,2645,3500
$GC,8591,-1.10,-146.6,651.0,-7.1,412,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3500
$GC,8899,-1.10,-146.6,672.3,-6.5,427,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3499
$GC,9208,-1.10,-146.6,692.7,-6.5,442,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3498
$GC,9518,-1.10,-146.6,713.4,-7.0,457,9522,0.00,2.60,0.00,0.000,4,0.000,0.075,2195,1241,3496
$GC,9551,-1.10,-146.6,715.8,-7.3,458,9557,0.00,2.62,0.00,0.000,6,0.000,0.067,2194,2652,3496
$GC,9866,-1.10,-146.6,737.1,-7.0,474,9870,0.00,2.20,0.00,0.000,4,0.000,0.094,2195,3790,3495
$GC,9894,-1.10,-146.6,739.0,-6.8,475,9898,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2647,3495
$STATE,9950,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9950,begin apogee
$GC,9959,-0.42,0.0,743.1,7.0,478,10087,0.77,0.00,124.95,1.200,6,0.097,0.000,2348,2001,2902
$STATE,10088,end apogee,CONTROL_FINISHED_OK
$STATE,10088,begin climb
$GC,10091,1.10,146.6,748.5,0.0,484,10224,1.55,2.75,123.57,1.165,4,0.057,0.072,2679,592,2304
$GC,10484,1.18,211.8,739.6,4.2,501,10546,0.00,2.53,56.20,1.154,6,0.000,0.039,2679,2019,2038
$GC,10856,1.23,250.3,720.0,4.9,519,10899,0.12,2.67,33.65,1.145,4,0.048,0.070,2720,3397,1881
$GC,10939,1.23,250.3,714.2,7.5,522,10945,0.00,2.60,0.00,0.000,6,0.000,0.053,2720,1986,1881
$GC,11255,1.23,250.3,690.4,8.2,538,11256,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1985,1880
$GC,11564,1.23,250.3,664.4,8.7,553,11568,0.00,2.67,0.00,0.000,4,0.000,0.069,2720,3411,1879
$GC,11642,1.23,250.3,657.6,8.4,556,11648,0.00,2.60,0.00,0.000,6,0.000,0.054,2720,1989,1878
$GC,11958,1.23,250.3,631.8,8.2,572,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1988,1878
$GC,12267,1.23,250.3,604.1,9.1,587,12271,0.00,2.62,0.00,0.000,4,0.000,0.074,2720,586,1878
$GC,12294,1.23,250.3,601.6,8.4,588,12298,0.00,2.53,0.00,0.000,6,0.000,0.040,2720,2009,1878
$GC,12610,1.23,250.3,574.4,8.6,603,12614,0.00,2.60,0.00,0.000,4,0.000,0.071,2720,3408,1877
$GC,12694,1.23,250.3,566.3,9.6,607,12699,0.00,2.58,0.00,0.000,6,0.000,0.054,2720,1990,1877
$GC,13021,1.23,250.3,539.9,7.6,623,13026,0.00,2.60,0.00,0.000,4,0.000,0.068,2720,587,1877
$GC,13122,1.23,250.3,531.4,8.4,627,13128,0.00,2.50,0.00,0.000,6,0.000,0.039,2720,2006,1877
$GC,13438,1.23,250.3,507.6,7.3,643,13442,0.00,2.60,0.00,0.000,4,0.000,0.069,2720,3409,1878
$GC,13500,1.23,250.3,502.9,6.7,646,13505,0.00,2.55,0.00,0.000,6,0.000,0.051,2720,1999,1877
$GC,13828,1.23,250.3,479.8,6.5,662,13832,0.00,2.60,0.00,0.000,4,0.000,0.066,2720,586,1877
$GC,13883,1.23,250.3,475.6,7.3,664,13889,0.00,2.50,0.00,0.000,6,0.000,0.038,2720,2007,1877
$GC,14199,1.23,250.3,454.9,6.8,680,14203,0.00,2.60,0.00,0.000,4,0.000,0.069,2720,3413,1878
$GC,14261,1.23,250.3,450.2,7.8,683,14265,0.00,2.55,0.00,0.000,6,0.000,0.051,2720,1998,1878
$GC,14587,1.23,250.3,423.1,8.7,699,14592,0.00,2.58,0.00,0.000,4,0.000,0.064,2720,590,1878
$GC,14650,1.23,250.3,417.2,9.3,702,14654,0.00,2.47,0.00,0.000,6,0.000,0.039,2720,2000,1879
$GC,14977,1.23,250.3,389.8,7.9,718,14981,0.00,2.60,0.00,0.000,4,0.000,0.067,2720,3414,1879
$GC,15017,1.23,250.3,386.3,8.7,720,15021,0.00,2.55,0.00,0.000,6,0.000,0.051,2720,1998,1879
$GC,15344,1.23,250.3,360.9,7.9,736,15345,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1998,1879
$GC,15653,1.23,250.3,335.4,8.4,751,15654,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1998,1880
$GC,15962,1.23,250.3,310.5,8.0,766,15967,0.00,2.62,0.00,0.000,4,0.000,0.068,2720,3409,1880
$GC,16002,1.23,250.3,307.1,8.7,768,16006,0.00,2.55,0.00,0.000,6,0.000,0.052,2720,2000,1880
$GC,16329,1.23,250.3,282.6,7.2,784,16333,0.00,2.58,0.00,0.000,4,0.000,0.065,2720,589,1881
$GC,16378,1.23,250.3,278.8,7.7,786,16382,0.00,2.47,0.00,0.000,6,0.000,0.040,2720,1997,1881
$GC,16700,1.23,250.3,252.9,9.1,802,16704,0.00,2.60,0.00,0.000,4,0.000,0.068,2720,3407,1882
$GC,16733,1.23,250.3,249.7,8.7,803,16739,0.00,2.55,0.00,0.000,6,0.000,0.054,2720,2001,1882
$GC,17049,1.23,250.3,220.1,9.6,819,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2000,1882
$GC,17358,1.23,250.3,188.0,10.1,834,17359,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2001,1883
$GC,17667,1.23,250.3,157.4,9.5,849,17668,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2000,1883
$GC,17977,1.23,250.3,129.3,9.1,864,17978,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2000,1883
$GC,18286,1.23,250.3,102.7,9.3,879,18290,0.00,2.62,0.00,0.000,4,0.000,0.071,2720,3406,1883
$GC,18314,1.23,250.3,100.2,8.6,880,18318,0.00,2.58,0.00,0.000,6,0.000,0.056,2720,1989,1884
$GC,18631,1.23,250.3,75.1,7.2,895,18636,0.00,2.58,0.00,0.000,4,0.000,0.069,2720,589,1884
$GC,18696,1.23,250.3,69.0,8.9,898,18700,0.00,2.50,0.00,0.000,6,0.000,0.041,2720,2010,1884
$GC,19023,1.23,250.3,43.2,9.1,914,19027,0.00,2.60,0.00,0.000,4,0.000,0.073,2720,3407,1884
$GC,19056,1.23,250.3,39.5,10.5,915,19062,0.00,2.58,0.00,0.000,6,0.000,0.059,2720,1991,1885
$GC,19374,1.23,250.3,13.3,8.4,931,19378,0.00,2.53,0.00,0.000,4,0.000,0.057,2720,586,1885
$GC,19447,1.23,250.3,6.7,7.6,934,19451,0.00,2.55,0.00,0.000,6,0.000,0.051,2720,2003,1885
$STATE,19534,end climb,SURFACE_DEPTH_REACHED
$STATE,19534,begin surface coast
$FINISH,0.5,1.027489
$STATE,19555,end surface coast,CONTROL_FINISHED_OK
$STATE,19555,begin surface
$SM_CCo,19640,0.00,0.000,0,0,1885,249.72
$SM_GC,1.39,11.65,0.00,0.00,0.026,0.000,0.000,46,2654,1885,-10.93,0.11,249.72
$IRIDIUM_FIX,6207.28,-1139.63,160698,000023
$TT8_MAMPS,0.028379
$HUMID,1780
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.60
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,725.6,27.2
$24V_AH,23.3,28.266
$10V_AH,10.1,15.095
$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,26.150,154.525,338.375,0.000,0.000,45.386,72.728,159.403,12.000,0.000,0.000,16.294,1712.376,15280.473,448.767,2043.542,623.291,33.366,1473.378,0.000,1995.892,0.000,46.597,0.000
$DEVICE_MAMPS,157.235,95.108,1199.588,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,674.656,678.023,571.507,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47352,939
$CAP_FILE_SIZE,134743,0
$CFSIZE,260165632,249614336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220309,062036,6232.755,-1136.509,74,1.0,74,-11.0