version: 66.04
glider: 103
mission: 11
dive: 142
start: 3 23 109 10 21 17
data:
$ID,103
$MISSION,11
$DIVE,142
$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,-145826.75
$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,10
$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
$GPS1,101407,6238.936,-1144.680,29,1.6,29,-11.2
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.2
$GPS2,102026,6238.800,-1144.764,13,1.8,13,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.217,0.024
$KALMAN_X,18529.0,-1495.4,2327.2,-46111.7,14353.5
$KALMAN_Y,5574.6,564.1,5363.6,11595.7,-1316.1
$MHEAD_RNG_PITCHd_Wd,287.4,30046,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-59.40,0.000,6,0.000,0.000,47,2641,3501
$GC,82,-1.10,-146.6,5.8,-11.4,3,103,12.20,2.25,0.00,0.000,4,0.163,0.084,2193,3790,3502
$GC,356,-1.10,-146.6,47.3,-6.7,15,360,0.00,2.10,0.00,0.000,6,0.000,0.063,2193,2655,3502
$GC,684,-1.10,-146.6,69.2,-6.9,31,687,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3789,3502
$GC,745,-1.10,-146.6,74.8,-9.7,33,751,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2650,3502
$GC,1061,-1.10,-146.6,101.7,-7.8,49,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3502
$GC,1372,-1.10,-146.6,126.1,-8.2,64,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3502
$GC,1680,-1.10,-146.6,152.7,-9.1,79,1683,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3786,3502
$GC,1748,-1.10,-146.6,159.1,-9.4,82,1752,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2644,3502
$GC,2081,-1.10,-146.6,186.9,-6.9,98,2084,0.00,2.22,0.00,0.000,4,0.000,0.087,2193,3793,3502
$GC,2137,-1.10,-146.6,191.6,-8.4,100,2141,0.00,2.10,0.00,0.000,6,0.000,0.060,2193,2640,3502
$GC,2458,-1.10,-146.6,219.4,-8.9,116,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3502
$GC,2768,-1.10,-146.6,245.9,-8.3,131,2772,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3783,3502
$GC,2824,-1.10,-146.6,250.7,-8.8,133,2828,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2647,3502
$GC,3146,-1.10,-146.6,276.4,-8.5,149,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,3455,-1.10,-146.6,304.7,-9.1,164,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,3764,-1.10,-146.6,329.7,-8.0,179,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,4073,-1.10,-146.6,352.1,-6.7,194,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,4382,-1.10,-146.6,374.6,-7.7,209,4384,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,4692,-1.10,-146.6,397.7,-7.3,224,4696,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3791,3502
$GC,4748,-1.10,-146.6,401.9,-7.1,226,4751,0.00,2.08,0.00,0.000,6,0.000,0.056,2193,2645,3502
$GC,5069,-1.10,-146.6,423.9,-6.9,242,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3502
$GC,5379,-1.10,-146.6,449.2,-9.7,257,5382,0.00,2.20,0.00,0.000,4,0.000,0.084,2193,3793,3502
$GC,5463,-1.10,-146.6,458.5,-11.5,260,5469,0.00,2.05,0.00,0.000,6,0.000,0.055,2193,2649,3502
$GC,5780,-1.10,-146.6,490.4,-9.7,276,5784,0.00,2.58,0.00,0.000,4,0.000,0.064,2193,1225,3502
$GC,5807,-1.10,-146.6,493.1,-8.8,277,5811,0.00,2.58,0.00,0.000,6,0.000,0.057,2193,2653,3502
$GC,6123,-1.10,-146.6,518.2,-7.1,292,6126,0.00,2.15,0.00,0.000,4,0.000,0.085,2193,3792,3502
$GC,6246,-1.10,-146.6,527.4,-6.5,297,6250,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2646,3502
$GC,6568,-1.10,-146.6,547.6,-6.8,313,6569,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,6877,-1.10,-146.6,572.4,-8.4,328,6880,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3787,3501
$GC,6978,-1.10,-146.6,581.4,-8.8,332,6982,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2647,3501
$GC,7299,-1.10,-146.6,607.9,-8.3,348,7301,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,7609,-1.10,-146.6,631.8,-7.9,363,7612,0.00,2.22,0.00,0.000,4,0.000,0.092,2193,3789,3500
$GC,7665,-1.10,-146.6,636.3,-8.1,365,7669,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2643,3500
$GC,7986,-1.10,-146.6,660.8,-7.7,381,7990,0.00,2.22,0.00,0.000,4,0.000,0.094,2193,3792,3499
$GC,8054,-1.10,-146.6,666.3,-8.2,384,8058,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2649,3499
$GC,8387,-1.10,-146.6,689.1,-6.4,400,8389,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3498
$GC,8696,-1.10,-146.6,708.5,-7.4,415,8701,0.00,2.62,0.00,0.000,4,0.000,0.074,2193,1229,3498
$GC,8724,-1.10,-146.6,710.8,-8.2,416,8729,0.00,2.65,0.00,0.000,6,0.000,0.067,2193,2654,3498
$GC,9041,-1.10,-146.6,733.8,-6.5,431,9045,0.00,2.20,0.00,0.000,4,0.000,0.095,2193,3793,3497
$STATE,9296,end dive,NO_VERTICAL_VELOCITY
$STATE,9296,begin apogee
$GC,9307,-0.42,0.0,736.1,0.0,442,9439,0.70,0.00,125.30,1.170,6,0.067,0.000,2346,1989,2901
$STATE,9439,end apogee,CONTROL_FINISHED_OK
$STATE,9439,begin climb
$GC,9443,1.10,146.6,735.9,0.0,449,9575,1.55,2.70,123.70,1.131,4,0.061,0.068,2676,593,2305
$GC,9833,1.19,220.0,725.6,4.0,466,9905,0.10,2.55,63.55,1.123,6,0.051,0.041,2709,2026,2004
$GC,10233,1.21,237.3,706.9,5.5,486,10255,0.00,2.62,15.73,1.072,4,0.000,0.069,2709,3402,1934
$GC,10294,1.21,237.3,703.2,6.3,488,10301,0.00,2.55,0.00,0.000,6,0.000,0.050,2710,1996,1934
$GC,10610,1.21,237.3,684.8,6.1,504,10611,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1996,1933
$GC,10920,1.24,258.1,666.5,5.4,519,10945,0.00,2.72,18.83,1.094,4,0.000,0.066,2709,3397,1849
$GC,10991,1.25,265.1,662.1,5.8,522,11007,0.00,2.55,7.57,0.963,6,0.000,0.048,2709,1994,1821
$GC,11317,1.25,265.1,642.4,6.3,538,11321,0.00,2.65,0.00,0.000,4,0.000,0.066,2710,3410,1820
$GC,11356,1.25,265.1,639.6,7.4,539,11363,0.00,2.55,0.00,0.000,6,0.000,0.047,2709,1995,1820
$GC,11672,1.25,265.1,616.5,8.0,555,11673,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1995,1820
$GC,11981,1.25,265.1,588.7,9.7,570,11986,0.00,2.62,0.00,0.000,4,0.000,0.064,2709,3406,1820
$GC,12026,1.25,265.1,584.4,9.5,572,12031,0.00,2.55,0.00,0.000,6,0.000,0.048,2709,1989,1820
$GC,12348,1.25,265.1,559.4,7.3,588,12352,0.00,2.62,0.00,0.000,4,0.000,0.064,2709,3405,1820
$GC,12403,1.25,265.1,555.2,8.0,590,12409,0.00,2.53,0.00,0.000,6,0.000,0.048,2709,1991,1820
$GC,12719,1.25,265.1,529.1,8.5,606,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1991,1820
$GC,13029,1.25,265.1,506.3,6.6,621,13033,0.00,2.60,0.00,0.000,4,0.000,0.064,2709,3405,1820
$GC,13123,1.25,265.1,499.7,6.8,625,13128,0.00,2.53,0.00,0.000,6,0.000,0.048,2709,1990,1820
$GC,13439,1.25,265.1,475.9,7.2,640,13444,0.00,2.62,0.00,0.000,4,0.000,0.064,2709,3411,1820
$GC,13484,1.25,265.1,472.4,7.2,642,13488,0.00,2.53,0.00,0.000,6,0.000,0.048,2710,2000,1820
$GC,13805,1.25,265.1,452.7,6.4,658,13809,0.00,2.60,0.00,0.000,4,0.000,0.065,2710,3405,1820
$GC,13845,1.25,265.1,449.9,7.6,660,13849,0.00,2.53,0.00,0.000,6,0.000,0.048,2709,1994,1820
$GC,14172,1.25,265.1,428.9,6.6,676,14173,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1994,1821
$GC,14481,1.25,265.1,407.1,7.3,691,14486,0.00,2.60,0.00,0.000,4,0.000,0.062,2709,3409,1822
$GC,14532,1.25,265.1,402.9,8.4,693,14536,0.00,2.53,0.00,0.000,6,0.000,0.048,2709,1998,1822
$GC,14853,1.25,265.1,376.2,8.8,709,14857,0.00,2.60,0.00,0.000,4,0.000,0.061,2710,3414,1822
$GC,14897,1.25,265.1,372.1,9.1,711,14901,0.00,2.55,0.00,0.000,6,0.000,0.050,2709,1995,1823
$GC,15224,1.25,265.1,348.0,7.0,727,15228,0.00,2.60,0.00,0.000,4,0.000,0.062,2709,3408,1823
$GC,15263,1.25,265.1,345.1,7.6,729,15268,0.00,2.53,0.00,0.000,6,0.000,0.050,2709,2003,1823
$GC,15591,1.25,265.1,320.7,7.6,745,15595,0.00,2.60,0.00,0.000,4,0.000,0.064,2709,3409,1823
$GC,15646,1.25,265.1,316.2,8.0,747,15652,0.00,2.55,0.00,0.000,6,0.000,0.051,2709,1992,1823
$GC,15962,1.25,265.1,287.3,9.6,763,15963,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1992,1823
$GC,16271,1.25,265.1,261.7,7.8,778,16275,0.00,2.60,0.00,0.000,4,0.000,0.064,2710,3405,1824
$GC,16321,1.25,265.1,257.3,8.4,780,16326,0.00,2.55,0.00,0.000,6,0.000,0.053,2709,1991,1824
$GC,16643,1.25,265.1,226.7,9.8,796,16644,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1991,1824
$GC,16952,1.25,265.1,201.4,7.7,811,16957,0.00,2.60,0.00,0.000,4,0.000,0.065,2709,3406,1825
$GC,17015,1.25,265.1,196.3,7.7,814,17020,0.00,2.55,0.00,0.000,6,0.000,0.052,2709,1989,1825
$GC,17342,1.25,265.1,172.5,7.8,830,17347,0.00,2.60,0.00,0.000,4,0.000,0.064,2709,3406,1825
$GC,17370,1.25,265.1,170.1,8.9,831,17374,0.00,2.53,0.00,0.000,6,0.000,0.051,2709,2000,1825
$GC,17692,1.25,265.1,144.2,7.6,847,17696,0.00,2.60,0.00,0.000,4,0.000,0.065,2709,3411,1825
$GC,17732,1.25,265.1,141.3,6.5,849,17736,0.00,2.53,0.00,0.000,6,0.000,0.052,2709,2001,1825
$GC,18065,1.25,265.1,115.7,7.7,865,18069,0.00,2.60,0.00,0.000,4,0.000,0.064,2709,3408,1825
$GC,18092,1.25,265.1,113.1,10.0,866,18096,0.00,2.55,0.00,0.000,6,0.000,0.051,2710,1989,1825
$GC,18410,1.25,265.1,85.3,8.6,881,18414,0.00,2.62,0.00,0.000,4,0.000,0.064,2710,3410,1826
$GC,18437,1.25,265.1,82.6,9.3,882,18442,0.00,2.55,0.00,0.000,6,0.000,0.052,2710,1990,1826
$GC,18754,1.25,265.1,58.2,7.3,897,18758,0.00,2.62,0.00,0.000,4,0.000,0.064,2710,3415,1826
$GC,18787,1.25,265.1,55.6,7.9,898,18793,0.00,2.55,0.00,0.000,6,0.000,0.052,2710,1989,1826
$GC,19104,1.25,265.1,33.4,7.7,914,19105,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1989,1826
$GC,19412,1.25,265.1,11.6,7.3,929,19417,0.00,2.60,0.00,0.000,4,0.000,0.061,2709,3409,1826
$GC,19476,1.25,265.1,6.6,8.8,932,19480,0.00,2.53,0.00,0.000,6,0.000,0.049,2709,1997,1826
$STATE,19552,end climb,SURFACE_DEPTH_REACHED
$STATE,19552,begin surface coast
$FINISH,0.6,1.017259
$STATE,19574,end surface coast,CONTROL_FINISHED_OK
$STATE,19574,begin surface
$SM_CCo,19659,0.00,0.000,0,0,1826,263.94
$SM_GC,1.61,11.57,0.00,0.00,0.026,0.000,0.000,41,2664,1826,-10.92,0.40,263.94
$IRIDIUM_FIX,6216.53,-1143.42,170698,050519
$TT8_MAMPS,0.029146
$HUMID,1766
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,1
$24V_AH,23.3,29.135
$10V_AH,10.1,15.635
$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,26.125,172.650,354.675,0.000,0.000,30.723,30.933,184.995,7.250,0.000,0.000,13.165,1733.267,15048.645,471.672,2174.310,605.767,33.354,1569.012,0.000,2121.625,0.000,52.304,0.000
$DEVICE_MAMPS,162.604,95.108,1169.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,659.797,690.366,552.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47485,937
$CAP_FILE_SIZE,139712,0
$CFSIZE,260165632,249217024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230309,155006,6234.117,-1151.784,32,1.0,32,-11.2