version: 66.04
glider: 103
mission: 11
dive: 148
start: 3 25 109 0 16 26
data:
$ID,103
$MISSION,11
$DIVE,148
$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,-145935.08
$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,14
$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
$GPS1,000936,6224.511,-1143.917,39,1.1,44,-11.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-54.5
$GPS2,001532,6224.446,-1143.873,15,1.1,15,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.017,0.218
$KALMAN_X,51673.7,-1125.0,-2173.4,-74338.0,20225.8
$KALMAN_Y,-31404.3,-361.5,5457.2,22821.7,-25488.7
$MHEAD_RNG_PITCHd_Wd,6.7,42114,-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,16,-1.10,-146.6,0.0,0.0,0,79,0.00,0.00,-60.85,0.000,2,0.000,0.000,45,2659,3274
$GC,82,-1.10,-146.6,4.3,-7.9,3,105,12.18,2.17,-3.72,0.000,4,0.161,0.101,2193,3787,3500
$GC,174,-1.10,-146.6,17.8,-7.0,7,178,0.00,2.10,0.00,0.000,6,0.000,0.066,2193,2658,3500
$GC,507,-1.10,-146.6,41.8,-9.0,23,511,0.00,2.65,0.00,0.000,4,0.000,0.071,2193,1225,3500
$GC,540,-1.10,-146.6,45.6,-11.6,24,546,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2648,3500
$GC,858,-1.10,-146.6,78.6,-8.8,40,861,0.00,2.17,0.00,0.000,4,0.000,0.090,2193,3783,3501
$GC,958,-1.10,-146.6,85.7,-6.5,44,962,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2637,3500
$GC,1281,-1.10,-146.6,104.3,-5.1,60,1282,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3501
$GC,1590,-1.10,-146.6,126.3,-9.6,75,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3500
$GC,1898,-1.10,-146.6,154.0,-10.0,90,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3500
$GC,2208,-1.10,-146.6,179.7,-8.5,105,2211,0.00,2.22,0.00,0.000,4,0.000,0.088,2193,3787,3500
$GC,2253,-1.10,-146.6,183.7,-8.5,107,2257,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2646,3500
$GC,2587,-1.10,-146.6,211.2,-7.2,123,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3500
$GC,2895,-1.10,-146.6,235.2,-8.2,138,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3500
$GC,3205,-1.10,-146.6,259.3,-7.9,153,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3500
$GC,3514,-1.10,-146.6,284.0,-8.1,168,3518,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3787,3500
$GC,3547,-1.10,-146.6,286.7,-8.8,169,3551,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2646,3500
$GC,3869,-1.10,-146.6,312.6,-8.1,185,3870,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3500
$GC,4178,-1.10,-146.6,336.5,-7.4,200,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3500
$GC,4487,-1.10,-146.6,361.3,-8.4,215,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3500
$GC,4797,-1.10,-146.6,386.2,-7.9,230,4800,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3792,3500
$GC,4836,-1.10,-146.6,389.3,-8.0,231,4842,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2647,3500
$GC,5152,-1.10,-146.6,413.3,-7.6,247,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3500
$GC,5461,-1.10,-146.6,435.8,-7.3,262,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3500
$GC,5770,-1.10,-146.6,459.6,-7.7,277,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3500
$GC,6079,-1.10,-146.6,482.8,-7.7,292,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3500
$GC,6389,-1.10,-146.6,503.2,-6.5,307,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3500
$GC,6698,-1.10,-146.6,524.3,-7.2,322,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3500
$GC,7007,-1.10,-146.6,545.9,-6.9,337,7011,0.00,2.55,0.00,0.000,4,0.000,0.064,2193,1231,3500
$GC,7035,-1.10,-146.6,548.2,-7.8,338,7039,0.00,2.58,0.00,0.000,6,0.000,0.055,2193,2656,3500
$GC,7351,-1.10,-146.6,569.0,-6.4,353,7352,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2656,3500
$GC,7660,-1.10,-146.6,590.9,-7.0,368,7664,0.00,2.15,0.00,0.000,4,0.000,0.089,2193,3789,3500
$GC,7699,-1.10,-146.6,593.8,-7.5,369,7705,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2644,3500
$GC,8015,-1.10,-146.6,614.9,-6.6,385,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3500
$GC,8324,-1.10,-146.6,635.3,-6.6,400,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3500
$GC,8633,-1.10,-146.6,655.4,-6.5,415,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3500
$GC,8943,-1.10,-146.6,676.9,-7.2,430,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3500
$GC,9252,-1.10,-146.6,699.4,-7.2,445,9256,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3783,3500
$GC,9298,-1.10,-146.6,702.8,-7.3,447,9301,0.00,2.03,0.00,0.000,6,0.000,0.052,2193,2648,3500
$GC,9633,-1.10,-146.6,725.6,-6.5,463,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3500
$GC,9939,-1.10,-146.6,745.8,-6.7,478,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3499
$GC,10249,-1.10,-146.6,768.4,-7.4,493,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3499
$GC,10558,-1.10,-146.6,789.8,-6.9,508,10562,0.00,2.58,0.00,0.000,4,0.000,0.068,2193,1232,3499
$GC,10637,-1.10,-146.6,796.0,-7.2,511,10641,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2653,3499
$GC,10953,-1.10,-146.6,818.2,-7.3,526,10957,0.00,2.60,0.00,0.000,4,0.000,0.066,2194,1231,3499
$GC,10988,-1.10,-146.6,820.8,-7.7,527,10994,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2654,3498
$GC,11303,-1.10,-146.6,843.2,-6.6,543,11307,0.00,2.17,0.00,0.000,4,0.000,0.094,2194,3789,3498
$GC,11433,-1.10,-146.6,852.2,-5.3,548,11439,0.00,2.05,0.00,0.000,6,0.000,0.057,2193,2650,3498
$STATE,11726,end dive,NO_VERTICAL_VELOCITY
$STATE,11726,begin apogee
$GC,11734,-0.42,0.0,853.9,0.0,563,11868,0.80,0.00,126.47,1.230,6,0.110,0.000,2348,1995,2903
$STATE,11869,end apogee,CONTROL_FINISHED_OK
$STATE,11869,begin climb
$GC,11872,1.10,146.6,853.6,0.0,570,12005,1.58,2.80,125.03,1.197,4,0.067,0.077,2678,3424,2304
$GC,12205,1.34,337.0,853.6,0.7,585,12378,0.25,2.70,162.75,1.202,6,0.042,0.066,2739,1986,1528
$GC,12694,1.34,337.0,829.4,9.1,609,12698,0.00,2.70,0.00,0.000,4,0.000,0.071,2739,3416,1527
$GC,12830,1.34,337.0,817.3,9.2,615,12834,0.00,2.60,0.00,0.000,6,0.000,0.051,2739,1986,1526
$GC,13151,1.34,337.0,788.7,8.9,631,13155,0.00,2.58,0.00,0.000,4,0.000,0.067,2739,590,1526
$GC,13213,1.34,337.0,782.9,10.2,634,13217,0.00,2.53,0.00,0.000,6,0.000,0.042,2739,2012,1526
$GC,13540,1.34,337.0,751.7,9.7,650,13544,0.00,2.60,0.00,0.000,4,0.000,0.068,2739,3415,1525
$GC,13561,1.34,337.0,749.3,9.8,651,13566,0.00,2.55,0.00,0.000,6,0.000,0.046,2739,1991,1525
$GC,13883,1.34,337.0,719.6,9.3,667,13887,0.00,2.55,0.00,0.000,4,0.000,0.061,2739,591,1525
$GC,13916,1.34,337.0,716.4,10.2,668,13922,0.00,2.50,0.00,0.000,6,0.000,0.038,2739,2012,1525
$GC,14231,1.34,337.0,686.2,9.7,684,14235,0.00,2.55,0.00,0.000,4,0.000,0.064,2739,3406,1525
$GC,14270,1.34,337.0,681.9,10.3,685,14277,0.00,2.50,0.00,0.000,6,0.000,0.044,2739,1989,1525
$GC,14587,1.34,337.0,651.0,9.9,701,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1989,1525
$GC,14896,1.34,337.0,619.4,10.3,716,14897,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1989,1525
$GC,15205,1.34,337.0,588.8,9.6,731,15209,0.00,2.62,0.00,0.000,4,0.000,0.062,2739,3416,1525
$GC,15238,1.34,337.0,585.3,10.2,732,15244,0.00,2.53,0.00,0.000,6,0.000,0.044,2739,1993,1525
$GC,15554,1.34,337.0,554.8,9.5,748,15555,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1993,1525
$GC,15863,1.34,337.0,526.3,8.9,763,15867,0.00,2.60,0.00,0.000,4,0.000,0.064,2739,3406,1526
$GC,15896,1.34,337.0,523.2,8.6,764,15902,0.00,2.50,0.00,0.000,6,0.000,0.045,2739,2001,1526
$GC,16212,1.34,337.0,493.6,9.6,780,16216,0.00,2.55,0.00,0.000,4,0.000,0.061,2739,590,1527
$GC,16252,1.34,337.0,489.7,10.3,782,16256,0.00,2.47,0.00,0.000,6,0.000,0.038,2739,2003,1527
$GC,16578,1.34,337.0,458.1,9.4,798,16582,0.00,2.58,0.00,0.000,4,0.000,0.064,2739,3413,1527
$GC,16628,1.34,337.0,453.0,10.1,800,16632,0.00,2.53,0.00,0.000,6,0.000,0.047,2739,1997,1527
$GC,16944,1.34,337.0,422.1,9.9,815,16945,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1997,1527
$GC,17253,1.34,337.0,390.7,10.1,830,17254,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1997,1527
$GC,17563,1.34,337.0,359.9,9.8,845,17567,0.00,2.60,0.00,0.000,4,0.000,0.065,2739,3406,1528
$GC,17590,1.34,337.0,356.9,10.2,846,17594,0.00,2.50,0.00,0.000,6,0.000,0.050,2739,2004,1528
$GC,17906,1.34,337.0,327.0,9.0,861,17907,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2004,1528
$GC,18216,1.34,337.0,297.8,9.6,876,18220,0.00,2.60,0.00,0.000,4,0.000,0.066,2739,3412,1528
$GC,18243,1.34,337.0,294.9,11.5,877,18247,0.00,2.55,0.00,0.000,6,0.000,0.051,2739,1995,1528
$GC,18559,1.34,337.0,265.9,8.6,892,18560,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1995,1528
$GC,18868,1.34,337.0,236.4,9.6,907,18869,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1995,1528
$GC,19177,1.34,337.0,203.2,10.1,922,19178,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1995,1528
$GC,19486,1.34,337.0,170.7,10.7,937,19487,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1995,1529
$GC,19796,1.34,337.0,143.4,9.4,952,19797,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1994,1529
$GC,20105,1.34,337.0,118.0,8.1,967,20110,0.00,2.62,0.00,0.000,4,0.000,0.066,2739,3414,1529
$GC,20139,1.34,337.0,114.7,8.9,968,20145,0.00,2.55,0.00,0.000,6,0.000,0.056,2739,2002,1529
$GC,20456,1.34,337.0,89.5,7.3,984,20458,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2001,1529
$GC,20765,1.37,361.0,68.8,5.3,999,20791,0.00,2.65,20.90,0.706,4,0.000,0.068,2739,590,1430
$GC,20841,1.37,361.0,62.8,9.7,1002,20848,0.00,2.50,0.00,0.000,6,0.000,0.044,2739,2002,1429
$GC,21158,1.37,361.0,28.7,9.9,1018,21162,0.00,2.60,0.00,0.000,4,0.000,0.069,2739,3407,1429
$GC,21191,1.37,361.0,24.4,11.6,1019,21197,0.00,2.55,0.00,0.000,6,0.000,0.053,2739,1989,1429
$STATE,21422,end climb,SURFACE_DEPTH_REACHED
$STATE,21422,begin surface coast
$FINISH,0.3,1.016503
$STATE,21445,end surface coast,CONTROL_FINISHED_OK
$STATE,21445,begin surface
$SM_CCo,21529,0.00,0.000,0,0,1429,361.33
$SM_GC,1.15,11.77,0.00,0.00,0.028,0.000,0.000,51,2653,1429,-10.92,0.08,361.33
$IRIDIUM_FIX,6202.67,-1146.86,180698,171724
$TT8_MAMPS,0.028379
$HUMID,1764
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.3,29.991
$10V_AH,10.1,16.221
$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,26.575,134.575,435.150,0.000,0.000,29.816,27.330,160.944,7.500,0.000,0.000,15.706,1801.138,16871.561,529.140,2111.493,563.954,33.354,1593.372,0.000,2064.173,0.000,53.966,0.000
$DEVICE_MAMPS,161.070,101.244,1230.268,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,723.657,757.994,584.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53649,1032
$CAP_FILE_SIZE,135348,0
$CFSIZE,260165632,248803328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250309,061630,6224.874,-1142.203,37,1.7,37,-11.0