version: 66.04
glider: 103
mission: 11
dive: 157
start: 3 27 109 13 51 52
data:
$ID,103
$MISSION,11
$DIVE,157
$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,-146130.34
$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,9
$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
$GPS1,134425,6217.020,-1152.523,49,1.3,50,-11.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-52.7
$GPS2,135101,6216.880,-1152.536,12,1.7,17,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.047,0.213
$KALMAN_X,59378.9,564.9,-1394.4,-91977.9,5765.2
$KALMAN_Y,-79493.6,792.2,1320.5,59863.7,-14701.2
$MHEAD_RNG_PITCHd_Wd,358.6,48773,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-61.42,0.000,2,0.000,0.000,44,2649,3372
$GC,83,-1.10,-146.6,5.3,-8.3,3,106,12.23,2.22,-1.88,0.000,4,0.161,0.097,2194,3786,3503
$GC,229,-1.10,-146.6,35.2,-14.3,9,233,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2651,3503
$GC,551,-1.10,-146.6,67.5,-8.1,25,555,0.00,2.20,0.00,0.000,4,0.000,0.085,2194,3787,3503
$GC,620,-1.10,-146.6,75.7,-12.1,28,624,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2646,3504
$GC,953,-1.10,-146.6,110.0,-6.7,44,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3504
$GC,1262,-1.10,-146.6,137.2,-10.1,59,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3504
$GC,1572,-1.10,-146.6,160.5,-6.5,74,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3504
$GC,1881,-1.10,-146.6,181.4,-7.1,89,1884,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3793,3503
$GC,1931,-1.10,-146.6,185.0,-7.0,91,1934,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2647,3503
$GC,2258,-1.10,-146.6,209.8,-6.1,107,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3503
$GC,2567,-1.10,-146.6,230.6,-6.4,122,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3503
$GC,2876,-1.10,-146.6,253.3,-8.4,137,2880,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3793,3503
$GC,2910,-1.10,-146.6,256.5,-9.6,138,2914,0.00,2.10,0.00,0.000,6,0.000,0.058,2194,2640,3503
$GC,3231,-1.10,-146.6,289.2,-9.5,154,3233,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3503
$GC,3541,-1.10,-146.6,307.0,-4.0,169,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3503
$GC,3850,-1.10,-146.6,318.8,-4.2,184,3854,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3793,3503
$GC,3890,-1.10,-146.6,320.9,-5.4,185,3896,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2643,3503
$GC,4206,-1.10,-146.6,341.0,-7.6,201,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3503
$GC,4516,-1.10,-146.6,367.6,-9.0,216,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3503
$GC,4825,-1.10,-146.6,394.6,-8.6,231,4828,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3793,3503
$GC,4875,-1.10,-146.6,399.1,-8.7,233,4879,0.00,2.08,0.00,0.000,6,0.000,0.056,2194,2647,3503
$GC,5203,-1.10,-146.6,426.1,-8.0,249,5205,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3503
$GC,5511,-1.10,-146.6,449.1,-7.1,264,5515,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3792,3503
$GC,5557,-1.10,-146.6,452.5,-7.2,266,5561,0.00,2.08,0.00,0.000,6,0.000,0.055,2194,2641,3503
$GC,5890,-1.10,-146.6,476.3,-7.2,282,5894,0.00,2.20,0.00,0.000,4,0.000,0.085,2194,3787,3503
$GC,5929,-1.10,-146.6,479.5,-7.8,283,5935,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2648,3503
$GC,6245,-1.10,-146.6,502.5,-7.5,299,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3503
$GC,6556,-1.10,-146.6,526.1,-7.8,314,6559,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3794,3503
$GC,6624,-1.10,-146.6,531.7,-8.1,317,6627,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2649,3503
$GC,6956,-1.10,-146.6,558.5,-8.3,333,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3503
$GC,7266,-1.10,-146.6,584.3,-8.2,348,7270,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3789,3503
$GC,7328,-1.10,-146.6,589.6,-8.4,350,7334,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2646,3503
$GC,7644,-1.10,-146.6,613.7,-7.1,366,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3503
$GC,7953,-1.10,-146.6,636.9,-7.6,381,7957,0.00,2.17,0.00,0.000,4,0.000,0.083,2194,3787,3503
$GC,7999,-1.10,-146.6,640.5,-8.3,383,8003,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2651,3503
$GC,8332,-1.10,-146.6,663.1,-6.4,399,8335,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3792,3503
$GC,8378,-1.10,-146.6,666.5,-7.6,401,8382,0.00,2.05,0.00,0.000,6,0.000,0.051,2194,2642,3503
$GC,8711,-1.10,-146.6,688.6,-6.8,417,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3503
$GC,9020,-1.10,-146.6,709.5,-6.9,432,9021,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3503
$GC,9329,-1.10,-146.6,734.0,-7.9,447,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3503
$GC,9639,-1.10,-146.6,759.5,-8.3,462,9642,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3790,3503
$GC,9695,-1.10,-146.6,764.5,-8.6,464,9698,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2642,3503
$GC,10016,-1.10,-146.6,790.9,-7.8,480,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3503
$GC,10326,-1.10,-146.6,812.7,-6.8,495,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3503
$GC,10634,-1.10,-146.6,832.7,-6.8,510,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3503
$GC,10944,-1.10,-146.6,856.1,-8.1,525,10948,0.00,2.55,0.00,0.000,4,0.000,0.066,2194,1235,3502
$GC,10988,-1.10,-146.6,859.8,-8.5,527,10993,0.00,2.60,0.00,0.000,6,0.000,0.062,2194,2655,3502
$GC,11309,-1.10,-146.6,880.1,-5.6,543,11313,0.00,2.12,0.00,0.000,4,0.000,0.084,2194,3782,3502
$GC,11394,-1.10,-146.6,885.2,-6.3,546,11400,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2645,3502
$GC,11709,-1.10,-146.6,905.3,-6.7,562,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3502
$GC,12019,-1.10,-146.6,927.1,-8.8,577,12022,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3790,3501
$GC,12065,-1.10,-146.6,930.8,-7.6,579,12069,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2645,3501
$STATE,12353,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12353,begin apogee
$GC,12362,-0.42,0.0,950.8,8.2,593,12496,0.77,0.00,128.60,1.285,6,0.099,0.000,2347,1992,2902
$STATE,12497,end apogee,CONTROL_FINISHED_OK
$STATE,12497,begin climb
$GC,12500,1.10,146.6,958.7,0.0,600,12638,1.55,2.78,126.55,1.258,4,0.060,0.075,2677,3415,2304
$GC,12891,1.37,364.5,960.3,-0.0,618,13089,0.28,2.62,186.85,1.279,6,0.031,0.057,2753,1989,1415
$GC,13410,1.37,364.5,909.3,11.3,643,13415,0.00,2.60,0.00,0.000,4,0.000,0.067,2753,586,1414
$GC,13629,1.37,364.5,882.6,12.8,653,13634,0.00,2.55,0.00,0.000,6,0.000,0.043,2753,2019,1413
$GC,13956,1.37,364.5,848.4,9.8,669,13961,0.00,2.58,0.00,0.000,4,0.000,0.069,2753,3409,1413
$GC,13997,1.37,364.5,844.1,10.4,671,14002,0.00,2.55,0.00,0.000,6,0.000,0.046,2753,1985,1413
$GC,14324,1.37,364.5,809.2,11.0,687,14328,0.00,2.55,0.00,0.000,4,0.000,0.063,2753,586,1412
$GC,14374,1.37,364.5,803.4,11.1,689,14378,0.00,2.50,0.00,0.000,6,0.000,0.040,2753,2003,1412
$GC,14696,1.37,364.5,767.5,11.8,705,14700,0.00,2.58,0.00,0.000,4,0.000,0.064,2753,3409,1412
$GC,14723,1.37,364.5,763.9,12.5,706,14727,0.00,2.50,0.00,0.000,6,0.000,0.041,2753,1996,1412
$GC,15039,1.37,364.5,723.9,12.8,721,15040,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1996,1412
$GC,15349,1.37,364.5,685.6,11.8,736,15350,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1996,1413
$GC,15658,1.37,364.5,651.5,10.5,751,15659,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1996,1413
$GC,15967,1.37,364.5,618.0,11.2,766,15971,0.00,2.60,0.00,0.000,4,0.000,0.062,2753,3419,1413
$GC,15995,1.37,364.5,614.6,11.8,767,15999,0.00,2.50,0.00,0.000,6,0.000,0.041,2753,2000,1413
$GC,16310,1.37,364.5,584.8,9.0,782,16314,0.00,2.53,0.00,0.000,4,0.000,0.058,2753,592,1413
$GC,16344,1.37,364.5,581.5,8.8,783,16348,0.00,2.47,0.00,0.000,6,0.000,0.037,2753,2012,1413
$GC,16660,1.37,364.5,550.1,10.3,798,16664,0.00,2.53,0.00,0.000,4,0.000,0.064,2753,3404,1414
$GC,16698,1.37,364.5,545.8,10.5,799,16704,0.00,2.47,0.00,0.000,6,0.000,0.041,2753,1998,1413
$GC,17014,1.37,364.5,513.9,10.1,815,17015,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1998,1413
$GC,17324,1.37,364.5,480.3,11.4,830,17325,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1998,1414
$GC,17633,1.37,364.5,446.8,10.5,845,17634,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1998,1414
$GC,17942,1.37,364.5,411.0,11.9,860,17943,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1998,1414
$GC,18251,1.37,364.5,374.8,11.7,875,18253,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1998,1415
$GC,18560,1.37,364.5,336.3,12.3,890,18565,0.00,2.60,0.00,0.000,4,0.000,0.066,2753,3403,1415
$GC,18588,1.37,364.5,332.7,13.3,891,18592,0.00,2.53,0.00,0.000,6,0.000,0.049,2753,1995,1415
$GC,18909,1.37,364.5,292.8,12.3,907,18910,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1995,1415
$GC,19219,1.37,364.5,255.6,11.8,922,19220,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1995,1415
$GC,19527,1.37,364.5,226.7,6.5,937,19529,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1994,1415
$GC,19837,1.37,364.5,197.8,12.4,952,19838,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1994,1415
$GC,20146,1.37,364.5,165.3,12.1,967,20151,0.00,2.62,0.00,0.000,4,0.000,0.068,2753,3407,1415
$GC,20180,1.37,364.5,161.3,11.1,968,20186,0.00,2.55,0.00,0.000,6,0.000,0.051,2753,1987,1415
$GC,20496,1.37,364.5,120.0,12.9,984,20497,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1987,1415
$GC,20806,1.37,364.5,86.7,8.7,999,20810,0.00,2.65,0.00,0.000,4,0.000,0.068,2753,3410,1415
$GC,20833,1.37,364.5,84.5,7.3,1000,20837,0.00,2.55,0.00,0.000,6,0.000,0.053,2753,1997,1416
$GC,21150,1.37,364.5,58.5,10.4,1015,21152,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1997,1415
$GC,21458,1.37,364.5,26.8,10.7,1030,21463,0.00,2.58,0.00,0.000,4,0.000,0.067,2753,588,1415
$GC,21500,1.37,364.5,22.2,10.4,1032,21504,0.00,2.50,0.00,0.000,6,0.000,0.044,2753,2005,1416
$STATE,21700,end climb,SURFACE_DEPTH_REACHED
$STATE,21700,begin surface coast
$FINISH,0.6,1.008428
$STATE,21722,end surface coast,CONTROL_FINISHED_OK
$STATE,21722,begin surface
$SM_CCo,21806,0.00,0.000,0,0,1416,364.27
$SM_GC,1.37,11.82,0.00,0.00,0.028,0.000,0.000,43,2648,1416,-10.92,-0.06,364.27
$IRIDIUM_FIX,6148.92,-1201.17,210698,060657
$TT8_MAMPS,0.029146
$HUMID,1769
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,925.4,35.0
$24V_AH,23.2,31.397
$10V_AH,10.1,17.144
$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,26.650,133.000,442.000,0.000,0.000,23.416,26.945,199.804,8.750,0.000,0.000,17.235,1845.077,17023.453,514.483,2186.906,620.936,33.350,1617.420,0.000,2135.054,0.000,62.532,0.000
$DEVICE_MAMPS,161.070,96.642,1285.492,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,733.469,768.562,542.164,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53629,1043
$CAP_FILE_SIZE,139624,0
$CFSIZE,260165632,248143872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270309,195637,6217.121,-1155.632,41,1.3,41,-11.1