version: 66.04
glider: 103
mission: 11
dive: 159
start: 3 28 109 3 15 35
data:
$ID,103
$MISSION,11
$DIVE,159
$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,-146160.52
$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,13
$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
$GPS1,030836,6219.125,-1159.109,37,1.1,38,-11.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-60.1
$GPS2,031444,6219.057,-1159.185,13,1.1,13,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.085,0.201
$KALMAN_X,58071.5,464.7,-2369.1,-95306.0,6395.6
$KALMAN_Y,-88647.9,1478.7,1370.8,72302.2,-14427.5
$MHEAD_RNG_PITCHd_Wd,348.2,42635,-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,-56.78,0.000,6,0.000,0.000,53,2649,3501
$GC,82,-1.10,-146.6,6.7,-13.0,3,98,12.23,0.00,0.00,0.000,6,0.158,0.000,2193,2649,3500
$GC,410,-1.10,-146.6,36.9,-4.1,19,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3501
$GC,718,-1.10,-146.6,54.4,-5.1,34,722,0.00,2.20,0.00,0.000,4,0.000,0.092,2193,3785,3501
$GC,791,-1.10,-146.6,58.6,-6.1,37,795,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2646,3501
$GC,1119,-1.10,-146.6,74.6,-3.2,53,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3501
$GC,1428,-1.10,-146.6,89.2,-5.8,68,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,1737,-1.10,-146.6,123.6,-10.9,83,1741,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3786,3501
$GC,1810,-1.10,-146.6,132.2,-12.3,86,1813,0.00,2.10,0.00,0.000,6,0.000,0.063,2193,2646,3501
$GC,2131,-1.10,-146.6,170.5,-8.4,102,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,2440,-1.10,-146.6,198.4,-8.4,117,2444,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3789,3501
$GC,2514,-1.10,-146.6,205.8,-10.2,120,2517,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2645,3501
$GC,2841,-1.10,-146.6,238.7,-9.1,136,2844,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3782,3501
$GC,2880,-1.10,-146.6,242.5,-9.4,137,2886,0.00,2.08,0.00,0.000,6,0.000,0.062,2193,2649,3501
$GC,3196,-1.10,-146.6,270.3,-8.5,153,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3501
$GC,3505,-1.10,-146.6,293.0,-8.2,168,3509,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3789,3501
$GC,3560,-1.10,-146.6,298.2,-9.2,170,3567,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2645,3501
$GC,3877,-1.10,-146.6,320.9,-6.9,186,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2645,3501
$GC,4187,-1.10,-146.6,353.1,-12.5,201,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,4495,-1.10,-146.6,384.6,-7.9,216,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3501
$GC,4807,-1.10,-146.6,401.6,-5.7,231,4811,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3786,3501
$GC,4876,-1.10,-146.6,408.5,-11.0,234,4879,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2644,3501
$GC,5208,-1.10,-146.6,444.1,-10.0,250,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3501
$GC,5518,-1.10,-146.6,472.3,-9.4,265,5521,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3787,3501
$GC,5586,-1.10,-146.6,478.1,-8.1,268,5589,0.00,2.05,0.00,0.000,6,0.000,0.057,2193,2651,3501
$GC,5919,-1.10,-146.6,505.9,-8.0,284,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3501
$GC,6228,-1.10,-146.6,530.9,-8.1,299,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3501
$GC,6537,-1.10,-146.6,556.0,-7.7,314,6541,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3789,3501
$GC,6576,-1.10,-146.6,559.0,-7.6,315,6583,0.00,2.05,0.00,0.000,6,0.000,0.055,2193,2642,3501
$GC,6893,-1.10,-146.6,580.5,-6.7,331,6896,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3790,3501
$GC,6932,-1.10,-146.6,583.4,-7.5,332,6938,0.00,2.05,0.00,0.000,6,0.000,0.055,2193,2651,3501
$GC,7248,-1.10,-146.6,606.7,-7.6,348,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3501
$GC,7557,-1.10,-146.6,629.8,-7.2,363,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3501
$GC,7867,-1.10,-146.6,653.2,-7.9,378,7870,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3788,3501
$GC,7935,-1.10,-146.6,658.6,-8.4,381,7939,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2646,3501
$GC,8268,-1.10,-146.6,683.1,-7.3,397,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,8577,-1.10,-146.6,707.2,-7.5,412,8581,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3786,3501
$GC,8633,-1.10,-146.6,711.4,-7.9,414,8637,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2643,3501
$GC,8955,-1.10,-146.6,733.1,-6.5,430,8956,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3501
$GC,9264,-1.10,-146.6,752.4,-6.6,445,9265,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,9574,-1.10,-146.6,775.4,-7.8,460,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3501
$GC,9882,-1.10,-146.6,797.0,-6.3,475,9883,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3500
$GC,10192,-1.10,-146.6,817.9,-7.5,490,10196,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3790,3500
$GC,10253,-1.10,-146.6,822.8,-8.4,492,10259,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2635,3500
$GC,10569,-1.10,-146.6,845.0,-6.8,508,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2635,3500
$GC,10878,-1.10,-146.6,864.9,-7.1,523,10882,0.00,2.20,0.00,0.000,4,0.000,0.084,2193,3787,3500
$GC,10929,-1.10,-146.6,868.7,-8.3,525,10933,0.00,2.03,0.00,0.000,6,0.000,0.053,2193,2657,3500
$STATE,11067,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11068,begin apogee
$GC,11076,-0.42,0.0,878.4,6.7,532,11210,0.75,0.00,127.68,1.224,6,0.078,0.000,2348,1993,2902
$STATE,11211,end apogee,CONTROL_FINISHED_OK
$STATE,11211,begin climb
$GC,11214,1.10,146.6,884.5,0.0,539,11350,1.52,2.65,125.43,1.201,4,0.054,0.064,2678,587,2304
$GC,11562,1.18,211.7,876.5,4.2,555,11626,0.00,2.50,57.15,1.186,6,0.000,0.039,2678,2016,2038
$GC,11939,1.18,211.7,853.1,6.5,573,11943,0.00,2.58,0.00,0.000,4,0.000,0.067,2678,3400,2036
$GC,12028,1.21,230.5,846.9,5.5,577,12053,0.12,2.55,17.20,1.137,6,0.046,0.048,2717,1987,1962
$GC,12378,1.21,230.5,821.5,7.5,594,12382,0.00,2.58,0.00,0.000,4,0.000,0.064,2717,588,1961
$GC,12422,1.21,230.5,817.9,7.9,596,12426,0.00,2.50,0.00,0.000,6,0.000,0.039,2717,2003,1961
$GC,12743,1.23,249.1,797.1,5.5,612,12765,0.00,2.70,16.90,1.140,4,0.000,0.065,2717,3403,1886
$GC,12805,1.23,249.1,792.6,7.2,614,12811,0.00,2.55,0.00,0.000,6,0.000,0.044,2717,1985,1886
$GC,13121,1.23,249.1,766.4,8.7,630,13122,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1985,1886
$GC,13430,1.23,249.1,739.4,8.4,645,13431,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1985,1885
$GC,13740,1.23,249.1,713.9,8.4,660,13744,0.00,2.62,0.00,0.000,4,0.000,0.062,2717,3411,1886
$GC,13795,1.23,249.1,709.1,8.7,662,13801,0.00,2.53,0.00,0.000,6,0.000,0.042,2717,1987,1886
$GC,14111,1.23,249.1,684.2,7.7,678,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1987,1885
$GC,14420,1.23,249.1,662.6,6.7,693,14424,0.00,2.62,0.00,0.000,4,0.000,0.061,2717,3415,1886
$GC,14489,1.23,249.1,657.6,7.0,696,14493,0.00,2.50,0.00,0.000,6,0.000,0.042,2717,2000,1886
$GC,14816,1.23,249.1,632.1,8.0,712,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2000,1886
$GC,15125,1.23,249.1,606.2,8.6,727,15129,0.00,2.58,0.00,0.000,4,0.000,0.061,2717,3405,1886
$GC,15164,1.23,249.1,602.6,8.7,729,15169,0.00,2.50,0.00,0.000,6,0.000,0.042,2717,1988,1886
$GC,15491,1.23,249.1,573.7,8.8,745,15496,0.00,2.60,0.00,0.000,4,0.000,0.061,2717,3402,1887
$GC,15525,1.23,249.1,570.4,9.0,746,15531,0.00,2.50,0.00,0.000,6,0.000,0.044,2717,1989,1887
$GC,15841,1.23,249.1,543.0,8.6,762,15842,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1989,1887
$GC,16150,1.23,249.1,516.4,8.9,777,16151,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1989,1887
$GC,16459,1.23,249.1,490.8,8.0,792,16464,0.00,2.60,0.00,0.000,4,0.000,0.062,2717,3406,1888
$GC,16526,1.23,249.1,485.0,9.1,795,16530,0.00,2.50,0.00,0.000,6,0.000,0.045,2717,2001,1888
$GC,16848,1.23,249.1,461.7,7.1,811,16849,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2001,1888
$GC,17157,1.23,249.1,437.3,7.9,826,17161,0.00,2.60,0.00,0.000,4,0.000,0.064,2717,3410,1888
$GC,17207,1.23,249.1,432.9,8.8,828,17211,0.00,2.53,0.00,0.000,6,0.000,0.048,2717,1996,1888
$GC,17523,1.23,249.1,407.8,8.1,843,17524,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1996,1889
$GC,17832,1.23,249.1,383.4,7.8,858,17836,0.00,2.60,0.00,0.000,4,0.000,0.065,2717,3403,1888
$GC,17871,1.23,249.1,379.9,8.6,859,17877,0.00,2.53,0.00,0.000,6,0.000,0.049,2717,1994,1889
$GC,18187,1.23,249.1,354.1,8.2,875,18188,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1994,1889
$GC,18497,1.23,249.1,328.5,8.2,890,18501,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,3409,1889
$GC,18563,1.23,249.1,322.9,8.8,893,18567,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,1989,1889
$GC,18884,1.23,249.1,297.5,7.9,909,18885,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1989,1890
$GC,19194,1.23,249.1,273.2,7.8,924,19198,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,3405,1889
$GC,19250,1.23,249.1,268.7,8.2,926,19254,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1989,1890
$GC,19566,1.23,249.1,244.7,7.5,941,19567,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1989,1889
$GC,19875,1.23,249.1,220.1,8.2,956,19880,0.00,2.62,0.00,0.000,4,0.000,0.068,2717,3405,1890
$GC,19938,1.23,249.1,214.9,7.6,959,19942,0.00,2.53,0.00,0.000,6,0.000,0.051,2717,2002,1889
$GC,20270,1.23,249.1,189.8,7.6,975,20271,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2002,1890
$GC,20580,1.23,249.1,165.1,7.7,990,20584,0.00,2.62,0.00,0.000,4,0.000,0.069,2717,3412,1889
$GC,20619,1.23,249.1,161.7,8.5,992,20624,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1996,1890
$GC,20947,1.23,249.1,133.8,8.5,1008,20948,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1996,1890
$GC,21256,1.23,249.1,106.3,8.4,1023,21258,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1996,1890
$GC,21565,1.23,249.1,79.4,8.5,1038,21570,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,3411,1890
$GC,21606,1.23,249.1,75.7,8.1,1040,21610,0.00,2.55,0.00,0.000,6,0.000,0.054,2717,1999,1890
$GC,21939,1.23,249.1,49.1,7.7,1056,21940,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1999,1890
$GC,22249,1.23,249.1,24.9,7.6,1071,22250,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1999,1890
$STATE,22554,end climb,SURFACE_DEPTH_REACHED
$STATE,22554,begin surface coast
$FINISH,0.5,1.007426
$STATE,22576,end surface coast,CONTROL_FINISHED_OK
$STATE,22576,begin surface
$SM_CCo,22661,0.00,0.000,0,0,1889,248.24
$SM_GC,1.88,11.65,0.00,0.00,0.028,0.000,0.000,48,2641,1889,-10.93,-0.25,248.24
$IRIDIUM_FIX,6153.50,-1156.65,210698,202003
$TT8_MAMPS,0.028379
$HUMID,1778
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,851.1,37.2
$24V_AH,23.3,31.678
$10V_AH,10.1,17.347
$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,26.275,140.200,344.350,0.000,0.000,24.299,30.748,167.709,7.750,0.000,0.000,13.151,1918.989,17785.615,463.119,2237.291,612.720,33.352,1569.643,0.000,2199.812,0.000,54.723,0.000
$DEVICE_MAMPS,158.002,92.040,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,760.010,809.533,618.795,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53664,1087
$CAP_FILE_SIZE,144529,0
$CFSIZE,260165632,247996416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280309,093436,6221.402,-1201.903,38,1.2,43,-11.2