version: 66.04
glider: 103
mission: 11
dive: 168
start: 3 30 109 9 8 7
data:
$ID,103
$MISSION,11
$DIVE,168
$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,-146314.11
$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,8
$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
$GPS1,090107,6240.901,-1153.743,34,1.1,34,-11.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-51.1
$GPS2,090713,6240.982,-1153.498,11,1.1,11,-11.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.194,-0.100
$KALMAN_X,78858.3,1812.3,-1182.4,-113748.4,9658.8
$KALMAN_Y,-70425.5,-611.7,309.2,97904.4,14888.1
$MHEAD_RNG_PITCHd_Wd,254.0,22610,-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,-146.6,0.0,0.0,0,98,0.00,0.00,-79.03,0.000,6,0.000,0.000,50,2651,3501
$GC,101,-1.10,-146.6,5.5,-7.8,4,123,12.32,2.22,0.00,0.000,4,0.164,0.082,2195,3787,3503
$GC,224,-1.10,-146.6,27.9,-7.9,9,228,0.00,2.12,0.00,0.000,6,0.000,0.069,2195,2657,3502
$GC,547,-1.10,-146.6,52.2,-7.6,25,551,0.00,2.22,0.00,0.000,4,0.000,0.094,2195,3787,3502
$GC,592,-1.10,-146.6,56.9,-9.2,27,596,0.00,2.10,0.00,0.000,6,0.000,0.062,2195,2646,3502
$GC,919,-1.10,-146.6,77.4,-6.1,43,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3502
$GC,1229,-1.10,-146.6,97.5,-5.9,58,1233,0.00,2.25,0.00,0.000,4,0.000,0.094,2195,3789,3502
$GC,1324,-1.10,-146.6,103.0,-6.5,62,1327,0.00,2.12,0.00,0.000,6,0.000,0.064,2194,2643,3502
$GC,1647,-1.10,-146.6,122.1,-5.9,78,1651,0.00,2.25,0.00,0.000,4,0.000,0.094,2195,3786,3502
$GC,1733,-1.10,-146.6,125.8,-3.4,82,1737,0.00,2.10,0.00,0.000,6,0.000,0.064,2195,2648,3502
$GC,2067,-1.10,-146.6,139.1,-5.0,98,2071,0.00,2.25,0.00,0.000,4,0.000,0.094,2195,3793,3502
$GC,2134,-1.10,-146.6,143.0,-5.8,101,2137,0.00,2.12,0.00,0.000,6,0.000,0.064,2195,2643,3502
$GC,2461,-1.10,-146.6,161.3,-6.6,117,2465,0.00,2.62,0.00,0.000,4,0.000,0.077,2195,1234,3502
$GC,2488,-1.10,-146.6,163.3,-7.2,118,2493,0.00,2.65,0.00,0.000,6,0.000,0.068,2195,2654,3502
$GC,2804,-1.10,-146.6,186.8,-7.2,133,2808,0.00,2.17,0.00,0.000,4,0.000,0.094,2195,3783,3502
$GC,2837,-1.10,-146.6,189.4,-7.9,134,2841,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2649,3502
$GC,3159,-1.10,-146.6,214.4,-8.2,150,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3502
$GC,3468,-1.10,-146.6,235.4,-6.0,165,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,3777,-1.10,-146.6,259.8,-8.6,180,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,4086,-1.10,-146.6,283.4,-8.5,195,4090,0.00,2.22,0.00,0.000,4,0.000,0.094,2195,3786,3502
$GC,4148,-1.10,-146.6,288.9,-8.9,197,4154,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2640,3502
$GC,4464,-1.10,-146.6,313.0,-7.3,213,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3501
$GC,4773,-1.10,-146.6,336.9,-7.8,228,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3501
$GC,5082,-1.10,-146.6,360.1,-7.6,243,5083,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3501
$GC,5392,-1.10,-146.6,381.0,-6.0,258,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3501
$GC,5702,-1.10,-146.6,399.3,-5.9,273,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2638,3501
$GC,6010,-1.10,-146.6,418.0,-6.0,288,6014,0.00,2.25,0.00,0.000,4,0.000,0.092,2195,3794,3501
$GC,6050,-1.10,-146.6,420.5,-6.4,290,6054,0.00,2.10,0.00,0.000,6,0.000,0.058,2195,2639,3501
$GC,6384,-1.10,-146.6,439.5,-5.4,306,6388,0.00,2.25,0.00,0.000,4,0.000,0.093,2194,3790,3501
$GC,6456,-1.10,-146.6,444.5,-6.9,309,6460,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2649,3501
$GC,6778,-1.10,-146.6,464.6,-7.1,325,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3501
$GC,7087,-1.10,-146.6,488.4,-8.0,340,7091,0.00,2.22,0.00,0.000,4,0.000,0.094,2195,3786,3501
$GC,7143,-1.10,-146.6,493.4,-9.3,342,7147,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2643,3501
$GC,7465,-1.10,-146.6,518.5,-6.9,358,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3500
$GC,7775,-1.10,-146.6,534.7,-4.4,373,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3500
$GC,8084,-1.10,-146.6,549.2,-5.4,388,8088,0.00,2.60,0.00,0.000,4,0.000,0.073,2195,1229,3500
$GC,8117,-1.10,-146.6,551.1,-5.9,389,8123,0.00,2.65,0.00,0.000,6,0.000,0.067,2195,2659,3500
$GC,8433,-1.10,-146.6,571.2,-7.9,405,8437,0.00,2.17,0.00,0.000,4,0.000,0.095,2195,3786,3499
$GC,8472,-1.10,-146.6,574.5,-8.8,406,8478,0.00,2.08,0.00,0.000,6,0.000,0.059,2195,2644,3499
$GC,8788,-1.10,-146.6,594.1,-5.1,422,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3499
$GC,9098,-1.10,-146.6,608.8,-4.9,437,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3498
$GC,9407,-1.10,-146.6,623.7,-5.4,452,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3498
$GC,9716,-1.10,-146.6,645.9,-7.4,467,9720,0.00,2.62,0.00,0.000,4,0.000,0.078,2195,1230,3497
$GC,9760,-1.10,-146.6,648.3,-5.3,469,9765,0.00,2.67,0.00,0.000,6,0.000,0.072,2195,2657,3497
$GC,10082,-1.10,-146.6,669.2,-6.1,485,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3496
$STATE,10182,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10182,begin apogee
$GC,10191,-0.42,0.0,676.8,7.4,490,10318,0.77,0.00,124.18,1.146,6,0.104,0.000,2346,1989,2902
$STATE,10319,end apogee,CONTROL_FINISHED_OK
$STATE,10319,begin climb
$GC,10322,1.10,146.6,682.5,0.0,496,10455,1.55,2.80,122.57,1.116,4,0.055,0.077,2679,578,2304
$GC,10713,1.19,217.7,676.2,4.0,513,10782,0.00,2.58,60.33,1.118,6,0.000,0.044,2679,2024,2014
$GC,11095,1.19,217.7,654.4,7.0,532,11099,0.00,2.72,0.00,0.000,4,0.000,0.074,2679,580,2012
$GC,11352,1.19,217.7,635.0,9.0,543,11359,0.00,2.55,0.00,0.000,6,0.000,0.049,2679,1995,2012
$GC,11669,1.21,230.3,614.5,5.7,559,11691,0.12,2.78,11.85,1.051,4,0.048,0.070,2724,576,1962
$GC,11827,1.21,230.3,603.1,7.7,566,11832,0.12,2.55,0.00,0.000,6,0.091,0.044,2701,2004,1961
$GC,12154,1.21,230.3,580.5,7.2,582,12159,0.00,2.67,0.00,0.000,4,0.000,0.070,2700,575,1960
$GC,12184,1.21,230.3,578.0,8.2,583,12188,0.00,2.55,0.00,0.000,6,0.000,0.044,2701,2006,1960
$GC,12499,1.21,230.3,553.6,6.9,598,12504,0.00,2.62,0.00,0.000,4,0.000,0.073,2700,3415,1960
$GC,12594,1.21,230.3,547.2,6.4,602,12598,0.00,2.60,0.00,0.000,6,0.000,0.053,2700,1983,1960
$GC,12909,1.21,230.3,527.1,6.7,617,12914,0.00,2.58,0.00,0.000,4,0.000,0.069,2700,587,1960
$GC,12955,1.21,230.3,523.8,7.0,619,12959,0.00,2.53,0.00,0.000,6,0.000,0.042,2700,2010,1960
$GC,13288,1.21,230.3,501.2,6.8,635,13289,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2011,1959
$GC,13597,1.21,230.3,479.3,7.8,650,13601,0.00,2.58,0.00,0.000,4,0.000,0.067,2700,3408,1960
$GC,13624,1.21,230.3,477.1,7.5,651,13629,0.00,2.53,0.00,0.000,6,0.000,0.047,2700,1995,1960
$GC,13941,1.21,230.3,454.3,7.8,666,13945,0.00,2.62,0.00,0.000,4,0.000,0.064,2701,3417,1960
$GC,14031,1.21,230.3,446.7,7.5,670,14036,0.00,2.55,0.00,0.000,6,0.000,0.047,2700,1991,1960
$GC,14358,1.24,258.0,427.1,5.2,686,14384,0.00,0.00,23.67,0.987,6,0.000,0.000,2701,1990,1850
$GC,14687,1.24,258.0,403.3,8.3,702,14692,0.00,2.62,0.00,0.000,4,0.000,0.065,2700,3410,1850
$GC,14766,1.24,258.0,396.1,8.8,705,14772,0.00,2.53,0.00,0.000,6,0.000,0.048,2700,1993,1850
$GC,15082,1.24,258.0,367.0,9.7,721,15086,0.00,2.62,0.00,0.000,4,0.000,0.065,2701,3408,1850
$GC,15155,1.24,258.0,360.0,9.5,724,15159,0.00,2.53,0.00,0.000,6,0.000,0.048,2700,2001,1851
$GC,15476,1.24,258.0,333.3,7.8,740,15477,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2001,1851
$GC,15785,1.24,258.0,309.7,7.7,755,15789,0.00,2.60,0.00,0.000,4,0.000,0.064,2701,3410,1852
$GC,15826,1.24,258.0,306.3,8.4,756,15832,0.00,2.53,0.00,0.000,6,0.000,0.046,2700,1994,1852
$GC,16142,1.24,258.0,281.2,7.7,772,16146,0.00,2.62,0.00,0.000,4,0.000,0.064,2700,3412,1852
$GC,16186,1.24,258.0,277.4,8.6,774,16190,0.00,2.53,0.00,0.000,6,0.000,0.048,2701,2000,1852
$GC,16507,1.24,258.0,252.5,7.6,790,16512,0.00,2.60,0.00,0.000,4,0.000,0.064,2700,3408,1853
$GC,16552,1.24,258.0,248.7,9.2,792,16556,0.00,2.53,0.00,0.000,6,0.000,0.048,2700,1997,1853
$GC,16873,1.24,258.0,224.3,7.4,808,16874,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1996,1853
$GC,17182,1.24,258.0,198.6,8.6,823,17186,0.00,2.60,0.00,0.000,4,0.000,0.065,2700,3408,1854
$GC,17233,1.24,258.0,193.8,8.3,825,17237,0.00,2.53,0.00,0.000,6,0.000,0.046,2700,1989,1854
$GC,17554,1.24,258.0,166.3,8.1,841,17559,0.00,2.62,0.00,0.000,4,0.000,0.064,2700,3411,1854
$GC,17588,1.24,258.0,163.6,7.5,842,17594,0.00,2.53,0.00,0.000,6,0.000,0.046,2700,1991,1854
$GC,17904,1.24,258.0,140.3,7.0,858,17909,0.00,2.62,0.00,0.000,4,0.000,0.064,2700,3416,1855
$GC,17945,1.24,258.0,137.2,6.9,860,17949,0.00,2.53,0.00,0.000,6,0.000,0.047,2700,2001,1855
$GC,18278,1.24,258.0,112.1,7.7,876,18282,0.00,2.60,0.00,0.000,4,0.000,0.064,2700,3413,1855
$GC,18318,1.24,258.0,108.9,8.2,878,18322,0.00,2.53,0.00,0.000,6,0.000,0.045,2701,1992,1855
$GC,18650,1.24,258.0,85.4,6.8,894,18651,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1992,1855
$GC,18960,1.24,258.0,64.5,6.5,909,18964,0.00,2.62,0.00,0.000,4,0.000,0.067,2700,3408,1855
$GC,19004,1.24,258.0,61.5,6.1,911,19009,0.00,2.53,0.00,0.000,6,0.000,0.047,2700,1991,1855
$GC,19326,1.24,258.0,37.9,7.9,927,19327,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1991,1856
$GC,19637,1.24,258.0,15.8,7.3,942,19642,0.00,2.62,0.00,0.000,4,0.000,0.067,2701,3406,1856
$GC,19693,1.24,258.0,10.8,7.9,944,19700,0.00,2.53,0.00,0.000,6,0.000,0.054,2700,2001,1856
$STATE,19841,end climb,SURFACE_DEPTH_REACHED
$STATE,19842,begin surface coast
$FINISH,0.1,1.027535
$STATE,19866,end surface coast,CONTROL_FINISHED_OK
$STATE,19866,begin surface
$SM_CCo,19950,0.00,0.000,0,0,1856,256.58
$SM_GC,1.19,11.62,0.00,0.00,0.028,0.000,0.000,46,2657,1856,-10.94,0.20,256.58
$IRIDIUM_FIX,6216.53,-1158.15,240698,030359
$TT8_MAMPS,0.028379
$HUMID,1762
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.60
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,600.8,85.5
$24V_AH,23.3,33.007
$10V_AH,10.1,18.183
$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,26.525,164.350,342.600,0.000,0.000,27.369,27.240,180.993,9.000,0.000,0.000,11.991,1754.828,15314.693,488.610,2138.188,616.836,33.367,1559.852,0.000,2106.852,0.000,35.750,0.000
$DEVICE_MAMPS,164.138,95.108,1145.898,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,700.702,681.670,612.486,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50510,953
$CAP_FILE_SIZE,139507,0
$CFSIZE,260165632,247386112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300309,144155,6244.974,-1149.863,39,1.7,39,-11.2