version: 66.04
glider: 103
mission: 11
dive: 223
start: 4 11 109 21 17 37
data:
$ID,103
$MISSION,11
$DIVE,223
$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,-147277.69
$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,11
$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
$GPS1,211111,6339.668,-1319.681,33,2.0,38,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-58.8
$GPS2,211643,6339.667,-1319.738,13,1.4,13,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.142,0.166
$KALMAN_X,-23594.5,-327.5,221.8,-44748.4,-8882.9
$KALMAN_Y,-34781.0,-400.9,-1704.1,106008.5,-775.6
$MHEAD_RNG_PITCHd_Wd,53.1,20724,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.10,0.000,2,0.000,0.000,47,2655,3042
$GC,62,-1.10,-146.6,3.2,-8.5,2,89,12.18,2.70,-8.57,0.000,4,0.160,0.091,2195,1243,3502
$GC,192,-1.10,-146.6,20.0,-11.0,8,196,0.00,2.65,0.00,0.000,6,0.000,0.069,2195,2655,3502
$GC,519,-1.10,-146.6,46.7,-7.6,24,522,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3786,3502
$GC,591,-1.10,-146.6,52.2,-7.4,27,595,0.00,2.08,0.00,0.000,6,0.000,0.059,2195,2655,3502
$GC,919,-1.10,-146.6,75.9,-7.0,43,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2654,3502
$GC,1228,-1.10,-146.6,104.8,-9.8,58,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2654,3502
$GC,1537,-1.10,-146.6,131.3,-8.5,73,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2655,3503
$GC,1847,-1.10,-146.6,156.7,-8.2,88,1850,0.00,2.20,0.00,0.000,4,0.000,0.089,2195,3788,3502
$GC,1886,-1.10,-146.6,160.1,-8.3,89,1891,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2643,3502
$GC,2201,-1.10,-146.6,184.0,-7.3,105,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3502
$GC,2511,-1.10,-146.6,206.8,-7.7,120,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3502
$GC,2820,-1.10,-146.6,229.4,-7.4,135,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3502
$GC,3132,-1.10,-146.6,251.3,-6.8,150,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3502
$GC,3439,-1.10,-146.6,270.9,-6.0,165,3443,0.00,2.22,0.00,0.000,4,0.000,0.089,2195,3787,3502
$GC,3489,-1.10,-146.6,274.2,-6.5,167,3493,0.00,2.10,0.00,0.000,6,0.000,0.060,2195,2640,3502
$GC,3811,-1.10,-146.6,296.2,-7.2,183,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,4120,-1.10,-146.6,317.9,-7.0,198,4124,0.00,2.22,0.00,0.000,4,0.000,0.088,2195,3792,3502
$GC,4154,-1.10,-146.6,320.6,-7.7,199,4157,0.00,2.10,0.00,0.000,6,0.000,0.058,2195,2641,3502
$GC,4475,-1.10,-146.6,342.8,-7.0,215,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,4785,-1.10,-146.6,364.6,-6.7,230,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,5094,-1.10,-146.6,385.8,-6.9,245,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3502
$GC,5403,-1.10,-146.6,405.7,-5.9,260,5407,0.00,2.22,0.00,0.000,4,0.000,0.086,2195,3796,3502
$GC,5437,-1.10,-146.6,407.9,-6.5,261,5443,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2649,3502
$GC,5754,-1.10,-146.6,425.9,-5.0,277,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,6063,-1.10,-146.6,441.1,-5.0,292,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,6372,-1.10,-146.6,457.3,-5.6,307,6373,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,6682,-1.10,-146.6,475.0,-5.4,322,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2649,3502
$GC,6990,-1.10,-146.6,492.4,-5.9,337,6994,0.00,2.20,0.00,0.000,4,0.000,0.086,2195,3794,3502
$GC,7019,-1.10,-146.6,494.0,-5.4,338,7023,0.00,2.08,0.00,0.000,6,0.000,0.054,2195,2644,3502
$GC,7346,-1.10,-146.6,512.0,-6.3,354,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,7655,-1.10,-146.6,532.4,-6.4,369,7656,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,7965,-1.10,-146.6,553.4,-7.1,384,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,8276,-1.10,-146.6,575.3,-7.1,399,8280,0.00,2.20,0.00,0.000,4,0.000,0.085,2195,3792,3502
$GC,8332,-1.10,-146.6,579.4,-6.9,401,8336,0.00,2.05,0.00,0.000,6,0.000,0.052,2195,2643,3502
$GC,8654,-1.10,-146.6,599.2,-5.5,417,8658,0.00,2.20,0.00,0.000,4,0.000,0.084,2195,3790,3502
$GC,8723,-1.10,-146.6,602.9,-5.7,420,8727,0.00,2.03,0.00,0.000,6,0.000,0.053,2195,2657,3502
$GC,9056,-1.10,-146.6,619.8,-5.3,436,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2657,3502
$GC,9366,-1.10,-146.6,636.9,-5.8,451,9367,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2657,3502
$GC,9674,-1.10,-146.6,656.3,-6.3,466,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2657,3502
$GC,9983,-1.10,-146.6,678.9,-7.9,481,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2657,3502
$GC,10293,-1.10,-146.6,705.0,-8.8,496,10297,0.00,2.17,0.00,0.000,4,0.000,0.084,2195,3792,3502
$GC,10355,-1.10,-146.6,710.6,-8.1,498,10361,0.00,2.05,0.00,0.000,6,0.000,0.053,2195,2650,3502
$GC,10671,-1.10,-146.6,737.9,-9.5,514,10675,0.00,2.58,0.00,0.000,4,0.000,0.064,2195,1227,3502
$GC,10733,-1.10,-146.6,744.5,-10.3,517,10738,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2662,3502
$GC,11060,-1.10,-146.6,778.6,-9.7,533,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2662,3502
$GC,11369,-1.10,-146.6,803.0,-8.2,548,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2662,3502
$GC,11679,-1.10,-146.6,827.6,-8.6,563,11683,0.00,2.62,0.00,0.000,4,0.000,0.067,2195,1235,3501
$GC,11741,-1.10,-146.6,833.3,-9.6,566,11746,0.00,2.62,0.00,0.000,4,0.000,0.065,2195,2656,3501
$STATE,11747,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,11747,begin apogee
$GC,11755,-0.42,0.0,834.0,10.4,566,11886,0.73,0.00,127.60,1.214,6,0.094,0.000,2344,1990,2902
$STATE,11887,end apogee,CONTROL_FINISHED_OK
$STATE,11887,begin climb
$GC,11890,1.10,146.6,839.4,0.0,572,12024,1.58,2.65,125.20,1.182,4,0.058,0.061,2678,585,2304
$GC,12240,1.19,214.8,831.5,4.1,588,12307,0.00,2.55,59.72,1.165,6,0.000,0.038,2679,2029,2026
$GC,12630,1.19,218.4,807.8,5.9,607,12640,0.00,2.72,4.85,0.821,4,0.000,0.063,2678,578,2011
$GC,12730,1.19,218.4,801.8,6.1,611,12736,0.00,2.53,0.00,0.000,6,0.000,0.040,2678,2002,2011
$GC,13046,1.25,263.2,785.9,4.8,627,13091,0.15,2.70,39.08,1.162,4,0.041,0.067,2722,3404,1829
$GC,13144,1.25,263.2,779.6,7.0,631,13149,0.00,2.55,0.00,0.000,6,0.000,0.045,2723,1989,1829
$GC,13460,1.25,263.2,754.6,8.6,646,13465,0.00,2.55,0.00,0.000,4,0.000,0.061,2723,595,1829
$GC,13626,1.25,263.2,739.3,9.4,653,13630,0.00,2.47,0.00,0.000,6,0.000,0.038,2723,2002,1828
$GC,13947,1.25,263.2,710.1,9.8,669,13951,0.00,2.60,0.00,0.000,4,0.000,0.065,2723,3410,1828
$GC,13980,1.25,263.2,706.5,10.1,670,13986,0.00,2.53,0.00,0.000,6,0.000,0.044,2723,1988,1828
$GC,14296,1.25,263.2,677.2,8.5,686,14301,0.00,2.53,0.00,0.000,4,0.000,0.058,2723,592,1828
$GC,14352,1.25,263.2,672.5,7.4,688,14358,0.00,2.47,0.00,0.000,6,0.000,0.037,2723,2004,1828
$GC,14668,1.25,263.2,648.1,8.3,704,14672,0.00,2.58,0.00,0.000,4,0.000,0.063,2723,3408,1828
$GC,14724,1.25,263.2,643.3,9.3,706,14730,0.00,2.50,0.00,0.000,6,0.000,0.041,2722,1990,1827
$GC,15040,1.25,263.2,617.3,8.4,722,15044,0.00,2.62,0.00,0.000,4,0.000,0.062,2723,3416,1828
$GC,15067,1.25,263.2,614.7,8.6,723,15071,0.00,2.53,0.00,0.000,6,0.000,0.041,2723,1988,1828
$GC,15383,1.25,263.2,589.2,7.7,738,15388,0.00,2.62,0.00,0.000,4,0.000,0.062,2723,3411,1828
$GC,15424,1.25,263.2,586.0,7.9,740,15428,0.00,2.50,0.00,0.000,6,0.000,0.043,2723,2002,1828
$GC,15751,1.25,263.2,560.9,7.9,756,15752,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2001,1828
$GC,16060,1.25,263.2,536.8,7.5,771,16061,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2001,1828
$GC,16370,1.25,263.2,513.4,7.7,786,16374,0.00,2.60,0.00,0.000,4,0.000,0.064,2723,3407,1828
$GC,16409,1.25,263.2,510.1,9.1,788,16413,0.00,2.50,0.00,0.000,6,0.000,0.044,2723,1996,1829
$GC,16736,1.25,263.2,482.9,8.6,804,16740,0.00,2.53,0.00,0.000,4,0.000,0.058,2723,594,1829
$GC,16787,1.25,263.2,478.1,10.1,806,16791,0.00,2.45,0.00,0.000,6,0.000,0.035,2723,2000,1829
$GC,17103,1.25,263.2,447.5,9.7,821,17107,0.00,2.58,0.00,0.000,4,0.000,0.065,2723,3405,1829
$GC,17147,1.25,263.2,443.0,10.1,823,17151,0.00,2.50,0.00,0.000,6,0.000,0.045,2723,1998,1829
$GC,17469,1.25,263.2,414.2,8.7,839,17470,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1829
$GC,17778,1.25,263.2,385.6,9.3,854,17779,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1829
$GC,18087,1.25,263.2,358.1,8.2,869,18088,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1830
$GC,18397,1.25,263.2,330.8,7.9,884,18401,0.00,2.62,0.00,0.000,4,0.000,0.066,2723,3415,1829
$GC,18441,1.25,263.2,326.9,9.4,886,18445,0.00,2.53,0.00,0.000,6,0.000,0.048,2723,1998,1830
$GC,18762,1.25,263.2,299.8,8.4,902,18763,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1830
$GC,19071,1.25,263.2,274.3,8.2,917,19076,0.00,2.62,0.00,0.000,4,0.000,0.066,2723,3413,1830
$GC,19122,1.25,263.2,270.0,8.4,919,19126,0.00,2.55,0.00,0.000,6,0.000,0.050,2723,1995,1831
$GC,19437,1.25,263.2,247.1,7.8,934,19439,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1994,1831
$GC,19747,1.25,263.2,222.5,7.7,949,19751,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,3408,1831
$GC,19787,1.25,263.2,219.6,6.6,951,19792,0.00,2.55,0.00,0.000,6,0.000,0.050,2723,1987,1831
$GC,20114,1.25,263.2,197.3,7.6,967,20115,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1987,1831
$GC,20424,1.25,263.2,169.8,9.6,982,20428,0.00,2.65,0.00,0.000,4,0.000,0.069,2723,3406,1831
$GC,20490,1.25,263.2,164.0,9.3,985,20495,0.00,2.55,0.00,0.000,6,0.000,0.050,2723,1987,1831
$GC,20812,1.25,263.2,133.7,9.5,1001,20817,0.00,2.55,0.00,0.000,4,0.000,0.064,2723,584,1831
$GC,20846,1.25,263.2,130.0,11.0,1002,20853,0.00,2.47,0.00,0.000,6,0.000,0.039,2723,2003,1831
$GC,21162,1.25,263.2,97.7,9.9,1018,21163,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2003,1831
$GC,21472,1.35,344.6,79.5,3.7,1033,21540,0.00,0.00,65.78,0.736,6,0.000,0.000,2723,2004,1497
$GC,21843,1.35,344.6,54.3,7.8,1051,21844,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2004,1497
$GC,22150,1.35,344.6,26.1,9.6,1066,22154,0.00,2.62,0.00,0.000,4,0.000,0.071,2723,3410,1497
$GC,22183,1.38,375.8,24.0,5.1,1067,22215,0.00,2.58,25.98,0.686,6,0.000,0.056,2723,1995,1368
$STATE,22493,end climb,SURFACE_DEPTH_REACHED
$STATE,22493,begin surface coast
$FINISH,0.4,1.026255
$STATE,22518,end surface coast,CONTROL_FINISHED_OK
$STATE,22518,begin surface
$SM_CCo,22602,0.00,0.000,0,0,1367,376.54
$SM_GC,1.22,11.77,0.00,0.00,0.028,0.000,0.000,48,2651,1367,-10.93,0.03,376.54
$IRIDIUM_FIX,6317.84,-1312.76,060798,151553
$TT8_MAMPS,0.028379
$HUMID,1771
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,776.6,67.2
$24V_AH,23.3,40.477
$10V_AH,10.1,22.940
$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,26.400,149.175,448.200,0.000,0.000,26.051,26.854,146.329,7.000,0.000,0.000,13.930,1915.695,17641.006,533.098,2254.867,585.305,33.349,1662.179,0.000,2212.067,0.000,49.980,0.000
$DEVICE_MAMPS,159.536,98.176,1214.161,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,755.940,804.688,608.569,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53790,1084
$CAP_FILE_SIZE,146257,0
$CFSIZE,260165632,243957760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120409,033607,6342.322,-1318.226,71,1.3,71,-12.5