version: 66.04
glider: 103
mission: 11
dive: 225
start: 4 12 109 10 23 5
data:
$ID,103
$MISSION,11
$DIVE,225
$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,-147308.36
$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,21
$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
$GPS1,101331,6343.122,-1319.060,40,1.6,40,-12.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-62.6
$GPS2,102214,6343.147,-1319.104,12,1.3,12,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.168,0.140
$KALMAN_X,-34286.6,752.9,794.8,-35203.2,-20529.1
$KALMAN_Y,-40811.8,-14.0,873.7,115488.9,-10930.2
$MHEAD_RNG_PITCHd_Wd,62.6,14708,-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,-146.6,0.0,0.0,0,60,0.00,0.00,-41.83,0.000,2,0.000,0.000,36,2652,3262
$GC,63,-1.10,-146.6,4.2,-12.5,2,82,12.40,0.00,-3.83,0.000,6,0.160,0.000,2196,2652,3503
$GC,390,-1.10,-146.6,44.7,-7.3,18,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,698,-1.10,-146.6,72.0,-9.6,33,702,0.00,2.22,0.00,0.000,4,0.000,0.094,2196,3790,3503
$GC,742,-1.10,-146.6,75.7,-8.2,35,746,0.00,2.10,0.00,0.000,6,0.000,0.064,2196,2659,3503
$GC,1070,-1.10,-146.6,101.3,-8.1,51,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2658,3502
$GC,1379,-1.10,-146.6,129.8,-9.9,66,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2658,3503
$GC,1688,-1.10,-146.6,158.8,-9.1,81,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2658,3502
$GC,1998,-1.10,-146.6,186.2,-8.8,96,2002,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3786,3502
$GC,2037,-1.10,-146.6,189.9,-9.8,97,2043,0.00,2.10,0.00,0.000,6,0.000,0.062,2196,2644,3502
$GC,2353,-1.10,-146.6,217.3,-8.7,113,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,2662,-1.10,-146.6,243.1,-8.1,128,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,2971,-1.10,-146.6,268.3,-8.1,143,2975,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3785,3502
$GC,3022,-1.10,-146.6,272.6,-8.2,145,3025,0.00,2.08,0.00,0.000,6,0.000,0.061,2196,2653,3502
$GC,3349,-1.10,-146.6,298.5,-7.9,161,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,3658,-1.10,-146.6,321.9,-7.3,176,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,3968,-1.10,-146.6,344.1,-7.0,191,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,4277,-1.10,-146.6,366.3,-7.0,206,4281,0.00,2.17,0.00,0.000,4,0.000,0.087,2196,3782,3502
$GC,4316,-1.10,-146.6,369.1,-7.4,207,4322,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2643,3502
$GC,4633,-1.10,-146.6,387.9,-6.0,223,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3502
$GC,4942,-1.10,-146.6,407.8,-7.1,238,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3502
$GC,5251,-1.10,-146.6,426.8,-6.3,253,5255,0.00,2.17,0.00,0.000,4,0.000,0.086,2196,3783,3502
$GC,5285,-1.10,-146.6,428.9,-6.4,254,5288,0.00,2.05,0.00,0.000,6,0.000,0.055,2196,2650,3502
$GC,5607,-1.10,-146.6,448.0,-5.9,270,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,5915,-1.10,-146.6,468.8,-7.0,285,5920,0.00,2.60,0.00,0.000,4,0.000,0.070,2196,1225,3502
$GC,5960,-1.10,-146.6,472.0,-7.3,287,5965,0.00,2.62,0.00,0.000,6,0.000,0.061,2196,2659,3502
$GC,6281,-1.10,-146.6,493.7,-6.3,303,6285,0.00,2.15,0.00,0.000,4,0.000,0.089,2196,3786,3502
$GC,6315,-1.10,-146.6,496.2,-7.3,304,6318,0.00,2.05,0.00,0.000,6,0.000,0.052,2196,2644,3502
$GC,6636,-1.10,-146.6,521.1,-8.1,320,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3502
$GC,6946,-1.10,-146.6,547.0,-8.6,335,6949,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3792,3502
$GC,6985,-1.10,-146.6,550.9,-9.8,336,6991,0.00,2.08,0.00,0.000,6,0.000,0.053,2196,2637,3502
$GC,7301,-1.10,-146.6,585.5,-11.9,352,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2637,3502
$GC,7610,-1.10,-146.6,630.3,-15.6,367,7615,0.00,2.55,0.00,0.000,4,0.000,0.069,2196,1235,3502
$GC,7666,-1.10,-146.6,639.7,-16.9,369,7672,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2656,3502
$GC,7982,-1.10,-146.6,686.7,-13.2,385,7986,0.00,2.17,0.00,0.000,4,0.000,0.090,2196,3793,3502
$GC,8073,-1.10,-146.6,697.7,-12.3,389,8077,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2646,3502
$GC,8406,-1.10,-146.6,728.1,-8.3,405,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,8715,-1.10,-146.6,753.3,-8.3,420,8720,0.00,2.58,0.00,0.000,4,0.000,0.070,2196,1235,3502
$GC,8766,-1.10,-146.6,757.3,-7.2,422,8770,0.00,2.60,0.00,0.000,6,0.000,0.059,2196,2658,3502
$GC,9082,-1.10,-146.6,775.4,-5.2,437,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2659,3502
$GC,9391,-1.10,-146.6,792.9,-5.9,452,9396,0.00,2.60,0.00,0.000,4,0.000,0.066,2196,1234,3502
$GC,9432,-1.10,-146.6,795.5,-6.5,454,9436,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2655,3501
$GC,9758,-1.10,-146.6,816.9,-7.0,470,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2655,3501
$STATE,10003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10003,begin apogee
$GC,10012,-0.42,0.0,834.3,8.0,482,10146,0.77,0.00,126.95,1.218,6,0.100,0.000,2348,1992,2902
$STATE,10146,end apogee,CONTROL_FINISHED_OK
$STATE,10147,begin climb
$GC,10150,1.10,146.6,839.3,0.0,489,10283,1.55,2.72,124.62,1.187,4,0.060,0.061,2678,3429,2304
$GC,10540,1.22,246.0,830.8,3.2,506,10632,0.12,2.58,85.38,1.181,6,0.048,0.043,2715,1988,1899
$GC,10960,1.22,246.0,796.2,10.6,527,10964,0.00,2.58,0.00,0.000,4,0.000,0.062,2715,588,1898
$GC,11049,1.22,246.0,786.0,12.1,531,11054,0.00,2.53,0.00,0.000,6,0.000,0.038,2715,2018,1898
$GC,11370,1.22,246.0,755.6,8.4,547,11374,0.00,2.58,0.00,0.000,4,0.000,0.067,2715,3406,1898
$GC,11403,1.22,246.0,753.1,6.9,548,11409,0.00,2.53,0.00,0.000,6,0.000,0.044,2715,1998,1898
$GC,11719,1.22,246.0,720.1,10.9,564,11723,0.00,2.55,0.00,0.000,4,0.000,0.060,2715,595,1897
$GC,11893,1.22,246.0,700.2,10.2,571,11899,0.00,2.47,0.00,0.000,6,0.000,0.039,2715,1998,1898
$GC,12209,1.22,246.0,668.5,10.0,587,12213,0.00,2.60,0.00,0.000,4,0.000,0.065,2715,3409,1897
$GC,12271,1.22,246.0,662.5,9.2,590,12275,0.00,2.53,0.00,0.000,6,0.000,0.044,2715,1989,1897
$GC,12598,1.22,246.0,631.8,9.7,606,12602,0.00,2.55,0.00,0.000,4,0.000,0.060,2715,585,1897
$GC,12715,1.22,246.0,620.1,9.2,611,12720,0.00,2.50,0.00,0.000,6,0.000,0.037,2715,2012,1897
$GC,13032,1.22,246.0,590.8,9.3,626,13036,0.00,2.60,0.00,0.000,4,0.000,0.059,2715,590,1897
$GC,13094,1.22,246.0,584.8,9.9,629,13098,0.00,2.47,0.00,0.000,6,0.000,0.036,2715,2011,1897
$GC,13427,1.22,246.0,556.6,7.7,645,13431,0.00,2.55,0.00,0.000,4,0.000,0.063,2715,3408,1898
$GC,13467,1.22,246.0,553.8,6.9,647,13471,0.00,2.50,0.00,0.000,6,0.000,0.042,2715,1995,1897
$GC,13794,1.24,261.9,534.0,5.6,663,13815,0.00,2.67,14.85,0.979,4,0.000,0.061,2715,3411,1834
$GC,13850,1.25,265.0,530.6,5.9,665,13862,0.00,2.53,4.40,0.707,6,0.000,0.043,2715,2003,1821
$GC,14171,1.26,276.0,513.5,5.7,681,14187,0.00,2.60,11.00,0.926,4,0.000,0.058,2715,591,1776
$GC,14227,1.26,276.0,509.9,6.9,682,14233,0.00,2.47,0.00,0.000,6,0.000,0.036,2715,1999,1775
$GC,14543,1.26,276.0,489.5,6.3,698,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1998,1776
$GC,14853,1.26,276.2,471.0,6.0,713,14857,0.00,2.58,0.00,0.000,4,0.000,0.064,2715,3408,1776
$GC,14897,1.26,276.2,468.1,6.8,715,14901,0.00,2.53,0.00,0.000,6,0.000,0.044,2715,1988,1776
$GC,15218,1.28,290.4,450.1,5.6,731,15237,0.00,0.00,13.52,0.909,6,0.000,0.000,2715,1988,1718
$GC,15547,1.28,293.8,431.1,5.9,747,15557,0.00,2.65,4.65,0.687,4,0.000,0.064,2715,3405,1704
$GC,15632,1.28,293.8,425.7,6.5,751,15636,0.00,2.53,0.00,0.000,6,0.000,0.047,2715,1998,1704
$GC,15958,1.28,293.8,404.8,6.8,767,15959,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1997,1705
$GC,16268,1.28,293.8,383.7,6.9,782,16272,0.00,2.62,0.00,0.000,4,0.000,0.065,2715,3410,1705
$GC,16330,1.28,293.8,379.2,6.9,785,16334,0.00,2.53,0.00,0.000,6,0.000,0.048,2715,2002,1705
$GC,16657,1.28,293.8,355.3,7.5,801,16661,0.00,2.62,0.00,0.000,4,0.000,0.066,2715,3412,1705
$GC,16684,1.28,293.8,353.1,7.3,802,16688,0.00,2.55,0.00,0.000,6,0.000,0.049,2715,1993,1705
$GC,17000,1.28,293.8,328.3,7.9,817,17004,0.00,2.62,0.00,0.000,4,0.000,0.066,2715,3406,1706
$GC,17040,1.28,293.8,325.1,7.5,819,17044,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1990,1705
$GC,17367,1.28,293.8,298.4,8.2,835,17371,0.00,2.65,0.00,0.000,4,0.000,0.067,2715,3411,1706
$GC,17400,1.28,293.8,295.6,9.2,836,17406,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1996,1706
$GC,17716,1.28,293.8,269.7,8.5,852,17720,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3403,1706
$GC,17756,1.28,293.8,266.2,8.8,854,17760,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1989,1706
$GC,18082,1.28,293.8,236.9,9.4,870,18083,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1989,1706
$GC,18391,1.28,293.8,209.3,8.5,885,18396,0.00,2.65,0.00,0.000,4,0.000,0.071,2715,3405,1706
$GC,18454,1.28,293.8,204.0,7.7,888,18459,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,1989,1706
$GC,18781,1.28,293.8,176.7,8.3,904,18782,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1989,1706
$GC,19090,1.28,293.8,148.8,8.6,919,19095,0.00,2.65,0.00,0.000,4,0.000,0.070,2715,3408,1706
$GC,19131,1.28,293.8,145.6,8.7,921,19135,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,1994,1706
$GC,19458,1.28,293.8,118.5,8.0,937,19459,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1993,1706
$GC,19767,1.28,293.8,93.9,7.5,952,19771,0.00,2.62,0.00,0.000,4,0.000,0.068,2715,3402,1706
$GC,19823,1.28,293.8,90.1,6.7,954,19829,0.00,2.53,0.00,0.000,6,0.000,0.055,2715,1999,1706
$GC,20139,1.28,293.8,66.9,8.0,970,20143,0.00,2.58,0.00,0.000,4,0.000,0.067,2715,590,1706
$GC,20172,1.28,293.8,63.4,9.4,971,20178,0.00,2.47,0.00,0.000,6,0.000,0.041,2715,2003,1706
$GC,20490,1.28,293.8,37.8,6.2,987,20494,0.00,2.60,0.00,0.000,4,0.000,0.071,2715,3407,1706
$GC,20530,1.28,293.8,35.0,7.0,989,20534,0.00,2.58,0.00,0.000,6,0.000,0.056,2715,1989,1706
$GC,20857,1.29,295.6,9.4,6.0,1005,20862,0.00,0.00,3.72,0.478,6,0.000,0.000,2715,1988,1696
$STATE,20957,end climb,SURFACE_DEPTH_REACHED
$STATE,20957,begin surface coast
$FINISH,0.6,1.027473
$STATE,20980,end surface coast,CONTROL_FINISHED_OK
$STATE,20980,begin surface
$SM_CCo,21065,0.00,0.000,0,0,1696,295.59
$SM_GC,1.40,11.80,0.00,0.00,0.033,0.000,0.000,51,2651,1696,-10.93,0.03,295.59
$IRIDIUM_FIX,6317.84,-1323.32,070798,101034
$TT8_MAMPS,0.027612
$HUMID,1788
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.1,94.0
$24V_AH,23.3,40.754
$10V_AH,10.1,23.136
$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,26.650,170.450,389.100,0.000,0.000,59.884,105.165,159.400,6.500,0.000,0.000,12.884,1822.259,16365.935,504.492,2187.756,697.898,33.370,1605.894,0.000,2140.832,0.000,45.490,0.000
$DEVICE_MAMPS,159.536,94.341,1217.996,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,706.925,745.353,574.518,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50576,1011
$CAP_FILE_SIZE,144874,0
$CFSIZE,260165632,243822592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120409,161530,6344.241,-1316.014,38,1.2,43,-12.5