version: 66.04
glider: 103
mission: 11
dive: 227
start: 4 12 109 22 20 13
data:
$ID,103
$MISSION,11
$DIVE,227
$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,-147337.62
$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,16
$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
$GPS1,221330,6343.543,-1316.498,41,1.1,41,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-55.6
$GPS2,221919,6343.486,-1316.593,11,1.1,11,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.181,0.123
$KALMAN_X,-43653.8,997.5,1473.8,-24644.7,-5509.2
$KALMAN_Y,-47096.4,192.2,220.6,122843.6,-3075.6
$MHEAD_RNG_PITCHd_Wd,68.3,13211,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.03,0.000,2,0.000,0.000,54,2664,3437
$GC,82,-1.10,-146.6,5.2,-9.6,3,104,12.10,2.72,-1.00,0.000,4,0.158,0.085,2196,1243,3504
$GC,133,-1.10,-146.6,18.6,-7.9,5,137,0.00,2.65,0.00,0.000,6,0.000,0.071,2196,2647,3504
$GC,454,-1.10,-146.6,40.6,-7.3,21,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3504
$GC,763,-1.10,-146.6,66.4,-9.6,36,767,0.00,2.20,0.00,0.000,4,0.000,0.092,2196,3786,3504
$GC,831,-1.10,-146.6,73.3,-10.4,39,834,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2653,3504
$GC,1158,-1.10,-146.6,98.8,-8.3,55,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3504
$GC,1467,-1.10,-146.6,123.6,-8.6,70,1472,0.00,2.62,0.00,0.000,4,0.000,0.071,2196,1231,3504
$GC,1501,-1.10,-146.6,126.5,-8.0,71,1508,0.00,2.65,0.00,0.000,6,0.000,0.067,2196,2654,3504
$GC,1818,-1.10,-146.6,150.4,-6.1,87,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2654,3504
$GC,2126,-1.10,-146.6,174.3,-8.3,102,2130,0.00,2.20,0.00,0.000,4,0.000,0.092,2196,3794,3504
$GC,2235,-1.10,-146.6,182.9,-8.2,106,2241,0.00,2.10,0.00,0.000,6,0.000,0.058,2196,2643,3504
$GC,2551,-1.10,-146.6,204.6,-5.9,122,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3504
$GC,2860,-1.10,-146.6,222.0,-6.0,137,2864,0.00,2.25,0.00,0.000,4,0.000,0.094,2196,3792,3504
$GC,2905,-1.10,-146.6,224.8,-6.7,139,2913,0.00,2.10,0.00,0.000,6,0.000,0.057,2196,2640,3504
$GC,3235,-1.10,-146.6,243.9,-5.4,155,3239,0.00,2.25,0.00,0.000,4,0.000,0.092,2196,3790,3504
$GC,3275,-1.10,-146.6,246.7,-6.7,157,3278,0.00,2.10,0.00,0.000,6,0.000,0.059,2196,2640,3504
$GC,3608,-1.10,-146.6,268.8,-6.9,173,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3503
$GC,3917,-1.10,-146.6,296.2,-9.1,188,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3503
$GC,4226,-1.10,-146.6,321.6,-8.1,203,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3503
$GC,4536,-1.10,-146.6,347.6,-8.3,218,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3503
$GC,4845,-1.10,-146.6,375.5,-9.9,233,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3503
$GC,5154,-1.10,-146.6,402.6,-7.8,248,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3503
$GC,5464,-1.10,-146.6,425.6,-8.7,263,5468,0.00,2.22,0.00,0.000,4,0.000,0.086,2196,3794,3503
$GC,5498,-1.10,-146.6,429.6,-10.8,264,5504,0.00,2.08,0.00,0.000,6,0.000,0.055,2196,2647,3503
$GC,5814,-1.10,-146.6,457.4,-8.8,280,5815,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,6123,-1.10,-146.6,485.4,-8.7,295,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,6432,-1.10,-146.6,513.9,-8.6,310,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,6741,-1.10,-146.6,536.2,-6.4,325,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,7051,-1.10,-146.6,560.7,-7.8,340,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,7360,-1.10,-146.6,585.4,-8.8,355,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3503
$GC,7669,-1.10,-146.6,617.4,-12.1,370,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3504
$GC,7979,-1.10,-146.6,645.0,-8.3,385,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3503
$GC,8288,-1.10,-146.6,674.2,-9.8,400,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3504
$GC,8598,-1.10,-146.6,700.8,-7.6,415,8602,0.00,2.58,0.00,0.000,4,0.000,0.071,2196,1233,3503
$GC,8626,-1.10,-146.6,703.2,-7.7,416,8630,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2653,3503
$GC,8947,-1.10,-146.6,732.2,-8.8,432,8951,0.00,2.15,0.00,0.000,4,0.000,0.088,2196,3783,3503
$GC,9065,-1.10,-146.6,742.6,-7.6,437,9069,0.00,2.05,0.00,0.000,6,0.000,0.053,2196,2642,3503
$GC,9393,-1.10,-146.6,763.8,-6.5,453,9397,0.00,2.60,0.00,0.000,4,0.000,0.072,2196,1227,3502
$GC,9433,-1.10,-146.6,766.2,-6.0,455,9437,0.00,2.62,0.00,0.000,6,0.000,0.066,2196,2650,3502
$GC,9759,-1.10,-146.6,786.3,-6.7,471,9764,0.00,2.62,0.00,0.000,4,0.000,0.069,2196,1227,3502
$GC,9800,-1.10,-146.6,789.4,-7.9,473,9804,0.00,2.62,0.00,0.000,6,0.000,0.064,2196,2651,3501
$GC,10126,-1.10,-146.6,816.4,-8.5,489,10128,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3501
$STATE,10166,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10166,begin apogee
$GC,10174,-0.42,0.0,819.8,8.3,491,10308,0.75,0.00,127.15,1.224,6,0.087,0.000,2347,1994,2902
$STATE,10308,end apogee,CONTROL_FINISHED_OK
$STATE,10308,begin climb
$GC,10312,1.10,146.6,825.9,0.0,498,10445,1.58,2.75,124.38,1.203,4,0.062,0.064,2679,3426,2304
$GC,10525,1.18,212.3,828.5,4.2,508,10588,0.00,2.60,57.08,1.178,6,0.000,0.045,2679,1989,2036
$GC,10901,1.18,212.3,809.5,6.4,526,10905,0.00,2.70,0.00,0.000,4,0.000,0.067,2679,3425,2035
$GC,10968,1.20,227.7,805.2,5.6,529,10988,0.10,2.58,14.52,1.107,6,0.053,0.046,2709,1998,1973
$GC,11319,1.22,239.0,784.7,5.7,546,11335,0.00,2.65,11.10,1.078,4,0.000,0.066,2710,593,1927
$GC,11449,1.22,239.0,776.2,6.3,551,11454,0.00,2.53,0.00,0.000,6,0.000,0.040,2710,2015,1927
$GC,11776,1.22,239.0,754.2,7.1,567,11780,0.00,2.65,0.00,0.000,4,0.000,0.064,2710,590,1926
$GC,11831,1.22,239.0,749.8,7.9,569,11838,0.00,2.50,0.00,0.000,6,0.000,0.041,2710,2000,1926
$GC,12147,1.22,239.0,727.8,6.2,585,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2001,1926
$GC,12457,1.22,239.0,703.9,8.1,600,12461,0.00,2.62,0.00,0.000,4,0.000,0.064,2710,587,1925
$GC,12501,1.22,239.0,700.0,7.8,602,12505,0.00,2.53,0.00,0.000,6,0.000,0.039,2710,2013,1925
$GC,12822,1.22,239.0,673.1,8.8,618,12826,0.00,2.58,0.00,0.000,4,0.000,0.067,2710,3407,1925
$GC,12894,1.22,239.0,666.1,9.0,621,12899,0.00,2.53,0.00,0.000,6,0.000,0.045,2710,1990,1925
$GC,13211,1.22,239.0,637.1,9.1,636,13212,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1990,1925
$GC,13520,1.28,293.0,617.5,4.5,651,13572,0.00,2.62,46.05,1.104,4,0.000,0.061,2710,591,1707
$GC,13611,1.28,293.0,611.8,8.1,655,13616,0.00,2.53,0.00,0.000,6,0.000,0.038,2710,2012,1706
$GC,13927,1.28,293.0,591.8,7.2,670,13932,0.00,2.60,0.00,0.000,4,0.000,0.061,2709,592,1706
$GC,14000,1.28,293.0,586.0,7.5,673,14005,0.00,2.50,0.00,0.000,6,0.000,0.038,2710,2007,1706
$GC,14316,1.28,293.0,561.0,8.0,688,14317,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2008,1706
$GC,14625,1.28,293.0,530.4,10.6,703,14630,0.00,2.58,0.00,0.000,4,0.000,0.060,2710,597,1707
$GC,14676,1.28,293.0,524.3,12.7,705,14681,0.00,2.47,0.00,0.000,6,0.000,0.038,2710,2004,1707
$GC,14992,1.28,293.0,489.9,10.2,720,14997,0.00,2.60,0.00,0.000,4,0.000,0.066,2710,3412,1707
$GC,15037,1.28,293.0,484.7,11.1,722,15041,0.00,2.53,0.00,0.000,6,0.000,0.046,2710,2003,1707
$GC,15358,1.28,293.0,452.3,9.9,738,15362,0.00,2.62,0.00,0.000,4,0.000,0.067,2710,3412,1707
$GC,15398,1.28,293.0,448.4,10.1,740,15402,0.00,2.55,0.00,0.000,6,0.000,0.048,2710,1990,1707
$GC,15725,1.28,293.0,419.4,8.2,756,15729,0.00,2.65,0.00,0.000,4,0.000,0.066,2710,3415,1708
$GC,15758,1.28,293.0,416.5,8.5,757,15763,0.00,2.55,0.00,0.000,6,0.000,0.048,2710,1997,1708
$GC,16074,1.28,293.0,392.1,7.8,772,16075,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1997,1708
$GC,16383,1.28,293.0,365.2,8.9,787,16385,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1997,1708
$GC,16693,1.28,293.0,337.2,9.2,802,16697,0.00,2.62,0.00,0.000,4,0.000,0.067,2710,3414,1708
$GC,16726,1.28,293.0,333.9,10.2,803,16732,0.00,2.55,0.00,0.000,6,0.000,0.050,2710,1999,1708
$GC,17042,1.28,293.0,302.7,9.9,819,17046,0.00,2.62,0.00,0.000,4,0.000,0.067,2710,3411,1708
$GC,17082,1.28,293.0,298.6,11.6,821,17087,0.00,2.55,0.00,0.000,6,0.000,0.051,2710,1996,1709
$GC,17409,1.28,293.0,268.8,8.6,837,17413,0.00,2.62,0.00,0.000,4,0.000,0.066,2710,3406,1709
$GC,17449,1.28,293.0,265.4,9.7,839,17453,0.00,2.55,0.00,0.000,6,0.000,0.052,2710,1996,1709
$GC,17775,1.28,293.0,238.1,8.1,855,17776,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1996,1709
$GC,18085,1.28,293.0,210.9,9.4,870,18086,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1996,1710
$GC,18394,1.28,293.0,181.9,8.7,885,18398,0.00,2.62,0.00,0.000,4,0.000,0.066,2710,3409,1710
$GC,18433,1.28,293.0,178.7,7.9,887,18438,0.00,2.55,0.00,0.000,6,0.000,0.051,2710,1993,1710
$GC,18760,1.28,293.0,149.2,9.6,903,18764,0.00,2.62,0.00,0.000,4,0.000,0.066,2710,3407,1710
$GC,18788,1.28,293.0,146.6,8.9,904,18792,0.00,2.55,0.00,0.000,6,0.000,0.053,2710,1996,1710
$GC,19104,1.28,293.0,120.3,8.5,919,19105,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1996,1710
$GC,19414,1.28,293.0,93.0,9.7,934,19415,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1996,1710
$GC,19724,1.28,293.0,69.4,8.2,949,19729,0.00,2.62,0.00,0.000,4,0.000,0.066,2710,3410,1711
$GC,19758,1.28,293.0,66.6,7.6,950,19764,0.00,2.55,0.00,0.000,6,0.000,0.054,2710,1996,1711
$GC,20074,1.28,293.0,44.3,7.1,966,20079,0.00,2.62,0.00,0.000,4,0.000,0.067,2710,3407,1711
$GC,20115,1.28,293.0,41.1,8.0,968,20119,0.00,2.55,0.00,0.000,6,0.000,0.056,2710,1999,1711
$GC,20442,1.28,293.0,15.3,8.2,984,20446,0.00,2.60,0.00,0.000,4,0.000,0.069,2710,586,1711
$GC,20475,1.28,293.0,12.7,6.9,985,20482,0.00,2.50,0.00,0.000,6,0.000,0.044,2710,1998,1711
$STATE,20665,end climb,SURFACE_DEPTH_REACHED
$STATE,20665,begin surface coast
$FINISH,0.5,1.027480
$STATE,20687,end surface coast,CONTROL_FINISHED_OK
$STATE,20687,begin surface
$SM_CCo,20771,0.00,0.000,0,0,1710,292.40
$SM_GC,1.13,11.68,0.00,0.00,0.028,0.000,0.000,48,2657,1710,-10.93,0.20,292.40
$IRIDIUM_FIX,6317.84,-1329.18,070798,161620
$TT8_MAMPS,0.028379
$HUMID,1781
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.5,53.8
$24V_AH,23.3,41.057
$10V_AH,10.1,23.317
$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,26.200,157.900,380.275,0.000,0.000,23.049,29.102,165.062,7.000,0.000,0.000,12.032,1779.371,16175.908,501.467,2066.834,592.523,33.379,1549.502,0.000,2030.676,0.000,49.924,0.000
$DEVICE_MAMPS,158.002,93.574,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,700.092,741.437,584.912,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50597,996
$CAP_FILE_SIZE,138187,0
$CFSIZE,260165632,243695616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130409,040736,6343.884,-1314.738,34,1.0,34,-12.5