version: 66.04
glider: 103
mission: 11
dive: 229
start: 4 13 109 9 26 38
data:
$ID,103
$MISSION,11
$DIVE,229
$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,-147368.98
$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,28
$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
$GPS1,092006,6342.979,-1314.613,38,1.0,43,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-52.9
$GPS2,092544,6342.988,-1314.741,13,2.0,13,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KW
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.167,0.141
$KALMAN_X,-81370.7,-163.7,29005.4,-11732.2,-35815.0
$KALMAN_Y,-68271.2,336.1,14537.7,128610.4,-20446.0
$MHEAD_RNG_PITCHd_Wd,62.5,13551,-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,-61.00,0.000,2,0.000,0.000,47,2672,3141
$GC,82,-1.10,-146.6,3.5,-5.9,3,103,12.27,0.00,-6.35,0.000,6,0.159,0.000,2193,2672,3502
$GC,410,-1.10,-146.6,37.3,-5.2,19,413,0.00,2.15,0.00,0.000,4,0.000,0.097,2193,3768,3502
$GC,456,-1.10,-146.6,40.7,-8.2,21,460,0.00,2.08,0.00,0.000,6,0.000,0.064,2193,2651,3502
$GC,789,-1.10,-146.6,64.9,-5.5,37,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3502
$GC,1098,-1.10,-146.6,90.0,-8.7,52,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,1407,-1.10,-146.6,114.9,-9.1,67,1411,0.00,2.20,0.00,0.000,4,0.000,0.091,2193,3777,3502
$GC,1455,-1.10,-146.6,119.0,-9.7,69,1459,0.00,2.10,0.00,0.000,6,0.000,0.063,2193,2639,3502
$GC,1790,-1.10,-146.6,149.8,-8.8,85,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2639,3502
$GC,2097,-1.10,-146.6,173.6,-7.1,100,2101,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3769,3502
$GC,2170,-1.10,-146.6,178.9,-6.7,103,2173,0.00,2.08,0.00,0.000,6,0.000,0.062,2193,2642,3502
$GC,2497,-1.10,-146.6,199.0,-6.4,119,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3502
$GC,2806,-1.10,-146.6,222.1,-8.0,134,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3502
$GC,3115,-1.10,-146.6,249.3,-9.7,149,3119,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3773,3502
$GC,3162,-1.10,-146.6,253.6,-9.5,151,3166,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2639,3502
$GC,3494,-1.10,-146.6,285.9,-10.1,167,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2637,3502
$GC,3804,-1.10,-146.6,317.9,-10.3,182,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3502
$GC,4113,-1.10,-146.6,349.1,-10.0,197,4117,0.00,2.17,0.00,0.000,4,0.000,0.087,2193,3768,3502
$GC,4186,-1.10,-146.6,356.1,-9.8,200,4190,0.00,2.05,0.00,0.000,6,0.000,0.059,2193,2643,3502
$GC,4513,-1.10,-146.6,388.1,-10.8,216,4516,0.00,2.17,0.00,0.000,4,0.000,0.086,2194,3770,3502
$GC,4569,-1.10,-146.6,395.8,-14.0,218,4573,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2643,3502
$GC,4890,-1.10,-146.6,420.5,-7.8,234,4894,0.00,2.17,0.00,0.000,4,0.000,0.087,2193,3770,3502
$GC,5053,-1.10,-146.6,439.5,-9.5,241,5056,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2640,3502
$GC,5380,-1.10,-146.6,469.3,-9.0,257,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3502
$GC,5689,-1.10,-146.6,493.1,-10.6,272,5693,0.00,2.17,0.00,0.000,4,0.000,0.084,2193,3770,3502
$GC,5780,-1.10,-146.6,502.3,-9.3,276,5784,0.00,2.03,0.00,0.000,6,0.000,0.055,2193,2648,3502
$GC,6113,-1.10,-146.6,526.8,-7.8,292,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3502
$GC,6423,-1.10,-146.6,549.2,-8.2,307,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3502
$GC,6732,-1.10,-146.6,567.9,-6.9,322,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3502
$GC,7041,-1.10,-146.6,591.7,-8.0,337,7045,0.00,2.17,0.00,0.000,4,0.000,0.087,2193,3776,3502
$GC,7142,-1.10,-146.6,599.2,-7.7,341,7146,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2644,3502
$GC,7464,-1.10,-146.6,620.7,-6.5,357,7467,0.00,2.17,0.00,0.000,4,0.000,0.089,2194,3768,3502
$GC,7609,-1.10,-146.6,632.0,-8.3,363,7613,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2640,3502
$GC,7931,-1.10,-146.6,655.4,-7.6,379,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2639,3502
$GC,8240,-1.10,-146.6,674.9,-8.3,394,8245,0.00,2.55,0.00,0.000,4,0.000,0.067,2193,1233,3501
$GC,8278,-1.10,-146.6,678.0,-8.4,395,8285,0.00,2.58,0.00,0.000,6,0.000,0.064,2193,2636,3502
$GC,8595,-1.10,-146.6,688.1,-1.2,411,8596,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2636,3501
$GC,8905,-1.10,-146.6,693.1,-2.6,426,8909,0.00,2.22,0.00,0.000,4,0.000,0.094,2193,3790,3500
$GC,9013,-1.10,-146.6,698.1,-5.1,430,9019,0.00,2.03,0.00,0.000,6,0.000,0.054,2193,2656,3500
$GC,9329,-1.10,-146.6,722.3,-8.6,446,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2656,3500
$GC,9639,-1.10,-146.6,743.7,-8.1,461,9642,0.00,2.20,0.00,0.000,4,0.000,0.093,2193,3783,3500
$GC,9672,-1.10,-146.6,746.5,-9.1,462,9676,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2644,3500
$GC,9994,-1.10,-146.6,774.1,-9.7,478,9995,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3498
$GC,10303,-1.10,-146.6,786.8,-7.3,493,10307,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1231,3498
$GC,10376,-1.10,-146.6,790.1,-5.1,496,10381,0.00,2.65,0.00,0.000,6,0.000,0.069,2193,2652,3498
$GC,10694,-1.10,-146.6,800.0,-4.8,511,10695,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2655,3497
$GC,11002,-1.10,-146.6,803.9,0.4,526,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2658,3496
$STATE,11039,end dive,NO_VERTICAL_VELOCITY
$STATE,11039,begin apogee
$GC,11048,-0.42,0.0,803.8,0.0,528,11182,0.73,0.00,126.57,1.224,6,0.057,0.000,2353,1981,2902
$STATE,11182,end apogee,CONTROL_FINISHED_OK
$STATE,11182,begin climb
$GC,11186,1.10,146.6,803.3,0.0,535,11319,1.55,2.78,124.53,1.183,4,0.053,0.071,2682,3415,2304
$GC,11552,1.11,152.0,795.4,5.9,552,11565,0.00,2.55,6.45,0.936,6,0.000,0.043,2682,1988,2282
$GC,11882,1.11,152.0,773.2,7.3,568,11886,0.00,2.67,0.00,0.000,4,0.000,0.066,2682,3416,2282
$GC,12041,1.21,230.3,762.4,3.8,575,12114,0.00,2.55,67.25,1.176,6,0.000,0.044,2682,1995,1963
$GC,12424,1.21,234.2,732.0,5.9,593,12434,0.00,2.60,5.12,0.858,4,0.000,0.064,2682,599,1947
$GC,12480,1.23,246.7,728.4,5.7,595,12498,0.12,2.53,12.18,1.063,6,0.045,0.042,2724,2012,1896
$GC,12816,1.23,246.7,705.4,7.9,612,12818,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2016,1896
$GC,13123,1.23,246.7,680.3,8.0,627,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2016,1895
$GC,13433,1.23,246.7,657.2,7.0,642,13437,0.00,2.62,0.00,0.000,4,0.000,0.064,2724,597,1895
$GC,13540,1.23,246.7,649.4,8.1,647,13544,0.00,2.47,0.00,0.000,6,0.000,0.040,2724,2004,1895
$GC,13872,1.25,266.3,628.4,5.5,663,13897,0.00,2.70,18.00,1.127,4,0.000,0.061,2724,598,1816
$GC,13955,1.25,266.3,622.7,7.0,666,13961,0.00,2.50,0.00,0.000,6,0.000,0.038,2724,2006,1816
$GC,14270,1.25,266.3,599.9,8.6,682,14275,0.00,2.60,0.00,0.000,4,0.000,0.068,2724,3405,1816
$GC,14356,1.25,266.3,591.1,10.3,686,14361,0.00,2.53,0.00,0.000,6,0.000,0.044,2724,1995,1816
$GC,14683,1.25,266.3,556.7,11.4,702,14684,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1995,1816
$GC,14992,1.25,266.3,515.6,12.8,717,14996,0.00,2.55,0.00,0.000,4,0.000,0.061,2724,593,1816
$GC,15059,1.25,266.3,507.6,11.8,720,15063,0.00,2.47,0.00,0.000,6,0.000,0.039,2724,1998,1816
$GC,15380,1.25,266.3,476.6,8.3,736,15381,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1998,1816
$GC,15689,1.25,266.3,455.2,6.6,751,15694,0.00,2.60,0.00,0.000,4,0.000,0.068,2724,3406,1817
$GC,15717,1.25,266.3,453.0,7.6,752,15722,0.00,2.53,0.00,0.000,6,0.000,0.046,2724,1993,1817
$GC,16033,1.25,266.3,427.8,8.7,767,16038,0.00,2.62,0.00,0.000,4,0.000,0.065,2724,3408,1817
$GC,16084,1.25,266.3,423.0,9.8,769,16088,0.00,2.53,0.00,0.000,6,0.000,0.048,2724,2000,1817
$GC,16400,1.25,266.3,392.7,9.9,784,16404,0.00,2.60,0.00,0.000,4,0.000,0.067,2724,3406,1818
$GC,16450,1.25,266.3,387.4,10.4,786,16454,0.00,2.53,0.00,0.000,6,0.000,0.048,2724,2000,1818
$GC,16771,1.25,266.3,354.9,10.4,802,16772,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2000,1818
$GC,17081,1.25,266.3,325.0,10.3,817,17085,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,3408,1818
$GC,17153,1.25,266.3,317.2,10.5,820,17157,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1995,1818
$GC,17469,1.25,266.3,283.5,10.6,835,17473,0.00,2.65,0.00,0.000,4,0.000,0.067,2724,3415,1818
$GC,17508,1.25,266.3,279.1,12.4,837,17513,0.00,2.58,0.00,0.000,6,0.000,0.051,2724,1988,1818
$GC,17836,1.25,266.3,246.2,9.9,853,17837,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1988,1818
$GC,18145,1.25,266.3,219.0,8.2,868,18149,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3406,1818
$GC,18208,1.25,266.3,213.5,9.2,871,18212,0.00,2.53,0.00,0.000,6,0.000,0.051,2724,1998,1818
$GC,18534,1.25,266.3,186.3,8.3,887,18538,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,3406,1819
$GC,18574,1.25,266.3,182.9,7.9,889,18578,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1989,1819
$GC,18900,1.25,266.3,157.3,7.8,905,18902,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1989,1819
$GC,19210,1.25,266.3,130.5,9.1,920,19214,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3407,1820
$GC,19265,1.25,266.3,125.5,8.6,922,19272,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,1989,1820
$GC,19583,1.25,266.3,100.9,7.5,938,19588,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3404,1820
$GC,19617,1.25,266.3,98.0,7.6,939,19623,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,1988,1820
$GC,19934,1.25,266.3,75.4,7.1,955,19939,0.00,2.65,0.00,0.000,4,0.000,0.070,2723,3406,1820
$GC,19979,1.26,271.5,72.4,5.9,957,19995,0.00,2.55,6.85,0.715,6,0.000,0.054,2724,1998,1795
$GC,20307,1.28,294.6,53.8,5.4,973,20329,0.00,0.00,19.52,0.727,6,0.000,0.000,2724,1997,1701
$GC,20639,1.28,294.6,29.6,8.2,989,20644,0.00,2.65,0.00,0.000,4,0.000,0.072,2724,3406,1701
$GC,20690,1.28,294.6,23.9,11.8,991,20694,0.00,2.58,0.00,0.000,6,0.000,0.056,2724,1998,1701
$STATE,20962,end climb,SURFACE_DEPTH_REACHED
$STATE,20962,begin surface coast
$FINISH,0.4,1.016122
$STATE,20984,end surface coast,CONTROL_FINISHED_OK
$STATE,20984,begin surface
$SM_CCo,21069,0.00,0.000,0,0,1700,294.85
$SM_GC,1.42,11.88,0.00,0.00,0.033,0.000,0.000,46,2653,1700,-10.94,0.08,294.85
$IRIDIUM_FIX,6317.84,-1313.88,080798,040442
$TT8_MAMPS,0.028379
$HUMID,1775
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,23.3,41.375
$10V_AH,10.1,23.495
$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,26.550,156.850,386.475,0.000,0.000,28.072,26.335,150.934,7.000,0.000,0.000,13.846,1842.623,16241.396,500.609,2250.189,569.707,33.346,1623.793,0.000,2200.563,0.000,48.558,0.000
$DEVICE_MAMPS,158.769,96.642,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,706.525,744.581,588.367,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50649,1005
$CAP_FILE_SIZE,143022,0
$CFSIZE,260165632,243564544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130409,151906,6346.340,-1311.751,41,1.3,41,-12.4