version: 66.04
glider: 103
mission: 11
dive: 234
start: 4 14 109 15 3 23
data:
$ID,103
$MISSION,11
$DIVE,234
$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,-147447.22
$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,15
$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
$GPS1,145531,6355.973,-1315.949,42,1.0,42,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-58.3
$GPS2,150231,6356.012,-1315.978,11,1.4,16,-12.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,LW
$TGT_LATLONG,6400.000,-1330.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.030,0.216
$KALMAN_X,-78076.3,999.8,7411.5,4319.0,-13087.8
$KALMAN_Y,-42360.0,-323.2,-2812.1,144833.7,-2623.9
$MHEAD_RNG_PITCHd_Wd,20.4,13570,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,81,0.00,0.00,-61.08,0.000,2,0.000,0.000,47,2642,3392
$GC,84,-1.10,-146.6,4.9,-9.1,3,107,12.18,2.25,-1.67,0.000,4,0.159,0.098,2196,3789,3503
$GC,275,-1.10,-146.6,28.4,-7.4,11,280,0.00,2.15,0.00,0.000,6,0.000,0.069,2196,2645,3503
$GC,592,-1.10,-146.6,51.7,-9.3,26,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3503
$GC,901,-1.10,-146.6,72.6,-6.9,41,905,0.00,2.28,0.00,0.000,4,0.000,0.096,2196,3795,3503
$GC,957,-1.10,-146.6,77.2,-7.6,43,963,0.00,2.10,0.00,0.000,6,0.000,0.062,2196,2649,3503
$GC,1273,-1.10,-146.6,100.4,-7.6,59,1277,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3790,3503
$GC,1318,-1.10,-146.6,104.2,-8.4,61,1321,0.00,2.12,0.00,0.000,6,0.000,0.064,2196,2642,3503
$GC,1645,-1.10,-146.6,130.2,-7.5,77,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3503
$GC,1954,-1.10,-146.6,152.1,-7.1,92,1958,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3792,3503
$GC,2010,-1.10,-146.6,156.4,-7.6,94,2013,0.00,2.12,0.00,0.000,6,0.000,0.064,2196,2644,3503
$GC,2331,-1.10,-146.6,179.1,-6.7,110,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3503
$GC,2643,-1.10,-146.6,200.7,-7.8,125,2647,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3787,3503
$GC,2694,-1.10,-146.6,205.2,-9.8,127,2697,0.00,2.10,0.00,0.000,6,0.000,0.062,2196,2647,3503
$GC,3015,-1.10,-146.6,230.0,-7.6,143,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,3324,-1.10,-146.6,255.1,-8.3,158,3328,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3792,3502
$GC,3381,-1.10,-146.6,260.4,-9.5,160,3384,0.00,2.10,0.00,0.000,6,0.000,0.061,2196,2647,3503
$GC,3702,-1.10,-146.6,284.2,-7.0,176,3706,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3787,3502
$GC,3748,-1.10,-146.6,287.7,-8.4,178,3752,0.00,2.10,0.00,0.000,6,0.000,0.062,2196,2646,3502
$GC,4081,-1.10,-146.6,315.6,-7.7,194,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3503
$GC,4390,-1.10,-146.6,340.9,-8.6,209,4394,0.00,2.20,0.00,0.000,4,0.000,0.086,2196,3789,3502
$GC,4452,-1.10,-146.6,346.2,-8.9,211,4458,0.00,2.10,0.00,0.000,6,0.000,0.059,2196,2641,3502
$GC,4768,-1.10,-146.6,371.8,-8.1,227,4770,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3502
$GC,5078,-1.10,-146.6,400.2,-9.8,242,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3502
$GC,5387,-1.10,-146.6,430.4,-9.9,257,5390,0.00,2.20,0.00,0.000,4,0.000,0.084,2196,3787,3502
$GC,5443,-1.10,-146.6,436.1,-10.5,259,5447,0.00,2.08,0.00,0.000,6,0.000,0.056,2196,2643,3502
$GC,5764,-1.10,-146.6,467.0,-9.7,275,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3502
$GC,6073,-1.10,-146.6,496.7,-9.8,290,6077,0.00,2.20,0.00,0.000,4,0.000,0.083,2196,3790,3502
$GC,6121,-1.10,-146.6,501.1,-9.2,292,6125,0.00,2.08,0.00,0.000,6,0.000,0.054,2196,2643,3502
$GC,6454,-1.10,-146.6,525.8,-6.6,308,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3502
$GC,6763,-1.10,-146.6,543.3,-4.0,323,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,7073,-1.10,-146.6,562.7,-6.2,338,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,7381,-1.10,-146.6,582.0,-6.2,353,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3503
$GC,7691,-1.10,-146.6,601.6,-5.8,368,7695,0.00,2.20,0.00,0.000,4,0.000,0.086,2196,3787,3502
$GC,7747,-1.10,-146.6,605.7,-7.8,370,7751,0.00,2.08,0.00,0.000,6,0.000,0.054,2196,2639,3502
$GC,8070,-1.10,-146.6,626.9,-5.8,386,8073,0.00,2.22,0.00,0.000,4,0.000,0.086,2196,3791,3502
$GC,8142,-1.10,-146.6,631.5,-6.5,389,8146,0.00,2.08,0.00,0.000,6,0.000,0.054,2195,2644,3502
$GC,8470,-1.10,-146.6,654.0,-6.8,405,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,8779,-1.10,-146.6,668.9,-4.5,420,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,9088,-1.10,-146.6,686.6,-6.3,435,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,9398,-1.10,-146.6,705.1,-6.2,450,9402,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3789,3501
$GC,9506,-1.10,-146.6,709.9,-3.5,455,9510,0.00,2.05,0.00,0.000,6,0.000,0.058,2196,2653,3501
$STATE,9733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9733,begin apogee
$GC,9742,-0.42,0.0,724.1,4.8,466,9875,0.73,0.00,126.60,1.158,6,0.077,0.000,2347,1998,2902
$STATE,9876,end apogee,CONTROL_FINISHED_OK
$STATE,9876,begin climb
$GC,9879,1.10,146.6,730.3,0.0,473,10012,1.55,2.70,123.90,1.128,4,0.059,0.065,2678,591,2304
$GC,10218,1.23,247.6,721.6,3.2,488,10312,0.12,2.55,86.20,1.116,6,0.044,0.040,2722,2032,1892
$GC,10621,1.23,247.6,695.2,6.7,508,10625,0.00,2.55,0.00,0.000,4,0.000,0.064,2722,3407,1891
$GC,10648,1.23,247.6,692.8,7.4,509,10653,0.00,2.53,0.00,0.000,6,0.000,0.038,2722,1982,1891
$GC,10970,1.23,247.6,665.8,8.6,525,10974,0.00,2.67,0.00,0.000,4,0.000,0.066,2722,3410,1891
$GC,11036,1.23,247.6,660.2,8.2,528,11041,0.00,2.55,0.00,0.000,6,0.000,0.045,2722,1989,1891
$GC,11358,1.28,291.6,642.3,4.8,544,11398,0.00,0.00,38.17,1.095,6,0.000,0.000,2722,1989,1713
$GC,11708,1.28,293.5,621.1,5.9,561,11712,0.00,2.65,0.00,0.000,4,0.000,0.066,2722,3407,1712
$GC,11753,1.32,326.3,618.4,5.1,563,11790,0.00,2.58,30.92,1.070,6,0.000,0.052,2722,1992,1571
$GC,12099,1.32,326.3,596.2,6.8,580,12103,0.00,2.58,0.00,0.000,4,0.000,0.062,2722,589,1570
$GC,12155,1.32,326.3,592.4,6.6,582,12159,0.00,2.50,0.00,0.000,6,0.000,0.040,2722,1997,1570
$GC,12471,1.32,326.3,570.1,7.3,597,12472,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1997,1571
$GC,12780,1.32,326.3,548.8,7.8,612,12784,0.00,2.58,0.00,0.000,4,0.000,0.060,2722,593,1570
$GC,12852,1.32,326.3,543.4,6.7,615,12856,0.00,2.50,0.00,0.000,6,0.000,0.038,2722,2008,1570
$GC,13168,1.32,326.3,519.7,8.0,630,13172,0.00,2.60,0.00,0.000,4,0.000,0.067,2722,3412,1570
$GC,13195,1.32,326.3,517.4,8.1,631,13200,0.00,2.55,0.00,0.000,6,0.000,0.048,2722,1993,1570
$GC,13512,1.32,326.3,488.5,9.6,646,13513,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1993,1570
$GC,13821,1.32,326.3,460.2,8.5,661,13825,0.00,2.62,0.00,0.000,4,0.000,0.066,2722,3406,1570
$GC,13861,1.32,326.3,457.0,8.1,663,13865,0.00,2.53,0.00,0.000,6,0.000,0.049,2722,2001,1570
$GC,14187,1.32,326.3,433.1,7.1,679,14191,0.00,2.62,0.00,0.000,4,0.000,0.067,2722,3406,1570
$GC,14220,1.32,326.3,430.7,7.0,680,14227,0.00,2.53,0.00,0.000,6,0.000,0.050,2722,1997,1570
$GC,14536,1.32,326.3,407.0,8.0,696,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1997,1571
$GC,14846,1.32,326.3,384.2,7.0,711,14847,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1997,1571
$GC,15155,1.32,326.3,363.6,6.2,726,15159,0.00,2.62,0.00,0.000,4,0.000,0.068,2722,3406,1571
$GC,15205,1.32,326.3,360.2,6.1,728,15210,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1994,1571
$GC,15521,1.32,326.3,340.1,6.6,743,15525,0.00,2.65,0.00,0.000,4,0.000,0.068,2722,3411,1571
$GC,15554,1.32,326.3,337.7,7.3,744,15560,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,2001,1571
$GC,15870,1.32,326.3,317.2,6.5,760,15871,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2001,1572
$GC,16179,1.32,326.3,296.7,6.3,775,16183,0.00,2.62,0.00,0.000,4,0.000,0.070,2722,3405,1572
$GC,16229,1.32,326.3,293.1,7.0,777,16233,0.00,2.55,0.00,0.000,6,0.000,0.053,2723,1998,1572
$GC,16545,1.32,326.3,269.7,8.1,792,16549,0.00,2.65,0.00,0.000,4,0.000,0.071,2722,3410,1572
$GC,16572,1.32,326.3,267.1,8.4,793,16576,0.00,2.55,0.00,0.000,6,0.000,0.052,2722,2001,1572
$GC,16888,1.32,326.3,241.7,7.9,808,16892,0.00,2.65,0.00,0.000,4,0.000,0.072,2722,3409,1572
$GC,16921,1.32,326.3,239.0,8.1,809,16927,0.00,2.58,0.00,0.000,6,0.000,0.054,2722,1990,1572
$GC,17237,1.32,326.3,214.6,7.6,825,17238,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1990,1572
$GC,17546,1.32,326.3,192.9,6.6,840,17550,0.00,2.65,0.00,0.000,4,0.000,0.071,2722,3405,1572
$GC,17609,1.32,326.3,188.6,6.8,843,17613,0.00,2.55,0.00,0.000,6,0.000,0.054,2722,1997,1572
$GC,17935,1.32,326.3,168.1,6.1,859,17936,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1997,1572
$GC,18244,1.32,326.3,148.8,6.6,874,18249,0.00,2.65,0.00,0.000,4,0.000,0.072,2722,3406,1573
$GC,18312,1.32,326.3,143.8,7.2,877,18316,0.00,2.58,0.00,0.000,6,0.000,0.054,2722,1989,1572
$GC,18635,1.32,326.3,118.6,9.4,893,18639,0.00,2.67,0.00,0.000,4,0.000,0.072,2722,3412,1573
$GC,18668,1.32,326.3,115.2,9.3,894,18674,0.00,2.55,0.00,0.000,6,0.000,0.054,2722,2002,1572
$GC,18986,1.32,326.3,83.6,10.0,910,18990,0.00,2.65,0.00,0.000,4,0.000,0.073,2722,3407,1573
$GC,19030,1.32,326.3,78.6,10.0,912,19034,0.00,2.58,0.00,0.000,6,0.000,0.056,2722,1994,1573
$GC,19351,1.32,326.3,49.6,9.0,928,19352,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1994,1573
$GC,19661,1.32,326.3,24.7,8.1,943,19662,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1994,1573
$STATE,19927,end climb,SURFACE_DEPTH_REACHED
$STATE,19927,begin surface coast
$FINISH,0.5,1.020706
$STATE,19947,end surface coast,CONTROL_FINISHED_OK
$STATE,19948,begin surface
$SM_CCo,20032,0.00,0.000,0,0,1572,326.25
$SM_GC,1.51,11.70,0.00,0.00,0.027,0.000,0.000,44,2639,1572,-10.93,-0.31,326.25
$IRIDIUM_FIX,6327.46,-1323.10,090798,090927
$TT8_MAMPS,0.028379
$HUMID,1793
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.1,32.5
$24V_AH,23.3,42.150
$10V_AH,10.1,23.955
$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,26.275,151.925,405.800,0.000,0.000,31.094,27.061,222.399,6.000,0.000,0.000,16.736,1719.685,15509.982,509.429,2059.186,647.738,33.347,1553.630,0.000,2020.261,0.000,42.088,0.000
$DEVICE_MAMPS,158.769,98.176,1158.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.715,710.117,562.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47505,957
$CAP_FILE_SIZE,134574,0
$CFSIZE,260165632,243240960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140409,203831,6358.929,-1317.122,38,1.7,38,-12.6