version: 66.04
glider: 103
mission: 11
dive: 298
start: 4 28 109 4 58 14
data:
$ID,103
$MISSION,11
$DIVE,298
$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,-148731.47
$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,2675
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,14
$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
$GPS1,045137,6246.969,-1305.992,28,1.2,28,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-60.6
$GPS2,045720,6246.955,-1306.094,13,1.4,13,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.159,-0.150
$KALMAN_X,-14285.7,-435.6,-927.2,3323.9,2419.3
$KALMAN_Y,91289.0,376.7,-588.8,-219844.8,2325.7
$MHEAD_RNG_PITCHd_Wd,145.4,41259,-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,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-57.60,0.000,6,0.000,0.000,49,2678,3502
$GC,81,-1.10,-146.6,6.6,-13.0,3,103,12.00,2.72,0.00,0.000,4,0.155,0.071,2194,1255,3502
$GC,287,-1.10,-146.6,36.4,-10.0,12,292,0.00,2.67,0.00,0.000,6,0.000,0.068,2194,2681,3502
$GC,609,-1.10,-146.6,64.6,-8.5,28,612,0.00,2.15,0.00,0.000,4,0.000,0.097,2194,3786,3502
$GC,648,-1.10,-146.6,68.1,-8.3,29,654,0.00,2.03,0.00,0.000,6,0.000,0.060,2194,2675,3502
$GC,965,-1.10,-146.6,91.8,-7.2,45,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3502
$GC,1275,-1.10,-146.6,114.8,-7.4,60,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2675,3502
$GC,1583,-1.10,-146.6,139.0,-7.8,75,1586,0.00,2.17,0.00,0.000,4,0.000,0.091,2194,3792,3502
$GC,1617,-1.10,-146.6,141.7,-8.0,76,1620,0.00,2.05,0.00,0.000,6,0.000,0.061,2194,2676,3502
$GC,1938,-1.10,-146.6,167.3,-8.6,92,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2676,3502
$GC,2247,-1.10,-146.6,191.6,-7.7,107,2251,0.00,2.17,0.00,0.000,4,0.000,0.091,2194,3790,3502
$GC,2281,-1.10,-146.6,194.2,-8.0,108,2285,0.00,2.05,0.00,0.000,6,0.000,0.059,2194,2670,3502
$GC,2603,-1.10,-146.6,217.2,-6.9,124,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2670,3502
$GC,2912,-1.10,-146.6,237.9,-6.6,139,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2670,3502
$GC,3222,-1.10,-146.6,261.0,-7.5,154,3225,0.00,2.17,0.00,0.000,4,0.000,0.091,2194,3786,3502
$GC,3255,-1.10,-146.6,263.6,-7.6,155,3259,0.00,2.05,0.00,0.000,6,0.000,0.059,2194,2665,3502
$GC,3577,-1.10,-146.6,286.7,-6.9,171,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3502
$GC,3887,-1.10,-146.6,308.1,-7.2,186,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3502
$GC,4195,-1.10,-146.6,330.3,-7.1,201,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3502
$GC,4505,-1.10,-146.6,353.8,-7.7,216,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3502
$GC,4814,-1.10,-146.6,376.7,-7.3,231,4818,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3790,3502
$GC,4865,-1.10,-146.6,380.6,-7.4,233,4868,0.00,2.05,0.00,0.000,6,0.000,0.057,2194,2663,3502
$GC,5192,-1.10,-146.6,405.1,-8.0,249,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2663,3502
$GC,5501,-1.10,-146.6,429.5,-8.0,264,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2663,3502
$GC,5810,-1.10,-146.6,454.9,-8.3,279,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2663,3502
$GC,6120,-1.10,-146.6,478.1,-7.6,294,6123,0.00,2.15,0.00,0.000,4,0.000,0.085,2194,3785,3502
$GC,6166,-1.10,-146.6,481.8,-8.0,296,6170,0.00,2.00,0.00,0.000,6,0.000,0.054,2194,2670,3502
$GC,6498,-1.10,-146.6,508.2,-8.0,312,6503,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1253,3502
$GC,6532,-1.10,-146.6,511.2,-8.7,313,6538,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2685,3502
$GC,6848,-1.10,-146.6,537.6,-8.6,329,6851,0.00,2.10,0.00,0.000,4,0.000,0.090,2194,3786,3502
$GC,6887,-1.10,-146.6,541.4,-9.4,330,6893,0.00,2.00,0.00,0.000,6,0.000,0.052,2194,2659,3502
$GC,7203,-1.10,-146.6,566.6,-7.7,346,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2660,3502
$GC,7513,-1.10,-146.6,590.0,-7.4,361,7516,0.00,2.17,0.00,0.000,4,0.000,0.089,2194,3789,3502
$GC,7581,-1.10,-146.6,594.9,-7.0,364,7585,0.00,2.00,0.00,0.000,6,0.000,0.051,2194,2665,3502
$GC,7914,-1.10,-146.6,617.6,-7.0,380,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3502
$GC,8223,-1.10,-146.6,639.3,-7.3,395,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2665,3502
$GC,8532,-1.10,-146.6,662.8,-7.4,410,8536,0.00,2.17,0.00,0.000,4,0.000,0.089,2194,3792,3502
$GC,8578,-1.10,-146.6,666.2,-7.9,412,8582,0.00,2.00,0.00,0.000,6,0.000,0.050,2194,2667,3502
$GC,8911,-1.10,-146.6,691.2,-7.7,428,8915,0.00,2.15,0.00,0.000,4,0.000,0.090,2194,3783,3502
$GC,8950,-1.10,-146.6,694.3,-7.7,429,8956,0.00,1.98,0.00,0.000,6,0.000,0.051,2194,2674,3502
$GC,9266,-1.10,-146.6,717.3,-7.0,445,9270,0.00,2.58,0.00,0.000,4,0.000,0.066,2194,1250,3502
$GC,9305,-1.10,-146.6,720.0,-7.2,447,9310,0.00,2.60,0.00,0.000,6,0.000,0.060,2194,2675,3502
$GC,9633,-1.10,-146.6,740.8,-6.6,463,9637,0.00,2.12,0.00,0.000,4,0.000,0.091,2194,3787,3502
$GC,9689,-1.10,-146.6,744.8,-7.3,465,9692,0.00,2.00,0.00,0.000,6,0.000,0.050,2194,2665,3502
$GC,10011,-1.10,-146.6,767.5,-7.5,481,10015,0.00,2.55,0.00,0.000,4,0.000,0.067,2194,1260,3502
$GC,10038,-1.10,-146.6,769.6,-7.2,482,10043,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2684,3502
$GC,10360,-1.10,-146.6,791.4,-6.7,498,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2684,3502
$GC,10669,-1.10,-146.6,812.6,-7.1,513,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2684,3501
$GC,10979,-1.10,-146.6,823.7,-0.0,528,10983,0.00,2.08,0.00,0.000,4,0.000,0.086,2194,3787,3501
$STATE,11116,end dive,NO_VERTICAL_VELOCITY
$STATE,11116,begin apogee
$GC,11127,-0.42,0.0,823.7,0.0,534,11257,0.68,0.00,127.07,1.231,6,0.056,0.000,2347,2065,2902
$STATE,11258,end apogee,CONTROL_FINISHED_OK
$STATE,11258,begin climb
$GC,11261,1.10,146.6,823.5,0.0,540,11397,1.48,2.78,123.32,1.210,4,0.030,0.067,2687,3488,2304
$GC,11600,1.27,279.3,818.3,2.3,555,11719,0.12,2.55,112.00,1.216,6,0.044,0.044,2726,2065,1763
$GC,12044,1.27,279.3,782.0,10.2,577,12048,0.00,2.70,0.00,0.000,4,0.000,0.068,2726,3498,1763
$GC,12235,1.27,279.3,764.5,8.7,585,12242,0.00,2.55,0.00,0.000,6,0.000,0.046,2726,2071,1762
$GC,12552,1.27,279.3,737.3,8.6,601,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2071,1762
$GC,12861,1.27,279.3,709.7,8.9,616,12865,0.00,2.67,0.00,0.000,4,0.000,0.066,2726,3503,1761
$GC,12878,1.27,279.3,707.9,8.8,617,12882,0.00,2.55,0.00,0.000,6,0.000,0.043,2726,2071,1761
$GC,13204,1.27,279.3,681.8,7.5,633,13209,0.00,2.55,0.00,0.000,4,0.000,0.058,2726,658,1760
$GC,13233,1.27,279.3,679.3,8.2,634,13237,0.00,2.50,0.00,0.000,6,0.000,0.038,2726,2088,1760
$GC,13548,1.27,279.3,655.7,7.5,649,13553,0.00,2.58,0.00,0.000,4,0.000,0.066,2726,3490,1760
$GC,13582,1.27,279.3,653.0,7.2,650,13589,0.00,2.50,0.00,0.000,6,0.000,0.041,2726,2069,1760
$GC,13899,1.27,279.3,629.7,7.3,666,13900,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2069,1760
$GC,14208,1.27,279.3,607.2,7.3,681,14212,0.00,2.62,0.00,0.000,4,0.000,0.064,2726,3485,1761
$GC,14263,1.27,279.3,602.8,7.6,683,14269,0.00,2.50,0.00,0.000,6,0.000,0.041,2726,2071,1760
$GC,14579,1.27,279.3,579.3,7.7,699,14583,0.00,2.62,0.00,0.000,4,0.000,0.062,2726,3493,1761
$GC,14601,1.27,279.3,577.5,7.6,700,14605,0.00,2.53,0.00,0.000,6,0.000,0.041,2726,2064,1761
$GC,14922,1.27,279.3,551.5,8.0,716,14923,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2064,1762
$GC,15232,1.27,279.3,526.5,8.2,731,15237,0.00,2.62,0.00,0.000,4,0.000,0.064,2726,3483,1762
$GC,15259,1.27,279.3,524.0,9.2,732,15264,0.00,2.50,0.00,0.000,6,0.000,0.042,2726,2072,1762
$GC,15575,1.27,279.3,498.2,8.0,747,15576,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2072,1763
$GC,15885,1.27,279.3,474.5,7.3,762,15889,0.00,2.60,0.00,0.000,4,0.000,0.064,2726,3482,1763
$GC,15923,1.27,279.3,471.5,8.2,763,15929,0.00,2.50,0.00,0.000,6,0.000,0.044,2726,2074,1763
$GC,16239,1.27,279.3,447.4,7.9,779,16240,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2074,1763
$GC,16548,1.27,279.3,420.9,8.6,794,16553,0.00,2.62,0.00,0.000,4,0.000,0.067,2726,3484,1763
$GC,16599,1.27,279.3,416.3,9.6,796,16603,0.00,2.53,0.00,0.000,6,0.000,0.046,2726,2067,1763
$GC,16920,1.27,279.3,388.8,8.6,812,16921,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2068,1763
$GC,17229,1.27,279.3,362.0,8.5,827,17234,0.00,2.65,0.00,0.000,4,0.000,0.067,2726,3490,1763
$GC,17270,1.27,279.3,358.4,8.6,829,17274,0.00,2.53,0.00,0.000,6,0.000,0.048,2726,2077,1763
$GC,17596,1.27,279.3,327.9,9.5,845,17597,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2077,1763
$GC,17906,1.27,279.3,301.0,8.1,860,17910,0.00,2.62,0.00,0.000,4,0.000,0.069,2726,3482,1763
$GC,17950,1.27,279.3,297.2,8.7,862,17954,0.00,2.53,0.00,0.000,6,0.000,0.048,2726,2075,1764
$GC,18271,1.27,279.3,267.9,9.1,878,18272,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2075,1763
$GC,18580,1.27,279.3,240.7,8.4,893,18581,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2075,1763
$GC,18890,1.27,279.3,214.8,8.5,908,18894,0.00,2.65,0.00,0.000,4,0.000,0.071,2726,3491,1764
$GC,18940,1.27,279.3,210.1,8.5,910,18944,0.00,2.55,0.00,0.000,6,0.000,0.050,2726,2072,1764
$GC,19255,1.27,279.3,184.1,8.3,925,19260,0.00,2.62,0.00,0.000,4,0.000,0.071,2726,3481,1764
$GC,19284,1.27,279.3,181.6,9.6,926,19288,0.00,2.53,0.00,0.000,6,0.000,0.050,2726,2074,1764
$GC,19600,1.27,279.3,154.1,8.4,941,19601,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2074,1764
$GC,19909,1.27,279.3,129.5,8.1,956,19913,0.00,2.65,0.00,0.000,4,0.000,0.072,2726,3485,1764
$GC,19959,1.27,279.3,125.1,8.2,958,19963,0.00,2.55,0.00,0.000,6,0.000,0.051,2726,2069,1764
$GC,20276,1.27,279.3,98.5,8.4,973,20280,0.00,2.55,0.00,0.000,4,0.000,0.063,2726,662,1765
$GC,20339,1.27,279.3,92.7,9.2,976,20343,0.00,2.47,0.00,0.000,6,0.000,0.041,2726,2072,1765
$GC,20666,1.27,279.3,65.0,8.3,992,20670,0.00,2.62,0.00,0.000,4,0.000,0.072,2726,3484,1765
$GC,20721,1.27,279.3,59.9,8.1,994,20728,0.00,2.53,0.00,0.000,6,0.000,0.053,2726,2076,1765
$GC,21037,1.27,279.3,34.2,7.9,1010,21039,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2077,1765
$GC,21347,1.27,279.3,9.4,8.3,1025,21348,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2077,1765
$STATE,21447,end climb,SURFACE_DEPTH_REACHED
$STATE,21447,begin surface coast
$FINISH,0.5,1.026700
$STATE,21469,end surface coast,CONTROL_FINISHED_OK
$STATE,21469,begin surface
$SM_CCo,21553,0.00,0.000,0,0,1764,279.15
$SM_GC,1.47,11.77,0.00,0.00,0.031,0.000,0.000,50,2675,1764,-10.93,0.00,279.15
$IRIDIUM_FIX,6225.82,-1308.50,220798,232345
$TT8_MAMPS,0.029146
$HUMID,1786
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.2,50.845
$10V_AH,10.1,29.221
$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,26.050,160.925,362.400,0.000,0.000,29.453,28.661,148.898,7.000,0.000,0.000,13.564,1849.360,16787.012,474.948,2196.046,584.937,33.365,1580.245,0.000,2148.477,0.000,48.512,0.000
$DEVICE_MAMPS,154.934,96.642,1231.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.209,760.585,581.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50574,1031
$CAP_FILE_SIZE,142726,0
$CFSIZE,260165632,239390720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280409,105837,6246.260,-1304.874,33,0.9,33,-12.0