version: 66.04
glider: 103
mission: 11
dive: 299
start: 4 28 109 11 12 30
data:
$ID,103
$MISSION,11
$DIVE,299
$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,-148764.17
$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,19
$R_STBD_OVSHOOT,10
$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
$GPS1,105837,6246.260,-1304.874,33,0.9,33,-12.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-60.8
$GPS2,111137,6246.360,-1304.947,15,1.9,32,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.207,-0.069
$KALMAN_X,-20498.4,-194.2,66.4,9228.4,-4697.8
$KALMAN_Y,94110.7,533.2,434.8,-224953.0,1577.6
$MHEAD_RNG_PITCHd_Wd,120.3,39995,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,50,2679,3134
$GC,62,-1.10,-146.6,3.7,-10.8,2,88,12.02,2.75,-6.40,0.000,4,0.155,0.086,2195,1260,3500
$GC,111,-1.10,-146.6,13.4,-9.3,4,116,0.00,2.67,0.00,0.000,6,0.000,0.068,2195,2681,3501
$GC,433,-1.10,-146.6,39.1,-7.9,20,436,0.00,2.15,0.00,0.000,4,0.000,0.094,2195,3790,3501
$GC,479,-1.10,-146.6,42.6,-8.0,22,483,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2681,3501
$GC,812,-1.10,-146.6,66.5,-7.2,38,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2681,3501
$GC,1121,-1.10,-146.6,89.1,-7.4,53,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2681,3501
$GC,1432,-1.10,-146.6,113.7,-8.1,68,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2680,3501
$GC,1740,-1.10,-146.6,137.8,-7.7,83,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2680,3501
$GC,2049,-1.10,-146.6,160.7,-7.1,98,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2681,3501
$GC,2358,-1.10,-146.6,183.2,-7.1,113,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2681,3501
$GC,2668,-1.10,-146.6,206.0,-7.7,128,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2681,3501
$GC,2976,-1.10,-146.6,229.5,-7.6,143,2981,0.00,2.65,0.00,0.000,4,0.000,0.073,2195,1248,3501
$GC,3004,-1.10,-146.6,231.8,-7.6,144,3008,0.00,2.65,0.00,0.000,6,0.000,0.064,2195,2678,3501
$GC,3320,-1.10,-146.6,255.2,-7.2,159,3323,0.00,2.12,0.00,0.000,4,0.000,0.093,2195,3790,3501
$GC,3367,-1.10,-146.6,258.9,-8.3,161,3370,0.00,2.03,0.00,0.000,6,0.000,0.057,2195,2674,3501
$GC,3699,-1.10,-146.6,284.5,-7.3,177,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3501
$GC,4009,-1.10,-146.6,307.4,-7.7,192,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3501
$GC,4318,-1.10,-146.6,330.9,-7.5,207,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3501
$GC,4627,-1.10,-146.6,355.0,-7.6,222,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2673,3501
$GC,4936,-1.10,-146.6,377.8,-7.5,237,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3501
$GC,5246,-1.10,-146.6,401.6,-7.8,252,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3501
$GC,5556,-1.10,-146.6,426.6,-8.4,267,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3501
$GC,5865,-1.10,-146.6,451.7,-8.1,282,5866,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3501
$GC,6173,-1.10,-146.6,477.2,-7.8,297,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3501
$GC,6483,-1.10,-146.6,503.6,-8.8,312,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3501
$GC,6792,-1.10,-146.6,529.8,-8.5,327,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2674,3501
$GC,7101,-1.10,-146.6,555.5,-8.6,342,7106,0.00,2.58,0.00,0.000,4,0.000,0.066,2195,1255,3501
$GC,7141,-1.10,-146.6,559.1,-8.7,344,7146,0.00,2.62,0.00,0.000,6,0.000,0.062,2195,2685,3501
$GC,7468,-1.10,-146.6,583.8,-7.0,360,7472,0.00,2.10,0.00,0.000,4,0.000,0.091,2195,3783,3501
$GC,7514,-1.10,-146.6,587.6,-8.6,362,7518,0.00,2.00,0.00,0.000,6,0.000,0.052,2195,2665,3501
$GC,7847,-1.10,-146.6,616.3,-9.4,378,7851,0.00,2.58,0.00,0.000,4,0.000,0.067,2195,1248,3501
$GC,7897,-1.10,-146.6,621.4,-10.0,380,7901,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2679,3501
$GC,8214,-1.10,-146.6,650.7,-9.6,395,8218,0.00,2.62,0.00,0.000,4,0.000,0.064,2195,1246,3501
$GC,8235,-1.10,-146.6,653.1,-9.9,396,8240,0.00,2.62,0.00,0.000,6,0.000,0.060,2195,2680,3501
$GC,8557,-1.10,-146.6,685.3,-10.0,412,8561,0.00,2.12,0.00,0.000,4,0.000,0.090,2195,3793,3501
$GC,8602,-1.10,-146.6,689.9,-10.6,414,8606,0.00,1.98,0.00,0.000,6,0.000,0.049,2195,2672,3501
$GC,8935,-1.10,-146.6,721.4,-9.7,430,8939,0.00,2.58,0.00,0.000,4,0.000,0.067,2195,1258,3501
$GC,9002,-1.10,-146.6,727.8,-9.4,433,9006,0.00,2.60,0.00,0.000,6,0.000,0.061,2195,2677,3501
$GC,9323,-1.10,-146.6,756.4,-8.8,449,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2677,3501
$GC,9632,-1.10,-146.6,780.6,-6.7,464,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2677,3501
$STATE,9774,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9774,begin apogee
$GC,9783,-0.42,0.0,791.2,7.1,471,9916,0.77,0.00,125.93,1.214,6,0.104,0.000,2346,2067,2902
$STATE,9917,end apogee,CONTROL_FINISHED_OK
$STATE,9917,begin climb
$GC,9920,1.10,146.6,795.7,0.0,478,10053,1.55,2.78,122.25,1.207,4,0.058,0.061,2678,3498,2304
$GC,10311,1.18,210.8,788.8,4.2,495,10373,0.00,2.58,54.72,1.196,6,0.000,0.043,2678,2058,2042
$GC,10692,1.25,267.7,767.7,4.4,514,10748,0.15,2.78,48.55,1.183,4,0.041,0.064,2725,3488,1810
$GC,10838,1.25,267.7,758.2,6.9,520,10845,0.00,2.53,0.00,0.000,6,0.000,0.044,2725,2073,1811
$GC,11155,1.26,277.2,739.3,5.7,536,11167,0.00,0.00,9.70,1.025,6,0.000,0.000,2725,2074,1771
$GC,11464,1.27,283.9,721.0,5.8,551,11473,0.00,0.00,7.40,0.972,6,0.000,0.000,2725,2074,1744
$GC,11773,1.27,283.9,702.9,6.2,566,11777,0.00,2.65,0.00,0.000,4,0.000,0.067,2725,3497,1744
$GC,11813,1.27,283.9,700.2,7.0,568,11818,0.00,2.55,0.00,0.000,6,0.000,0.044,2725,2071,1744
$GC,12140,1.28,289.5,681.9,5.8,584,12153,0.00,2.65,6.60,0.934,4,0.000,0.059,2725,658,1721
$GC,12177,1.28,289.5,679.4,7.3,585,12184,0.00,2.53,0.00,0.000,6,0.000,0.038,2725,2093,1721
$GC,12494,1.28,289.5,658.5,6.7,601,12498,0.00,2.58,0.00,0.000,4,0.000,0.066,2725,3496,1721
$GC,12522,1.28,289.5,656.2,7.6,602,12526,0.00,2.53,0.00,0.000,6,0.000,0.041,2725,2071,1721
$GC,12842,1.28,289.5,635.5,6.7,618,12847,0.00,2.62,0.00,0.000,4,0.000,0.064,2725,3488,1721
$GC,12876,1.28,289.5,633.1,7.2,619,12882,0.00,2.53,0.00,0.000,6,0.000,0.042,2725,2065,1721
$GC,13192,1.28,289.5,610.2,7.4,635,13196,0.00,2.53,0.00,0.000,4,0.000,0.057,2725,661,1721
$GC,13219,1.28,289.5,607.8,8.0,636,13224,0.00,2.50,0.00,0.000,6,0.000,0.038,2725,2088,1721
$GC,13536,1.28,289.5,582.0,8.8,651,13540,0.00,2.58,0.00,0.000,4,0.000,0.055,2725,668,1721
$GC,13603,1.28,289.5,575.3,10.2,654,13607,0.00,2.47,0.00,0.000,6,0.000,0.037,2725,2084,1721
$GC,13924,1.28,289.5,545.2,9.1,670,13928,0.00,2.58,0.00,0.000,4,0.000,0.064,2725,3491,1721
$GC,13969,1.28,289.5,540.9,9.3,672,13973,0.00,2.53,0.00,0.000,6,0.000,0.042,2725,2065,1721
$GC,14289,1.28,289.5,511.3,9.3,688,14294,0.00,2.53,0.00,0.000,4,0.000,0.058,2725,661,1721
$GC,14323,1.28,289.5,508.2,8.5,689,14329,0.00,2.47,0.00,0.000,6,0.000,0.037,2725,2076,1721
$GC,14639,1.28,289.5,479.4,9.1,705,14640,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2076,1721
$GC,14948,1.28,289.5,450.5,9.2,720,14952,0.00,2.58,0.00,0.000,4,0.000,0.064,2725,3485,1722
$GC,14981,1.28,289.5,447.2,9.3,721,14987,0.00,2.50,0.00,0.000,6,0.000,0.043,2725,2074,1722
$GC,15297,1.28,289.5,417.4,9.6,737,15298,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2074,1722
$GC,15606,1.28,289.5,388.0,9.4,752,15610,0.00,2.62,0.00,0.000,4,0.000,0.066,2725,3490,1722
$GC,15650,1.28,289.5,383.6,9.8,754,15654,0.00,2.53,0.00,0.000,6,0.000,0.045,2725,2074,1722
$GC,15977,1.28,289.5,354.1,8.8,770,15978,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2073,1722
$GC,16286,1.28,289.5,328.6,8.1,785,16290,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3484,1722
$GC,16313,1.28,289.5,326.3,8.8,786,16317,0.00,2.53,0.00,0.000,6,0.000,0.047,2725,2072,1722
$GC,16629,1.28,289.5,302.0,7.6,801,16630,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2072,1722
$GC,16939,1.28,289.5,279.6,7.3,816,16943,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3485,1722
$GC,16972,1.28,289.5,276.9,7.4,817,16978,0.00,2.53,0.00,0.000,6,0.000,0.048,2725,2077,1722
$GC,17288,1.28,289.5,252.7,7.8,833,17292,0.00,2.60,0.00,0.000,4,0.000,0.068,2725,3482,1722
$GC,17315,1.28,289.5,250.4,8.7,834,17320,0.00,2.53,0.00,0.000,6,0.000,0.048,2725,2074,1722
$GC,17631,1.28,289.5,226.1,7.5,849,17632,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2074,1723
$GC,17940,1.28,289.5,202.3,7.8,864,17945,0.00,2.62,0.00,0.000,4,0.000,0.068,2725,3481,1723
$GC,17982,1.28,289.5,199.1,8.3,866,17986,0.00,2.53,0.00,0.000,6,0.000,0.048,2725,2074,1723
$GC,18308,1.28,289.5,174.6,7.4,882,18312,0.00,2.55,0.00,0.000,4,0.000,0.063,2725,663,1723
$GC,18335,1.28,289.5,172.4,8.1,883,18340,0.00,2.50,0.00,0.000,6,0.000,0.041,2725,2084,1723
$GC,18652,1.28,289.5,149.4,7.3,898,18656,0.00,2.60,0.00,0.000,4,0.000,0.070,2725,3492,1723
$GC,18679,1.28,289.5,147.2,7.0,899,18683,0.00,2.55,0.00,0.000,6,0.000,0.050,2725,2074,1723
$GC,18997,1.28,289.5,123.5,7.5,914,18998,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2074,1723
$GC,19305,1.28,289.5,100.0,7.9,929,19309,0.00,2.65,0.00,0.000,4,0.000,0.070,2725,3491,1723
$GC,19345,1.28,289.5,96.7,8.4,931,19349,0.00,2.55,0.00,0.000,6,0.000,0.051,2725,2075,1724
$GC,19672,1.28,289.5,71.9,7.3,947,19676,0.00,2.65,0.00,0.000,4,0.000,0.071,2725,3494,1724
$GC,19699,1.28,289.5,69.6,9.0,948,19703,0.00,2.58,0.00,0.000,6,0.000,0.051,2725,2066,1724
$GC,20016,1.28,289.5,44.9,7.8,963,20017,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2066,1724
$GC,20326,1.28,289.5,19.5,8.2,978,20331,0.00,2.65,0.00,0.000,4,0.000,0.069,2725,3485,1724
$GC,20359,1.28,289.5,16.4,8.6,979,20365,0.00,2.55,0.00,0.000,6,0.000,0.055,2725,2072,1724
$STATE,20548,end climb,SURFACE_DEPTH_REACHED
$STATE,20548,begin surface coast
$FINISH,0.5,1.013602
$STATE,20571,end surface coast,CONTROL_FINISHED_OK
$STATE,20571,begin surface
$SM_CCo,20656,0.00,0.000,0,0,1723,289.21
$SM_GC,1.24,11.80,0.00,0.00,0.032,0.000,0.000,47,2675,1723,-10.94,0.00,289.21
$IRIDIUM_FIX,6221.17,-1307.43,230798,111124
$TT8_MAMPS,0.028379
$HUMID,1783
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.0,49.1
$24V_AH,23.2,50.999
$10V_AH,10.1,29.315
$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,26.300,158.525,375.150,0.000,0.000,80.243,92.923,309.989,6.750,0.000,0.000,32.086,1762.678,16253.765,482.072,2056.115,874.388,33.367,1516.042,0.000,1995.289,0.000,49.872,0.000
$DEVICE_MAMPS,154.934,93.574,1214.161,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,687.384,739.838,586.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50529,990
$CAP_FILE_SIZE,141760,0
$CFSIZE,260165632,239325184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280409,165800,6246.108,-1301.820,36,1.9,36,-11.9