version: 66.04
glider: 103
mission: 11
dive: 300
start: 4 28 109 17 5 14
data:
$ID,103
$MISSION,11
$DIVE,300
$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,-148776.11
$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,18
$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
$GPS1,165800,6246.108,-1301.820,36,1.9,36,-11.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-60.5
$GPS2,170420,6246.133,-1301.911,11,1.8,11,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.193,-0.103
$KALMAN_X,-25225.4,-242.8,474.9,16040.1,-5979.6
$KALMAN_Y,97544.9,-414.0,-170.6,-227250.4,3267.6
$MHEAD_RNG_PITCHd_Wd,130.0,37407,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.38,0.000,2,0.000,0.000,47,2679,3076
$GC,62,-1.10,-146.6,3.4,-8.2,2,88,12.15,2.70,-7.88,0.000,4,0.159,0.091,2196,1258,3502
$GC,123,-1.10,-146.6,12.4,-7.8,4,129,0.00,2.65,0.00,0.000,6,0.000,0.069,2196,2676,3503
$GC,439,-1.10,-146.6,37.3,-8.1,20,442,0.00,2.15,0.00,0.000,4,0.000,0.094,2196,3786,3503
$GC,531,-1.10,-146.6,45.0,-8.4,24,535,0.00,2.03,0.00,0.000,6,0.000,0.058,2196,2677,3503
$GC,866,-1.10,-146.6,72.6,-8.3,40,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2677,3503
$GC,1174,-1.10,-146.6,98.1,-8.1,55,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2677,3503
$GC,1483,-1.10,-146.6,123.2,-8.4,70,1484,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2677,3503
$GC,1793,-1.10,-146.6,148.5,-7.9,85,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2677,3503
$GC,2103,-1.10,-146.6,176.8,-10.0,100,2108,0.00,2.65,0.00,0.000,4,0.000,0.073,2196,1246,3503
$GC,2131,-1.10,-146.6,180.0,-10.4,101,2136,0.00,2.67,0.00,0.000,6,0.000,0.067,2196,2681,3503
$GC,2448,-1.10,-146.6,208.1,-8.3,116,2452,0.00,2.12,0.00,0.000,4,0.000,0.094,2196,3784,3503
$GC,2516,-1.10,-146.6,214.0,-8.6,119,2520,0.00,2.03,0.00,0.000,6,0.000,0.056,2196,2668,3503
$GC,2849,-1.10,-146.6,241.2,-8.0,135,2850,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2668,3503
$GC,3159,-1.10,-146.6,264.5,-7.2,150,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2668,3502
$GC,3468,-1.10,-146.6,284.7,-6.5,165,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2667,3503
$GC,3777,-1.10,-146.6,303.3,-5.8,180,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2667,3503
$GC,4087,-1.10,-146.6,322.7,-6.4,195,4091,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3789,3503
$GC,4148,-1.10,-146.6,327.1,-7.4,197,4154,0.00,2.03,0.00,0.000,6,0.000,0.057,2196,2673,3502
$GC,4464,-1.10,-146.6,348.1,-6.8,213,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2673,3503
$GC,4774,-1.10,-146.6,369.4,-7.0,228,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2673,3503
$GC,5083,-1.10,-146.6,390.5,-6.8,243,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2672,3503
$GC,5392,-1.10,-146.6,409.7,-6.2,258,5396,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3792,3503
$GC,5438,-1.10,-146.6,412.7,-6.6,260,5442,0.00,2.05,0.00,0.000,6,0.000,0.056,2196,2664,3502
$GC,5771,-1.10,-146.6,435.4,-6.8,276,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3503
$GC,6080,-1.10,-146.6,457.0,-7.1,291,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2663,3502
$GC,6390,-1.10,-146.6,478.8,-7.0,306,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3503
$GC,6699,-1.10,-146.6,499.7,-6.7,321,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2664,3502
$GC,7008,-1.10,-146.6,520.3,-6.4,336,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2663,3503
$GC,7318,-1.10,-146.6,538.8,-5.8,351,7322,0.00,2.17,0.00,0.000,4,0.000,0.088,2196,3788,3503
$GC,7374,-1.10,-146.6,542.4,-6.7,353,7378,0.00,2.03,0.00,0.000,6,0.000,0.053,2196,2662,3503
$GC,7696,-1.10,-146.6,561.8,-6.2,369,7699,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3795,3503
$GC,7742,-1.10,-146.6,565.0,-7.2,371,7746,0.00,2.00,0.00,0.000,6,0.000,0.051,2196,2669,3503
$GC,8075,-1.10,-146.6,588.1,-6.9,387,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2669,3503
$GC,8384,-1.10,-146.6,609.8,-7.0,402,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2669,3503
$GC,8694,-1.10,-146.6,631.6,-7.0,417,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2669,3503
$GC,9003,-1.10,-146.6,655.9,-8.0,432,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2669,3502
$GC,9312,-1.10,-146.6,682.3,-8.6,447,9316,0.00,2.15,0.00,0.000,4,0.000,0.089,2196,3786,3502
$GC,9374,-1.10,-146.6,687.7,-9.3,449,9380,0.00,2.00,0.00,0.000,6,0.000,0.051,2196,2664,3503
$GC,9690,-1.10,-146.6,714.2,-8.2,465,9694,0.00,2.58,0.00,0.000,4,0.000,0.067,2196,1248,3502
$GC,9740,-1.10,-146.6,718.2,-8.7,467,9744,0.00,2.62,0.00,0.000,6,0.000,0.061,2196,2684,3502
$GC,10056,-1.10,-146.6,743.6,-8.4,482,10059,0.00,2.10,0.00,0.000,4,0.000,0.090,2196,3786,3501
$GC,10156,-1.10,-146.6,752.5,-8.6,486,10160,0.00,2.00,0.00,0.000,6,0.000,0.051,2196,2666,3502
$GC,10478,-1.10,-146.6,779.2,-8.7,502,10481,0.00,2.17,0.00,0.000,4,0.000,0.093,2196,3785,3502
$GC,10528,-1.10,-146.6,784.2,-10.2,504,10532,0.00,1.98,0.00,0.000,6,0.000,0.051,2196,2675,3502
$STATE,10749,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10749,begin apogee
$GC,10758,-0.42,0.0,802.3,7.5,515,10886,0.75,0.00,124.70,1.243,6,0.099,0.000,2344,2077,2903
$STATE,10886,end apogee,CONTROL_FINISHED_OK
$STATE,10887,begin climb
$GC,10890,1.10,146.6,809.1,0.0,521,11022,1.55,2.72,122.80,1.203,4,0.054,0.061,2679,3494,2304
$GC,11278,1.13,169.8,799.9,5.4,538,11306,0.00,2.58,21.33,1.121,6,0.000,0.044,2679,2060,2209
$GC,11615,1.14,173.5,781.6,5.9,555,11625,0.00,2.72,4.88,0.827,4,0.000,0.064,2678,3505,2194
$GC,11738,1.14,173.5,773.5,6.5,560,11744,0.00,2.55,0.00,0.000,6,0.000,0.044,2679,2074,2194
$GC,12054,1.16,193.9,755.0,5.4,576,12079,0.00,2.78,18.77,1.121,4,0.000,0.067,2679,3500,2111
$GC,12131,1.19,218.2,750.6,5.3,579,12162,0.00,2.58,21.92,1.123,6,0.000,0.044,2679,2071,2012
$GC,12472,1.25,263.9,732.8,4.7,596,12518,0.15,2.75,39.60,1.151,4,0.040,0.066,2726,3498,1826
$GC,12546,1.25,263.9,727.9,6.8,599,12551,0.00,2.58,0.00,0.000,6,0.000,0.044,2726,2071,1826
$GC,12862,1.25,263.9,705.5,7.5,614,12867,0.00,2.55,0.00,0.000,4,0.000,0.058,2726,666,1826
$GC,12904,1.25,263.9,702.2,7.7,616,12908,0.00,2.50,0.00,0.000,6,0.000,0.038,2726,2088,1825
$GC,13230,1.25,263.9,675.0,8.3,632,13231,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2088,1825
$GC,13540,1.25,263.9,647.3,8.8,647,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2088,1825
$GC,13849,1.25,263.9,620.0,9.0,662,13850,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2088,1825
$GC,14158,1.25,263.9,593.0,8.6,677,14162,0.00,2.58,0.00,0.000,4,0.000,0.065,2726,3494,1825
$GC,14220,1.25,263.9,587.3,8.7,680,14225,0.00,2.53,0.00,0.000,6,0.000,0.041,2726,2066,1825
$GC,14553,1.25,263.9,557.4,8.9,696,14555,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2066,1825
$GC,14863,1.25,263.9,529.3,9.0,711,14867,0.00,2.62,0.00,0.000,4,0.000,0.064,2726,3483,1825
$GC,14890,1.25,263.9,526.6,9.2,712,14895,0.00,2.50,0.00,0.000,6,0.000,0.042,2726,2072,1825
$GC,15206,1.25,263.9,496.9,9.3,727,15207,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2072,1825
$GC,15515,1.25,263.9,468.4,8.8,742,15519,0.00,2.60,0.00,0.000,4,0.000,0.064,2726,3482,1825
$GC,15549,1.25,263.9,465.6,8.4,743,15553,0.00,2.50,0.00,0.000,6,0.000,0.043,2726,2074,1825
$GC,15865,1.25,263.9,437.6,8.9,758,15866,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2074,1826
$GC,16174,1.25,263.9,410.1,8.9,773,16175,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2074,1826
$GC,16484,1.25,263.9,382.4,8.8,788,16485,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2074,1826
$GC,16792,1.25,263.9,355.2,8.8,803,16797,0.00,2.60,0.00,0.000,4,0.000,0.067,2726,3481,1826
$GC,16825,1.25,263.9,352.3,9.4,804,16831,0.00,2.53,0.00,0.000,6,0.000,0.046,2726,2066,1826
$GC,17141,1.25,263.9,323.7,9.2,820,17142,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2066,1827
$GC,17451,1.25,263.9,297.1,8.6,835,17452,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2066,1827
$GC,17760,1.25,263.9,272.7,7.5,850,17761,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2066,1827
$GC,18069,1.25,263.9,250.5,6.7,865,18073,0.00,2.65,0.00,0.000,4,0.000,0.068,2726,3484,1827
$GC,18097,1.25,263.9,248.4,7.2,866,18101,0.00,2.53,0.00,0.000,6,0.000,0.048,2726,2072,1827
$GC,18413,1.25,263.9,225.1,7.6,881,18414,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2072,1827
$GC,18722,1.25,263.9,199.4,8.5,896,18723,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2072,1827
$GC,19032,1.25,263.9,172.1,8.7,911,19036,0.00,2.65,0.00,0.000,4,0.000,0.070,2726,3488,1827
$GC,19065,1.25,263.9,168.9,10.0,912,19071,0.00,2.55,0.00,0.000,6,0.000,0.049,2726,2068,1827
$GC,19381,1.25,263.9,140.4,9.5,928,19382,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2068,1827
$GC,19691,1.25,263.9,112.4,8.7,943,19692,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2068,1827
$GC,20000,1.25,263.9,85.6,8.7,958,20004,0.00,2.55,0.00,0.000,4,0.000,0.064,2726,665,1828
$GC,20044,1.25,263.9,81.2,8.5,960,20049,0.00,2.47,0.00,0.000,6,0.000,0.041,2726,2072,1827
$GC,20367,1.25,263.9,53.5,8.7,976,20371,0.00,2.62,0.00,0.000,4,0.000,0.069,2726,3493,1828
$GC,20407,1.25,263.9,49.8,8.8,978,20411,0.00,2.55,0.00,0.000,6,0.000,0.050,2726,2074,1828
$GC,20740,1.25,263.9,22.0,8.2,994,20741,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2074,1828
$STATE,20986,end climb,SURFACE_DEPTH_REACHED
$STATE,20986,begin surface coast
$FINISH,0.5,1.027251
$STATE,21006,end surface coast,CONTROL_FINISHED_OK
$STATE,21006,begin surface
$SM_CCo,21091,0.00,0.000,0,0,1827,263.45
$SM_GC,1.47,11.77,0.00,0.00,0.031,0.000,0.000,52,2673,1827,-10.93,-0.06,263.45
$IRIDIUM_FIX,6221.17,-1301.79,230798,111128
$TT8_MAMPS,0.028379
$HUMID,1794
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,750.1,61.6
$24V_AH,23.2,51.133
$10V_AH,10.1,29.405
$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,26.375,123.075,354.000,0.000,0.000,30.617,44.039,169.883,6.500,0.000,0.000,11.316,1780.426,16588.611,444.003,2053.712,598.947,33.358,1463.080,0.000,2015.067,0.000,45.411,0.000
$DEVICE_MAMPS,158.769,93.574,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,699.840,747.985,573.126,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50562,1007
$CAP_FILE_SIZE,132858,0
$CFSIZE,260165632,239267840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280409,225800,6245.966,-1301.713,37,1.9,37,-11.9