version: 66.04
glider: 103
mission: 11
dive: 304
start: 4 29 109 17 24 27
data:
$ID,103
$MISSION,11
$DIVE,304
$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,-148853.78
$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
$GPS1,171727,6247.022,-1256.196,26,2.2,45,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-57.5
$GPS2,172334,6247.050,-1256.289,10,2.4,29,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.204,0.078
$KALMAN_X,-55427.7,-401.8,15422.2,36028.0,42780.3
$KALMAN_Y,120105.9,-176.7,-10331.3,-238190.0,-18508.7
$MHEAD_RNG_PITCHd_Wd,302.8,33507,-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,-41.55,0.000,2,0.000,0.000,46,2674,3177
$GC,62,-1.10,-146.6,3.8,-10.4,2,86,12.10,2.75,-5.53,0.000,4,0.158,0.087,2193,1258,3503
$GC,338,-1.10,-146.6,32.7,-8.5,14,343,0.00,2.65,0.00,0.000,6,0.000,0.065,2193,2679,3503
$GC,662,-1.10,-146.6,56.9,-7.7,30,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2680,3503
$GC,970,-1.10,-146.6,81.4,-7.3,45,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2680,3503
$GC,1279,-1.10,-146.6,101.0,-5.9,60,1283,0.00,2.15,0.00,0.000,4,0.000,0.093,2193,3793,3503
$GC,1318,-1.10,-146.6,103.6,-6.3,61,1325,0.00,2.03,0.00,0.000,6,0.000,0.058,2193,2675,3503
$GC,1636,-1.10,-146.6,125.1,-7.2,77,1638,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2675,3503
$GC,1944,-1.10,-146.6,147.0,-7.4,92,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2675,3503
$GC,2253,-1.10,-146.6,171.2,-8.2,107,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2675,3503
$GC,2562,-1.10,-146.6,197.8,-8.7,122,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2675,3503
$GC,2871,-1.10,-146.6,224.5,-8.8,137,2876,0.00,2.17,0.00,0.000,4,0.000,0.091,2192,3792,3503
$GC,2910,-1.10,-146.6,228.1,-8.7,138,2916,0.00,2.05,0.00,0.000,6,0.000,0.058,2193,2665,3503
$GC,3226,-1.10,-146.6,254.7,-8.3,154,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2665,3502
$GC,3535,-1.10,-146.6,279.8,-7.9,169,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2665,3502
$GC,3844,-1.10,-146.6,304.2,-7.8,184,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2665,3502
$GC,4154,-1.10,-146.6,328.1,-7.8,199,4157,0.00,2.17,0.00,0.000,4,0.000,0.091,2193,3785,3502
$GC,4200,-1.10,-146.6,331.9,-8.3,201,4203,0.00,2.03,0.00,0.000,6,0.000,0.058,2193,2670,3502
$GC,4533,-1.10,-146.6,357.3,-7.6,217,4534,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2670,3502
$GC,4842,-1.10,-146.6,381.5,-7.9,232,4843,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2670,3502
$GC,5151,-1.10,-146.6,406.1,-8.0,247,5155,0.00,2.17,0.00,0.000,4,0.000,0.093,2192,3793,3502
$GC,5196,-1.10,-146.6,409.9,-8.6,249,5200,0.00,2.03,0.00,0.000,6,0.000,0.056,2193,2665,3502
$GC,5529,-1.10,-146.6,436.6,-8.0,265,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2665,3502
$GC,5838,-1.10,-146.6,461.0,-7.8,280,5839,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2665,3502
$GC,6148,-1.10,-146.6,484.3,-7.6,295,6151,0.00,2.17,0.00,0.000,4,0.000,0.091,2192,3786,3502
$GC,6181,-1.10,-146.6,487.0,-8.2,296,6185,0.00,2.00,0.00,0.000,6,0.000,0.054,2193,2674,3502
$GC,6503,-1.10,-146.6,513.7,-8.3,312,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2674,3502
$GC,6812,-1.10,-146.6,538.7,-8.2,327,6816,0.00,2.60,0.00,0.000,4,0.000,0.067,2192,1248,3502
$GC,6845,-1.10,-146.6,541.5,-8.5,328,6851,0.00,2.62,0.00,0.000,6,0.000,0.061,2192,2679,3502
$GC,7161,-1.10,-146.6,569.6,-9.3,344,7165,0.00,2.12,0.00,0.000,4,0.000,0.090,2193,3792,3502
$GC,7195,-1.10,-146.6,573.0,-9.9,345,7198,0.00,2.00,0.00,0.000,6,0.000,0.051,2193,2674,3502
$GC,7517,-1.10,-146.6,599.1,-7.5,361,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2674,3502
$GC,7826,-1.10,-146.6,621.4,-7.2,376,7831,0.00,2.60,0.00,0.000,4,0.000,0.067,2193,1246,3502
$GC,7860,-1.10,-146.6,623.9,-7.1,377,7866,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2676,3502
$GC,8176,-1.10,-146.6,647.5,-7.6,393,8179,0.00,2.12,0.00,0.000,4,0.000,0.089,2193,3790,3502
$GC,8232,-1.10,-146.6,651.8,-7.6,395,8236,0.00,2.00,0.00,0.000,6,0.000,0.051,2193,2673,3502
$GC,8557,-1.10,-146.6,675.1,-7.4,411,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2673,3502
$GC,8863,-1.10,-146.6,698.1,-7.0,426,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2672,3502
$GC,9173,-1.10,-146.6,719.0,-7.0,441,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2672,3502
$GC,9482,-1.10,-146.6,740.7,-7.8,456,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2672,3501
$GC,9791,-1.10,-146.6,764.3,-6.9,471,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2672,3501
$STATE,9973,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9973,begin apogee
$GC,9982,-0.42,0.0,775.7,6.6,480,10116,0.77,0.00,126.30,1.187,6,0.095,0.000,2347,2074,2902
$STATE,10117,end apogee,CONTROL_FINISHED_OK
$STATE,10117,begin climb
$GC,10120,1.10,146.6,780.9,0.0,487,10253,1.55,2.67,124.18,1.155,4,0.061,0.061,2678,668,2304
$GC,10511,1.16,195.6,770.2,4.6,504,10559,0.00,2.53,42.88,1.130,6,0.000,0.037,2678,2102,2104
$GC,10871,1.19,221.1,752.7,5.3,522,10901,0.00,2.65,23.02,1.107,4,0.000,0.065,2678,3478,2000
$GC,10986,1.19,221.1,745.4,6.3,527,10991,0.00,2.55,0.00,0.000,6,0.000,0.044,2678,2061,2000
$GC,11308,1.19,221.1,724.9,6.5,543,11312,0.00,2.55,0.00,0.000,4,0.000,0.061,2678,665,1999
$GC,11408,1.19,221.1,717.8,6.9,547,11415,0.00,2.50,0.00,0.000,6,0.000,0.041,2678,2075,1999
$GC,11724,1.19,221.1,698.2,6.7,563,11725,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2075,1998
$GC,12034,1.19,221.1,678.7,6.1,578,12038,0.00,2.58,0.00,0.000,4,0.000,0.064,2678,3482,1998
$GC,12079,1.19,221.1,675.7,6.8,580,12084,0.00,2.53,0.00,0.000,6,0.000,0.043,2678,2068,1998
$GC,12401,1.19,221.1,654.9,6.2,596,12406,0.00,2.55,0.00,0.000,4,0.000,0.060,2678,663,1998
$GC,12492,1.22,238.3,649.2,5.5,600,12513,0.12,2.50,15.38,1.053,6,0.042,0.038,2720,2086,1930
$GC,12837,1.22,238.3,623.4,8.0,617,12838,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2086,1930
$GC,13144,1.22,238.3,598.6,7.6,632,13145,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2086,1930
$GC,13453,1.22,238.3,576.0,6.7,647,13457,0.00,2.60,0.00,0.000,4,0.000,0.055,2720,658,1930
$GC,13521,1.22,238.3,571.2,7.0,650,13525,0.00,2.50,0.00,0.000,6,0.000,0.035,2721,2088,1930
$GC,13843,1.22,238.3,549.1,7.0,666,13847,0.00,2.58,0.00,0.000,4,0.000,0.054,2720,666,1930
$GC,13910,1.22,238.3,544.1,6.4,669,13914,0.00,2.47,0.00,0.000,6,0.000,0.036,2720,2084,1930
$GC,14231,1.22,238.3,520.7,7.4,685,14235,0.00,2.58,0.00,0.000,4,0.000,0.055,2721,663,1930
$GC,14281,1.22,238.3,516.7,7.4,687,14285,0.00,2.47,0.00,0.000,6,0.000,0.036,2720,2079,1930
$GC,14603,1.22,238.3,494.7,6.7,703,14604,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2079,1930
$GC,14912,1.22,238.3,473.7,7.0,718,14916,0.00,2.58,0.00,0.000,4,0.000,0.056,2721,661,1931
$GC,14952,1.22,238.3,470.8,7.8,720,14956,0.00,2.47,0.00,0.000,6,0.000,0.037,2720,2078,1931
$GC,15280,1.22,238.3,447.0,7.3,736,15281,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2078,1931
$GC,15588,1.22,238.3,424.0,7.5,751,15593,0.00,2.58,0.00,0.000,4,0.000,0.056,2721,659,1931
$GC,15639,1.22,238.3,419.8,8.4,753,15643,0.00,2.47,0.00,0.000,6,0.000,0.038,2721,2074,1931
$GC,15955,1.22,238.3,394.7,7.9,768,15956,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2074,1931
$GC,16264,1.22,238.3,370.4,7.9,783,16268,0.00,2.58,0.00,0.000,4,0.000,0.058,2720,657,1932
$GC,16303,1.22,238.3,367.2,8.1,784,16309,0.00,2.50,0.00,0.000,6,0.000,0.038,2721,2082,1932
$GC,16619,1.22,238.3,343.4,7.6,800,16620,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2082,1932
$GC,16928,1.22,238.3,320.5,7.2,815,16932,0.00,2.60,0.00,0.000,4,0.000,0.059,2720,655,1932
$GC,16984,1.22,238.3,316.1,7.2,817,16990,0.00,2.50,0.00,0.000,6,0.000,0.038,2720,2081,1932
$GC,17299,1.22,238.3,292.2,7.8,833,17304,0.00,2.58,0.00,0.000,4,0.000,0.058,2721,666,1932
$GC,17340,1.22,238.3,289.1,8.2,835,17344,0.00,2.47,0.00,0.000,6,0.000,0.039,2721,2076,1932
$GC,17667,1.22,238.3,264.1,7.7,851,17668,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2077,1932
$GC,17976,1.22,238.3,238.4,8.2,866,17980,0.00,2.58,0.00,0.000,4,0.000,0.059,2721,661,1932
$GC,18020,1.22,238.3,234.6,8.3,868,18024,0.00,2.50,0.00,0.000,6,0.000,0.040,2721,2084,1932
$GC,18347,1.22,238.3,209.5,7.4,884,18348,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2084,1932
$GC,18656,1.22,238.3,186.7,7.2,899,18660,0.00,2.60,0.00,0.000,4,0.000,0.059,2721,658,1932
$GC,18705,1.22,238.3,182.9,6.8,901,18709,0.00,2.50,0.00,0.000,6,0.000,0.040,2721,2081,1932
$GC,19027,1.22,238.3,160.2,7.0,917,19028,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2081,1932
$GC,19337,1.22,238.3,138.8,7.0,932,19341,0.00,2.60,0.00,0.000,4,0.000,0.060,2721,658,1932
$GC,19377,1.22,238.3,136.0,8.3,934,19381,0.00,2.50,0.00,0.000,6,0.000,0.041,2721,2079,1932
$GC,19704,1.22,238.3,112.7,6.9,950,19708,0.00,2.60,0.00,0.000,4,0.000,0.061,2721,658,1932
$GC,19748,1.22,238.3,109.3,7.6,952,19753,0.00,2.50,0.00,0.000,6,0.000,0.040,2720,2082,1932
$GC,20070,1.22,238.3,87.8,6.4,968,20075,0.00,2.60,0.00,0.000,4,0.000,0.061,2721,659,1933
$GC,20111,1.22,238.3,85.0,7.0,970,20115,0.00,2.50,0.00,0.000,6,0.000,0.040,2720,2084,1933
$GC,20438,1.22,238.3,64.0,6.3,986,20442,0.00,2.58,0.00,0.000,4,0.000,0.066,2721,3488,1933
$GC,20482,1.22,238.3,60.8,6.9,988,20487,0.00,2.55,0.00,0.000,6,0.000,0.050,2721,2067,1933
$GC,20804,1.22,238.3,40.3,6.6,1004,20808,0.00,2.55,0.00,0.000,4,0.000,0.063,2721,661,1933
$GC,20899,1.22,238.3,33.6,7.9,1008,20903,0.00,2.50,0.00,0.000,6,0.000,0.041,2721,2081,1933
$GC,21215,1.22,238.3,12.0,8.1,1023,21219,0.00,2.62,0.00,0.000,4,0.000,0.064,2721,654,1933
$GC,21265,1.22,238.3,7.8,8.5,1025,21270,0.00,2.50,0.00,0.000,6,0.000,0.037,2720,2085,1933
$STATE,21372,end climb,SURFACE_DEPTH_REACHED
$STATE,21373,begin surface coast
$FINISH,0.4,1.013977
$STATE,21415,end surface coast,CONTROL_FINISHED_OK
$STATE,21415,begin surface
$SM_CCo,21500,0.00,0.000,0,0,1933,237.94
$SM_GC,1.86,11.73,0.00,0.00,0.031,0.000,0.000,48,2667,1933,-10.92,-0.23,237.94
$IRIDIUM_FIX,6221.17,-1301.79,240798,111153
$TT8_MAMPS,0.029146
$HUMID,1784
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.8,84.8
$24V_AH,23.2,51.641
$10V_AH,10.1,29.778
$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,26.275,154.275,331.750,0.000,0.000,28.587,31.287,153.686,6.250,0.000,0.000,30.110,1847.974,16751.203,440.019,2222.549,598.845,33.372,1532.868,0.000,2164.570,0.000,45.201,0.000
$DEVICE_MAMPS,158.002,95.108,1186.549,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,717.350,771.130,626.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50591,1032
$CAP_FILE_SIZE,142148,0
$CFSIZE,260165632,238993408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290409,232406,6249.249,-1305.326,41,1.7,41,-12.0