version: 66.04
glider: 103
mission: 11
dive: 308
start: 4 30 109 16 10 23
data:
$ID,103
$MISSION,11
$DIVE,308
$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,0
$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,-148914.45
$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,16
$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
$GPS1,160030,6249.366,-1257.965,36,1.2,36,-11.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-61.6
$GPS2,160931,6249.379,-1257.954,12,1.7,17,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.195,-0.099
$KALMAN_X,-4990.5,-157.8,-2960.2,10445.9,-1669.0
$KALMAN_Y,2162.0,546.0,1184.4,-6037.2,673.4
$MHEAD_RNG_PITCHd_Wd,128.7,36652,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-40.80,0.000,2,0.000,0.000,47,2674,3312
$GC,62,-1.10,-146.6,4.3,-11.8,2,85,12.23,2.12,-3.03,0.000,4,0.161,0.100,2196,3783,3500
$GC,338,-1.10,-146.6,35.9,-8.7,14,342,0.00,2.08,0.00,0.000,6,0.000,0.067,2196,2671,3500
$GC,666,-1.10,-146.6,62.0,-7.6,30,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3500
$GC,976,-1.10,-146.6,86.8,-8.3,45,978,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2671,3500
$GC,1285,-1.10,-146.6,113.4,-8.8,60,1288,0.00,2.17,0.00,0.000,4,0.000,0.089,2196,3789,3500
$GC,1331,-1.10,-146.6,117.5,-9.0,62,1335,0.00,2.05,0.00,0.000,6,0.000,0.061,2196,2666,3500
$GC,1663,-1.10,-146.6,145.6,-8.3,78,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3500
$GC,1973,-1.10,-146.6,171.2,-8.2,93,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3500
$GC,2281,-1.10,-146.6,196.5,-8.0,108,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3500
$GC,2591,-1.10,-146.6,221.2,-8.1,123,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3500
$GC,2900,-1.10,-146.6,246.2,-7.9,138,2902,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2666,3501
$GC,3209,-1.10,-146.6,271.1,-8.0,153,3213,0.00,2.17,0.00,0.000,4,0.000,0.090,2196,3786,3500
$GC,3243,-1.10,-146.6,274.0,-8.8,154,3246,0.00,2.03,0.00,0.000,6,0.000,0.058,2196,2675,3501
$GC,3565,-1.10,-146.6,298.3,-7.5,170,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3500
$GC,3873,-1.10,-146.6,320.5,-7.2,185,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3500
$GC,4183,-1.10,-146.6,343.1,-7.3,200,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3500
$GC,4492,-1.10,-146.6,364.6,-7.0,215,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3500
$GC,4801,-1.10,-146.6,386.1,-7.1,230,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3500
$GC,5110,-1.10,-146.6,409.0,-7.4,245,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3500
$GC,5420,-1.10,-146.6,432.0,-7.3,260,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3501
$GC,5729,-1.10,-146.6,454.9,-7.3,275,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3500
$GC,6038,-1.10,-146.6,478.0,-7.5,290,6042,0.00,2.12,0.00,0.000,4,0.000,0.087,2196,3782,3500
$GC,6089,-1.10,-146.6,482.1,-8.2,292,6093,0.00,2.03,0.00,0.000,6,0.000,0.053,2196,2674,3500
$GC,6416,-1.10,-146.6,505.9,-7.6,308,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2673,3500
$GC,6725,-1.10,-146.6,530.3,-8.2,323,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2673,3500
$GC,7035,-1.10,-146.6,555.9,-8.4,338,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2673,3500
$GC,7344,-1.10,-146.6,581.1,-7.9,353,7347,0.00,2.15,0.00,0.000,4,0.000,0.087,2196,3792,3500
$GC,7428,-1.10,-146.6,588.1,-8.0,356,7434,0.00,2.03,0.00,0.000,6,0.000,0.051,2196,2662,3500
$GC,7744,-1.10,-146.6,613.6,-8.3,372,7748,0.00,2.15,0.00,0.000,4,0.000,0.087,2196,3783,3500
$GC,7805,-1.10,-146.6,619.1,-9.1,374,7811,0.00,2.00,0.00,0.000,6,0.000,0.051,2196,2665,3500
$GC,8121,-1.10,-146.6,644.5,-7.7,390,8125,0.00,2.58,0.00,0.000,4,0.000,0.067,2196,1254,3500
$GC,8165,-1.10,-146.6,648.0,-7.9,392,8170,0.00,2.60,0.00,0.000,6,0.000,0.062,2196,2673,3500
$GC,8487,-1.10,-146.6,670.9,-7.2,408,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2673,3500
$GC,8796,-1.10,-146.6,693.1,-7.0,423,8800,0.00,2.12,0.00,0.000,4,0.000,0.087,2196,3789,3500
$GC,8853,-1.10,-146.6,697.3,-7.8,425,8856,0.00,2.00,0.00,0.000,6,0.000,0.050,2196,2666,3500
$GC,9175,-1.10,-146.6,720.5,-6.7,441,9178,0.00,2.17,0.00,0.000,4,0.000,0.090,2196,3787,3501
$GC,9259,-1.10,-146.6,726.4,-7.0,444,9265,0.00,2.00,0.00,0.000,6,0.000,0.051,2196,2669,3500
$GC,9575,-1.10,-146.6,746.4,-7.2,460,9579,0.00,2.60,0.00,0.000,4,0.000,0.069,2196,1249,3500
$GC,9619,-1.10,-146.6,749.7,-8.0,462,9624,0.00,2.62,0.00,0.000,6,0.000,0.061,2196,2677,3500
$STATE,9732,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9732,begin apogee
$GC,9740,-0.42,0.0,756.4,5.5,468,9869,0.75,0.00,125.68,1.185,6,0.098,0.000,2345,2066,2902
$STATE,9870,end apogee,CONTROL_FINISHED_OK
$STATE,9870,begin climb
$GC,9874,1.10,146.6,760.7,0.0,474,10005,1.55,2.65,123.47,1.149,4,0.057,0.061,2679,661,2304
$GC,10201,1.10,146.6,751.0,7.2,489,10206,0.00,2.58,0.00,0.000,6,0.000,0.046,2679,2090,2304
$GC,10523,1.17,199.1,735.5,4.5,505,10574,0.00,2.67,45.62,1.139,4,0.000,0.067,2678,3490,2090
$GC,10610,1.17,199.1,730.4,7.4,509,10614,0.00,2.58,0.00,0.000,6,0.000,0.046,2678,2068,2090
$GC,10937,1.17,199.1,708.4,6.4,525,10941,0.00,2.60,0.00,0.000,4,0.000,0.064,2678,658,2088
$GC,11016,1.17,199.1,703.5,6.0,528,11022,0.00,2.55,0.00,0.000,6,0.000,0.042,2678,2088,2088
$GC,11332,1.17,199.1,681.6,7.1,544,11336,0.00,2.60,0.00,0.000,4,0.000,0.067,2678,3490,2087
$GC,11395,1.17,199.1,676.8,7.4,547,11399,0.00,2.55,0.00,0.000,6,0.000,0.044,2678,2068,2087
$GC,11722,1.17,199.1,652.2,7.7,563,11726,0.00,2.62,0.00,0.000,4,0.000,0.064,2679,3482,2087
$GC,11794,1.17,199.1,647.0,6.8,566,11798,0.00,2.53,0.00,0.000,6,0.000,0.043,2679,2071,2087
$GC,12110,1.17,199.1,626.2,6.8,581,12115,0.00,2.58,0.00,0.000,4,0.000,0.061,2679,655,2087
$GC,12219,1.17,199.1,618.5,7.0,586,12223,0.00,2.50,0.00,0.000,6,0.000,0.038,2678,2080,2086
$GC,12552,1.17,199.1,594.8,7.1,602,12556,0.00,2.58,0.00,0.000,4,0.000,0.064,2679,3483,2087
$GC,12591,1.17,199.1,592.0,6.8,604,12596,0.00,2.53,0.00,0.000,6,0.000,0.042,2678,2061,2086
$GC,12919,1.18,212.1,571.6,5.6,620,12940,0.00,2.62,11.80,0.998,4,0.000,0.058,2679,668,2037
$GC,13020,1.21,232.4,566.2,5.4,624,13045,0.12,2.50,18.45,1.025,6,0.047,0.038,2718,2088,1954
$GC,13364,1.21,232.4,545.6,6.2,641,13368,0.00,2.58,0.00,0.000,4,0.000,0.064,2718,3485,1954
$GC,13392,1.21,232.4,543.5,7.1,642,13396,0.00,2.53,0.00,0.000,6,0.000,0.041,2718,2067,1954
$GC,13708,1.21,232.4,522.9,6.5,657,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2067,1954
$GC,14017,1.22,238.6,503.5,5.8,672,14031,0.00,2.70,6.65,0.841,4,0.000,0.061,2718,3481,1929
$GC,14055,1.22,238.6,501.1,6.5,673,14061,0.00,2.53,0.00,0.000,6,0.000,0.041,2718,2068,1929
$GC,14371,1.22,238.6,481.3,6.2,689,14375,0.00,2.55,0.00,0.000,4,0.000,0.058,2718,659,1930
$GC,14437,1.22,238.6,476.7,6.5,692,14442,0.00,2.50,0.00,0.000,6,0.000,0.037,2718,2084,1930
$GC,14759,1.22,238.6,456.5,6.2,708,14760,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2084,1930
$GC,15068,1.22,238.6,436.4,6.6,723,15069,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2084,1930
$GC,15377,1.22,238.6,415.3,6.8,738,15378,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2084,1931
$GC,15687,1.22,238.6,394.2,6.9,753,15691,0.00,2.58,0.00,0.000,4,0.000,0.065,2718,3489,1931
$GC,15714,1.22,238.6,392.1,7.4,754,15719,0.00,2.53,0.00,0.000,6,0.000,0.044,2718,2072,1931
$GC,16036,1.22,238.6,368.4,7.6,770,16040,0.00,2.55,0.00,0.000,4,0.000,0.059,2718,659,1932
$GC,16069,1.22,238.6,365.7,8.3,771,16075,0.00,2.50,0.00,0.000,6,0.000,0.039,2718,2082,1932
$GC,16385,1.22,238.6,340.7,8.1,787,16386,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2082,1932
$GC,16694,1.22,238.6,315.6,8.2,802,16695,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2082,1932
$GC,17003,1.22,238.6,289.9,8.3,817,17005,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2082,1932
$GC,17312,1.22,238.6,263.9,8.6,832,17313,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2082,1932
$GC,17621,1.22,238.6,238.2,8.3,847,17626,0.00,2.60,0.00,0.000,4,0.000,0.059,2717,655,1932
$GC,17654,1.22,238.6,235.2,8.3,848,17660,0.00,2.50,0.00,0.000,6,0.000,0.041,2718,2074,1932
$GC,17971,1.22,238.6,208.6,8.2,864,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2074,1932
$GC,18279,1.22,238.6,183.2,8.1,879,18281,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2074,1933
$GC,18589,1.22,238.6,158.6,7.8,894,18590,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2074,1933
$GC,18899,1.22,238.6,136.3,7.1,909,18903,0.00,2.58,0.00,0.000,4,0.000,0.060,2718,664,1933
$GC,18955,1.22,238.6,132.0,7.4,911,18961,0.00,2.50,0.00,0.000,6,0.000,0.041,2718,2084,1933
$GC,19271,1.22,238.6,109.5,7.1,927,19272,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2083,1933
$GC,19580,1.22,238.6,86.6,7.7,942,19582,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2084,1933
$GC,19889,1.22,238.6,61.5,8.1,957,19894,0.00,2.60,0.00,0.000,4,0.000,0.061,2718,664,1933
$GC,19930,1.22,238.6,58.1,9.4,959,19934,0.00,2.50,0.00,0.000,6,0.000,0.044,2718,2076,1933
$GC,20257,1.22,238.6,33.4,7.6,975,20262,0.00,2.62,0.00,0.000,4,0.000,0.069,2718,3498,1933
$GC,20291,1.22,238.6,30.7,7.3,976,20297,0.00,2.55,0.00,0.000,6,0.000,0.051,2718,2071,1933
$GC,20608,1.22,238.6,8.4,7.1,992,20613,0.00,2.55,0.00,0.000,4,0.000,0.064,2718,666,1933
$GC,20642,1.22,238.6,5.9,6.4,993,20649,0.00,2.50,0.00,0.000,6,0.000,0.044,2718,2086,1934
$STATE,20708,end climb,SURFACE_DEPTH_REACHED
$STATE,20708,begin surface coast
$FINISH,0.4,1.010649
$STATE,20730,end surface coast,CONTROL_FINISHED_OK
$STATE,20730,begin surface
$SM_CCo,20815,0.00,0.000,0,0,1933,237.94
$SM_GC,1.76,11.65,0.00,0.00,0.027,0.000,0.000,46,2678,1933,-10.94,0.08,237.94
$IRIDIUM_FIX,6221.17,-1258.27,250798,161622
$TT8_MAMPS,0.028379
$HUMID,1792
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.5,90.0
$24V_AH,23.2,52.193
$10V_AH,10.1,30.125
$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,26.300,138.375,331.675,0.000,0.000,54.966,59.237,219.337,5.750,0.000,0.000,17.410,1784.529,16316.726,450.983,2086.838,712.484,31.426,1483.032,0.000,2052.783,0.000,41.576,0.000
$DEVICE_MAMPS,161.070,99.710,1185.015,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,695.293,748.348,583.370,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50568,998
$CAP_FILE_SIZE,137900,0
$CFSIZE,260165632,238747648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300409,215859,6248.426,-1300.516,43,9.3,62,-11.9