version: 66.04
glider: 103
mission: 11
dive: 66
start: 3 7 109 8 0 25
data:
$ID,103
$MISSION,11
$DIVE,66
$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,-144255.11
$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,2650
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,17
$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
$GPS1,075355,6206.180,-949.527,41,1.7,41,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-57.4
$GPS2,075931,6206.188,-949.523,12,1.4,12,-9.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.210,0.061
$KALMAN_X,3413.4,479.5,6271.3,-14551.7,-45.5
$KALMAN_Y,-954.7,-368.4,-2507.3,17477.2,869.0
$MHEAD_RNG_PITCHd_Wd,296.1,42477,-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,-41.38,0.000,2,0.000,0.000,46,2644,3019
$GC,62,-1.10,-146.6,3.2,-8.4,2,89,12.15,2.67,-8.98,0.000,4,0.159,0.087,2196,1234,3501
$GC,330,-1.10,-146.6,30.8,-9.6,14,335,0.00,2.65,0.00,0.000,6,0.000,0.070,2196,2645,3501
$GC,652,-1.10,-146.6,55.4,-6.8,30,655,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3787,3501
$GC,702,-1.10,-146.6,59.2,-7.2,32,706,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2649,3501
$GC,1030,-1.10,-146.6,82.6,-7.4,48,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3501
$GC,1341,-1.10,-146.6,103.7,-5.5,63,1344,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3789,3501
$GC,1397,-1.10,-146.6,108.0,-7.4,65,1401,0.00,2.08,0.00,0.000,6,0.000,0.053,2195,2639,3501
$GC,1719,-1.10,-146.6,131.2,-6.9,81,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3501
$GC,2028,-1.10,-146.6,152.4,-7.0,96,2031,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3786,3501
$GC,2074,-1.10,-146.6,155.6,-7.1,98,2078,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2652,3501
$GC,2406,-1.10,-146.6,178.5,-6.5,114,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3501
$GC,2717,-1.10,-146.6,200.3,-7.3,129,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3501
$GC,3025,-1.10,-146.6,222.5,-6.9,144,3026,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3501
$GC,3334,-1.10,-146.6,243.5,-6.8,159,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3501
$GC,3644,-1.10,-146.6,265.4,-7.3,174,3647,0.00,2.20,0.00,0.000,4,0.000,0.090,2196,3786,3501
$GC,3683,-1.10,-146.6,268.5,-7.3,175,3689,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2643,3501
$GC,3999,-1.10,-146.6,291.0,-7.3,191,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3501
$GC,4308,-1.10,-146.6,314.4,-7.6,206,4312,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3792,3501
$GC,4341,-1.10,-146.6,317.2,-8.0,207,4345,0.00,2.08,0.00,0.000,6,0.000,0.055,2196,2646,3501
$GC,4663,-1.10,-146.6,341.8,-7.4,223,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3501
$GC,4972,-1.10,-146.6,364.9,-7.2,238,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3501
$GC,5282,-1.10,-146.6,388.1,-7.7,253,5285,0.00,2.20,0.00,0.000,4,0.000,0.085,2196,3790,3501
$GC,5327,-1.10,-146.6,391.9,-8.4,255,5331,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2653,3501
$GC,5660,-1.10,-146.6,418.0,-7.8,271,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3501
$GC,5970,-1.10,-146.6,441.1,-7.2,286,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3501
$GC,6279,-1.10,-146.6,463.0,-6.9,301,6283,0.00,2.20,0.00,0.000,4,0.000,0.089,2196,3790,3500
$GC,6314,-1.10,-146.6,465.5,-7.5,302,6318,0.00,2.08,0.00,0.000,6,0.000,0.054,2196,2641,3500
$GC,6635,-1.10,-146.6,488.6,-7.2,318,6639,0.00,2.22,0.00,0.000,4,0.000,0.088,2196,3792,3500
$GC,6675,-1.10,-146.6,491.6,-7.0,319,6681,0.00,2.08,0.00,0.000,6,0.000,0.055,2196,2644,3500
$GC,6990,-1.10,-146.6,517.3,-8.9,335,6994,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3793,3500
$GC,7036,-1.10,-146.6,521.4,-9.4,337,7040,0.00,2.08,0.00,0.000,6,0.000,0.057,2196,2646,3500
$GC,7369,-1.10,-146.6,549.4,-8.2,353,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3500
$GC,7678,-1.10,-146.6,570.9,-6.2,368,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3500
$GC,7987,-1.10,-146.6,591.0,-6.5,383,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3500
$GC,8297,-1.10,-146.6,613.0,-7.7,398,8300,0.00,2.20,0.00,0.000,4,0.000,0.086,2196,3790,3500
$GC,8347,-1.10,-146.6,617.4,-9.1,400,8351,0.00,2.08,0.00,0.000,6,0.000,0.054,2196,2638,3500
$GC,8674,-1.10,-146.6,642.3,-7.3,416,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2638,3500
$GC,8983,-1.10,-146.6,665.4,-7.5,431,8987,0.00,2.20,0.00,0.000,4,0.000,0.084,2196,3787,3500
$GC,9029,-1.10,-146.6,669.1,-8.3,433,9033,0.00,2.03,0.00,0.000,6,0.000,0.053,2196,2652,3500
$GC,9361,-1.10,-146.6,696.1,-8.0,449,9365,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3793,3499
$GC,9440,-1.10,-146.6,702.2,-7.1,452,9444,0.00,2.08,0.00,0.000,6,0.000,0.054,2196,2644,3499
$GC,9761,-1.10,-146.6,724.0,-6.9,468,9765,0.00,2.58,0.00,0.000,4,0.000,0.070,2196,1236,3499
$STATE,9780,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9780,begin apogee
$GC,9789,-0.42,0.0,725.3,5.4,469,9916,0.75,0.00,123.78,1.142,6,0.110,0.000,2345,1916,2902
$STATE,9917,end apogee,CONTROL_FINISHED_OK
$STATE,9917,begin climb
$GC,9920,1.10,146.6,728.8,0.0,475,10052,1.58,2.75,122.00,1.098,4,0.062,0.066,2679,483,2304
$GC,10157,1.20,226.2,723.8,3.8,486,10233,0.10,2.55,67.60,1.081,6,0.052,0.039,2715,1923,1979
$GC,10549,1.20,226.2,698.5,6.9,505,10554,0.00,2.70,0.00,0.000,4,0.000,0.067,2714,483,1978
$GC,10583,1.20,226.2,695.8,7.4,506,10589,0.00,2.53,0.00,0.000,6,0.000,0.038,2715,1905,1978
$GC,10899,1.20,226.2,670.3,8.2,522,10903,0.00,2.60,0.00,0.000,4,0.000,0.064,2714,3316,1976
$GC,11032,1.20,226.2,659.9,7.0,528,11037,0.00,2.58,0.00,0.000,6,0.000,0.050,2714,1892,1976
$GC,11354,1.21,230.0,640.3,5.9,544,11363,0.00,2.60,4.32,0.763,4,0.000,0.064,2714,494,1964
$GC,11408,1.21,230.0,636.6,6.7,546,11413,0.00,2.50,0.00,0.000,6,0.000,0.038,2714,1907,1964
$GC,11725,1.21,230.0,616.2,7.0,561,11729,0.00,2.58,0.00,0.000,4,0.000,0.064,2715,3312,1964
$GC,11825,1.21,230.0,608.4,7.1,565,11832,0.00,2.53,0.00,0.000,6,0.000,0.047,2715,1894,1963
$GC,12141,1.21,230.0,584.6,7.5,581,12146,0.00,2.58,0.00,0.000,4,0.000,0.061,2714,484,1964
$GC,12169,1.21,230.0,582.2,8.6,582,12174,0.00,2.50,0.00,0.000,6,0.000,0.036,2714,1913,1964
$GC,12485,1.21,230.0,556.2,8.8,597,12489,0.00,2.55,0.00,0.000,4,0.000,0.061,2714,3315,1963
$GC,12570,1.21,230.0,548.5,9.1,601,12574,0.00,2.53,0.00,0.000,6,0.000,0.046,2715,1896,1963
$GC,12896,1.21,230.0,522.7,7.7,617,12901,0.00,2.60,0.00,0.000,4,0.000,0.061,2714,3314,1964
$GC,12930,1.21,230.0,520.2,6.9,618,12936,0.00,2.53,0.00,0.000,6,0.000,0.046,2714,1896,1964
$GC,13246,1.21,230.0,497.1,7.3,634,13250,0.00,2.58,0.00,0.000,4,0.000,0.061,2714,3304,1964
$GC,13286,1.21,230.0,493.9,8.8,636,13290,0.00,2.50,0.00,0.000,6,0.000,0.046,2714,1899,1964
$GC,13612,1.21,230.0,468.6,7.5,652,13617,0.00,2.58,0.00,0.000,4,0.000,0.061,2714,3302,1964
$GC,13657,1.21,230.0,465.1,7.0,654,13661,0.00,2.50,0.00,0.000,6,0.000,0.047,2715,1899,1964
$GC,13978,1.21,230.0,442.3,7.2,670,13982,0.00,2.58,0.00,0.000,4,0.000,0.061,2715,3302,1965
$GC,14022,1.21,230.0,438.9,7.5,672,14026,0.00,2.50,0.00,0.000,6,0.000,0.048,2715,1900,1965
$GC,14343,1.21,230.0,416.2,7.2,688,14347,0.00,2.58,0.00,0.000,4,0.000,0.062,2715,3306,1965
$GC,14387,1.21,230.0,412.9,6.9,690,14391,0.00,2.53,0.00,0.000,6,0.000,0.048,2715,1896,1965
$GC,14708,1.21,230.0,391.8,6.2,706,14713,0.00,2.60,0.00,0.000,4,0.000,0.062,2715,3312,1966
$GC,14748,1.21,230.0,389.1,6.6,708,14753,0.00,2.53,0.00,0.000,6,0.000,0.049,2714,1901,1966
$GC,15076,1.21,230.0,368.2,6.5,724,15077,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1901,1966
$GC,15385,1.21,230.0,349.1,6.3,739,15389,0.00,2.58,0.00,0.000,4,0.000,0.064,2715,3312,1966
$GC,15418,1.21,230.0,346.7,6.7,740,15424,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1891,1966
$GC,15734,1.21,230.0,323.3,7.7,756,15735,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1891,1966
$GC,16043,1.21,230.0,300.3,7.1,771,16047,0.00,2.62,0.00,0.000,4,0.000,0.065,2715,3312,1967
$GC,16087,1.21,230.0,297.0,7.6,773,16091,0.00,2.55,0.00,0.000,6,0.000,0.051,2715,1896,1967
$GC,16408,1.21,230.0,273.2,7.8,789,16412,0.00,2.60,0.00,0.000,4,0.000,0.065,2715,3304,1967
$GC,16452,1.21,230.0,269.8,7.5,791,16456,0.00,2.53,0.00,0.000,6,0.000,0.051,2715,1900,1967
$GC,16773,1.21,230.0,247.0,6.8,807,16777,0.00,2.60,0.00,0.000,4,0.000,0.066,2714,3311,1967
$GC,16817,1.21,230.0,243.7,7.4,809,16821,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,1897,1967
$GC,17143,1.21,230.0,222.7,6.5,825,17148,0.00,2.60,0.00,0.000,4,0.000,0.066,2714,3305,1967
$GC,17184,1.21,230.0,220.0,6.3,827,17188,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,1887,1967
$GC,17510,1.21,230.0,198.7,6.4,843,17515,0.00,2.62,0.00,0.000,4,0.000,0.066,2715,3308,1967
$GC,17550,1.21,230.0,196.0,6.8,845,17555,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,1891,1967
$GC,17878,1.21,230.0,173.9,6.8,861,17882,0.00,2.62,0.00,0.000,4,0.000,0.066,2714,3312,1967
$GC,17917,1.21,230.0,170.8,7.3,863,17922,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,1894,1967
$GC,18245,1.21,230.0,145.5,8.3,879,18249,0.00,2.60,0.00,0.000,4,0.000,0.066,2715,3302,1967
$GC,18285,1.21,230.0,142.1,8.8,881,18289,0.00,2.53,0.00,0.000,6,0.000,0.053,2715,1897,1968
$GC,18618,1.21,230.0,116.8,7.9,897,18619,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1897,1968
$GC,18929,1.21,230.0,94.6,6.8,912,18933,0.00,2.60,0.00,0.000,4,0.000,0.067,2714,3302,1968
$GC,18995,1.21,230.0,89.6,7.4,915,19000,0.00,2.55,0.00,0.000,6,0.000,0.054,2715,1890,1968
$GC,19318,1.28,291.2,72.2,4.3,931,19374,0.00,2.67,49.72,0.703,4,0.000,0.067,2714,493,1713
$GC,19415,1.28,291.2,65.4,7.0,935,19419,0.00,2.53,0.00,0.000,6,0.000,0.042,2714,1905,1713
$GC,19731,1.28,291.2,39.9,7.8,950,19735,0.00,2.60,0.00,0.000,4,0.000,0.067,2714,3316,1713
$GC,19809,1.28,291.2,33.8,7.5,953,19815,0.00,2.58,0.00,0.000,6,0.000,0.055,2715,1891,1713
$GC,20125,1.28,291.2,11.2,8.6,969,20129,0.00,2.58,0.00,0.000,4,0.000,0.064,2714,484,1713
$GC,20197,1.28,291.2,5.6,9.7,972,20201,0.00,2.55,0.00,0.000,6,0.000,0.048,2715,1904,1714
$STATE,20242,end climb,SURFACE_DEPTH_REACHED
$STATE,20242,begin surface coast
$FINISH,0.3,1.022708
$STATE,20264,end surface coast,CONTROL_FINISHED_OK
$STATE,20265,begin surface
$SM_CCo,20350,0.00,0.000,0,0,1712,291.66
$SM_GC,1.03,11.62,0.00,0.00,0.025,0.000,0.000,47,2660,1712,-10.93,0.28,291.66
$IRIDIUM_FIX,6139.81,-959.42,010698,020215
$TT8_MAMPS,0.028379
$HUMID,1763
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.9,59.1
$24V_AH,23.4,19.107
$10V_AH,10.1,9.446
$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,26.200,190.325,367.425,0.000,0.000,31.201,30.663,146.867,6.000,0.000,0.000,12.059,1793.622,15650.718,470.136,2199.288,569.333,33.341,1591.729,0.000,2150.806,0.000,42.822,0.000
$DEVICE_MAMPS,158.769,91.273,1142.063,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.180,717.107,596.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50614,975
$CAP_FILE_SIZE,145870,0
$CFSIZE,260165632,253710336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070309,134054,6206.071,-955.897,25,2.0,42,-9.9