version: 66.04
glider: 103
mission: 11
dive: 80
start: 3 11 109 1 41 46
data:
$ID,103
$MISSION,11
$DIVE,80
$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,-144569.98
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,13
$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
$GPS1,013431,6207.818,-1042.932,39,1.6,39,-10.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-55.3
$GPS2,014055,6207.825,-1042.944,11,1.4,11,-10.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,DW
$TGT_LATLONG,6215.000,-1035.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.069,0.207
$KALMAN_X,30943.3,254.4,-399.0,-81617.4,1336.7
$KALMAN_Y,4965.0,-557.6,395.1,11875.7,140.1
$MHEAD_RNG_PITCHd_Wd,28.8,14949,-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,-146.6,0.0,0.0,0,80,0.00,0.00,-61.53,0.000,2,0.000,0.000,55,2652,3400
$GC,83,-1.10,-146.6,5.2,-9.4,3,105,12.18,2.22,-1.50,0.000,4,0.160,0.099,2196,3782,3502
$GC,359,-1.10,-146.6,40.4,-10.2,15,362,0.00,2.10,0.00,0.000,6,0.000,0.063,2196,2643,3502
$GC,686,-1.10,-146.6,69.4,-8.1,31,690,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3783,3502
$GC,775,-1.10,-146.6,76.6,-7.6,35,779,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2651,3502
$GC,1104,-1.10,-146.6,99.8,-7.2,51,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,1412,-1.10,-146.6,122.4,-7.5,66,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,1721,-1.10,-146.6,150.0,-9.1,81,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,2030,-1.10,-146.6,174.8,-8.1,96,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3502
$GC,2340,-1.10,-146.6,199.6,-8.0,111,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3503
$GC,2649,-1.10,-146.6,224.3,-8.2,126,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,2958,-1.10,-146.6,249.4,-7.9,141,2962,0.00,2.20,0.00,0.000,4,0.000,0.088,2196,3787,3502
$GC,2997,-1.10,-146.6,252.6,-7.8,142,3003,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2647,3502
$GC,3313,-1.10,-146.6,277.1,-8.1,158,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,3622,-1.10,-146.6,302.3,-8.3,173,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,3932,-1.10,-146.6,327.4,-8.6,188,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,4241,-1.10,-146.6,355.8,-9.0,203,4244,0.00,2.17,0.00,0.000,4,0.000,0.085,2196,3783,3502
$GC,4291,-1.10,-146.6,360.7,-9.6,205,4295,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2640,3502
$GC,4619,-1.10,-146.6,388.3,-9.0,221,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3502
$GC,4928,-1.10,-146.6,413.3,-7.9,236,4932,0.00,2.20,0.00,0.000,4,0.000,0.084,2196,3787,3502
$GC,4967,-1.10,-146.6,416.5,-8.3,237,4973,0.00,2.08,0.00,0.000,6,0.000,0.057,2196,2641,3502
$GC,5283,-1.10,-146.6,440.3,-7.8,253,5284,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3503
$GC,5592,-1.10,-146.6,463.8,-7.3,268,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2639,3503
$GC,5901,-1.10,-146.6,486.8,-7.6,283,5905,0.00,2.20,0.00,0.000,4,0.000,0.084,2196,3790,3503
$GC,5947,-1.10,-146.6,490.4,-8.8,285,5951,0.00,2.05,0.00,0.000,6,0.000,0.056,2196,2652,3503
$GC,6280,-1.10,-146.6,516.1,-8.2,301,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,6589,-1.10,-146.6,538.0,-6.7,316,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3502
$GC,6899,-1.10,-146.6,559.3,-7.2,331,6903,0.00,2.60,0.00,0.000,4,0.000,0.069,2196,1224,3502
$GC,6943,-1.10,-146.6,562.8,-7.7,333,6947,0.00,2.60,0.00,0.000,6,0.000,0.058,2196,2656,3502
$GC,7264,-1.10,-146.6,586.9,-7.2,349,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2656,3502
$GC,7574,-1.10,-146.6,606.4,-5.8,364,7577,0.00,2.12,0.00,0.000,4,0.000,0.084,2196,3785,3502
$GC,7620,-1.10,-146.6,609.3,-7.3,366,7624,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2641,3502
$GC,7953,-1.10,-146.6,627.9,-5.1,382,7954,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3502
$GC,8262,-1.10,-146.6,645.9,-5.8,397,8266,0.00,2.20,0.00,0.000,4,0.000,0.084,2196,3792,3502
$GC,8313,-1.10,-146.6,648.9,-5.7,399,8316,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2647,3502
$GC,8640,-1.10,-146.6,667.4,-4.3,415,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,8949,-1.10,-146.6,687.0,-6.9,430,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,9259,-1.10,-146.6,708.9,-7.7,445,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,9568,-1.10,-146.6,731.3,-7.1,460,9572,0.00,2.58,0.00,0.000,4,0.000,0.067,2196,1228,3502
$GC,9607,-1.10,-146.6,734.3,-8.2,462,9612,0.00,2.58,0.00,0.000,6,0.000,0.057,2196,2651,3502
$GC,9934,-1.10,-146.6,757.1,-7.2,478,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,10243,-1.10,-146.6,779.8,-7.2,493,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,10553,-1.10,-146.6,798.2,-6.3,508,10556,0.00,2.15,0.00,0.000,4,0.000,0.084,2196,3792,3502
$GC,10582,-1.10,-146.6,800.1,-7.1,509,10585,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2642,3502
$GC,10909,-1.10,-146.6,820.8,-5.7,525,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,11218,-1.10,-146.6,841.1,-7.9,540,11222,0.00,2.55,0.00,0.000,4,0.000,0.067,2196,1238,3502
$GC,11280,-1.10,-146.6,846.6,-9.8,543,11284,0.00,2.58,0.00,0.000,6,0.000,0.059,2196,2653,3502
$GC,11606,-1.10,-146.6,883.6,-11.8,559,11611,0.00,2.60,0.00,0.000,4,0.000,0.064,2196,1229,3502
$GC,11685,-1.10,-146.6,892.2,-9.8,562,11691,0.00,2.60,0.00,0.000,6,0.000,0.060,2196,2657,3502
$GC,12001,-1.10,-146.6,917.7,-6.3,578,12005,0.00,2.60,0.00,0.000,4,0.000,0.066,2196,1234,3501
$GC,12056,-1.10,-146.6,920.9,-3.1,580,12063,0.00,2.58,0.00,0.000,6,0.000,0.061,2196,2651,3501
$GC,12373,-1.10,-146.6,934.1,-5.4,596,12377,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3790,3501
$STATE,12461,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,12461,begin apogee
$GC,12472,-0.42,0.0,938.1,3.8,600,12604,0.77,0.00,125.68,1.287,6,0.100,0.000,2348,2000,2902
$STATE,12605,end apogee,CONTROL_FINISHED_OK
$STATE,12605,begin climb
$GC,12608,1.10,146.6,943.2,0.0,607,12744,1.55,2.78,125.07,1.236,4,0.060,0.074,2678,3422,2304
$GC,12997,1.33,330.7,943.8,0.9,624,13164,0.22,2.55,157.45,1.245,6,0.041,0.039,2737,1987,1553
$GC,13472,1.33,330.7,901.9,11.8,647,13476,0.00,2.67,0.00,0.000,4,0.000,0.065,2737,3416,1553
$GC,13550,1.33,330.7,890.9,14.4,650,13556,0.00,2.55,0.00,0.000,6,0.000,0.048,2737,2000,1552
$GC,13866,1.33,330.7,850.6,12.6,666,13870,0.00,2.60,0.00,0.000,4,0.000,0.067,2737,590,1552
$GC,14043,1.33,330.7,828.7,12.3,674,14047,0.00,2.53,0.00,0.000,6,0.000,0.040,2737,2016,1551
$GC,14369,1.33,330.7,788.4,13.2,690,14374,0.00,2.62,0.00,0.000,4,0.000,0.061,2737,591,1551
$GC,14414,1.33,330.7,782.9,12.3,692,14418,0.00,2.50,0.00,0.000,6,0.000,0.039,2737,2004,1551
$GC,14735,1.33,330.7,748.3,10.2,708,14739,0.00,2.58,0.00,0.000,4,0.000,0.063,2737,3409,1551
$GC,14762,1.33,330.7,745.0,10.6,709,14767,0.00,2.53,0.00,0.000,6,0.000,0.043,2737,1993,1551
$GC,15078,1.33,330.7,714.2,8.5,724,15082,0.00,2.55,0.00,0.000,4,0.000,0.060,2737,588,1551
$GC,15111,1.33,330.7,711.3,8.5,725,15118,0.00,2.47,0.00,0.000,6,0.000,0.038,2737,2006,1551
$GC,15427,1.33,330.7,687.3,7.5,741,15428,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2006,1551
$GC,15737,1.33,330.7,664.3,7.1,756,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2006,1551
$GC,16046,1.33,330.7,639.7,8.4,771,16047,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2006,1551
$GC,16355,1.33,330.7,611.7,9.3,786,16356,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2006,1551
$GC,16664,1.33,330.7,583.6,9.2,801,16665,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2006,1551
$GC,16974,1.33,330.7,554.6,9.7,816,16978,0.00,2.55,0.00,0.000,4,0.000,0.061,2738,3409,1551
$GC,17001,1.33,330.7,551.8,10.3,817,17006,0.00,2.50,0.00,0.000,6,0.000,0.044,2737,2000,1552
$GC,17323,1.33,330.7,520.1,9.8,833,17327,0.00,2.55,0.00,0.000,4,0.000,0.059,2737,589,1552
$GC,17357,1.33,330.7,516.7,9.2,834,17363,0.00,2.47,0.00,0.000,6,0.000,0.037,2737,2008,1552
$GC,17673,1.33,330.7,486.7,8.2,850,17674,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2008,1553
$GC,17982,1.33,330.7,462.2,8.0,865,17983,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2008,1553
$GC,18291,1.33,330.7,439.2,7.4,880,18293,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2008,1553
$GC,18601,1.33,330.7,412.9,8.5,895,18602,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2008,1553
$GC,18910,1.33,330.7,389.5,7.5,910,18914,0.00,2.58,0.00,0.000,4,0.000,0.061,2737,593,1553
$GC,18955,1.33,330.7,385.5,9.7,912,18959,0.00,2.47,0.00,0.000,6,0.000,0.039,2737,2006,1553
$GC,19282,1.33,330.7,354.4,9.7,928,19283,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2006,1554
$GC,19591,1.33,330.7,322.7,10.1,943,19595,0.00,2.55,0.00,0.000,4,0.000,0.065,2737,3408,1554
$GC,19635,1.33,330.7,318.1,10.5,945,19639,0.00,2.53,0.00,0.000,6,0.000,0.049,2737,1995,1554
$GC,19956,1.33,330.7,282.8,11.3,961,19961,0.00,2.55,0.00,0.000,4,0.000,0.064,2737,588,1554
$GC,20019,1.33,330.7,276.3,8.9,964,20023,0.00,2.47,0.00,0.000,6,0.000,0.041,2737,2006,1554
$GC,20351,1.33,330.7,249.6,6.9,980,20352,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2006,1554
$GC,20660,1.33,330.7,220.5,8.3,995,20661,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2006,1554
$GC,20969,1.33,330.7,191.9,10.2,1010,20974,0.00,2.60,0.00,0.000,4,0.000,0.064,2737,588,1554
$GC,21010,1.33,330.7,187.2,11.4,1012,21014,0.00,2.50,0.00,0.000,6,0.000,0.042,2737,2008,1554
$GC,21337,1.33,330.7,149.2,11.3,1028,21338,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2008,1554
$GC,21646,1.33,330.7,112.7,11.7,1043,21647,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2009,1554
$GC,21955,1.33,330.7,80.2,9.8,1058,21960,0.00,2.58,0.00,0.000,4,0.000,0.067,2737,3412,1554
$GC,21989,1.33,330.7,75.9,11.6,1059,21995,0.00,2.55,0.00,0.000,6,0.000,0.055,2737,1997,1554
$GC,22307,1.33,330.7,41.6,11.4,1075,22311,0.00,2.58,0.00,0.000,4,0.000,0.067,2737,588,1554
$GC,22330,1.33,330.7,38.5,13.3,1076,22335,0.00,2.50,0.00,0.000,6,0.000,0.041,2737,2006,1554
$STATE,22607,end climb,SURFACE_DEPTH_REACHED
$STATE,22607,begin surface coast
$FINISH,0.5,1.015263
$STATE,22629,end surface coast,CONTROL_FINISHED_OK
$STATE,22629,begin surface
$SM_CCo,22714,0.00,0.000,0,0,1554,330.66
$SM_GC,1.46,11.80,0.00,0.00,0.029,0.000,0.000,46,2650,1554,-10.93,0.00,330.66
$IRIDIUM_FIX,6139.81,-1047.06,040698,181835
$TT8_MAMPS,0.028379
$HUMID,1762
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,876.4,71.6
$24V_AH,23.3,21.062
$10V_AH,10.1,10.846
$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,26.525,142.375,408.200,0.000,0.000,28.572,32.278,178.280,7.750,0.000,0.000,12.011,1926.908,17760.076,504.777,2281.494,612.943,33.369,1646.714,0.000,2237.119,0.000,52.895,0.000
$DEVICE_MAMPS,160.303,98.943,1287.026,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,761.725,806.088,569.397,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53679,1091
$CAP_FILE_SIZE,145343,0
$CFSIZE,260165632,252715008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110309,080237,6210.227,-1041.349,100,1.1,100,-10.4