version: 66.04
glider: 103
mission: 11
dive: 96
start: 3 14 109 17 58 14
data:
$ID,103
$MISSION,11
$DIVE,96
$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,-144909.08
$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,21
$R_STBD_OVSHOOT,8
$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
$GPS1,175154,6225.738,-1058.534,26,1.6,43,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-62.4
$GPS2,175720,6225.758,-1058.318,14,2.0,14,-10.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.213,-0.047
$KALMAN_X,63088.1,788.0,-648.9,-127454.4,12254.6
$KALMAN_Y,-19249.9,-230.3,-1000.8,70380.1,434.1
$MHEAD_RNG_PITCHd_Wd,268.1,36500,-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,-146.6,0.0,0.0,0,68,0.00,0.00,-50.75,0.000,6,0.000,0.000,49,2650,3501
$GC,72,-1.10,-146.6,5.5,-9.2,3,94,12.18,2.70,0.00,0.000,4,0.160,0.071,2196,1244,3501
$GC,195,-1.10,-146.6,26.5,-7.9,8,200,0.00,2.65,0.00,0.000,6,0.000,0.070,2196,2654,3501
$GC,511,-1.10,-146.6,52.4,-8.5,23,515,0.00,2.20,0.00,0.000,4,0.000,0.095,2196,3787,3501
$GC,567,-1.10,-146.6,57.7,-9.4,25,571,0.00,2.08,0.00,0.000,6,0.000,0.061,2196,2657,3502
$GC,889,-1.10,-146.6,85.6,-9.0,41,892,0.00,2.20,0.00,0.000,4,0.000,0.090,2196,3786,3501
$GC,937,-1.10,-146.6,89.6,-8.4,43,940,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2649,3502
$GC,1271,-1.10,-146.6,117.0,-8.0,59,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3501
$GC,1579,-1.10,-146.6,140.1,-7.5,74,1583,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3790,3501
$GC,1618,-1.10,-146.6,143.0,-7.0,75,1624,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2645,3501
$GC,1934,-1.10,-146.6,164.9,-6.7,91,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3501
$GC,2244,-1.10,-146.6,185.8,-6.5,106,2248,0.00,2.25,0.00,0.000,4,0.000,0.093,2196,3793,3501
$GC,2288,-1.10,-146.6,189.0,-7.5,108,2292,0.00,2.10,0.00,0.000,6,0.000,0.059,2196,2644,3501
$GC,2616,-1.10,-146.6,211.6,-7.2,124,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3501
$GC,2925,-1.10,-146.6,233.2,-7.1,139,2928,0.00,2.20,0.00,0.000,4,0.000,0.086,2196,3785,3502
$GC,2958,-1.10,-146.6,235.5,-7.7,140,2962,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2650,3501
$GC,3280,-1.10,-146.6,258.6,-6.7,156,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2649,3501
$GC,3590,-1.10,-146.6,280.7,-7.2,171,3594,0.00,2.20,0.00,0.000,4,0.000,0.085,2196,3793,3502
$GC,3629,-1.10,-146.6,283.8,-7.7,172,3635,0.00,2.10,0.00,0.000,6,0.000,0.059,2196,2643,3501
$GC,3945,-1.10,-146.6,307.7,-8.2,188,3946,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,4254,-1.10,-146.6,335.4,-10.3,203,4255,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3502
$GC,4564,-1.10,-146.6,360.2,-6.6,218,4567,0.00,2.22,0.00,0.000,4,0.000,0.087,2196,3793,3502
$GC,4597,-1.10,-146.6,362.3,-6.5,219,4601,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2651,3502
$GC,4918,-1.10,-146.6,380.2,-6.5,235,4922,0.00,2.17,0.00,0.000,4,0.000,0.084,2196,3790,3502
$GC,4964,-1.10,-146.6,383.1,-7.1,237,4968,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2651,3502
$GC,5297,-1.10,-146.6,405.3,-6.8,253,5301,0.00,2.62,0.00,0.000,4,0.000,0.075,2196,1231,3502
$GC,5330,-1.10,-146.6,407.8,-7.2,254,5334,0.00,2.62,0.00,0.000,6,0.000,0.061,2196,2665,3502
$GC,5646,-1.10,-146.6,429.2,-6.7,269,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2665,3502
$GC,5956,-1.10,-146.6,450.1,-6.7,284,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2665,3502
$GC,6264,-1.10,-146.6,471.1,-7.1,299,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2665,3502
$GC,6574,-1.10,-146.6,492.2,-6.8,314,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2665,3502
$GC,6883,-1.10,-146.6,512.8,-6.6,329,6886,0.00,2.12,0.00,0.000,4,0.000,0.086,2196,3786,3502
$GC,6938,-1.10,-146.6,516.8,-7.8,331,6942,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2650,3502
$GC,7260,-1.10,-146.6,539.2,-7.1,347,7264,0.00,2.17,0.00,0.000,4,0.000,0.088,2196,3780,3502
$GC,7316,-1.10,-146.6,543.3,-7.4,349,7320,0.00,2.05,0.00,0.000,6,0.000,0.056,2196,2646,3502
$GC,7637,-1.10,-146.6,564.7,-6.6,365,7642,0.00,2.60,0.00,0.000,4,0.000,0.073,2196,1233,3502
$GC,7682,-1.10,-146.6,567.7,-7.0,367,7687,0.00,2.58,0.00,0.000,6,0.000,0.058,2196,2648,3502
$GC,8004,-1.10,-146.6,585.9,-5.0,383,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3501
$GC,8314,-1.10,-146.6,601.1,-5.0,398,8318,0.00,2.17,0.00,0.000,4,0.000,0.090,2196,3787,3501
$GC,8406,-1.10,-146.6,606.5,-5.8,402,8409,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2640,3501
$GC,8739,-1.10,-146.6,623.8,-5.0,418,8743,0.00,2.60,0.00,0.000,4,0.000,0.074,2196,1231,3500
$GC,8772,-1.10,-146.6,625.7,-5.9,419,8778,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2653,3500
$GC,9088,-1.10,-146.6,642.0,-5.1,435,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2654,3500
$GC,9397,-1.10,-146.6,658.2,-5.3,450,9401,0.00,2.65,0.00,0.000,4,0.000,0.074,2196,1235,3499
$GC,9419,-1.10,-146.6,659.4,-4.8,451,9424,0.00,2.60,0.00,0.000,6,0.000,0.061,2196,2651,3499
$GC,9741,-1.10,-146.6,678.6,-6.5,467,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3498
$GC,10050,-1.10,-146.6,699.2,-6.5,482,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3498
$STATE,10274,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10274,begin apogee
$GC,10283,-0.42,0.0,714.6,7.4,493,10411,0.75,0.00,125.07,1.167,6,0.090,0.000,2347,1997,2902
$STATE,10412,end apogee,CONTROL_FINISHED_OK
$STATE,10412,begin climb
$GC,10415,1.10,146.6,719.1,0.0,499,10548,1.55,2.75,123.47,1.133,4,0.058,0.071,2679,588,2304
$GC,10806,1.16,193.2,709.0,4.7,516,10854,0.00,2.55,40.35,1.119,6,0.000,0.042,2679,2018,2114
$GC,11165,1.16,193.2,687.3,6.6,534,11170,0.00,2.70,0.00,0.000,4,0.000,0.071,2678,585,2113
$GC,11199,1.16,193.2,684.8,7.0,535,11206,0.00,2.55,0.00,0.000,6,0.000,0.044,2679,2009,2113
$GC,11515,1.16,193.2,664.0,6.6,551,11519,0.00,2.62,0.00,0.000,4,0.000,0.071,2679,3415,2112
$GC,11559,1.16,193.2,661.0,7.2,553,11564,0.00,2.60,0.00,0.000,6,0.000,0.051,2678,1987,2112
$GC,11881,1.16,193.2,639.2,7.1,569,11885,0.00,2.60,0.00,0.000,4,0.000,0.071,2678,590,2111
$GC,11965,1.16,193.2,632.5,8.8,572,11971,0.00,2.53,0.00,0.000,6,0.000,0.044,2678,2005,2111
$GC,12281,1.16,193.2,611.5,6.5,588,12285,0.00,2.60,0.00,0.000,4,0.000,0.070,2679,3406,2111
$GC,12377,1.16,193.2,604.8,6.5,592,12382,0.00,2.58,0.00,0.000,6,0.000,0.053,2679,1989,2110
$GC,12699,1.24,261.5,587.8,4.1,608,12760,0.15,0.00,57.60,1.104,6,0.040,0.000,2728,1989,1835
$GC,13069,1.24,261.5,557.4,8.4,626,13073,0.00,2.65,0.00,0.000,4,0.000,0.066,2728,3412,1835
$GC,13108,1.24,261.5,554.0,8.5,628,13112,0.00,2.55,0.00,0.000,6,0.000,0.048,2728,1997,1834
$GC,13441,1.24,261.5,527.6,7.5,644,13445,0.00,2.60,0.00,0.000,4,0.000,0.066,2728,588,1834
$GC,13559,1.24,261.5,518.4,7.5,649,13563,0.00,2.50,0.00,0.000,6,0.000,0.040,2728,2004,1834
$GC,13874,1.24,261.5,497.7,6.1,664,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2004,1834
$GC,14184,1.24,261.5,476.3,7.3,679,14185,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2004,1835
$GC,14493,1.24,261.5,448.9,9.3,694,14497,0.00,2.60,0.00,0.000,4,0.000,0.069,2728,3408,1834
$GC,14526,1.24,261.5,445.6,9.3,695,14532,0.00,2.55,0.00,0.000,6,0.000,0.051,2728,1987,1834
$GC,14842,1.24,261.5,419.6,8.7,711,14843,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1987,1835
$GC,15151,1.24,261.5,389.9,10.3,726,15155,0.00,2.55,0.00,0.000,4,0.000,0.064,2728,587,1835
$GC,15202,1.24,261.5,384.2,11.3,728,15206,0.00,2.50,0.00,0.000,6,0.000,0.040,2728,2006,1835
$GC,15523,1.24,261.5,354.9,8.0,744,15527,0.00,2.58,0.00,0.000,4,0.000,0.066,2728,3407,1835
$GC,15563,1.24,261.5,351.5,8.9,746,15567,0.00,2.53,0.00,0.000,6,0.000,0.048,2728,1997,1836
$GC,15889,1.24,261.5,323.7,8.3,762,15893,0.00,2.58,0.00,0.000,4,0.000,0.064,2728,587,1836
$GC,15962,1.24,261.5,317.9,7.1,765,15966,0.00,2.50,0.00,0.000,6,0.000,0.040,2728,2009,1836
$GC,16278,1.24,261.5,293.6,7.6,780,16282,0.00,2.62,0.00,0.000,4,0.000,0.064,2728,585,1837
$GC,16306,1.24,261.5,291.4,7.8,781,16310,0.00,2.50,0.00,0.000,6,0.000,0.041,2728,2002,1837
$GC,16633,1.24,261.5,268.3,7.2,797,16634,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2001,1837
$GC,16942,1.24,261.5,244.0,8.0,812,16943,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2001,1838
$GC,17251,1.24,261.5,216.7,9.3,827,17255,0.00,2.60,0.00,0.000,4,0.000,0.069,2728,3411,1838
$GC,17301,1.24,261.5,211.8,9.0,829,17305,0.00,2.55,0.00,0.000,6,0.000,0.052,2728,1998,1838
$GC,17617,1.24,261.5,180.3,10.4,844,17621,0.00,2.58,0.00,0.000,4,0.000,0.064,2728,587,1838
$GC,17644,1.24,261.5,177.1,10.4,845,17648,0.00,2.50,0.00,0.000,6,0.000,0.040,2728,2009,1838
$GC,17965,1.24,261.5,146.8,8.6,861,17970,0.00,2.58,0.00,0.000,4,0.000,0.068,2728,3407,1839
$GC,17999,1.24,261.5,143.4,9.7,862,18005,0.00,2.53,0.00,0.000,6,0.000,0.053,2728,2002,1839
$GC,18317,1.24,261.5,116.8,7.7,878,18321,0.00,2.60,0.00,0.000,4,0.000,0.067,2728,582,1839
$GC,18349,1.24,261.5,113.9,9.6,879,18356,0.00,2.47,0.00,0.000,6,0.000,0.040,2728,1998,1839
$GC,18666,1.24,261.5,85.6,9.0,895,18670,0.00,2.60,0.00,0.000,4,0.000,0.068,2728,3409,1839
$GC,18706,1.24,261.5,82.2,8.2,897,18710,0.00,2.55,0.00,0.000,6,0.000,0.054,2728,1997,1839
$GC,19033,1.24,261.5,55.5,7.7,913,19037,0.00,2.58,0.00,0.000,4,0.000,0.065,2728,588,1840
$GC,19122,1.24,261.5,47.7,9.0,917,19127,0.00,2.50,0.00,0.000,6,0.000,0.040,2728,2011,1839
$GC,19445,1.24,261.5,22.1,7.1,933,19449,0.00,2.65,0.00,0.000,4,0.000,0.068,2728,585,1840
$GC,19509,1.24,261.5,16.2,9.1,936,19513,0.00,2.47,0.00,0.000,6,0.000,0.038,2728,2004,1840
$STATE,19709,end climb,SURFACE_DEPTH_REACHED
$STATE,19709,begin surface coast
$FINISH,0.5,1.027544
$STATE,19751,end surface coast,CONTROL_FINISHED_OK
$STATE,19752,begin surface
$SM_CCo,19836,0.00,0.000,0,0,1839,260.51
$SM_GC,1.51,11.82,0.00,0.00,0.031,0.000,0.000,51,2663,1839,-10.93,0.37,260.51
$IRIDIUM_FIX,6153.50,-1402.17,080698,121212
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.70
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,700.3,24.2
$24V_AH,23.3,23.233
$10V_AH,10.1,12.211
$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,26.450,173.325,346.500,0.000,0.000,24.393,26.219,145.104,9.500,0.000,0.000,14.264,1739.548,15324.537,467.877,2066.099,561.518,33.391,1516.870,0.000,2032.578,0.000,44.331,0.000
$DEVICE_MAMPS,160.303,95.108,1166.607,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,698.491,675.177,552.822,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47380,948
$CAP_FILE_SIZE,138017,0
$CFSIZE,260165632,251727872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140309,233026,6230.940,-1058.469,38,2.1,57,-10.7