version: 66.04
glider: 103
mission: 11
dive: 103
start: 3 16 109 9 8 14
data:
$ID,103
$MISSION,11
$DIVE,103
$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,-145038.75
$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,11
$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
$GPS1,090136,6229.854,-1115.592,36,1.2,36,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-53.9
$GPS2,090720,6229.901,-1115.315,14,1.3,14,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.200,-0.087
$KALMAN_X,86500.9,-555.1,554.2,-165485.6,13453.1
$KALMAN_Y,-1825.6,-1491.9,4172.4,56760.9,2833.6
$MHEAD_RNG_PITCHd_Wd,257.3,21110,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,55,2651,3136
$GC,62,-1.10,-146.6,3.7,-11.0,2,86,12.12,2.30,-5.93,0.000,4,0.160,0.110,2193,3786,3502
$GC,210,-1.10,-146.6,24.1,-7.6,8,214,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2644,3502
$GC,531,-1.10,-146.6,53.6,-6.6,24,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3503
$GC,841,-1.10,-146.6,77.5,-7.5,39,844,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3783,3503
$GC,891,-1.10,-146.6,81.4,-7.4,41,895,0.00,2.08,0.00,0.000,6,0.000,0.063,2193,2654,3502
$GC,1219,-1.10,-146.6,105.3,-7.7,57,1223,0.00,2.65,0.00,0.000,4,0.000,0.074,2193,1225,3502
$GC,1251,-1.10,-146.6,108.1,-8.3,58,1258,0.00,2.65,0.00,0.000,6,0.000,0.068,2193,2653,3503
$GC,1569,-1.10,-146.6,131.0,-7.3,74,1573,0.00,2.17,0.00,0.000,4,0.000,0.093,2194,3786,3502
$GC,1625,-1.10,-146.6,135.5,-7.7,76,1629,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2650,3503
$GC,1947,-1.10,-146.6,160.4,-8.2,92,1950,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3787,3503
$GC,1986,-1.10,-146.6,163.8,-8.6,93,1992,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2650,3503
$GC,2302,-1.10,-146.6,190.7,-8.3,109,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,2611,-1.10,-146.6,215.2,-7.9,124,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,2920,-1.10,-146.6,238.1,-7.6,139,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,3229,-1.10,-146.6,264.3,-8.9,154,3231,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,3539,-1.10,-146.6,292.1,-8.5,169,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,3848,-1.10,-146.6,316.4,-7.5,184,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,4157,-1.10,-146.6,338.7,-7.2,199,4161,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3786,3503
$GC,4203,-1.10,-146.6,342.0,-7.5,201,4207,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2642,3502
$GC,4536,-1.10,-146.6,363.4,-6.1,217,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3502
$GC,4845,-1.10,-146.6,383.1,-6.7,232,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,5155,-1.10,-146.6,404.7,-6.9,247,5159,0.00,2.22,0.00,0.000,4,0.000,0.088,2193,3792,3502
$GC,5206,-1.10,-146.6,408.7,-7.8,249,5209,0.00,2.08,0.00,0.000,6,0.000,0.056,2193,2643,3502
$GC,5533,-1.10,-146.6,433.1,-7.2,265,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,5842,-1.10,-146.6,456.1,-7.5,280,5845,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3786,3502
$GC,5875,-1.10,-146.6,458.9,-8.7,281,5879,0.00,2.05,0.00,0.000,6,0.000,0.053,2193,2637,3502
$GC,6197,-1.10,-146.6,484.9,-8.0,297,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3502
$GC,6506,-1.10,-146.6,508.6,-7.2,312,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3502
$GC,6816,-1.10,-146.6,528.8,-6.1,327,6819,0.00,2.20,0.00,0.000,4,0.000,0.085,2194,3786,3502
$GC,6855,-1.10,-146.6,531.6,-7.5,328,6861,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2647,3502
$GC,7170,-1.10,-146.6,553.6,-6.9,344,7174,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3790,3502
$GC,7209,-1.10,-146.6,556.7,-7.8,345,7216,0.00,2.03,0.00,0.000,6,0.000,0.053,2193,2650,3502
$GC,7526,-1.10,-146.6,580.1,-7.5,361,7530,0.00,2.58,0.00,0.000,4,0.000,0.066,2193,1230,3502
$GC,7559,-1.10,-146.6,582.7,-7.8,362,7563,0.00,2.62,0.00,0.000,6,0.000,0.061,2193,2663,3502
$GC,7874,-1.10,-146.6,604.7,-6.7,377,7878,0.00,2.12,0.00,0.000,4,0.000,0.087,2193,3782,3502
$GC,7953,-1.10,-146.6,610.0,-6.6,380,7957,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2635,3501
$GC,8275,-1.10,-146.6,626.3,-4.4,396,8278,0.00,2.22,0.00,0.000,4,0.000,0.088,2193,3789,3501
$GC,8314,-1.10,-146.6,628.4,-5.8,397,8320,0.00,2.05,0.00,0.000,6,0.000,0.055,2194,2649,3501
$GC,8630,-1.10,-146.6,645.7,-5.4,413,8634,0.00,2.58,0.00,0.000,4,0.000,0.068,2193,1235,3502
$GC,8676,-1.10,-146.6,649.0,-7.2,415,8681,0.00,2.60,0.00,0.000,6,0.000,0.063,2194,2659,3502
$GC,9003,-1.10,-146.6,668.9,-6.9,431,9007,0.00,2.15,0.00,0.000,4,0.000,0.087,2194,3792,3501
$GC,9049,-1.10,-146.6,671.8,-5.7,433,9053,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2642,3501
$GC,9382,-1.10,-146.6,689.4,-5.4,449,9387,0.00,2.58,0.00,0.000,4,0.000,0.070,2193,1235,3500
$GC,9411,-1.10,-146.6,690.7,-4.7,450,9415,0.00,2.62,0.00,0.000,6,0.000,0.065,2193,2656,3500
$GC,9727,-1.10,-146.6,705.4,-4.8,465,9731,0.00,2.17,0.00,0.000,4,0.000,0.091,2194,3792,3499
$GC,9773,-1.10,-146.6,708.2,-6.6,467,9776,0.00,2.08,0.00,0.000,6,0.000,0.057,2194,2640,3499
$STATE,10082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10082,begin apogee
$GC,10091,-0.42,0.0,730.6,8.1,482,10219,0.77,0.00,124.95,1.177,6,0.103,0.000,2345,1995,2902
$STATE,10220,end apogee,CONTROL_FINISHED_OK
$STATE,10220,begin climb
$GC,10223,1.10,146.6,734.9,0.0,488,10356,1.55,2.72,123.60,1.135,4,0.050,0.070,2680,594,2304
$GC,10614,1.18,208.0,725.0,4.3,505,10675,0.00,2.50,53.30,1.124,6,0.000,0.039,2680,2016,2053
$GC,10994,1.18,208.0,701.8,6.5,524,10999,0.00,2.70,0.00,0.000,4,0.000,0.070,2680,585,2052
$GC,11028,1.18,208.0,699.5,6.3,525,11034,0.00,2.53,0.00,0.000,6,0.000,0.043,2680,1997,2052
$GC,11344,1.24,258.1,685.6,4.6,541,11395,0.12,2.75,42.80,1.132,4,0.043,0.071,2722,3408,1849
$GC,11440,1.24,258.1,679.4,7.3,545,11445,0.00,2.60,0.00,0.000,6,0.000,0.050,2722,1985,1849
$GC,11756,1.24,258.1,655.2,7.5,560,11760,0.00,2.60,0.00,0.000,4,0.000,0.069,2722,586,1848
$GC,11811,1.24,258.1,650.7,7.6,562,11817,0.00,2.53,0.00,0.000,6,0.000,0.041,2722,2006,1848
$GC,12127,1.24,258.1,626.8,6.8,578,12131,0.00,2.62,0.00,0.000,4,0.000,0.072,2722,3410,1847
$GC,12190,1.24,258.1,621.9,8.7,581,12194,0.00,2.58,0.00,0.000,6,0.000,0.051,2722,1989,1847
$GC,12516,1.24,258.1,591.2,9.8,597,12517,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1847
$GC,12825,1.24,258.1,560.1,10.1,612,12830,0.00,2.65,0.00,0.000,4,0.000,0.067,2722,3409,1846
$GC,12881,1.24,258.1,554.1,9.8,614,12887,0.00,2.55,0.00,0.000,6,0.000,0.048,2722,1995,1847
$GC,13197,1.24,258.1,524.2,8.9,630,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1995,1847
$GC,13506,1.24,258.1,499.6,7.8,645,13510,0.00,2.62,0.00,0.000,4,0.000,0.066,2722,3405,1847
$GC,13527,1.24,258.1,497.7,8.7,646,13532,0.00,2.53,0.00,0.000,6,0.000,0.047,2722,1996,1847
$GC,13849,1.24,258.1,473.8,7.4,662,13853,0.00,2.62,0.00,0.000,4,0.000,0.065,2722,3415,1847
$GC,13882,1.24,258.1,471.1,7.3,663,13888,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,2000,1847
$GC,14197,1.24,258.1,446.2,8.1,679,14202,0.00,2.60,0.00,0.000,4,0.000,0.065,2722,3406,1847
$GC,14248,1.24,258.1,441.8,8.0,681,14252,0.00,2.53,0.00,0.000,6,0.000,0.048,2722,1998,1848
$GC,14564,1.24,258.1,415.2,8.5,696,14568,0.00,2.62,0.00,0.000,4,0.000,0.065,2722,3416,1848
$GC,14591,1.24,258.1,412.7,9.0,697,14596,0.00,2.55,0.00,0.000,6,0.000,0.048,2722,1997,1848
$GC,14907,1.24,258.1,386.7,8.0,712,14908,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1997,1849
$GC,15216,1.24,258.1,363.0,7.3,727,15221,0.00,2.62,0.00,0.000,4,0.000,0.066,2722,3411,1849
$GC,15267,1.24,258.1,358.8,7.9,729,15271,0.00,2.55,0.00,0.000,6,0.000,0.050,2722,1994,1849
$GC,15583,1.24,258.1,333.8,8.0,744,15587,0.00,2.55,0.00,0.000,4,0.000,0.064,2722,590,1850
$GC,15661,1.24,258.1,327.2,8.9,747,15667,0.00,2.47,0.00,0.000,6,0.000,0.039,2722,2002,1850
$GC,15977,1.24,258.1,301.7,8.0,763,15978,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2001,1850
$GC,16286,1.24,258.1,278.4,7.3,778,16290,0.00,2.60,0.00,0.000,4,0.000,0.069,2722,3409,1851
$GC,16331,1.24,258.1,274.9,7.6,780,16335,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1989,1851
$GC,16658,1.24,258.1,250.6,7.7,796,16659,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1989,1851
$GC,16967,1.24,258.1,228.0,7.0,811,16972,0.00,2.65,0.00,0.000,4,0.000,0.068,2722,3413,1851
$GC,17001,1.24,258.1,225.6,6.3,812,17007,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1999,1851
$GC,17317,1.24,258.1,204.9,7.0,828,17318,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1999,1852
$GC,17626,1.24,258.1,184.1,6.1,843,17630,0.00,2.55,0.00,0.000,4,0.000,0.064,2722,589,1852
$GC,17653,1.24,258.1,182.5,6.3,844,17658,0.00,2.47,0.00,0.000,6,0.000,0.039,2722,2001,1852
$GC,17975,1.24,258.1,162.6,6.7,860,17979,0.00,2.60,0.00,0.000,4,0.000,0.071,2722,3408,1852
$GC,18008,1.24,258.1,159.5,8.8,861,18014,0.00,2.55,0.00,0.000,6,0.000,0.053,2722,1995,1852
$GC,18324,1.24,258.1,138.2,6.1,877,18325,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1994,1853
$GC,18635,1.25,263.5,118.8,5.9,892,18644,0.00,0.00,6.85,0.652,6,0.000,0.000,2722,1994,1828
$GC,18944,1.25,263.5,97.8,6.4,907,18945,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1993,1827
$GC,19252,1.25,263.5,68.8,10.5,922,19256,0.00,2.58,0.00,0.000,4,0.000,0.064,2722,581,1828
$GC,19307,1.25,263.5,62.5,11.0,924,19314,0.00,2.50,0.00,0.000,6,0.000,0.042,2722,2008,1828
$GC,19623,1.25,263.5,30.6,8.6,940,19628,0.00,2.60,0.00,0.000,4,0.000,0.072,2722,3415,1828
$GC,19642,1.25,263.5,29.4,8.7,941,19646,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,1998,1828
$GC,19969,1.25,263.5,15.9,9.2,957,19974,0.00,2.55,0.00,0.000,4,0.000,0.059,2722,581,1828
$GC,20014,1.25,263.5,11.3,8.6,959,20018,0.00,2.55,0.00,0.000,6,0.000,0.051,2722,2000,1828
$STATE,20105,end climb,SURFACE_DEPTH_REACHED
$STATE,20105,begin surface coast
$FINISH,0.5,1.002160
$STATE,20129,end surface coast,CONTROL_FINISHED_OK
$STATE,20129,begin surface
$SM_CCo,20214,0.00,0.000,0,0,1828,263.45
$SM_GC,1.77,11.82,0.00,0.00,0.032,0.000,0.000,43,2645,1828,-10.94,-0.14,263.45
$IRIDIUM_FIX,6202.67,-1119.51,100698,030342
$TT8_MAMPS,0.028379
$HUMID,1772
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,700.6,39.0
$24V_AH,23.3,24.222
$10V_AH,10.1,12.835
$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,26.400,176.700,351.500,0.000,0.000,26.442,30.572,156.128,7.750,0.000,0.000,14.238,1755.770,15668.868,468.573,2085.949,574.472,33.381,1533.324,0.000,2040.271,0.000,47.300,0.000
$DEVICE_MAMPS,159.536,109.681,1177.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,692.716,698.411,578.211,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50571,965
$CAP_FILE_SIZE,140947,0
$CFSIZE,260165632,251265024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160309,144625,6232.219,-1107.776,40,1.8,40,-10.8