version: 66.04
glider: 103
mission: 11
dive: 137
start: 3 22 109 6 41 20
data:
$ID,103
$MISSION,11
$DIVE,137
$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,-145710.38
$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,17
$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
$GPS1,062036,6232.755,-1136.509,74,1.0,74,-11.0
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-55.9
$GPS2,064028,6232.624,-1135.508,18,1.6,18,-11.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.216,-0.032
$KALMAN_X,-8018.2,2628.6,1782.0,-15348.0,-13344.7
$KALMAN_Y,12684.3,-506.4,-2505.5,2054.3,17315.9
$MHEAD_RNG_PITCHd_Wd,272.5,40225,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,69,0.00,0.00,-49.70,0.000,6,0.000,0.000,46,2655,3502
$GC,73,-1.10,-146.6,2.6,-4.0,2,95,12.23,2.67,0.00,0.000,4,0.162,0.063,2194,1228,3503
$GC,142,-1.10,-146.6,21.4,-12.7,5,146,0.00,2.67,0.00,0.000,6,0.000,0.071,2194,2648,3503
$GC,470,-1.10,-146.6,48.2,-8.9,21,474,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3792,3502
$GC,578,-1.10,-146.6,56.5,-7.6,26,582,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2650,3503
$GC,913,-1.10,-146.6,82.7,-8.3,42,916,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3785,3502
$GC,980,-1.10,-146.6,88.9,-8.4,45,984,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2642,3503
$GC,1307,-1.10,-146.6,115.3,-7.4,61,1311,0.00,2.22,0.00,0.000,4,0.000,0.088,2194,3789,3502
$GC,1331,-1.10,-146.6,117.3,-8.4,62,1335,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2647,3502
$GC,1664,-1.10,-146.6,143.1,-7.9,78,1668,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3786,3502
$GC,1710,-1.10,-146.6,146.9,-8.5,80,1714,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2650,3502
$GC,2044,-1.10,-146.6,173.4,-7.6,96,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,2353,-1.10,-146.6,197.0,-7.5,111,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,2662,-1.10,-146.6,220.2,-7.6,126,2666,0.00,2.17,0.00,0.000,4,0.000,0.084,2194,3783,3502
$GC,2708,-1.10,-146.6,223.8,-8.1,128,2712,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2642,3502
$GC,3042,-1.10,-146.6,250.7,-8.0,144,3045,0.00,2.20,0.00,0.000,4,0.000,0.085,2194,3786,3502
$GC,3081,-1.10,-146.6,254.0,-8.0,145,3087,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2648,3502
$GC,3397,-1.10,-146.6,276.7,-7.8,161,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3503
$GC,3706,-1.10,-146.6,302.9,-8.2,176,3710,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3790,3503
$GC,3745,-1.10,-146.6,306.3,-8.4,177,3751,0.00,2.10,0.00,0.000,6,0.000,0.060,2194,2642,3502
$GC,4061,-1.10,-146.6,332.0,-8.1,193,4065,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3786,3502
$GC,4100,-1.10,-146.6,335.4,-8.9,194,4106,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2638,3502
$GC,4416,-1.10,-146.6,359.6,-7.8,210,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2638,3502
$GC,4725,-1.10,-146.6,382.4,-7.3,225,4729,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3788,3503
$GC,4764,-1.10,-146.6,385.3,-7.4,226,4770,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2649,3502
$GC,5080,-1.10,-146.6,407.2,-7.0,242,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3503
$GC,5389,-1.10,-146.6,427.5,-6.2,257,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3502
$GC,5699,-1.10,-146.6,446.4,-6.3,272,5702,0.00,2.17,0.00,0.000,4,0.000,0.083,2194,3789,3502
$GC,5790,-1.10,-146.6,452.2,-6.1,276,5794,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2646,3502
$GC,6123,-1.10,-146.6,472.5,-6.1,292,6127,0.00,2.60,0.00,0.000,4,0.000,0.071,2194,1229,3502
$GC,6152,-1.10,-146.6,474.4,-6.4,293,6156,0.00,2.62,0.00,0.000,6,0.000,0.064,2194,2653,3502
$GC,6468,-1.10,-146.6,493.5,-5.9,308,6471,0.00,2.15,0.00,0.000,4,0.000,0.087,2194,3786,3502
$GC,6537,-1.10,-146.6,497.7,-6.4,311,6540,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2647,3502
$GC,6869,-1.10,-146.6,517.2,-6.1,327,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,7179,-1.10,-146.6,540.8,-8.3,342,7182,0.00,2.22,0.00,0.000,4,0.000,0.089,2194,3794,3501
$GC,7240,-1.10,-146.6,546.5,-9.6,344,7247,0.00,2.08,0.00,0.000,6,0.000,0.055,2194,2638,3501
$GC,7557,-1.10,-146.6,575.9,-9.7,360,7561,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3790,3501
$GC,7635,-1.10,-146.6,583.2,-9.7,363,7639,0.00,2.05,0.00,0.000,6,0.000,0.057,2194,2655,3501
$GC,7957,-1.10,-146.6,616.5,-11.1,379,7961,0.00,2.60,0.00,0.000,4,0.000,0.073,2194,1239,3501
$GC,7984,-1.10,-146.6,619.5,-10.5,380,7989,0.00,2.60,0.00,0.000,6,0.000,0.063,2194,2651,3500
$GC,8300,-1.10,-146.6,652.3,-10.4,395,8304,0.00,2.17,0.00,0.000,4,0.000,0.089,2194,3791,3500
$GC,8346,-1.10,-146.6,657.0,-10.1,397,8350,0.00,2.08,0.00,0.000,6,0.000,0.056,2194,2642,3500
$GC,8679,-1.10,-146.6,684.2,-7.5,413,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3499
$GC,8988,-1.10,-146.6,703.5,-5.5,428,8992,0.00,2.25,0.00,0.000,4,0.000,0.094,2194,3793,3498
$GC,9029,-1.10,-146.6,705.8,-6.3,430,9032,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2651,3497
$GC,9362,-1.10,-146.6,726.3,-6.2,446,9363,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3496
$STATE,9503,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9503,begin apogee
$GC,9511,-0.42,0.0,735.4,6.5,453,9640,0.77,0.00,125.10,1.196,6,0.095,0.000,2349,1992,2902
$STATE,9640,end apogee,CONTROL_FINISHED_OK
$STATE,9641,begin climb
$GC,9644,1.10,146.6,741.0,0.0,459,9777,1.52,2.72,124.25,1.158,4,0.056,0.073,2677,586,2304
$GC,9888,1.18,207.1,737.3,4.3,470,9946,0.00,2.55,52.65,1.134,6,0.000,0.041,2677,2014,2057
$GC,10259,1.18,207.1,714.8,6.5,488,10263,0.00,2.62,0.00,0.000,4,0.000,0.072,2677,3413,2055
$GC,10354,1.18,207.1,708.2,6.2,492,10358,0.00,2.60,0.00,0.000,6,0.000,0.054,2677,1995,2055
$GC,10670,1.18,207.1,687.2,6.7,507,10674,0.00,2.67,0.00,0.000,4,0.000,0.070,2677,3415,2054
$GC,10714,1.18,207.1,684.1,7.3,509,10718,0.00,2.60,0.00,0.000,6,0.000,0.053,2677,1991,2054
$GC,11035,1.18,207.1,662.3,6.6,525,11036,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1990,2053
$GC,11345,1.18,213.1,642.2,5.8,540,11355,0.00,2.70,5.85,0.939,4,0.000,0.071,2677,3409,2033
$GC,11395,1.18,213.1,639.1,6.1,542,11399,0.00,2.58,0.00,0.000,6,0.000,0.052,2677,1995,2033
$GC,11711,1.19,217.2,621.0,5.9,557,11721,0.00,2.67,5.22,0.899,4,0.000,0.070,2677,3405,2016
$GC,11784,1.21,234.1,617.0,5.5,560,11806,0.12,2.58,15.77,1.104,6,0.045,0.052,2715,1995,1947
$GC,12124,1.24,258.2,596.2,5.3,577,12153,0.00,2.70,21.65,1.104,4,0.000,0.069,2715,3406,1849
$GC,12274,1.24,258.2,587.3,6.3,583,12281,0.00,2.58,0.00,0.000,6,0.000,0.051,2715,1993,1849
$GC,12590,1.24,258.2,564.9,7.5,599,12592,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1993,1849
$GC,12900,1.24,258.2,540.3,7.4,614,12904,0.00,2.65,0.00,0.000,4,0.000,0.070,2715,3413,1849
$GC,12972,1.24,258.2,535.2,7.9,617,12976,0.00,2.58,0.00,0.000,6,0.000,0.051,2715,1994,1849
$GC,13288,1.24,258.2,512.7,7.1,632,13292,0.00,2.62,0.00,0.000,4,0.000,0.068,2715,3406,1849
$GC,13315,1.24,258.2,510.8,6.9,633,13319,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1994,1849
$GC,13631,1.24,258.2,490.5,6.8,648,13635,0.00,2.58,0.00,0.000,4,0.000,0.066,2715,587,1850
$GC,13703,1.24,258.2,485.0,8.1,651,13707,0.00,2.50,0.00,0.000,6,0.000,0.038,2715,2007,1849
$GC,14019,1.24,258.2,463.1,7.0,666,14023,0.00,2.60,0.00,0.000,4,0.000,0.070,2715,3409,1850
$GC,14053,1.24,258.2,460.5,7.1,667,14057,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1995,1850
$GC,14369,1.24,258.2,438.2,7.3,682,14373,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3405,1850
$GC,14408,1.24,258.2,435.1,8.1,684,14412,0.00,2.53,0.00,0.000,6,0.000,0.050,2715,1998,1850
$GC,14741,1.24,258.2,408.5,8.0,700,14745,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3407,1850
$GC,14774,1.24,258.2,405.7,8.2,701,14780,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1993,1850
$GC,15090,1.24,258.2,380.2,8.3,717,15094,0.00,2.62,0.00,0.000,4,0.000,0.066,2715,3407,1851
$GC,15123,1.24,258.2,377.1,8.6,718,15127,0.00,2.55,0.00,0.000,6,0.000,0.050,2715,1990,1851
$GC,15439,1.24,258.2,353.1,7.6,733,15440,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1990,1852
$GC,15748,1.24,258.2,329.7,7.8,748,15752,0.00,2.62,0.00,0.000,4,0.000,0.068,2715,3406,1852
$GC,15798,1.24,258.2,325.6,8.2,750,15802,0.00,2.55,0.00,0.000,6,0.000,0.052,2715,1994,1852
$GC,16114,1.24,258.2,302.0,7.5,765,16115,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1994,1853
$GC,16423,1.24,258.2,278.2,7.8,780,16427,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3406,1853
$GC,16467,1.24,258.2,274.6,8.3,782,16472,0.00,2.55,0.00,0.000,6,0.000,0.053,2715,1998,1853
$GC,16794,1.24,258.2,248.6,7.8,798,16796,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1997,1854
$GC,17104,1.24,258.2,224.8,7.5,813,17105,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1997,1854
$GC,17413,1.24,258.2,202.4,7.1,828,17418,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3410,1854
$GC,17480,1.24,258.2,197.1,8.2,831,17485,0.00,2.58,0.00,0.000,6,0.000,0.054,2715,1989,1855
$GC,17802,1.24,258.2,171.9,8.0,847,17803,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1989,1855
$GC,18112,1.24,258.2,148.0,8.1,862,18117,0.00,2.62,0.00,0.000,4,0.000,0.067,2715,3405,1855
$GC,18179,1.24,258.2,142.5,8.1,865,18184,0.00,2.55,0.00,0.000,6,0.000,0.054,2715,1997,1855
$GC,18503,1.24,258.2,117.3,7.9,881,18507,0.00,2.60,0.00,0.000,4,0.000,0.064,2715,3406,1856
$GC,18547,1.24,258.2,113.5,8.8,883,18551,0.00,2.55,0.00,0.000,6,0.000,0.054,2715,1997,1856
$GC,18868,1.24,258.2,86.8,9.5,899,18870,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1997,1856
$GC,19178,1.24,258.2,60.8,8.1,914,19182,0.00,2.58,0.00,0.000,4,0.000,0.067,2715,590,1856
$GC,19222,1.24,258.2,56.8,8.8,916,19226,0.00,2.47,0.00,0.000,6,0.000,0.040,2715,2001,1856
$GC,19549,1.24,258.2,28.8,7.3,932,19550,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2002,1856
$GC,19858,1.24,258.2,8.8,8.8,947,19862,0.00,2.58,0.00,0.000,4,0.000,0.061,2715,589,1857
$GC,19891,1.24,258.2,5.1,11.6,948,19898,0.00,2.45,0.00,0.000,6,0.000,0.037,2715,2004,1857
$STATE,19957,end climb,SURFACE_DEPTH_REACHED
$STATE,19957,begin surface coast
$FINISH,0.3,1.005176
$STATE,19979,end surface coast,CONTROL_FINISHED_OK
$STATE,19979,begin surface
$SM_CCo,20064,0.00,0.000,0,0,1856,256.58
$SM_GC,1.64,11.80,0.00,0.00,0.035,0.000,0.000,48,2650,1856,-10.94,0.00,256.58
$IRIDIUM_FIX,6207.28,-1134.13,160698,060617
$TT8_MAMPS,0.029146
$HUMID,1761
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.80
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,650.2,94.2
$24V_AH,23.3,28.430
$10V_AH,10.1,15.194
$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,26.450,186.175,350.500,0.000,0.000,112.022,133.448,600.409,11.250,0.000,0.000,18.722,1765.178,15643.548,466.892,2131.366,1243.924,33.354,1551.384,0.000,2080.637,0.000,41.855,0.000
$DEVICE_MAMPS,161.837,94.341,1195.753,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,682.161,692.787,562.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47387,953
$CAP_FILE_SIZE,155006,0
$CFSIZE,260165632,249532416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220309,121736,6232.340,-1131.924,74,1.1,74,-11.0