version: 66.04
glider: 103
mission: 11
dive: 209
start: 4 8 109 1 10 54
data:
$ID,103
$MISSION,11
$DIVE,209
$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,-147049.3
$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,12
$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
$GPS1,010101,6316.127,-1313.160,39,1.3,39,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-63.1
$GPS2,011002,6316.092,-1313.225,11,1.7,11,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.108,0.190
$KALMAN_X,41799.3,-1736.2,-1653.4,-101297.1,19757.9
$KALMAN_Y,-46862.1,479.8,-796.9,72577.4,-2378.6
$MHEAD_RNG_PITCHd_Wd,342.5,35048,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.97,0.000,2,0.000,0.000,48,2654,3404
$GC,82,-1.10,-146.6,4.9,-10.1,3,104,12.15,2.72,-1.50,0.000,4,0.159,0.088,2196,1244,3502
$GC,238,-1.10,-146.6,26.2,-7.9,9,244,0.00,2.62,0.00,0.000,6,0.000,0.068,2196,2654,3502
$GC,554,-1.10,-146.6,48.7,-6.7,25,557,0.00,2.20,0.00,0.000,4,0.000,0.093,2196,3790,3502
$GC,602,-1.10,-146.6,51.8,-6.3,27,605,0.00,2.10,0.00,0.000,6,0.000,0.061,2196,2647,3502
$GC,936,-1.10,-146.6,75.1,-7.3,43,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,1244,-1.10,-146.6,97.6,-7.1,58,1248,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3785,3502
$GC,1316,-1.10,-146.6,103.4,-8.2,61,1320,0.00,2.08,0.00,0.000,6,0.000,0.060,2196,2651,3502
$GC,1638,-1.10,-146.6,128.8,-8.0,77,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,1947,-1.10,-146.6,153.5,-7.6,92,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,2256,-1.10,-146.6,174.9,-6.5,107,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,2566,-1.10,-146.6,195.9,-6.4,122,2570,0.00,2.62,0.00,0.000,4,0.000,0.075,2196,1233,3502
$GC,2605,-1.10,-146.6,198.7,-7.3,124,2610,0.00,2.62,0.00,0.000,6,0.000,0.067,2196,2651,3502
$GC,2932,-1.10,-146.6,222.6,-7.5,140,2935,0.00,2.20,0.00,0.000,4,0.000,0.093,2197,3792,3503
$GC,2966,-1.10,-146.6,225.2,-7.4,141,2970,0.00,2.08,0.00,0.000,6,0.000,0.057,2196,2648,3503
$GC,3288,-1.10,-146.6,248.6,-7.4,157,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2648,3502
$GC,3597,-1.10,-146.6,273.2,-7.9,172,3600,0.00,2.22,0.00,0.000,4,0.000,0.094,2196,3786,3502
$GC,3647,-1.10,-146.6,277.4,-8.6,174,3650,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2645,3502
$GC,3974,-1.10,-146.6,304.0,-8.3,190,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3502
$GC,4284,-1.10,-146.6,325.8,-7.0,205,4285,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3502
$GC,4593,-1.10,-146.6,349.0,-7.1,220,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2646,3502
$GC,4902,-1.10,-146.6,370.9,-6.9,235,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3502
$GC,5211,-1.10,-146.6,392.6,-6.8,250,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3502
$GC,5521,-1.10,-146.6,410.5,-5.6,265,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3502
$GC,5829,-1.10,-146.6,429.4,-6.4,280,5833,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3793,3502
$GC,5875,-1.10,-146.6,432.5,-6.9,282,5879,0.00,2.08,0.00,0.000,6,0.000,0.055,2196,2643,3502
$GC,6208,-1.10,-146.6,454.4,-6.7,298,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3502
$GC,6518,-1.10,-146.6,475.8,-6.9,313,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3502
$GC,6826,-1.10,-146.6,498.6,-7.9,328,6830,0.00,2.22,0.00,0.000,4,0.000,0.088,2196,3793,3502
$GC,6894,-1.10,-146.6,504.5,-9.1,331,6898,0.00,2.05,0.00,0.000,6,0.000,0.053,2196,2653,3502
$GC,7221,-1.10,-146.6,531.4,-8.3,347,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3502
$GC,7530,-1.10,-146.6,554.4,-6.6,362,7531,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3502
$GC,7840,-1.10,-146.6,574.8,-7.0,377,7847,0.00,2.20,0.00,0.000,4,0.000,0.088,2196,3793,3502
$GC,7904,-1.10,-146.6,579.9,-7.6,379,7910,0.00,2.08,0.00,0.000,6,0.000,0.053,2196,2636,3502
$GC,8220,-1.10,-146.6,604.6,-8.0,395,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2636,3502
$GC,8529,-1.10,-146.6,628.8,-7.5,410,8533,0.00,2.22,0.00,0.000,4,0.000,0.086,2196,3793,3502
$GC,8563,-1.10,-146.6,631.6,-8.3,411,8566,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2648,3502
$GC,8884,-1.10,-146.6,656.1,-8.0,427,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2647,3502
$GC,9194,-1.10,-146.6,679.0,-7.9,442,9197,0.00,2.20,0.00,0.000,4,0.000,0.089,2196,3786,3502
$GC,9256,-1.10,-146.6,682.9,-6.1,444,9262,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2637,3502
$GC,9571,-1.10,-146.6,705.6,-7.2,460,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2637,3502
$GC,9881,-1.10,-146.6,730.1,-8.4,475,9885,0.00,2.22,0.00,0.000,4,0.000,0.087,2197,3793,3502
$GC,9965,-1.10,-146.6,737.4,-8.9,479,9969,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2646,3502
$GC,10298,-1.10,-146.6,761.5,-6.8,495,10302,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3796,3502
$GC,10367,-1.10,-146.6,766.3,-7.5,498,10371,0.00,2.05,0.00,0.000,6,0.000,0.048,2196,2637,3502
$STATE,10573,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10573,begin apogee
$GC,10581,-0.42,0.0,780.5,6.9,508,10715,0.75,0.00,126.75,1.183,6,0.091,0.000,2346,1996,2902
$STATE,10716,end apogee,CONTROL_FINISHED_OK
$STATE,10716,begin climb
$GC,10720,1.10,146.6,787.0,0.0,515,10853,1.55,2.70,123.68,1.154,4,0.058,0.064,2678,586,2304
$GC,10973,1.25,269.7,781.6,2.6,526,11086,0.15,2.53,105.30,1.137,6,0.041,0.037,2724,2020,1802
$GC,11414,1.25,269.7,746.4,8.6,548,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2022,1801
$GC,11723,1.25,269.7,722.0,7.9,563,11727,0.00,2.55,0.00,0.000,4,0.000,0.066,2724,3400,1800
$GC,11801,1.25,269.7,715.6,8.2,566,11807,0.00,2.53,0.00,0.000,6,0.000,0.044,2724,1988,1800
$GC,12117,1.25,269.7,687.5,9.3,582,12121,0.00,2.62,0.00,0.000,4,0.000,0.063,2724,3404,1800
$GC,12156,1.25,269.7,683.7,9.7,584,12161,0.00,2.50,0.00,0.000,6,0.000,0.042,2724,1995,1800
$GC,12484,1.25,269.7,654.6,8.5,600,12488,0.00,2.62,0.00,0.000,4,0.000,0.063,2724,3412,1800
$GC,12528,1.25,269.7,650.8,7.7,602,12532,0.00,2.53,0.00,0.000,6,0.000,0.042,2724,1989,1800
$GC,12849,1.25,269.7,627.0,7.2,618,12853,0.00,2.60,0.00,0.000,4,0.000,0.062,2724,3408,1800
$GC,12899,1.25,269.7,623.1,7.4,620,12903,0.00,2.50,0.00,0.000,6,0.000,0.042,2724,1996,1800
$GC,13215,1.25,269.7,598.6,7.7,635,13219,0.00,2.60,0.00,0.000,4,0.000,0.062,2724,3407,1800
$GC,13242,1.25,269.7,596.2,8.7,636,13246,0.00,2.50,0.00,0.000,6,0.000,0.041,2724,1995,1800
$GC,13558,1.25,269.7,571.7,7.7,651,13563,0.00,2.60,0.00,0.000,4,0.000,0.061,2724,3407,1800
$GC,13614,1.25,269.7,567.0,8.3,653,13620,0.00,2.50,0.00,0.000,6,0.000,0.042,2724,1993,1799
$GC,13930,1.25,269.7,540.7,8.1,669,13934,0.00,2.60,0.00,0.000,4,0.000,0.062,2724,3405,1800
$GC,13963,1.25,269.7,538.0,8.0,670,13970,0.00,2.47,0.00,0.000,6,0.000,0.042,2724,1996,1799
$GC,14280,1.25,269.7,512.3,8.3,686,14284,0.00,2.60,0.00,0.000,4,0.000,0.063,2724,3406,1800
$GC,14324,1.25,269.7,508.3,8.6,688,14328,0.00,2.50,0.00,0.000,6,0.000,0.043,2724,1992,1800
$GC,14645,1.25,269.7,481.5,8.3,704,14646,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1992,1800
$GC,14954,1.25,269.7,455.8,8.2,719,14958,0.00,2.60,0.00,0.000,4,0.000,0.064,2724,3400,1801
$GC,14994,1.25,269.7,452.4,8.2,721,14998,0.00,2.50,0.00,0.000,6,0.000,0.045,2724,1990,1801
$GC,15321,1.25,269.7,425.5,8.4,737,15325,0.00,2.60,0.00,0.000,4,0.000,0.064,2724,3400,1801
$GC,15398,1.25,269.7,418.8,8.4,740,15405,0.00,2.47,0.00,0.000,6,0.000,0.047,2724,2003,1801
$GC,15715,1.25,269.7,392.5,8.3,756,15716,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2003,1801
$GC,16024,1.25,269.7,367.7,8.0,771,16028,0.00,2.60,0.00,0.000,4,0.000,0.067,2724,3402,1802
$GC,16079,1.25,269.7,363.1,7.4,773,16086,0.00,2.53,0.00,0.000,6,0.000,0.048,2724,1989,1802
$GC,16395,1.25,269.7,337.4,8.1,789,16400,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3402,1801
$GC,16436,1.25,269.7,333.9,9.0,791,16440,0.00,2.53,0.00,0.000,6,0.000,0.049,2724,1989,1802
$GC,16763,1.25,269.7,307.5,8.1,807,16764,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1989,1802
$GC,17072,1.25,269.7,282.0,8.2,822,17076,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3402,1802
$GC,17134,1.25,269.7,276.6,8.6,825,17138,0.00,2.53,0.00,0.000,6,0.000,0.051,2724,1996,1802
$GC,17461,1.25,269.7,250.0,8.2,841,17462,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1996,1802
$GC,17770,1.25,269.7,225.0,8.1,856,17775,0.00,2.62,0.00,0.000,4,0.000,0.070,2724,3402,1802
$GC,17843,1.25,269.7,219.0,8.8,859,17848,0.00,2.53,0.00,0.000,6,0.000,0.051,2724,2000,1802
$GC,18159,1.25,269.7,194.7,7.8,874,18160,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2000,1802
$GC,18468,1.25,269.7,170.3,7.8,889,18473,0.00,2.62,0.00,0.000,4,0.000,0.070,2724,3406,1802
$GC,18513,1.25,269.7,166.3,8.5,891,18518,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,1989,1803
$GC,18835,1.25,269.7,139.7,8.0,907,18840,0.00,2.62,0.00,0.000,4,0.000,0.069,2724,3399,1802
$GC,18880,1.25,269.7,136.3,6.9,909,18885,0.00,2.53,0.00,0.000,6,0.000,0.054,2724,2002,1802
$GC,19202,1.25,269.7,111.8,7.1,925,19203,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2002,1803
$GC,19511,1.25,269.7,88.4,7.8,940,19515,0.00,2.62,0.00,0.000,4,0.000,0.071,2724,3406,1803
$GC,19544,1.25,269.7,85.6,8.5,941,19550,0.00,2.55,0.00,0.000,6,0.000,0.055,2724,1989,1803
$GC,19862,1.25,269.7,60.8,8.2,957,19863,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1989,1803
$GC,20169,1.25,269.7,35.2,8.4,972,20173,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3409,1803
$GC,20219,1.25,269.7,30.6,8.6,974,20223,0.00,2.58,0.00,0.000,6,0.000,0.058,2724,1996,1803
$GC,20535,1.25,269.7,5.6,8.0,989,20539,0.00,2.60,0.00,0.000,4,0.000,0.070,2724,580,1803
$STATE,20576,end climb,SURFACE_DEPTH_REACHED
$STATE,20576,begin surface coast
$FINISH,1.1,1.027458
$STATE,20589,end surface coast,CONTROL_FINISHED_OK
$STATE,20589,begin surface
$SM_CCo,20676,0.00,0.000,0,0,1803,269.58
$SM_GC,1.07,11.68,0.00,0.00,0.026,0.000,0.000,51,2651,1803,-10.92,0.00,269.58
$IRIDIUM_FIX,6249.28,-1320.45,030798,010149
$TT8_MAMPS,0.028379
$HUMID,1763
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.3,39.2
$24V_AH,23.3,38.130
$10V_AH,10.1,21.532
$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,26.275,162.800,355.725,0.000,0.000,54.740,59.125,235.279,6.750,0.000,0.000,11.509,1783.314,16110.498,484.606,2128.589,706.810,33.355,1553.414,0.000,2079.032,0.000,49.202,0.000
$DEVICE_MAMPS,158.769,93.574,1183.481,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,691.093,731.288,584.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50460,991
$CAP_FILE_SIZE,142721,0
$CFSIZE,260165632,244961280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080409,065637,6318.395,-1321.283,29,1.0,29,-12.3