version: 66.04
glider: 103
mission: 11
dive: 213
start: 4 9 109 4 11 36
data:
$ID,103
$MISSION,11
$DIVE,213
$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,-147128.34
$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,10
$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
$GPS1,040407,6328.238,-1341.222,44,1.3,45,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-60.7
$GPS2,041046,6328.249,-1341.341,9,2.3,28,-12.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,JW
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.217,0.022
$KALMAN_X,21511.2,-860.5,203.0,-107431.6,-3507.7
$KALMAN_Y,-44442.9,-421.8,192.9,92595.1,1337.9
$MHEAD_RNG_PITCHd_Wd,96.7,25047,-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,-146.6,0.0,0.0,0,60,0.00,0.00,-41.70,0.000,2,0.000,0.000,47,2644,3157
$GC,63,-1.10,-146.6,3.7,-10.2,2,87,12.07,2.30,-5.95,0.000,4,0.156,0.106,2194,3792,3501
$GC,219,-1.10,-146.6,22.1,-7.3,8,225,0.00,2.10,0.00,0.000,6,0.000,0.068,2194,2656,3501
$GC,535,-1.10,-146.6,48.6,-9.0,24,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2656,3501
$GC,844,-1.10,-146.6,76.8,-8.7,39,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2656,3501
$GC,1155,-1.10,-146.6,103.9,-9.3,54,1159,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3793,3501
$GC,1188,-1.10,-146.6,107.4,-9.5,55,1192,0.00,2.12,0.00,0.000,6,0.000,0.064,2194,2644,3501
$GC,1510,-1.10,-146.6,137.2,-8.9,71,1514,0.00,2.25,0.00,0.000,4,0.000,0.093,2194,3794,3501
$GC,1555,-1.10,-146.6,141.4,-9.2,73,1558,0.00,2.12,0.00,0.000,6,0.000,0.064,2194,2641,3501
$GC,1882,-1.10,-146.6,171.6,-9.0,89,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,2191,-1.10,-146.6,198.2,-8.5,104,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,2501,-1.10,-146.6,222.8,-7.8,119,2502,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,2810,-1.10,-146.6,245.9,-7.5,134,2814,0.00,2.25,0.00,0.000,4,0.000,0.095,2194,3789,3501
$GC,2854,-1.10,-146.6,249.5,-8.3,136,2858,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2643,3501
$GC,3182,-1.10,-146.6,273.6,-7.6,152,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,3491,-1.10,-146.6,297.6,-7.8,167,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,3800,-1.10,-146.6,323.4,-8.5,182,3804,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3792,3501
$GC,3840,-1.10,-146.6,326.8,-8.9,183,3846,0.00,2.10,0.00,0.000,6,0.000,0.060,2194,2641,3501
$GC,4156,-1.10,-146.6,353.9,-8.5,199,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,4465,-1.10,-146.6,380.5,-8.7,214,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,4775,-1.10,-146.6,405.1,-7.7,229,4778,0.00,2.22,0.00,0.000,4,0.000,0.088,2194,3792,3501
$GC,4825,-1.10,-146.6,408.9,-7.8,231,4829,0.00,2.05,0.00,0.000,6,0.000,0.057,2194,2649,3501
$GC,5152,-1.10,-146.6,434.1,-7.8,247,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,5461,-1.10,-146.6,458.5,-7.7,262,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,5770,-1.10,-146.6,481.7,-7.2,277,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,6079,-1.10,-146.6,504.2,-7.2,292,6083,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3792,3501
$GC,6136,-1.10,-146.6,508.5,-7.7,294,6139,0.00,2.08,0.00,0.000,6,0.000,0.054,2194,2638,3501
$GC,6457,-1.10,-146.6,531.8,-7.4,310,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2638,3501
$GC,6766,-1.10,-146.6,555.1,-7.7,325,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2638,3501
$GC,7076,-1.10,-146.6,580.3,-8.4,340,7080,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3790,3501
$GC,7116,-1.10,-146.6,583.4,-7.8,341,7123,0.00,2.05,0.00,0.000,6,0.000,0.051,2194,2643,3501
$GC,7432,-1.10,-146.6,607.8,-7.8,357,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,7742,-1.10,-146.6,632.6,-8.0,372,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,8051,-1.10,-146.6,656.7,-7.8,387,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,8360,-1.10,-146.6,680.2,-7.1,402,8364,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3789,3501
$GC,8399,-1.10,-146.6,683.3,-7.6,403,8405,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2651,3501
$GC,8715,-1.10,-146.6,706.5,-7.3,419,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$GC,9024,-1.10,-146.6,729.4,-7.3,434,9028,0.00,2.17,0.00,0.000,4,0.000,0.085,2194,3786,3501
$GC,9075,-1.10,-146.6,733.5,-8.8,436,9079,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2649,3501
$GC,9402,-1.10,-146.6,758.8,-7.9,452,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,9711,-1.10,-146.6,782.6,-7.5,467,9712,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,10021,-1.10,-146.6,808.0,-8.7,482,10025,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1230,3501
$GC,10054,-1.10,-146.6,811.0,-9.1,483,10060,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2656,3501
$GC,10370,-1.10,-146.6,837.2,-8.1,499,10371,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3501
$GC,10679,-1.10,-146.6,860.3,-7.5,514,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2656,3501
$GC,10988,-1.10,-146.6,882.5,-6.5,529,10992,0.00,2.15,0.00,0.000,4,0.000,0.088,2194,3787,3501
$GC,11079,-1.10,-146.6,888.7,-6.5,533,11083,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2650,3501
$GC,11412,-1.10,-146.6,912.9,-7.6,549,11413,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,11721,-1.10,-146.6,935.5,-7.5,564,11725,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1231,3501
$GC,11761,-1.10,-146.6,938.6,-7.6,566,11766,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2656,3501
$GC,12088,-1.10,-146.6,956.9,-4.6,582,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2656,3501
$GC,12397,-1.10,-146.6,964.2,-2.2,597,12398,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2656,3501
$STATE,12683,end dive,NO_VERTICAL_VELOCITY
$STATE,12683,begin apogee
$GC,12692,-0.42,0.0,966.7,0.0,611,12826,0.77,0.00,129.62,1.276,6,0.100,0.000,2346,1989,2902
$STATE,12827,end apogee,CONTROL_FINISHED_OK
$STATE,12827,begin climb
$GC,12830,1.10,146.6,964.6,0.0,618,12965,1.55,2.62,126.62,1.253,4,0.058,0.060,2678,587,2303
$GC,13159,1.10,146.6,933.4,13.8,633,13163,0.00,2.50,0.00,0.000,6,0.000,0.035,2678,2017,2303
$GC,13480,1.12,157.0,907.5,5.7,649,13495,0.00,2.58,10.62,1.078,4,0.000,0.060,2678,3403,2262
$GC,13575,1.19,213.8,903.6,4.4,652,13630,0.00,2.53,49.75,1.218,6,0.000,0.041,2678,1986,2030
$GC,13958,1.44,421.7,897.2,0.2,671,14141,0.30,0.00,178.25,1.233,6,0.030,0.000,2766,1986,1183
$GC,14454,1.44,421.7,854.8,11.8,695,14458,0.00,2.62,0.00,0.000,4,0.000,0.062,2766,3400,1182
$GC,14477,1.44,421.7,851.2,13.3,696,14481,0.00,2.50,0.00,0.000,6,0.000,0.041,2766,1995,1182
$GC,14798,1.44,421.7,807.3,13.4,712,14802,0.00,2.55,0.00,0.000,4,0.000,0.058,2766,586,1182
$GC,14838,1.44,421.7,801.9,14.2,714,14842,0.00,2.47,0.00,0.000,6,0.000,0.038,2766,1998,1182
$GC,15164,1.44,421.7,758.5,13.1,730,15165,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1998,1182
$GC,15473,1.44,421.7,716.1,13.5,745,15478,0.00,2.58,0.00,0.000,4,0.000,0.061,2766,3412,1182
$GC,15501,1.44,421.7,712.1,14.5,746,15506,0.00,2.50,0.00,0.000,6,0.000,0.040,2766,1996,1182
$GC,15817,1.44,421.7,670.5,13.3,761,15819,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1996,1182
$GC,16127,1.44,421.7,630.0,12.8,776,16131,0.00,2.60,0.00,0.000,4,0.000,0.061,2766,3409,1182
$GC,16160,1.44,421.7,625.6,12.1,777,16166,0.00,2.50,0.00,0.000,6,0.000,0.041,2766,1995,1182
$GC,16476,1.44,421.7,585.8,12.8,793,16477,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1994,1182
$GC,16785,1.44,421.7,547.1,12.0,808,16789,0.00,2.60,0.00,0.000,4,0.000,0.063,2766,3409,1182
$GC,16825,1.44,421.7,542.2,12.1,810,16829,0.00,2.50,0.00,0.000,6,0.000,0.043,2766,1994,1182
$GC,17152,1.44,421.7,502.9,12.1,826,17153,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1994,1182
$GC,17461,1.44,421.7,464.2,12.8,841,17465,0.00,2.60,0.00,0.000,4,0.000,0.064,2766,3406,1182
$GC,17488,1.44,421.7,460.4,13.2,842,17493,0.00,2.50,0.00,0.000,6,0.000,0.045,2766,1999,1182
$GC,17804,1.44,421.7,417.5,14.0,857,17805,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2000,1182
$GC,18113,1.44,421.7,374.6,13.7,872,18118,0.00,2.60,0.00,0.000,4,0.000,0.067,2766,3405,1182
$GC,18142,1.44,421.7,370.5,14.5,873,18146,0.00,2.53,0.00,0.000,6,0.000,0.048,2766,1993,1182
$GC,18457,1.44,421.7,326.8,13.7,888,18459,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1993,1182
$GC,18767,1.44,421.7,286.4,12.5,903,18771,0.00,2.62,0.00,0.000,4,0.000,0.067,2766,3406,1182
$GC,18806,1.44,421.7,281.3,14.1,905,18811,0.00,2.53,0.00,0.000,6,0.000,0.051,2766,2000,1182
$GC,19134,1.44,421.7,240.1,12.8,921,19135,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2000,1182
$GC,19443,1.44,421.7,201.4,12.5,936,19447,0.00,2.62,0.00,0.000,4,0.000,0.069,2766,3410,1182
$GC,19476,1.44,421.7,197.4,12.3,937,19482,0.00,2.55,0.00,0.000,6,0.000,0.051,2766,1992,1182
$GC,19792,1.44,421.7,158.6,12.3,953,19793,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1992,1182
$GC,20101,1.44,421.7,120.7,12.3,968,20103,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1992,1182
$GC,20411,1.44,421.7,82.7,11.9,983,20412,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1992,1182
$GC,20720,1.44,421.7,46.8,11.5,998,20721,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1992,1182
$GC,21031,1.44,421.7,8.8,12.6,1013,21035,0.00,2.65,0.00,0.000,4,0.000,0.071,2766,3409,1182
$GC,21054,1.44,421.7,5.5,12.4,1014,21058,0.00,2.55,0.00,0.000,6,0.000,0.052,2766,1995,1182
$STATE,21083,end climb,SURFACE_DEPTH_REACHED
$STATE,21084,begin surface coast
$FINISH,0.3,1.025808
$STATE,21105,end surface coast,CONTROL_FINISHED_OK
$STATE,21105,begin surface
$SM_CCo,21191,0.00,0.000,0,0,1181,422.16
$SM_GC,1.17,11.98,0.00,0.00,0.031,0.000,0.000,49,2638,1181,-10.93,-0.34,422.16
$IRIDIUM_FIX,6258.74,-1338.89,030798,212143
$TT8_MAMPS,0.028379
$HUMID,1782
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,23.3,38.798
$10V_AH,10.1,21.945
$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,26.675,121.525,494.875,0.000,0.000,24.844,35.160,173.616,8.250,0.000,0.000,31.885,1777.444,16601.125,574.681,2034.073,589.151,33.362,1584.919,0.000,1973.111,0.000,55.389,0.000
$DEVICE_MAMPS,156.468,105.846,1276.288,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,713.508,744.045,535.178,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50535,1017
$CAP_FILE_SIZE,132860,0
$CFSIZE,260165632,244674560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090409,100607,6329.096,-1335.793,43,1.0,43,-12.6