version: 66.04
glider: 103
mission: 11
dive: 255
start: 4 18 109 16 25 59
data:
$ID,103
$MISSION,11
$DIVE,255
$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,-147869.55
$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,2675
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,13
$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
$GPS1,161836,6330.094,-1319.612,32,1.0,32,-12.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-63.6
$GPS2,162508,6330.133,-1319.581,16,1.3,16,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,JE
$TGT_LATLONG,6335.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.154,0.155
$KALMAN_X,2303.6,-690.8,4867.9,-29785.0,-16021.0
$KALMAN_Y,-1168.5,534.7,3664.1,-51847.7,-10714.7
$MHEAD_RNG_PITCHd_Wd,57.4,9772,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-40.80,0.000,2,0.000,0.000,51,2670,3174
$GC,62,-1.10,-146.6,3.9,-10.8,2,86,12.10,2.22,-5.55,0.000,4,0.158,0.104,2195,3783,3503
$GC,338,-1.10,-146.6,33.7,-7.9,14,342,0.00,2.05,0.00,0.000,6,0.000,0.068,2195,2684,3503
$GC,668,-1.10,-146.6,60.2,-8.4,30,671,0.00,2.15,0.00,0.000,4,0.000,0.092,2195,3783,3503
$GC,768,-1.10,-146.6,69.5,-9.8,34,772,0.00,2.05,0.00,0.000,6,0.000,0.064,2195,2669,3503
$GC,1090,-1.10,-146.6,97.0,-8.3,50,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3503
$GC,1400,-1.10,-146.6,123.8,-8.7,65,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3503
$GC,1708,-1.10,-146.6,153.3,-9.6,80,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3503
$GC,2018,-1.10,-146.6,180.4,-8.2,95,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3503
$GC,2327,-1.10,-146.6,205.8,-8.4,110,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3503
$GC,2636,-1.10,-146.6,231.9,-8.6,125,2640,0.00,2.17,0.00,0.000,4,0.000,0.094,2195,3783,3503
$GC,2686,-1.10,-146.6,236.4,-9.2,127,2690,0.00,2.05,0.00,0.000,6,0.000,0.061,2195,2664,3503
$GC,3014,-1.10,-146.6,264.0,-8.6,143,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2664,3503
$GC,3323,-1.10,-146.6,290.9,-8.5,158,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2663,3503
$GC,3632,-1.10,-146.6,316.7,-8.2,173,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2663,3503
$GC,3941,-1.10,-146.6,340.7,-7.6,188,3945,0.00,2.20,0.00,0.000,4,0.000,0.093,2195,3789,3503
$GC,3975,-1.10,-146.6,343.3,-7.3,189,3979,0.00,2.05,0.00,0.000,6,0.000,0.060,2195,2665,3503
$GC,4297,-1.10,-146.6,368.4,-7.6,205,4298,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2665,3503
$GC,4606,-1.10,-146.6,391.8,-7.6,220,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2665,3503
$GC,4915,-1.10,-146.6,415.9,-8.0,235,4917,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2665,3502
$GC,5224,-1.10,-146.6,439.0,-7.3,250,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2665,3503
$GC,5534,-1.10,-146.6,462.8,-7.9,265,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2665,3502
$GC,5843,-1.10,-146.6,488.0,-7.9,280,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2665,3502
$GC,6152,-1.10,-146.6,513.1,-8.2,295,6157,0.00,2.60,0.00,0.000,4,0.000,0.070,2195,1245,3503
$GC,6180,-1.10,-146.6,515.5,-8.8,296,6185,0.00,2.62,0.00,0.000,6,0.000,0.062,2195,2675,3503
$GC,6497,-1.10,-146.6,539.3,-6.7,311,6500,0.00,2.12,0.00,0.000,4,0.000,0.089,2195,3790,3503
$GC,6542,-1.10,-146.6,542.7,-7.8,313,6546,0.00,2.03,0.00,0.000,6,0.000,0.054,2195,2661,3503
$GC,6875,-1.10,-146.6,563.9,-6.9,329,6876,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2661,3502
$GC,7185,-1.10,-146.6,584.7,-6.3,344,7188,0.00,2.17,0.00,0.000,4,0.000,0.087,2195,3788,3503
$GC,7242,-1.10,-146.6,588.4,-6.1,346,7246,0.00,2.00,0.00,0.000,6,0.000,0.053,2195,2671,3503
$GC,7564,-1.10,-146.6,605.3,-4.8,362,7568,0.00,2.58,0.00,0.000,4,0.000,0.068,2195,1256,3503
$GC,7592,-1.10,-146.6,606.7,-4.7,363,7596,0.00,2.60,0.00,0.000,6,0.000,0.061,2195,2676,3503
$GC,7908,-1.10,-146.6,620.3,-4.1,378,7912,0.00,2.12,0.00,0.000,4,0.000,0.090,2195,3790,3502
$GC,7981,-1.10,-146.6,623.8,-4.5,381,7985,0.00,2.00,0.00,0.000,6,0.000,0.052,2195,2673,3503
$GC,8309,-1.10,-146.6,639.1,-5.5,397,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2673,3502
$GC,8618,-1.10,-146.6,656.5,-6.5,412,8621,0.00,2.15,0.00,0.000,4,0.000,0.091,2195,3786,3502
$GC,8657,-1.10,-146.6,658.6,-5.0,413,8663,0.00,2.00,0.00,0.000,6,0.000,0.052,2195,2666,3502
$GC,8973,-1.10,-146.6,682.4,-10.3,429,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2665,3502
$GC,9282,-1.10,-146.6,710.4,-8.4,444,9286,0.00,2.17,0.00,0.000,4,0.000,0.092,2195,3785,3502
$GC,9350,-1.10,-146.6,716.3,-8.6,447,9354,0.00,2.00,0.00,0.000,6,0.000,0.054,2195,2666,3502
$GC,9683,-1.10,-146.6,741.3,-6.6,463,9687,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3792,3501
$GC,9734,-1.10,-146.6,745.2,-7.7,465,9738,0.00,2.00,0.00,0.000,6,0.000,0.052,2195,2672,3501
$GC,10062,-1.10,-146.6,768.2,-7.0,481,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2672,3501
$GC,10371,-1.10,-146.6,788.4,-7.2,496,10376,0.00,2.60,0.00,0.000,4,0.000,0.073,2195,1258,3501
$GC,10412,-1.10,-146.6,791.5,-7.9,498,10417,0.00,2.62,0.00,0.000,6,0.000,0.066,2195,2681,3501
$STATE,10488,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10488,begin apogee
$GC,10497,-0.42,0.0,797.3,7.5,502,10631,0.75,0.00,126.78,1.201,6,0.095,0.000,2345,2024,2902
$STATE,10632,end apogee,CONTROL_FINISHED_OK
$STATE,10632,begin climb
$GC,10635,1.10,146.6,804.4,0.0,509,10770,1.55,2.78,124.53,1.171,4,0.057,0.073,2678,3447,2304
$GC,11023,1.23,253.6,800.0,3.0,526,11121,0.15,2.58,91.07,1.181,6,0.045,0.044,2720,2012,1868
$GC,11443,1.23,253.6,774.7,6.8,547,11448,0.00,2.72,0.00,0.000,4,0.000,0.071,2720,3450,1867
$GC,11539,1.23,253.6,767.9,6.6,551,11543,0.00,2.58,0.00,0.000,6,0.000,0.049,2721,2026,1867
$GC,11855,1.23,253.6,744.1,7.1,566,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2026,1866
$GC,12165,1.23,253.6,716.8,9.0,581,12169,0.00,2.58,0.00,0.000,4,0.000,0.064,2720,618,1866
$GC,12197,1.23,253.6,714.0,7.4,582,12204,0.00,2.50,0.00,0.000,6,0.000,0.039,2720,2038,1866
$GC,12513,1.23,253.6,689.0,7.5,598,12518,0.00,2.60,0.00,0.000,4,0.000,0.061,2721,619,1865
$GC,12554,1.23,253.6,686.1,7.9,600,12558,0.00,2.47,0.00,0.000,6,0.000,0.038,2721,2030,1865
$GC,12887,1.23,253.6,662.7,7.1,616,12891,0.00,2.60,0.00,0.000,4,0.000,0.066,2721,3441,1865
$GC,12920,1.23,253.6,660.2,6.3,617,12926,0.00,2.53,0.00,0.000,6,0.000,0.045,2720,2026,1865
$GC,13236,1.23,253.6,639.0,7.0,633,13240,0.00,2.62,0.00,0.000,4,0.000,0.065,2721,3440,1865
$GC,13269,1.23,253.6,636.4,7.1,634,13273,0.00,2.53,0.00,0.000,6,0.000,0.044,2720,2023,1865
$GC,13585,1.23,253.6,614.2,7.4,649,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2023,1865
$GC,13894,1.23,253.6,590.5,7.7,664,13895,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2023,1865
$GC,14203,1.23,253.6,566.7,7.6,679,14204,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2023,1865
$GC,14512,1.23,253.6,544.2,7.6,694,14513,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2022,1865
$GC,14822,1.23,253.6,520.8,7.5,709,14826,0.00,2.60,0.00,0.000,4,0.000,0.064,2721,3433,1866
$GC,14866,1.23,253.6,517.4,7.6,711,14871,0.00,2.53,0.00,0.000,6,0.000,0.044,2721,2013,1866
$GC,15188,1.23,253.6,492.7,7.9,727,15189,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2013,1866
$GC,15497,1.23,253.6,468.6,7.5,742,15501,0.00,2.62,0.00,0.000,4,0.000,0.064,2721,3431,1867
$GC,15530,1.23,253.6,466.0,7.5,743,15536,0.00,2.53,0.00,0.000,6,0.000,0.047,2721,2017,1867
$GC,15846,1.23,253.6,442.4,7.4,759,15847,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2017,1867
$GC,16155,1.23,253.6,418.3,8.2,774,16157,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2017,1867
$GC,16465,1.23,253.6,392.7,8.4,789,16469,0.00,2.62,0.00,0.000,4,0.000,0.067,2721,3433,1868
$GC,16506,1.23,253.6,389.2,9.5,791,16510,0.00,2.53,0.00,0.000,6,0.000,0.048,2721,2021,1868
$GC,16832,1.23,253.6,361.3,8.3,807,16834,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2021,1868
$GC,17142,1.23,253.6,335.8,8.4,822,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2021,1868
$GC,17451,1.23,253.6,308.6,8.7,837,17455,0.00,2.62,0.00,0.000,4,0.000,0.067,2721,3431,1868
$GC,17501,1.23,253.6,304.0,7.9,839,17505,0.00,2.53,0.00,0.000,6,0.000,0.049,2720,2023,1868
$GC,17817,1.23,253.6,276.7,8.5,854,17818,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2023,1869
$GC,18126,1.23,253.6,250.7,8.7,869,18127,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2023,1869
$GC,18435,1.23,253.6,224.5,8.5,884,18440,0.00,2.62,0.00,0.000,4,0.000,0.069,2721,3429,1869
$GC,18476,1.23,253.6,221.0,9.2,886,18481,0.00,2.53,0.00,0.000,6,0.000,0.051,2721,2025,1869
$GC,18803,1.23,253.6,193.1,8.4,902,18804,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2025,1869
$GC,19113,1.23,253.6,167.9,8.1,917,19117,0.00,2.62,0.00,0.000,4,0.000,0.071,2720,3431,1869
$GC,19157,1.23,253.6,164.0,8.7,919,19161,0.00,2.55,0.00,0.000,6,0.000,0.051,2720,2014,1869
$GC,19480,1.23,253.6,136.1,8.8,935,19481,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2015,1869
$GC,19788,1.23,253.6,109.4,8.5,950,19789,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2014,1869
$GC,20097,1.23,253.6,85.2,7.3,965,20102,0.00,2.65,0.00,0.000,4,0.000,0.070,2721,3434,1869
$GC,20164,1.23,253.6,80.0,8.2,968,20169,0.00,2.55,0.00,0.000,6,0.000,0.053,2721,2021,1869
$GC,20486,1.23,253.6,56.6,7.2,984,20487,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2021,1869
$GC,20796,1.23,253.6,34.0,7.2,999,20800,0.00,2.65,0.00,0.000,4,0.000,0.071,2721,3438,1869
$GC,20840,1.23,253.6,30.4,8.7,1001,20844,0.00,2.58,0.00,0.000,6,0.000,0.054,2721,2017,1869
$GC,21161,1.23,253.6,6.2,7.6,1017,21162,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2017,1869
$STATE,21220,end climb,SURFACE_DEPTH_REACHED
$STATE,21220,begin surface coast
$FINISH,0.5,1.016633
$STATE,21242,end surface coast,CONTROL_FINISHED_OK
$STATE,21242,begin surface
$SM_CCo,21327,0.00,0.000,0,0,1868,253.64
$SM_GC,1.74,11.75,0.00,0.00,0.031,0.000,0.000,48,2667,1868,-10.94,-0.23,253.64
$IRIDIUM_FIX,6308.26,-1314.15,130798,101047
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,775.6,30.4
$24V_AH,23.3,44.761
$10V_AH,10.1,25.562
$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,26.300,132.475,342.375,0.000,0.000,29.451,29.644,193.632,7.000,0.000,0.000,16.352,1809.195,16718.438,428.601,2130.966,621.735,33.343,1479.507,0.000,2087.126,0.000,49.909,0.000
$DEVICE_MAMPS,158.002,104.312,1201.122,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,712.166,760.399,583.278,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50417,1021
$CAP_FILE_SIZE,136310,0
$CFSIZE,260165632,242053120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180409,222236,6332.148,-1315.906,32,0.9,32,-12.4