version: 66.04
glider: 103
mission: 11
dive: 301
start: 4 28 109 23 4 44
data:
$ID,103
$MISSION,11
$DIVE,301
$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,-148793.5
$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,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,16
$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
$GPS1,225800,6245.966,-1301.713,37,1.9,37,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-61.0
$GPS2,230350,6246.009,-1301.763,16,1.9,16,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.015
$KALMAN_X,-32986.0,394.2,1331.7,22430.3,-9979.5
$KALMAN_Y,102666.5,-157.2,-2394.1,-230632.8,1410.5
$MHEAD_RNG_PITCHd_Wd,105.9,37217,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,52,2677,3212
$GC,62,-1.10,-146.6,4.1,-11.6,2,84,12.02,0.00,-4.80,0.000,6,0.156,0.000,2195,2677,3502
$GC,395,-1.10,-146.6,37.9,-7.8,18,399,0.00,2.15,0.00,0.000,4,0.000,0.092,2196,3786,3502
$GC,434,-1.10,-146.6,41.2,-7.7,19,441,0.00,2.05,0.00,0.000,6,0.000,0.064,2196,2671,3502
$GC,752,-1.10,-146.6,64.8,-7.4,35,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2671,3502
$GC,1060,-1.10,-146.6,87.3,-7.0,50,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2671,3502
$GC,1369,-1.10,-146.6,109.2,-7.1,65,1373,0.00,2.65,0.00,0.000,4,0.000,0.074,2196,1246,3502
$GC,1396,-1.10,-146.6,111.1,-6.6,66,1401,0.00,2.67,0.00,0.000,6,0.000,0.069,2196,2676,3502
$GC,1714,-1.10,-146.6,132.5,-7.0,81,1718,0.00,2.15,0.00,0.000,4,0.000,0.093,2196,3792,3501
$GC,1761,-1.10,-146.6,135.9,-7.4,83,1764,0.00,2.05,0.00,0.000,6,0.000,0.059,2196,2670,3502
$GC,2093,-1.10,-146.6,158.5,-6.6,99,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3502
$GC,2403,-1.10,-146.6,179.7,-7.2,114,2407,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3787,3501
$GC,2442,-1.10,-146.6,182.7,-8.0,115,2448,0.00,2.03,0.00,0.000,6,0.000,0.059,2196,2670,3501
$GC,2758,-1.10,-146.6,204.7,-6.9,131,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3501
$GC,3068,-1.10,-146.6,226.8,-7.2,146,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3502
$GC,3377,-1.10,-146.6,249.9,-7.6,161,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2670,3502
$GC,3686,-1.10,-146.6,273.4,-7.8,176,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2669,3501
$GC,3996,-1.10,-146.6,299.2,-9.1,191,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2668,3502
$GC,4305,-1.10,-146.6,324.6,-8.1,206,4310,0.00,2.17,0.00,0.000,4,0.000,0.091,2196,3789,3502
$GC,4338,-1.10,-146.6,327.6,-8.7,207,4342,0.00,2.03,0.00,0.000,6,0.000,0.057,2196,2675,3502
$GC,4660,-1.10,-146.6,353.8,-7.9,223,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3502
$GC,4969,-1.10,-146.6,378.5,-7.9,238,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3501
$GC,5278,-1.10,-146.6,402.6,-7.8,253,5279,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3502
$GC,5587,-1.10,-146.6,426.7,-7.8,268,5589,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3502
$GC,5899,-1.10,-146.6,451.3,-8.0,283,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3501
$GC,6207,-1.10,-146.6,476.4,-8.1,298,6208,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3501
$GC,6516,-1.10,-146.6,501.2,-8.0,313,6517,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2675,3502
$GC,6825,-1.10,-146.6,524.9,-7.3,328,6830,0.00,2.60,0.00,0.000,4,0.000,0.067,2196,1252,3502
$GC,6858,-1.10,-146.6,527.6,-7.9,329,6863,0.00,2.62,0.00,0.000,6,0.000,0.063,2196,2676,3502
$GC,7175,-1.10,-146.6,551.1,-7.5,344,7178,0.00,2.12,0.00,0.000,4,0.000,0.092,2196,3786,3502
$GC,7248,-1.10,-146.6,557.3,-8.2,347,7252,0.00,2.00,0.00,0.000,6,0.000,0.053,2196,2671,3502
$GC,7575,-1.10,-146.6,583.3,-8.0,363,7579,0.00,2.58,0.00,0.000,4,0.000,0.067,2195,1254,3502
$GC,7614,-1.10,-146.6,586.4,-8.3,364,7620,0.00,2.62,0.00,0.000,6,0.000,0.061,2195,2683,3501
$GC,7931,-1.10,-146.6,609.5,-6.7,380,7934,0.00,2.12,0.00,0.000,4,0.000,0.091,2196,3794,3502
$GC,7981,-1.10,-146.6,613.2,-7.4,382,7985,0.00,2.03,0.00,0.000,6,0.000,0.051,2196,2656,3502
$GC,8308,-1.10,-146.6,633.8,-6.3,398,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2656,3501
$GC,8618,-1.10,-146.6,655.0,-7.2,413,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2656,3502
$GC,8926,-1.10,-146.6,678.6,-7.8,428,8930,0.00,2.20,0.00,0.000,4,0.000,0.089,2196,3794,3502
$GC,8960,-1.10,-146.6,681.3,-8.5,429,8964,0.00,2.00,0.00,0.000,6,0.000,0.051,2196,2673,3501
$GC,9282,-1.10,-146.6,703.1,-6.2,445,9285,0.00,2.17,0.00,0.000,4,0.000,0.090,2195,3795,3501
$GC,9321,-1.10,-146.6,705.5,-6.2,446,9327,0.00,2.00,0.00,0.000,6,0.000,0.050,2196,2675,3501
$GC,9637,-1.10,-146.6,723.3,-5.8,462,9641,0.00,2.58,0.00,0.000,4,0.000,0.068,2196,1257,3501
$GC,9665,-1.10,-146.6,724.9,-5.9,463,9675,0.00,2.62,0.00,0.000,6,0.000,0.064,2196,2680,3501
$GC,9991,-1.10,-146.6,745.8,-6.5,479,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2680,3501
$GC,10300,-1.10,-146.6,765.8,-6.4,494,10304,0.00,2.12,0.00,0.000,4,0.000,0.093,2196,3786,3500
$GC,10414,-1.10,-146.6,773.6,-5.5,499,10418,0.00,2.00,0.00,0.000,6,0.000,0.052,2196,2672,3500
$STATE,10423,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10423,begin apogee
$GC,10431,-0.42,0.0,774.4,6.2,499,10563,0.73,0.00,126.38,1.187,6,0.097,0.000,2344,2074,2902
$STATE,10564,end apogee,CONTROL_FINISHED_OK
$STATE,10564,begin climb
$GC,10567,1.10,146.6,779.5,0.0,506,10700,1.55,2.70,123.75,1.159,4,0.054,0.061,2679,655,2304
$GC,10861,1.13,166.6,771.5,5.4,519,10885,0.00,2.55,18.73,1.078,6,0.000,0.038,2679,2097,2223
$GC,11203,1.21,230.1,755.8,4.2,536,11266,0.12,2.65,55.00,1.143,4,0.044,0.064,2723,3492,1963
$GC,11323,1.21,230.1,748.1,6.2,541,11328,0.00,2.58,0.00,0.000,6,0.000,0.042,2723,2058,1962
$GC,11640,1.21,230.1,725.7,7.6,556,11644,0.00,2.55,0.00,0.000,4,0.000,0.060,2723,660,1961
$GC,11713,1.21,230.1,719.7,7.7,559,11717,0.00,2.50,0.00,0.000,6,0.000,0.038,2723,2074,1961
$GC,12029,1.21,230.1,697.0,7.4,574,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2074,1960
$GC,12338,1.21,230.1,676.4,6.3,589,12342,0.00,2.58,0.00,0.000,4,0.000,0.056,2723,663,1960
$GC,12400,1.21,230.1,672.2,7.2,592,12405,0.10,2.47,0.00,0.000,6,0.093,0.037,2705,2076,1961
$GC,12727,1.21,230.1,651.4,6.6,608,12728,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2076,1960
$GC,13037,1.21,230.1,628.3,7.8,623,13040,0.00,2.60,0.00,0.000,4,0.000,0.064,2705,3488,1959
$GC,13070,1.21,230.1,625.5,8.2,624,13074,0.00,2.53,0.00,0.000,6,0.000,0.042,2705,2069,1960
$GC,13386,1.21,230.1,599.6,8.1,639,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2069,1960
$GC,13695,1.21,230.1,575.6,7.6,654,13697,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2069,1960
$GC,14004,1.21,230.1,553.2,7.2,669,14008,0.00,2.53,0.00,0.000,4,0.000,0.057,2705,661,1960
$GC,14038,1.21,230.1,550.6,7.1,670,14042,0.00,2.47,0.00,0.000,6,0.000,0.037,2705,2077,1960
$GC,14354,1.21,230.1,528.1,7.1,685,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2077,1961
$GC,14663,1.21,230.1,507.0,6.7,700,14664,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2077,1960
$GC,14972,1.21,230.1,486.7,6.7,715,14973,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2077,1960
$GC,15282,1.21,230.1,465.5,7.1,730,15283,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2077,1961
$GC,15591,1.21,230.1,442.5,7.3,745,15595,0.00,2.55,0.00,0.000,4,0.000,0.056,2705,668,1961
$GC,15631,1.21,230.1,439.4,7.1,746,15637,0.00,2.47,0.00,0.000,6,0.000,0.038,2705,2082,1961
$GC,15947,1.21,230.1,416.2,7.4,762,15952,0.00,2.58,0.00,0.000,4,0.000,0.064,2705,3492,1961
$GC,15975,1.21,230.1,414.1,8.0,763,15979,0.00,2.53,0.00,0.000,6,0.000,0.045,2705,2073,1961
$GC,16291,1.21,230.1,392.0,6.8,778,16292,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2073,1961
$GC,16600,1.21,230.1,371.5,6.6,793,16605,0.00,2.53,0.00,0.000,4,0.000,0.057,2705,668,1962
$GC,16628,1.21,230.1,369.5,6.8,794,16633,0.00,2.47,0.00,0.000,6,0.000,0.038,2705,2081,1962
$GC,16944,1.21,230.1,348.7,6.6,809,16945,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2081,1962
$GC,17254,1.21,230.1,327.4,7.0,824,17255,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2081,1962
$GC,17563,1.21,230.1,305.6,6.9,839,17564,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2081,1962
$GC,17872,1.21,230.1,284.4,6.8,854,17873,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2081,1962
$GC,18181,1.21,230.1,263.5,6.6,869,18185,0.00,2.58,0.00,0.000,4,0.000,0.060,2705,662,1962
$GC,18221,1.21,230.1,260.8,7.0,870,18227,0.00,2.47,0.00,0.000,6,0.000,0.040,2705,2080,1962
$GC,18537,1.21,230.1,240.5,6.3,886,18538,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2080,1963
$GC,18846,1.21,230.1,220.7,6.4,901,18847,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2081,1963
$GC,19156,1.21,230.1,201.0,6.3,916,19160,0.00,2.58,0.00,0.000,4,0.000,0.059,2705,668,1963
$GC,19196,1.21,230.1,198.3,6.9,918,19200,0.00,2.47,0.00,0.000,6,0.000,0.039,2705,2079,1963
$GC,19522,1.21,230.1,177.2,6.5,934,19523,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2079,1963
$GC,19832,1.21,230.1,157.3,6.4,949,19833,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2079,1963
$GC,20141,1.21,230.1,136.7,6.8,964,20145,0.00,2.58,0.00,0.000,4,0.000,0.060,2705,668,1963
$GC,20185,1.21,230.1,133.5,6.9,966,20190,0.00,2.47,0.00,0.000,6,0.000,0.038,2705,2079,1963
$GC,20508,1.21,230.1,112.0,6.7,982,20509,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2079,1963
$GC,20818,1.21,230.1,90.2,7.1,997,20819,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2080,1963
$GC,21126,1.21,230.1,69.1,6.8,1012,21127,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2079,1963
$GC,21435,1.21,230.1,48.7,6.6,1027,21437,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2080,1963
$GC,21745,1.21,233.2,28.3,5.9,1042,21751,0.00,0.00,4.20,0.522,6,0.000,0.000,2705,2079,1951
$GC,22055,1.21,233.2,11.0,7.1,1057,22059,0.00,2.60,0.00,0.000,4,0.000,0.061,2705,661,1951
$GC,22099,1.21,233.2,7.2,7.7,1059,22104,0.00,2.50,0.00,0.000,6,0.000,0.041,2705,2076,1951
$STATE,22191,end climb,SURFACE_DEPTH_REACHED
$STATE,22191,begin surface coast
$FINISH,0.4,1.015977
$STATE,22214,end surface coast,CONTROL_FINISHED_OK
$STATE,22214,begin surface
$SM_CCo,22300,0.00,0.000,0,0,1951,233.28
$SM_GC,2.19,11.57,0.00,0.00,0.026,0.000,0.000,47,2674,1951,-10.93,-0.03,233.28
$IRIDIUM_FIX,6230.49,-1558.02,230798,171716
$TT8_MAMPS,0.028379
$HUMID,1796
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.3,58.6
$24V_AH,23.2,51.254
$10V_AH,10.1,29.499
$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,26.100,126.875,328.050,0.000,0.000,23.398,25.502,161.678,6.250,0.000,0.000,16.773,1868.800,17660.348,425.604,2100.691,590.484,33.386,1473.271,0.000,2064.090,0.000,43.816,0.000
$DEVICE_MAMPS,155.701,92.807,1186.549,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,740.101,801.961,639.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53754,1065
$CAP_FILE_SIZE,137852,0
$CFSIZE,260165632,239198208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290409,051757,6246.896,-1258.176,56,1.1,56,-11.9