version: 66.04
glider: 103
mission: 11
dive: 192
start: 4 3 109 21 56 17
data:
$ID,103
$MISSION,11
$DIVE,192
$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,-146783.66
$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,20
$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
$GPS1,214907,6251.275,-1252.484,39,1.2,39,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-59.7
$GPS2,215526,6251.264,-1252.419,12,1.2,12,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.114,0.186
$KALMAN_X,-2469.8,168.0,-683.4,-42533.4,8116.2
$KALMAN_Y,-17255.7,-282.8,-586.9,-2420.2,-292.2
$MHEAD_RNG_PITCHd_Wd,340.4,47820,-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,-40.78,0.000,2,0.000,0.000,53,2651,3166
$GC,62,-1.10,-146.6,3.5,-11.8,2,86,12.10,2.30,-5.68,0.000,4,0.158,0.110,2194,3786,3501
$GC,339,-1.10,-146.6,34.9,-8.9,14,343,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2653,3502
$GC,667,-1.10,-146.6,61.6,-8.3,30,671,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3793,3502
$GC,924,-1.10,-146.6,83.4,-8.8,41,930,0.00,2.10,0.00,0.000,6,0.000,0.064,2195,2647,3502
$GC,1242,-1.10,-146.6,107.7,-7.4,57,1246,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3787,3502
$GC,1281,-1.10,-146.6,111.1,-8.4,58,1288,0.00,2.10,0.00,0.000,6,0.000,0.062,2195,2638,3502
$GC,1599,-1.10,-146.6,135.2,-7.9,74,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2638,3502
$GC,1906,-1.10,-146.6,159.0,-7.4,89,1910,0.00,2.22,0.00,0.000,4,0.000,0.089,2194,3786,3502
$GC,1957,-1.10,-146.6,163.2,-8.2,91,1961,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2642,3502
$GC,2284,-1.10,-146.6,189.4,-8.0,107,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,2593,-1.10,-146.6,214.4,-8.0,122,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,2903,-1.10,-146.6,239.6,-8.2,137,2906,0.00,2.22,0.00,0.000,4,0.000,0.088,2194,3790,3502
$GC,2959,-1.10,-146.6,244.5,-8.4,139,2962,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2644,3502
$GC,3280,-1.10,-146.6,270.4,-8.1,155,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3502
$GC,3590,-1.10,-146.6,294.2,-7.6,170,3593,0.00,2.22,0.00,0.000,4,0.000,0.088,2195,3792,3502
$GC,3635,-1.10,-146.6,297.7,-8.0,172,3639,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2642,3502
$GC,3968,-1.10,-146.6,323.3,-7.9,188,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,4278,-1.10,-146.6,347.9,-8.1,203,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,4587,-1.10,-146.6,373.9,-8.5,218,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3502
$GC,4897,-1.10,-146.6,401.0,-8.8,233,4900,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3785,3502
$GC,4959,-1.10,-146.6,406.8,-9.2,235,4965,0.00,2.05,0.00,0.000,6,0.000,0.056,2195,2641,3502
$GC,5275,-1.10,-146.6,433.1,-8.2,251,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,5584,-1.10,-146.6,458.4,-8.2,266,5588,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3793,3502
$GC,5617,-1.10,-146.6,461.2,-8.2,267,5621,0.00,2.08,0.00,0.000,6,0.000,0.056,2194,2644,3502
$GC,5939,-1.10,-146.6,484.0,-6.5,283,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,6248,-1.10,-146.6,504.2,-6.2,298,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,6557,-1.10,-146.6,523.7,-6.4,313,6561,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3786,3502
$GC,6626,-1.10,-146.6,528.5,-7.3,316,6630,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2644,3502
$GC,6958,-1.10,-146.6,552.4,-7.5,332,6959,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,7269,-1.10,-146.6,576.5,-7.7,347,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3502
$GC,7577,-1.10,-146.6,599.8,-7.8,362,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,7886,-1.10,-146.6,623.1,-7.9,377,7890,0.00,2.17,0.00,0.000,4,0.000,0.086,2194,3787,3501
$GC,7914,-1.10,-146.6,625.2,-6.5,378,7918,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2646,3502
$GC,8241,-1.10,-146.6,649.7,-7.3,394,8246,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1231,3502
$GC,8291,-1.10,-146.6,653.7,-7.6,396,8295,0.00,2.62,0.00,0.000,6,0.000,0.065,2195,2660,3502
$GC,8612,-1.10,-146.6,678.5,-8.2,412,8615,0.00,2.17,0.00,0.000,4,0.000,0.094,2194,3792,3501
$GC,8703,-1.10,-146.6,686.3,-9.0,416,8707,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2652,3501
$GC,9036,-1.10,-146.6,710.5,-7.0,432,9037,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3501
$STATE,9219,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9219,begin apogee
$GC,9227,-0.42,0.0,723.4,7.2,441,9360,0.77,0.00,125.40,1.164,6,0.100,0.000,2346,1990,2902
$STATE,9361,end apogee,CONTROL_FINISHED_OK
$STATE,9361,begin climb
$GC,9364,1.10,146.6,729.4,0.0,448,9497,1.55,2.72,122.50,1.135,4,0.058,0.066,2678,586,2304
$GC,9727,1.17,203.0,719.5,4.4,464,9783,0.00,2.55,48.40,1.124,6,0.000,0.040,2678,2027,2074
$GC,10108,1.17,203.0,694.9,7.0,483,10109,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2027,2073
$GC,10415,1.27,281.3,679.7,3.8,498,10484,0.17,0.00,66.03,1.141,6,0.038,0.000,2732,2028,1755
$GC,10785,1.27,281.3,658.3,6.4,516,10789,0.00,2.58,0.00,0.000,4,0.000,0.072,2732,3403,1754
$GC,10818,1.29,299.1,656.2,5.5,517,10840,0.00,2.58,16.60,1.067,6,0.000,0.050,2732,1983,1682
$GC,11149,1.29,299.1,631.2,8.7,533,11153,0.00,2.55,0.00,0.000,4,0.000,0.065,2732,591,1681
$GC,11195,1.29,299.1,627.0,9.5,535,11199,0.00,2.47,0.00,0.000,6,0.000,0.041,2732,1994,1682
$GC,11529,1.29,299.1,598.7,8.1,551,11533,0.00,2.62,0.00,0.000,4,0.000,0.070,2732,3406,1680
$GC,11636,1.29,299.1,589.8,8.3,556,11640,0.00,2.53,0.00,0.000,6,0.000,0.050,2732,1997,1680
$GC,11963,1.29,299.1,562.0,8.8,572,11967,0.00,2.58,0.00,0.000,4,0.000,0.061,2732,586,1680
$GC,12041,1.29,299.1,554.7,8.5,575,12047,0.00,2.47,0.00,0.000,6,0.000,0.038,2732,2002,1681
$GC,12357,1.29,299.1,528.1,8.2,591,12361,0.00,2.60,0.00,0.000,4,0.000,0.067,2732,3414,1681
$GC,12429,1.29,299.1,521.6,9.6,594,12434,0.00,2.55,0.00,0.000,6,0.000,0.048,2732,1992,1681
$GC,12745,1.29,299.1,494.9,8.6,609,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1991,1681
$GC,13054,1.29,299.1,469.1,8.6,624,13056,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1992,1681
$GC,13364,1.29,299.1,441.9,8.9,639,13368,0.00,2.55,0.00,0.000,4,0.000,0.061,2732,587,1681
$GC,13414,1.29,299.1,436.9,9.9,641,13418,0.00,2.47,0.00,0.000,6,0.000,0.038,2732,2007,1681
$GC,13735,1.29,299.1,405.1,10.2,657,13740,0.00,2.58,0.00,0.000,4,0.000,0.067,2732,3406,1681
$GC,13780,1.29,299.1,400.4,10.6,659,13785,0.00,2.53,0.00,0.000,6,0.000,0.048,2732,1997,1681
$GC,14102,1.29,299.1,366.3,10.9,675,14103,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1997,1682
$GC,14411,1.29,299.1,334.8,9.4,690,14415,0.00,2.62,0.00,0.000,4,0.000,0.068,2732,3414,1683
$GC,14455,1.29,299.1,330.6,10.0,692,14460,0.00,2.55,0.00,0.000,6,0.000,0.049,2732,1993,1683
$GC,14777,1.29,299.1,302.9,8.9,708,14778,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1993,1683
$GC,15086,1.29,299.1,276.6,8.1,723,15090,0.00,2.62,0.00,0.000,4,0.000,0.068,2732,3411,1683
$GC,15126,1.29,299.1,273.3,8.6,725,15130,0.00,2.55,0.00,0.000,6,0.000,0.051,2732,1992,1683
$GC,15453,1.29,299.1,245.4,8.8,741,15454,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1992,1683
$GC,15762,1.29,299.1,218.8,8.7,756,15767,0.00,2.65,0.00,0.000,4,0.000,0.069,2732,3414,1684
$GC,15807,1.29,299.1,214.6,8.9,758,15811,0.00,2.55,0.00,0.000,6,0.000,0.051,2732,1998,1684
$GC,16128,1.29,299.1,187.5,8.3,774,16129,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1998,1684
$GC,16437,1.29,299.1,161.4,8.7,789,16442,0.00,2.62,0.00,0.000,4,0.000,0.070,2732,3406,1684
$GC,16488,1.29,299.1,156.9,8.4,791,16492,0.00,2.55,0.00,0.000,6,0.000,0.052,2732,1993,1684
$GC,16804,1.29,299.1,129.8,8.7,806,16805,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1992,1684
$GC,17113,1.29,299.1,102.9,8.7,821,17118,0.00,2.65,0.00,0.000,4,0.000,0.070,2732,3412,1684
$GC,17170,1.29,299.1,97.8,8.7,823,17176,0.00,2.55,0.00,0.000,6,0.000,0.054,2732,1994,1684
$GC,17486,1.29,299.1,70.3,8.7,839,17487,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1994,1685
$GC,17797,1.29,299.1,44.4,8.6,854,17801,0.00,2.65,0.00,0.000,4,0.000,0.071,2732,3410,1685
$GC,17830,1.29,299.1,41.6,7.4,855,17836,0.00,2.55,0.00,0.000,6,0.000,0.057,2732,1999,1685
$GC,18146,1.29,299.1,14.1,7.7,871,18151,0.00,2.60,0.00,0.000,4,0.000,0.069,2732,585,1685
$GC,18247,1.29,299.1,4.9,6.8,875,18253,0.00,2.47,0.00,0.000,6,0.000,0.038,2732,2013,1685
$STATE,18292,end climb,SURFACE_DEPTH_REACHED
$STATE,18292,begin surface coast
$FINISH,0.2,1.015909
$STATE,18314,end surface coast,CONTROL_FINISHED_OK
$STATE,18314,begin surface
$SM_CCo,18399,0.00,0.000,0,0,1685,298.53
$SM_GC,1.13,11.88,0.00,0.00,0.035,0.000,0.000,54,2648,1685,-10.92,-0.08,298.53
$IRIDIUM_FIX,6230.49,-1255.79,280698,161650
$TT8_MAMPS,0.029146
$HUMID,1781
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.2,58.2
$24V_AH,23.3,35.911
$10V_AH,10.1,19.982
$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,26.475,132.075,378.925,0.000,0.000,30.699,26.969,188.752,5.750,0.000,0.000,12.423,1603.891,14152.238,469.732,1970.347,574.839,33.361,1451.290,0.000,1929.266,0.000,40.546,0.000
$DEVICE_MAMPS,158.002,109.681,1163.539,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.479,639.941,528.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44426,879
$CAP_FILE_SIZE,124533,0
$CFSIZE,260165632,246095872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040409,030406,6252.037,-1253.384,32,1.5,32,-11.9