version: 66.04
glider: 103
mission: 11
dive: 195
start: 4 4 109 14 44 47
data:
$ID,103
$MISSION,11
$DIVE,195
$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,-146830.95
$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,19
$R_STBD_OVSHOOT,8
$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
$GPS1,143737,6252.601,-1257.462,53,0.9,53,-11.9
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-63.0
$GPS2,144356,6252.565,-1257.325,14,1.2,14,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.192,0.104
$KALMAN_X,3758.2,-806.9,-1560.4,-50961.8,9500.4
$KALMAN_Y,-35565.0,342.8,180.1,16892.2,-12280.7
$MHEAD_RNG_PITCHd_Wd,310.4,44084,-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,-40.75,0.000,2,0.000,0.000,47,2643,3358
$GC,62,-1.10,-146.6,4.2,-11.8,2,85,12.18,2.72,-2.28,0.000,4,0.160,0.092,2194,1241,3501
$GC,224,-1.10,-146.6,26.3,-7.9,9,229,0.00,2.65,0.00,0.000,6,0.000,0.066,2194,2662,3501
$GC,552,-1.10,-146.6,52.7,-7.7,25,556,0.00,2.20,0.00,0.000,4,0.000,0.097,2194,3790,3501
$GC,586,-1.10,-146.6,55.5,-8.1,26,590,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2653,3501
$GC,908,-1.10,-146.6,80.6,-7.6,42,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,1218,-1.10,-146.6,105.3,-7.9,57,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3501
$GC,1527,-1.10,-146.6,128.6,-7.6,72,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,1835,-1.10,-146.6,152.2,-7.5,87,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,2145,-1.10,-146.6,175.1,-7.5,102,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,2454,-1.10,-146.6,197.4,-7.0,117,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,2763,-1.10,-146.6,220.3,-7.2,132,2767,0.00,2.62,0.00,0.000,4,0.000,0.073,2194,1228,3501
$GC,2792,-1.10,-146.6,222.3,-7.0,133,2796,0.00,2.65,0.00,0.000,6,0.000,0.066,2194,2661,3501
$GC,3108,-1.10,-146.6,245.2,-7.1,148,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2661,3501
$GC,3417,-1.10,-146.6,268.2,-7.4,163,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2662,3501
$GC,3726,-1.10,-146.6,291.6,-7.8,178,3727,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2662,3502
$GC,4036,-1.10,-146.6,314.4,-7.4,193,4039,0.00,2.15,0.00,0.000,4,0.000,0.090,2194,3785,3502
$GC,4075,-1.10,-146.6,317.5,-7.8,194,4081,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2644,3502
$GC,4390,-1.10,-146.6,341.3,-7.6,210,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,4700,-1.10,-146.6,365.4,-8.0,225,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,5009,-1.10,-146.6,390.1,-8.0,240,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3502
$GC,5318,-1.10,-146.6,413.7,-7.4,255,5322,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3786,3502
$GC,5380,-1.10,-146.6,418.8,-7.5,257,5386,0.00,2.05,0.00,0.000,6,0.000,0.055,2194,2650,3502
$GC,5696,-1.10,-146.6,440.5,-6.9,273,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,6005,-1.10,-146.6,461.1,-6.5,288,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,6314,-1.10,-146.6,480.8,-6.0,303,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,6626,-1.10,-146.6,500.8,-6.8,318,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,6933,-1.10,-146.6,522.3,-7.4,333,6936,0.00,2.17,0.00,0.000,4,0.000,0.086,2194,3785,3502
$GC,6973,-1.10,-146.6,525.3,-7.5,334,6979,0.00,2.05,0.00,0.000,6,0.000,0.053,2194,2640,3502
$GC,7289,-1.10,-146.6,548.9,-7.5,350,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,7598,-1.10,-146.6,572.0,-7.6,365,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,7907,-1.10,-146.6,595.3,-7.8,380,7908,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,8217,-1.10,-146.6,620.3,-8.1,395,8220,0.00,2.22,0.00,0.000,4,0.000,0.089,2194,3792,3502
$GC,8256,-1.10,-146.6,623.7,-8.1,396,8262,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2650,3501
$GC,8571,-1.10,-146.6,646.6,-6.7,412,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,8881,-1.10,-146.6,666.3,-6.8,427,8882,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,9190,-1.10,-146.6,689.5,-7.3,442,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,9499,-1.10,-146.6,710.2,-6.5,457,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3500
$STATE,9806,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9806,begin apogee
$GC,9814,-0.42,0.0,731.1,7.0,472,9943,0.77,0.00,125.30,1.167,6,0.091,0.000,2350,1988,2902
$STATE,9944,end apogee,CONTROL_FINISHED_OK
$STATE,9944,begin climb
$GC,9947,1.10,146.6,736.5,0.0,478,10080,1.55,2.70,123.07,1.132,4,0.060,0.066,2679,587,2304
$GC,10212,1.14,177.1,731.7,5.2,490,10245,0.00,2.53,27.15,1.085,6,0.000,0.038,2679,2023,2180
$GC,10558,1.15,181.3,713.4,5.9,506,10565,0.00,0.00,5.18,0.832,6,0.000,0.000,2679,2023,2162
$GC,10864,1.16,193.8,694.9,5.7,521,10883,0.00,0.00,12.45,1.045,6,0.000,0.000,2679,2023,2111
$GC,11193,1.16,193.8,675.6,6.0,537,11197,0.00,2.55,0.00,0.000,4,0.000,0.067,2679,3399,2110
$GC,11272,1.16,193.8,670.8,6.3,540,11276,0.00,2.53,0.00,0.000,6,0.000,0.048,2679,1996,2111
$GC,11588,1.23,248.7,655.5,4.5,555,11641,0.12,2.65,46.55,1.121,4,0.044,0.065,2720,593,1888
$GC,11680,1.23,248.7,649.8,7.2,559,11685,0.00,2.50,0.00,0.000,6,0.000,0.040,2720,1995,1888
$GC,11997,1.24,256.6,630.4,5.8,574,12011,0.00,2.67,8.20,0.968,4,0.000,0.064,2720,594,1856
$GC,12051,1.24,256.6,626.6,7.5,576,12056,0.00,2.50,0.00,0.000,6,0.000,0.040,2719,2007,1856
$GC,12368,1.24,256.6,604.8,7.1,591,12373,0.00,2.60,0.00,0.000,4,0.000,0.067,2720,3415,1856
$GC,12476,1.24,256.6,596.6,7.8,596,12480,0.00,2.55,0.00,0.000,6,0.000,0.047,2719,1993,1856
$GC,12802,1.24,256.6,567.7,9.6,612,12806,0.00,2.55,0.00,0.000,4,0.000,0.061,2720,593,1856
$GC,12842,1.24,256.6,563.7,10.0,614,12846,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,2004,1856
$GC,13168,1.24,256.6,533.0,8.9,630,13173,0.00,2.58,0.00,0.000,4,0.000,0.065,2720,3406,1856
$GC,13231,1.24,256.6,527.6,8.2,633,13235,0.00,2.53,0.00,0.000,6,0.000,0.046,2720,1990,1856
$GC,13558,1.24,256.6,500.8,8.2,649,13562,0.00,2.55,0.00,0.000,4,0.000,0.061,2720,588,1856
$GC,13608,1.24,256.6,496.5,8.3,651,13612,0.00,2.47,0.00,0.000,6,0.000,0.037,2720,2009,1856
$GC,13929,1.24,256.6,472.5,7.3,667,13933,0.00,2.55,0.00,0.000,4,0.000,0.064,2720,3405,1856
$GC,14001,1.24,256.6,466.7,7.9,670,14005,0.00,2.53,0.00,0.000,6,0.000,0.046,2720,1988,1856
$GC,14323,1.24,256.6,442.3,7.7,686,14327,0.00,2.62,0.00,0.000,4,0.000,0.064,2719,3408,1857
$GC,14350,1.24,256.6,440.0,7.9,687,14355,0.00,2.53,0.00,0.000,6,0.000,0.046,2720,1994,1857
$GC,14666,1.24,256.6,416.6,7.4,702,14671,0.00,2.62,0.00,0.000,4,0.000,0.064,2720,3414,1857
$GC,14694,1.24,256.6,414.4,7.9,703,14699,0.00,2.53,0.00,0.000,6,0.000,0.046,2719,1999,1857
$GC,15010,1.24,256.6,392.6,6.7,718,15014,0.00,2.55,0.00,0.000,4,0.000,0.061,2720,590,1857
$GC,15073,1.24,256.6,388.0,7.5,721,15078,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,2007,1857
$GC,15400,1.24,256.6,364.2,7.5,737,15404,0.00,2.58,0.00,0.000,4,0.000,0.065,2720,3413,1858
$GC,15444,1.24,256.6,360.6,8.3,739,15448,0.00,2.55,0.00,0.000,6,0.000,0.048,2720,1988,1858
$GC,15765,1.24,256.6,334.7,8.0,755,15766,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1988,1858
$GC,16074,1.24,256.6,308.9,8.4,770,16078,0.00,2.62,0.00,0.000,4,0.000,0.065,2719,3406,1859
$GC,16113,1.24,256.6,305.6,8.2,772,16118,0.00,2.53,0.00,0.000,6,0.000,0.050,2720,1998,1859
$GC,16441,1.24,256.6,279.4,8.0,788,16445,0.00,2.55,0.00,0.000,4,0.000,0.062,2720,588,1859
$GC,16474,1.24,256.6,276.6,7.5,789,16480,0.00,2.47,0.00,0.000,6,0.000,0.040,2720,2002,1859
$GC,16790,1.24,256.6,251.4,8.2,805,16794,0.00,2.58,0.00,0.000,4,0.000,0.067,2720,3405,1860
$GC,16830,1.24,256.6,248.3,8.0,807,16834,0.00,2.53,0.00,0.000,6,0.000,0.051,2720,1998,1860
$GC,17156,1.24,256.6,222.7,7.9,823,17158,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1998,1860
$GC,17466,1.24,256.6,198.2,7.8,838,17470,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3409,1860
$GC,17521,1.24,256.6,193.6,8.9,840,17528,0.00,2.53,0.00,0.000,6,0.000,0.051,2720,1996,1860
$GC,17838,1.24,256.6,170.1,7.4,856,17839,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1860
$GC,18147,1.24,256.6,147.7,7.4,871,18148,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1860
$GC,18458,1.24,256.6,125.5,7.0,886,18462,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3411,1861
$GC,18498,1.24,256.6,122.4,7.1,888,18502,0.00,2.55,0.00,0.000,6,0.000,0.052,2720,1995,1861
$GC,18825,1.24,256.6,97.8,7.5,904,18826,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1995,1861
$GC,19134,1.24,256.6,74.5,7.3,919,19139,0.00,2.62,0.00,0.000,4,0.000,0.067,2720,3408,1861
$GC,19167,1.24,256.6,71.7,7.8,920,19174,0.00,2.55,0.00,0.000,6,0.000,0.054,2720,1989,1861
$GC,19485,1.24,256.6,48.9,7.1,936,19486,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1989,1861
$GC,19793,1.24,256.6,27.2,7.4,951,19797,0.00,2.62,0.00,0.000,4,0.000,0.066,2720,3406,1861
$GC,19843,1.24,256.6,23.6,7.2,953,19847,0.00,2.55,0.00,0.000,6,0.000,0.055,2720,1989,1861
$STATE,20137,end climb,SURFACE_DEPTH_REACHED
$STATE,20137,begin surface coast
$FINISH,0.3,1.015226
$STATE,20157,end surface coast,CONTROL_FINISHED_OK
$STATE,20157,begin surface
$SM_CCo,20242,0.00,0.000,0,0,1861,255.36
$SM_GC,1.45,11.75,0.00,0.00,0.031,0.000,0.000,53,2656,1861,-10.92,0.17,255.36
$IRIDIUM_FIX,6230.49,-1255.79,290698,090926
$TT8_MAMPS,0.028379
$HUMID,1763
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.6,64.2
$24V_AH,23.3,36.277
$10V_AH,10.1,20.250
$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,26.375,136.900,347.900,0.000,0.000,30.883,27.781,184.282,5.750,0.000,0.000,14.658,1728.028,15863.453,449.435,1981.408,591.493,33.358,1436.802,0.000,1946.553,0.000,40.561,0.000
$DEVICE_MAMPS,159.536,96.642,1166.607,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.414,720.635,579.719,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47381,968
$CAP_FILE_SIZE,131681,0
$CFSIZE,260165632,245891072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040409,202324,6252.884,-1259.661,37,1.3,37,-12.0