version: 66.04
glider: 103
mission: 11
dive: 196
start: 4 4 109 20 29 56
data:
$ID,103
$MISSION,11
$DIVE,196
$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,-146845.3
$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,12
$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
$GPS1,202324,6252.884,-1259.661,37,1.3,37,-12.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.2
$GPS2,202902,6252.845,-1259.555,13,1.1,13,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.188,0.111
$KALMAN_X,6805.0,-316.9,-1329.6,-56631.0,9711.9
$KALMAN_Y,-39959.4,1085.8,2074.6,19119.5,-14760.5
$MHEAD_RNG_PITCHd_Wd,312.6,43003,-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,-41.53,0.000,2,0.000,0.000,52,2658,3239
$GC,62,-1.10,-146.6,3.8,-10.8,2,86,12.00,2.70,-4.43,0.000,4,0.154,0.091,2196,1232,3499
$GC,204,-1.10,-146.6,22.1,-8.8,8,208,0.00,2.67,0.00,0.000,6,0.000,0.070,2196,2658,3499
$GC,525,-1.10,-146.6,47.9,-7.7,24,529,0.00,2.20,0.00,0.000,4,0.000,0.097,2196,3790,3499
$GC,571,-1.10,-146.6,51.7,-8.1,26,575,0.00,2.08,0.00,0.000,6,0.000,0.060,2196,2654,3499
$GC,904,-1.10,-146.6,77.4,-7.7,42,906,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2654,3499
$GC,1214,-1.10,-146.6,101.2,-7.6,57,1217,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3784,3499
$GC,1247,-1.10,-146.6,103.8,-7.6,58,1250,0.00,2.08,0.00,0.000,6,0.000,0.061,2196,2650,3499
$GC,1569,-1.10,-146.6,127.8,-7.4,74,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3499
$GC,1879,-1.10,-146.6,150.4,-7.4,89,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3499
$GC,2187,-1.10,-146.6,173.3,-7.4,104,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3500
$GC,2496,-1.10,-146.6,197.2,-7.7,119,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3499
$GC,2805,-1.10,-146.6,223.5,-8.5,134,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3499
$GC,3115,-1.10,-146.6,251.3,-9.0,149,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3499
$GC,3424,-1.10,-146.6,277.1,-8.4,164,3428,0.00,2.20,0.00,0.000,4,0.000,0.089,2196,3786,3500
$GC,3470,-1.10,-146.6,281.0,-8.5,166,3474,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2647,3500
$GC,3803,-1.10,-146.6,309.0,-8.5,182,3804,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3500
$GC,4113,-1.10,-146.6,335.0,-8.4,197,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3500
$GC,4421,-1.10,-146.6,360.4,-8.2,212,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3500
$GC,4731,-1.10,-146.6,385.8,-8.2,227,4734,0.00,2.20,0.00,0.000,4,0.000,0.088,2196,3785,3500
$GC,4781,-1.10,-146.6,390.3,-9.1,229,4785,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2641,3500
$GC,5108,-1.10,-146.6,417.4,-8.4,245,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3500
$GC,5418,-1.10,-146.6,443.7,-8.5,260,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3500
$GC,5727,-1.10,-146.6,468.8,-7.8,275,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3500
$GC,6036,-1.10,-146.6,491.6,-7.1,290,6040,0.00,2.22,0.00,0.000,4,0.000,0.087,2196,3794,3500
$GC,6137,-1.10,-146.6,499.2,-7.7,294,6141,0.00,2.08,0.00,0.000,6,0.000,0.054,2196,2641,3500
$GC,6459,-1.10,-146.6,521.0,-6.6,310,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3500
$GC,6768,-1.10,-146.6,542.7,-7.1,325,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3500
$GC,7077,-1.10,-146.6,565.4,-7.3,340,7081,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3785,3500
$GC,7168,-1.10,-146.6,572.0,-7.4,344,7172,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2643,3500
$GC,7501,-1.10,-146.6,594.4,-7.3,360,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3500
$GC,7810,-1.10,-146.6,617.7,-7.4,375,7814,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3786,3500
$GC,7872,-1.10,-146.6,622.5,-7.7,377,7879,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2643,3500
$GC,8188,-1.10,-146.6,645.1,-7.3,393,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3500
$GC,8497,-1.10,-146.6,667.8,-7.2,408,8501,0.00,2.22,0.00,0.000,4,0.000,0.088,2196,3794,3499
$GC,8531,-1.10,-146.6,670.2,-7.1,409,8535,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2652,3499
$GC,8852,-1.10,-146.6,691.0,-6.1,425,8853,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3499
$GC,9161,-1.10,-146.6,711.5,-7.2,440,9162,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3498
$GC,9471,-1.10,-146.6,735.6,-8.0,455,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2653,3497
$STATE,9550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9550,begin apogee
$GC,9558,-0.42,0.0,741.4,7.0,459,9687,0.75,0.00,125.38,1.170,6,0.095,0.000,2345,1989,2902
$STATE,9688,end apogee,CONTROL_FINISHED_OK
$STATE,9688,begin climb
$GC,9691,1.10,146.6,746.3,0.0,465,9824,1.58,2.70,123.12,1.151,4,0.060,0.065,2679,586,2304
$GC,10043,1.18,209.8,739.4,4.3,481,10103,0.00,2.55,54.47,1.154,6,0.000,0.039,2679,2029,2046
$GC,10432,1.21,232.5,719.4,5.4,500,10458,0.10,2.62,20.33,1.098,4,0.052,0.067,2717,3406,1954
$GC,10487,1.21,232.5,715.8,6.5,502,10493,0.00,2.58,0.00,0.000,6,0.000,0.046,2717,1982,1954
$GC,10803,1.21,232.5,695.5,6.6,518,10807,0.00,2.58,0.00,0.000,4,0.000,0.066,2717,586,1953
$GC,10836,1.21,232.5,693.0,7.9,519,10840,0.00,2.50,0.00,0.000,6,0.000,0.039,2717,2000,1953
$GC,11152,1.21,232.5,671.4,6.7,534,11156,0.00,2.60,0.00,0.000,4,0.000,0.069,2717,3405,1952
$GC,11292,1.21,232.5,662.2,6.6,540,11296,0.00,2.53,0.00,0.000,6,0.000,0.048,2717,2000,1952
$GC,11608,1.21,232.5,642.6,6.1,555,11612,0.00,2.58,0.00,0.000,4,0.000,0.064,2717,594,1952
$GC,11669,1.21,232.5,638.6,6.5,557,11675,0.00,2.47,0.00,0.000,6,0.000,0.039,2717,2001,1952
$GC,11985,1.21,232.5,619.7,6.1,573,11990,0.00,2.60,0.00,0.000,4,0.000,0.066,2717,3411,1951
$GC,12086,1.21,232.5,612.8,7.7,577,12092,0.00,2.53,0.00,0.000,6,0.000,0.046,2717,1998,1951
$GC,12402,1.21,232.5,590.2,7.1,593,12406,0.00,2.58,0.00,0.000,4,0.000,0.061,2717,586,1951
$GC,12530,1.21,232.5,580.8,7.5,598,12536,0.00,2.47,0.00,0.000,6,0.000,0.037,2717,2003,1951
$GC,12846,1.21,233.4,561.4,6.0,614,12851,0.00,2.55,0.00,0.000,4,0.000,0.064,2717,3405,1951
$GC,12914,1.24,256.1,557.0,5.4,617,12940,0.00,2.50,20.67,1.038,6,0.000,0.044,2717,1995,1857
$GC,13256,1.24,256.1,534.7,6.9,634,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1995,1857
$GC,13566,1.24,256.1,513.2,7.2,649,13570,0.00,2.62,0.00,0.000,4,0.000,0.064,2717,3414,1857
$GC,13593,1.24,256.1,511.0,7.8,650,13597,0.00,2.53,0.00,0.000,6,0.000,0.044,2717,1998,1858
$GC,13909,1.24,256.1,486.3,8.1,665,13913,0.00,2.55,0.00,0.000,4,0.000,0.060,2717,588,1858
$GC,13948,1.24,256.1,483.0,8.1,667,13953,0.00,2.47,0.00,0.000,6,0.000,0.038,2717,2004,1858
$GC,14276,1.24,256.1,457.1,7.8,683,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2005,1858
$GC,14585,1.24,256.1,434.9,7.0,698,14589,0.00,2.58,0.00,0.000,4,0.000,0.066,2717,3406,1859
$GC,14629,1.24,256.1,431.7,6.9,700,14633,0.00,2.53,0.00,0.000,6,0.000,0.047,2717,1992,1859
$GC,14950,1.24,256.1,411.3,6.4,716,14952,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1992,1859
$GC,15259,1.24,256.1,391.4,6.6,731,15264,0.00,2.62,0.00,0.000,4,0.000,0.065,2717,3409,1860
$GC,15299,1.24,256.1,388.4,7.4,733,15304,0.00,2.53,0.00,0.000,6,0.000,0.048,2717,1996,1860
$GC,15627,1.24,256.1,364.4,7.7,749,15630,0.00,2.53,0.00,0.000,4,0.000,0.060,2717,591,1860
$GC,15666,1.24,256.1,361.1,7.6,750,15672,0.00,2.47,0.00,0.000,6,0.000,0.038,2717,2006,1860
$GC,15982,1.24,256.1,336.2,7.9,766,15986,0.00,2.58,0.00,0.000,4,0.000,0.067,2717,3407,1860
$GC,16032,1.24,256.1,332.0,7.5,768,16036,0.00,2.53,0.00,0.000,6,0.000,0.048,2717,1995,1860
$GC,16348,1.24,256.1,307.2,7.8,783,16349,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1995,1861
$GC,16657,1.24,256.1,284.1,7.4,798,16661,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,3407,1861
$GC,16690,1.24,256.1,281.6,6.8,799,16696,0.00,2.53,0.00,0.000,6,0.000,0.050,2717,1998,1861
$GC,17006,1.24,256.1,258.7,7.4,815,17007,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1998,1861
$GC,17315,1.24,256.1,236.5,7.1,830,17316,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1998,1862
$GC,17624,1.24,256.1,214.2,7.3,845,17629,0.00,2.62,0.00,0.000,4,0.000,0.068,2717,3415,1862
$GC,17652,1.24,256.1,212.0,8.4,846,17657,0.00,2.55,0.00,0.000,6,0.000,0.050,2717,1991,1862
$GC,17969,1.24,256.1,189.0,7.3,861,17970,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1991,1862
$GC,18278,1.24,256.1,165.2,7.8,876,18282,0.00,2.65,0.00,0.000,4,0.000,0.068,2717,3415,1862
$GC,18322,1.24,256.1,161.6,8.4,878,18326,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,1996,1862
$GC,18644,1.24,256.1,136.6,7.7,894,18645,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1996,1862
$GC,18953,1.24,256.1,112.3,7.9,909,18957,0.00,2.62,0.00,0.000,4,0.000,0.069,2717,3405,1862
$GC,18980,1.24,256.1,109.9,7.3,910,18984,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1989,1863
$GC,19296,1.24,256.1,85.3,7.7,925,19297,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1989,1863
$GC,19606,1.24,256.1,62.2,7.7,940,19610,0.00,2.65,0.00,0.000,4,0.000,0.069,2717,3411,1863
$GC,19661,1.24,256.1,57.7,7.9,942,19667,0.00,2.55,0.00,0.000,6,0.000,0.054,2717,1990,1863
$GC,19977,1.24,256.1,34.2,7.5,958,19978,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1990,1863
$GC,20288,1.24,256.1,11.2,7.7,973,20292,0.00,2.65,0.00,0.000,4,0.000,0.069,2717,3413,1863
$GC,20321,1.24,256.1,8.4,7.8,974,20328,0.00,2.53,0.00,0.000,6,0.000,0.050,2717,1996,1863
$STATE,20408,end climb,SURFACE_DEPTH_REACHED
$STATE,20408,begin surface coast
$FINISH,0.2,1.027466
$STATE,20429,end surface coast,CONTROL_FINISHED_OK
$STATE,20429,begin surface
$SM_CCo,20514,0.00,0.000,0,0,1862,255.11
$SM_GC,1.29,11.73,0.00,0.00,0.031,0.000,0.000,52,2649,1862,-10.93,-0.03,255.11
$IRIDIUM_FIX,6225.82,-1259.32,290698,141432
$TT8_MAMPS,0.028379
$HUMID,1769
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.2,50.3
$24V_AH,23.3,36.402
$10V_AH,10.1,20.340
$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,26.150,144.625,343.975,0.000,0.000,26.029,25.685,153.323,6.000,0.000,0.000,13.726,1752.591,16015.344,441.889,2089.470,548.631,33.356,1481.775,0.000,2045.840,0.000,42.137,0.000
$DEVICE_MAMPS,154.167,96.642,1170.442,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,684.971,725.489,584.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50661,980
$CAP_FILE_SIZE,134942,0
$CFSIZE,260165632,245821440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050409,021307,6252.982,-1304.640,40,0.8,40,-12.0