version: 66.04
glider: 103
mission: 11
dive: 197
start: 4 5 109 2 23 11
data:
$ID,103
$MISSION,11
$DIVE,197
$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,-146861.11
$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,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
$GPS1,021307,6252.982,-1304.640,40,0.8,40,-12.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-59.7
$GPS2,022219,6252.998,-1304.484,10,1.0,15,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.186,0.115
$KALMAN_X,8469.2,-575.2,-1546.0,-61944.3,8842.4
$KALMAN_Y,-43416.5,1283.7,3257.6,21465.2,-16274.1
$MHEAD_RNG_PITCHd_Wd,313.8,41681,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,52,2652,3265
$GC,62,-1.10,-146.6,4.2,-12.3,2,85,12.07,2.70,-3.80,0.000,4,0.157,0.092,2193,1236,3501
$GC,321,-1.10,-146.6,33.8,-7.8,13,326,0.00,2.67,0.00,0.000,6,0.000,0.071,2193,2659,3501
$GC,639,-1.10,-146.6,58.6,-7.9,28,643,0.00,2.20,0.00,0.000,4,0.000,0.098,2193,3785,3501
$GC,678,-1.10,-146.6,62.0,-8.2,29,685,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2647,3501
$GC,995,-1.10,-146.6,87.0,-7.9,45,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,1305,-1.10,-146.6,111.5,-7.9,60,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,1613,-1.10,-146.6,135.4,-7.7,75,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,1922,-1.10,-146.6,159.3,-7.8,90,1926,0.00,2.22,0.00,0.000,4,0.000,0.094,2193,3783,3501
$GC,1967,-1.10,-146.6,163.0,-8.2,92,1971,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2645,3501
$GC,2300,-1.10,-146.6,189.0,-7.7,108,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,2609,-1.10,-146.6,212.7,-7.5,123,2613,0.00,2.25,0.00,0.000,4,0.000,0.095,2193,3790,3501
$GC,2660,-1.10,-146.6,216.8,-7.8,125,2663,0.00,2.10,0.00,0.000,6,0.000,0.060,2194,2641,3501
$GC,2982,-1.10,-146.6,241.5,-7.7,141,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3501
$GC,3291,-1.10,-146.6,265.0,-7.2,156,3295,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3787,3501
$GC,3330,-1.10,-146.6,268.0,-7.3,157,3336,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2649,3501
$GC,3646,-1.10,-146.6,290.3,-7.0,173,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3501
$GC,3956,-1.10,-146.6,313.1,-7.4,188,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3501
$GC,4265,-1.10,-146.6,336.0,-7.2,203,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3501
$GC,4574,-1.10,-146.6,357.2,-6.8,218,4577,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3789,3501
$GC,4608,-1.10,-146.6,359.7,-7.6,219,4612,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2646,3501
$GC,4929,-1.10,-146.6,381.3,-6.0,235,4930,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,5239,-1.10,-146.6,399.7,-6.1,250,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3501
$GC,5548,-1.10,-146.6,421.7,-8.0,265,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,5857,-1.10,-146.6,441.8,-5.2,280,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,6167,-1.10,-146.6,457.7,-5.8,295,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,6476,-1.10,-146.6,479.7,-7.7,310,6480,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3790,3501
$GC,6532,-1.10,-146.6,484.3,-8.3,312,6536,0.00,2.08,0.00,0.000,6,0.000,0.054,2194,2637,3501
$GC,6853,-1.10,-146.6,511.7,-8.3,328,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3501
$GC,7163,-1.10,-146.6,536.3,-7.6,343,7167,0.00,2.20,0.00,0.000,4,0.000,0.085,2193,3786,3501
$GC,7225,-1.10,-146.6,541.0,-7.9,345,7231,0.00,2.03,0.00,0.000,6,0.000,0.054,2194,2650,3501
$GC,7541,-1.10,-146.6,566.5,-9.2,361,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,7850,-1.10,-146.6,593.6,-7.5,376,7854,0.00,2.58,0.00,0.000,4,0.000,0.069,2193,1227,3501
$GC,7898,-1.10,-146.6,596.8,-6.6,378,7903,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2651,3500
$GC,8225,-1.10,-146.6,617.7,-6.2,394,8229,0.00,2.17,0.00,0.000,4,0.000,0.091,2193,3790,3501
$GC,8276,-1.10,-146.6,621.3,-7.1,396,8280,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2643,3501
$GC,8602,-1.10,-146.6,646.3,-8.0,412,8606,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3790,3500
$GC,8671,-1.10,-146.6,651.9,-8.4,415,8674,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2643,3500
$GC,9004,-1.10,-146.6,674.4,-6.5,431,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3500
$GC,9313,-1.10,-146.6,695.1,-7.1,446,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3500
$GC,9622,-1.10,-146.6,717.0,-7.2,461,9626,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3787,3500
$GC,9726,-1.10,-146.6,725.4,-9.3,465,9730,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2647,3499
$GC,10047,-1.10,-146.6,747.3,-7.1,481,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3499
$STATE,10188,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10189,begin apogee
$GC,10197,-0.42,0.0,756.4,6.5,488,10331,0.77,0.00,126.38,1.183,6,0.091,0.000,2350,1999,2902
$STATE,10331,end apogee,CONTROL_FINISHED_OK
$STATE,10331,begin climb
$GC,10335,1.10,146.6,764.0,0.0,495,10469,1.55,2.75,124.00,1.151,4,0.059,0.072,2680,590,2304
$GC,10691,1.21,236.2,758.2,3.5,511,10774,0.10,2.53,76.68,1.147,6,0.051,0.039,2716,2018,1938
$GC,11097,1.21,236.2,731.1,7.3,531,11101,0.00,2.67,0.00,0.000,4,0.000,0.065,2716,585,1936
$GC,11136,1.21,236.2,728.2,7.4,533,11141,0.00,2.53,0.00,0.000,6,0.000,0.041,2716,2007,1936
$GC,11464,1.22,242.7,708.0,5.8,549,11477,0.00,2.70,6.85,0.961,4,0.000,0.067,2716,3414,1912
$GC,11531,1.22,242.7,703.6,7.0,552,11535,0.00,2.58,0.00,0.000,6,0.000,0.048,2716,1987,1912
$GC,11857,1.22,242.7,680.0,7.7,568,11859,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1987,1911
$GC,12166,1.22,242.7,654.1,8.6,583,12171,0.00,2.65,0.00,0.000,4,0.000,0.067,2716,3405,1910
$GC,12268,1.22,242.7,645.7,7.7,587,12274,0.00,2.53,0.00,0.000,6,0.000,0.047,2716,1997,1910
$GC,12584,1.22,242.7,621.6,7.1,603,12585,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1997,1910
$GC,12893,1.22,242.7,599.3,7.3,618,12897,0.00,2.55,0.00,0.000,4,0.000,0.061,2716,594,1910
$GC,12933,1.22,242.7,596.3,7.4,620,12937,0.00,2.47,0.00,0.000,6,0.000,0.038,2716,2006,1910
$GC,13260,1.22,242.7,571.3,7.5,636,13264,0.00,2.58,0.00,0.000,4,0.000,0.064,2716,3412,1909
$GC,13372,1.22,242.7,562.9,7.1,641,13376,0.00,2.53,0.00,0.000,6,0.000,0.044,2716,1988,1909
$GC,13693,1.22,242.7,540.5,7.2,657,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1988,1910
$GC,14002,1.22,242.7,515.5,8.3,672,14006,0.00,2.62,0.00,0.000,4,0.000,0.064,2716,3409,1910
$GC,14046,1.22,242.7,511.7,8.3,674,14050,0.00,2.50,0.00,0.000,6,0.000,0.044,2716,2002,1910
$GC,14367,1.22,242.7,485.6,8.2,690,14371,0.00,2.55,0.00,0.000,4,0.000,0.059,2716,588,1911
$GC,14395,1.22,242.7,483.2,8.8,691,14399,0.00,2.47,0.00,0.000,6,0.000,0.038,2716,2006,1911
$GC,14716,1.22,242.7,458.6,7.3,707,14720,0.00,2.58,0.00,0.000,4,0.000,0.065,2716,3414,1911
$GC,14766,1.22,242.7,454.8,7.3,709,14770,0.00,2.53,0.00,0.000,6,0.000,0.045,2717,1993,1911
$GC,15082,1.22,242.7,432.9,7.1,724,15086,0.00,2.53,0.00,0.000,4,0.000,0.059,2716,591,1911
$GC,15126,1.22,242.7,429.5,7.7,726,15130,0.00,2.45,0.00,0.000,6,0.000,0.038,2716,2004,1911
$GC,15453,1.22,242.7,406.8,6.6,742,15457,0.00,2.58,0.00,0.000,4,0.000,0.064,2716,3412,1912
$GC,15492,1.22,242.7,404.0,7.1,744,15497,0.00,2.53,0.00,0.000,6,0.000,0.046,2716,1992,1912
$GC,15819,1.22,242.7,382.5,6.9,760,15820,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1992,1913
$GC,16129,1.22,242.7,359.8,7.5,775,16130,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1992,1913
$GC,16438,1.22,242.7,336.7,7.3,790,16443,0.00,2.62,0.00,0.000,4,0.000,0.066,2717,3408,1914
$GC,16483,1.22,242.7,333.2,7.3,792,16487,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,1994,1913
$GC,16804,1.22,242.7,310.0,7.5,808,16805,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1994,1914
$GC,17113,1.22,242.7,287.4,7.1,823,17117,0.00,2.62,0.00,0.000,4,0.000,0.067,2716,3405,1914
$GC,17157,1.22,242.7,284.1,7.1,825,17161,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,1993,1914
$GC,17479,1.22,242.7,261.6,6.9,841,17480,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1993,1914
$GC,17788,1.22,242.7,240.6,6.8,856,17792,0.00,2.62,0.00,0.000,4,0.000,0.067,2716,3408,1915
$GC,17850,1.22,242.7,235.8,8.7,859,17854,0.00,2.53,0.00,0.000,6,0.000,0.051,2716,2002,1915
$GC,18176,1.22,242.7,213.2,7.1,875,18178,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2002,1915
$GC,18485,1.22,242.7,190.3,7.7,890,18490,0.00,2.62,0.00,0.000,4,0.000,0.069,2717,3412,1915
$GC,18530,1.22,242.7,186.8,6.8,892,18534,0.00,2.55,0.00,0.000,6,0.000,0.050,2717,1990,1915
$GC,18851,1.22,242.7,165.8,6.2,908,18852,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1990,1915
$GC,19160,1.22,242.7,143.8,7.8,923,19164,0.00,2.62,0.00,0.000,4,0.000,0.068,2717,3403,1915
$GC,19193,1.22,242.7,141.2,7.5,924,19199,0.00,2.53,0.00,0.000,6,0.000,0.051,2716,1989,1916
$GC,19511,1.22,242.7,118.2,7.3,940,19515,0.00,2.65,0.00,0.000,4,0.000,0.069,2717,3414,1916
$GC,19544,1.22,242.7,115.5,8.2,941,19550,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1990,1916
$GC,19862,1.22,242.7,93.4,7.1,957,19863,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1990,1916
$GC,20170,1.22,242.7,71.6,7.0,972,20174,0.00,2.65,0.00,0.000,4,0.000,0.069,2716,3414,1916
$GC,20214,1.22,242.7,68.5,7.0,974,20218,0.00,2.58,0.00,0.000,6,0.000,0.054,2717,1989,1916
$GC,20535,1.22,242.7,43.3,8.0,990,20539,0.00,2.55,0.00,0.000,4,0.000,0.065,2716,588,1916
$GC,20585,1.22,242.7,39.8,7.0,992,20589,0.00,2.47,0.00,0.000,6,0.000,0.042,2716,1996,1916
$GC,20906,1.22,242.7,17.6,7.1,1008,20907,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1996,1916
$STATE,21130,end climb,SURFACE_DEPTH_REACHED
$STATE,21130,begin surface coast
$FINISH,0.6,1.027460
$STATE,21152,end surface coast,CONTROL_FINISHED_OK
$STATE,21152,begin surface
$SM_CCo,21237,0.00,0.000,0,0,1916,241.87
$SM_GC,1.49,11.73,0.00,0.00,0.031,0.000,0.000,53,2650,1916,-10.92,0.00,241.87
$IRIDIUM_FIX,6225.82,-1300.38,300698,020205
$TT8_MAMPS,0.028379
$HUMID,1773
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,725.4,39.8
$24V_AH,23.3,36.532
$10V_AH,10.1,20.435
$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,26.225,153.400,333.900,0.000,0.000,55.901,60.756,236.433,6.500,0.000,0.000,15.190,1838.258,16603.910,438.041,2181.011,722.025,33.352,1521.002,0.000,2136.388,0.000,47.235,0.000
$DEVICE_MAMPS,157.235,98.176,1182.714,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,713.332,759.906,600.152,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50584,1020
$CAP_FILE_SIZE,143828,0
$CFSIZE,260165632,245743616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050409,081824,6253.641,-1309.498,38,1.2,38,-12.1