version: 66.04
glider: 103
mission: 11
dive: 198
start: 4 5 109 8 28 22
data:
$ID,103
$MISSION,11
$DIVE,198
$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,-146873.78
$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,13
$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
$GPS1,081824,6253.641,-1309.498,38,1.2,38,-12.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,2
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-61.0
$GPS2,082731,6253.593,-1309.656,12,1.2,12,-12.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,0.121
$KALMAN_X,9651.9,-914.8,-1323.7,-67361.8,7415.4
$KALMAN_Y,-43873.5,1046.2,2629.9,23890.4,-16338.4
$MHEAD_RNG_PITCHd_Wd,315.6,39895,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,62,0.00,0.00,-41.12,0.000,2,0.000,0.000,53,2652,3301
$GC,65,-1.10,-146.6,4.2,-12.3,2,88,12.12,2.67,-3.17,0.000,4,0.158,0.086,2196,1233,3502
$GC,342,-1.10,-146.6,34.9,-6.6,14,346,0.00,2.65,0.00,0.000,6,0.000,0.068,2196,2650,3502
$GC,663,-1.10,-146.6,58.6,-8.0,30,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,974,-1.10,-146.6,83.6,-7.9,45,977,0.00,2.20,0.00,0.000,4,0.000,0.093,2196,3790,3502
$GC,1014,-1.10,-146.6,87.2,-9.0,47,1018,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2655,3502
$GC,1347,-1.10,-146.6,113.6,-7.8,63,1348,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2655,3502
$GC,1656,-1.10,-146.6,138.5,-7.9,78,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2655,3502
$GC,1965,-1.10,-146.6,162.1,-7.3,93,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2655,3502
$GC,2274,-1.10,-146.6,183.9,-6.9,108,2278,0.00,2.20,0.00,0.000,4,0.000,0.091,2196,3786,3502
$GC,2325,-1.10,-146.6,187.5,-6.8,110,2328,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2647,3502
$GC,2653,-1.10,-146.6,210.9,-7.4,126,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,2962,-1.10,-146.6,235.0,-7.9,141,2965,0.00,2.22,0.00,0.000,4,0.000,0.094,2196,3784,3502
$GC,3012,-1.10,-146.6,239.6,-8.5,143,3016,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2647,3502
$GC,3339,-1.10,-146.6,266.2,-8.0,159,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,3649,-1.10,-146.6,291.6,-8.3,174,3652,0.00,2.22,0.00,0.000,4,0.000,0.092,2196,3792,3502
$GC,3699,-1.10,-146.6,296.0,-8.2,176,3703,0.00,2.10,0.00,0.000,6,0.000,0.060,2196,2640,3502
$GC,4026,-1.10,-146.6,321.4,-7.7,192,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2640,3502
$GC,4336,-1.10,-146.6,343.7,-7.4,207,4339,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3789,3501
$GC,4404,-1.10,-146.6,349.2,-7.9,210,4407,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2648,3502
$GC,4737,-1.10,-146.6,374.5,-8.0,226,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3502
$GC,5046,-1.10,-146.6,399.7,-8.7,241,5054,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3793,3502
$GC,5096,-1.10,-146.6,404.4,-9.7,243,5100,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2650,3502
$GC,5429,-1.10,-146.6,433.8,-8.3,259,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,5738,-1.10,-146.6,457.9,-7.7,274,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,6047,-1.10,-146.6,480.4,-7.1,289,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3502
$GC,6357,-1.10,-146.6,503.4,-7.7,304,6360,0.00,2.20,0.00,0.000,4,0.000,0.090,2196,3787,3502
$GC,6407,-1.10,-146.6,507.4,-7.6,306,6411,0.00,2.05,0.00,0.000,6,0.000,0.054,2196,2647,3502
$GC,6734,-1.10,-146.6,533.4,-8.0,322,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,7044,-1.10,-146.6,557.8,-7.7,337,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3502
$GC,7353,-1.10,-146.6,581.8,-7.7,352,7357,0.00,2.20,0.00,0.000,4,0.000,0.090,2196,3785,3502
$GC,7421,-1.10,-146.6,587.1,-8.0,355,7425,0.00,2.05,0.00,0.000,6,0.000,0.052,2196,2639,3502
$GC,7755,-1.10,-146.6,611.5,-7.2,371,7758,0.00,2.22,0.00,0.000,4,0.000,0.088,2196,3793,3502
$GC,7811,-1.10,-146.6,615.6,-7.5,373,7815,0.00,2.05,0.00,0.000,6,0.000,0.052,2196,2645,3502
$GC,8132,-1.10,-146.6,638.0,-6.7,389,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3502
$GC,8441,-1.10,-146.6,658.8,-6.7,404,8443,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3502
$GC,8751,-1.10,-146.6,680.7,-7.1,419,8755,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3789,3501
$GC,8852,-1.10,-146.6,688.7,-8.1,423,8856,0.00,2.05,0.00,0.000,6,0.000,0.052,2196,2643,3501
$GC,9174,-1.10,-146.6,713.5,-7.9,439,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3501
$GC,9483,-1.10,-146.6,736.4,-7.4,454,9486,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3793,3502
$GC,9573,-1.10,-146.6,743.3,-8.0,458,9577,0.00,2.05,0.00,0.000,6,0.000,0.051,2196,2644,3501
$GC,9906,-1.10,-146.6,770.3,-8.9,474,9910,0.00,2.20,0.00,0.000,4,0.000,0.089,2196,3786,3501
$GC,9952,-1.10,-146.6,774.6,-9.7,476,9960,0.00,2.03,0.00,0.000,6,0.000,0.052,2196,2650,3501
$GC,10289,-1.10,-146.6,802.7,-7.8,492,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3500
$GC,10600,-1.10,-146.6,825.0,-8.3,507,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3501
$STATE,10780,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,10780,begin apogee
$GC,10788,-0.42,0.0,838.6,6.8,516,10922,0.73,0.00,126.53,1.236,6,0.075,0.000,2346,1998,2902
$STATE,10923,end apogee,CONTROL_FINISHED_OK
$STATE,10923,begin climb
$GC,10926,1.10,146.6,841.8,0.0,523,11059,1.55,2.70,124.65,1.200,4,0.055,0.067,2678,585,2304
$GC,11214,1.27,281.4,840.7,2.3,536,11337,0.17,2.55,115.57,1.195,6,0.040,0.039,2729,2037,1754
$GC,11667,1.27,281.4,803.8,8.1,558,11671,0.00,2.70,0.00,0.000,4,0.000,0.067,2730,589,1752
$GC,11739,1.27,281.4,797.6,8.7,561,11744,0.00,2.50,0.00,0.000,6,0.000,0.040,2729,2002,1752
$GC,12056,1.27,281.4,772.1,8.2,576,12060,0.00,2.62,0.00,0.000,4,0.000,0.070,2729,3410,1751
$GC,12151,1.27,281.4,764.1,8.9,580,12155,0.00,2.58,0.00,0.000,6,0.000,0.049,2730,1984,1750
$GC,12467,1.27,281.4,738.5,8.2,595,12471,0.00,2.65,0.00,0.000,4,0.000,0.067,2730,3403,1749
$GC,12562,1.27,281.4,729.8,9.2,599,12566,0.00,2.53,0.00,0.000,6,0.000,0.047,2730,1996,1749
$GC,12877,1.27,281.4,701.6,9.0,614,12882,0.00,2.62,0.00,0.000,4,0.000,0.064,2730,3410,1749
$GC,12950,1.27,281.4,695.1,8.7,617,12954,0.00,2.53,0.00,0.000,6,0.000,0.044,2730,1990,1749
$GC,13266,1.27,281.4,670.0,7.9,632,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1990,1749
$GC,13575,1.27,281.4,645.0,7.8,647,13579,0.00,2.60,0.00,0.000,4,0.000,0.063,2730,3402,1750
$GC,13648,1.27,281.4,639.2,8.4,650,13652,0.00,2.50,0.00,0.000,6,0.000,0.043,2729,1988,1750
$GC,13963,1.27,281.4,613.8,8.4,665,13968,0.00,2.62,0.00,0.000,4,0.000,0.062,2729,3413,1750
$GC,14008,1.27,281.4,609.6,8.7,667,14012,0.00,2.50,0.00,0.000,6,0.000,0.042,2729,1989,1750
$GC,14335,1.27,281.4,581.4,8.7,683,14339,0.00,2.53,0.00,0.000,4,0.000,0.058,2730,589,1751
$GC,14368,1.27,281.4,578.4,8.7,684,14374,0.00,2.45,0.00,0.000,6,0.000,0.035,2730,2000,1751
$GC,14683,1.27,281.4,552.5,8.1,700,14688,0.00,2.58,0.00,0.000,4,0.000,0.063,2730,3410,1751
$GC,14741,1.27,281.4,547.9,7.9,702,14747,0.00,2.50,0.00,0.000,6,0.000,0.043,2730,1998,1751
$GC,15057,1.27,281.4,523.1,8.0,718,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1998,1751
$GC,15366,1.27,281.4,497.6,8.3,733,15371,0.00,2.60,0.00,0.000,4,0.000,0.064,2730,3407,1753
$GC,15400,1.27,281.4,494.7,7.5,734,15406,0.00,2.50,0.00,0.000,6,0.000,0.043,2730,1993,1752
$GC,15716,1.27,281.4,469.5,8.2,750,15720,0.00,2.62,0.00,0.000,4,0.000,0.065,2730,3412,1753
$GC,15755,1.27,281.4,466.1,8.8,752,15760,0.00,2.50,0.00,0.000,6,0.000,0.044,2730,2000,1753
$GC,16083,1.27,281.4,439.6,8.0,768,16084,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2000,1753
$GC,16392,1.27,281.4,415.3,7.7,783,16396,0.00,2.60,0.00,0.000,4,0.000,0.065,2730,3407,1754
$GC,16431,1.27,281.4,412.2,7.9,785,16436,0.00,2.50,0.00,0.000,6,0.000,0.045,2730,2000,1753
$GC,16758,1.27,281.4,386.5,8.2,801,16760,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2000,1754
$GC,17067,1.27,281.4,361.3,7.7,816,17072,0.00,2.60,0.00,0.000,4,0.000,0.066,2730,3406,1754
$GC,17123,1.27,281.4,356.6,8.2,818,17129,0.00,2.53,0.00,0.000,6,0.000,0.048,2730,1992,1754
$GC,17439,1.27,281.4,331.7,8.0,834,17440,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1992,1754
$GC,17748,1.27,281.4,308.0,7.6,849,17753,0.00,2.60,0.00,0.000,4,0.000,0.066,2730,3402,1755
$GC,17799,1.27,281.4,303.9,7.6,851,17803,0.00,2.53,0.00,0.000,6,0.000,0.049,2730,1992,1755
$GC,18115,1.27,281.4,280.0,7.4,866,18116,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1992,1755
$GC,18424,1.27,281.4,253.6,8.9,881,18429,0.00,2.62,0.00,0.000,4,0.000,0.067,2730,3406,1755
$GC,18474,1.27,281.4,248.8,9.3,883,18478,0.00,2.53,0.00,0.000,6,0.000,0.050,2730,2000,1755
$GC,18790,1.27,281.4,221.2,8.6,898,18791,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2000,1755
$GC,19099,1.27,281.4,195.1,8.2,913,19103,0.00,2.60,0.00,0.000,4,0.000,0.070,2730,3406,1755
$GC,19139,1.27,281.4,191.7,8.5,915,19143,0.00,2.53,0.00,0.000,6,0.000,0.051,2730,1998,1755
$GC,19472,1.27,281.4,164.5,7.8,931,19473,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1998,1756
$GC,19781,1.27,281.4,139.0,8.4,946,19785,0.00,2.62,0.00,0.000,4,0.000,0.070,2730,3405,1756
$GC,19831,1.27,281.4,134.6,9.1,948,19835,0.00,2.55,0.00,0.000,6,0.000,0.053,2730,1990,1756
$GC,20147,1.27,281.4,108.8,8.2,963,20149,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1990,1756
$GC,20456,1.27,281.4,83.2,8.1,978,20461,0.00,2.65,0.00,0.000,4,0.000,0.071,2730,3409,1756
$GC,20507,1.27,281.4,78.8,8.7,980,20511,0.00,2.55,0.00,0.000,6,0.000,0.054,2730,1998,1756
$GC,20823,1.27,281.4,51.8,9.1,995,20824,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,1998,1756
$GC,21132,1.27,281.4,23.4,9.1,1010,21137,0.00,2.62,0.00,0.000,4,0.000,0.069,2730,3408,1756
$GC,21160,1.27,281.4,20.7,10.8,1011,21165,0.00,2.58,0.00,0.000,6,0.000,0.056,2730,1993,1756
$STATE,21391,end climb,SURFACE_DEPTH_REACHED
$STATE,21391,begin surface coast
$FINISH,0.5,1.027449
$STATE,21414,end surface coast,CONTROL_FINISHED_OK
$STATE,21414,begin surface
$SM_CCo,21499,0.00,0.000,0,0,1755,281.36
$SM_GC,1.15,11.82,0.00,0.00,0.032,0.000,0.000,52,2638,1755,-10.93,-0.34,281.36
$IRIDIUM_FIX,6230.49,-1301.45,300698,020253
$TT8_MAMPS,0.029146
$HUMID,1783
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.0,23.5
$24V_AH,23.3,36.679
$10V_AH,10.1,20.530
$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,26.400,156.800,366.750,0.000,0.000,63.929,55.968,232.873,7.750,0.000,0.000,12.040,1853.699,16761.385,459.367,2236.508,726.754,33.354,1577.784,0.000,2189.121,0.000,56.007,0.000
$DEVICE_MAMPS,158.002,94.341,1236.404,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,718.910,756.386,577.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50617,1023
$CAP_FILE_SIZE,144996,0
$CFSIZE,260165632,245678080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050409,142800,6253.254,-1321.462,41,1.6,41,-12.2