version: 66.04
glider: 103
mission: 11
dive: 202
start: 4 6 109 10 53 50
data:
$ID,103
$MISSION,11
$DIVE,202
$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,-146934.86
$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,18
$R_STBD_OVSHOOT,9
$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
$GPS1,104706,6305.297,-1319.158,38,1.2,38,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-58.8
$GPS2,105256,6305.299,-1319.112,16,1.2,16,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.020,0.218
$KALMAN_X,6687.6,469.7,148.6,-75248.0,291.5
$KALMAN_Y,-40937.7,105.4,973.3,45247.2,-2258.8
$MHEAD_RNG_PITCHd_Wd,17.4,18291,-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,-41.58,0.000,2,0.000,0.000,52,2642,2989
$GC,62,-1.10,-146.6,3.0,-8.1,2,90,12.12,2.25,-10.02,0.000,4,0.159,0.110,2194,3786,3500
$GC,343,-1.10,-146.6,32.1,-9.9,14,349,0.00,2.08,0.00,0.000,6,0.000,0.065,2195,2657,3501
$GC,660,-1.10,-146.6,59.1,-8.3,30,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2657,3500
$GC,968,-1.10,-146.6,85.7,-9.0,45,972,0.00,2.22,0.00,0.000,4,0.000,0.094,2195,3790,3500
$GC,1032,-1.10,-146.6,91.6,-9.6,48,1036,0.00,2.10,0.00,0.000,6,0.000,0.062,2195,2645,3500
$GC,1366,-1.10,-146.6,121.4,-8.6,64,1370,0.00,2.22,0.00,0.000,4,0.000,0.092,2195,3786,3500
$GC,1406,-1.10,-146.6,125.1,-9.0,65,1412,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2647,3500
$GC,1724,-1.10,-146.6,151.3,-8.1,81,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3500
$GC,2032,-1.10,-146.6,175.4,-7.5,96,2036,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3786,3501
$GC,2072,-1.10,-146.6,178.6,-8.1,97,2078,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2642,3500
$GC,2387,-1.10,-146.6,202.7,-7.6,113,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3500
$GC,2699,-1.10,-146.6,225.6,-7.2,128,2703,0.00,2.25,0.00,0.000,4,0.000,0.094,2194,3789,3500
$GC,2755,-1.10,-146.6,229.8,-7.6,130,2762,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2647,3500
$GC,3072,-1.10,-146.6,252.2,-7.2,146,3073,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,3381,-1.10,-146.6,276.9,-8.4,161,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,3691,-1.10,-146.6,301.8,-7.8,176,3695,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3794,3500
$GC,3758,-1.10,-146.6,307.5,-7.8,179,3762,0.00,2.10,0.00,0.000,6,0.000,0.060,2195,2644,3500
$GC,4085,-1.10,-146.6,333.4,-7.9,195,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3500
$GC,4395,-1.10,-146.6,360.0,-8.6,210,4399,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3790,3500
$GC,4439,-1.10,-146.6,364.1,-9.0,212,4443,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2648,3500
$GC,4766,-1.10,-146.6,391.5,-8.0,228,4768,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3500
$GC,5076,-1.10,-146.6,416.1,-7.7,243,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3500
$GC,5385,-1.10,-146.6,437.0,-6.4,258,5386,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3500
$GC,5694,-1.10,-146.6,458.9,-7.7,273,5698,0.00,2.20,0.00,0.000,4,0.000,0.085,2195,3793,3500
$GC,5740,-1.10,-146.6,462.5,-8.0,275,5744,0.00,2.08,0.00,0.000,6,0.000,0.052,2195,2636,3500
$GC,6073,-1.10,-146.6,488.2,-8.1,291,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2636,3500
$GC,6383,-1.10,-146.6,510.8,-7.5,306,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2636,3500
$GC,6692,-1.10,-146.6,534.2,-7.5,321,6696,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3787,3500
$GC,6726,-1.10,-146.6,536.9,-8.1,322,6729,0.00,2.05,0.00,0.000,6,0.000,0.051,2194,2642,3500
$GC,7047,-1.10,-146.6,558.8,-6.7,338,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,7357,-1.10,-146.6,580.4,-7.2,353,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3500
$GC,7666,-1.10,-146.6,604.2,-7.8,368,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3500
$GC,7975,-1.10,-146.6,626.9,-6.6,383,7978,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3786,3500
$GC,8025,-1.10,-146.6,630.8,-7.6,385,8029,0.00,2.03,0.00,0.000,6,0.000,0.049,2194,2649,3500
$GC,8353,-1.10,-146.6,655.3,-8.2,401,8357,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3793,3500
$GC,8437,-1.10,-146.6,662.8,-9.4,404,8443,0.00,2.05,0.00,0.000,6,0.000,0.050,2195,2642,3500
$GC,8753,-1.10,-146.6,687.6,-7.8,420,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3500
$GC,9062,-1.10,-146.6,710.0,-7.0,435,9063,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3500
$GC,9372,-1.10,-146.6,728.7,-5.2,450,9376,0.00,2.55,0.00,0.000,4,0.000,0.067,2195,1237,3500
$GC,9405,-1.10,-146.6,731.1,-7.6,451,9411,0.00,2.60,0.00,0.000,6,0.000,0.062,2194,2655,3500
$GC,9721,-1.10,-146.6,754.1,-8.0,467,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2655,3499
$GC,10032,-1.10,-146.6,776.2,-7.3,482,10037,0.00,2.60,0.00,0.000,4,0.000,0.064,2195,1236,3499
$GC,10122,-1.10,-146.6,782.8,-8.4,486,10127,0.00,2.60,0.00,0.000,6,0.000,0.061,2195,2654,3499
$GC,10444,-1.10,-146.6,798.6,-0.2,502,10448,0.00,2.12,0.00,0.000,4,0.000,0.084,2195,3785,3498
$STATE,10602,end dive,NO_VERTICAL_VELOCITY
$STATE,10602,begin apogee
$GC,10613,-0.42,0.0,798.6,0.0,509,10743,0.70,0.00,126.12,1.203,6,0.053,0.000,2349,1987,2902
$STATE,10744,end apogee,CONTROL_FINISHED_OK
$STATE,10744,begin climb
$GC,10747,1.10,146.6,798.4,0.0,516,10880,1.50,2.67,124.28,1.167,4,0.045,0.065,2680,597,2304
$GC,11035,1.20,222.2,789.5,3.9,529,11106,0.00,2.50,65.25,1.149,6,0.000,0.037,2680,2025,1996
$GC,11423,1.20,222.2,766.2,6.1,548,11427,0.00,2.65,0.00,0.000,4,0.000,0.064,2680,595,1995
$GC,11559,1.20,222.2,757.1,7.1,554,11563,0.00,2.47,0.00,0.000,6,0.000,0.040,2680,1992,1994
$GC,11880,1.20,222.2,733.9,7.7,570,11884,0.00,2.62,0.00,0.000,4,0.000,0.067,2680,3410,1994
$GC,11987,1.20,222.2,725.8,7.8,575,11991,0.00,2.53,0.00,0.000,6,0.000,0.045,2680,1998,1994
$GC,12314,1.20,222.2,703.3,7.0,591,12315,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1998,1993
$GC,12623,1.21,236.2,687.5,5.6,606,12642,0.12,0.00,12.88,1.073,6,0.044,0.000,2724,1998,1939
$GC,12952,1.21,236.2,663.9,7.2,622,12957,0.00,2.60,0.00,0.000,4,0.000,0.062,2724,3407,1938
$GC,12997,1.21,236.2,660.2,8.0,624,13001,0.00,2.50,0.00,0.000,6,0.000,0.041,2725,1990,1939
$GC,13323,1.21,236.2,633.1,8.0,640,13328,0.00,2.53,0.00,0.000,4,0.000,0.058,2724,591,1938
$GC,13369,1.21,236.2,629.2,7.8,642,13373,0.00,2.47,0.00,0.000,6,0.000,0.035,2725,2014,1938
$GC,13689,1.21,236.2,607.7,6.2,658,13694,0.00,2.60,0.00,0.000,4,0.000,0.058,2724,590,1939
$GC,13802,1.21,236.2,598.8,8.8,663,13806,0.00,2.47,0.00,0.000,6,0.000,0.035,2725,2011,1939
$GC,14123,1.21,236.2,572.4,8.4,679,14127,0.00,2.55,0.00,0.000,4,0.000,0.062,2725,3408,1939
$GC,14167,1.21,236.2,568.2,9.3,681,14171,0.00,2.50,0.00,0.000,6,0.000,0.041,2724,1989,1939
$GC,14489,1.21,236.2,539.4,8.8,697,14493,0.00,2.53,0.00,0.000,4,0.000,0.058,2724,588,1940
$GC,14540,1.21,236.2,534.9,8.6,699,14544,0.00,2.45,0.00,0.000,6,0.000,0.035,2725,2001,1939
$GC,14862,1.21,236.2,510.2,7.3,715,14866,0.00,2.55,0.00,0.000,4,0.000,0.061,2725,3402,1940
$GC,14906,1.21,236.2,506.8,7.6,717,14910,0.00,2.47,0.00,0.000,6,0.000,0.042,2725,1998,1939
$GC,15232,1.21,236.2,481.8,8.6,733,15234,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1998,1940
$GC,15542,1.21,236.2,454.7,8.2,748,15543,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1998,1940
$GC,15851,1.21,236.2,427.2,9.2,763,15852,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1998,1941
$GC,16160,1.21,236.2,401.4,8.0,778,16161,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1998,1941
$GC,16470,1.21,236.2,378.9,7.0,793,16473,0.00,2.58,0.00,0.000,4,0.000,0.064,2725,3400,1942
$GC,16509,1.21,236.2,375.9,7.5,794,16515,0.00,2.50,0.00,0.000,6,0.000,0.045,2725,1994,1941
$GC,16825,1.21,236.2,353.5,7.0,810,16829,0.00,2.53,0.00,0.000,4,0.000,0.060,2724,593,1941
$GC,16874,1.21,236.2,349.7,7.2,812,16879,0.00,2.45,0.00,0.000,6,0.000,0.035,2724,2002,1941
$GC,17190,1.21,236.2,327.5,6.6,827,17194,0.00,2.55,0.00,0.000,4,0.000,0.065,2725,3405,1941
$GC,17230,1.23,250.9,325.0,5.6,829,17252,0.00,2.50,14.15,0.847,6,0.000,0.047,2724,1998,1878
$GC,17561,1.23,250.9,300.8,7.7,845,17562,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1998,1878
$GC,17871,1.23,250.9,275.7,8.3,860,17872,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1998,1878
$GC,18180,1.23,250.9,251.3,8.0,875,18184,0.00,2.60,0.00,0.000,4,0.000,0.067,2725,3405,1879
$GC,18213,1.23,250.9,248.6,8.1,876,18219,0.00,2.53,0.00,0.000,6,0.000,0.050,2724,1998,1878
$GC,18529,1.23,250.9,224.9,7.5,892,18530,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1998,1879
$GC,18838,1.23,250.9,201.8,7.6,907,18840,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1998,1879
$GC,19147,1.23,250.9,176.8,8.3,922,19152,0.00,2.62,0.00,0.000,4,0.000,0.067,2725,3409,1879
$GC,19192,1.23,250.9,172.9,9.8,924,19196,0.00,2.55,0.00,0.000,6,0.000,0.050,2725,1989,1879
$GC,19513,1.23,250.9,149.6,7.1,940,19518,0.00,2.55,0.00,0.000,4,0.000,0.064,2725,586,1879
$GC,19547,1.23,250.9,147.0,7.4,941,19553,0.00,2.47,0.00,0.000,6,0.000,0.041,2725,2002,1879
$GC,19863,1.23,250.9,124.3,7.3,957,19867,0.00,2.60,0.00,0.000,4,0.000,0.069,2725,3410,1879
$GC,19903,1.23,250.9,121.2,8.2,959,19908,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1988,1879
$GC,20236,1.23,250.9,96.5,7.5,975,20238,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1988,1879
$GC,20547,1.23,250.9,72.9,7.5,990,20548,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1988,1879
$GC,20855,1.23,250.9,49.9,7.3,1005,20860,0.00,2.65,0.00,0.000,4,0.000,0.070,2724,3407,1880
$GC,20905,1.23,250.9,46.2,6.8,1007,20910,0.00,2.55,0.00,0.000,6,0.000,0.054,2725,1992,1880
$GC,21221,1.23,250.9,22.5,7.6,1022,21226,0.00,2.58,0.00,0.000,4,0.000,0.069,2724,588,1880
$GC,21294,1.23,250.9,16.6,7.2,1025,21299,0.00,2.50,0.00,0.000,6,0.000,0.043,2725,2005,1880
$STATE,21507,end climb,SURFACE_DEPTH_REACHED
$STATE,21507,begin surface coast
$FINISH,0.3,1.027325
$STATE,21526,end surface coast,CONTROL_FINISHED_OK
$STATE,21527,begin surface
$SM_CCo,21611,0.00,0.000,0,0,1879,250.94
$SM_GC,1.60,11.75,0.00,0.00,0.029,0.000,0.000,47,2641,1879,-10.94,-0.25,250.94
$IRIDIUM_FIX,6235.17,-1324.21,010798,040404
$TT8_MAMPS,0.028379
$HUMID,1767
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,1
$24V_AH,23.3,37.229
$10V_AH,10.1,20.929
$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,26.200,155.700,342.675,0.000,0.000,28.012,28.202,156.398,7.250,0.000,0.000,16.294,1873.303,16788.383,456.055,2239.557,598.859,33.372,1572.510,0.000,2199.794,0.000,49.732,0.000
$DEVICE_MAMPS,158.769,109.681,1202.656,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,721.484,776.163,593.271,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53669,1036
$CAP_FILE_SIZE,142573,0
$CFSIZE,260165632,245407744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060409,165507,6307.846,-1313.506,29,1.3,29,-12.2