version: 66.04
glider: 103
mission: 11
dive: 203
start: 4 6 109 17 1 50
data:
$ID,103
$MISSION,11
$DIVE,203
$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,-146949.88
$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,10
$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
$GPS1,165507,6307.846,-1313.506,29,1.3,29,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-61.6
$GPS2,170056,6307.852,-1313.338,14,1.2,14,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.177,0.128
$KALMAN_X,12843.0,-360.7,-666.4,-74902.6,5448.2
$KALMAN_Y,-41769.1,-880.7,373.8,52437.2,-495.3
$MHEAD_RNG_PITCHd_Wd,318.2,13311,-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,-41.38,0.000,2,0.000,0.000,47,2645,3256
$GC,62,-1.10,-146.6,4.2,-12.4,2,85,12.15,2.20,-3.97,0.000,4,0.159,0.103,2194,3784,3500
$GC,338,-1.10,-146.6,37.0,-10.1,14,342,0.00,2.10,0.00,0.000,6,0.000,0.066,2194,2655,3500
$GC,665,-1.10,-146.6,65.7,-8.3,30,669,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3790,3500
$GC,923,-1.10,-146.6,85.8,-6.9,41,930,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2642,3500
$GC,1241,-1.10,-146.6,107.2,-6.6,57,1245,0.00,2.25,0.00,0.000,4,0.000,0.094,2194,3789,3500
$GC,1286,-1.10,-146.6,110.5,-7.1,59,1290,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2645,3500
$GC,1614,-1.10,-146.6,133.8,-7.2,75,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3500
$GC,1923,-1.10,-146.6,155.2,-6.9,90,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3500
$GC,2232,-1.10,-146.6,178.4,-7.7,105,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3500
$GC,2541,-1.10,-146.6,202.3,-7.4,120,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3500
$GC,2850,-1.10,-146.6,227.5,-8.4,135,2854,0.00,2.25,0.00,0.000,4,0.000,0.094,2194,3793,3500
$GC,2901,-1.10,-146.6,231.9,-8.1,137,2905,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2646,3500
$GC,3222,-1.10,-146.6,258.2,-8.1,153,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3500
$GC,3532,-1.10,-146.6,284.3,-8.8,168,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3500
$GC,3841,-1.10,-146.6,312.4,-9.3,183,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3500
$GC,4150,-1.10,-146.6,340.4,-8.9,198,4154,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3793,3500
$GC,4196,-1.10,-146.6,344.7,-9.4,200,4200,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2650,3500
$GC,4529,-1.10,-146.6,373.8,-8.9,216,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3500
$GC,4838,-1.10,-146.6,399.2,-7.9,231,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3500
$GC,5150,-1.10,-146.6,425.0,-8.8,246,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3500
$GC,5458,-1.10,-146.6,451.2,-8.0,261,5462,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3795,3500
$GC,5509,-1.10,-146.6,455.5,-7.5,263,5512,0.00,2.08,0.00,0.000,6,0.000,0.053,2194,2640,3500
$GC,5836,-1.10,-146.6,478.7,-6.8,279,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2639,3500
$GC,6145,-1.10,-146.6,499.5,-6.6,294,6149,0.00,2.20,0.00,0.000,4,0.000,0.084,2194,3787,3500
$GC,6201,-1.10,-146.6,503.4,-7.0,296,6205,0.00,2.05,0.00,0.000,6,0.000,0.052,2194,2643,3500
$GC,6523,-1.10,-146.6,524.3,-6.5,312,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3500
$GC,6833,-1.10,-146.6,546.0,-7.1,327,6836,0.00,2.22,0.00,0.000,4,0.000,0.088,2194,3794,3500
$GC,6878,-1.10,-146.6,549.6,-7.8,329,6883,0.00,2.03,0.00,0.000,6,0.000,0.052,2194,2652,3500
$GC,7212,-1.10,-146.6,576.6,-8.8,345,7213,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3500
$GC,7520,-1.10,-146.6,605.1,-9.0,360,7524,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3792,3500
$GC,7571,-1.10,-146.6,610.0,-9.1,362,7574,0.00,2.05,0.00,0.000,6,0.000,0.051,2194,2644,3500
$GC,7898,-1.10,-146.6,636.6,-8.1,378,7899,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3500
$GC,8207,-1.10,-146.6,660.8,-7.8,393,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3500
$GC,8517,-1.10,-146.6,682.4,-5.6,408,8520,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3792,3500
$GC,8586,-1.10,-146.6,686.0,-5.3,411,8589,0.00,2.05,0.00,0.000,6,0.000,0.051,2194,2644,3500
$STATE,8916,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8916,begin apogee
$GC,8924,-0.42,0.0,708.6,7.4,427,9051,0.75,0.00,123.18,1.177,6,0.086,0.000,2347,1988,2902
$STATE,9052,end apogee,CONTROL_FINISHED_OK
$STATE,9052,begin climb
$GC,9055,1.10,146.6,713.1,0.0,433,9187,1.52,2.70,121.88,1.121,4,0.049,0.063,2679,586,2304
$GC,9202,1.19,219.7,707.8,4.0,440,9270,0.00,2.55,62.28,1.089,6,0.000,0.036,2679,2032,2006
$GC,9592,1.23,253.5,688.9,5.1,459,9627,0.12,2.60,29.58,1.083,4,0.044,0.064,2719,3406,1868
$GC,9706,1.23,253.5,681.5,6.3,464,9711,0.00,2.55,0.00,0.000,6,0.000,0.043,2719,1982,1867
$GC,10027,1.23,253.5,661.1,6.6,480,10032,0.00,2.65,0.00,0.000,4,0.000,0.064,2719,3406,1866
$GC,10055,1.23,253.5,659.0,7.5,481,10060,0.00,2.53,0.00,0.000,6,0.000,0.043,2719,1989,1866
$GC,10372,1.23,253.5,634.3,8.0,496,10376,0.00,2.62,0.00,0.000,4,0.000,0.064,2720,3405,1866
$GC,10411,1.23,253.5,630.9,8.1,498,10415,0.00,2.50,0.00,0.000,6,0.000,0.043,2719,2000,1866
$GC,10738,1.23,253.5,597.3,10.7,514,10742,0.00,2.60,0.00,0.000,4,0.000,0.064,2719,3407,1865
$GC,10810,1.23,253.5,589.1,12.0,517,10814,0.00,2.50,0.00,0.000,6,0.000,0.042,2719,1999,1866
$GC,11131,1.23,253.5,551.1,12.0,533,11135,0.00,2.58,0.00,0.000,4,0.000,0.062,2719,3397,1865
$GC,11164,1.23,253.5,546.8,12.5,534,11170,0.00,2.47,0.00,0.000,6,0.000,0.042,2719,2000,1865
$GC,11480,1.23,253.5,507.6,12.3,550,11484,0.00,2.58,0.00,0.000,4,0.000,0.064,2719,3398,1865
$GC,11519,1.23,253.5,502.5,12.7,552,11524,0.00,2.50,0.00,0.000,6,0.000,0.044,2719,1988,1865
$GC,11847,1.23,253.5,462.8,12.3,568,11851,0.00,2.60,0.00,0.000,4,0.000,0.064,2719,3397,1866
$GC,11926,1.23,253.5,452.4,13.0,571,11932,0.00,2.50,0.00,0.000,6,0.000,0.045,2719,1994,1865
$GC,12242,1.23,253.5,413.5,12.7,587,12246,0.00,2.60,0.00,0.000,4,0.000,0.065,2719,3399,1865
$GC,12282,1.23,253.5,408.3,12.9,589,12286,0.00,2.50,0.00,0.000,6,0.000,0.047,2719,1999,1865
$GC,12608,1.23,253.5,366.0,12.9,605,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1999,1866
$GC,12917,1.23,253.5,329.2,11.3,620,12922,0.00,2.60,0.00,0.000,4,0.000,0.067,2719,3396,1866
$GC,12958,1.23,253.5,324.7,12.0,622,12962,0.00,2.50,0.00,0.000,6,0.000,0.048,2719,2000,1866
$GC,13284,1.23,253.5,292.0,9.4,638,13285,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2000,1866
$GC,13594,1.23,253.5,264.7,8.3,653,13598,0.00,2.60,0.00,0.000,4,0.000,0.069,2719,3396,1866
$GC,13633,1.23,253.5,261.3,8.5,655,13638,0.00,2.53,0.00,0.000,6,0.000,0.050,2719,1990,1866
$GC,13961,1.23,253.5,236.1,7.4,671,13962,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1990,1867
$GC,14270,1.23,253.5,214.0,7.2,686,14275,0.00,2.65,0.00,0.000,4,0.000,0.071,2719,3405,1867
$GC,14337,1.23,253.5,208.9,7.3,689,14341,0.00,2.53,0.00,0.000,6,0.000,0.051,2720,1998,1867
$GC,14658,1.23,253.5,185.5,7.4,705,14659,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1998,1867
$GC,14967,1.23,253.5,163.6,7.0,720,14971,0.00,2.62,0.00,0.000,4,0.000,0.070,2719,3403,1867
$GC,15012,1.24,255.2,160.4,6.0,722,15016,0.00,2.53,0.00,0.000,6,0.000,0.051,2719,2001,1867
$GC,15333,1.24,255.2,136.9,7.5,738,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2000,1867
$GC,15642,1.24,255.2,113.7,7.6,753,15647,0.00,2.62,0.00,0.000,4,0.000,0.072,2719,3399,1868
$GC,15693,1.24,255.2,109.7,7.5,755,15697,0.00,2.53,0.00,0.000,6,0.000,0.053,2720,1998,1868
$GC,16009,1.24,255.2,86.2,7.4,770,16013,0.00,2.62,0.00,0.000,4,0.000,0.071,2719,3402,1868
$GC,16042,1.24,255.2,83.7,7.7,771,16048,0.00,2.53,0.00,0.000,6,0.000,0.054,2719,1996,1868
$GC,16360,1.24,255.2,61.6,7.1,787,16361,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,1996,1868
$GC,16667,1.24,255.2,40.1,6.9,802,16672,0.00,2.62,0.00,0.000,4,0.000,0.071,2719,3399,1868
$GC,16723,1.24,255.2,35.9,7.2,804,16730,0.00,2.53,0.00,0.000,6,0.000,0.057,2719,2002,1868
$GC,17040,1.24,255.2,11.0,7.9,820,17041,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2002,1868
$STATE,17160,end climb,SURFACE_DEPTH_REACHED
$STATE,17160,begin surface coast
$FINISH,0.3,1.027463
$STATE,17182,end surface coast,CONTROL_FINISHED_OK
$STATE,17182,begin surface
$SM_CCo,17267,0.00,0.000,0,0,1868,253.64
$SM_GC,1.47,11.73,0.00,0.00,0.029,0.000,0.000,51,2632,1868,-10.93,-0.51,253.64
$IRIDIUM_FIX,6239.86,-1314.97,010798,101000
$TT8_MAMPS,0.029146
$HUMID,1794
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.2,66.4
$24V_AH,23.3,37.350
$10V_AH,10.1,21.008
$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,26.275,127.500,336.900,0.000,0.000,30.585,27.574,155.855,5.500,0.000,0.000,14.390,1506.422,13337.734,421.431,1816.404,528.816,33.374,1327.591,0.000,1778.952,0.000,38.951,0.000
$DEVICE_MAMPS,158.769,102.778,1177.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,576.671,613.839,531.823,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41022,827
$CAP_FILE_SIZE,117707,0
$CFSIZE,260165632,245379072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060409,215055,6309.778,-1308.693,41,1.3,41,-12.2