version: 66.04
glider: 103
mission: 11
dive: 204
start: 4 6 109 21 57 20
data:
$ID,103
$MISSION,11
$DIVE,204
$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,-146965.02
$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,11
$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
$GPS1,215055,6309.778,-1308.693,41,1.3,41,-12.2
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-62.1
$GPS2,215626,6309.775,-1308.579,14,1.9,14,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.182,0.121
$KALMAN_X,22492.2,203.8,-784.1,-80998.6,13968.3
$KALMAN_Y,-43033.9,440.6,-366.0,56683.1,-3160.1
$MHEAD_RNG_PITCHd_Wd,315.8,11058,-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,-41.22,0.000,2,0.000,0.000,51,2636,3218
$GC,62,-1.10,-146.6,3.8,-11.0,2,85,12.07,2.25,-4.85,0.000,4,0.157,0.106,2193,3792,3501
$GC,338,-1.10,-146.6,33.1,-8.1,14,342,0.00,2.12,0.00,0.000,6,0.000,0.065,2194,2647,3501
$GC,667,-1.10,-146.6,59.2,-8.3,30,671,0.00,2.25,0.00,0.000,4,0.000,0.094,2193,3789,3501
$GC,925,-1.10,-146.6,81.1,-8.2,41,932,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2642,3501
$GC,1242,-1.10,-146.6,106.0,-7.8,57,1246,0.00,2.25,0.00,0.000,4,0.000,0.095,2193,3783,3501
$GC,1350,-1.10,-146.6,115.2,-8.3,62,1354,0.00,2.10,0.00,0.000,6,0.000,0.063,2193,2643,3501
$GC,1683,-1.10,-146.6,142.9,-8.4,78,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,1992,-1.10,-146.6,169.0,-8.7,93,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,2302,-1.10,-146.6,196.1,-8.8,108,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,2611,-1.10,-146.6,223.3,-8.9,123,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,2921,-1.10,-146.6,250.7,-8.8,138,2925,0.00,2.25,0.00,0.000,4,0.000,0.093,2194,3790,3501
$GC,2971,-1.10,-146.6,255.3,-9.4,140,2975,0.00,2.10,0.00,0.000,6,0.000,0.060,2194,2640,3501
$GC,3293,-1.10,-146.6,284.0,-9.0,156,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3501
$GC,3603,-1.10,-146.6,313.3,-9.6,171,3606,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3786,3501
$GC,3649,-1.10,-146.6,317.9,-9.9,173,3652,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2644,3501
$GC,3982,-1.10,-146.6,350.3,-9.6,189,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3501
$GC,4290,-1.10,-146.6,379.4,-9.3,204,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,4600,-1.10,-146.6,407.8,-9.2,219,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,4909,-1.10,-146.6,434.1,-8.1,234,4913,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3786,3501
$GC,4993,-1.10,-146.6,441.3,-8.5,237,4999,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2647,3501
$GC,5310,-1.10,-146.6,464.5,-6.9,253,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,5618,-1.10,-146.6,486.7,-7.0,268,5622,0.00,2.20,0.00,0.000,4,0.000,0.085,2194,3792,3501
$GC,5664,-1.10,-146.6,489.9,-6.5,270,5667,0.00,2.05,0.00,0.000,6,0.000,0.053,2194,2650,3501
$GC,5997,-1.10,-146.6,514.2,-7.5,286,6002,0.00,2.58,0.00,0.000,4,0.000,0.066,2194,1227,3501
$GC,6025,-1.10,-146.6,516.7,-8.2,287,6030,0.00,2.62,0.00,0.000,6,0.000,0.062,2194,2658,3501
$GC,6341,-1.10,-146.6,541.6,-8.0,302,6345,0.00,2.15,0.00,0.000,4,0.000,0.087,2193,3790,3501
$GC,6387,-1.10,-146.6,545.4,-8.5,304,6391,0.00,2.05,0.00,0.000,6,0.000,0.050,2194,2639,3501
$GC,6720,-1.10,-146.6,571.6,-8.0,320,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2639,3501
$GC,7029,-1.10,-146.6,595.2,-7.3,335,7033,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3793,3501
$GC,7120,-1.10,-146.6,601.6,-7.1,339,7124,0.00,2.05,0.00,0.000,6,0.000,0.051,2194,2643,3501
$GC,7453,-1.10,-146.6,623.1,-6.5,355,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,7763,-1.10,-146.6,641.5,-5.0,370,7766,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3785,3500
$GC,7841,-1.10,-146.6,645.7,-4.9,373,7845,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2651,3501
$GC,8163,-1.10,-146.6,658.8,-4.8,389,8167,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3793,3500
$GC,8277,-1.10,-146.6,667.3,-5.1,394,8281,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2646,3500
$STATE,8525,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8525,begin apogee
$GC,8533,-0.42,0.0,684.7,9.1,406,8660,0.77,0.00,123.60,1.154,6,0.097,0.000,2347,1991,2902
$STATE,8661,end apogee,CONTROL_FINISHED_OK
$STATE,8661,begin climb
$GC,8665,1.10,146.6,691.3,0.0,412,8797,1.55,2.65,122.20,1.104,4,0.061,0.062,2677,585,2304
$GC,8977,1.21,233.4,683.9,3.6,426,9058,0.12,2.53,73.32,1.090,6,0.044,0.036,2717,2025,1950
$GC,9381,1.21,233.4,657.1,6.7,446,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2027,1949
$GC,9690,1.21,233.4,634.5,7.3,461,9694,0.00,2.55,0.00,0.000,4,0.000,0.064,2717,3407,1948
$GC,9779,1.21,233.4,627.5,8.5,465,9784,0.00,2.53,0.00,0.000,6,0.000,0.044,2717,1993,1948
$GC,10101,1.21,233.4,603.1,7.1,481,10106,0.00,2.62,0.00,0.000,4,0.000,0.064,2717,3406,1948
$GC,10179,1.21,233.4,597.5,6.6,484,10185,0.00,2.53,0.00,0.000,6,0.000,0.045,2717,1994,1947
$GC,10495,1.21,233.4,576.4,6.4,500,10499,0.00,2.60,0.00,0.000,4,0.000,0.063,2718,3403,1947
$GC,10564,1.21,233.4,571.9,6.5,503,10568,0.00,2.50,0.00,0.000,6,0.000,0.044,2717,1999,1947
$GC,10891,1.23,251.6,553.3,5.5,519,10913,0.00,2.65,16.12,1.012,4,0.000,0.063,2717,3400,1875
$GC,10937,1.23,251.6,550.6,6.2,521,10941,0.00,2.53,0.00,0.000,6,0.000,0.044,2717,1993,1875
$GC,11264,1.23,251.6,530.3,6.2,537,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1992,1875
$GC,11573,1.23,251.6,510.0,6.5,552,11578,0.00,2.60,0.00,0.000,4,0.000,0.064,2717,3396,1875
$GC,11617,1.23,251.6,506.7,7.2,554,11622,0.00,2.50,0.00,0.000,6,0.000,0.044,2717,1992,1875
$GC,11939,1.23,251.6,485.6,6.9,570,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1992,1875
$GC,12248,1.23,251.6,465.3,6.5,585,12253,0.00,2.60,0.00,0.000,4,0.000,0.064,2717,3402,1875
$GC,12327,1.23,251.6,459.5,7.3,588,12331,0.00,2.50,0.00,0.000,6,0.000,0.046,2717,2002,1875
$GC,12643,1.23,251.6,436.5,7.6,603,12647,0.00,2.55,0.00,0.000,4,0.000,0.061,2717,589,1876
$GC,12694,1.23,251.6,432.3,7.8,605,12698,0.00,2.45,0.00,0.000,6,0.000,0.037,2717,1995,1876
$GC,13015,1.23,251.6,408.9,7.2,621,13019,0.00,2.60,0.00,0.000,4,0.000,0.067,2717,3415,1876
$GC,13099,1.23,251.6,402.4,8.3,625,13104,0.00,2.55,0.00,0.000,6,0.000,0.048,2717,1989,1876
$GC,13428,1.23,251.6,378.3,7.4,641,13429,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1989,1876
$GC,13736,1.23,251.6,356.1,7.0,656,13741,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,3405,1876
$GC,13792,1.23,251.6,351.9,7.6,658,13798,0.00,2.53,0.00,0.000,6,0.000,0.049,2717,1994,1876
$GC,14108,1.23,251.6,329.3,7.3,674,14112,0.00,2.62,0.00,0.000,4,0.000,0.067,2717,3415,1877
$GC,14135,1.23,251.6,327.0,7.7,675,14139,0.00,2.55,0.00,0.000,6,0.000,0.050,2717,1995,1877
$GC,14451,1.23,251.6,303.3,7.4,690,14455,0.00,2.62,0.00,0.000,4,0.000,0.068,2718,3408,1877
$GC,14501,1.23,251.6,299.4,8.0,692,14506,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,1989,1877
$GC,14823,1.23,251.6,275.6,7.3,708,14827,0.00,2.65,0.00,0.000,4,0.000,0.069,2717,3410,1877
$GC,14850,1.23,251.6,273.6,7.7,709,14854,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,1995,1877
$GC,15166,1.23,251.6,251.5,6.9,724,15167,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1995,1877
$GC,15475,1.23,251.6,230.1,6.9,739,15479,0.00,2.65,0.00,0.000,4,0.000,0.071,2718,3412,1877
$GC,15530,1.23,251.6,226.0,7.1,741,15535,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1996,1877
$GC,15847,1.23,251.6,204.7,6.8,756,15848,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1996,1877
$GC,16156,1.23,251.6,184.6,6.4,771,16157,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1996,1877
$GC,16465,1.23,251.6,164.3,6.6,786,16469,0.00,2.62,0.00,0.000,4,0.000,0.071,2718,3403,1878
$GC,16513,1.23,251.6,161.2,6.8,788,16517,0.00,2.55,0.00,0.000,6,0.000,0.053,2717,1988,1878
$GC,16840,1.23,251.6,139.5,7.1,804,16841,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1988,1878
$GC,17149,1.23,251.6,117.5,7.3,819,17154,0.00,2.65,0.00,0.000,4,0.000,0.072,2717,3404,1878
$GC,17205,1.23,251.6,113.0,7.0,821,17211,0.00,2.53,0.00,0.000,6,0.000,0.054,2718,2000,1878
$GC,17523,1.23,251.6,88.1,7.8,837,17524,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2000,1878
$GC,17830,1.23,251.6,62.8,8.2,852,17835,0.00,2.62,0.00,0.000,4,0.000,0.071,2717,3405,1878
$GC,17871,1.23,251.6,59.3,9.3,854,17875,0.00,2.55,0.00,0.000,6,0.000,0.055,2717,1996,1878
$GC,18198,1.23,251.6,33.0,7.1,870,18203,0.00,2.58,0.00,0.000,4,0.000,0.068,2717,589,1878
$GC,18239,1.23,251.6,29.5,8.9,872,18243,0.00,2.47,0.00,0.000,6,0.000,0.043,2717,1995,1878
$STATE,18568,end climb,SURFACE_DEPTH_REACHED
$STATE,18568,begin surface coast
$FINISH,0.2,1.027462
$STATE,18592,end surface coast,CONTROL_FINISHED_OK
$STATE,18595,begin surface
$SM_CCo,18679,0.00,0.000,0,0,1878,251.43
$SM_GC,1.20,11.98,0.00,0.00,0.042,0.000,0.000,52,2650,1878,-10.93,0.00,251.43
$IRIDIUM_FIX,6244.56,-1322.89,010798,171704
$TT8_MAMPS,0.028379
$HUMID,1774
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,625.7,67.6
$24V_AH,23.3,37.470
$10V_AH,10.1,21.094
$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,26.500,147.350,335.250,0.000,0.000,24.589,26.069,155.006,5.250,0.000,0.000,14.519,1640.170,14343.111,424.836,2047.517,553.758,33.354,1444.740,0.000,2014.165,0.000,36.996,0.000
$DEVICE_MAMPS,157.235,105.846,1153.568,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.532,662.978,542.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44208,889
$CAP_FILE_SIZE,128818,0
$CFSIZE,260165632,245305344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070409,031000,6310.109,-1308.982,38,2.0,43,-12.2