version: 66.04
glider: 103
mission: 11
dive: 205
start: 4 7 109 3 16 59
data:
$ID,103
$MISSION,11
$DIVE,205
$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,-146997.67
$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,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
$GPS1,031000,6310.109,-1308.982,38,2.0,43,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-61.5
$GPS2,031606,6310.107,-1308.927,15,1.3,32,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.197,0.095
$KALMAN_X,29491.2,-951.5,-1958.6,-85906.1,21801.1
$KALMAN_Y,-45521.2,480.5,-1317.2,60696.6,-3890.5
$MHEAD_RNG_PITCHd_Wd,307.9,10380,-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,-41.40,0.000,2,0.000,0.000,52,2654,3214
$GC,62,-1.10,-146.6,3.7,-11.0,2,86,12.05,2.17,-4.90,0.000,4,0.156,0.103,2194,3783,3502
$GC,339,-1.10,-146.6,30.4,-7.7,14,342,0.00,2.10,0.00,0.000,6,0.000,0.065,2195,2650,3502
$GC,666,-1.10,-146.6,54.9,-7.3,30,670,0.00,2.22,0.00,0.000,4,0.000,0.090,2195,3792,3502
$GC,923,-1.10,-146.6,73.9,-8.5,41,929,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2640,3502
$GC,1239,-1.10,-146.6,98.7,-8.2,57,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3502
$GC,1550,-1.10,-146.6,126.6,-9.3,72,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,1857,-1.10,-146.6,154.3,-8.7,87,1861,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3786,3502
$GC,1908,-1.10,-146.6,158.8,-9.0,89,1911,0.00,2.08,0.00,0.000,6,0.000,0.060,2195,2650,3502
$GC,2235,-1.10,-146.6,185.7,-8.0,105,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,2544,-1.10,-146.6,210.8,-8.4,120,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3502
$GC,2853,-1.10,-146.6,235.9,-7.9,135,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,3163,-1.10,-146.6,260.1,-7.9,150,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,3472,-1.10,-146.6,284.3,-7.6,165,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,3781,-1.10,-146.6,307.7,-7.4,180,3785,0.00,2.20,0.00,0.000,4,0.000,0.089,2195,3786,3502
$GC,3815,-1.10,-146.6,310.2,-7.4,181,3818,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2647,3501
$GC,4136,-1.10,-146.6,333.0,-7.1,197,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,4445,-1.10,-146.6,355.0,-7.0,212,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3501
$GC,4755,-1.10,-146.6,376.6,-7.0,227,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3502
$GC,5064,-1.10,-146.6,397.5,-6.6,242,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3501
$GC,5373,-1.10,-146.6,417.3,-6.2,257,5377,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3787,3501
$GC,5419,-1.10,-146.6,420.3,-6.9,259,5423,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2637,3501
$GC,5752,-1.10,-146.6,441.7,-6.4,275,5755,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3791,3501
$GC,5791,-1.10,-146.6,444.3,-6.7,276,5797,0.00,2.08,0.00,0.000,6,0.000,0.055,2194,2641,3501
$GC,6107,-1.10,-146.6,465.3,-6.7,292,6108,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,6416,-1.10,-146.6,487.1,-7.2,307,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,6725,-1.10,-146.6,509.9,-7.4,322,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,7035,-1.10,-146.6,533.5,-7.6,337,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,7344,-1.10,-146.6,558.3,-8.4,352,7347,0.00,2.20,0.00,0.000,4,0.000,0.085,2195,3786,3501
$GC,7435,-1.10,-146.6,566.9,-10.1,356,7439,0.00,2.05,0.00,0.000,6,0.000,0.053,2194,2641,3501
$GC,7768,-1.10,-146.6,596.2,-8.5,372,7772,0.00,2.53,0.00,0.000,4,0.000,0.063,2194,1233,3501
$GC,7816,-1.10,-146.6,600.1,-8.2,374,7821,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2657,3501
$GC,8144,-1.10,-146.6,626.2,-7.6,390,8148,0.00,2.12,0.00,0.000,4,0.000,0.090,2194,3783,3502
$GC,8223,-1.10,-146.6,632.5,-7.9,393,8227,0.00,2.03,0.00,0.000,6,0.000,0.052,2194,2652,3501
$GC,8544,-1.10,-146.6,658.7,-8.2,409,8549,0.00,2.58,0.00,0.000,4,0.000,0.067,2194,1235,3501
$GC,8595,-1.10,-146.6,662.7,-8.2,411,8599,0.00,2.58,0.00,0.000,6,0.000,0.059,2194,2651,3501
$GC,8911,-1.10,-146.6,685.3,-6.7,426,8915,0.00,2.17,0.00,0.000,4,0.000,0.091,2194,3786,3500
$GC,9006,-1.10,-146.6,691.9,-8.0,430,9010,0.00,2.05,0.00,0.000,6,0.000,0.053,2194,2643,3500
$STATE,9186,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9186,begin apogee
$GC,9195,-0.42,0.0,704.6,7.9,439,9323,0.75,0.00,124.38,1.154,6,0.087,0.000,2346,1995,2902
$STATE,9323,end apogee,CONTROL_FINISHED_OK
$STATE,9324,begin climb
$GC,9327,1.10,146.6,708.1,0.0,445,9454,1.52,0.00,122.03,1.115,6,0.044,0.000,2682,1995,2304
$GC,9783,1.18,210.7,692.5,4.2,467,9845,0.00,2.72,54.97,1.099,4,0.000,0.065,2682,3419,2042
$GC,9943,1.18,210.7,682.7,7.3,474,9948,0.00,2.55,0.00,0.000,6,0.000,0.044,2682,1988,2042
$GC,10264,1.18,210.7,658.6,7.8,490,10268,0.00,2.67,0.00,0.000,4,0.000,0.066,2682,3420,2041
$GC,10320,1.18,210.7,654.1,8.5,492,10326,0.00,2.55,0.00,0.000,6,0.000,0.045,2682,1998,2041
$GC,10635,1.18,210.7,629.4,8.2,508,10640,0.00,2.65,0.00,0.000,4,0.000,0.064,2682,3426,2041
$GC,10747,1.18,210.7,619.8,8.4,513,10752,0.00,2.58,0.00,0.000,6,0.000,0.046,2682,1990,2040
$GC,11069,1.18,210.7,594.9,7.3,529,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1990,2040
$GC,11378,1.18,210.7,573.0,7.1,544,11379,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,1990,2039
$GC,11687,1.18,210.7,550.5,7.1,559,11692,0.00,2.65,0.00,0.000,4,0.000,0.063,2682,3426,2040
$GC,11743,1.18,210.7,546.3,7.3,561,11749,0.00,2.55,0.00,0.000,6,0.000,0.046,2682,2000,2039
$GC,12059,1.18,210.7,524.6,6.4,577,12063,0.00,2.62,0.00,0.000,4,0.000,0.064,2682,3423,2039
$GC,12126,1.18,210.7,520.0,6.6,580,12131,0.00,2.55,0.00,0.000,6,0.000,0.045,2682,1990,2039
$GC,12448,1.20,228.3,500.7,5.5,596,12470,0.00,2.70,15.68,0.975,4,0.000,0.062,2682,3425,1971
$GC,12521,1.24,258.7,496.6,5.2,599,12553,0.12,2.55,26.25,0.990,6,0.042,0.044,2724,2001,1847
$GC,12867,1.24,258.7,472.2,7.0,615,12868,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2001,1847
$GC,13172,1.24,258.7,450.3,7.3,630,13176,0.00,2.62,0.00,0.000,4,0.000,0.062,2724,3422,1847
$GC,13244,1.24,258.7,444.8,7.7,633,13248,0.00,2.55,0.00,0.000,6,0.000,0.046,2724,1995,1847
$GC,13560,1.24,258.7,422.4,7.1,648,13561,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1995,1847
$GC,13869,1.24,258.7,401.5,6.9,663,13873,0.00,2.62,0.00,0.000,4,0.000,0.062,2724,3418,1847
$GC,13924,1.24,258.7,397.3,7.8,665,13931,0.00,2.55,0.00,0.000,6,0.000,0.048,2724,1990,1847
$GC,14241,1.24,258.7,374.0,7.5,681,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1990,1848
$GC,14550,1.24,258.7,350.6,7.7,696,14554,0.00,2.62,0.00,0.000,4,0.000,0.063,2724,3418,1848
$GC,14612,1.24,258.7,345.5,7.9,699,14616,0.00,2.55,0.00,0.000,6,0.000,0.049,2724,1998,1848
$GC,14939,1.24,258.7,319.7,8.0,715,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1998,1848
$GC,15248,1.24,258.7,295.3,7.8,730,15252,0.00,2.62,0.00,0.000,4,0.000,0.064,2724,3419,1848
$GC,15292,1.24,258.7,291.5,8.0,732,15296,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,1998,1849
$GC,15618,1.24,258.7,265.3,7.8,748,15623,0.00,2.62,0.00,0.000,4,0.000,0.066,2724,3416,1849
$GC,15659,1.24,258.7,262.0,8.9,750,15663,0.00,2.55,0.00,0.000,6,0.000,0.051,2724,2000,1849
$GC,15986,1.24,258.7,235.6,8.2,766,15987,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2000,1849
$GC,16295,1.24,258.7,212.3,7.2,781,16299,0.00,2.62,0.00,0.000,4,0.000,0.066,2724,3422,1850
$GC,16339,1.24,258.7,209.0,6.7,783,16343,0.00,2.58,0.00,0.000,6,0.000,0.052,2724,1995,1850
$GC,16660,1.24,258.7,186.1,7.2,799,16661,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1995,1850
$GC,16969,1.24,258.7,164.9,6.5,814,16973,0.00,2.65,0.00,0.000,4,0.000,0.067,2724,3425,1850
$GC,17009,1.24,258.7,162.2,6.8,816,17013,0.00,2.58,0.00,0.000,6,0.000,0.053,2724,1996,1850
$GC,17338,1.24,258.7,141.5,6.0,832,17339,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1996,1850
$GC,17645,1.24,258.7,120.4,7.1,847,17649,0.00,2.65,0.00,0.000,4,0.000,0.068,2724,3422,1850
$GC,17712,1.24,258.7,115.5,7.1,850,17716,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1998,1850
$GC,18033,1.24,258.7,93.0,7.4,866,18035,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1998,1850
$GC,18342,1.24,258.7,67.3,8.4,881,18346,0.00,2.65,0.00,0.000,4,0.000,0.068,2724,3425,1850
$GC,18382,1.24,258.7,63.8,7.7,883,18387,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,2002,1850
$GC,18709,1.24,258.7,37.9,7.9,899,18710,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2002,1850
$GC,19019,1.24,261.0,14.8,5.9,914,19025,0.00,0.00,4.60,0.539,6,0.000,0.000,2725,2002,1837
$STATE,19180,end climb,SURFACE_DEPTH_REACHED
$STATE,19180,begin surface coast
$FINISH,0.1,1.013773
$STATE,19204,end surface coast,CONTROL_FINISHED_OK
$STATE,19204,begin surface
$SM_CCo,19288,0.00,0.000,0,0,1835,261.49
$SM_GC,1.02,11.80,0.00,0.00,0.031,0.000,0.000,48,2656,1835,-10.93,0.17,261.49
$IRIDIUM_FIX,6244.56,-1307.89,010798,222235
$TT8_MAMPS,0.028379
$HUMID,1764
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.2,63.6
$24V_AH,23.4,37.592
$10V_AH,10.1,21.181
$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,26.250,129.250,347.900,0.000,0.000,30.671,29.105,155.545,5.500,0.000,0.000,32.029,1665.794,14959.655,436.360,2036.672,551.728,33.348,1430.458,0.000,1981.930,0.000,38.927,0.000
$DEVICE_MAMPS,156.468,102.778,1153.568,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,645.599,683.556,564.233,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47403,923
$CAP_FILE_SIZE,127205,0
$CFSIZE,260165632,245239808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070409,083936,6312.103,-1307.094,31,1.2,31,-12.2