version: 66.04
glider: 103
mission: 11
dive: 206
start: 4 7 109 8 46 7
data:
$ID,103
$MISSION,11
$DIVE,206
$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,-147010.39
$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,8
$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
$GPS1,083936,6312.103,-1307.094,31,1.2,31,-12.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-58.7
$GPS2,084513,6312.123,-1307.000,12,1.2,12,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.209,0.063
$KALMAN_X,33312.0,-1270.5,1175.1,-90908.5,17517.6
$KALMAN_Y,-44712.6,-168.0,-397.9,63329.9,-1975.0
$MHEAD_RNG_PITCHd_Wd,299.0,8537,-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,-41.33,0.000,2,0.000,0.000,48,2661,3175
$GC,62,-1.10,-146.6,3.3,-7.7,2,86,12.12,2.28,-5.75,0.000,4,0.158,0.106,2193,3794,3503
$GC,339,-1.10,-146.6,32.0,-8.6,14,343,0.00,2.12,0.00,0.000,6,0.000,0.067,2193,2653,3503
$GC,667,-1.10,-146.6,62.4,-9.3,30,670,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3789,3503
$GC,846,-1.10,-146.6,78.2,-9.4,38,850,0.00,2.10,0.00,0.000,6,0.000,0.063,2193,2647,3503
$GC,1174,-1.10,-146.6,107.0,-9.2,54,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3503
$GC,1483,-1.10,-146.6,134.2,-8.4,69,1487,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3787,3503
$GC,1517,-1.10,-146.6,137.2,-8.6,70,1520,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2643,3503
$GC,1838,-1.10,-146.6,163.5,-8.1,86,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3503
$GC,2148,-1.10,-146.6,187.1,-7.3,101,2152,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3790,3503
$GC,2187,-1.10,-146.6,190.0,-7.5,102,2193,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2641,3503
$GC,2503,-1.10,-146.6,210.7,-6.4,118,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,2812,-1.10,-146.6,229.8,-6.3,133,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3503
$GC,3122,-1.10,-146.6,248.7,-5.7,148,3126,0.00,2.22,0.00,0.000,4,0.000,0.092,2193,3787,3503
$GC,3168,-1.10,-146.6,251.4,-5.8,150,3172,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2649,3503
$GC,3502,-1.10,-146.6,269.9,-5.4,166,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3503
$GC,3812,-1.10,-146.6,286.1,-5.0,181,3815,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3787,3502
$GC,3851,-1.10,-146.6,288.2,-5.4,182,3857,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2651,3502
$GC,4168,-1.10,-146.6,304.0,-5.1,198,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,4476,-1.10,-146.6,320.7,-6.0,213,4477,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,4786,-1.10,-146.6,336.2,-4.4,228,4789,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3790,3502
$GC,4820,-1.10,-146.6,338.0,-5.2,229,4824,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2651,3502
$GC,5142,-1.10,-146.6,353.7,-5.0,245,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,5451,-1.10,-146.6,369.8,-5.3,260,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,5760,-1.10,-146.6,387.1,-6.0,275,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,6069,-1.10,-146.6,406.1,-6.1,290,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,6379,-1.10,-146.6,426.2,-6.9,305,6383,0.00,2.17,0.00,0.000,4,0.000,0.085,2193,3787,3502
$GC,6425,-1.10,-146.6,429.6,-7.8,307,6429,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2649,3502
$GC,6758,-1.10,-146.6,453.4,-7.5,323,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3502
$GC,7066,-1.10,-146.6,477.9,-8.3,338,7070,0.00,2.17,0.00,0.000,4,0.000,0.086,2193,3794,3502
$GC,7164,-1.10,-146.6,486.7,-9.1,342,7167,0.00,2.08,0.00,0.000,6,0.000,0.054,2193,2637,3502
$GC,7491,-1.10,-146.6,519.0,-10.5,358,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2637,3502
$GC,7800,-1.10,-146.6,555.9,-12.5,373,7803,0.00,2.20,0.00,0.000,4,0.000,0.084,2193,3787,3502
$GC,7862,-1.10,-146.6,563.7,-12.3,375,7868,0.00,2.08,0.00,0.000,6,0.000,0.052,2193,2646,3502
$GC,8178,-1.10,-146.6,599.6,-11.0,391,8183,0.00,2.55,0.00,0.000,4,0.000,0.067,2193,1236,3502
$GC,8223,-1.10,-146.6,604.7,-11.4,393,8228,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2665,3502
$GC,8550,-1.10,-146.6,638.0,-9.3,409,8554,0.00,2.12,0.00,0.000,4,0.000,0.090,2193,3782,3502
$GC,8634,-1.10,-146.6,646.1,-9.8,412,8640,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2644,3502
$GC,8950,-1.10,-146.6,672.1,-8.1,428,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3502
$STATE,8968,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8968,begin apogee
$GC,8976,-0.42,0.0,673.4,7.7,429,9105,0.77,0.00,125.15,1.117,6,0.097,0.000,2346,2003,2903
$STATE,9106,end apogee,CONTROL_FINISHED_OK
$STATE,9106,begin climb
$GC,9109,1.10,146.6,678.3,0.0,435,9239,1.55,2.65,121.80,1.087,4,0.053,0.061,2681,588,2304
$GC,9389,1.16,194.9,673.4,4.7,448,9436,0.00,2.50,41.65,1.057,6,0.000,0.035,2681,2023,2107
$GC,9761,1.18,207.1,656.6,5.7,466,9782,0.00,2.65,11.85,0.985,4,0.000,0.064,2680,3405,2057
$GC,10002,1.19,216.4,642.2,5.7,476,10016,0.00,2.55,9.48,0.960,6,0.000,0.046,2681,1985,2019
$GC,10339,1.19,216.4,621.7,6.5,493,10344,0.00,2.62,0.00,0.000,4,0.000,0.064,2681,3398,2018
$GC,10395,1.19,216.4,617.7,6.7,495,10402,0.00,2.50,0.00,0.000,6,0.000,0.045,2681,1990,2018
$GC,10711,1.19,216.4,594.4,7.6,511,10715,0.00,2.55,0.00,0.000,4,0.000,0.063,2681,587,2018
$GC,10762,1.19,216.4,590.1,8.1,513,10766,0.00,2.47,0.00,0.000,6,0.000,0.038,2681,1999,2018
$GC,11083,1.19,216.4,564.6,8.0,529,11087,0.00,2.58,0.00,0.000,4,0.000,0.063,2681,3408,2017
$GC,11168,1.19,216.4,557.6,8.3,533,11172,0.00,2.53,0.00,0.000,6,0.000,0.046,2681,1992,2017
$GC,11494,1.19,216.4,533.3,7.5,549,11499,0.00,2.60,0.00,0.000,4,0.000,0.062,2681,3403,2017
$GC,11573,1.19,216.4,527.4,6.8,552,11579,0.00,2.50,0.00,0.000,6,0.000,0.044,2681,1998,2017
$GC,11889,1.19,216.9,506.9,6.0,568,11890,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,1998,2017
$GC,12199,1.22,242.8,490.2,5.3,583,12229,0.12,2.67,22.52,0.988,4,0.044,0.060,2724,3398,1912
$GC,12265,1.22,242.8,486.2,6.4,586,12269,0.00,2.50,0.00,0.000,6,0.000,0.043,2724,1998,1911
$GC,12591,1.22,242.8,465.1,6.2,602,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1998,1911
$GC,12900,1.22,242.8,445.5,6.2,617,12901,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1998,1911
$GC,13210,1.23,249.0,427.8,5.8,632,13224,0.00,2.67,7.00,0.818,4,0.000,0.061,2724,3403,1886
$GC,13265,1.23,251.1,424.5,5.9,634,13269,0.00,2.53,0.00,0.000,6,0.000,0.044,2724,1989,1886
$GC,13581,1.24,261.9,406.7,5.7,649,13599,0.00,0.00,12.38,0.890,6,0.000,0.000,2724,1989,1834
$GC,13909,1.24,261.9,386.9,6.3,665,13913,0.00,2.60,0.00,0.000,4,0.000,0.063,2725,3403,1834
$GC,13965,1.24,261.9,383.2,6.6,667,13969,0.00,2.53,0.00,0.000,6,0.000,0.047,2724,1989,1834
$GC,14281,1.24,261.9,362.1,6.6,682,14282,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1989,1834
$GC,14590,1.24,261.9,340.6,6.9,697,14591,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1989,1834
$GC,14899,1.24,261.9,318.2,7.0,712,14903,0.00,2.62,0.00,0.000,4,0.000,0.065,2725,3411,1834
$GC,14955,1.24,261.9,314.0,7.2,714,14960,0.00,2.53,0.00,0.000,6,0.000,0.048,2724,2002,1834
$GC,15271,1.24,261.9,290.3,7.5,729,15272,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2002,1834
$GC,15581,1.24,261.9,265.6,8.0,744,15585,0.00,2.60,0.00,0.000,4,0.000,0.067,2724,3403,1835
$GC,15608,1.24,261.9,263.2,7.8,745,15612,0.00,2.53,0.00,0.000,6,0.000,0.050,2724,1995,1835
$GC,15924,1.24,261.9,237.9,8.1,760,15925,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1994,1835
$GC,16233,1.24,261.9,213.1,8.0,775,16238,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3412,1835
$GC,16289,1.24,261.9,208.4,8.0,777,16295,0.00,2.55,0.00,0.000,6,0.000,0.051,2725,1992,1835
$GC,16605,1.24,261.9,182.6,8.3,793,16606,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1992,1835
$GC,16914,1.24,261.9,157.9,7.8,808,16918,0.00,2.62,0.00,0.000,4,0.000,0.068,2725,3406,1835
$GC,16970,1.24,261.9,153.0,8.1,810,16975,0.00,2.53,0.00,0.000,6,0.000,0.051,2724,1999,1835
$GC,17286,1.24,261.9,128.5,7.5,825,17291,0.00,2.62,0.00,0.000,4,0.000,0.068,2724,3412,1835
$GC,17314,1.24,261.9,126.2,7.8,826,17319,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,1996,1835
$GC,17631,1.24,261.9,102.5,7.2,841,17635,0.00,2.62,0.00,0.000,4,0.000,0.067,2724,3407,1835
$GC,17671,1.24,261.9,99.6,7.3,843,17675,0.00,2.53,0.00,0.000,6,0.000,0.053,2725,2000,1835
$GC,18004,1.24,261.9,76.7,6.5,859,18005,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2000,1835
$GC,18315,1.24,261.9,54.4,6.9,874,18316,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2000,1835
$GC,18622,1.24,261.9,32.8,6.6,889,18624,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2000,1835
$GC,18932,1.24,261.9,10.6,7.1,904,18936,0.00,2.58,0.00,0.000,4,0.000,0.066,2725,588,1835
$GC,18950,1.24,261.9,9.3,6.8,905,18954,0.00,2.47,0.00,0.000,6,0.000,0.038,2724,2008,1835
$STATE,19046,end climb,SURFACE_DEPTH_REACHED
$STATE,19047,begin surface coast
$FINISH,0.1,1.027065
$STATE,19068,end surface coast,CONTROL_FINISHED_OK
$STATE,19069,begin surface
$SM_CCo,19153,0.00,0.000,0,0,1834,262.23
$SM_GC,1.03,11.77,0.00,0.00,0.031,0.000,0.000,49,2652,1834,-10.94,0.06,262.23
$IRIDIUM_FIX,6244.56,-1313.61,020798,030358
$TT8_MAMPS,0.029913
$HUMID,1789
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.3,32.9
$24V_AH,23.4,37.711
$10V_AH,10.1,21.266
$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,26.350,136.925,351.825,0.000,0.000,31.221,27.509,145.441,5.500,0.000,0.000,12.087,1665.305,14796.119,447.655,2018.969,559.409,33.361,1456.785,0.000,1985.774,0.000,38.868,0.000
$DEVICE_MAMPS,158.002,105.846,1116.752,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,637.838,672.585,553.969,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44273,911
$CAP_FILE_SIZE,130150,0
$CFSIZE,260165632,245174272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070409,140700,6312.033,-1309.480,62,0.8,62,-12.2