version: 66.04
glider: 103
mission: 11
dive: 207
start: 4 7 109 14 17 2
data:
$ID,103
$MISSION,11
$DIVE,207
$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,-147025.7
$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,19
$R_STBD_OVSHOOT,16
$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
$GPS1,140700,6312.033,-1309.480,62,0.8,62,-12.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-58.1
$GPS2,141608,6312.014,-1309.605,14,1.0,14,-12.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.208,0.067
$KALMAN_X,40479.5,-126.0,-3372.3,-96870.6,25590.7
$KALMAN_Y,-47705.6,-241.1,386.1,65431.6,-4201.9
$MHEAD_RNG_PITCHd_Wd,300.1,7127,-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,-41.17,0.000,2,0.000,0.000,49,2654,3152
$GC,62,-1.10,-146.6,3.3,-10.0,2,86,12.05,2.28,-6.25,0.000,4,0.156,0.110,2192,3778,3503
$GC,339,-1.10,-146.6,32.5,-7.0,14,343,0.00,2.10,0.00,0.000,6,0.000,0.066,2193,2647,3503
$GC,667,-1.10,-146.6,56.5,-7.3,30,671,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3785,3503
$GC,820,-1.10,-146.6,70.5,-9.9,37,823,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2643,3503
$GC,1153,-1.10,-146.6,96.8,-6.8,53,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3503
$GC,1462,-1.10,-146.6,122.5,-8.5,68,1466,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3783,3503
$GC,1495,-1.10,-146.6,125.7,-9.3,69,1499,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2650,3503
$GC,1817,-1.10,-146.6,151.9,-7.9,85,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,2127,-1.10,-146.6,175.3,-7.3,100,2130,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3785,3503
$GC,2166,-1.10,-146.6,178.4,-7.6,101,2172,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2649,3503
$GC,2482,-1.10,-146.6,202.9,-8.0,117,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3503
$GC,2791,-1.10,-146.6,227.6,-7.9,132,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3503
$GC,3100,-1.10,-146.6,251.9,-7.9,147,3104,0.00,2.20,0.00,0.000,4,0.000,0.091,2193,3780,3502
$GC,3139,-1.10,-146.6,255.2,-8.1,148,3145,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2643,3502
$GC,3455,-1.10,-146.6,278.5,-7.3,164,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,3765,-1.10,-146.6,300.5,-7.0,179,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,4074,-1.10,-146.6,321.4,-6.6,194,4077,0.00,2.22,0.00,0.000,4,0.000,0.092,2193,3785,3501
$GC,4124,-1.10,-146.6,324.9,-6.2,196,4129,0.00,2.05,0.00,0.000,6,0.000,0.059,2193,2650,3502
$GC,4451,-1.10,-146.6,344.4,-5.9,212,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,4761,-1.10,-146.6,361.9,-5.7,227,4765,0.00,2.17,0.00,0.000,4,0.000,0.092,2193,3779,3502
$GC,4800,-1.10,-146.6,364.2,-5.9,228,4806,0.00,2.05,0.00,0.000,6,0.000,0.058,2193,2647,3502
$GC,5117,-1.10,-146.6,380.8,-5.4,244,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3502
$GC,5426,-1.10,-146.6,399.8,-7.0,259,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3502
$GC,5735,-1.10,-146.6,422.6,-7.7,274,5739,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3786,3502
$GC,5785,-1.10,-146.6,426.7,-7.8,276,5789,0.00,2.05,0.00,0.000,6,0.000,0.057,2193,2650,3502
$GC,6112,-1.10,-146.6,452.0,-8.0,292,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,6421,-1.10,-146.6,478.6,-9.0,307,6425,0.00,2.17,0.00,0.000,4,0.000,0.089,2193,3779,3502
$GC,6455,-1.10,-146.6,481.8,-9.0,308,6458,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2640,3502
$GC,6776,-1.10,-146.6,510.7,-9.0,324,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3502
$GC,7085,-1.10,-146.6,540.1,-9.6,339,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3502
$GC,7395,-1.10,-146.6,569.9,-9.6,354,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2640,3502
$GC,7704,-1.10,-146.6,598.4,-9.0,369,7708,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3779,3502
$GC,7760,-1.10,-146.6,603.8,-9.6,371,7764,0.00,2.03,0.00,0.000,6,0.000,0.053,2193,2647,3502
$GC,8082,-1.10,-146.6,630.9,-8.0,387,8085,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3786,3502
$GC,8173,-1.10,-146.6,638.6,-9.2,391,8177,0.00,2.03,0.00,0.000,6,0.000,0.052,2193,2652,3502
$GC,8506,-1.10,-146.6,663.1,-7.2,407,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3502
$GC,8815,-1.10,-146.6,685.9,-7.3,422,8818,0.00,2.17,0.00,0.000,4,0.000,0.087,2193,3785,3501
$GC,8849,-1.10,-146.6,688.6,-7.7,423,8853,0.00,2.03,0.00,0.000,6,0.000,0.052,2193,2649,3501
$GC,9171,-1.10,-146.6,711.5,-6.8,439,9175,0.00,2.17,0.00,0.000,4,0.000,0.087,2193,3785,3501
$GC,9221,-1.10,-146.6,715.4,-7.2,441,9225,0.00,2.03,0.00,0.000,6,0.000,0.051,2193,2648,3501
$STATE,9504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9504,begin apogee
$GC,9512,-0.42,0.0,734.8,6.7,455,9640,0.75,0.00,124.72,1.180,6,0.083,0.000,2346,1985,2902
$STATE,9641,end apogee,CONTROL_FINISHED_OK
$STATE,9641,begin climb
$GC,9644,1.10,146.6,738.9,0.0,461,9777,1.58,2.72,123.22,1.123,4,0.062,0.061,2679,3406,2304
$GC,10019,1.17,202.5,724.3,4.5,478,10077,0.00,2.53,48.42,1.106,6,0.000,0.043,2679,1993,2076
$GC,10391,1.17,202.6,702.5,6.0,496,10396,0.00,2.65,0.00,0.000,4,0.000,0.064,2679,3418,2075
$GC,10436,1.17,202.6,699.2,7.0,498,10440,0.00,2.53,0.00,0.000,6,0.000,0.042,2679,2002,2075
$GC,10757,1.18,207.8,679.9,5.9,514,10771,0.00,2.65,6.38,0.896,4,0.000,0.064,2679,3414,2054
$GC,10824,1.19,217.4,676.0,5.7,517,10839,0.00,2.55,9.65,0.983,6,0.000,0.044,2678,1990,2015
$GC,11150,1.20,226.0,656.4,5.8,532,11165,0.10,2.70,8.80,0.969,4,0.050,0.063,2713,3423,1980
$GC,11204,1.20,226.0,652.5,7.2,534,11209,0.00,2.55,0.00,0.000,6,0.000,0.042,2713,1993,1980
$GC,11521,1.20,226.0,630.9,6.7,549,11525,0.00,2.62,0.00,0.000,4,0.000,0.061,2713,3416,1979
$GC,11576,1.20,226.0,627.0,6.8,551,11582,0.00,2.53,0.00,0.000,6,0.000,0.042,2713,1993,1979
$GC,11892,1.22,243.9,607.7,5.5,567,11911,0.00,0.00,16.42,1.035,6,0.000,0.000,2713,1993,1907
$GC,12221,1.22,243.9,584.2,7.6,583,12225,0.00,2.62,0.00,0.000,4,0.000,0.063,2713,3414,1907
$GC,12310,1.22,243.9,577.0,8.6,587,12314,0.00,2.53,0.00,0.000,6,0.000,0.044,2713,1998,1907
$GC,12637,1.22,243.9,547.9,10.0,603,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1998,1907
$GC,12946,1.22,243.9,516.3,8.6,618,12950,0.00,2.62,0.00,0.000,4,0.000,0.063,2713,3420,1907
$GC,13018,1.22,243.9,510.1,8.4,621,13023,0.00,2.53,0.00,0.000,6,0.000,0.044,2713,2002,1907
$GC,13335,1.22,243.9,483.8,7.7,636,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2002,1907
$GC,13643,1.22,243.9,460.1,7.4,651,13645,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2002,1907
$GC,13953,1.22,243.9,438.2,6.9,666,13957,0.00,2.60,0.00,0.000,4,0.000,0.066,2713,3411,1907
$GC,14020,1.22,243.9,433.1,7.3,669,14024,0.00,2.53,0.00,0.000,6,0.000,0.048,2713,2000,1907
$GC,14341,1.22,243.9,410.6,6.9,685,14345,0.00,2.62,0.00,0.000,4,0.000,0.065,2713,3418,1907
$GC,14374,1.22,243.9,408.2,7.2,686,14380,0.00,2.55,0.00,0.000,6,0.000,0.048,2713,1990,1907
$GC,14690,1.22,243.9,386.7,6.8,702,14691,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1990,1908
$GC,14999,1.22,243.9,366.2,6.9,717,15003,0.00,2.65,0.00,0.000,4,0.000,0.067,2713,3414,1908
$GC,15067,1.22,243.9,361.1,8.1,720,15071,0.00,2.55,0.00,0.000,6,0.000,0.049,2713,1991,1908
$GC,15388,1.22,243.9,338.6,7.1,736,15390,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1990,1908
$GC,15697,1.22,243.9,316.0,7.2,751,15702,0.00,2.62,0.00,0.000,4,0.000,0.068,2713,3409,1908
$GC,15764,1.22,243.9,310.8,7.6,754,15769,0.00,2.53,0.00,0.000,6,0.000,0.050,2713,2002,1908
$GC,16086,1.22,243.9,286.6,7.7,770,16087,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2002,1909
$GC,16395,1.22,243.9,262.9,7.8,785,16399,0.00,2.62,0.00,0.000,4,0.000,0.069,2713,3422,1908
$GC,16450,1.22,243.9,258.4,8.4,787,16457,0.00,2.58,0.00,0.000,6,0.000,0.051,2713,1990,1909
$GC,16767,1.22,243.9,233.3,8.2,803,16768,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1990,1909
$GC,17076,1.22,243.9,208.1,8.2,818,17080,0.00,2.62,0.00,0.000,4,0.000,0.068,2713,3409,1909
$GC,17121,1.22,243.9,204.3,8.6,820,17126,0.00,2.55,0.00,0.000,6,0.000,0.051,2713,1991,1909
$GC,17443,1.22,243.9,178.3,8.2,836,17445,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1991,1909
$GC,17752,1.22,243.9,153.5,8.1,851,17757,0.00,2.65,0.00,0.000,4,0.000,0.070,2713,3420,1909
$GC,17799,1.22,243.9,149.7,8.1,853,17803,0.00,2.58,0.00,0.000,6,0.000,0.053,2713,1992,1909
$GC,18120,1.22,243.9,123.6,8.2,869,18125,0.00,2.65,0.00,0.000,4,0.000,0.068,2713,3416,1909
$GC,18161,1.22,243.9,120.0,7.3,871,18165,0.00,2.55,0.00,0.000,6,0.000,0.054,2713,1996,1909
$GC,18488,1.22,243.9,95.6,7.2,887,18489,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1996,1909
$GC,18797,1.22,243.9,74.6,6.8,902,18802,0.00,2.65,0.00,0.000,4,0.000,0.070,2713,3418,1909
$GC,18853,1.22,243.9,70.7,6.5,904,18860,0.00,2.55,0.00,0.000,6,0.000,0.055,2713,2001,1909
$GC,19171,1.22,243.9,50.1,6.5,920,19175,0.00,2.62,0.00,0.000,4,0.000,0.069,2713,3414,1909
$GC,19204,1.23,251.0,47.7,5.8,921,19219,0.00,2.55,7.75,0.645,6,0.000,0.056,2713,2002,1878
$GC,19542,1.23,251.0,24.4,7.2,938,19546,0.00,2.65,0.00,0.000,4,0.000,0.069,2713,3420,1878
$GC,19592,1.23,251.0,20.5,8.5,940,19596,0.00,2.60,0.00,0.000,6,0.000,0.055,2713,1989,1878
$STATE,19864,end climb,SURFACE_DEPTH_REACHED
$STATE,19864,begin surface coast
$FINISH,0.1,1.027450
$STATE,19886,end surface coast,CONTROL_FINISHED_OK
$STATE,19886,begin surface
$SM_CCo,19971,0.00,0.000,0,0,1877,251.43
$SM_GC,1.33,11.73,0.00,0.00,0.031,0.000,0.000,53,2649,1877,-10.92,-0.03,251.43
$IRIDIUM_FIX,6244.56,-1308.97,020798,141456
$TT8_MAMPS,0.028379
$HUMID,1768
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.1,44.4
$24V_AH,23.3,37.840
$10V_AH,10.1,21.358
$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,26.200,151.275,345.375,0.000,0.000,60.568,58.415,228.254,6.250,0.000,0.000,14.680,1738.359,15514.237,445.800,2111.086,705.910,33.360,1496.121,0.000,2063.471,0.000,46.012,0.000
$DEVICE_MAMPS,155.701,110.448,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,666.502,702.925,576.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47438,954
$CAP_FILE_SIZE,137738,0
$CFSIZE,260165632,245096448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070409,195106,6313.505,-1312.989,35,0.9,35,-12.2