version: 66.04
glider: 103
mission: 11
dive: 194
start: 4 4 109 8 57 31
data:
$ID,103
$MISSION,11
$DIVE,194
$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,-146815.67
$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,20
$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
$GPS1,085031,6252.502,-1254.422,39,2.0,39,-11.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-59.6
$GPS2,085638,6252.442,-1254.364,14,1.3,14,-11.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.114,0.186
$KALMAN_X,3775.1,-1178.2,-1163.2,-48534.8,12028.7
$KALMAN_Y,-27693.8,-427.1,-1007.3,10766.9,-6060.1
$MHEAD_RNG_PITCHd_Wd,340.3,45180,-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,15,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.70,0.000,2,0.000,0.000,45,2666,3287
$GC,62,-1.10,-146.6,4.1,-11.5,2,85,12.15,2.72,-3.45,0.000,4,0.159,0.094,2195,1244,3501
$GC,253,-1.10,-146.6,29.0,-7.0,10,258,0.00,2.62,0.00,0.000,6,0.000,0.069,2195,2648,3501
$GC,569,-1.10,-146.6,55.4,-8.2,25,573,0.00,2.22,0.00,0.000,4,0.000,0.095,2195,3792,3501
$GC,633,-1.10,-146.6,60.4,-8.0,28,637,0.00,2.10,0.00,0.000,6,0.000,0.064,2195,2656,3501
$GC,967,-1.10,-146.6,85.4,-7.5,44,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2655,3501
$GC,1275,-1.10,-146.6,108.5,-7.2,59,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2655,3501
$GC,1585,-1.10,-146.6,131.5,-7.6,74,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2655,3501
$GC,1893,-1.10,-146.6,154.9,-7.6,89,1897,0.00,2.22,0.00,0.000,4,0.000,0.092,2195,3793,3501
$GC,1944,-1.10,-146.6,158.9,-8.1,91,1947,0.00,2.10,0.00,0.000,6,0.000,0.060,2195,2646,3501
$GC,2271,-1.10,-146.6,183.7,-7.6,107,2272,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3501
$GC,2580,-1.10,-146.6,207.3,-7.6,122,2583,0.00,2.22,0.00,0.000,4,0.000,0.092,2195,3784,3501
$GC,2613,-1.10,-146.6,210.1,-8.3,123,2617,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2652,3501
$GC,2935,-1.10,-146.6,235.3,-8.1,139,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3501
$GC,3244,-1.10,-146.6,260.3,-7.9,154,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3501
$GC,3553,-1.10,-146.6,284.2,-7.8,169,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,3863,-1.10,-146.6,307.9,-7.6,184,3866,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3790,3501
$GC,3913,-1.10,-146.6,312.1,-8.6,186,3917,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2640,3501
$GC,4240,-1.10,-146.6,337.5,-8.0,202,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3501
$GC,4550,-1.10,-146.6,361.6,-7.4,217,4553,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3793,3501
$GC,4589,-1.10,-146.6,364.6,-7.5,218,4595,0.00,2.10,0.00,0.000,6,0.000,0.060,2195,2642,3501
$GC,4905,-1.10,-146.6,387.1,-6.9,234,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,5214,-1.10,-146.6,408.7,-7.2,249,5218,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3785,3501
$GC,5277,-1.10,-146.6,413.5,-7.7,251,5283,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2641,3501
$GC,5593,-1.10,-146.6,437.8,-7.6,267,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,5903,-1.10,-146.6,461.9,-8.0,282,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,6212,-1.10,-146.6,486.5,-7.5,297,6215,0.00,2.22,0.00,0.000,4,0.000,0.087,2195,3794,3501
$GC,6257,-1.10,-146.6,490.1,-7.7,299,6261,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2646,3501
$GC,6590,-1.10,-146.6,513.1,-6.7,315,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2645,3501
$GC,6899,-1.10,-146.6,533.0,-6.0,330,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,7208,-1.10,-146.6,551.4,-6.1,345,7212,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3790,3501
$GC,7281,-1.10,-146.6,556.4,-6.6,348,7285,0.00,2.08,0.00,0.000,6,0.000,0.055,2195,2640,3501
$GC,7609,-1.10,-146.6,580.3,-8.0,364,7610,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3501
$GC,7917,-1.10,-146.6,608.2,-9.9,379,7921,0.00,2.58,0.00,0.000,4,0.000,0.068,2194,1226,3501
$GC,7945,-1.10,-146.6,611.1,-9.8,380,7950,0.00,2.62,0.00,0.000,6,0.000,0.061,2194,2660,3501
$GC,8268,-1.10,-146.6,642.7,-9.4,396,8271,0.00,2.17,0.00,0.000,4,0.000,0.093,2195,3792,3501
$GC,8318,-1.10,-146.6,647.3,-8.7,398,8321,0.00,2.05,0.00,0.000,6,0.000,0.054,2195,2649,3501
$GC,8645,-1.10,-146.6,672.7,-7.6,414,8649,0.00,2.22,0.00,0.000,4,0.000,0.092,2195,3792,3500
$GC,8678,-1.10,-146.6,675.6,-8.6,415,8682,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2642,3500
$GC,8999,-1.10,-146.6,701.5,-8.2,431,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3500
$GC,9309,-1.10,-146.6,725.1,-7.3,446,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3499
$STATE,9367,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9367,begin apogee
$GC,9376,-0.42,0.0,729.5,7.2,449,9504,0.75,0.00,124.60,1.176,6,0.090,0.000,2346,1991,2902
$STATE,9504,end apogee,CONTROL_FINISHED_OK
$STATE,9505,begin climb
$GC,9508,1.10,146.6,735.6,0.0,455,9641,1.55,2.72,122.82,1.134,4,0.057,0.064,2678,579,2304
$GC,9897,1.17,199.3,721.7,4.5,472,9947,0.00,2.55,45.42,1.113,6,0.000,0.039,2678,2024,2089
$GC,10273,1.20,222.0,701.1,5.4,491,10296,0.10,0.00,20.75,1.084,6,0.048,0.000,2715,2025,1996
$GC,10599,1.20,222.0,679.4,6.8,507,10600,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2025,1996
$GC,10908,1.20,222.0,658.1,6.7,522,10912,0.00,2.55,0.00,0.000,4,0.000,0.068,2716,3403,1995
$GC,10958,1.20,222.0,654.5,7.1,524,10963,0.00,2.55,0.00,0.000,6,0.000,0.048,2715,1988,1995
$GC,11280,1.20,222.0,632.7,6.5,540,11281,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1988,1994
$GC,11589,1.20,222.0,613.6,6.3,555,11590,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1988,1993
$GC,11899,1.20,222.0,594.2,6.1,570,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,1988,1993
$GC,12208,1.20,222.0,572.6,6.9,585,12212,0.00,2.62,0.00,0.000,4,0.000,0.065,2716,3402,1993
$GC,12303,1.20,222.0,565.5,7.8,589,12307,0.00,2.53,0.00,0.000,6,0.000,0.046,2716,1989,1993
$GC,12619,1.20,222.0,542.6,7.3,604,12623,0.00,2.55,0.00,0.000,4,0.000,0.060,2716,585,1993
$GC,12674,1.20,222.0,538.1,7.7,606,12680,0.00,2.47,0.00,0.000,6,0.000,0.038,2716,1997,1993
$GC,12990,1.20,222.0,515.6,6.9,622,12994,0.00,2.58,0.00,0.000,4,0.000,0.064,2716,3405,1993
$GC,13024,1.20,222.0,513.2,6.8,623,13030,0.00,2.50,0.00,0.000,6,0.000,0.045,2716,1998,1993
$GC,13339,1.20,222.0,491.2,7.0,639,13344,0.00,2.55,0.00,0.000,4,0.000,0.059,2716,586,1993
$GC,13418,1.20,222.0,485.1,7.7,642,13424,0.00,2.47,0.00,0.000,6,0.000,0.037,2716,2006,1994
$GC,13734,1.20,222.0,463.6,6.7,658,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2006,1994
$GC,14043,1.20,222.0,443.1,6.6,673,14044,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2006,1994
$GC,14352,1.20,222.0,420.7,7.4,688,14353,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2006,1995
$GC,14662,1.20,222.0,397.7,7.6,703,14663,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2006,1995
$GC,14971,1.20,222.0,374.2,7.6,718,14974,0.00,2.55,0.00,0.000,4,0.000,0.058,2716,594,1996
$GC,15010,1.20,222.0,371.1,7.9,719,15016,0.00,2.45,0.00,0.000,6,0.000,0.038,2716,1999,1995
$GC,15326,1.20,222.0,348.0,7.2,735,15330,0.00,2.58,0.00,0.000,4,0.000,0.066,2716,3405,1996
$GC,15366,1.20,222.0,345.0,7.7,736,15372,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,1992,1996
$GC,15682,1.20,222.0,321.8,7.3,752,15686,0.00,2.53,0.00,0.000,4,0.000,0.060,2716,590,1997
$GC,15726,1.20,222.0,318.2,7.9,754,15731,0.00,2.47,0.00,0.000,6,0.000,0.038,2716,2006,1997
$GC,16048,1.20,222.0,295.4,7.0,770,16052,0.00,2.58,0.00,0.000,4,0.000,0.067,2716,3409,1997
$GC,16081,1.20,222.0,292.8,7.4,771,16087,0.00,2.53,0.00,0.000,6,0.000,0.048,2716,1997,1997
$GC,16397,1.20,222.0,270.9,6.9,787,16401,0.00,2.55,0.00,0.000,4,0.000,0.060,2716,584,1997
$GC,16436,1.20,222.0,268.0,7.6,789,16441,0.00,2.47,0.00,0.000,6,0.000,0.039,2716,1997,1997
$GC,16763,1.20,222.0,244.9,7.2,805,16768,0.00,2.60,0.00,0.000,4,0.000,0.067,2716,3416,1998
$GC,16797,1.20,222.0,242.4,7.4,806,16803,0.00,2.55,0.00,0.000,6,0.000,0.050,2716,1990,1997
$GC,17113,1.20,222.0,220.0,7.1,822,17117,0.00,2.55,0.00,0.000,4,0.000,0.061,2716,581,1998
$GC,17157,1.20,222.0,216.7,6.8,824,17161,0.00,2.50,0.00,0.000,6,0.000,0.038,2716,2012,1998
$GC,17478,1.20,222.0,194.2,7.3,840,17479,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2012,1998
$GC,17787,1.20,222.0,173.3,7.0,855,17788,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2012,1998
$GC,18096,1.20,222.0,151.6,6.8,870,18097,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2012,1998
$GC,18406,1.20,222.0,130.6,6.8,885,18411,0.00,2.58,0.00,0.000,4,0.000,0.068,2716,3412,1998
$GC,18440,1.20,222.0,128.2,7.5,886,18446,0.00,2.53,0.00,0.000,6,0.000,0.052,2716,2002,1998
$GC,18758,1.20,222.0,106.9,6.9,902,18762,0.00,2.58,0.00,0.000,4,0.000,0.064,2716,587,1999
$GC,18813,1.20,222.0,102.7,7.7,904,18820,0.00,2.47,0.00,0.000,6,0.000,0.040,2716,2000,1998
$GC,19130,1.20,222.0,81.5,7.0,920,19134,0.00,2.58,0.00,0.000,4,0.000,0.068,2716,3406,1999
$GC,19163,1.20,222.0,78.9,7.3,921,19169,0.00,2.53,0.00,0.000,6,0.000,0.053,2716,1996,1999
$GC,19481,1.20,222.0,56.2,7.3,937,19485,0.00,2.58,0.00,0.000,4,0.000,0.066,2716,585,1999
$GC,19514,1.20,222.0,53.6,8.4,938,19520,0.00,2.47,0.00,0.000,6,0.000,0.040,2716,2005,1998
$GC,19830,1.20,222.0,31.1,6.7,954,19834,0.00,2.58,0.00,0.000,4,0.000,0.068,2716,3405,1999
$GC,19880,1.20,222.0,27.3,7.1,956,19884,0.00,2.55,0.00,0.000,6,0.000,0.054,2716,1992,1999
$GC,20196,1.20,222.0,6.2,6.8,971,20200,0.00,2.60,0.00,0.000,4,0.000,0.074,2716,588,2000
$STATE,20256,end climb,SURFACE_DEPTH_REACHED
$STATE,20256,begin surface coast
$FINISH,0.3,1.027441
$STATE,20279,end surface coast,CONTROL_FINISHED_OK
$STATE,20280,begin surface
$SM_CCo,20307,4.62,0.540,0,0,1983,225.19
$SM_GC,2.72,0.00,0.00,4.62,0.000,0.000,0.540,47,2642,1983,-11.01,-0.23,225.19
$IRIDIUM_FIX,6225.82,-1250.14,290698,030301
$TT8_MAMPS,0.029146
$HUMID,1783
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,675.2,63.0
$24V_AH,23.3,36.151
$10V_AH,10.1,20.161
$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,26.225,152.575,313.600,4.625,0.000,30.720,28.747,173.617,6.250,0.000,0.000,14.613,1751.900,15821.777,441.886,2065.115,597.316,33.365,1467.678,0.000,2025.524,0.000,43.484,0.000
$DEVICE_MAMPS,158.769,95.108,1175.811,539.968,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,681.092,725.426,589.946,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47374,975
$CAP_FILE_SIZE,135361,0
$CFSIZE,260165632,245952512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040409,143737,6252.601,-1257.462,53,0.9,53,-11.9