version: 66.04
glider: 103
mission: 11
dive: 201
start: 4 6 109 4 37 6
data:
$ID,103
$MISSION,11
$DIVE,201
$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,-146917.94
$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,16
$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
$GPS1,043007,6300.698,-1325.636,38,1.2,39,-12.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-61.2
$GPS2,043613,6300.729,-1325.577,14,1.6,14,-12.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,IW
$TGT_LATLONG,6315.000,-1315.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.023,0.217
$KALMAN_X,1313.2,229.1,433.5,-75319.2,-3425.4
$KALMAN_Y,-46540.1,226.0,3789.8,39487.9,-15088.1
$MHEAD_RNG_PITCHd_Wd,18.4,27862,-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,-41.70,0.000,2,0.000,0.000,52,2641,3171
$GC,62,-1.10,-146.6,3.7,-10.8,2,86,12.10,2.30,-5.65,0.000,4,0.158,0.106,2194,3786,3502
$GC,339,-1.10,-146.6,33.7,-7.9,14,343,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2652,3502
$GC,666,-1.10,-146.6,58.9,-7.9,30,670,0.00,2.25,0.00,0.000,4,0.000,0.097,2194,3788,3502
$GC,813,-1.10,-146.6,71.2,-8.6,36,819,0.00,2.10,0.00,0.000,6,0.000,0.063,2193,2640,3502
$GC,1130,-1.10,-146.6,95.8,-7.9,52,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,1438,-1.10,-146.6,120.0,-7.8,67,1442,0.00,2.25,0.00,0.000,4,0.000,0.094,2193,3786,3502
$GC,1479,-1.10,-146.6,123.2,-8.5,69,1483,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2641,3502
$GC,1812,-1.10,-146.6,148.6,-7.6,85,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2641,3502
$GC,2121,-1.10,-146.6,172.7,-7.8,100,2125,0.00,2.25,0.00,0.000,4,0.000,0.094,2194,3790,3502
$GC,2171,-1.10,-146.6,176.9,-8.8,102,2175,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2643,3502
$GC,2493,-1.10,-146.6,201.6,-7.7,118,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3502
$GC,2802,-1.10,-146.6,224.5,-7.3,133,2806,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3787,3502
$GC,2857,-1.10,-146.6,228.7,-7.9,135,2861,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2640,3502
$GC,3182,-1.10,-146.6,250.4,-6.5,151,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3502
$GC,3489,-1.10,-146.6,271.7,-6.8,166,3493,0.00,2.25,0.00,0.000,4,0.000,0.093,2194,3793,3502
$GC,3551,-1.10,-146.6,276.2,-7.4,169,3555,0.00,2.10,0.00,0.000,6,0.000,0.060,2194,2644,3502
$GC,3884,-1.10,-146.6,297.5,-6.2,185,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3501
$GC,4194,-1.10,-146.6,316.3,-5.9,200,4198,0.00,2.25,0.00,0.000,4,0.000,0.094,2194,3793,3501
$GC,4238,-1.10,-146.6,319.3,-6.2,202,4242,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2644,3501
$GC,4565,-1.10,-146.6,340.2,-6.7,218,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3501
$GC,4875,-1.10,-146.6,362.5,-7.5,233,4879,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3791,3501
$GC,4943,-1.10,-146.6,368.1,-8.4,236,4947,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2647,3501
$GC,5276,-1.10,-146.6,395.0,-8.0,252,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2647,3501
$GC,5585,-1.10,-146.6,419.0,-7.6,267,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3501
$GC,5894,-1.10,-146.6,443.5,-7.7,282,5898,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3785,3501
$GC,5940,-1.10,-146.6,447.2,-8.2,284,5944,0.00,2.05,0.00,0.000,6,0.000,0.056,2194,2645,3500
$GC,6272,-1.10,-146.6,472.3,-7.6,300,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3501
$GC,6581,-1.10,-146.6,493.5,-6.9,315,6582,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3501
$GC,6891,-1.10,-146.6,515.8,-7.4,330,6894,0.00,2.20,0.00,0.000,4,0.000,0.089,2194,3784,3500
$GC,6937,-1.10,-146.6,519.3,-7.5,332,6940,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2643,3501
$GC,7269,-1.10,-146.6,542.4,-6.4,348,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,7579,-1.10,-146.6,564.1,-7.2,363,7582,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3786,3501
$GC,7648,-1.10,-146.6,569.2,-7.4,366,7651,0.00,2.05,0.00,0.000,6,0.000,0.054,2194,2643,3501
$GC,7981,-1.10,-146.6,595.4,-8.2,382,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,8290,-1.10,-146.6,619.7,-7.4,397,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,8599,-1.10,-146.6,641.0,-7.0,412,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3501
$GC,8908,-1.10,-146.6,667.0,-9.2,427,8909,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,9217,-1.10,-146.6,695.1,-8.6,442,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3501
$GC,9527,-1.10,-146.6,718.6,-7.2,457,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,9836,-1.10,-146.6,740.7,-6.8,472,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3501
$GC,10145,-1.10,-146.6,759.0,-6.0,487,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,10455,-1.10,-146.6,778.7,-5.9,502,10459,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3784,3501
$GC,10505,-1.10,-146.6,782.0,-6.3,504,10509,0.00,2.03,0.00,0.000,6,0.000,0.051,2194,2648,3501
$GC,10832,-1.10,-146.6,803.4,-6.9,520,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,11142,-1.10,-146.6,825.1,-6.9,535,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3500
$GC,11451,-1.10,-146.6,847.4,-4.8,550,11456,0.00,2.55,0.00,0.000,4,0.000,0.065,2194,1237,3500
$GC,11519,-1.10,-146.6,850.4,-7.7,553,11523,0.00,2.60,0.00,0.000,6,0.000,0.061,2194,2660,3500
$GC,11841,-1.10,-146.6,867.3,-1.7,569,11844,0.00,2.10,0.00,0.000,4,0.000,0.077,2194,3792,3500
$GC,11964,-1.10,-146.6,867.3,-0.9,574,11968,0.00,2.03,0.00,0.000,6,0.000,0.042,2194,2632,3500
$STATE,12056,end dive,NO_VERTICAL_VELOCITY
$STATE,12056,begin apogee
$GC,12065,-0.42,0.0,867.4,0.0,579,12199,0.73,0.00,126.90,1.254,6,0.064,0.000,2350,1987,2902
$STATE,12200,end apogee,CONTROL_FINISHED_OK
$STATE,12200,begin climb
$GC,12203,1.10,146.6,867.3,0.0,586,12337,1.58,2.72,125.03,1.218,4,0.068,0.063,2678,3425,2303
$GC,12359,1.17,199.2,864.5,4.5,593,12411,0.00,2.60,46.22,1.174,6,0.000,0.046,2678,1990,2090
$GC,12736,1.30,307.2,852.5,3.0,612,12839,0.17,2.70,92.90,1.212,4,0.041,0.064,2732,592,1649
$GC,12930,1.30,307.2,839.0,8.9,621,12935,0.00,2.55,0.00,0.000,6,0.000,0.041,2732,2021,1649
$GC,13257,1.30,307.2,805.2,11.4,637,13261,0.00,2.65,0.00,0.000,4,0.000,0.062,2732,591,1648
$GC,13427,1.30,307.2,785.2,11.3,644,13433,0.00,2.50,0.00,0.000,6,0.000,0.039,2733,2007,1647
$GC,13743,1.30,307.2,753.4,9.3,660,13747,0.00,2.58,0.00,0.000,4,0.000,0.066,2733,3405,1647
$GC,13793,1.30,307.2,748.9,8.8,662,13797,0.00,2.50,0.00,0.000,6,0.000,0.043,2732,1998,1647
$GC,14114,1.30,307.2,718.3,9.3,678,14118,0.00,2.55,0.00,0.000,4,0.000,0.058,2732,592,1647
$GC,14186,1.30,307.2,711.4,9.5,681,14190,0.00,2.47,0.00,0.000,6,0.000,0.036,2732,2009,1647
$GC,14502,1.30,307.2,682.1,10.5,696,14507,0.00,2.58,0.00,0.000,4,0.000,0.057,2732,598,1647
$GC,14536,1.30,307.2,678.4,10.8,697,14542,0.00,2.45,0.00,0.000,6,0.000,0.035,2732,2007,1647
$GC,14852,1.30,307.2,644.1,11.9,713,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2009,1647
$GC,15161,1.30,307.2,614.3,8.4,728,15162,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2009,1647
$GC,15471,1.30,307.2,587.4,8.7,743,15474,0.00,2.55,0.00,0.000,4,0.000,0.061,2732,3409,1647
$GC,15527,1.30,307.2,582.2,9.1,745,15531,0.00,2.50,0.00,0.000,6,0.000,0.041,2732,1992,1647
$GC,15843,1.30,307.2,554.6,8.2,760,15844,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1992,1647
$GC,16152,1.30,307.2,531.2,8.3,775,16156,0.00,2.60,0.00,0.000,4,0.000,0.061,2732,3408,1648
$GC,16179,1.30,307.2,528.5,9.4,776,16183,0.00,2.50,0.00,0.000,6,0.000,0.041,2732,1989,1648
$GC,16495,1.30,307.2,498.6,9.5,791,16497,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1989,1649
$GC,16805,1.30,307.2,468.4,10.4,806,16806,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1989,1649
$GC,17114,1.30,307.2,436.7,9.0,821,17119,0.00,2.60,0.00,0.000,4,0.000,0.063,2732,3403,1650
$GC,17165,1.30,307.2,432.1,8.7,823,17169,0.00,2.50,0.00,0.000,6,0.000,0.044,2732,1995,1650
$GC,17481,1.30,307.2,406.4,8.8,838,17482,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1995,1650
$GC,17790,1.30,307.2,379.1,9.1,853,17794,0.00,2.60,0.00,0.000,4,0.000,0.064,2732,3403,1650
$GC,17823,1.30,307.2,375.9,8.4,854,17829,0.00,2.50,0.00,0.000,6,0.000,0.045,2732,1995,1650
$GC,18139,1.30,307.2,348.9,8.3,870,18140,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1995,1650
$GC,18448,1.30,307.2,323.5,8.7,885,18449,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1995,1650
$GC,18757,1.30,307.2,293.9,9.9,900,18762,0.00,2.62,0.00,0.000,4,0.000,0.067,2732,3413,1651
$GC,18797,1.30,307.2,289.9,9.5,902,18802,0.00,2.53,0.00,0.000,6,0.000,0.048,2732,2003,1651
$GC,19125,1.30,307.2,257.8,9.7,918,19126,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2003,1650
$GC,19434,1.30,307.2,228.2,9.7,933,19438,0.00,2.60,0.00,0.000,4,0.000,0.068,2732,3403,1651
$GC,19467,1.30,307.2,225.0,9.3,934,19473,0.00,2.53,0.00,0.000,6,0.000,0.050,2732,1996,1651
$GC,19783,1.30,307.2,196.4,8.9,950,19784,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1996,1651
$GC,20092,1.30,307.2,169.7,8.6,965,20093,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1996,1651
$GC,20401,1.30,307.2,142.8,8.8,980,20406,0.00,2.62,0.00,0.000,4,0.000,0.069,2732,3405,1651
$GC,20442,1.30,307.2,139.1,10.2,982,20446,0.00,2.55,0.00,0.000,6,0.000,0.052,2732,1989,1650
$GC,20775,1.30,307.2,110.9,7.8,998,20779,0.00,2.65,0.00,0.000,4,0.000,0.070,2732,3408,1650
$GC,20802,1.30,307.2,108.4,7.8,999,20806,0.00,2.55,0.00,0.000,6,0.000,0.052,2732,1995,1650
$GC,21120,1.30,307.2,81.0,9.7,1014,21121,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1995,1650
$GC,21427,1.30,307.2,52.1,9.6,1029,21432,0.00,2.62,0.00,0.000,4,0.000,0.070,2732,3403,1650
$GC,21446,1.30,307.2,50.5,8.9,1030,21450,0.00,2.55,0.00,0.000,6,0.000,0.054,2732,1990,1650
$GC,21774,1.30,307.2,23.1,6.9,1046,21775,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1990,1650
$STATE,22017,end climb,SURFACE_DEPTH_REACHED
$STATE,22017,begin surface coast
$FINISH,0.3,1.015203
$STATE,22039,end surface coast,CONTROL_FINISHED_OK
$STATE,22039,begin surface
$SM_CCo,22124,0.00,0.000,0,0,1650,307.12
$SM_GC,1.24,11.82,0.00,0.00,0.032,0.000,0.000,52,2638,1650,-10.92,-0.34,307.12
$IRIDIUM_FIX,6230.49,-1325.52,300698,212129
$TT8_MAMPS,0.029146
$HUMID,1776
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.4,80.4
$24V_AH,23.3,37.103
$10V_AH,10.1,20.834
$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,26.400,140.500,391.050,0.000,0.000,27.749,28.049,171.445,7.000,0.000,0.000,17.244,1885.397,17282.652,485.544,2233.039,594.640,33.368,1588.247,0.000,2181.870,0.000,48.697,0.000
$DEVICE_MAMPS,158.002,105.846,1254.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,739.352,779.064,589.877,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53752,1059
$CAP_FILE_SIZE,141817,0
$CFSIZE,260165632,245473280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060409,104706,6305.297,-1319.158,38,1.2,38,-12.2