version: 66.04
glider: 103
mission: 11
dive: 339
start: 5 6 109 12 11 52
data:
$ID,103
$MISSION,11
$DIVE,339
$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,412.5
$T_MISSION,440
$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,-150419.41
$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,2675
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,120207,6236.399,-1219.397,39,0.8,39,-11.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-61.4
$GPS2,121102,6236.360,-1219.506,12,1.8,12,-11.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P1
$TGT_LATLONG,6215.000,-1130.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.236,0.057
$KALMAN_X,-117603.3,1164.8,391.1,150775.1,-11578.3
$KALMAN_Y,21712.6,-525.9,-507.4,-46881.3,4004.9
$MHEAD_RNG_PITCHd_Wd,88.0,58201,-14.9,-8.000
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,79,0.00,0.00,-58.60,0.000,2,0.000,0.000,47,2680,3342
$GC,82,-1.42,-146.6,4.7,-8.7,3,99,11.90,0.00,-2.53,0.000,6,0.160,0.000,2126,2680,3502
$GC,410,-1.42,-146.6,47.7,-10.6,19,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2680,3502
$GC,717,-1.42,-146.6,80.8,-10.8,34,720,0.00,2.10,0.00,0.000,4,0.000,0.083,2126,3784,3502
$GC,773,-1.42,-146.6,87.1,-10.7,36,777,0.00,1.98,0.00,0.000,6,0.000,0.048,2126,2671,3502
$GC,1095,-1.42,-146.6,119.7,-9.7,52,1098,0.00,2.12,0.00,0.000,4,0.000,0.080,2126,3786,3502
$GC,1141,-1.42,-146.6,124.5,-10.5,54,1145,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2658,3502
$GC,1474,-1.42,-146.6,160.0,-10.5,70,1478,0.00,2.15,0.00,0.000,4,0.000,0.079,2126,3787,3502
$GC,1524,-1.42,-146.6,165.4,-11.4,72,1528,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2665,3502
$GC,1852,-1.42,-146.6,199.6,-10.6,88,1857,0.00,2.15,0.00,0.000,4,0.000,0.080,2126,3792,3502
$GC,1902,-1.42,-146.6,205.3,-11.7,90,1905,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2669,3502
$GC,2229,-1.42,-146.6,239.6,-10.8,106,2233,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3793,3502
$GC,2298,-1.42,-146.6,247.3,-11.3,109,2302,0.00,1.98,0.00,0.000,6,0.000,0.046,2126,2672,3502
$GC,2630,-1.42,-146.6,283.1,-10.8,125,2634,0.00,2.12,0.00,0.000,4,0.000,0.083,2126,3790,3502
$GC,2728,-1.42,-146.6,293.9,-11.2,129,2731,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2670,3502
$GC,3055,-1.42,-146.6,327.9,-10.6,145,3059,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3785,3502
$GC,3133,-1.42,-146.6,336.7,-11.1,148,3137,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2669,3502
$GC,3455,-1.42,-146.6,372.1,-11.3,164,3459,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3784,3502
$GC,3528,-1.42,-146.6,380.5,-11.0,167,3532,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2668,3502
$GC,3855,-1.42,-146.6,415.5,-10.6,183,3859,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3790,3502
$GC,3950,-1.42,-146.6,426.3,-11.2,187,3954,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2668,3502
$GC,4277,-1.42,-146.6,461.4,-10.7,203,4281,0.00,2.12,0.00,0.000,4,0.000,0.081,2127,3787,3502
$GC,4346,-1.42,-146.6,469.2,-11.4,206,4350,0.00,1.98,0.00,0.000,6,0.000,0.046,2126,2667,3502
$GC,4679,-1.42,-146.6,505.6,-11.1,222,4683,0.00,2.15,0.00,0.000,4,0.000,0.084,2126,3792,3502
$GC,4763,-1.42,-146.6,515.6,-12.0,225,4770,0.00,2.00,0.00,0.000,6,0.000,0.045,2126,2649,3502
$GC,5083,-1.42,-146.6,550.1,-10.8,241,5086,0.00,2.17,0.00,0.000,4,0.000,0.081,2126,3790,3502
$GC,5178,-1.42,-146.6,561.4,-11.4,245,5182,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2672,3502
$GC,5506,-1.42,-146.6,594.9,-10.0,261,5509,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3789,3502
$GC,5607,-1.42,-146.6,605.8,-10.6,265,5611,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2665,3502
$GC,5930,-1.42,-146.6,638.6,-10.2,281,5933,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3793,3502
$GC,6026,-1.42,-146.6,648.9,-10.3,285,6030,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2672,3502
$GC,6354,-1.42,-146.6,681.8,-10.2,301,6357,0.00,2.12,0.00,0.000,4,0.000,0.080,2126,3789,3502
$GC,6404,-1.42,-146.6,687.3,-10.7,303,6408,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2669,3502
$GC,6732,-1.42,-146.6,717.8,-8.9,319,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2669,3502
$GC,7040,-1.42,-146.6,745.5,-9.1,334,7044,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3784,3502
$GC,7192,-1.42,-146.6,760.3,-9.3,340,7198,0.00,2.00,0.00,0.000,6,0.000,0.044,2126,2643,3502
$GC,7509,-1.42,-146.6,789.3,-9.1,356,7513,0.00,2.20,0.00,0.000,4,0.000,0.083,2126,3792,3502
$GC,7548,-1.42,-146.6,793.1,-9.5,357,7554,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2670,3502
$GC,7864,-1.42,-146.6,819.7,-8.6,373,7868,0.00,2.15,0.00,0.000,4,0.000,0.084,2126,3793,3502
$GC,7898,-1.42,-146.6,822.8,-9.2,374,7902,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2674,3502
$GC,8220,-1.42,-146.6,852.0,-9.9,390,8223,0.00,2.15,0.00,0.000,4,0.000,0.087,2126,3789,3501
$GC,8283,-1.42,-146.6,858.3,-9.9,392,8289,0.00,1.98,0.00,0.000,6,0.000,0.046,2126,2671,3501
$STATE,8452,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8452,begin apogee
$GC,8461,-0.42,0.0,873.6,9.2,401,8594,1.10,0.00,127.70,1.243,6,0.094,0.000,2346,2081,2902
$STATE,8595,end apogee,CONTROL_FINISHED_OK
$STATE,8595,begin climb
$GC,8598,1.42,146.6,876.9,0.0,408,8731,1.88,2.67,124.22,1.235,4,0.055,0.059,2748,654,2305
$GC,8990,1.48,190.2,863.6,6.4,425,9039,0.00,2.53,38.65,1.186,6,0.000,0.036,2748,2096,2126
$GC,9350,1.51,219.2,838.1,6.9,443,9382,0.00,2.70,26.08,1.166,4,0.000,0.058,2748,659,2007
$GC,9562,1.57,266.7,823.7,6.3,452,9610,0.15,2.50,41.53,1.182,6,0.042,0.038,2793,2080,1814
$GC,9923,1.57,266.7,789.2,9.9,470,9928,0.00,2.62,0.00,0.000,4,0.000,0.058,2793,652,1814
$GC,10080,1.57,266.7,771.6,11.5,477,10084,0.00,2.53,0.00,0.000,6,0.000,0.038,2793,2083,1813
$GC,10401,1.57,266.7,739.1,10.5,493,10405,0.00,2.60,0.00,0.000,4,0.000,0.057,2793,655,1812
$GC,10441,1.57,266.7,734.7,10.7,495,10445,0.00,2.50,0.00,0.000,6,0.000,0.037,2793,2086,1813
$GC,10774,1.57,266.7,697.8,11.5,511,10778,0.00,2.60,0.00,0.000,4,0.000,0.055,2793,657,1813
$GC,10875,1.57,266.7,685.7,12.4,515,10881,0.00,2.50,0.00,0.000,6,0.000,0.035,2793,2088,1813
$GC,11191,1.57,266.7,650.7,10.8,531,11195,0.00,2.60,0.00,0.000,4,0.000,0.054,2793,654,1813
$GC,11253,1.57,266.7,643.6,11.3,534,11257,0.00,2.47,0.00,0.000,6,0.000,0.035,2793,2077,1812
$GC,11580,1.57,266.7,608.9,10.4,550,11584,0.00,2.58,0.00,0.000,4,0.000,0.054,2793,654,1812
$GC,11642,1.57,266.7,602.0,11.0,553,11646,0.00,2.47,0.00,0.000,6,0.000,0.035,2793,2076,1812
$GC,11969,1.57,266.7,569.6,9.9,569,11973,0.00,2.58,0.00,0.000,4,0.000,0.054,2793,652,1812
$GC,12064,1.57,266.7,559.3,10.3,573,12068,0.00,2.50,0.00,0.000,6,0.000,0.035,2793,2087,1812
$GC,12380,1.57,266.7,528.3,9.7,588,12384,0.00,2.60,0.00,0.000,4,0.000,0.054,2793,652,1813
$GC,12435,1.57,266.7,522.6,9.5,590,12442,0.00,2.47,0.00,0.000,6,0.000,0.035,2793,2081,1813
$GC,12752,1.57,266.7,493.7,9.0,606,12756,0.00,2.58,0.00,0.000,4,0.000,0.054,2793,653,1813
$GC,12814,1.57,266.7,487.7,9.6,609,12818,0.00,2.47,0.00,0.000,6,0.000,0.035,2793,2085,1813
$GC,13146,1.57,266.7,457.3,9.2,625,13151,0.00,2.60,0.00,0.000,4,0.000,0.054,2793,648,1814
$GC,13213,1.57,266.7,450.6,10.4,628,13217,0.00,2.50,0.00,0.000,6,0.000,0.035,2793,2081,1814
$GC,13534,1.57,266.7,420.9,9.2,644,13538,0.00,2.60,0.00,0.000,4,0.000,0.055,2793,648,1814
$GC,13601,1.57,266.7,414.2,9.4,647,13605,0.00,2.50,0.00,0.000,6,0.000,0.036,2793,2079,1814
$GC,13923,1.57,266.7,385.2,9.0,663,13927,0.00,2.58,0.00,0.000,4,0.000,0.055,2793,655,1814
$GC,13991,1.57,266.7,378.7,9.3,666,13996,0.00,2.50,0.00,0.000,6,0.000,0.037,2793,2086,1814
$GC,14319,1.57,266.7,349.1,9.2,682,14323,0.00,2.60,0.00,0.000,4,0.000,0.056,2793,650,1815
$GC,14404,1.57,266.7,340.7,10.4,686,14409,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2079,1815
$GC,14732,1.57,266.7,308.5,9.8,702,14736,0.00,2.58,0.00,0.000,4,0.000,0.056,2793,655,1815
$GC,14810,1.57,266.7,300.3,9.9,705,14816,0.00,2.47,0.00,0.000,6,0.000,0.038,2793,2078,1815
$GC,15126,1.57,266.7,268.8,10.1,721,15130,0.00,2.58,0.00,0.000,4,0.000,0.056,2793,655,1815
$GC,15216,1.57,266.7,259.3,11.0,725,15220,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2083,1815
$GC,15538,1.57,266.7,228.1,9.7,741,15542,0.00,2.60,0.00,0.000,4,0.000,0.057,2793,649,1815
$GC,15604,1.57,266.7,221.0,10.9,744,15609,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2076,1815
$GC,15926,1.57,266.7,190.1,9.4,760,15931,0.00,2.58,0.00,0.000,4,0.000,0.057,2793,656,1815
$GC,16006,1.57,266.7,182.3,9.8,763,16012,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2081,1815
$GC,16322,1.57,266.7,153.7,9.0,779,16327,0.00,2.60,0.00,0.000,4,0.000,0.056,2793,649,1815
$GC,16401,1.57,266.7,145.9,10.3,782,16408,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2081,1815
$GC,16719,1.57,266.7,116.4,9.2,798,16723,0.00,2.60,0.00,0.000,4,0.000,0.058,2793,650,1815
$GC,16814,1.57,266.7,106.9,9.6,802,16818,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2075,1815
$GC,17132,1.57,266.7,76.7,9.6,817,17136,0.00,2.58,0.00,0.000,4,0.000,0.058,2793,653,1815
$GC,17217,1.57,266.7,67.9,9.6,821,17221,0.00,2.50,0.00,0.000,6,0.000,0.038,2793,2081,1815
$GC,17545,1.57,266.7,36.1,9.8,837,17549,0.00,2.60,0.00,0.000,4,0.000,0.061,2793,654,1816
$GC,17645,1.57,266.7,25.7,9.5,841,17651,0.00,2.50,0.00,0.000,6,0.000,0.040,2793,2076,1816
$STATE,17875,end climb,SURFACE_DEPTH_REACHED
$STATE,17876,begin surface coast
$FINISH,0.4,1.012062
$STATE,17897,end surface coast,CONTROL_FINISHED_OK
$STATE,17898,begin surface
$SM_CCo,17983,0.00,0.000,0,0,1815,266.89
$SM_GC,1.64,12.02,0.00,0.00,0.028,0.000,0.000,42,2680,1815,-10.94,0.17,266.89
$IRIDIUM_FIX,6211.90,-1219.06,310798,121256
$TT8_MAMPS,0.028379
$HUMID,1777
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.6,57.6
$24V_AH,23.1,56.613
$10V_AH,10.1,32.594
$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,27.050,192.700,358.175,0.000,0.000,53.716,53.548,235.428,7.250,0.000,0.000,12.351,1653.028,13430.275,482.775,2228.521,717.809,33.350,1617.056,0.000,2176.265,0.000,51.202,0.000
$DEVICE_MAMPS,160.303,89.739,1242.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,594.463,635.606,481.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44216,854
$CAP_FILE_SIZE,144067,0
$CFSIZE,260165632,236965888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060509,171256,6235.799,-1216.919,23,2.7,42,-11.4