version: 66.04
glider: 103
mission: 11
dive: 340
start: 5 6 109 17 23 6
data:
$ID,103
$MISSION,11
$DIVE,340
$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,-150454.84
$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,13
$R_STBD_OVSHOOT,20
$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
$GPS1,171256,6235.799,-1216.919,23,2.7,42,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-61.3
$GPS2,172215,6235.844,-1216.969,14,2.7,33,-11.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P1
$TGT_LATLONG,6215.000,-1130.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.192,-0.149
$KALMAN_X,-120477.1,899.6,724.4,155740.6,-10627.0
$KALMAN_Y,18630.3,-699.2,-304.6,-44765.1,476.9
$MHEAD_RNG_PITCHd_Wd,139.2,55952,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,60,0.00,0.00,-41.67,0.000,2,0.000,0.000,42,2681,3159
$GC,63,-1.42,-146.6,3.5,-10.0,2,87,11.77,2.70,-5.95,0.000,4,0.159,0.077,2125,1257,3501
$GC,194,-1.42,-146.6,22.4,-10.6,7,200,0.00,2.67,0.00,0.000,6,0.000,0.072,2125,2674,3502
$GC,512,-1.42,-146.6,58.0,-11.3,23,516,0.00,2.10,0.00,0.000,4,0.000,0.083,2125,3787,3502
$GC,585,-1.42,-146.6,66.9,-11.8,26,589,0.00,2.03,0.00,0.000,6,0.000,0.051,2125,2662,3502
$GC,914,-1.42,-146.6,105.1,-11.9,42,915,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2662,3502
$GC,1222,-1.42,-146.6,142.7,-11.9,57,1225,0.00,2.17,0.00,0.000,4,0.000,0.082,2125,3792,3502
$GC,1284,-1.42,-146.6,150.2,-11.9,59,1290,0.00,2.00,0.00,0.000,6,0.000,0.048,2125,2662,3502
$GC,1600,-1.42,-146.6,186.3,-11.2,75,1603,0.00,2.15,0.00,0.000,4,0.000,0.080,2125,3787,3502
$GC,1691,-1.42,-146.6,196.8,-11.5,79,1695,0.00,1.98,0.00,0.000,6,0.000,0.048,2125,2672,3502
$GC,2024,-1.42,-146.6,233.9,-11.0,95,2027,0.00,2.15,0.00,0.000,4,0.000,0.084,2125,3790,3501
$GC,2124,-1.42,-146.6,245.7,-11.9,99,2128,0.00,1.98,0.00,0.000,6,0.000,0.044,2125,2673,3501
$GC,2446,-1.42,-146.6,280.9,-10.7,115,2450,0.00,2.12,0.00,0.000,4,0.000,0.080,2125,3786,3502
$GC,2547,-1.42,-146.6,292.5,-11.6,119,2551,0.00,1.95,0.00,0.000,6,0.000,0.041,2125,2674,3501
$GC,2872,-1.42,-146.6,327.1,-11.0,135,2875,0.00,2.12,0.00,0.000,4,0.000,0.081,2125,3786,3502
$GC,2962,-1.42,-146.6,337.6,-11.1,139,2966,0.00,1.98,0.00,0.000,6,0.000,0.044,2125,2663,3502
$GC,3295,-1.42,-146.6,374.7,-11.1,155,3300,0.00,2.15,0.00,0.000,4,0.000,0.082,2125,3787,3502
$GC,3408,-1.42,-146.6,387.8,-11.9,160,3412,0.00,1.98,0.00,0.000,6,0.000,0.045,2125,2664,3502
$GC,3741,-1.42,-146.6,424.2,-10.8,176,3746,0.00,2.15,0.00,0.000,4,0.000,0.082,2125,3790,3502
$GC,3848,-1.42,-146.6,436.4,-11.7,180,3854,0.00,2.00,0.00,0.000,6,0.000,0.046,2125,2675,3501
$GC,4164,-1.42,-146.6,470.4,-10.7,196,4168,0.00,2.10,0.00,0.000,4,0.000,0.078,2125,3786,3502
$GC,4271,-1.42,-146.6,482.0,-11.0,200,4277,0.00,2.00,0.00,0.000,6,0.000,0.045,2125,2670,3502
$GC,4587,-1.42,-146.6,513.7,-10.0,216,4591,0.00,2.12,0.00,0.000,4,0.000,0.078,2125,3791,3502
$GC,4643,-1.42,-146.6,519.9,-11.1,218,4647,0.00,1.98,0.00,0.000,6,0.000,0.044,2125,2662,3502
$GC,4966,-1.42,-146.6,552.0,-10.2,234,4970,0.00,2.15,0.00,0.000,4,0.000,0.080,2125,3793,3502
$GC,5067,-1.42,-146.6,562.9,-10.5,238,5071,0.00,1.95,0.00,0.000,6,0.000,0.041,2125,2674,3502
$GC,5388,-1.42,-146.6,595.8,-10.3,254,5392,0.00,2.12,0.00,0.000,4,0.000,0.078,2125,3793,3502
$GC,5473,-1.42,-146.6,604.9,-10.9,257,5479,0.00,1.95,0.00,0.000,6,0.000,0.041,2125,2674,3502
$GC,5789,-1.42,-146.6,637.1,-10.4,273,5793,0.00,2.10,0.00,0.000,4,0.000,0.078,2125,3786,3502
$GC,5835,-1.42,-146.6,642.0,-10.8,275,5839,0.00,1.92,0.00,0.000,6,0.000,0.041,2125,2677,3502
$GC,6169,-1.42,-146.6,676.0,-10.2,291,6173,0.00,2.10,0.00,0.000,4,0.000,0.078,2125,3789,3502
$GC,6315,-1.42,-146.6,691.9,-11.3,297,6319,0.00,1.92,0.00,0.000,6,0.000,0.041,2125,2675,3502
$GC,6637,-1.42,-146.6,722.8,-9.7,313,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2675,3502
$GC,6946,-1.42,-146.6,754.0,-10.5,328,6949,0.00,2.10,0.00,0.000,4,0.000,0.081,2125,3786,3501
$GC,7120,-1.42,-146.6,772.8,-11.3,335,7126,0.00,1.98,0.00,0.000,6,0.000,0.041,2125,2672,3501
$GC,7436,-1.42,-146.6,803.1,-9.8,351,7440,0.00,2.12,0.00,0.000,4,0.000,0.081,2125,3791,3501
$GC,7550,-1.42,-146.6,813.6,-8.9,356,7554,0.00,1.95,0.00,0.000,6,0.000,0.044,2125,2676,3501
$GC,7883,-1.42,-146.6,845.1,-10.7,372,7886,0.00,2.12,0.00,0.000,4,0.000,0.084,2125,3785,3501
$GC,7922,-1.42,-146.6,849.9,-11.2,373,7928,0.00,1.98,0.00,0.000,6,0.000,0.045,2125,2664,3500
$GC,8238,-1.42,-146.6,879.7,-8.8,389,8241,0.00,2.15,0.00,0.000,4,0.000,0.086,2125,3785,3500
$STATE,8268,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8268,begin apogee
$GC,8279,-0.42,0.0,883.5,11.1,390,8412,1.08,0.00,128.02,1.249,6,0.100,0.000,2341,2069,2902
$STATE,8412,end apogee,CONTROL_FINISHED_OK
$STATE,8412,begin climb
$GC,8416,1.42,146.6,890.1,0.0,397,8550,1.90,2.62,125.93,1.214,4,0.058,0.058,2746,662,2304
$GC,8778,1.50,208.5,875.7,5.7,413,8839,0.00,2.53,54.50,1.194,6,0.000,0.037,2746,2102,2052
$GC,9160,1.54,241.3,850.8,6.8,432,9195,0.12,2.62,29.12,1.170,4,0.046,0.061,2785,3481,1918
$GC,9225,1.54,241.3,845.0,10.7,435,9229,0.00,2.53,0.00,0.000,6,0.000,0.039,2785,2065,1918
$GC,9552,1.54,241.3,813.2,9.5,451,9556,0.00,2.55,0.00,0.000,4,0.000,0.059,2785,665,1917
$GC,9614,1.54,241.3,806.4,10.5,454,9618,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2075,1917
$GC,9941,1.54,241.3,775.9,8.8,470,9945,0.00,2.58,0.00,0.000,4,0.000,0.058,2785,671,1917
$GC,9968,1.54,241.3,773.2,9.9,471,9972,0.00,2.47,0.00,0.000,6,0.000,0.037,2785,2079,1917
$GC,10284,1.54,241.3,744.7,9.3,486,10289,0.00,2.58,0.00,0.000,4,0.000,0.056,2785,668,1916
$GC,10362,1.54,241.3,737.1,9.9,489,10368,0.00,2.47,0.00,0.000,6,0.000,0.037,2785,2082,1916
$GC,10678,1.54,241.3,709.6,8.4,505,10683,0.00,2.58,0.00,0.000,4,0.000,0.054,2785,664,1916
$GC,10736,1.54,241.3,704.3,10.2,507,10742,0.00,2.47,0.00,0.000,6,0.000,0.036,2785,2082,1916
$GC,11052,1.54,241.3,675.2,9.6,523,11053,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2083,1915
$GC,11361,1.54,241.3,645.0,10.1,538,11366,0.00,2.55,0.00,0.000,4,0.000,0.054,2785,672,1916
$GC,11440,1.54,241.3,636.7,10.0,541,11447,0.00,2.45,0.00,0.000,6,0.000,0.035,2785,2082,1916
$GC,11756,1.54,241.3,606.5,9.4,557,11760,0.00,2.55,0.00,0.000,4,0.000,0.054,2785,672,1917
$GC,11856,1.54,241.3,596.5,9.9,561,11863,0.00,2.42,0.00,0.000,6,0.000,0.034,2785,2078,1917
$GC,12173,1.54,241.3,568.2,8.7,577,12177,0.00,2.55,0.00,0.000,4,0.000,0.054,2785,665,1917
$GC,12318,1.54,241.3,555.0,8.9,583,12324,0.00,2.45,0.00,0.000,6,0.000,0.035,2785,2078,1916
$GC,12634,1.54,241.3,528.2,8.4,599,12639,0.00,2.55,0.00,0.000,4,0.000,0.054,2785,662,1917
$GC,12719,1.54,241.3,520.5,8.6,603,12724,0.00,2.45,0.00,0.000,6,0.000,0.035,2785,2074,1917
$GC,13047,1.54,241.3,491.9,8.9,619,13051,0.00,2.55,0.00,0.000,4,0.000,0.054,2785,662,1917
$GC,13114,1.54,241.3,485.7,9.0,622,13118,0.00,2.47,0.00,0.000,6,0.000,0.035,2784,2084,1917
$GC,13435,1.54,241.3,457.0,9.1,638,13439,0.00,2.55,0.00,0.000,4,0.000,0.054,2785,670,1918
$GC,13542,1.54,241.3,446.9,10.1,643,13546,0.00,2.45,0.00,0.000,6,0.000,0.035,2785,2081,1918
$GC,13869,1.54,241.3,418.5,8.7,659,13873,0.00,2.55,0.00,0.000,4,0.000,0.054,2785,668,1918
$GC,13969,1.54,241.3,409.4,8.3,663,13975,0.00,2.45,0.00,0.000,6,0.000,0.035,2785,2076,1918
$GC,14285,1.54,241.3,383.1,8.4,679,14290,0.00,2.55,0.00,0.000,4,0.000,0.054,2785,668,1919
$GC,14364,1.54,241.3,375.8,8.9,682,14370,0.00,2.45,0.00,0.000,6,0.000,0.036,2785,2074,1919
$GC,14680,1.54,241.3,348.7,8.6,698,14684,0.00,2.55,0.00,0.000,4,0.000,0.055,2785,661,1919
$GC,14765,1.54,241.3,340.9,9.1,702,14769,0.00,2.47,0.00,0.000,6,0.000,0.037,2785,2082,1919
$GC,15091,1.54,241.3,311.7,9.0,718,15096,0.00,2.55,0.00,0.000,4,0.000,0.055,2785,669,1919
$GC,15193,1.54,241.3,302.4,8.9,722,15199,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2085,1919
$GC,15508,1.54,241.3,276.0,8.2,738,15513,0.00,2.58,0.00,0.000,4,0.000,0.056,2784,665,1919
$GC,15594,1.54,241.3,268.5,8.4,742,15598,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2081,1919
$GC,15921,1.54,241.3,241.2,8.3,758,15925,0.00,2.58,0.00,0.000,4,0.000,0.058,2785,662,1919
$GC,16006,1.54,241.3,233.7,8.6,762,16011,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2078,1919
$GC,16333,1.54,241.3,206.1,8.1,778,16338,0.00,2.55,0.00,0.000,4,0.000,0.057,2785,670,1919
$GC,16448,1.54,241.3,196.5,9.0,783,16452,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2083,1919
$GC,16769,1.54,241.3,169.1,8.6,799,16773,0.00,2.58,0.00,0.000,4,0.000,0.057,2785,663,1919
$GC,16831,1.54,241.3,163.9,8.4,802,16835,0.00,2.47,0.00,0.000,6,0.000,0.039,2785,2075,1919
$GC,17158,1.54,241.3,137.6,8.2,818,17162,0.00,2.55,0.00,0.000,4,0.000,0.058,2785,670,1920
$GC,17213,1.54,241.3,132.6,9.9,820,17220,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2082,1920
$GC,17530,1.54,241.3,106.3,8.4,836,17534,0.00,2.58,0.00,0.000,4,0.000,0.058,2785,665,1919
$GC,17603,1.54,241.3,99.6,9.1,839,17607,0.00,2.47,0.00,0.000,6,0.000,0.039,2785,2076,1920
$GC,17921,1.54,241.3,71.3,9.1,854,17925,0.00,2.58,0.00,0.000,4,0.000,0.058,2785,659,1919
$GC,17986,1.54,241.3,65.5,9.1,857,17990,0.00,2.50,0.00,0.000,6,0.000,0.039,2785,2086,1919
$GC,18313,1.54,241.3,36.7,9.2,873,18317,0.00,2.60,0.00,0.000,4,0.000,0.061,2785,662,1920
$GC,18368,1.54,241.3,31.3,9.7,875,18375,0.00,2.50,0.00,0.000,6,0.000,0.040,2785,2086,1920
$STATE,18682,end climb,SURFACE_DEPTH_REACHED
$STATE,18682,begin surface coast
$FINISH,0.1,1.016739
$STATE,18704,end surface coast,CONTROL_FINISHED_OK
$STATE,18704,begin surface
$SM_CCo,18790,0.00,0.000,0,0,1919,241.13
$SM_GC,1.57,12.12,0.00,0.00,0.035,0.000,0.000,47,2685,1919,-10.94,0.28,241.13
$IRIDIUM_FIX,6211.90,-1218.07,310798,171750
$TT8_MAMPS,0.029146
$HUMID,1790
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.1,68.3
$24V_AH,23.2,56.750
$10V_AH,10.1,32.686
$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,27.000,202.400,337.575,0.000,0.000,55.393,59.203,220.956,7.500,0.000,0.000,34.815,1725.080,14057.703,470.568,2381.462,706.919,33.357,1657.206,0.000,2297.462,0.000,56.649,0.000
$DEVICE_MAMPS,158.769,85.904,1248.676,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,618.650,659.826,498.849,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44228,892
$CAP_FILE_SIZE,149682,0
$CFSIZE,260165632,236896256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060509,223730,6234.085,-1213.699,36,1.7,36,-11.4