version: 66.04
glider: 103
mission: 11
dive: 347
start: 5 8 109 6 3 4
data:
$ID,103
$MISSION,11
$DIVE,347
$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,-150605.73
$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,27
$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
$GPS1,055537,6222.491,-1140.519,53,1.1,53,-11.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-46.6
$GPS2,060214,6222.459,-1140.419,15,1.4,15,-11.0
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P1
$TGT_LATLONG,6215.000,-1130.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.213,-0.117
$KALMAN_X,-120469.1,303.6,-611.9,188608.7,254.7
$KALMAN_Y,3616.8,416.8,510.2,-56509.9,-5797.8
$MHEAD_RNG_PITCHd_Wd,129.6,16479,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,99,0.00,0.00,-81.15,0.000,2,0.000,0.000,54,2669,3216
$GC,103,-1.42,-146.6,3.8,-4.9,4,126,11.85,2.60,-4.82,0.000,4,0.163,0.075,2128,1261,3500
$GC,379,-1.42,-146.6,44.1,-14.0,16,384,0.00,2.67,0.00,0.000,6,0.000,0.070,2129,2683,3500
$GC,702,-1.42,-146.6,82.7,-11.5,32,706,0.00,2.62,0.00,0.000,4,0.000,0.064,2128,1266,3500
$GC,734,-1.42,-146.6,86.8,-10.8,33,741,0.00,2.62,0.00,0.000,6,0.000,0.069,2129,2676,3500
$GC,1052,-1.42,-146.6,120.0,-10.0,49,1056,0.00,2.10,0.00,0.000,4,0.000,0.081,2128,3786,3500
$GC,1086,-1.42,-146.6,123.7,-10.1,50,1090,0.00,1.98,0.00,0.000,6,0.000,0.048,2129,2683,3500
$GC,1407,-1.42,-146.6,157.7,-10.7,66,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2683,3500
$GC,1717,-1.42,-146.6,189.7,-10.9,81,1720,0.00,2.10,0.00,0.000,4,0.000,0.078,2129,3790,3500
$GC,1763,-1.42,-146.6,195.1,-11.7,83,1767,0.00,1.98,0.00,0.000,6,0.000,0.049,2129,2674,3499
$GC,2095,-1.42,-146.6,231.2,-10.6,99,2099,0.00,2.12,0.00,0.000,4,0.000,0.079,2129,3788,3499
$GC,2164,-1.42,-146.6,238.7,-10.3,102,2168,0.00,2.00,0.00,0.000,6,0.000,0.047,2128,2662,3499
$GC,2497,-1.42,-146.6,273.9,-11.0,118,2501,0.00,2.15,0.00,0.000,4,0.000,0.082,2129,3787,3499
$GC,2581,-1.42,-146.6,283.6,-11.6,121,2587,0.00,2.00,0.00,0.000,6,0.000,0.050,2129,2668,3500
$GC,2897,-1.42,-146.6,316.8,-10.2,137,2901,0.00,2.12,0.00,0.000,4,0.000,0.081,2128,3783,3499
$GC,2948,-1.42,-146.6,321.9,-10.2,139,2952,0.00,1.98,0.00,0.000,6,0.000,0.048,2129,2668,3500
$GC,3275,-1.42,-146.6,354.0,-9.8,155,3279,0.00,2.12,0.00,0.000,4,0.000,0.081,2128,3784,3499
$GC,3344,-1.42,-146.6,360.8,-10.2,158,3347,0.00,1.98,0.00,0.000,6,0.000,0.045,2128,2664,3500
$GC,3677,-1.42,-146.6,392.5,-9.7,174,3680,0.00,2.12,0.00,0.000,4,0.000,0.080,2129,3784,3499
$GC,3755,-1.42,-146.6,400.7,-10.4,177,3759,0.00,1.98,0.00,0.000,6,0.000,0.046,2128,2669,3499
$GC,4077,-1.42,-146.6,431.4,-9.5,193,4081,0.00,2.12,0.00,0.000,4,0.000,0.080,2128,3783,3499
$GC,4127,-1.42,-146.6,436.6,-9.9,195,4131,0.00,1.98,0.00,0.000,6,0.000,0.045,2129,2666,3500
$GC,4455,-1.42,-146.6,469.9,-10.6,211,4458,0.00,2.12,0.00,0.000,4,0.000,0.079,2128,3784,3499
$GC,4539,-1.42,-146.6,479.2,-10.9,214,4545,0.00,1.95,0.00,0.000,6,0.000,0.043,2128,2668,3499
$GC,4855,-1.42,-146.6,511.6,-10.4,230,4859,0.00,2.12,0.00,0.000,4,0.000,0.077,2128,3793,3499
$GC,4924,-1.42,-146.6,519.0,-10.6,233,4927,0.00,1.98,0.00,0.000,6,0.000,0.044,2129,2666,3499
$GC,5257,-1.42,-146.6,553.2,-10.3,249,5261,0.00,2.12,0.00,0.000,4,0.000,0.078,2129,3790,3499
$GC,5318,-1.42,-146.6,560.0,-10.8,251,5325,0.00,1.98,0.00,0.000,6,0.000,0.043,2129,2677,3499
$GC,5634,-1.42,-146.6,590.7,-9.4,267,5638,0.00,2.10,0.00,0.000,4,0.000,0.080,2128,3786,3499
$GC,5685,-1.42,-146.6,595.8,-9.8,269,5689,0.00,1.95,0.00,0.000,6,0.000,0.044,2129,2676,3499
$GC,6012,-1.42,-146.6,627.9,-10.3,285,6016,0.00,2.12,0.00,0.000,4,0.000,0.081,2129,3790,3499
$GC,6068,-1.42,-146.6,634.5,-11.8,287,6072,0.00,1.95,0.00,0.000,6,0.000,0.042,2128,2672,3499
$GC,6390,-1.42,-146.6,669.2,-10.7,303,6394,0.00,2.12,0.00,0.000,4,0.000,0.079,2128,3791,3499
$GC,6469,-1.42,-146.6,678.1,-11.2,306,6472,0.00,1.98,0.00,0.000,6,0.000,0.043,2129,2667,3499
$GC,6790,-1.42,-146.6,710.7,-9.7,322,6794,0.00,2.15,0.00,0.000,4,0.000,0.083,2129,3787,3499
$GC,6830,-1.42,-146.6,714.9,-11.0,323,6836,0.00,1.98,0.00,0.000,6,0.000,0.042,2129,2663,3498
$GC,7146,-1.42,-146.6,742.9,-8.9,339,7149,0.00,2.15,0.00,0.000,4,0.000,0.082,2129,3787,3499
$GC,7270,-1.42,-146.6,754.8,-9.5,344,7273,0.00,1.98,0.00,0.000,6,0.000,0.043,2129,2660,3499
$GC,7591,-1.42,-146.6,784.4,-9.6,360,7595,0.00,2.12,0.00,0.000,4,0.000,0.081,2129,3785,3499
$GC,7692,-1.42,-146.6,795.3,-11.0,364,7695,0.00,1.95,0.00,0.000,6,0.000,0.044,2128,2674,3498
$GC,8014,-1.42,-146.6,824.9,-8.7,380,8018,0.00,2.12,0.00,0.000,4,0.000,0.082,2129,3790,3498
$GC,8047,-1.42,-146.6,828.0,-9.0,381,8051,0.00,1.98,0.00,0.000,6,0.000,0.046,2129,2668,3498
$GC,8369,-1.42,-146.6,855.2,-8.4,397,8372,0.00,2.15,0.00,0.000,4,0.000,0.084,2128,3787,3497
$GC,8408,-1.42,-146.6,858.7,-8.9,398,8414,0.00,1.98,0.00,0.000,6,0.000,0.047,2128,2670,3497
$STATE,8639,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8639,begin apogee
$GC,8647,-0.42,0.0,879.4,9.2,410,8782,1.17,0.00,127.43,1.265,6,0.135,0.000,2342,2082,2902
$STATE,8782,end apogee,CONTROL_FINISHED_OK
$STATE,8782,begin climb
$GC,8786,1.42,146.6,885.5,0.0,417,8920,1.92,2.70,125.60,1.234,4,0.063,0.062,2749,652,2304
$GC,9110,1.47,187.0,876.6,6.5,432,9152,0.00,2.55,36.10,1.193,6,0.000,0.039,2749,2094,2139
$GC,9462,1.52,225.6,853.6,6.6,449,9501,0.00,0.00,34.47,1.204,6,0.000,0.000,2749,2094,1982
$GC,9811,1.52,225.6,825.1,8.5,466,9815,0.00,2.65,0.00,0.000,4,0.000,0.062,2749,659,1981
$GC,9844,1.52,225.6,821.9,9.3,467,9850,0.00,2.50,0.00,0.000,6,0.000,0.041,2749,2073,1981
$GC,10160,1.52,225.6,795.4,8.5,483,10161,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2074,1980
$GC,10469,1.52,229.9,771.9,7.8,498,10480,0.10,2.62,5.03,0.885,4,0.054,0.061,2781,3490,1964
$GC,10519,1.52,229.9,767.0,9.8,500,10524,0.00,2.55,0.00,0.000,6,0.000,0.041,2781,2062,1964
$GC,10836,1.52,229.9,736.9,9.1,515,10840,0.00,2.53,0.00,0.000,4,0.000,0.059,2781,666,1964
$GC,10876,1.52,229.9,732.9,9.9,516,10882,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2078,1964
$GC,11192,1.52,229.9,704.4,9.4,532,11196,0.00,2.58,0.00,0.000,4,0.000,0.056,2781,665,1963
$GC,11260,1.52,229.9,697.7,10.7,535,11265,0.00,2.47,0.00,0.000,6,0.000,0.035,2782,2084,1963
$GC,11582,1.52,229.9,667.1,9.3,551,11587,0.00,2.58,0.00,0.000,4,0.000,0.054,2781,660,1963
$GC,11656,1.52,229.9,659.8,10.2,554,11660,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,2085,1963
$GC,11971,1.52,229.9,631.0,8.7,569,11976,0.00,2.58,0.00,0.000,4,0.000,0.054,2781,663,1963
$GC,12050,1.52,229.9,624.0,8.4,572,12056,0.00,2.45,0.00,0.000,6,0.000,0.034,2781,2078,1963
$GC,12366,1.52,229.9,598.5,8.5,588,12370,0.00,2.55,0.00,0.000,4,0.000,0.053,2781,662,1964
$GC,12456,1.52,229.9,590.4,8.4,592,12460,0.00,2.45,0.00,0.000,6,0.000,0.034,2781,2078,1964
$GC,12777,1.52,229.9,563.5,8.2,608,12781,0.00,2.55,0.00,0.000,4,0.000,0.053,2781,661,1964
$GC,12878,1.52,229.9,554.8,8.6,612,12884,0.00,2.45,0.00,0.000,6,0.000,0.033,2781,2079,1965
$GC,13193,1.52,229.9,527.5,8.9,628,13198,0.00,2.55,0.00,0.000,4,0.000,0.052,2781,663,1965
$GC,13272,1.52,229.9,520.2,9.0,631,13278,0.00,2.45,0.00,0.000,6,0.000,0.033,2781,2082,1965
$GC,13588,1.52,229.9,493.0,8.3,647,13593,0.00,2.55,0.00,0.000,4,0.000,0.052,2781,664,1966
$GC,13678,1.52,229.9,485.0,9.0,651,13682,0.00,2.45,0.00,0.000,6,0.000,0.034,2781,2080,1966
$GC,13999,1.52,229.9,457.5,8.7,667,14004,0.00,2.55,0.00,0.000,4,0.000,0.053,2781,663,1966
$GC,14123,1.52,229.9,446.3,8.7,672,14129,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2075,1966
$GC,14439,1.52,229.9,418.2,8.9,688,14443,0.00,2.53,0.00,0.000,4,0.000,0.054,2781,667,1967
$GC,14541,1.52,229.9,408.7,9.5,692,14546,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2080,1967
$GC,14857,1.52,229.9,381.9,8.3,707,14862,0.00,2.55,0.00,0.000,4,0.000,0.054,2781,662,1967
$GC,14965,1.52,229.9,372.7,8.0,712,14969,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2082,1967
$GC,15298,1.52,229.9,343.5,9.2,728,15302,0.00,2.55,0.00,0.000,4,0.000,0.054,2781,665,1968
$GC,15387,1.52,229.9,334.8,9.5,732,15391,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2076,1968
$GC,15708,1.52,229.9,307.0,8.2,748,15713,0.00,2.55,0.00,0.000,4,0.000,0.054,2781,665,1968
$GC,15804,1.52,229.9,298.5,8.1,752,15808,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2075,1968
$GC,16120,1.53,234.2,273.6,7.8,767,16131,0.00,2.58,6.12,0.700,4,0.000,0.054,2781,663,1946
$GC,16206,1.53,234.2,266.2,9.3,771,16211,0.00,2.47,0.00,0.000,6,0.000,0.037,2781,2078,1947
$GC,16533,1.53,234.2,238.1,8.8,787,16538,0.00,2.55,0.00,0.000,4,0.000,0.056,2781,670,1947
$GC,16612,1.53,234.2,230.6,9.8,790,16619,0.00,2.45,0.00,0.000,6,0.000,0.036,2781,2084,1946
$GC,16929,1.53,234.2,202.7,8.8,806,16933,0.00,2.58,0.00,0.000,4,0.000,0.055,2781,662,1947
$GC,17008,1.53,234.2,195.4,8.3,809,17014,0.00,2.47,0.00,0.000,6,0.000,0.037,2781,2080,1947
$GC,17324,1.53,234.2,165.4,9.8,825,17329,0.00,2.55,0.00,0.000,4,0.000,0.055,2781,669,1947
$GC,17455,1.53,234.2,152.3,10.2,831,17459,0.00,2.45,0.00,0.000,6,0.000,0.037,2781,2075,1947
$GC,17784,1.53,234.2,121.4,9.2,847,17788,0.00,2.55,0.00,0.000,4,0.000,0.057,2781,662,1947
$GC,17856,1.53,234.2,114.1,9.9,850,17860,0.00,2.47,0.00,0.000,6,0.000,0.037,2782,2082,1947
$GC,18172,1.53,234.2,84.3,8.7,865,18177,0.00,2.58,0.00,0.000,4,0.000,0.058,2781,664,1947
$GC,18260,1.53,234.2,76.0,9.0,869,18264,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2080,1947
$GC,18587,1.53,234.2,42.0,10.5,885,18591,0.00,2.58,0.00,0.000,4,0.000,0.058,2781,662,1947
$GC,18649,1.53,234.2,36.2,10.6,888,18654,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2078,1947
$GC,18978,1.53,235.5,12.9,8.0,904,18982,0.00,2.58,0.00,0.000,4,0.000,0.059,2781,662,1948
$STATE,19114,end climb,SURFACE_DEPTH_REACHED
$STATE,19115,begin surface coast
$FINISH,0.2,1.027412
$STATE,19138,end surface coast,CONTROL_FINISHED_OK
$STATE,19138,begin surface
$SM_CCo,19227,0.00,0.000,0,0,1947,234.26
$SM_GC,1.84,12.15,0.00,0.00,0.037,0.000,0.000,52,2673,1947,-10.93,-0.06,234.26
$IRIDIUM_FIX,6202.67,-1142.30,020898,000014
$TT8_MAMPS,0.029146
$HUMID,1781
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,801.0,87.8
$24V_AH,23.1,57.792
$10V_AH,10.1,33.306
$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,27.200,211.800,334.750,0.000,0.000,30.570,28.234,195.705,7.000,0.000,0.000,15.411,1762.119,14339.296,513.861,2356.752,641.699,33.364,1703.463,0.000,2296.550,0.000,48.714,0.000
$DEVICE_MAMPS,162.604,84.370,1264.783,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,633.846,672.869,503.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47452,911
$CAP_FILE_SIZE,152026,0
$CFSIZE,260165632,236421120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080509,112508,6220.210,-1134.585,59,1.7,59,-10.9