version: 66.04
glider: 103
mission: 11
dive: 350
start: 5 8 109 22 45 36
data:
$ID,103
$MISSION,11
$DIVE,350
$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,-150674.81
$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,2750
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,8
$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
$GPS1,223537,6219.581,-1133.968,37,1.3,37,-10.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-57.2
$GPS2,224444,6219.541,-1133.866,13,1.4,13,-10.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.170,0.174
$KALMAN_X,-127040.3,17.7,931.4,199459.9,-4235.6
$KALMAN_Y,-945.6,239.7,831.3,-57522.8,-4329.8
$MHEAD_RNG_PITCHd_Wd,55.2,92514,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-40.92,0.000,2,0.000,0.000,42,2749,3053
$GC,63,-1.42,-146.6,3.0,-7.8,2,89,11.80,2.65,-8.25,0.000,4,0.159,0.080,2127,1339,3502
$GC,226,-1.42,-146.6,28.5,-9.4,9,231,0.00,2.70,0.00,0.000,6,0.000,0.072,2127,2762,3502
$GC,548,-1.42,-146.6,60.1,-10.0,25,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2762,3502
$GC,857,-1.42,-146.6,95.1,-11.9,40,861,0.00,2.62,0.00,0.000,4,0.000,0.063,2127,1343,3502
$GC,897,-1.42,-146.6,99.9,-11.7,42,901,0.00,2.65,0.00,0.000,6,0.000,0.068,2127,2759,3502
$GC,1224,-1.42,-146.6,135.1,-10.9,58,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2760,3502
$GC,1532,-1.42,-146.6,168.2,-10.5,73,1537,0.00,2.60,0.00,0.000,4,0.000,0.061,2127,1339,3502
$GC,1577,-1.42,-146.6,172.7,-10.4,75,1582,0.00,2.65,0.00,0.000,6,0.000,0.066,2127,2761,3502
$GC,1900,-1.42,-146.6,206.5,-10.8,91,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2761,3502
$GC,2208,-1.42,-146.6,240.5,-10.7,106,2213,0.00,2.60,0.00,0.000,4,0.000,0.060,2127,1340,3502
$GC,2236,-1.42,-146.6,243.7,-11.3,107,2241,0.00,2.62,0.00,0.000,6,0.000,0.065,2127,2751,3502
$GC,2553,-1.42,-146.6,277.4,-10.5,122,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2752,3502
$GC,2861,-1.42,-146.6,310.4,-11.0,137,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2752,3501
$GC,3171,-1.42,-146.6,344.7,-10.9,152,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2752,3501
$GC,3480,-1.42,-146.6,377.9,-10.8,167,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2752,3501
$GC,3789,-1.42,-146.6,411.6,-10.8,182,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2753,3502
$GC,4098,-1.42,-146.6,445.9,-11.1,197,4102,0.00,1.95,0.00,0.000,4,0.000,0.080,2127,3779,3501
$GC,4140,-1.42,-146.6,450.3,-11.5,198,4146,0.00,1.83,0.00,0.000,6,0.000,0.046,2127,2743,3501
$GC,4456,-1.42,-146.6,484.6,-10.6,214,4457,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2743,3501
$GC,4766,-1.42,-146.6,517.0,-10.5,229,4769,0.00,1.98,0.00,0.000,4,0.000,0.079,2127,3785,3501
$GC,4805,-1.42,-146.6,521.4,-10.9,230,4811,0.00,1.85,0.00,0.000,6,0.000,0.044,2127,2749,3501
$GC,5121,-1.42,-146.6,554.8,-10.7,246,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2749,3501
$GC,5431,-1.42,-146.6,588.1,-10.8,261,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2749,3501
$GC,5740,-1.42,-146.6,620.4,-10.5,276,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2749,3501
$GC,6049,-1.42,-146.6,652.5,-10.2,291,6050,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2749,3501
$GC,6359,-1.42,-146.6,685.8,-10.9,306,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2749,3501
$GC,6668,-1.42,-146.6,718.7,-10.7,321,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2749,3501
$GC,6977,-1.42,-146.6,749.3,-10.1,336,6978,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2749,3500
$GC,7286,-1.42,-146.6,779.9,-9.7,351,7291,0.00,2.55,0.00,0.000,4,0.000,0.059,2127,1333,3500
$GC,7337,-1.42,-146.6,784.7,-9.8,353,7342,0.00,2.62,0.00,0.000,6,0.000,0.061,2127,2761,3500
$GC,7653,-1.42,-146.6,813.8,-9.3,368,7657,0.00,2.58,0.00,0.000,4,0.000,0.057,2127,1340,3500
$GC,7697,-1.42,-146.6,818.0,-9.9,370,7702,0.00,2.60,0.00,0.000,6,0.000,0.058,2127,2763,3500
$GC,8020,-1.42,-146.6,848.2,-9.5,386,8024,0.00,2.60,0.00,0.000,4,0.000,0.059,2127,1334,3500
$GC,8059,-1.42,-146.6,852.0,-9.4,388,8064,0.00,2.62,0.00,0.000,6,0.000,0.063,2127,2760,3499
$GC,8386,-1.42,-146.6,881.2,-9.4,404,8391,0.00,2.60,0.00,0.000,4,0.000,0.060,2127,1339,3499
$GC,8450,-1.42,-146.6,886.1,-9.2,407,8454,0.00,2.62,0.00,0.000,6,0.000,0.067,2127,2750,3499
$STATE,8548,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8548,begin apogee
$GC,8557,-0.42,0.0,895.1,9.1,412,8690,1.10,0.00,127.90,1.267,6,0.097,0.000,2345,1996,2902
$STATE,8690,end apogee,CONTROL_FINISHED_OK
$STATE,8691,begin climb
$GC,8694,1.42,146.6,900.4,0.0,419,8828,1.88,2.67,125.47,1.243,4,0.054,0.062,2748,583,2304
$GC,9089,1.46,181.1,884.5,6.7,437,9126,0.00,2.53,31.23,1.193,6,0.000,0.038,2748,2019,2163
$GC,9436,1.51,219.9,860.5,6.6,453,9478,0.00,2.72,34.08,1.217,4,0.000,0.061,2748,589,2005
$GC,9687,1.51,219.9,840.9,8.1,464,9691,0.00,2.50,0.00,0.000,6,0.000,0.039,2748,2003,2004
$GC,10008,1.52,226.3,817.4,7.8,480,10023,0.10,2.65,6.97,1.002,4,0.052,0.059,2781,3402,1979
$GC,10040,1.52,226.3,814.7,8.9,481,10044,0.00,2.53,0.00,0.000,6,0.000,0.041,2781,1994,1979
$GC,10357,1.52,226.3,788.9,8.5,496,10361,0.00,2.55,0.00,0.000,4,0.000,0.060,2781,596,1978
$GC,10412,1.52,226.3,783.7,9.1,498,10419,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,2011,1978
$GC,10728,1.52,226.3,757.4,8.7,514,10733,0.00,2.60,0.00,0.000,4,0.000,0.058,2781,594,1978
$GC,10899,1.52,226.3,741.6,9.2,521,10906,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2004,1978
$GC,11215,1.52,226.3,711.5,9.6,537,11220,0.00,2.58,0.00,0.000,4,0.000,0.056,2781,590,1978
$GC,11289,1.52,226.3,704.0,11.1,540,11293,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2010,1978
$GC,11610,1.52,226.3,674.2,9.2,556,11614,0.00,2.58,0.00,0.000,4,0.000,0.055,2781,595,1978
$GC,11694,1.52,226.3,666.2,9.1,560,11699,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2007,1978
$GC,12022,1.52,226.3,636.8,9.1,576,12027,0.00,2.58,0.00,0.000,4,0.000,0.054,2781,585,1978
$GC,12100,1.52,226.3,629.1,10.2,579,12107,0.00,2.47,0.00,0.000,6,0.000,0.034,2781,2011,1978
$GC,12417,1.52,226.3,600.4,9.1,595,12421,0.00,2.58,0.00,0.000,4,0.000,0.054,2781,590,1979
$GC,12489,1.52,226.3,593.4,8.9,598,12493,0.00,2.45,0.00,0.000,6,0.000,0.034,2781,2006,1979
$GC,12805,1.52,226.3,565.1,9.1,613,12809,0.00,2.58,0.00,0.000,4,0.000,0.054,2781,586,1979
$GC,12872,1.52,226.3,558.6,9.7,616,12876,0.00,2.45,0.00,0.000,6,0.000,0.033,2781,2000,1979
$GC,13193,1.52,226.3,529.4,9.2,632,13197,0.00,2.55,0.00,0.000,4,0.000,0.054,2781,588,1980
$GC,13270,1.52,226.3,521.8,10.1,635,13277,0.00,2.45,0.00,0.000,6,0.000,0.034,2781,2012,1980
$GC,13587,1.52,226.3,493.1,9.5,651,13592,0.00,2.58,0.00,0.000,4,0.000,0.054,2781,590,1980
$GC,13666,1.52,226.3,485.2,9.8,654,13672,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2005,1980
$GC,13982,1.52,226.3,456.1,9.3,670,13986,0.00,2.55,0.00,0.000,4,0.000,0.054,2781,595,1980
$GC,14039,1.52,226.3,450.6,9.3,672,14045,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2007,1980
$GC,14355,1.52,226.3,421.7,9.0,688,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2006,1981
$GC,14664,1.52,226.3,393.9,8.9,703,14668,0.00,2.58,0.00,0.000,4,0.000,0.055,2781,588,1981
$GC,14754,1.52,226.3,385.4,9.4,707,14758,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,2014,1981
$GC,15074,1.52,226.3,355.5,9.3,723,15079,0.00,2.58,0.00,0.000,4,0.000,0.056,2781,595,1981
$GC,15138,1.52,226.3,349.4,9.2,726,15142,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2007,1982
$GC,15465,1.52,226.3,320.1,8.8,742,15469,0.00,2.58,0.00,0.000,4,0.000,0.056,2781,588,1982
$GC,15509,1.52,226.3,315.7,9.5,744,15513,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,2011,1982
$GC,15830,1.52,226.3,287.5,8.9,760,15834,0.00,2.58,0.00,0.000,4,0.000,0.057,2781,594,1982
$GC,15897,1.52,226.3,281.1,9.4,763,15901,0.00,2.45,0.00,0.000,6,0.000,0.036,2781,2004,1982
$GC,16218,1.52,226.3,253.8,8.4,779,16222,0.00,2.58,0.00,0.000,4,0.000,0.058,2781,588,1982
$GC,16280,1.52,226.3,248.3,8.7,782,16285,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,2010,1982
$GC,16607,1.52,226.3,221.0,8.5,798,16612,0.00,2.58,0.00,0.000,4,0.000,0.058,2781,594,1982
$GC,16680,1.52,226.3,214.2,10.5,801,16684,0.00,2.45,0.00,0.000,6,0.000,0.036,2781,2000,1982
$GC,16997,1.52,226.3,188.1,8.1,816,17001,0.00,2.58,0.00,0.000,4,0.000,0.058,2781,585,1982
$GC,17064,1.52,226.3,181.8,8.8,819,17068,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,2004,1983
$GC,17385,1.52,226.3,153.3,8.9,835,17386,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2004,1983
$GC,17695,1.52,226.3,121.8,11.7,850,17699,0.00,2.60,0.00,0.000,4,0.000,0.061,2781,585,1983
$GC,17812,1.52,226.3,107.0,10.8,855,17816,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,2010,1983
$GC,18133,1.52,226.3,75.9,8.8,871,18135,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2010,1983
$GC,18443,1.52,226.3,46.7,10.8,886,18447,0.00,2.60,0.00,0.000,4,0.000,0.060,2781,586,1983
$GC,18510,1.52,226.3,40.5,8.5,889,18515,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,2007,1983
$GC,18832,1.52,226.3,12.6,8.6,905,18837,0.00,2.58,0.00,0.000,4,0.000,0.057,2781,590,1983
$GC,18950,1.52,226.3,3.2,8.9,910,18955,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2000,1983
$STATE,18975,end climb,SURFACE_DEPTH_REACHED
$STATE,18975,begin surface coast
$FINISH,0.3,1.027420
$STATE,18997,end surface coast,CONTROL_FINISHED_OK
$STATE,18997,begin surface
$SM_CCo,19083,0.00,0.000,0,0,1982,225.68
$SM_GC,2.15,12.10,0.00,0.00,0.035,0.000,0.000,49,2748,1982,-10.93,-0.06,225.68
$IRIDIUM_FIX,6153.50,-1129.49,020898,222239
$TT8_MAMPS,0.028379
$HUMID,1780
$INTERNAL_PRESSURE,8.60385
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,826.9,76.3
$24V_AH,23.1,58.241
$10V_AH,10.1,33.579
$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,26.975,168.650,325.650,0.000,0.000,59.508,57.782,225.574,7.750,0.000,0.000,13.353,1694.713,14641.295,448.169,2119.726,719.470,33.358,1507.987,0.000,2067.462,0.000,54.199,0.000
$DEVICE_MAMPS,158.769,79.768,1267.084,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,634.536,676.892,503.689,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47373,912
$CAP_FILE_SIZE,139120,0
$CFSIZE,260165632,236232704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090509,040731,6220.312,-1129.964,194,1.2,194,-10.9