version: 66.04
glider: 103
mission: 11
dive: 427
start: 5 20 109 4 38 4
data:
$ID,103
$MISSION,11
$DIVE,427
$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,0
$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,-152081.09
$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,19
$R_STBD_OVSHOOT,7
$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
$GPS1,042736,6339.247,-821.153,39,1.2,51,-9.6
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-60.3
$GPS2,043716,6339.302,-820.928,13,2.3,32,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.043,0.239
$KALMAN_X,-18923.8,-569.3,-10.4,123124.9,878.6
$KALMAN_Y,-44482.2,472.7,754.4,146228.6,-4766.0
$MHEAD_RNG_PITCHd_Wd,19.7,20130,-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,15,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,77,0.00,0.00,-53.35,0.000,6,0.000,0.000,52,2751,3500
$GC,81,-1.42,-146.6,6.8,-14.9,3,102,11.93,2.03,0.00,0.000,4,0.164,0.080,2124,3789,3500
$GC,142,-1.42,-146.6,24.7,-14.2,5,148,0.00,1.90,0.00,0.000,6,0.000,0.044,2124,2739,3500
$GC,458,-1.42,-146.6,62.0,-11.0,21,462,0.00,2.58,0.00,0.000,4,0.000,0.066,2123,1344,3500
$GC,536,-1.42,-146.6,70.8,-11.4,24,543,0.00,2.67,0.00,0.000,6,0.000,0.074,2124,2754,3501
$GC,853,-1.42,-146.6,106.0,-10.8,40,857,0.00,2.65,0.00,0.000,4,0.000,0.067,2124,1338,3501
$GC,897,-1.42,-146.6,110.5,-9.7,42,901,0.00,2.70,0.00,0.000,6,0.000,0.075,2123,2752,3501
$GC,1218,-1.42,-146.6,144.7,-11.5,58,1223,0.00,2.65,0.00,0.000,4,0.000,0.067,2124,1340,3502
$GC,1263,-1.42,-146.6,150.0,-11.8,60,1269,0.00,2.70,0.00,0.000,6,0.000,0.074,2124,2753,3502
$GC,1591,-1.42,-146.6,186.0,-11.1,76,1596,0.00,2.65,0.00,0.000,4,0.000,0.067,2124,1338,3502
$GC,1631,-1.42,-146.6,190.7,-11.6,78,1636,0.00,2.70,0.00,0.000,6,0.000,0.074,2124,2753,3502
$GC,1959,-1.42,-146.6,225.8,-9.9,94,1964,0.00,2.65,0.00,0.000,4,0.000,0.068,2124,1342,3502
$GC,1982,-1.42,-146.6,228.2,-10.0,95,1986,0.00,2.70,0.00,0.000,6,0.000,0.074,2124,2758,3502
$GC,2303,-1.42,-146.6,260.6,-10.5,111,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3502
$GC,2612,-1.42,-146.6,294.6,-11.1,126,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3502
$GC,2922,-1.42,-146.6,328.2,-10.8,141,2926,0.00,2.67,0.00,0.000,4,0.000,0.070,2124,1337,3502
$GC,2949,-1.42,-146.6,331.4,-10.2,142,2954,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2759,3502
$GC,3265,-1.42,-146.6,362.7,-10.0,157,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3502
$GC,3575,-1.42,-146.6,394.6,-10.5,172,3579,0.00,2.67,0.00,0.000,4,0.000,0.074,2124,1343,3501
$GC,3614,-1.42,-146.6,398.6,-10.1,174,3619,0.00,2.70,0.00,0.000,6,0.000,0.078,2124,2751,3501
$GC,3941,-1.42,-146.6,428.5,-8.9,190,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3500
$GC,4251,-1.42,-146.6,456.0,-8.9,205,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3499
$GC,4560,-1.42,-146.6,484.7,-9.4,220,4564,0.00,2.67,0.00,0.000,4,0.000,0.076,2124,1338,3498
$GC,4592,-1.42,-146.6,487.8,-9.4,221,4599,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2760,3498
$GC,4909,-1.42,-146.6,517.1,-9.7,237,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3497
$GC,5218,-1.42,-146.6,547.5,-9.9,252,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3496
$GC,5527,-1.42,-146.6,579.0,-10.3,267,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3495
$GC,5837,-1.42,-146.6,609.6,-9.7,282,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3494
$GC,6145,-1.42,-146.6,639.4,-9.5,297,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3494
$GC,6455,-1.42,-146.6,668.7,-9.5,312,6456,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3493
$GC,6765,-1.42,-146.6,697.6,-9.3,327,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3492
$GC,7073,-1.42,-146.6,727.0,-9.9,342,7074,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3492
$GC,7383,-1.42,-146.6,757.6,-9.7,357,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3492
$GC,7692,-1.42,-146.6,787.2,-9.5,372,7696,0.00,2.70,0.00,0.000,4,0.000,0.075,2124,1340,3491
$GC,7725,-1.42,-146.6,790.5,-10.0,373,7731,0.00,2.72,0.00,0.000,6,0.000,0.081,2124,2750,3491
$GC,8041,-1.42,-146.6,820.5,-9.5,389,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3490
$STATE,8265,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8265,begin apogee
$GC,8274,-0.42,0.0,841.5,9.3,400,8408,1.15,0.00,128.85,1.351,6,0.101,0.000,2348,1997,2902
$STATE,8409,end apogee,CONTROL_FINISHED_OK
$STATE,8409,begin climb
$GC,8412,1.42,146.6,848.0,0.0,407,8550,1.90,2.80,127.90,1.317,4,0.062,0.072,2747,586,2304
$GC,8756,1.51,215.3,838.1,5.5,422,8824,0.00,2.58,61.62,1.279,6,0.000,0.044,2747,2020,2024
$GC,9138,1.54,239.2,812.5,7.1,441,9163,0.12,0.00,22.38,1.232,6,0.048,0.000,2784,2022,1927
$GC,9462,1.54,239.2,784.0,8.5,457,9467,0.00,2.72,0.00,0.000,4,0.000,0.071,2785,578,1926
$GC,9529,1.54,239.2,777.9,8.6,460,9533,0.00,2.55,0.00,0.000,6,0.000,0.044,2785,1996,1926
$GC,9851,1.54,239.2,750.2,8.8,476,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1997,1926
$GC,10159,1.54,239.2,724.2,8.3,491,10164,0.00,2.67,0.00,0.000,4,0.000,0.071,2785,586,1926
$GC,10200,1.54,239.2,720.7,9.3,493,10204,0.00,2.55,0.00,0.000,6,0.000,0.045,2784,2005,1926
$GC,10527,1.54,239.2,694.2,8.0,509,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2006,1925
$GC,10835,1.54,239.2,668.7,8.5,524,10840,0.00,2.70,0.00,0.000,4,0.000,0.070,2784,581,1925
$GC,10876,1.54,239.2,665.0,10.0,526,10881,0.00,2.55,0.00,0.000,6,0.000,0.044,2785,2002,1925
$GC,11204,1.54,239.2,636.7,8.7,542,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2003,1925
$GC,11513,1.54,239.2,609.9,8.7,557,11514,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2004,1925
$GC,11822,1.54,239.2,582.4,8.8,572,11826,0.00,2.67,0.00,0.000,4,0.000,0.071,2785,583,1924
$GC,11868,1.54,239.2,578.1,9.2,574,11873,0.00,2.55,0.00,0.000,6,0.000,0.045,2784,2001,1924
$GC,12190,1.54,239.2,550.1,8.7,590,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2001,1924
$GC,12499,1.54,239.2,524.0,8.5,605,12500,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2001,1924
$GC,12808,1.54,239.2,496.9,8.7,620,12813,0.00,2.67,0.00,0.000,4,0.000,0.071,2785,582,1924
$GC,12853,1.54,239.2,492.8,9.1,622,12858,0.00,2.55,0.00,0.000,6,0.000,0.047,2785,1996,1924
$GC,13174,1.54,239.2,465.6,8.4,638,13178,0.00,2.67,0.00,0.000,4,0.000,0.071,2784,581,1924
$GC,13224,1.54,239.2,461.2,8.9,640,13229,0.00,2.58,0.00,0.000,6,0.000,0.047,2785,2009,1924
$GC,13540,1.55,253.5,436.5,7.5,655,13560,0.00,0.00,13.60,1.053,6,0.000,0.000,2785,2009,1868
$GC,13870,1.55,253.5,409.4,8.5,671,13874,0.00,2.70,0.00,0.000,4,0.000,0.072,2785,587,1868
$GC,13971,1.55,253.5,400.0,9.5,675,13978,0.00,2.55,0.00,0.000,6,0.000,0.048,2784,2001,1868
$GC,14287,1.55,253.5,370.9,9.2,691,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2001,1867
$GC,14596,1.55,253.5,343.3,8.7,706,14598,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2001,1867
$GC,14906,1.55,253.5,315.4,9.0,721,14911,0.00,2.67,0.00,0.000,4,0.000,0.071,2785,586,1867
$GC,14973,1.55,253.5,309.0,9.3,724,14977,0.00,2.58,0.00,0.000,6,0.000,0.048,2785,2005,1867
$GC,15294,1.55,253.5,283.0,8.3,740,15298,0.00,2.67,0.00,0.000,4,0.000,0.080,2785,3416,1867
$GC,15329,1.55,253.5,279.8,9.7,741,15335,0.00,2.62,0.00,0.000,6,0.000,0.056,2784,1989,1868
$GC,15645,1.55,253.5,251.0,8.7,757,15649,0.00,2.62,0.00,0.000,4,0.000,0.073,2784,590,1868
$GC,15717,1.55,253.5,244.1,9.2,760,15721,0.00,2.55,0.00,0.000,6,0.000,0.048,2784,1997,1868
$GC,16033,1.55,253.5,217.9,8.1,775,16034,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1997,1867
$GC,16342,1.56,257.5,193.7,7.9,790,16353,0.00,2.67,5.28,0.775,4,0.000,0.071,2784,590,1851
$GC,16398,1.56,257.5,188.9,8.2,792,16405,0.00,2.55,0.00,0.000,6,0.000,0.048,2784,2001,1852
$GC,16714,1.56,257.5,162.2,8.1,808,16715,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2001,1852
$GC,17024,1.57,270.8,138.2,7.5,823,17046,0.00,2.78,12.68,0.861,4,0.000,0.072,2785,586,1797
$GC,17097,1.57,270.8,132.1,9.6,826,17102,0.00,2.60,0.00,0.000,6,0.000,0.048,2784,2008,1797
$GC,17421,1.57,270.8,105.5,8.5,842,17425,0.00,2.70,0.00,0.000,4,0.000,0.071,2784,584,1797
$GC,17476,1.57,270.8,100.2,9.0,844,17483,0.00,2.58,0.00,0.000,6,0.000,0.048,2784,2006,1797
$GC,17793,1.57,270.8,71.1,8.7,860,17797,0.00,2.67,0.00,0.000,4,0.000,0.071,2785,589,1798
$GC,17938,1.57,270.8,57.1,8.6,866,17945,0.00,2.55,0.00,0.000,6,0.000,0.047,2785,2002,1798
$GC,18256,1.57,270.8,28.7,8.9,882,18261,0.00,2.67,0.00,0.000,4,0.000,0.070,2784,585,1798
$GC,18391,1.57,270.8,15.9,9.0,888,18396,0.00,2.55,0.00,0.000,6,0.000,0.044,2785,2004,1799
$STATE,18545,end climb,SURFACE_DEPTH_REACHED
$STATE,18545,begin surface coast
$FINISH,-0.1,1.027482
$STATE,18569,end surface coast,CONTROL_FINISHED_OK
$STATE,18569,begin surface
$SM_CCo,18655,0.00,0.000,0,0,1798,271.06
$SM_GC,0.81,12.20,0.00,0.00,0.034,0.000,0.000,48,2745,1798,-10.94,-0.14,271.06
$IRIDIUM_FIX,6313.04,-820.83,140898,040436
$TT8_MAMPS,0.029146
$HUMID,1882
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,15.10
$XPDR_PINGS,74
$ALTIM_BOTTOM_PING,826.1,24.7
$24V_AH,22.6,68.104
$10V_AH,10.0,38.227
$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,27.300,139.275,372.300,0.000,0.000,60.370,56.772,241.640,25.750,0.000,0.000,33.485,1605.677,14514.778,493.020,1902.708,712.039,33.353,1447.344,0.000,1841.009,0.000,51.084,0.000
$DEVICE_MAMPS,164.138,81.302,1351.454,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,670.709,628.781,500.560,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44359,897
$CAP_FILE_SIZE,127216,0
$CFSIZE,260165632,232878080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,095007,6341.745,-818.236,29,1.6,29,-9.6