version: 66.04
glider: 103
mission: 11
dive: 428
start: 5 20 109 10 4 27
data:
$ID,103
$MISSION,11
$DIVE,428
$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,-152097.97
$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,17
$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
$GPS1,095007,6341.745,-818.236,29,1.6,29,-9.6
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-61.8
$GPS2,100337,6341.729,-818.029,11,1.8,16,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.173,0.171
$KALMAN_X,-17446.3,-615.9,-28.3,124136.5,2724.2
$KALMAN_Y,-44365.2,92.7,-85.2,151830.0,-1441.0
$MHEAD_RNG_PITCHd_Wd,55.0,15962,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,48,2749,3137
$GC,63,-1.42,-146.6,3.4,-11.5,2,86,11.95,2.10,-6.28,0.000,4,0.163,0.108,2124,3782,3501
$GC,126,-1.42,-146.6,16.2,-12.0,4,132,0.00,1.90,0.00,0.000,6,0.000,0.048,2124,2749,3502
$GC,442,-1.42,-146.6,52.6,-11.6,20,447,0.00,2.65,0.00,0.000,4,0.000,0.070,2124,1330,3502
$GC,588,-1.42,-146.6,70.5,-12.1,26,594,0.00,2.72,0.00,0.000,6,0.000,0.074,2124,2756,3502
$GC,906,-1.42,-146.6,105.5,-11.2,42,910,0.00,2.70,0.00,0.000,4,0.000,0.071,2124,1331,3503
$GC,934,-1.42,-146.6,108.8,-10.4,43,938,0.00,2.72,0.00,0.000,6,0.000,0.077,2124,2749,3503
$GC,1250,-1.42,-146.6,141.8,-10.1,58,1251,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2748,3503
$GC,1559,-1.42,-146.6,174.4,-10.6,73,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2748,3503
$GC,1869,-1.42,-146.6,208.1,-10.5,88,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2748,3503
$GC,2177,-1.42,-146.6,239.3,-10.1,103,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2748,3503
$GC,2487,-1.42,-146.6,271.3,-10.7,118,2490,0.00,2.05,0.00,0.000,4,0.000,0.100,2124,3789,3503
$GC,2549,-1.42,-146.6,278.1,-10.9,120,2555,0.00,1.95,0.00,0.000,6,0.000,0.059,2124,2745,3503
$GC,2865,-1.42,-146.6,310.5,-10.5,136,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2745,3503
$GC,3175,-1.42,-146.6,342.1,-9.9,151,3179,0.00,2.67,0.00,0.000,4,0.000,0.079,2124,1335,3502
$GC,3209,-1.42,-146.6,345.8,-10.4,152,3215,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2756,3502
$GC,3526,-1.42,-146.6,376.7,-9.6,168,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3501
$GC,3834,-1.42,-146.6,409.5,-10.7,183,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3499
$GC,4144,-1.42,-146.6,442.5,-10.7,198,4148,0.00,2.72,0.00,0.000,4,0.000,0.077,2124,1331,3499
$GC,4199,-1.42,-146.6,448.6,-10.7,200,4206,0.00,2.75,0.00,0.000,6,0.000,0.083,2124,2751,3498
$GC,4516,-1.42,-146.6,481.0,-10.3,216,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3497
$GC,4826,-1.42,-146.6,510.9,-9.3,231,4830,0.00,2.70,0.00,0.000,4,0.000,0.076,2124,1334,3497
$GC,4875,-1.42,-146.6,515.8,-9.3,233,4880,0.00,2.78,0.00,0.000,6,0.000,0.084,2124,2760,3497
$GC,5191,-1.42,-146.6,542.8,-8.6,248,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3497
$GC,5501,-1.42,-146.6,569.9,-9.1,263,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3497
$GC,5810,-1.42,-146.6,597.8,-9.0,278,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3495
$GC,6120,-1.42,-146.6,625.2,-8.8,293,6121,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3495
$GC,6429,-1.42,-146.6,653.0,-9.2,308,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3494
$GC,6738,-1.42,-146.6,681.3,-9.2,323,6742,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1338,3494
$GC,6777,-1.42,-146.6,685.0,-9.3,325,6782,0.00,2.75,0.00,0.000,6,0.000,0.082,2124,2757,3495
$GC,7105,-1.42,-146.6,714.9,-9.1,341,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3494
$GC,7414,-1.42,-146.6,743.2,-9.0,356,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3493
$GC,7723,-1.42,-146.6,771.6,-9.4,371,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3493
$GC,8034,-1.42,-146.6,800.7,-9.2,386,8038,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1335,3493
$GC,8066,-1.42,-146.6,804.0,-9.6,387,8073,0.00,2.72,0.00,0.000,6,0.000,0.079,2124,2750,3493
$GC,8382,-1.42,-146.6,833.4,-9.6,403,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3492
$GC,8692,-1.42,-146.6,861.6,-9.0,418,8697,0.00,2.70,0.00,0.000,4,0.000,0.075,2124,1330,3492
$GC,8747,-1.42,-146.6,867.0,-10.0,420,8754,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2752,3492
$GC,9065,-1.42,-146.6,882.6,-0.1,436,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3492
$STATE,9205,end dive,NO_VERTICAL_VELOCITY
$STATE,9205,begin apogee
$GC,9214,-0.42,0.0,882.6,0.0,443,9348,1.08,0.00,130.77,1.363,6,0.068,0.000,2348,1993,2902
$STATE,9349,end apogee,CONTROL_FINISHED_OK
$STATE,9349,begin climb
$GC,9352,1.42,146.6,882.4,0.0,450,9488,1.95,0.00,129.73,1.335,6,0.062,0.000,2751,1992,2304
$GC,9798,1.51,219.6,864.9,5.3,472,9866,0.00,0.00,65.68,1.303,6,0.000,0.000,2751,1992,2006
$GC,10167,1.53,231.9,838.4,7.5,490,10189,0.00,2.83,12.50,1.188,4,0.000,0.071,2751,3416,1956
$GC,10223,1.53,236.4,833.8,7.8,492,10236,0.10,2.62,5.90,1.002,6,0.054,0.051,2781,1995,1938
$GC,10545,1.53,236.4,806.2,8.7,508,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1995,1937
$GC,10853,1.53,236.4,778.9,8.9,523,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1995,1937
$GC,11163,1.53,236.4,751.2,9.1,538,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1995,1937
$GC,11472,1.53,236.4,723.6,8.9,553,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1995,1937
$GC,11781,1.53,236.4,696.2,8.7,568,11786,0.00,2.70,0.00,0.000,4,0.000,0.074,2781,3415,1936
$GC,11821,1.53,236.4,692.6,9.3,570,11826,0.00,2.58,0.00,0.000,6,0.000,0.051,2781,1998,1936
$GC,12149,1.53,236.4,664.8,8.3,586,12153,0.00,2.65,0.00,0.000,4,0.000,0.074,2781,594,1936
$GC,12199,1.53,236.4,660.3,9.0,588,12203,0.00,2.58,0.00,0.000,6,0.000,0.046,2781,2020,1936
$GC,12515,1.53,236.4,634.4,8.2,603,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2022,1936
$GC,12824,1.53,236.4,609.3,8.0,618,12829,0.00,2.72,0.00,0.000,4,0.000,0.072,2781,586,1936
$GC,12875,1.53,236.4,605.1,8.4,620,12879,0.00,2.55,0.00,0.000,6,0.000,0.046,2781,2001,1936
$GC,13191,1.54,240.2,579.8,7.9,635,13197,0.00,0.00,4.90,0.913,6,0.000,0.000,2781,2001,1922
$GC,13500,1.54,245.3,555.8,7.8,650,13509,0.00,0.00,6.18,0.982,6,0.000,0.000,2781,2002,1901
$GC,13833,1.54,245.3,528.1,8.5,666,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2002,1901
$GC,14142,1.54,245.3,502.5,8.1,681,14144,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2002,1901
$GC,14452,1.54,245.3,477.1,8.2,696,14453,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2002,1901
$GC,14761,1.54,245.3,451.8,8.1,711,14762,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2002,1900
$GC,15070,1.54,245.3,427.0,8.2,726,15075,0.00,2.65,0.00,0.000,4,0.000,0.077,2781,3406,1900
$GC,15117,1.54,245.3,423.1,8.2,728,15121,0.00,2.60,0.00,0.000,6,0.000,0.054,2781,1990,1900
$GC,15438,1.54,245.3,396.7,8.1,744,15439,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1990,1900
$GC,15747,1.54,245.3,371.4,8.2,759,15752,0.00,2.72,0.00,0.000,4,0.000,0.077,2781,3412,1900
$GC,15793,1.54,245.3,367.4,8.8,761,15797,0.00,2.60,0.00,0.000,6,0.000,0.057,2781,1997,1900
$GC,16114,1.54,245.3,340.4,8.5,777,16118,0.00,2.65,0.00,0.000,4,0.000,0.075,2781,590,1900
$GC,16158,1.54,245.3,336.6,8.3,779,16162,0.00,2.55,0.00,0.000,6,0.000,0.048,2781,1998,1900
$GC,16480,1.55,250.5,311.0,7.8,795,16488,0.00,0.00,6.30,0.877,6,0.000,0.000,2781,1998,1880
$GC,16788,1.57,264.7,287.8,7.5,810,16810,0.00,2.78,13.60,0.963,4,0.000,0.074,2781,598,1821
$GC,16839,1.57,264.7,283.7,8.4,812,16843,0.00,2.60,0.00,0.000,6,0.000,0.050,2781,2011,1822
$GC,17159,1.57,264.7,256.0,8.8,828,17161,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2011,1822
$GC,17469,1.58,275.9,230.9,7.6,843,17490,0.00,2.78,11.23,0.910,4,0.000,0.074,2781,586,1777
$GC,17559,1.58,275.9,223.6,8.3,847,17563,0.00,2.60,0.00,0.000,6,0.000,0.051,2781,2004,1776
$GC,17885,1.58,275.9,196.2,8.9,863,17890,0.00,2.70,0.00,0.000,4,0.000,0.073,2781,581,1776
$GC,17998,1.58,275.9,185.2,11.6,868,18002,0.00,2.60,0.00,0.000,6,0.000,0.050,2781,2006,1777
$GC,18319,1.58,275.9,154.8,9.6,884,18320,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2007,1776
$GC,18628,1.58,275.9,125.6,9.5,899,18633,0.00,2.70,0.00,0.000,4,0.000,0.072,2781,584,1776
$GC,18736,1.58,275.9,115.1,10.0,904,18741,0.00,2.58,0.00,0.000,6,0.000,0.050,2781,2001,1776
$GC,19063,1.58,275.9,86.1,8.8,920,19068,0.00,2.70,0.00,0.000,4,0.000,0.078,2781,3420,1776
$GC,19148,1.58,275.9,78.3,9.3,924,19153,0.00,2.62,0.00,0.000,6,0.000,0.058,2781,1995,1776
$GC,19478,1.58,275.9,50.0,8.8,940,19482,0.00,2.62,0.00,0.000,4,0.000,0.071,2781,588,1777
$GC,19518,1.58,275.9,45.9,10.3,942,19522,0.00,2.55,0.00,0.000,6,0.000,0.047,2781,2004,1777
$GC,19845,1.58,275.9,16.4,8.9,958,19849,0.00,2.67,0.00,0.000,4,0.000,0.071,2781,588,1777
$GC,19957,1.58,276.3,6.1,8.0,963,19961,0.00,2.53,0.00,0.000,6,0.000,0.041,2781,2011,1777
$STATE,20009,end climb,SURFACE_DEPTH_REACHED
$STATE,20009,begin surface coast
$FINISH,-0.2,1.027453
$STATE,20029,end surface coast,CONTROL_FINISHED_OK
$STATE,20029,begin surface
$SM_CCo,20115,0.00,0.000,0,0,1777,275.72
$SM_GC,0.82,12.07,0.00,0.00,0.028,0.000,0.000,48,2740,1777,-10.94,-0.28,275.72
$IRIDIUM_FIX,6317.84,-821.53,140898,101018
$TT8_MAMPS,0.029146
$HUMID,1868
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,14.90
$XPDR_PINGS,73
$24V_AH,22.6,68.277
$10V_AH,10.0,38.317
$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,27.150,128.500,386.775,0.000,0.000,76.457,88.514,363.797,26.500,0.000,0.000,16.248,1715.498,15844.337,529.551,1923.552,904.848,33.355,1470.458,0.000,1881.493,0.000,60.702,0.000
$DEVICE_MAMPS,163.371,108.147,1362.959,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,726.994,679.034,524.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47451,967
$CAP_FILE_SIZE,134775,0
$CFSIZE,260165632,232808448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200509,154101,6342.911,-815.827,41,1.8,41,-9.6