version: 66.04
glider: 103
mission: 11
dive: 449
start: 5 25 109 21 2 4
data:
$ID,103
$MISSION,11
$DIVE,449
$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,63
$TGT_DEFAULT_LON,-6
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,-152441.58
$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,9
$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
$GPS1,205437,6414.900,-650.896,39,1.2,40,-9.0
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,2
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-62.1
$GPS2,210114,6414.917,-650.844,14,1.3,14,-9.0
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P5
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.038,0.240
$KALMAN_X,-13622.5,-239.1,-207.2,194100.9,1154.6
$KALMAN_Y,-77402.4,-30.4,417.1,245967.0,-4443.8
$MHEAD_RNG_PITCHd_Wd,17.9,46003,-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,15,-1.42,-146.6,0.0,0.0,0,77,0.00,0.00,-57.17,0.000,6,0.000,0.000,54,2753,3500
$GC,81,-1.42,-146.6,7.4,-16.3,3,103,12.02,2.70,0.00,0.000,4,0.169,0.064,2123,1335,3501
$GC,356,-1.42,-146.6,47.4,-10.1,15,361,0.00,2.72,0.00,0.000,6,0.000,0.076,2123,2753,3501
$GC,679,-1.42,-146.6,78.6,-9.9,31,683,0.00,2.65,0.00,0.000,4,0.000,0.064,2124,1331,3501
$GC,764,-1.42,-146.6,87.5,-10.8,35,769,0.00,2.72,0.00,0.000,6,0.000,0.074,2123,2752,3501
$GC,1093,-1.42,-146.6,120.0,-9.6,51,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2752,3501
$GC,1402,-1.42,-146.6,150.4,-9.7,66,1405,0.00,2.05,0.00,0.000,4,0.000,0.101,2123,3787,3501
$GC,1474,-1.42,-146.6,157.6,-9.3,69,1478,0.00,1.90,0.00,0.000,6,0.000,0.058,2123,2750,3501
$GC,1802,-1.42,-146.6,188.0,-9.5,85,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2750,3501
$GC,2111,-1.42,-146.6,218.6,-9.9,100,2115,0.00,2.08,0.00,0.000,4,0.000,0.098,2123,3790,3501
$GC,2157,-1.42,-146.6,223.4,-11.0,102,2161,0.00,1.92,0.00,0.000,6,0.000,0.058,2123,2743,3501
$GC,2490,-1.42,-146.6,256.7,-10.2,118,2494,0.00,2.62,0.00,0.000,4,0.000,0.067,2123,1331,3501
$GC,2523,-1.42,-146.6,260.3,-10.5,119,2530,0.00,2.72,0.00,0.000,6,0.000,0.077,2123,2753,3501
$GC,2839,-1.42,-146.6,292.0,-9.9,135,2843,0.00,2.03,0.00,0.000,4,0.000,0.100,2123,3780,3502
$GC,2885,-1.42,-146.6,296.6,-10.0,137,2889,0.00,1.90,0.00,0.000,6,0.000,0.058,2123,2747,3502
$GC,3219,-1.42,-146.6,327.8,-9.2,153,3222,0.00,2.08,0.00,0.000,4,0.000,0.099,2123,3785,3502
$GC,3258,-1.42,-146.6,331.8,-9.8,154,3264,0.00,1.90,0.00,0.000,6,0.000,0.058,2123,2750,3502
$GC,3574,-1.42,-146.6,363.1,-9.8,170,3578,0.00,2.65,0.00,0.000,4,0.000,0.074,2123,1335,3502
$GC,3601,-1.42,-146.6,365.7,-9.2,171,3606,0.00,2.72,0.00,0.000,6,0.000,0.076,2123,2754,3502
$GC,3918,-1.42,-146.6,395.8,-9.5,186,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2754,3501
$GC,4228,-1.42,-146.6,425.0,-9.1,201,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3501
$GC,4537,-1.42,-146.6,453.8,-9.1,216,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3500
$GC,4846,-1.42,-146.6,485.0,-10.0,231,4849,0.00,2.03,0.00,0.000,4,0.000,0.103,2123,3783,3500
$GC,4896,-1.42,-146.6,490.5,-10.6,233,4900,0.00,1.90,0.00,0.000,6,0.000,0.057,2123,2747,3500
$GC,5224,-1.42,-146.6,521.7,-9.1,249,5225,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2747,3499
$GC,5533,-1.42,-146.6,549.2,-8.6,264,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2747,3499
$GC,5842,-1.42,-146.6,578.0,-8.8,279,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2748,3498
$GC,6152,-1.42,-146.6,606.9,-9.1,294,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2748,3498
$GC,6460,-1.42,-146.6,636.1,-9.6,309,6464,0.00,2.10,0.00,0.000,4,0.000,0.102,2123,3793,3498
$GC,6507,-1.42,-146.6,640.6,-10.2,311,6510,0.00,1.92,0.00,0.000,6,0.000,0.058,2123,2743,3497
$GC,6840,-1.42,-146.6,672.8,-9.9,327,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2743,3497
$GC,7149,-1.42,-146.6,702.9,-9.9,342,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2743,3497
$GC,7458,-1.42,-146.6,732.3,-9.3,357,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2743,3497
$GC,7768,-1.42,-146.6,762.3,-9.8,372,7772,0.00,2.10,0.00,0.000,4,0.000,0.101,2123,3792,3496
$GC,7815,-1.42,-146.6,767.0,-10.2,374,7818,0.00,1.92,0.00,0.000,6,0.000,0.058,2123,2741,3497
$GC,8148,-1.42,-146.6,800.4,-10.0,390,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2741,3496
$GC,8457,-1.42,-146.6,830.6,-9.7,405,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2741,3496
$GC,8766,-1.42,-146.6,860.1,-9.6,420,8767,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2741,3496
$GC,9075,-1.42,-146.6,888.9,-9.2,435,9079,0.00,2.10,0.00,0.000,4,0.000,0.100,2123,3790,3496
$GC,9115,-1.42,-146.6,892.9,-9.8,436,9121,0.00,1.92,0.00,0.000,6,0.000,0.058,2124,2742,3495
$GC,9431,-1.42,-146.6,922.0,-9.2,452,9432,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2742,3495
$GC,9741,-1.42,-146.6,951.0,-9.3,467,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2742,3495
$GC,10050,-1.42,-146.6,979.3,-9.1,482,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2742,3495
$STATE,10170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10170,begin apogee
$GC,10179,-0.42,0.0,990.6,9.2,488,10316,1.15,0.00,133.43,1.430,6,0.109,0.000,2345,1989,2902
$STATE,10317,end apogee,CONTROL_FINISHED_OK
$STATE,10317,begin climb
$GC,10320,1.42,146.6,997.2,0.0,495,10464,1.92,2.72,131.93,1.384,4,0.064,0.073,2747,590,2304
$GC,10717,1.50,206.7,986.8,5.8,512,10778,0.00,2.58,55.35,1.361,6,0.000,0.044,2747,2019,2059
$GC,11107,1.53,234.7,959.7,7.0,531,11139,0.12,2.83,26.12,1.347,4,0.050,0.070,2783,580,1945
$GC,11207,1.53,234.7,950.8,9.2,535,11213,0.00,2.58,0.00,0.000,6,0.000,0.044,2783,2005,1945
$GC,11524,1.53,234.7,923.3,8.7,551,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2006,1945
$GC,11832,1.53,234.7,897.4,8.1,566,11837,0.00,2.67,0.00,0.000,4,0.000,0.070,2783,587,1945
$GC,11900,1.53,234.7,891.5,8.7,569,11904,0.00,2.55,0.00,0.000,6,0.000,0.044,2783,2002,1945
$GC,12221,1.53,237.4,865.7,7.9,585,12230,0.00,2.72,4.15,0.918,4,0.000,0.069,2783,585,1934
$GC,12283,1.53,237.4,860.3,9.7,587,12289,0.00,2.58,0.00,0.000,6,0.000,0.044,2783,2009,1934
$GC,12599,1.53,237.4,834.5,8.2,603,12601,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2010,1934
$GC,12908,1.53,237.4,809.2,8.1,618,12913,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,586,1934
$GC,12964,1.53,237.4,804.4,8.6,620,12970,0.00,2.55,0.00,0.000,6,0.000,0.045,2783,2009,1934
$GC,13280,1.53,237.4,778.5,8.4,636,13285,0.00,2.70,0.00,0.000,4,0.000,0.070,2783,585,1934
$GC,13325,1.53,237.4,774.2,9.3,638,13330,0.00,2.55,0.00,0.000,6,0.000,0.044,2783,2004,1933
$GC,13647,1.53,237.4,747.2,8.1,654,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2005,1934
$GC,13956,1.53,237.4,722.3,8.3,669,13961,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,578,1934
$GC,14012,1.53,237.4,717.1,9.4,671,14018,0.00,2.55,0.00,0.000,6,0.000,0.045,2783,2003,1933
$GC,14328,1.53,237.4,690.4,8.4,687,14329,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2004,1934
$GC,14638,1.53,237.4,664.6,8.3,702,14642,0.00,2.67,0.00,0.000,4,0.000,0.070,2783,586,1934
$GC,14745,1.53,237.4,654.7,9.7,707,14749,0.00,2.55,0.00,0.000,6,0.000,0.045,2783,2007,1934
$GC,15071,1.53,237.4,626.3,8.6,723,15072,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2008,1934
$GC,15381,1.53,237.4,598.7,9.1,738,15385,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,583,1933
$GC,15466,1.53,237.4,590.3,9.8,742,15470,0.00,2.55,0.00,0.000,6,0.000,0.044,2783,2005,1933
$GC,15792,1.53,237.4,558.0,10.0,758,15793,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2005,1933
$GC,16102,1.53,237.4,526.5,10.2,773,16107,0.00,2.67,0.00,0.000,4,0.000,0.070,2783,588,1934
$GC,16158,1.53,237.4,520.3,10.8,775,16164,0.00,2.53,0.00,0.000,6,0.000,0.046,2783,1998,1934
$GC,16474,1.53,237.4,488.0,10.1,791,16475,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1999,1933
$GC,16783,1.53,237.4,458.6,9.5,806,16788,0.00,2.67,0.00,0.000,4,0.000,0.070,2783,578,1933
$GC,16856,1.53,237.4,451.4,10.6,809,16861,0.00,2.58,0.00,0.000,6,0.000,0.046,2783,2008,1934
$GC,17172,1.53,237.4,422.3,9.1,824,17176,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,578,1934
$GC,17230,1.53,237.4,416.8,9.5,826,17236,0.00,2.58,0.00,0.000,6,0.000,0.047,2783,2006,1934
$GC,17546,1.53,237.4,387.8,9.0,842,17550,0.00,2.67,0.00,0.000,4,0.000,0.070,2783,588,1934
$GC,17601,1.53,237.4,382.7,9.1,844,17607,0.00,2.55,0.00,0.000,6,0.000,0.047,2783,2000,1934
$GC,17917,1.53,237.4,355.4,8.6,860,17922,0.00,2.67,0.00,0.000,4,0.000,0.070,2783,580,1934
$GC,17973,1.53,237.4,350.3,8.9,862,17980,0.00,2.58,0.00,0.000,6,0.000,0.047,2783,2006,1934
$GC,18289,1.53,237.4,323.6,8.4,878,18294,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,578,1933
$GC,18336,1.53,237.4,319.7,9.1,880,18341,0.00,2.58,0.00,0.000,6,0.000,0.047,2783,2004,1934
$GC,18659,1.56,260.9,294.9,7.1,896,18682,0.00,0.00,21.20,1.010,6,0.000,0.000,2783,2004,1838
$GC,18987,1.59,282.4,270.3,7.2,912,19009,0.00,0.00,19.67,0.989,6,0.000,0.000,2783,2004,1750
$GC,19317,1.61,298.7,245.8,7.4,928,19339,0.00,2.75,15.20,0.955,4,0.000,0.071,2783,588,1684
$GC,19412,1.61,298.7,237.9,8.6,932,19417,0.00,2.60,0.00,0.000,6,0.000,0.049,2783,2004,1684
$GC,19734,1.61,298.7,212.5,8.2,948,19738,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,578,1684
$GC,19784,1.61,298.7,208.0,8.2,950,19788,0.00,2.60,0.00,0.000,6,0.000,0.049,2783,2004,1684
$GC,20100,1.61,298.7,182.0,8.3,965,20104,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,578,1684
$GC,20145,1.61,298.7,177.8,9.2,967,20149,0.00,2.60,0.00,0.000,6,0.000,0.048,2783,2009,1684
$GC,20466,1.61,298.7,149.1,9.3,983,20467,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2009,1683
$GC,20775,1.61,298.7,121.0,8.7,998,20780,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,584,1684
$GC,20854,1.61,298.7,113.5,9.7,1001,20861,0.00,2.58,0.00,0.000,6,0.000,0.049,2783,2006,1684
$GC,21172,1.61,298.7,84.5,9.4,1017,21177,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,577,1685
$GC,21257,1.61,298.7,75.9,11.3,1021,21262,0.00,2.60,0.00,0.000,6,0.000,0.050,2783,2007,1685
$GC,21585,1.61,298.7,45.3,9.2,1037,21589,0.00,2.67,0.00,0.000,4,0.000,0.078,2783,3412,1685
$GC,21635,1.61,298.7,39.9,10.6,1039,21639,0.00,2.62,0.00,0.000,6,0.000,0.058,2783,1990,1684
$GC,21951,1.61,298.7,10.9,9.2,1054,21955,0.00,2.65,0.00,0.000,4,0.000,0.074,2783,581,1685
$GC,22037,1.61,298.7,2.5,9.5,1058,22041,0.00,2.20,0.00,0.000,3,0.000,0.051,2783,1796,1684
$STATE,22042,end climb,SURFACE_DEPTH_REACHED
$STATE,22042,begin surface coast
$FINISH,1.1,1.027529
$STATE,22045,end surface coast,CONTROL_FINISHED_OK
$STATE,22046,begin surface
$SM_CCo,22132,0.00,0.000,0,0,1685,298.53
$SM_GC,0.51,12.57,0.00,0.00,0.051,0.000,0.000,56,2758,1685,-10.92,0.23,298.53
$IRIDIUM_FIX,6346.88,-651.55,190898,141428
$TT8_MAMPS,0.029146
$HUMID,1826
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,16.80
$XPDR_PINGS,97
$24V_AH,22.5,71.806
$10V_AH,10.0,40.285
$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,27.800,172.225,407.050,0.000,0.000,24.039,27.395,202.629,32.750,0.000,0.000,14.266,1921.235,17069.439,538.424,2319.196,671.477,33.361,1703.322,0.000,2272.248,0.000,56.948,0.000
$DEVICE_MAMPS,168.740,102.778,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,792.887,745.380,552.616,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53699,1058
$CAP_FILE_SIZE,150632,0
$CFSIZE,260165632,231395328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260509,031207,6416.952,-649.742,32,1.1,33,-9.0