version: 66.04
glider: 103
mission: 11
dive: 451
start: 5 26 109 9 45 9
data:
$ID,103
$MISSION,11
$DIVE,451
$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,-152473.52
$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,18
$R_STBD_OVSHOOT,10
$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
$GPS1,093806,6418.936,-648.191,24,1.9,25,-9.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-61.7
$GPS2,094419,6418.987,-648.090,11,1.9,16,-9.0
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P5
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.090,0.226
$KALMAN_X,-14274.9,68.7,-68.8,196649.8,-82.7
$KALMAN_Y,-81697.6,106.9,400.3,257680.9,-4382.3
$MHEAD_RNG_PITCHd_Wd,30.8,39954,-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,-54.95,0.000,6,0.000,0.000,53,2754,3501
$GC,80,-1.42,-146.6,7.8,-17.3,3,101,11.98,2.08,0.00,0.000,4,0.167,0.090,2126,3793,3502
$GC,354,-1.42,-146.6,51.4,-10.9,15,358,0.00,1.92,0.00,0.000,6,0.000,0.058,2126,2746,3502
$GC,682,-1.42,-146.6,86.0,-10.5,31,686,0.00,2.10,0.00,0.000,4,0.000,0.100,2125,3790,3502
$GC,863,-1.42,-146.6,105.6,-10.9,39,867,0.00,1.92,0.00,0.000,6,0.000,0.059,2126,2747,3502
$GC,1197,-1.42,-146.6,139.2,-10.0,55,1201,0.00,2.67,0.00,0.000,4,0.000,0.076,2126,1331,3502
$GC,1230,-1.42,-146.6,142.7,-9.9,56,1237,0.00,2.75,0.00,0.000,6,0.000,0.080,2126,2760,3502
$GC,1546,-1.42,-146.6,174.8,-10.2,72,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2760,3502
$GC,1855,-1.42,-146.6,206.3,-10.5,87,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2760,3502
$GC,2165,-1.42,-146.6,237.0,-9.6,102,2170,0.00,2.70,0.00,0.000,4,0.000,0.073,2126,1337,3503
$GC,2192,-1.42,-146.6,239.8,-9.9,103,2197,0.00,2.75,0.00,0.000,6,0.000,0.082,2125,2753,3502
$GC,2508,-1.42,-146.6,270.7,-9.7,118,2509,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2753,3502
$GC,2819,-1.42,-146.6,300.3,-9.3,133,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2753,3503
$GC,3127,-1.42,-146.6,327.7,-8.8,148,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3502
$GC,3436,-1.42,-146.6,356.2,-9.4,163,3441,0.00,2.72,0.00,0.000,4,0.000,0.077,2126,1330,3501
$GC,3469,-1.42,-146.6,359.4,-10.1,164,3476,0.00,2.78,0.00,0.000,6,0.000,0.083,2126,2760,3501
$GC,3785,-1.42,-146.6,389.3,-9.8,180,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3501
$GC,4095,-1.42,-146.6,419.7,-9.8,195,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2760,3500
$GC,4405,-1.42,-146.6,450.2,-10.0,210,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3500
$GC,4713,-1.42,-146.6,481.9,-10.6,225,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2760,3499
$GC,5022,-1.42,-146.6,514.2,-10.4,240,5024,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2760,3499
$GC,5332,-1.42,-146.6,546.2,-10.2,255,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2760,3498
$GC,5641,-1.42,-146.6,577.6,-10.2,270,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2760,3498
$GC,5950,-1.42,-146.6,609.6,-10.4,285,5952,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2760,3497
$GC,6260,-1.42,-146.6,641.6,-10.4,300,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2760,3497
$GC,6569,-1.42,-146.6,673.4,-10.3,315,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3497
$GC,6878,-1.42,-146.6,705.7,-10.4,330,6883,0.00,2.72,0.00,0.000,4,0.000,0.077,2125,1331,3496
$GC,6914,-1.42,-146.6,709.4,-10.8,331,6920,0.00,2.78,0.00,0.000,6,0.000,0.083,2126,2758,3496
$GC,7230,-1.42,-146.6,742.8,-10.8,347,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2758,3496
$GC,7539,-1.42,-146.6,774.3,-9.9,362,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2758,3496
$GC,7849,-1.42,-146.6,803.7,-9.3,377,7853,0.00,2.70,0.00,0.000,4,0.000,0.077,2126,1337,3495
$GC,7889,-1.42,-146.6,807.3,-9.0,379,7893,0.00,2.75,0.00,0.000,6,0.000,0.083,2126,2751,3495
$GC,8215,-1.42,-146.6,837.5,-9.5,395,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3495
$GC,8525,-1.42,-146.6,865.4,-8.9,410,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3495
$GC,8834,-1.42,-146.6,893.0,-8.9,425,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3495
$GC,9143,-1.42,-146.6,920.4,-8.8,440,9144,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3495
$GC,9453,-1.42,-146.6,947.4,-8.9,455,9454,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3495
$GC,9762,-1.42,-146.6,975.1,-8.9,470,9764,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2751,3494
$STATE,9944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9944,begin apogee
$GC,9953,-0.42,0.0,991.7,8.9,479,10090,1.12,0.00,133.07,1.439,6,0.097,0.000,2347,1993,2902
$STATE,10091,end apogee,CONTROL_FINISHED_OK
$STATE,10091,begin climb
$GC,10094,1.42,146.6,998.9,0.0,486,10240,1.92,2.83,132.35,1.382,4,0.062,0.072,2749,578,2304
$GC,10495,1.51,214.5,988.8,5.5,504,10565,0.00,2.60,62.72,1.364,6,0.000,0.045,2749,2020,2027
$GC,10883,1.52,228.3,961.3,7.5,523,10905,0.10,2.83,13.85,1.270,4,0.054,0.071,2783,580,1971
$GC,10979,1.52,228.3,952.6,9.5,527,10984,0.00,2.58,0.00,0.000,6,0.000,0.045,2783,1996,1970
$GC,11301,1.52,228.3,923.5,9.1,543,11305,0.00,2.67,0.00,0.000,4,0.000,0.071,2783,586,1970
$GC,11357,1.52,228.3,918.1,10.4,545,11363,0.00,2.55,0.00,0.000,6,0.000,0.046,2783,2000,1970
$GC,11673,1.52,228.3,888.7,9.2,561,11674,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2001,1969
$GC,11982,1.52,228.3,861.1,8.7,576,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2001,1969
$GC,12292,1.52,228.3,833.2,8.8,591,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2002,1969
$GC,12601,1.52,228.3,805.4,9.1,606,12605,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,578,1969
$GC,12696,1.52,228.3,796.0,10.1,610,12700,0.00,2.58,0.00,0.000,6,0.000,0.046,2783,2006,1969
$GC,13012,1.52,228.3,766.9,9.2,625,13013,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2006,1968
$GC,13321,1.52,228.3,738.9,9.0,640,13325,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,583,1969
$GC,13405,1.52,228.3,730.9,9.9,644,13410,0.00,2.58,0.00,0.000,6,0.000,0.047,2783,2008,1969
$GC,13733,1.52,228.3,701.2,9.0,660,13734,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2008,1968
$GC,14042,1.52,228.3,674.3,8.7,675,14046,0.00,2.70,0.00,0.000,4,0.000,0.071,2783,586,1968
$GC,14104,1.52,228.3,668.8,9.2,678,14108,0.00,2.55,0.00,0.000,6,0.000,0.047,2783,2002,1968
$GC,14437,1.52,228.3,641.3,8.2,694,14438,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2003,1968
$GC,14746,1.54,240.9,617.6,7.5,709,14767,0.00,2.78,12.35,1.142,4,0.000,0.071,2783,590,1919
$GC,14829,1.54,240.9,610.5,8.5,712,14835,0.00,2.58,0.00,0.000,6,0.000,0.048,2783,2002,1919
$GC,15146,1.54,243.9,584.8,7.9,728,15152,0.00,0.00,4.32,0.847,6,0.000,0.000,2783,2003,1907
$GC,15454,1.54,246.2,559.9,7.9,743,15463,0.00,2.72,3.80,0.775,4,0.000,0.071,2783,585,1898
$GC,15527,1.54,246.2,553.7,8.3,746,15532,0.00,2.58,0.00,0.000,6,0.000,0.048,2783,2000,1899
$GC,15849,1.56,257.8,528.9,7.6,762,15867,0.00,0.00,12.15,1.081,6,0.000,0.000,2782,2000,1850
$GC,16177,1.56,257.8,501.8,8.6,778,16179,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2001,1850
$GC,16487,1.56,257.8,475.2,8.4,793,16488,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2001,1849
$GC,16796,1.56,257.8,448.2,9.1,808,16800,0.00,2.70,0.00,0.000,4,0.000,0.072,2783,580,1849
$GC,16846,1.56,257.8,443.6,9.0,810,16850,0.00,2.58,0.00,0.000,6,0.000,0.048,2782,1997,1849
$GC,17162,1.56,257.8,416.9,8.2,825,17164,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1996,1850
$GC,17471,1.57,266.9,392.7,7.7,840,17483,0.00,0.00,9.43,0.983,6,0.000,0.000,2783,1997,1813
$GC,17780,1.57,266.9,367.5,8.3,855,17785,0.00,2.67,0.00,0.000,4,0.000,0.071,2783,586,1813
$GC,17825,1.57,266.9,363.5,8.3,857,17830,0.00,2.58,0.00,0.000,6,0.000,0.049,2783,2001,1813
$GC,18146,1.58,278.2,338.4,7.6,873,18160,0.00,0.00,11.38,0.973,6,0.000,0.000,2783,2001,1767
$GC,18455,1.60,288.6,315.0,7.6,888,18471,0.00,2.75,10.85,0.949,4,0.000,0.071,2783,585,1724
$GC,18519,1.60,290.2,309.8,7.9,890,18523,0.00,2.62,0.00,0.000,6,0.000,0.051,2783,2009,1724
$GC,18846,1.62,311.0,285.2,7.2,906,18868,0.00,0.00,20.60,0.963,6,0.000,0.000,2783,2009,1634
$GC,19175,1.62,311.0,259.5,8.1,922,19179,0.00,2.70,0.00,0.000,4,0.000,0.074,2782,586,1634
$GC,19243,1.63,317.2,253.6,7.8,925,19257,0.00,2.60,7.38,0.851,6,0.000,0.051,2783,2005,1609
$GC,19574,1.63,317.2,225.7,8.7,941,19576,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2005,1609
$GC,19884,1.63,317.2,197.4,8.9,956,19889,0.00,2.70,0.00,0.000,4,0.000,0.072,2783,585,1609
$GC,19935,1.63,317.2,192.5,9.4,958,19939,0.00,2.60,0.00,0.000,6,0.000,0.051,2783,2006,1609
$GC,20251,1.63,317.2,162.7,10.1,973,20252,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2006,1609
$GC,20562,1.63,317.2,131.2,10.4,988,20564,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2006,1609
$GC,20870,1.63,317.2,97.7,11.0,1003,20871,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2006,1609
$GC,21179,1.63,317.2,65.9,10.1,1018,21183,0.00,2.70,0.00,0.000,4,0.000,0.073,2783,585,1610
$GC,21246,1.63,317.2,58.9,10.8,1021,21250,0.00,2.58,0.00,0.000,6,0.000,0.051,2783,2000,1609
$GC,21567,1.63,317.2,28.9,8.9,1037,21572,0.00,2.72,0.00,0.000,4,0.000,0.082,2783,3421,1610
$GC,21600,1.63,317.2,25.6,9.7,1038,21608,0.00,2.65,0.00,0.000,6,0.000,0.058,2783,1984,1609
$STATE,21872,end climb,SURFACE_DEPTH_REACHED
$STATE,21872,begin surface coast
$FINISH,-0.4,1.014172
$STATE,21894,end surface coast,CONTROL_FINISHED_OK
$STATE,21894,begin surface
$SM_CCo,21981,0.00,0.000,0,0,1609,317.17
$SM_GC,0.62,12.12,0.00,0.00,0.030,0.000,0.000,46,2747,1609,-10.94,-0.08,317.17
$IRIDIUM_FIX,6351.77,-647.81,200898,030303
$TT8_MAMPS,0.027612
$HUMID,1845
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,14.50
$XPDR_PINGS,83
$24V_AH,22.5,72.160
$10V_AH,10.0,40.473
$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,27.250,118.100,434.250,0.000,0.000,26.153,27.960,171.917,29.250,0.000,0.000,16.311,1855.896,17183.416,539.899,2158.103,607.414,33.355,1608.166,0.000,2113.987,0.000,56.941,0.000
$DEVICE_MAMPS,167.206,108.914,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,787.132,743.572,540.685,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53732,1053
$CAP_FILE_SIZE,136795,0
$CFSIZE,260165632,231276544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260509,155237,6420.958,-646.738,28,1.8,29,-9.0