version: 66.04
glider: 103
mission: 11
dive: 452
start: 5 26 109 16 3 10
data:
$ID,103
$MISSION,11
$DIVE,452
$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,-152506.19
$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,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
$GPS1,155237,6420.958,-646.738,28,1.8,29,-9.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-60.4
$GPS2,160222,6420.863,-646.879,12,4.6,31,-9.0
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P5
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.084,0.228
$KALMAN_X,-14758.1,-8.5,-731.3,198898.4,2095.3
$KALMAN_Y,-83631.4,153.3,199.2,263241.3,-3650.5
$MHEAD_RNG_PITCHd_Wd,29.3,37434,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-57.38,0.000,6,0.000,0.000,46,2750,3501
$GC,81,-1.42,-146.6,6.8,-15.0,3,102,12.02,2.05,0.00,0.000,4,0.168,0.084,2124,3790,3502
$GC,280,-1.42,-146.6,41.2,-11.3,11,286,0.00,1.92,0.00,0.000,6,0.000,0.053,2125,2751,3501
$GC,596,-1.42,-146.6,75.3,-10.2,27,601,0.00,2.65,0.00,0.000,4,0.000,0.071,2125,1333,3502
$GC,630,-1.42,-146.6,78.9,-10.3,28,637,0.00,2.72,0.00,0.000,6,0.000,0.075,2125,2757,3502
$GC,946,-1.42,-146.6,113.1,-11.3,44,950,0.00,2.05,0.00,0.000,4,0.000,0.103,2124,3790,3502
$GC,985,-1.42,-146.6,117.7,-11.8,45,992,0.00,1.92,0.00,0.000,6,0.000,0.057,2124,2757,3502
$GC,1303,-1.42,-146.6,153.3,-11.4,61,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3502
$GC,1611,-1.42,-146.6,188.5,-11.1,76,1615,0.00,2.67,0.00,0.000,4,0.000,0.071,2124,1324,3503
$GC,1655,-1.42,-146.6,193.5,-11.1,78,1660,0.00,2.75,0.00,0.000,6,0.000,0.077,2125,2753,3503
$GC,1977,-1.42,-146.6,229.4,-11.3,94,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3503
$GC,2285,-1.42,-146.6,263.4,-10.7,109,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3503
$GC,2595,-1.42,-146.6,294.6,-9.6,124,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3503
$GC,2905,-1.42,-146.6,325.8,-10.2,139,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2754,3503
$GC,3213,-1.42,-146.6,356.2,-10.1,154,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2754,3502
$GC,3522,-1.42,-146.6,387.0,-9.9,169,3527,0.00,2.72,0.00,0.000,4,0.000,0.078,2125,1332,3502
$GC,3552,-1.42,-146.6,389.8,-10.0,170,3557,0.00,2.75,0.00,0.000,6,0.000,0.081,2125,2753,3502
$GC,3868,-1.42,-146.6,421.7,-10.2,185,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3502
$GC,4177,-1.42,-146.6,454.1,-10.6,200,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2753,3501
$GC,4487,-1.42,-146.6,486.5,-10.5,215,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3500
$GC,4796,-1.42,-146.6,518.8,-10.6,230,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3500
$GC,5105,-1.42,-146.6,553.4,-11.5,245,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3499
$GC,5415,-1.42,-146.6,589.3,-11.4,260,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3499
$GC,5726,-1.42,-146.6,625.5,-11.8,275,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3499
$GC,6033,-1.42,-146.6,660.0,-11.1,290,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3498
$GC,6343,-1.42,-146.6,692.0,-10.2,305,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3498
$GC,6651,-1.42,-146.6,723.3,-10.0,320,6652,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3497
$GC,6961,-1.42,-146.6,752.9,-9.7,335,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3497
$GC,7270,-1.42,-146.6,783.6,-9.8,350,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3496
$GC,7579,-1.42,-146.6,813.8,-9.9,365,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3496
$GC,7888,-1.42,-146.6,844.1,-9.7,380,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3496
$GC,8198,-1.42,-146.6,873.7,-9.5,395,8203,0.00,2.70,0.00,0.000,4,0.000,0.077,2125,1333,3496
$GC,8232,-1.42,-146.6,877.0,-9.4,396,8238,0.00,2.75,0.00,0.000,6,0.000,0.081,2125,2753,3496
$GC,8548,-1.42,-146.6,906.3,-9.4,412,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2753,3496
$GC,8858,-1.42,-146.6,935.7,-9.3,427,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3495
$GC,9166,-1.42,-146.6,964.1,-8.8,442,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3495
$STATE,9472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9473,begin apogee
$GC,9482,-0.42,0.0,991.7,9.3,457,9620,1.15,0.00,134.43,1.424,6,0.107,0.000,2346,1998,2902
$STATE,9621,end apogee,CONTROL_FINISHED_OK
$STATE,9621,begin climb
$GC,9624,1.42,146.6,999.0,0.0,464,9770,1.92,2.80,133.55,1.379,4,0.064,0.072,2747,588,2304
$GC,10029,1.50,213.7,989.3,5.5,482,10097,0.00,2.58,61.83,1.361,6,0.000,0.044,2747,2019,2031
$GC,10414,1.54,241.2,962.5,7.0,501,10448,0.12,2.83,26.25,1.328,4,0.049,0.070,2784,580,1918
$GC,10527,1.54,241.2,952.2,9.1,506,10532,0.00,2.58,0.00,0.000,6,0.000,0.045,2784,1995,1917
$GC,10849,1.54,241.2,924.6,8.8,522,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1996,1917
$GC,11159,1.54,241.2,897.0,9.0,537,11163,0.00,2.67,0.00,0.000,4,0.000,0.070,2784,587,1917
$GC,11203,1.54,241.2,892.7,10.0,539,11207,0.00,2.58,0.00,0.000,6,0.000,0.046,2784,2009,1917
$GC,11524,1.54,241.2,862.9,9.3,555,11528,0.00,2.70,0.00,0.000,4,0.000,0.071,2784,584,1917
$GC,11564,1.54,241.2,859.0,10.4,557,11568,0.00,2.58,0.00,0.000,6,0.000,0.046,2784,2009,1916
$GC,11891,1.54,241.2,828.4,9.2,573,11895,0.00,2.70,0.00,0.000,4,0.000,0.071,2784,586,1915
$GC,11930,1.54,241.2,824.6,10.2,575,11935,0.00,2.58,0.00,0.000,6,0.000,0.045,2784,2010,1915
$GC,12258,1.54,241.2,793.9,9.8,591,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2010,1916
$GC,12567,1.54,241.2,765.5,9.3,606,12572,0.00,2.70,0.00,0.000,4,0.000,0.071,2784,586,1916
$GC,12623,1.54,241.2,760.0,9.7,608,12629,0.00,2.55,0.00,0.000,6,0.000,0.045,2784,2002,1916
$GC,12939,1.54,241.2,731.0,9.3,624,12940,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2003,1915
$GC,13248,1.54,241.2,701.3,9.6,639,13252,0.00,2.67,0.00,0.000,4,0.000,0.070,2784,587,1916
$GC,13310,1.54,241.2,695.2,9.8,642,13314,0.00,2.55,0.00,0.000,6,0.000,0.046,2784,2004,1915
$GC,13637,1.54,241.2,664.0,9.7,658,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2004,1916
$GC,13946,1.54,241.2,632.8,10.3,673,13950,0.00,2.67,0.00,0.000,4,0.000,0.071,2784,588,1916
$GC,14024,1.54,241.2,624.2,9.9,676,14030,0.00,2.55,0.00,0.000,6,0.000,0.047,2784,2005,1915
$GC,14340,1.54,241.2,592.6,9.8,692,14345,0.00,2.67,0.00,0.000,4,0.000,0.070,2784,585,1915
$GC,14387,1.54,241.2,588.0,8.8,694,14391,0.00,2.58,0.00,0.000,6,0.000,0.048,2784,2010,1915
$GC,14708,1.54,241.2,558.3,9.2,710,14712,0.00,2.70,0.00,0.000,4,0.000,0.071,2784,586,1915
$GC,14758,1.54,241.2,553.3,10.0,712,14762,0.00,2.55,0.00,0.000,6,0.000,0.047,2784,2001,1915
$GC,15079,1.54,241.2,522.7,9.4,728,15080,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2001,1915
$GC,15388,1.54,241.2,494.9,8.9,743,15393,0.00,2.67,0.00,0.000,4,0.000,0.071,2784,583,1915
$GC,15484,1.54,241.2,485.8,9.7,747,15489,0.00,2.58,0.00,0.000,6,0.000,0.048,2784,2007,1915
$GC,15800,1.54,241.2,459.1,8.2,762,15801,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2007,1915
$GC,16109,1.56,259.1,435.3,7.3,777,16132,0.00,2.83,16.50,1.058,4,0.000,0.070,2784,582,1845
$GC,16224,1.57,265.3,426.4,7.8,782,16238,0.00,2.58,7.30,0.941,6,0.000,0.048,2784,1998,1820
$GC,16555,1.58,277.7,401.1,7.5,798,16577,0.00,2.80,12.20,1.009,4,0.000,0.070,2784,577,1769
$GC,16624,1.58,277.7,395.6,8.2,801,16628,0.00,2.60,0.00,0.000,6,0.000,0.048,2784,2001,1769
$GC,16951,1.59,281.0,369.1,7.9,817,16957,0.00,0.00,4.82,0.809,6,0.000,0.000,2784,2001,1756
$GC,17260,1.59,281.0,343.9,8.4,832,17264,0.00,2.67,0.00,0.000,4,0.000,0.071,2784,585,1756
$GC,17357,1.59,281.0,335.5,8.3,836,17361,0.00,2.58,0.00,0.000,6,0.000,0.049,2784,1997,1756
$GC,17673,1.59,281.0,309.3,8.2,851,17674,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1997,1756
$GC,17983,1.59,281.0,284.2,8.2,866,17987,0.00,2.67,0.00,0.000,4,0.000,0.071,2784,586,1756
$GC,18045,1.59,281.0,278.9,8.2,869,18049,0.00,2.58,0.00,0.000,6,0.000,0.050,2784,2005,1756
$GC,18371,1.59,281.0,251.5,8.7,885,18373,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2005,1756
$GC,18681,1.59,281.0,223.0,9.7,900,18682,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2005,1756
$GC,18990,1.59,281.0,191.8,10.2,915,18994,0.00,2.70,0.00,0.000,4,0.000,0.071,2784,577,1756
$GC,19068,1.59,281.0,183.6,9.6,918,19074,0.00,2.60,0.00,0.000,6,0.000,0.050,2784,2007,1756
$GC,19384,1.59,281.0,153.7,9.4,934,19389,0.00,2.67,0.00,0.000,4,0.000,0.069,2784,586,1756
$GC,19451,1.59,281.0,147.2,9.6,937,19456,0.00,2.58,0.00,0.000,6,0.000,0.048,2784,2006,1756
$GC,19773,1.59,281.0,119.4,8.5,953,19774,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2006,1757
$GC,20083,1.59,281.0,93.6,8.7,968,20084,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2006,1757
$GC,20391,1.59,281.0,64.7,9.6,983,20396,0.00,2.70,0.00,0.000,4,0.000,0.072,2784,580,1757
$GC,20486,1.59,281.0,55.3,9.7,987,20491,0.00,2.58,0.00,0.000,6,0.000,0.048,2784,2007,1757
$GC,20803,1.59,281.0,24.6,9.2,1002,20807,0.00,2.67,0.00,0.000,4,0.000,0.078,2784,3416,1758
$GC,20875,1.59,281.0,17.8,9.1,1005,20880,0.00,2.60,0.00,0.000,6,0.000,0.054,2784,1995,1758
$STATE,21066,end climb,SURFACE_DEPTH_REACHED
$STATE,21066,begin surface coast
$FINISH,-0.5,1.027482
$STATE,21087,end surface coast,CONTROL_FINISHED_OK
$STATE,21087,begin surface
$SM_CCo,21174,0.00,0.000,0,0,1757,280.87
$SM_GC,0.89,12.25,0.00,0.00,0.036,0.000,0.000,50,2744,1757,-10.93,-0.17,280.87
$IRIDIUM_FIX,6356.67,-713.67,200898,161642
$TT8_MAMPS,0.029146
$HUMID,1848
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,14.50
$XPDR_PINGS,82
$24V_AH,22.5,72.333
$10V_AH,10.0,40.566
$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,27.475,133.175,396.875,0.000,0.000,61.210,131.397,167.318,29.000,0.000,0.000,32.046,1802.639,16559.717,505.722,2132.348,747.676,33.360,1564.548,0.000,2078.445,0.000,56.945,0.000
$DEVICE_MAMPS,167.973,108.914,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,765.967,714.451,537.254,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50609,1015
$CAP_FILE_SIZE,136019,0
$CFSIZE,260165632,231215104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260509,215724,6422.583,-645.875,41,1.1,42,-9.0