version: 66.04
glider: 103
mission: 11
dive: 481
start: 6 5 109 3 33 9
data:
$ID,103
$MISSION,11
$DIVE,481
$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,330
$T_MISSION,360
$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,2
$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,560
$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,-152974.84
$T_RSLEEP,7
$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,2075
$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
$GPS1,032601,6320.766,-603.145,41,1.2,41,-8.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-51.4
$GPS2,033250,6320.738,-603.157,13,1.2,13,-8.2
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,N05
$TGT_LATLONG,6300.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.155,-0.154
$KALMAN_X,-6321.5,-758.9,612.0,229755.0,4093.8
$KALMAN_Y,-40258.8,2943.6,1602.9,120041.0,-7813.5
$MHEAD_RNG_PITCHd_Wd,190.5,38438,-18.2,-10.000
$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,-1.70,-146.6,0.0,0.0,0,107,0.00,0.00,-84.43,0.000,6,0.000,0.000,49,2757,3501
$GC,111,-1.70,-146.6,7.4,-7.6,5,133,11.55,2.70,0.00,0.000,4,0.160,0.063,2067,1333,3501
$GC,385,-1.70,-146.6,57.4,-14.5,17,390,0.00,2.72,0.00,0.000,6,0.000,0.074,2068,2760,3501
$GC,707,-1.70,-146.6,100.7,-13.1,33,712,0.00,2.70,0.00,0.000,4,0.000,0.072,2068,1332,3501
$GC,780,-1.70,-146.6,110.4,-13.1,36,785,0.00,2.70,0.00,0.000,6,0.000,0.074,2068,2753,3501
$GC,1099,-1.70,-146.6,151.5,-13.3,51,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2752,3501
$GC,1406,-1.70,-146.6,192.7,-13.6,66,1407,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2753,3501
$GC,1715,-1.70,-146.6,232.1,-12.6,81,1719,0.00,2.00,0.00,0.000,4,0.000,0.090,2068,3789,3501
$GC,1754,-1.70,-146.6,237.3,-13.3,82,1760,0.00,1.90,0.00,0.000,6,0.000,0.057,2068,2749,3501
$GC,2071,-1.70,-146.6,276.0,-12.5,98,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2749,3501
$GC,2379,-1.70,-146.6,315.3,-12.8,113,2383,0.00,2.05,0.00,0.000,4,0.000,0.094,2068,3786,3501
$GC,2407,-1.70,-146.6,319.1,-13.5,114,2411,0.00,1.92,0.00,0.000,6,0.000,0.060,2068,2740,3501
$GC,2735,-1.70,-146.6,360.7,-12.6,130,2739,0.00,2.65,0.00,0.000,4,0.000,0.077,2068,1338,3500
$GC,2768,-1.70,-146.6,364.9,-12.3,131,2774,0.00,2.75,0.00,0.000,6,0.000,0.083,2068,2755,3500
$GC,3084,-1.70,-146.6,404.2,-12.8,147,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2755,3499
$GC,3394,-1.70,-146.6,443.0,-12.5,162,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2755,3497
$GC,3702,-1.70,-146.6,482.0,-12.5,177,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2755,3496
$GC,4012,-1.70,-146.6,521.9,-12.9,192,4013,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2755,3495
$GC,4321,-1.70,-146.6,561.4,-12.8,207,4326,0.00,2.70,0.00,0.000,4,0.000,0.077,2068,1332,3493
$GC,4354,-1.70,-146.6,565.9,-13.3,208,4361,0.00,2.78,0.00,0.000,6,0.000,0.086,2068,2756,3494
$GC,4670,-1.70,-146.6,604.9,-12.0,224,4674,0.00,2.03,0.00,0.000,4,0.000,0.100,2068,3787,3492
$GC,4699,-1.70,-146.6,608.6,-12.6,225,4703,0.00,1.92,0.00,0.000,6,0.000,0.061,2068,2744,3492
$GC,5027,-1.70,-146.6,646.7,-11.4,241,5031,0.00,2.67,0.00,0.000,4,0.000,0.077,2067,1331,3492
$GC,5050,-1.70,-146.6,649.5,-11.8,242,5058,0.00,2.78,0.00,0.000,6,0.000,0.088,2068,2748,3491
$GC,5386,-1.70,-146.6,688.2,-11.7,258,5390,0.00,2.05,0.00,0.000,4,0.000,0.101,2067,3787,3490
$GC,5419,-1.70,-146.6,692.6,-12.8,259,5423,0.00,1.92,0.00,0.000,6,0.000,0.061,2068,2743,3490
$GC,5741,-1.70,-146.6,731.7,-12.7,275,5745,0.00,2.67,0.00,0.000,4,0.000,0.077,2068,1331,3489
$GC,5774,-1.70,-146.6,735.8,-12.4,276,5780,0.00,2.80,0.00,0.000,6,0.000,0.087,2068,2760,3489
$GC,6091,-1.70,-146.6,775.1,-12.5,292,6095,0.00,2.03,0.00,0.000,4,0.000,0.101,2068,3787,3487
$GC,6137,-1.70,-146.6,781.1,-13.2,294,6140,0.00,1.92,0.00,0.000,6,0.000,0.061,2068,2743,3487
$GC,6470,-1.70,-146.6,821.7,-12.0,310,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2743,3487
$GC,6779,-1.70,-146.6,859.4,-12.3,325,6783,0.00,2.67,0.00,0.000,4,0.000,0.078,2068,1331,3487
$GC,6812,-1.70,-146.6,863.6,-12.5,326,6818,0.00,2.78,0.00,0.000,6,0.000,0.087,2068,2749,3486
$GC,7129,-1.70,-146.6,902.3,-12.4,342,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2749,3486
$GC,7437,-1.70,-146.6,940.7,-12.1,357,7438,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2749,3485
$GC,7746,-1.70,-146.6,977.4,-11.6,372,7751,0.00,2.70,0.00,0.000,4,0.000,0.077,2067,1335,3485
$GC,7787,-1.70,-146.6,982.0,-11.5,374,7792,0.00,2.78,0.00,0.000,6,0.000,0.085,2068,2759,3485
$STATE,7863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7863,begin apogee
$GC,7872,-0.42,0.0,990.8,11.0,378,8008,1.48,0.00,131.70,1.410,6,0.119,0.000,2346,2073,2902
$STATE,8009,end apogee,CONTROL_FINISHED_OK
$STATE,8009,begin climb
$GC,8012,1.70,146.6,997.4,0.0,385,8157,2.17,2.80,132.25,1.368,4,0.064,0.069,2808,658,2304
$GC,8416,1.78,213.3,983.9,7.0,403,8483,0.00,2.58,61.12,1.350,6,0.000,0.043,2808,2092,2032
$GC,8800,1.82,250.2,953.1,8.3,422,8842,0.12,2.78,34.40,1.325,4,0.051,0.068,2843,662,1882
$GC,9023,1.82,250.2,929.2,11.6,432,9028,0.00,2.55,0.00,0.000,6,0.000,0.044,2843,2077,1880
$GC,9350,1.82,250.2,895.6,10.3,448,9355,0.00,2.67,0.00,0.000,4,0.000,0.067,2843,659,1880
$GC,9519,1.82,250.2,877.0,11.4,455,9525,0.00,2.55,0.00,0.000,6,0.000,0.044,2843,2086,1879
$GC,9835,1.82,250.2,843.9,10.4,471,9840,0.00,2.70,0.00,0.000,4,0.000,0.067,2843,654,1878
$GC,10023,1.82,250.2,823.4,10.5,479,10027,0.00,2.55,0.00,0.000,6,0.000,0.044,2844,2076,1879
$GC,10339,1.82,250.2,790.3,10.6,494,10343,0.00,2.65,0.00,0.000,4,0.000,0.067,2843,661,1878
$GC,10504,1.82,250.2,772.1,10.9,501,10508,0.00,2.55,0.00,0.000,6,0.000,0.044,2843,2080,1878
$GC,10820,1.82,250.2,738.8,10.5,516,10825,0.00,2.67,0.00,0.000,4,0.000,0.067,2843,654,1878
$GC,10938,1.82,250.2,725.8,11.0,521,10942,0.00,2.58,0.00,0.000,6,0.000,0.044,2844,2086,1878
$GC,11255,1.82,250.2,692.0,10.9,536,11259,0.00,2.67,0.00,0.000,4,0.000,0.067,2844,659,1878
$GC,11384,1.82,250.2,677.0,11.6,542,11389,0.00,2.55,0.00,0.000,6,0.000,0.045,2843,2078,1878
$GC,11711,1.82,250.2,640.5,11.4,558,11716,0.00,2.65,0.00,0.000,4,0.000,0.068,2843,664,1878
$GC,11864,1.82,250.2,622.0,12.2,565,11868,0.00,2.55,0.00,0.000,6,0.000,0.045,2843,2085,1878
$GC,12197,1.82,250.2,581.8,12.1,581,12201,0.00,2.67,0.00,0.000,4,0.000,0.067,2843,662,1878
$GC,12386,1.82,250.2,557.7,11.4,589,12392,0.00,2.55,0.00,0.000,6,0.000,0.046,2843,2078,1878
$GC,12702,1.82,250.2,521.9,11.1,605,12707,0.00,2.65,0.00,0.000,4,0.000,0.069,2843,659,1877
$GC,12885,1.82,250.2,500.0,12.3,613,12889,0.00,2.55,0.00,0.000,6,0.000,0.046,2843,2074,1877
$GC,13206,1.82,250.2,463.3,10.8,629,13210,0.00,2.67,0.00,0.000,4,0.000,0.069,2844,653,1878
$GC,13390,1.82,250.2,443.3,10.4,637,13394,0.00,2.58,0.00,0.000,6,0.000,0.047,2844,2080,1877
$GC,13711,1.84,266.6,412.4,9.3,653,13733,0.00,2.75,14.85,1.037,4,0.000,0.069,2843,661,1815
$GC,13891,1.84,266.6,393.9,10.1,661,13896,0.00,2.58,0.00,0.000,6,0.000,0.048,2844,2079,1815
$GC,14219,1.84,266.6,359.4,10.8,677,14223,0.00,2.67,0.00,0.000,4,0.000,0.071,2843,663,1814
$GC,14341,1.84,266.6,344.5,12.2,682,14348,0.00,2.55,0.00,0.000,6,0.000,0.048,2844,2074,1815
$GC,14658,1.84,266.6,309.7,10.8,698,14662,0.00,2.67,0.00,0.000,4,0.000,0.071,2843,656,1814
$GC,14743,1.84,266.6,300.3,10.8,702,14747,0.00,2.58,0.00,0.000,6,0.000,0.048,2844,2078,1814
$GC,15070,1.84,266.6,266.7,10.2,718,15074,0.00,2.67,0.00,0.000,4,0.000,0.071,2844,661,1815
$GC,15322,1.85,275.5,240.1,9.6,729,15336,0.00,2.58,9.27,0.888,6,0.000,0.048,2843,2085,1779
$GC,15666,1.85,275.5,205.9,10.2,746,15671,0.00,2.70,0.00,0.000,4,0.000,0.071,2844,658,1778
$GC,15790,1.85,275.5,192.0,10.4,751,15796,0.00,2.58,0.00,0.000,6,0.000,0.048,2844,2077,1778
$GC,16106,1.85,275.5,157.5,11.6,767,16111,0.00,2.67,0.00,0.000,4,0.000,0.069,2844,655,1778
$GC,16247,1.85,275.5,141.2,11.4,773,16251,0.00,2.55,0.00,0.000,6,0.000,0.046,2843,2074,1779
$GC,16563,1.86,276.4,109.0,10.0,788,16568,0.00,2.65,0.00,0.000,4,0.000,0.067,2844,658,1779
$GC,16734,1.86,276.4,90.3,10.4,795,16740,0.00,2.53,0.00,0.000,6,0.000,0.043,2843,2080,1779
$GC,17052,1.86,276.4,55.1,10.7,811,17056,0.00,2.65,0.00,0.000,4,0.000,0.064,2844,652,1780
$GC,17117,1.86,276.4,47.7,10.8,814,17121,0.00,2.55,0.00,0.000,6,0.000,0.042,2844,2085,1780
$GC,17444,1.86,276.4,11.9,10.2,830,17449,0.00,2.65,0.00,0.000,4,0.000,0.061,2844,651,1781
$STATE,17536,end climb,SURFACE_DEPTH_REACHED
$STATE,17536,begin surface coast
$FINISH,1.1,1.027347
$STATE,17543,end surface coast,CONTROL_FINISHED_OK
$STATE,17543,begin surface
$SM_CCo,17572,226.60,0.713,0,0,619,560.02
$SM_GC,0.64,0.00,0.00,226.60,0.000,0.000,0.713,49,2756,619,-10.99,0.14,560.02
$IRIDIUM_FIX,6258.74,-610.34,290898,191954
$TT8_MAMPS,0.029146
$HUMID,1791
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,18.10
$XPDR_PINGS,87
$24V_AH,22.5,77.863
$10V_AH,10.0,43.925
$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,27.825,171.025,383.600,226.600,0.000,26.026,35.882,188.255,30.250,0.000,0.000,13.445,1626.700,12922.403,758.164,2257.700,631.280,0.000,1882.820,0.000,2194.646,0.000,56.971,0.000
$DEVICE_MAMPS,160.303,101.244,1409.746,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,615.856,588.964,440.469,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41129,834
$CAP_FILE_SIZE,137685,0
$CFSIZE,260165632,228888576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,050609,083107,6318.058,-604.045,38,1.5,38,-8.2