version: 66.04
glider: 103
mission: 11
dive: 346
start: 5 8 109 0 45 48
data:
$ID,103
$MISSION,11
$DIVE,346
$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,1
$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,571.54901
$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,-150589.7
$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,2675
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,002406,6225.734,-1143.925,100,1.1,100,-11.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-57.6
$GPS2,004500,6225.518,-1143.774,19,2.3,38,-11.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P1
$TGT_LATLONG,6215.000,-1130.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.191,-0.150
$KALMAN_X,-119713.2,389.2,492.1,183792.0,-562.2
$KALMAN_Y,6583.5,55.3,-249.0,-52695.4,-3219.7
$MHEAD_RNG_PITCHd_Wd,139.3,22815,-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,13,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.00,0.000,2,0.000,0.000,44,2678,3295
$GC,63,-1.42,-146.6,4.3,-12.5,2,85,11.77,2.60,-3.28,0.000,4,0.159,0.075,2127,1272,3501
$GC,338,-1.42,-146.6,39.2,-9.5,14,342,0.00,2.67,0.00,0.000,6,0.000,0.074,2127,2683,3502
$GC,660,-1.42,-146.6,71.9,-11.4,30,665,0.00,2.65,0.00,0.000,4,0.000,0.067,2127,1258,3502
$GC,679,-1.42,-146.6,74.3,-13.8,31,683,0.00,2.67,0.00,0.000,6,0.000,0.071,2127,2681,3502
$GC,1006,-1.42,-146.6,115.7,-12.8,47,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2681,3502
$GC,1316,-1.42,-146.6,150.1,-11.0,62,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2681,3501
$GC,1624,-1.42,-146.6,189.3,-13.5,77,1627,0.00,2.08,0.00,0.000,4,0.000,0.080,2127,3786,3501
$GC,1702,-1.42,-146.6,199.6,-12.7,80,1710,0.00,1.98,0.00,0.000,6,0.000,0.048,2127,2677,3502
$GC,2027,-1.42,-146.6,233.9,-10.0,96,2030,0.00,2.12,0.00,0.000,4,0.000,0.077,2127,3797,3501
$GC,2105,-1.42,-146.6,242.1,-10.2,99,2109,0.00,2.00,0.00,0.000,6,0.000,0.050,2127,2675,3501
$GC,2429,-1.42,-146.6,276.7,-11.2,115,2433,0.00,2.12,0.00,0.000,4,0.000,0.078,2127,3793,3501
$GC,2515,-1.42,-146.6,287.0,-11.9,118,2521,0.00,2.00,0.00,0.000,6,0.000,0.048,2127,2670,3501
$GC,2831,-1.42,-146.6,322.5,-11.2,134,2835,0.00,2.15,0.00,0.000,4,0.000,0.082,2127,3796,3501
$GC,2910,-1.42,-146.6,331.7,-11.5,137,2914,0.00,2.00,0.00,0.000,6,0.000,0.048,2127,2669,3501
$GC,3231,-1.42,-146.6,367.1,-10.9,153,3235,0.00,2.12,0.00,0.000,4,0.000,0.080,2127,3789,3501
$GC,3307,-1.42,-146.6,375.3,-11.1,156,3311,0.00,1.98,0.00,0.000,6,0.000,0.043,2127,2669,3501
$GC,3634,-1.42,-146.6,409.5,-10.4,172,3638,0.00,2.12,0.00,0.000,4,0.000,0.078,2127,3792,3501
$GC,3729,-1.42,-146.6,419.8,-10.8,176,3733,0.00,1.98,0.00,0.000,6,0.000,0.043,2127,2662,3501
$GC,4057,-1.42,-146.6,452.1,-9.9,192,4061,0.00,2.12,0.00,0.000,4,0.000,0.078,2127,3787,3501
$GC,4130,-1.42,-146.6,459.9,-10.6,195,4134,0.00,1.95,0.00,0.000,6,0.000,0.045,2127,2679,3501
$GC,4458,-1.42,-146.6,493.2,-10.5,211,4462,0.00,2.08,0.00,0.000,4,0.000,0.077,2127,3790,3501
$GC,4542,-1.42,-146.6,502.2,-10.7,214,4548,0.00,1.98,0.00,0.000,6,0.000,0.044,2127,2662,3501
$GC,4858,-1.42,-146.6,534.6,-10.6,230,4862,0.00,2.12,0.00,0.000,4,0.000,0.078,2127,3789,3501
$GC,4944,-1.42,-146.6,543.8,-11.2,233,4950,0.00,1.95,0.00,0.000,6,0.000,0.042,2127,2672,3501
$GC,5261,-1.42,-146.6,575.1,-9.7,249,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2672,3501
$GC,5569,-1.42,-146.6,606.5,-10.0,264,5573,0.00,2.12,0.00,0.000,4,0.000,0.078,2127,3797,3501
$GC,5683,-1.42,-146.6,618.5,-11.5,269,5687,0.00,1.98,0.00,0.000,6,0.000,0.043,2127,2667,3501
$GC,6016,-1.42,-146.6,652.7,-10.0,285,6020,0.00,2.12,0.00,0.000,4,0.000,0.081,2127,3787,3501
$GC,6062,-1.42,-146.6,657.5,-10.3,287,6066,0.00,1.95,0.00,0.000,6,0.000,0.044,2127,2666,3501
$GC,6395,-1.42,-146.6,691.6,-10.2,303,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2666,3500
$GC,6704,-1.42,-146.6,721.8,-9.1,318,6708,0.00,2.15,0.00,0.000,4,0.000,0.082,2127,3797,3500
$GC,6840,-1.42,-146.6,734.4,-9.4,324,6844,0.00,1.98,0.00,0.000,6,0.000,0.044,2127,2669,3500
$GC,7173,-1.42,-146.6,765.8,-10.1,340,7174,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2668,3500
$GC,7482,-1.42,-146.6,795.1,-9.3,355,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2668,3500
$GC,7792,-1.42,-146.6,824.7,-9.4,370,7798,0.00,2.15,0.00,0.000,4,0.000,0.086,2127,3787,3499
$GC,7839,-1.42,-146.6,829.3,-10.0,372,7843,0.00,1.98,0.00,0.000,6,0.000,0.048,2127,2665,3499
$STATE,8086,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8086,begin apogee
$GC,8095,-0.42,0.0,852.1,8.9,384,8230,1.15,0.00,127.93,1.239,6,0.113,0.000,2347,2074,2902
$STATE,8230,end apogee,CONTROL_FINISHED_OK
$STATE,8230,begin climb
$GC,8234,1.42,146.6,858.9,0.0,391,8368,1.90,2.67,125.78,1.204,4,0.061,0.061,2750,654,2304
$GC,8628,1.50,207.6,847.0,5.8,409,8690,0.00,2.55,53.40,1.203,6,0.000,0.040,2750,2099,2055
$GC,9004,1.53,230.8,820.0,7.1,427,9031,0.00,2.72,21.12,1.160,4,0.000,0.062,2750,653,1960
$GC,9152,1.53,235.5,807.8,7.8,433,9163,0.10,2.53,5.70,0.913,6,0.051,0.041,2784,2077,1941
$GC,9485,1.53,235.5,777.8,9.3,450,9489,0.00,2.62,0.00,0.000,4,0.000,0.061,2784,655,1940
$GC,9552,1.53,235.5,771.1,9.8,453,9557,0.00,2.50,0.00,0.000,6,0.000,0.040,2784,2077,1940
$GC,9874,1.53,235.5,741.5,9.1,469,9878,0.00,2.60,0.00,0.000,4,0.000,0.059,2784,660,1939
$GC,9981,1.53,235.5,731.4,9.2,474,9985,0.00,2.50,0.00,0.000,6,0.000,0.040,2784,2076,1938
$GC,10308,1.53,235.5,701.5,9.0,490,10313,0.00,2.58,0.00,0.000,4,0.000,0.061,2784,3485,1938
$GC,10348,1.53,235.5,697.7,9.9,492,10353,0.00,2.53,0.00,0.000,6,0.000,0.039,2784,2052,1938
$GC,10676,1.54,239.1,670.7,7.9,508,10685,0.00,2.53,3.97,0.738,4,0.000,0.057,2784,666,1927
$GC,10781,1.54,239.1,661.9,8.5,512,10787,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,2082,1928
$GC,11097,1.54,239.1,635.8,8.4,528,11101,0.00,2.58,0.00,0.000,4,0.000,0.054,2784,660,1928
$GC,11215,1.54,239.1,624.4,10.0,533,11219,0.00,2.47,0.00,0.000,6,0.000,0.035,2784,2081,1928
$GC,11536,1.54,239.1,594.0,9.6,549,11540,0.00,2.55,0.00,0.000,4,0.000,0.054,2784,669,1928
$GC,11576,1.54,239.1,590.1,10.6,551,11580,0.00,2.45,0.00,0.000,6,0.000,0.035,2784,2081,1928
$GC,11903,1.54,239.1,557.8,9.8,567,11907,0.00,2.55,0.00,0.000,4,0.000,0.054,2784,669,1928
$GC,11981,1.54,239.1,549.8,10.2,570,11987,0.00,2.42,0.00,0.000,6,0.000,0.035,2784,2076,1928
$GC,12297,1.54,239.1,517.9,10.3,586,12302,0.00,2.55,0.00,0.000,4,0.000,0.053,2784,661,1929
$GC,12405,1.54,239.1,506.7,9.7,591,12410,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,2085,1929
$GC,12738,1.54,239.1,475.8,9.0,607,12742,0.00,2.58,0.00,0.000,4,0.000,0.054,2784,659,1930
$GC,12807,1.54,239.1,469.5,9.6,610,12811,0.00,2.47,0.00,0.000,6,0.000,0.035,2784,2082,1930
$GC,13128,1.54,239.1,441.1,8.5,626,13132,0.00,2.55,0.00,0.000,4,0.000,0.054,2784,669,1930
$GC,13242,1.54,239.1,430.8,8.1,631,13246,0.00,2.45,0.00,0.000,6,0.000,0.035,2784,2078,1930
$GC,13563,1.54,239.1,402.6,8.6,647,13567,0.00,2.55,0.00,0.000,4,0.000,0.054,2784,666,1931
$GC,13625,1.54,239.1,397.2,8.7,650,13629,0.00,2.47,0.00,0.000,6,0.000,0.036,2784,2086,1931
$GC,13959,1.54,239.1,368.1,8.8,666,13963,0.00,2.58,0.00,0.000,4,0.000,0.055,2785,661,1931
$GC,14048,1.54,239.1,359.8,9.3,670,14052,0.00,2.47,0.00,0.000,6,0.000,0.037,2784,2079,1931
$GC,14370,1.54,239.1,332.8,8.1,686,14374,0.00,2.55,0.00,0.000,4,0.000,0.056,2784,672,1932
$GC,14471,1.54,239.1,324.4,8.2,690,14477,0.00,2.45,0.00,0.000,6,0.000,0.038,2784,2082,1932
$GC,14787,1.54,239.1,298.8,8.3,706,14791,0.00,2.58,0.00,0.000,4,0.000,0.055,2784,659,1932
$GC,14865,1.54,239.1,291.7,8.3,709,14871,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2077,1932
$GC,15181,1.54,239.1,264.8,8.5,725,15185,0.00,2.55,0.00,0.000,4,0.000,0.057,2784,670,1932
$GC,15231,1.54,239.1,260.3,8.8,727,15235,0.00,2.45,0.00,0.000,6,0.000,0.037,2784,2081,1932
$GC,15552,1.54,239.1,233.0,8.8,743,15556,0.00,2.58,0.00,0.000,4,0.000,0.057,2784,661,1932
$GC,15637,1.54,239.1,225.2,9.0,747,15641,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2075,1932
$GC,15963,1.54,239.1,195.4,9.0,763,15968,0.00,2.55,0.00,0.000,4,0.000,0.057,2784,668,1933
$GC,16027,1.54,239.1,189.5,9.5,766,16032,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2084,1933
$GC,16354,1.54,239.1,161.8,8.1,782,16359,0.00,2.58,0.00,0.000,4,0.000,0.056,2784,661,1933
$GC,16394,1.54,239.1,158.2,9.6,784,16399,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2076,1933
$GC,16721,1.54,239.1,129.5,9.0,800,16726,0.00,2.58,0.00,0.000,4,0.000,0.059,2784,662,1933
$GC,16755,1.54,239.1,126.3,9.3,801,16762,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2082,1933
$GC,17071,1.54,239.1,97.2,8.5,817,17076,0.00,2.58,0.00,0.000,4,0.000,0.058,2784,664,1933
$GC,17195,1.54,239.1,83.8,10.0,822,17201,0.00,2.45,0.00,0.000,6,0.000,0.038,2784,2075,1933
$GC,17513,1.54,239.1,57.6,8.7,838,17517,0.00,2.55,0.00,0.000,4,0.000,0.057,2784,664,1933
$GC,17630,1.54,239.1,47.4,8.8,843,17634,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2078,1934
$GC,17947,1.54,239.1,29.0,8.7,858,17951,0.00,2.58,0.00,0.000,4,0.000,0.058,2784,660,1934
$GC,18054,1.54,239.1,18.0,10.3,863,18059,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2080,1934
$STATE,18214,end climb,SURFACE_DEPTH_REACHED
$STATE,18214,begin surface coast
$FINISH,0.3,1.027402
$STATE,18236,end surface coast,CONTROL_FINISHED_OK
$STATE,18236,begin surface
$SM_CCo,18262,232.20,0.665,0,0,572,571.55
$SM_GC,0.70,0.00,0.00,232.20,0.000,0.000,0.665,54,2667,572,-10.98,-0.23,571.55
$IRIDIUM_FIX,6158.08,-1145.91,020898,000004
$TT8_MAMPS,0.029146
$HUMID,1754
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.3,36.2
$24V_AH,23.1,57.659
$10V_AH,10.1,33.214
$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,27.100,187.425,337.900,232.200,0.000,132.957,191.257,487.978,7.250,0.000,0.000,39.178,1687.120,13848.453,689.143,2303.892,1214.046,33.355,1831.024,0.000,2214.735,0.000,54.013,0.000
$DEVICE_MAMPS,158.769,86.671,1238.705,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,607.418,645.134,495.177,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44213,872
$CAP_FILE_SIZE,154715,0
$CFSIZE,260165632,236486656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080509,055537,6222.491,-1140.519,53,1.1,53,-11.0