version: 66.04
glider: 103
mission: 11
dive: 349
start: 5 8 109 17 5 19
data:
$ID,103
$MISSION,11
$DIVE,349
$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,225
$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,-150660.83
$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,24
$R_STBD_OVSHOOT,6
$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
$GPS1,165741,6216.226,-1134.473,42,1.8,46,-10.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-59.3
$GPS2,170428,6216.198,-1134.516,16,2.3,35,-10.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.013,0.243
$KALMAN_X,-124205.4,-908.7,-1129.9,199078.7,1036.3
$KALMAN_Y,-657.0,157.3,115.9,-63176.3,-5097.0
$MHEAD_RNG_PITCHd_Wd,14.0,96276,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.42,0.000,2,0.000,0.000,48,2664,3192
$GC,62,-1.42,-146.6,3.8,-10.4,2,86,11.75,2.45,-5.25,0.000,4,0.160,0.077,2123,1348,3501
$GC,187,-1.42,-146.6,24.8,-10.7,7,192,0.00,2.65,0.00,0.000,6,0.000,0.065,2123,2766,3501
$GC,504,-1.42,-146.6,58.3,-10.9,22,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2766,3501
$GC,815,-1.42,-146.6,92.9,-11.2,37,819,0.00,2.62,0.00,0.000,4,0.000,0.064,2123,1343,3501
$GC,865,-1.42,-146.6,98.9,-11.8,39,869,0.00,2.62,0.00,0.000,6,0.000,0.065,2123,2756,3501
$GC,1183,-1.42,-146.6,134.7,-11.5,54,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3501
$GC,1490,-1.42,-146.6,168.3,-10.4,69,1494,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,1338,3501
$GC,1534,-1.42,-146.6,173.1,-10.7,71,1539,0.00,2.62,0.00,0.000,6,0.000,0.064,2123,2754,3501
$GC,1856,-1.42,-146.6,207.4,-10.5,87,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3501
$GC,2165,-1.42,-146.6,238.7,-10.0,102,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3501
$GC,2475,-1.42,-146.6,271.3,-10.9,117,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2755,3501
$GC,2784,-1.42,-146.6,303.4,-10.1,132,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2755,3500
$GC,3093,-1.42,-146.6,335.3,-10.2,147,3097,0.00,1.95,0.00,0.000,4,0.000,0.084,2123,3797,3500
$GC,3155,-1.42,-146.6,342.0,-10.6,149,3161,0.00,1.85,0.00,0.000,6,0.000,0.042,2123,2743,3500
$GC,3471,-1.42,-146.6,375.3,-10.4,165,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2743,3500
$GC,3780,-1.42,-146.6,405.5,-9.6,180,3784,0.00,1.98,0.00,0.000,4,0.000,0.078,2123,3784,3501
$GC,3819,-1.42,-146.6,409.9,-10.7,181,3825,0.00,1.83,0.00,0.000,6,0.000,0.044,2123,2746,3500
$GC,4135,-1.42,-146.6,441.9,-10.2,197,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2746,3500
$GC,4444,-1.42,-146.6,474.0,-10.6,212,4448,0.00,1.98,0.00,0.000,4,0.000,0.080,2123,3786,3500
$GC,4491,-1.42,-146.6,479.0,-10.8,214,4494,0.00,1.83,0.00,0.000,6,0.000,0.041,2123,2740,3500
$GC,4823,-1.42,-146.6,511.8,-9.7,230,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2740,3501
$GC,5133,-1.42,-146.6,541.6,-9.8,245,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2740,3500
$GC,5442,-1.42,-146.6,572.0,-9.7,260,5446,0.00,1.95,0.00,0.000,4,0.000,0.075,2123,3782,3500
$GC,5490,-1.42,-146.6,576.6,-10.1,262,5494,0.00,1.80,0.00,0.000,6,0.000,0.039,2123,2740,3500
$GC,5823,-1.42,-146.6,610.2,-10.0,278,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2740,3500
$GC,6132,-1.42,-146.6,641.1,-10.0,293,6136,0.00,1.98,0.00,0.000,4,0.000,0.080,2123,3785,3500
$GC,6171,-1.42,-146.6,645.2,-10.5,294,6177,0.00,1.80,0.00,0.000,6,0.000,0.042,2123,2755,3500
$GC,6488,-1.42,-146.6,675.1,-9.5,310,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2755,3500
$GC,6797,-1.42,-146.6,704.4,-9.8,325,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2755,3500
$GC,7106,-1.42,-146.6,734.6,-9.9,340,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3500
$GC,7415,-1.42,-146.6,764.7,-9.4,355,7419,0.00,1.95,0.00,0.000,4,0.000,0.078,2123,3787,3500
$GC,7462,-1.42,-146.6,769.0,-9.7,357,7466,0.00,1.85,0.00,0.000,6,0.000,0.042,2123,2745,3500
$GC,7794,-1.42,-146.6,799.7,-9.0,373,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2744,3500
$GC,8104,-1.42,-146.6,828.3,-8.9,388,8108,0.00,2.53,0.00,0.000,4,0.000,0.058,2123,1334,3500
$GC,8266,-1.42,-146.6,843.0,-9.0,395,8271,0.00,2.62,0.00,0.000,6,0.000,0.063,2123,2759,3500
$GC,8582,-1.42,-146.6,872.5,-10.0,410,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2760,3500
$GC,8892,-1.42,-146.6,899.1,-8.4,425,8896,0.00,2.60,0.00,0.000,4,0.000,0.061,2123,1335,3500
$GC,9067,-1.42,-146.6,914.8,-8.7,433,9071,0.00,2.62,0.00,0.000,6,0.000,0.067,2123,2745,3499
$STATE,9143,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9143,begin apogee
$GC,9152,-0.42,0.0,922.2,9.7,437,9286,1.12,0.00,127.55,1.313,6,0.098,0.000,2346,2007,2902
$STATE,9287,end apogee,CONTROL_FINISHED_OK
$STATE,9287,begin climb
$GC,9290,1.42,146.6,928.5,0.0,444,9424,1.88,2.67,125.95,1.251,4,0.051,0.056,2751,3428,2304
$GC,9684,1.54,241.3,915.8,4.5,462,9775,0.10,2.55,82.43,1.236,6,0.054,0.041,2783,1986,1918
$GC,10097,1.54,241.3,879.6,9.1,482,10101,0.00,2.58,0.00,0.000,4,0.000,0.064,2783,594,1917
$GC,10237,1.54,241.3,865.9,9.3,488,10241,0.00,2.53,0.00,0.000,6,0.000,0.039,2783,2019,1916
$GC,10553,1.54,241.3,834.4,10.0,503,10558,0.00,2.55,0.00,0.000,4,0.000,0.061,2783,3409,1915
$GC,10593,1.54,241.3,830.1,11.5,505,10598,0.00,2.50,0.00,0.000,6,0.000,0.041,2783,2002,1915
$GC,10921,1.54,241.3,798.5,9.4,521,10925,0.00,2.58,0.00,0.000,4,0.000,0.060,2783,589,1914
$GC,11127,1.54,241.3,777.7,10.2,530,11132,0.00,2.47,0.00,0.000,6,0.000,0.035,2783,2006,1914
$GC,11443,1.54,241.3,746.5,10.3,545,11448,0.00,2.58,0.00,0.000,4,0.000,0.055,2783,591,1914
$GC,11533,1.54,241.3,736.9,10.3,549,11538,0.00,2.45,0.00,0.000,6,0.000,0.035,2783,2000,1913
$GC,11854,1.54,241.3,706.0,9.4,565,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2000,1914
$GC,12164,1.54,241.3,677.2,9.2,580,12168,0.00,2.55,0.00,0.000,4,0.000,0.054,2783,591,1914
$GC,12282,1.54,241.3,665.7,9.5,585,12286,0.00,2.45,0.00,0.000,6,0.000,0.034,2783,2006,1915
$GC,12604,1.54,241.3,635.6,9.5,601,12608,0.00,2.55,0.00,0.000,4,0.000,0.054,2783,594,1914
$GC,12659,1.54,241.3,629.9,10.3,603,12665,0.00,2.45,0.00,0.000,6,0.000,0.035,2783,2007,1915
$GC,12975,1.54,241.3,601.5,8.9,619,12979,0.00,2.55,0.00,0.000,4,0.000,0.054,2783,595,1915
$GC,13044,1.54,241.3,595.0,9.7,622,13048,0.00,2.45,0.00,0.000,6,0.000,0.034,2783,2012,1915
$GC,13371,1.54,241.3,565.1,9.3,638,13372,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2012,1915
$GC,13680,1.54,241.3,537.4,8.9,653,13685,0.00,2.58,0.00,0.000,4,0.000,0.054,2783,591,1916
$GC,13754,1.54,241.3,530.4,9.4,656,13758,0.00,2.45,0.00,0.000,6,0.000,0.035,2783,2005,1916
$GC,14070,1.54,241.3,501.3,9.5,671,14074,0.00,2.55,0.00,0.000,4,0.000,0.054,2783,594,1916
$GC,14132,1.54,241.3,495.2,9.6,674,14137,0.00,2.45,0.00,0.000,6,0.000,0.035,2783,2006,1916
$GC,14465,1.54,241.3,464.0,9.2,690,14469,0.00,2.55,0.00,0.000,4,0.000,0.054,2783,596,1916
$GC,14555,1.54,241.3,455.3,10.0,694,14559,0.00,2.45,0.00,0.000,6,0.000,0.035,2783,2003,1916
$GC,14876,1.54,241.3,426.1,8.9,710,14880,0.00,2.55,0.00,0.000,4,0.000,0.054,2783,593,1917
$GC,14931,1.54,241.3,421.0,9.0,712,14938,0.00,2.45,0.00,0.000,6,0.000,0.035,2783,2000,1917
$GC,15248,1.54,241.3,393.8,9.1,728,15252,0.00,2.53,0.00,0.000,4,0.000,0.055,2782,596,1917
$GC,15299,1.54,241.3,388.9,9.4,730,15304,0.00,2.45,0.00,0.000,6,0.000,0.036,2783,1998,1917
$GC,15621,1.54,241.3,359.9,9.0,746,15623,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1997,1918
$GC,15931,1.54,241.3,332.5,8.7,761,15935,0.00,2.55,0.00,0.000,4,0.000,0.057,2783,594,1917
$GC,16003,1.54,241.3,325.8,8.9,764,16008,0.00,2.47,0.00,0.000,6,0.000,0.037,2783,2011,1918
$GC,16325,1.54,241.3,298.5,8.5,780,16326,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2011,1918
$GC,16635,1.54,241.3,271.9,8.7,795,16638,0.00,2.58,0.00,0.000,4,0.000,0.057,2783,588,1918
$GC,16725,1.54,241.3,263.8,8.2,799,16729,0.00,2.47,0.00,0.000,6,0.000,0.038,2783,2009,1918
$GC,17058,1.54,241.3,234.9,8.9,815,17062,0.00,2.58,0.00,0.000,4,0.000,0.057,2783,591,1919
$GC,17114,1.54,241.3,229.6,9.4,817,17120,0.00,2.47,0.00,0.000,6,0.000,0.038,2783,2006,1918
$GC,17430,1.54,241.3,200.9,9.3,833,17434,0.00,2.58,0.00,0.000,4,0.000,0.056,2783,586,1919
$GC,17508,1.54,241.3,193.4,10.1,836,17514,0.00,2.47,0.00,0.000,6,0.000,0.037,2783,2002,1918
$GC,17824,1.54,241.3,164.4,9.1,852,17825,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2002,1919
$GC,18133,1.54,241.3,134.7,9.3,867,18138,0.00,2.58,0.00,0.000,4,0.000,0.058,2783,586,1919
$GC,18189,1.54,241.3,129.0,10.1,869,18196,0.00,2.47,0.00,0.000,6,0.000,0.038,2783,2008,1919
$GC,18506,1.54,241.3,101.2,8.8,885,18507,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2008,1919
$GC,18816,1.54,241.3,73.2,9.1,900,18821,0.00,2.58,0.00,0.000,4,0.000,0.058,2783,593,1919
$GC,18867,1.54,241.3,68.3,9.0,902,18871,0.00,2.47,0.00,0.000,6,0.000,0.039,2783,2004,1919
$GC,19185,1.54,241.3,43.5,8.2,917,19186,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2004,1920
$GC,19492,1.59,283.4,16.7,6.5,932,19535,0.00,2.70,34.55,0.690,4,0.000,0.064,2783,595,1746
$GC,19569,1.59,283.4,8.7,12.3,935,19573,0.00,2.50,0.00,0.000,6,0.000,0.036,2783,2011,1746
$STATE,19636,end climb,SURFACE_DEPTH_REACHED
$STATE,19636,begin surface coast
$FINISH,0.3,1.017227
$STATE,19657,end surface coast,CONTROL_FINISHED_OK
$STATE,19657,begin surface
$SM_CCo,19743,0.00,0.000,0,0,1745,283.57
$SM_GC,1.37,12.10,0.00,0.00,0.030,0.000,0.000,42,2749,1745,-10.94,-0.03,283.57
$IRIDIUM_FIX,6153.50,-1134.02,020898,111125
$TT8_MAMPS,0.029146
$HUMID,1787
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,900.6,31.4
$24V_AH,23.1,58.107
$10V_AH,10.1,33.491
$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,26.950,152.475,370.475,0.000,0.000,29.945,49.171,160.480,8.000,0.000,0.000,36.274,1722.221,15145.031,469.305,2182.351,621.619,33.355,1554.265,0.000,2117.201,0.000,55.032,0.000
$DEVICE_MAMPS,160.303,91.273,1313.104,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,653.907,707.343,510.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47445,939
$CAP_FILE_SIZE,136788,0
$CFSIZE,260165632,236298240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080509,223537,6219.581,-1133.968,37,1.3,37,-10.9