version: 66.04
glider: 103
mission: 11
dive: 351
start: 5 9 109 4 16 17
data:
$ID,103
$MISSION,11
$DIVE,351
$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,-150694.67
$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,16
$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
$GPS1,040731,6220.312,-1129.964,194,1.2,194,-10.9
$_CALLS,1
$_XMS_NAKs,24
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-63.0
$GPS2,041526,6220.280,-1129.924,19,1.5,19,-10.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.182,0.161
$KALMAN_X,-127538.2,1239.9,-477.2,203448.9,-2101.9
$KALMAN_Y,-2792.0,531.8,-438.4,-53303.9,-2540.4
$MHEAD_RNG_PITCHd_Wd,59.4,88941,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.55,0.000,2,0.000,0.000,49,2748,3382
$GC,62,-1.42,-146.6,4.6,-13.0,2,85,11.73,2.65,-1.92,0.000,4,0.158,0.074,2126,1341,3504
$GC,248,-1.42,-146.6,29.8,-9.7,10,253,0.00,2.65,0.00,0.000,6,0.000,0.071,2126,2747,3504
$GC,570,-1.42,-146.6,68.5,-11.8,26,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2747,3504
$GC,878,-1.42,-146.6,102.9,-10.7,41,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2747,3504
$GC,1190,-1.42,-146.6,131.8,-7.8,56,1194,0.00,2.60,0.00,0.000,4,0.000,0.064,2126,1341,3504
$GC,1235,-1.42,-146.6,135.7,-7.8,58,1239,0.00,2.65,0.00,0.000,6,0.000,0.068,2126,2758,3504
$GC,1556,-1.42,-146.6,168.4,-10.4,74,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2758,3504
$GC,1865,-1.42,-146.6,199.9,-10.6,89,1873,0.00,2.62,0.00,0.000,4,0.000,0.062,2126,1331,3504
$GC,1896,-1.42,-146.6,203.5,-11.0,90,1900,0.00,2.65,0.00,0.000,6,0.000,0.065,2126,2757,3504
$GC,2217,-1.42,-146.6,237.7,-10.9,106,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2757,3504
$GC,2527,-1.42,-146.6,273.0,-11.5,121,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2758,3504
$GC,2836,-1.42,-146.6,307.4,-11.0,136,2840,0.00,1.92,0.00,0.000,4,0.000,0.081,2126,3783,3504
$GC,2882,-1.42,-146.6,312.6,-11.7,138,2886,0.00,1.83,0.00,0.000,6,0.000,0.048,2126,2749,3504
$GC,3215,-1.42,-146.6,349.9,-11.3,154,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2749,3504
$GC,3525,-1.42,-146.6,385.3,-11.3,169,3529,0.00,2.55,0.00,0.000,4,0.000,0.062,2126,1339,3504
$GC,3546,-1.42,-146.6,387.9,-11.6,170,3551,0.00,2.62,0.00,0.000,6,0.000,0.065,2126,2752,3504
$GC,3869,-1.42,-146.6,424.5,-11.6,186,3873,0.00,1.95,0.00,0.000,4,0.000,0.081,2126,3793,3504
$GC,3908,-1.42,-146.6,429.5,-12.4,187,3914,0.00,1.85,0.00,0.000,6,0.000,0.044,2126,2742,3504
$GC,4224,-1.42,-146.6,466.6,-12.0,203,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2742,3504
$GC,4534,-1.42,-146.6,502.2,-11.3,218,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2741,3504
$GC,4843,-1.42,-146.6,534.9,-10.2,233,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2742,3504
$GC,5151,-1.42,-146.6,566.5,-10.3,248,5153,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2741,3504
$GC,5461,-1.42,-146.6,597.9,-10.3,263,5464,0.00,1.98,0.00,0.000,4,0.000,0.077,2126,3790,3504
$GC,5523,-1.42,-146.6,604.4,-10.4,265,5529,0.00,1.85,0.00,0.000,6,0.000,0.043,2126,2750,3504
$GC,5839,-1.42,-146.6,636.6,-10.0,281,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2750,3504
$GC,6148,-1.42,-146.6,667.7,-10.1,296,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2750,3504
$GC,6459,-1.42,-146.6,698.8,-9.9,311,6463,0.00,2.55,0.00,0.000,4,0.000,0.059,2126,1331,3504
$GC,6498,-1.42,-146.6,702.8,-9.8,313,6503,0.00,2.62,0.00,0.000,6,0.000,0.061,2126,2765,3504
$GC,6825,-1.42,-146.6,733.5,-9.2,329,6828,0.00,1.90,0.00,0.000,4,0.000,0.081,2126,3783,3504
$GC,6916,-1.42,-146.6,742.4,-10.5,333,6920,0.00,1.83,0.00,0.000,6,0.000,0.043,2126,2736,3504
$GC,7249,-1.42,-146.6,774.6,-10.0,349,7254,0.00,2.50,0.00,0.000,4,0.000,0.058,2126,1341,3503
$GC,7340,-1.42,-146.6,783.5,-10.6,353,7344,0.00,2.60,0.00,0.000,6,0.000,0.062,2126,2758,3503
$GC,7667,-1.42,-146.6,814.2,-9.5,369,7670,0.00,1.95,0.00,0.000,4,0.000,0.082,2126,3782,3503
$GC,7757,-1.42,-146.6,823.1,-9.8,373,7761,0.00,1.83,0.00,0.000,6,0.000,0.044,2126,2756,3503
$GC,8092,-1.42,-146.6,853.6,-9.0,389,8096,0.00,2.55,0.00,0.000,4,0.000,0.061,2126,1333,3502
$GC,8203,-1.42,-146.6,864.2,-9.1,394,8208,0.00,2.62,0.00,0.000,6,0.000,0.064,2126,2756,3502
$STATE,8419,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8419,begin apogee
$GC,8428,-0.42,0.0,883.9,9.3,405,8562,1.10,0.00,128.68,1.297,6,0.087,0.000,2349,2002,2902
$STATE,8563,end apogee,CONTROL_FINISHED_OK
$STATE,8563,begin climb
$GC,8566,1.42,146.6,890.3,0.0,412,8701,1.88,2.72,126.28,1.216,4,0.060,0.069,2748,3414,2304
$GC,8961,1.49,204.8,886.0,5.9,430,9018,0.00,2.55,51.00,1.216,6,0.000,0.040,2748,1977,2067
$GC,9333,1.49,204.8,856.3,8.8,447,9337,0.00,2.67,0.00,0.000,4,0.000,0.060,2748,3422,2066
$GC,9490,1.49,205.5,843.1,8.0,454,9494,0.00,2.55,0.00,0.000,6,0.000,0.041,2748,1990,2066
$GC,9811,1.52,228.7,820.1,7.2,470,9841,0.10,2.67,22.00,1.261,4,0.054,0.062,2780,601,1969
$GC,9926,1.52,228.7,810.0,9.2,475,9930,0.00,2.50,0.00,0.000,6,0.000,0.037,2780,2020,1968
$GC,10248,1.52,228.7,783.5,8.3,491,10249,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2022,1967
$GC,10557,1.54,242.7,759.5,7.5,506,10579,0.00,2.70,13.02,1.197,4,0.000,0.058,2779,604,1912
$GC,10702,1.54,242.7,746.4,9.5,512,10707,0.00,2.45,0.00,0.000,6,0.000,0.035,2780,2006,1912
$GC,11019,1.54,242.7,718.7,9.0,527,11020,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2007,1911
$GC,11328,1.54,242.7,689.9,9.5,542,11332,0.00,2.58,0.00,0.000,4,0.000,0.055,2780,594,1911
$GC,11422,1.54,242.7,680.3,9.7,546,11427,0.00,2.45,0.00,0.000,6,0.000,0.035,2780,2001,1912
$GC,11739,1.54,242.7,651.7,8.9,561,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2002,1911
$GC,12048,1.54,242.7,624.6,8.7,576,12052,0.00,2.55,0.00,0.000,4,0.000,0.055,2779,589,1912
$GC,12121,1.54,242.7,617.5,9.3,579,12125,0.00,2.47,0.00,0.000,6,0.000,0.035,2779,2013,1912
$GC,12443,1.54,242.7,587.9,9.4,595,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2013,1912
$GC,12751,1.54,242.7,558.5,9.4,610,12755,0.00,2.55,0.00,0.000,4,0.000,0.055,2779,598,1912
$GC,12835,1.54,242.7,550.1,9.3,613,12842,0.00,2.45,0.00,0.000,6,0.000,0.035,2779,2006,1912
$GC,13152,1.54,242.7,520.3,9.7,629,13156,0.00,2.55,0.00,0.000,4,0.000,0.055,2779,598,1913
$GC,13213,1.54,242.7,514.1,9.8,631,13219,0.00,2.45,0.00,0.000,6,0.000,0.035,2780,2005,1913
$GC,13529,1.54,242.7,484.7,9.2,647,13533,0.00,2.55,0.00,0.000,4,0.000,0.054,2780,598,1914
$GC,13602,1.54,242.7,477.5,9.9,650,13606,0.00,2.45,0.00,0.000,6,0.000,0.035,2780,2009,1913
$GC,13918,1.54,242.7,448.2,9.5,665,13922,0.00,2.58,0.00,0.000,4,0.000,0.054,2779,588,1914
$GC,13967,1.54,242.7,443.0,10.4,667,13972,0.00,2.45,0.00,0.000,6,0.000,0.035,2779,2004,1914
$GC,14289,1.54,242.7,412.7,9.3,683,14294,0.00,2.55,0.00,0.000,4,0.000,0.056,2780,598,1914
$GC,14345,1.54,242.7,406.9,9.5,685,14352,0.00,2.45,0.00,0.000,6,0.000,0.035,2780,2013,1914
$GC,14662,1.54,242.7,376.8,9.5,701,14663,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2013,1915
$GC,14971,1.54,242.7,348.7,9.0,716,14976,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,589,1915
$GC,15080,1.54,242.7,338.6,8.9,721,15084,0.00,2.47,0.00,0.000,6,0.000,0.036,2780,2008,1915
$GC,15406,1.54,242.7,309.2,9.3,737,15410,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,591,1915
$GC,15456,1.54,242.7,304.1,9.3,739,15461,0.00,2.47,0.00,0.000,6,0.000,0.037,2780,2010,1915
$GC,15772,1.54,242.7,274.5,9.1,754,15773,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2010,1915
$GC,16081,1.54,242.7,246.9,9.0,769,16086,0.00,2.58,0.00,0.000,4,0.000,0.058,2779,588,1916
$GC,16184,1.54,242.7,237.3,9.6,773,16190,0.00,2.47,0.00,0.000,6,0.000,0.037,2780,2004,1916
$GC,16500,1.54,242.7,208.6,9.1,789,16504,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,589,1916
$GC,16555,1.54,242.7,203.3,9.1,791,16561,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2005,1916
$GC,16871,1.54,242.7,175.8,8.6,807,16873,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2005,1917
$GC,17180,1.54,242.7,149.3,9.1,822,17181,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2006,1916
$GC,17490,1.57,265.0,129.8,7.2,837,17516,0.00,2.65,20.35,0.834,4,0.000,0.059,2780,595,1821
$GC,17619,1.57,265.0,118.9,11.8,843,17623,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2001,1820
$GC,17946,1.57,265.0,86.5,11.0,859,17950,0.00,2.58,0.00,0.000,4,0.000,0.060,2780,598,1820
$GC,17987,1.57,265.0,82.5,9.2,861,17991,0.00,2.47,0.00,0.000,6,0.000,0.040,2780,2007,1820
$GC,18320,1.57,265.0,47.7,11.5,877,18324,0.00,2.60,0.00,0.000,4,0.000,0.061,2780,593,1820
$GC,18409,1.57,265.0,37.5,11.0,881,18413,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2006,1821
$GC,18731,1.57,265.0,15.5,9.1,897,18735,0.00,2.60,0.00,0.000,4,0.000,0.064,2780,596,1821
$GC,18854,1.63,313.1,7.4,6.2,902,18902,0.00,2.53,39.15,0.761,6,0.000,0.053,2780,2009,1625
$STATE,18920,end climb,SURFACE_DEPTH_REACHED
$STATE,18920,begin surface coast
$FINISH,0.3,1.027425
$STATE,18943,end surface coast,CONTROL_FINISHED_OK
$STATE,18943,begin surface
$SM_CCo,19029,0.00,0.000,0,0,1624,313.25
$SM_GC,1.35,12.23,0.00,0.00,0.035,0.000,0.000,51,2764,1624,-10.93,0.37,313.25
$IRIDIUM_FIX,6153.50,-1134.02,020898,222254
$TT8_MAMPS,0.028379
$HUMID,1768
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,850.0,42.1
$24V_AH,23.1,58.396
$10V_AH,10.1,33.672
$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,27.025,154.650,400.475,0.000,0.000,24.422,34.141,273.681,7.500,0.000,0.000,19.238,1671.199,14492.027,490.376,2145.540,696.709,33.358,1571.190,0.000,2096.313,0.000,54.248,0.000
$DEVICE_MAMPS,158.002,82.069,1296.997,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,631.973,675.668,515.605,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47385,907
$CAP_FILE_SIZE,136832,0
$CFSIZE,260165632,236167168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090509,093436,6222.372,-1121.980,32,2.0,32,-10.8