version: 66.04
glider: 103
mission: 11
dive: 429
start: 5 20 109 15 47 53
data:
$ID,103
$MISSION,11
$DIVE,429
$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,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,-152113.92
$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,16
$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
$GPS1,154101,6342.911,-815.827,41,1.8,41,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-62.3
$GPS2,154701,6342.914,-815.903,10,1.3,15,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.171,0.173
$KALMAN_X,-19932.8,-208.6,-839.1,128862.6,1479.5
$KALMAN_Y,-46507.4,-38.1,131.6,156102.0,-2652.4
$MHEAD_RNG_PITCHd_Wd,54.2,13588,-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,-41.20,0.000,2,0.000,0.000,48,2743,3082
$GC,62,-1.42,-146.6,3.1,-10.8,2,88,12.00,2.10,-7.43,0.000,4,0.166,0.108,2124,3785,3503
$GC,175,-1.42,-146.6,21.4,-11.7,7,179,0.00,1.90,0.00,0.000,6,0.000,0.052,2124,2738,3503
$GC,510,-1.42,-146.6,58.2,-10.7,23,514,0.00,2.60,0.00,0.000,4,0.000,0.069,2124,1332,3504
$GC,582,-1.42,-146.6,65.9,-10.6,26,587,0.00,2.72,0.00,0.000,6,0.000,0.075,2125,2755,3504
$GC,899,-1.42,-146.6,99.3,-10.6,41,902,0.00,2.03,0.00,0.000,4,0.000,0.096,2124,3790,3505
$GC,1005,-1.42,-146.6,111.6,-11.3,45,1012,0.00,1.92,0.00,0.000,6,0.000,0.054,2124,2753,3505
$GC,1324,-1.42,-146.6,145.5,-10.8,61,1328,0.00,2.62,0.00,0.000,4,0.000,0.071,2125,1337,3505
$GC,1357,-1.42,-146.6,149.3,-10.5,62,1363,0.00,2.72,0.00,0.000,6,0.000,0.078,2124,2760,3505
$GC,1672,-1.42,-146.6,180.9,-10.0,78,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3505
$GC,1982,-1.42,-146.6,213.9,-10.8,93,1986,0.00,2.70,0.00,0.000,4,0.000,0.071,2124,1333,3505
$GC,2045,-1.42,-146.6,220.3,-9.6,96,2050,0.00,2.75,0.00,0.000,6,0.000,0.079,2125,2761,3506
$GC,2371,-1.42,-146.6,254.3,-10.9,112,2376,0.00,2.70,0.00,0.000,4,0.000,0.071,2124,1335,3505
$GC,2411,-1.42,-146.6,258.6,-10.1,114,2416,0.00,2.72,0.00,0.000,6,0.000,0.078,2125,2751,3506
$GC,2738,-1.42,-146.6,293.5,-10.5,130,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3505
$GC,3047,-1.42,-146.6,323.7,-9.4,145,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3505
$GC,3357,-1.42,-146.6,353.5,-9.5,160,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3504
$GC,3666,-1.42,-146.6,384.7,-10.3,175,3670,0.00,2.67,0.00,0.000,4,0.000,0.072,2124,1338,3503
$GC,3698,-1.42,-146.6,388.2,-11.1,176,3705,0.00,2.72,0.00,0.000,6,0.000,0.077,2125,2753,3503
$GC,4015,-1.42,-146.6,420.1,-10.1,192,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2753,3503
$GC,4324,-1.42,-146.6,449.5,-9.5,207,4328,0.00,2.08,0.00,0.000,4,0.000,0.108,2124,3788,3502
$GC,4369,-1.42,-146.6,454.0,-9.8,209,4373,0.00,1.92,0.00,0.000,6,0.000,0.061,2124,2746,3502
$GC,4702,-1.42,-146.6,486.5,-9.9,225,4703,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2746,3501
$GC,5011,-1.42,-146.6,517.9,-10.3,240,5015,0.00,2.67,0.00,0.000,4,0.000,0.079,2124,1335,3500
$GC,5044,-1.42,-146.6,521.4,-9.7,241,5050,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2759,3500
$GC,5360,-1.42,-146.6,553.9,-10.4,257,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3499
$GC,5669,-1.42,-146.6,586.4,-10.3,272,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3498
$GC,5978,-1.42,-146.6,617.9,-10.1,287,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3498
$GC,6288,-1.42,-146.6,648.6,-10.0,302,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3498
$GC,6597,-1.42,-146.6,679.3,-9.9,317,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3498
$GC,6906,-1.42,-146.6,709.9,-9.9,332,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2758,3497
$GC,7216,-1.42,-146.6,740.3,-9.7,347,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3497
$GC,7525,-1.42,-146.6,769.8,-9.4,362,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3497
$GC,7834,-1.42,-146.6,798.8,-9.4,377,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3497
$GC,8144,-1.42,-146.6,827.7,-9.3,392,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3496
$GC,8453,-1.42,-146.6,856.7,-9.2,407,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3496
$GC,8762,-1.42,-146.6,885.4,-9.4,422,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3496
$GC,9072,-1.42,-146.6,914.8,-9.3,437,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3495
$STATE,9316,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9316,begin apogee
$GC,9325,-0.42,0.0,937.8,9.4,449,9462,1.15,0.00,133.02,1.394,6,0.108,0.000,2346,1997,2902
$STATE,9462,end apogee,CONTROL_FINISHED_OK
$STATE,9462,begin climb
$GC,9466,1.42,146.6,944.8,0.0,456,9610,1.92,2.78,131.48,1.343,4,0.062,0.073,2748,580,2304
$GC,9659,1.55,251.0,944.3,4.2,465,9764,0.15,2.60,94.35,1.322,6,0.046,0.044,2788,2019,1878
$GC,10073,1.55,251.0,908.8,9.7,485,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2020,1878
$GC,10382,1.55,251.0,880.1,9.3,500,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2020,1878
$GC,10691,1.55,251.0,852.4,9.0,515,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2021,1877
$GC,11001,1.55,251.0,824.7,8.9,530,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2022,1877
$GC,11310,1.55,251.0,797.2,9.0,545,11314,0.00,2.72,0.00,0.000,4,0.000,0.072,2788,585,1876
$GC,11349,1.55,251.0,793.5,9.1,547,11354,0.00,2.55,0.00,0.000,6,0.000,0.046,2788,2002,1876
$GC,11677,1.55,251.0,764.5,8.8,563,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2002,1876
$GC,11986,1.55,251.0,736.6,9.0,578,11987,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2002,1876
$GC,12295,1.55,251.0,708.7,9.0,593,12296,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2002,1876
$GC,12605,1.55,251.0,681.4,8.9,608,12606,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2002,1876
$GC,12914,1.55,251.0,654.3,8.9,623,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2002,1876
$GC,13223,1.55,251.0,626.5,9.1,638,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2003,1876
$GC,13533,1.55,251.0,597.6,9.1,653,13534,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2003,1876
$GC,13841,1.55,251.0,570.0,8.8,668,13846,0.00,2.67,0.00,0.000,4,0.000,0.071,2788,586,1876
$GC,13888,1.55,251.0,565.8,9.3,670,13892,0.00,2.55,0.00,0.000,6,0.000,0.047,2788,1998,1876
$GC,14209,1.55,251.0,538.3,8.6,686,14210,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2000,1876
$GC,14518,1.55,251.0,512.2,8.3,701,14520,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2000,1876
$GC,14828,1.55,251.0,485.2,8.9,716,14829,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2000,1875
$GC,15137,1.55,251.0,456.8,9.2,731,15141,0.00,2.67,0.00,0.000,4,0.000,0.073,2788,578,1876
$GC,15204,1.55,251.0,450.2,10.1,734,15208,0.00,2.58,0.00,0.000,6,0.000,0.048,2788,2004,1876
$GC,15525,1.55,251.0,420.8,9.1,750,15526,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2004,1876
$GC,15835,1.55,251.0,394.3,8.6,765,15839,0.00,2.67,0.00,0.000,4,0.000,0.072,2788,587,1876
$GC,15885,1.55,251.0,389.6,9.3,767,15889,0.00,2.58,0.00,0.000,6,0.000,0.049,2788,2009,1876
$GC,16201,1.55,251.0,362.7,8.4,782,16202,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2008,1876
$GC,16510,1.55,251.0,335.3,9.0,797,16511,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2008,1876
$GC,16820,1.55,251.0,306.4,9.3,812,16824,0.00,2.70,0.00,0.000,4,0.000,0.073,2788,580,1876
$GC,16905,1.55,251.0,298.1,9.3,816,16909,0.00,2.58,0.00,0.000,6,0.000,0.050,2788,2007,1876
$GC,17232,1.55,251.0,269.2,8.6,832,17236,0.00,2.67,0.00,0.000,4,0.000,0.081,2788,3409,1876
$GC,17287,1.55,251.0,264.3,8.2,834,17293,0.00,2.62,0.00,0.000,6,0.000,0.059,2788,1995,1876
$GC,17603,1.55,251.0,235.9,8.8,850,17604,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1995,1876
$GC,17913,1.55,251.0,207.9,9.1,865,17914,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1995,1876
$GC,18221,1.55,251.0,180.7,8.8,880,18226,0.00,2.65,0.00,0.000,4,0.000,0.074,2788,585,1877
$GC,18279,1.55,251.0,175.5,9.0,882,18285,0.00,2.58,0.00,0.000,6,0.000,0.050,2788,2003,1877
$GC,18596,1.55,251.0,147.8,8.6,898,18600,0.00,2.67,0.00,0.000,4,0.000,0.071,2788,586,1877
$GC,18636,1.55,251.0,144.3,8.5,900,18640,0.00,2.55,0.00,0.000,6,0.000,0.049,2788,1997,1877
$GC,18963,1.55,251.0,116.4,8.6,916,18964,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1997,1877
$GC,19273,1.55,251.0,90.5,8.6,931,19277,0.00,2.67,0.00,0.000,4,0.000,0.071,2788,581,1877
$GC,19358,1.55,251.0,82.7,8.6,935,19362,0.00,2.58,0.00,0.000,6,0.000,0.048,2788,2006,1877
$GC,19687,1.55,251.0,55.0,8.4,951,19688,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2006,1878
$GC,19995,1.55,251.0,29.5,8.5,966,19996,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2006,1878
$GC,20303,1.55,251.0,4.8,8.1,981,20305,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2006,1879
$STATE,20341,end climb,SURFACE_DEPTH_REACHED
$STATE,20342,begin surface coast
$FINISH,-0.4,1.027456
$STATE,20363,end surface coast,CONTROL_FINISHED_OK
$STATE,20364,begin surface
$SM_CCo,20450,0.00,0.000,0,0,1879,250.94
$SM_GC,1.11,12.30,0.00,0.00,0.038,0.000,0.000,51,2752,1879,-10.94,0.06,250.94
$IRIDIUM_FIX,6317.84,-821.53,140898,101009
$TT8_MAMPS,0.029146
$HUMID,1852
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,15.20
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,926.2,20.9
$24V_AH,22.5,68.429
$10V_AH,10.0,38.404
$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,27.525,99.975,358.850,0.000,0.000,31.507,29.290,156.180,22.500,0.000,0.000,15.322,1714.390,16161.408,443.383,1916.781,567.576,33.378,1390.497,0.000,1875.847,0.000,56.593,0.000
$DEVICE_MAMPS,166.439,108.147,1393.639,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,738.418,691.551,542.851,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50564,984
$CAP_FILE_SIZE,122607,0
$CFSIZE,260165632,232751104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,200509,213001,6345.019,-809.763,40,2.0,40,-9.6