version: 66.04
glider: 103
mission: 11
dive: 430
start: 5 20 109 21 37 6
data:
$ID,103
$MISSION,11
$DIVE,430
$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,-152146.44
$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,8
$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
$GPS1,213001,6345.019,-809.763,40,2.0,40,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-64.5
$GPS2,213615,6345.016,-809.746,12,2.9,31,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.229,0.081
$KALMAN_X,-20622.0,-14.3,596.2,133120.8,-1753.7
$KALMAN_Y,-47060.8,201.9,202.0,160219.4,-2016.9
$MHEAD_RNG_PITCHd_Wd,80.1,7983,-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,-41.78,0.000,2,0.000,0.000,50,2756,3230
$GC,63,-1.42,-146.6,3.6,-11.8,2,86,11.90,2.67,-4.50,0.000,4,0.163,0.077,2127,1337,3502
$GC,171,-1.42,-146.6,23.1,-11.6,6,177,0.00,2.75,0.00,0.000,6,0.000,0.080,2127,2758,3503
$GC,487,-1.42,-146.6,56.8,-10.4,22,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2759,3503
$GC,796,-1.42,-146.6,89.3,-10.5,37,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2758,3504
$GC,1107,-1.42,-146.6,120.3,-9.8,52,1112,0.00,2.70,0.00,0.000,4,0.000,0.073,2127,1333,3504
$GC,1135,-1.42,-146.6,123.5,-10.1,53,1140,0.00,2.72,0.00,0.000,6,0.000,0.075,2127,2758,3504
$GC,1451,-1.42,-146.6,156.5,-10.5,68,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2758,3505
$GC,1761,-1.42,-146.6,189.6,-10.9,83,1765,0.00,2.70,0.00,0.000,4,0.000,0.072,2127,1334,3505
$GC,1801,-1.42,-146.6,194.1,-11.2,85,1805,0.00,2.72,0.00,0.000,6,0.000,0.079,2127,2750,3505
$GC,2128,-1.42,-146.6,229.7,-11.2,101,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2750,3505
$GC,2437,-1.42,-146.6,263.7,-11.1,116,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2750,3505
$GC,2746,-1.42,-146.6,294.5,-9.5,131,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2751,3505
$GC,3055,-1.42,-146.6,324.6,-9.9,146,3060,0.00,2.05,0.00,0.000,4,0.000,0.104,2127,3781,3505
$GC,3101,-1.42,-146.6,329.3,-10.7,148,3105,0.00,1.90,0.00,0.000,6,0.000,0.061,2127,2750,3504
$GC,3434,-1.42,-146.6,364.1,-10.5,164,3438,0.00,2.65,0.00,0.000,4,0.000,0.075,2127,1338,3503
$GC,3467,-1.42,-146.6,367.9,-10.7,165,3474,0.00,2.72,0.00,0.000,6,0.000,0.082,2127,2749,3503
$GC,3785,-1.42,-146.6,400.7,-10.1,181,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2749,3503
$GC,4093,-1.42,-146.6,429.1,-8.9,196,4097,0.00,2.70,0.00,0.000,4,0.000,0.075,2127,1329,3502
$GC,4126,-1.42,-146.6,432.3,-9.6,197,4132,0.00,2.78,0.00,0.000,6,0.000,0.081,2127,2759,3502
$GC,4442,-1.42,-146.6,459.5,-8.8,213,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2759,3501
$GC,4751,-1.42,-146.6,486.2,-8.7,228,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2759,3500
$GC,5060,-1.42,-146.6,512.4,-8.2,243,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2758,3500
$GC,5370,-1.42,-146.6,537.6,-8.5,258,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2759,3499
$GC,5679,-1.42,-146.6,564.6,-8.8,273,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2759,3498
$GC,5988,-1.42,-146.6,591.6,-8.9,288,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2759,3498
$GC,6298,-1.42,-146.6,618.9,-9.0,303,6299,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2758,3498
$GC,6606,-1.42,-146.6,646.8,-9.1,318,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2759,3497
$GC,6916,-1.42,-146.6,674.6,-8.8,333,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2759,3497
$GC,7226,-1.42,-146.6,701.3,-8.6,348,7227,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2758,3497
$GC,7534,-1.42,-146.6,727.9,-8.5,363,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2758,3497
$GC,7843,-1.42,-146.6,754.0,-8.5,378,7845,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2758,3496
$GC,8153,-1.42,-146.6,780.5,-8.7,393,8158,0.00,2.72,0.00,0.000,4,0.000,0.075,2127,1329,3496
$GC,8194,-1.42,-146.6,783.8,-8.5,395,8198,0.00,2.75,0.00,0.000,6,0.000,0.081,2127,2751,3496
$GC,8521,-1.42,-146.6,811.9,-8.6,411,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2751,3496
$GC,8830,-1.42,-146.6,839.3,-9.0,426,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2751,3495
$GC,9139,-1.42,-146.6,867.2,-9.2,441,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2751,3495
$GC,9449,-1.42,-146.6,894.6,-8.8,456,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2751,3495
$GC,9758,-1.42,-146.6,922.2,-8.9,471,9763,0.00,2.70,0.00,0.000,4,0.000,0.074,2127,1332,3495
$GC,9793,-1.42,-146.6,925.4,-8.8,472,9799,0.00,2.75,0.00,0.000,6,0.000,0.078,2127,2761,3495
$GC,10108,-1.42,-146.6,953.4,-9.1,488,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2761,3495
$GC,10418,-1.42,-146.6,981.0,-8.7,503,10422,0.00,2.70,0.00,0.000,4,0.000,0.073,2127,1334,3494
$GC,10473,-1.42,-146.6,986.2,-9.1,505,10480,0.00,2.72,0.00,0.000,6,0.000,0.079,2127,2758,3494
$STATE,10518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10518,begin apogee
$GC,10527,-0.42,0.0,990.5,9.2,508,10665,1.12,0.00,134.02,1.427,6,0.101,0.000,2346,1998,2902
$STATE,10666,end apogee,CONTROL_FINISHED_OK
$STATE,10666,begin climb
$GC,10670,1.42,146.6,996.5,0.0,515,10815,1.90,2.83,132.43,1.381,4,0.061,0.072,2745,582,2304
$GC,11070,1.50,207.4,985.6,5.8,533,11132,0.00,2.60,55.45,1.374,6,0.000,0.044,2746,2029,2056
$GC,11460,1.52,229.8,958.4,7.2,552,11489,0.12,2.88,21.60,1.315,4,0.049,0.070,2781,588,1965
$GC,11525,1.52,229.8,953.0,8.9,555,11529,0.00,2.58,0.00,0.000,6,0.000,0.044,2781,2002,1964
$GC,11852,1.52,229.8,924.1,8.8,571,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2003,1965
$GC,12161,1.52,229.8,895.1,9.5,586,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2004,1964
$GC,12471,1.52,229.8,865.9,9.5,601,12472,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2004,1963
$GC,12779,1.52,229.8,837.2,9.2,616,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2005,1963
$GC,13089,1.52,229.8,809.6,8.9,631,13093,0.00,2.70,0.00,0.000,4,0.000,0.071,2781,579,1963
$GC,13129,1.52,229.8,805.8,10.5,633,13133,0.00,2.55,0.00,0.000,6,0.000,0.045,2781,2002,1963
$GC,13455,1.52,229.8,777.1,8.8,649,13457,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2002,1963
$GC,13765,1.52,229.8,749.7,8.8,664,13766,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2003,1963
$GC,14074,1.52,229.8,723.2,8.5,679,14079,0.00,2.67,0.00,0.000,4,0.000,0.070,2781,587,1963
$GC,14132,1.52,229.8,718.0,8.9,681,14138,0.00,2.55,0.00,0.000,6,0.000,0.046,2781,2005,1963
$GC,14448,1.52,229.8,690.2,8.7,697,14449,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2005,1963
$GC,14758,1.52,229.8,663.4,8.5,712,14759,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2006,1963
$GC,15066,1.52,229.8,636.5,8.6,727,15071,0.00,2.67,0.00,0.000,4,0.000,0.071,2781,587,1963
$GC,15111,1.52,229.8,632.5,9.0,729,15115,0.00,2.55,0.00,0.000,6,0.000,0.045,2781,2006,1963
$GC,15433,1.52,229.8,605.6,8.4,745,15434,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2007,1963
$GC,15741,1.52,229.8,580.0,8.3,760,15742,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2007,1963
$GC,16051,1.52,229.8,553.6,8.6,775,16052,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2007,1963
$GC,16360,1.52,229.8,526.1,8.6,790,16365,0.00,2.70,0.00,0.000,4,0.000,0.071,2781,577,1963
$GC,16418,1.52,229.8,520.7,9.4,792,16424,0.00,2.58,0.00,0.000,6,0.000,0.047,2781,2005,1963
$GC,16734,1.52,229.8,493.2,8.7,808,16739,0.00,2.65,0.00,0.000,4,0.000,0.075,2781,3409,1963
$GC,16762,1.52,229.8,490.6,9.8,809,16767,0.00,2.60,0.00,0.000,6,0.000,0.051,2781,1983,1963
$GC,17079,1.52,229.8,463.7,8.3,824,17080,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1983,1963
$GC,17387,1.52,229.8,438.0,8.4,839,17389,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1983,1963
$GC,17697,1.52,229.8,411.6,8.6,854,17698,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1983,1963
$GC,18007,1.53,238.3,387.1,7.7,869,18021,0.00,2.70,8.73,0.976,4,0.000,0.074,2781,593,1930
$GC,18074,1.53,238.3,381.5,9.4,872,18078,0.00,2.58,0.00,0.000,6,0.000,0.048,2781,2007,1930
$GC,18401,1.55,251.4,356.5,7.5,888,18419,0.00,0.00,12.90,0.999,6,0.000,0.000,2781,2007,1877
$GC,18730,1.56,256.1,330.9,7.8,904,18737,0.00,0.00,5.95,0.863,6,0.000,0.000,2781,2007,1856
$GC,19039,1.56,256.1,305.6,8.3,919,19040,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2007,1857
$GC,19349,1.56,260.1,280.2,7.9,934,19356,0.00,0.00,5.20,0.804,6,0.000,0.000,2781,2007,1841
$GC,19657,1.56,260.1,255.9,8.1,949,19662,0.00,2.67,0.00,0.000,4,0.000,0.074,2781,594,1841
$GC,19691,1.56,260.1,252.9,8.0,950,19698,0.00,2.55,0.00,0.000,6,0.000,0.050,2781,1995,1841
$GC,20008,1.56,260.1,227.4,8.4,966,20009,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1995,1841
$GC,20316,1.56,260.1,199.8,9.3,981,20318,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1995,1841
$GC,20626,1.56,260.1,172.8,8.3,996,20630,0.00,2.67,0.00,0.000,4,0.000,0.074,2781,588,1841
$GC,20704,1.56,260.1,166.1,8.6,999,20710,0.00,2.58,0.00,0.000,6,0.000,0.050,2781,2004,1841
$GC,21020,1.56,260.1,140.1,8.6,1015,21025,0.00,2.67,0.00,0.000,4,0.000,0.079,2781,3408,1841
$GC,21084,1.56,260.1,134.3,9.7,1018,21088,0.00,2.60,0.00,0.000,6,0.000,0.058,2781,2001,1841
$GC,21411,1.56,260.1,103.0,9.8,1034,21415,0.00,2.65,0.00,0.000,4,0.000,0.072,2781,583,1841
$GC,21474,1.56,260.1,96.3,10.8,1037,21478,0.00,2.58,0.00,0.000,6,0.000,0.048,2781,2006,1841
$GC,21801,1.56,260.1,63.6,9.3,1053,21802,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2007,1841
$GC,22110,1.56,260.1,35.5,8.9,1068,22115,0.00,2.67,0.00,0.000,4,0.000,0.071,2781,589,1842
$GC,22288,1.56,260.1,19.4,8.8,1076,22292,0.00,2.55,0.00,0.000,6,0.000,0.047,2781,2005,1843
$STATE,22508,end climb,SURFACE_DEPTH_REACHED
$STATE,22509,begin surface coast
$FINISH,-0.5,1.027502
$STATE,22531,end surface coast,CONTROL_FINISHED_OK
$STATE,22531,begin surface
$SM_CCo,22617,0.00,0.000,0,0,1843,259.77
$SM_GC,1.12,12.10,0.00,0.00,0.029,0.000,0.000,48,2751,1843,-10.94,0.03,259.77
$IRIDIUM_FIX,6317.84,-812.62,140898,151505
$TT8_MAMPS,0.029146
$HUMID,1856
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,13.30
$XPDR_PINGS,70
$24V_AH,22.5,68.588
$10V_AH,10.0,38.498
$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,27.150,119.000,376.275,0.000,0.000,30.071,29.853,155.443,26.000,0.000,0.000,31.888,1896.859,17844.879,482.340,2149.643,610.041,33.379,1532.567,0.000,2098.263,0.000,56.962,0.000
$DEVICE_MAMPS,163.371,104.312,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,815.799,768.344,566.651,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53701,1088
$CAP_FILE_SIZE,137175,0
$CFSIZE,260165632,232669184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210509,035506,6345.360,-803.856,24,1.5,25,-9.5