version: 66.04
glider: 103
mission: 11
dive: 432
start: 5 21 109 10 14 48
data:
$ID,103
$MISSION,11
$DIVE,432
$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,-152171.72
$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,18
$R_STBD_OVSHOOT,7
$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
$GPS1,100807,6349.009,-757.325,29,1.0,30,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-61.9
$GPS2,101356,6349.024,-757.400,12,1.2,12,-9.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P5
$TGT_LATLONG,6430.000,-600.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.182,0.161
$KALMAN_X,-19436.6,389.5,892.9,141696.6,-2319.7
$KALMAN_Y,-47302.4,439.2,624.8,167210.9,-2314.9
$MHEAD_RNG_PITCHd_Wd,58.0,120501,-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,-146.6,0.0,0.0,0,71,0.00,0.00,-53.65,0.000,6,0.000,0.000,50,2751,3501
$GC,75,-1.42,-146.6,2.7,-9.0,2,89,12.05,0.00,0.00,0.000,6,0.164,0.000,2126,2752,3501
$GC,393,-1.42,-146.6,51.0,-11.4,18,397,0.00,2.70,0.00,0.000,4,0.000,0.074,2126,1331,3502
$GC,460,-1.42,-146.6,58.9,-10.7,21,464,0.00,2.72,0.00,0.000,6,0.000,0.074,2126,2757,3502
$GC,783,-1.42,-146.6,96.0,-11.5,37,784,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2757,3502
$GC,1091,-1.42,-146.6,129.8,-10.6,52,1094,0.00,2.03,0.00,0.000,4,0.000,0.097,2126,3789,3503
$GC,1220,-1.42,-146.6,143.8,-10.1,57,1227,0.00,1.95,0.00,0.000,6,0.000,0.061,2126,2750,3503
$GC,1536,-1.42,-146.6,177.1,-11.2,73,1541,0.00,2.65,0.00,0.000,4,0.000,0.071,2126,1331,3503
$GC,1583,-1.42,-146.6,182.5,-12.1,75,1587,0.00,2.75,0.00,0.000,6,0.000,0.077,2126,2759,3503
$GC,1904,-1.42,-146.6,221.5,-12.3,91,1909,0.00,2.70,0.00,0.000,4,0.000,0.071,2126,1332,3503
$GC,1960,-1.42,-146.6,228.6,-12.0,93,1966,0.00,2.75,0.00,0.000,6,0.000,0.080,2126,2754,3503
$GC,2277,-1.42,-146.6,263.1,-10.7,109,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2754,3503
$GC,2585,-1.42,-146.6,294.9,-10.0,124,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2754,3504
$GC,2895,-1.42,-146.6,322.8,-8.4,139,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2754,3503
$GC,3204,-1.42,-146.6,349.8,-9.3,154,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2755,3503
$GC,3513,-1.42,-146.6,377.7,-8.9,169,3517,0.00,2.05,0.00,0.000,4,0.000,0.103,2126,3790,3502
$GC,3560,-1.42,-146.6,381.9,-9.3,171,3563,0.00,1.92,0.00,0.000,6,0.000,0.061,2126,2747,3502
$GC,3893,-1.42,-146.6,414.6,-9.7,187,3897,0.00,2.65,0.00,0.000,4,0.000,0.077,2126,1338,3501
$GC,3948,-1.42,-146.6,420.1,-10.1,189,3954,0.00,2.75,0.00,0.000,6,0.000,0.083,2126,2750,3501
$GC,4264,-1.42,-146.6,449.5,-9.2,205,4273,0.00,2.67,0.00,0.000,4,0.000,0.074,2126,1334,3501
$GC,4295,-1.42,-146.6,452.6,-9.4,206,4300,0.00,2.78,0.00,0.000,6,0.000,0.084,2126,2757,3501
$GC,4616,-1.42,-146.6,480.7,-8.7,222,4620,0.00,2.72,0.00,0.000,4,0.000,0.080,2126,1337,3500
$GC,4656,-1.42,-146.6,484.3,-8.9,224,4660,0.00,2.75,0.00,0.000,6,0.000,0.081,2126,2757,3500
$GC,4983,-1.42,-146.6,513.7,-9.0,240,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2757,3500
$GC,5291,-1.42,-146.6,541.7,-9.2,255,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2756,3499
$GC,5601,-1.42,-146.6,571.1,-9.8,270,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2757,3499
$GC,5911,-1.42,-146.6,601.1,-9.6,285,5916,0.00,2.72,0.00,0.000,4,0.000,0.077,2126,1332,3498
$GC,5956,-1.42,-146.6,605.7,-10.3,287,5961,0.00,2.75,0.00,0.000,6,0.000,0.080,2126,2753,3498
$GC,6278,-1.42,-146.6,637.0,-9.9,303,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2753,3497
$GC,6587,-1.42,-146.6,668.1,-10.1,318,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2753,3497
$GC,6899,-1.42,-146.6,700.3,-10.6,333,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2753,3497
$GC,7206,-1.42,-146.6,733.8,-10.8,348,7210,0.00,2.70,0.00,0.000,4,0.000,0.076,2126,1335,3496
$GC,7233,-1.42,-146.6,737.0,-11.1,349,7238,0.00,2.75,0.00,0.000,6,0.000,0.081,2126,2759,3497
$GC,7549,-1.42,-146.6,771.2,-10.5,364,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2759,3496
$GC,7859,-1.42,-146.6,804.1,-10.6,379,7863,0.00,2.72,0.00,0.000,4,0.000,0.077,2126,1333,3496
$GC,7909,-1.42,-146.6,809.4,-10.3,381,7913,0.00,2.75,0.00,0.000,6,0.000,0.080,2126,2759,3495
$GC,8225,-1.42,-146.6,841.4,-10.4,396,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2758,3495
$GC,8535,-1.42,-146.6,873.3,-10.2,411,8539,0.00,2.70,0.00,0.000,4,0.000,0.074,2126,1338,3495
$GC,8575,-1.42,-146.6,877.5,-10.4,413,8579,0.00,2.72,0.00,0.000,6,0.000,0.080,2126,2751,3495
$GC,8901,-1.42,-146.6,911.1,-10.2,429,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3494
$GC,9211,-1.42,-146.6,941.3,-9.4,444,9215,0.00,2.70,0.00,0.000,4,0.000,0.076,2126,1334,3494
$GC,9238,-1.42,-146.6,944.3,-10.0,445,9243,0.00,2.72,0.00,0.000,6,0.000,0.077,2126,2752,3494
$GC,9554,-1.42,-146.6,974.1,-9.4,460,9558,0.00,2.70,0.00,0.000,4,0.000,0.076,2126,1334,3494
$GC,9587,-1.42,-146.6,977.4,-9.8,461,9593,0.00,2.72,0.00,0.000,6,0.000,0.077,2126,2753,3494
$STATE,9735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9735,begin apogee
$GC,9744,-0.42,0.0,991.5,9.3,469,9882,1.15,0.00,133.50,1.421,6,0.106,0.000,2348,1994,2902
$STATE,9882,end apogee,CONTROL_FINISHED_OK
$STATE,9882,begin climb
$GC,9886,1.42,146.6,998.8,0.0,476,10031,1.92,2.85,132.15,1.377,4,0.064,0.066,2748,3424,2304
$GC,10286,1.51,220.3,990.2,5.3,494,10359,0.00,2.62,66.85,1.368,6,0.000,0.048,2748,1986,2004
$GC,10670,1.55,249.9,964.4,6.9,512,10706,0.12,2.85,28.00,1.336,4,0.050,0.071,2785,3412,1883
$GC,10751,1.55,249.9,957.3,9.4,515,10758,0.00,2.60,0.00,0.000,6,0.000,0.049,2785,1995,1882
$GC,11068,1.55,249.9,930.0,8.7,531,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1995,1882
$GC,11376,1.55,249.9,902.9,8.8,546,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1995,1881
$GC,11686,1.55,249.9,876.1,8.5,561,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1995,1881
$GC,11995,1.55,249.9,849.6,8.5,576,12000,0.00,2.72,0.00,0.000,4,0.000,0.073,2785,3422,1881
$GC,12023,1.55,249.9,846.9,9.2,577,12028,0.00,2.60,0.00,0.000,6,0.000,0.050,2785,1997,1880
$GC,12339,1.55,249.9,819.9,8.6,592,12340,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1997,1881
$GC,12649,1.55,249.9,793.7,8.3,607,12650,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1997,1881
$GC,12958,1.55,249.9,767.5,8.5,622,12959,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1997,1881
$GC,13267,1.55,249.9,742.1,8.2,637,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1997,1880
$GC,13577,1.55,249.9,715.0,9.0,652,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1997,1881
$GC,13885,1.55,249.9,686.8,9.1,667,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1997,1880
$GC,14197,1.55,249.9,658.1,9.5,682,14202,0.00,2.70,0.00,0.000,4,0.000,0.074,2785,3415,1880
$GC,14241,1.55,249.9,653.4,10.0,684,14246,0.00,2.60,0.00,0.000,6,0.000,0.051,2785,1989,1880
$GC,14563,1.55,249.9,623.0,9.5,700,14564,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1989,1880
$GC,14872,1.55,249.9,594.4,9.3,715,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1989,1880
$GC,15181,1.55,249.9,565.0,9.8,730,15186,0.00,2.72,0.00,0.000,4,0.000,0.074,2785,3416,1880
$GC,15222,1.55,249.9,561.0,10.5,732,15226,0.00,2.58,0.00,0.000,6,0.000,0.051,2785,2001,1880
$GC,15549,1.55,249.9,529.8,9.6,748,15553,0.00,2.65,0.00,0.000,4,0.000,0.074,2785,590,1880
$GC,15633,1.55,249.9,521.2,9.3,752,15638,0.00,2.55,0.00,0.000,6,0.000,0.047,2785,2010,1880
$GC,15961,1.55,249.9,492.9,8.4,768,15965,0.00,2.65,0.00,0.000,4,0.000,0.077,2785,3410,1880
$GC,15994,1.55,249.9,489.9,9.2,769,16000,0.00,2.58,0.00,0.000,6,0.000,0.051,2785,1998,1880
$GC,16310,1.55,249.9,463.0,8.2,785,16314,0.00,2.65,0.00,0.000,4,0.000,0.073,2785,586,1880
$GC,16344,1.55,249.9,459.9,9.1,786,16350,0.00,2.55,0.00,0.000,6,0.000,0.046,2785,2004,1880
$GC,16660,1.55,254.2,434.5,7.8,802,16670,0.00,2.70,5.30,0.885,4,0.000,0.077,2785,3412,1865
$GC,16710,1.55,254.2,430.3,8.1,804,16714,0.00,2.60,0.00,0.000,6,0.000,0.053,2785,1998,1865
$GC,17026,1.57,270.7,406.5,7.4,819,17048,0.00,2.72,15.43,1.045,4,0.000,0.073,2785,586,1798
$GC,17077,1.57,270.7,402.4,8.3,821,17081,0.00,2.60,0.00,0.000,6,0.000,0.047,2785,2007,1798
$GC,17398,1.59,280.4,377.8,7.6,837,17413,0.00,2.72,10.02,0.979,4,0.000,0.078,2785,3407,1758
$GC,17442,1.59,280.4,374.0,8.6,838,17446,0.00,2.62,0.00,0.000,6,0.000,0.054,2785,1993,1758
$GC,17763,1.59,280.4,346.9,8.7,854,17767,0.00,2.65,0.00,0.000,4,0.000,0.074,2785,585,1758
$GC,17813,1.59,280.4,342.1,10.1,856,17817,0.00,2.58,0.00,0.000,6,0.000,0.049,2785,2001,1758
$GC,18129,1.59,280.4,312.7,9.6,871,18130,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2001,1758
$GC,18439,1.59,280.4,282.1,9.7,886,18440,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2001,1758
$GC,18748,1.59,280.4,253.6,9.0,901,18753,0.00,2.67,0.00,0.000,4,0.000,0.072,2785,588,1758
$GC,18804,1.59,280.4,248.0,10.5,903,18810,0.00,2.58,0.00,0.000,6,0.000,0.050,2785,2005,1758
$GC,19120,1.59,280.4,220.1,8.5,919,19125,0.00,2.70,0.00,0.000,4,0.000,0.081,2785,3416,1758
$GC,19171,1.59,280.4,215.6,8.5,921,19175,0.00,2.62,0.00,0.000,6,0.000,0.058,2785,1994,1758
$GC,19487,1.59,280.4,188.3,8.7,936,19491,0.00,2.65,0.00,0.000,4,0.000,0.072,2785,580,1758
$GC,19527,1.59,280.4,184.6,8.9,938,19531,0.00,2.58,0.00,0.000,6,0.000,0.049,2785,2001,1758
$GC,19854,1.59,280.4,155.2,9.2,954,19855,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2001,1758
$GC,20163,1.59,280.4,126.5,9.1,969,20164,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2001,1758
$GC,20472,1.59,280.4,96.2,10.1,984,20477,0.00,2.67,0.00,0.000,4,0.000,0.072,2785,588,1759
$GC,20558,1.59,280.4,87.5,9.8,988,20563,0.00,2.55,0.00,0.000,6,0.000,0.049,2785,1997,1759
$GC,20887,1.59,280.4,56.9,9.0,1004,20888,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1998,1759
$GC,21194,1.59,280.4,29.2,8.6,1019,21199,0.00,2.67,0.00,0.000,4,0.000,0.076,2785,3412,1760
$GC,21228,1.59,280.4,26.1,8.5,1020,21234,0.00,2.60,0.00,0.000,6,0.000,0.055,2785,1994,1760
$STATE,21501,end climb,SURFACE_DEPTH_REACHED
$STATE,21501,begin surface coast
$FINISH,-0.0,1.027438
$STATE,21522,end surface coast,CONTROL_FINISHED_OK
$STATE,21522,begin surface
$SM_CCo,21608,0.00,0.000,0,0,1760,280.13
$SM_GC,0.78,12.18,0.00,0.00,0.033,0.000,0.000,50,2747,1760,-10.93,-0.08,280.13
$IRIDIUM_FIX,6322.64,-803.67,150898,040404
$TT8_MAMPS,0.029146
$HUMID,1887
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,15.00
$XPDR_PINGS,79
$24V_AH,22.5,68.922
$10V_AH,10.0,38.681
$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,27.425,166.200,391.250,0.000,0.000,28.006,27.422,154.966,28.250,0.000,0.000,12.095,1851.204,16852.615,514.231,2124.687,607.444,33.363,1595.854,0.000,2082.989,0.000,56.960,0.000
$DEVICE_MAMPS,164.138,102.778,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,776.156,732.921,542.802,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53754,1035
$CAP_FILE_SIZE,142395,0
$CFSIZE,260165632,232534016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210509,161607,6350.850,-754.878,32,1.2,33,-9.4