version: 66.04
glider: 103
mission: 11
dive: 434
start: 5 21 109 22 35 53
data:
$ID,103
$MISSION,11
$DIVE,434
$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,200
$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,-152199.86
$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,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
$GPS1,222906,6354.114,-749.867,33,1.1,34,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-61.5
$GPS2,223501,6354.137,-749.855,11,1.3,11,-9.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P5
$TGT_LATLONG,6430.000,-600.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.233,0.068
$KALMAN_X,-19765.0,-604.2,597.8,149734.9,-842.7
$KALMAN_Y,-46494.6,-188.8,1125.6,176025.4,1842.0
$MHEAD_RNG_PITCHd_Wd,83.2,109923,-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,-41.25,0.000,2,0.000,0.000,52,2744,3093
$GC,62,-1.42,-146.6,3.3,-10.9,2,84,11.95,0.00,-7.30,0.000,6,0.161,0.000,2123,2744,3502
$GC,390,-1.42,-146.6,46.9,-11.9,18,394,0.00,2.62,0.00,0.000,4,0.000,0.061,2124,1327,3503
$GC,484,-1.42,-146.6,57.6,-10.6,22,489,0.00,2.72,0.00,0.000,6,0.000,0.074,2124,2752,3503
$GC,802,-1.42,-146.6,92.7,-11.6,37,803,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3503
$GC,1110,-1.42,-146.6,126.2,-10.7,52,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3504
$GC,1419,-1.42,-146.6,159.6,-10.6,67,1423,0.00,2.65,0.00,0.000,4,0.000,0.064,2124,1330,3505
$GC,1463,-1.42,-146.6,164.4,-10.4,69,1467,0.00,2.72,0.00,0.000,6,0.000,0.073,2124,2759,3505
$GC,1784,-1.42,-146.6,198.4,-11.0,85,1788,0.00,2.00,0.00,0.000,4,0.000,0.097,2123,3785,3505
$GC,1846,-1.42,-146.6,205.6,-11.0,87,1852,0.00,1.90,0.00,0.000,6,0.000,0.059,2124,2751,3505
$GC,2162,-1.42,-146.6,239.4,-10.5,103,2166,0.00,2.65,0.00,0.000,4,0.000,0.072,2124,1335,3505
$GC,2195,-1.42,-146.6,243.0,-10.3,104,2202,0.00,2.70,0.00,0.000,6,0.000,0.074,2124,2751,3505
$GC,2511,-1.42,-146.6,277.3,-11.1,120,2516,0.00,2.67,0.00,0.000,4,0.000,0.071,2124,1334,3505
$GC,2545,-1.42,-146.6,281.0,-10.3,121,2551,0.00,2.72,0.00,0.000,6,0.000,0.074,2124,2759,3505
$GC,2861,-1.42,-146.6,313.2,-10.6,137,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3504
$GC,3170,-1.42,-146.6,345.8,-10.2,152,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3503
$GC,3480,-1.42,-146.6,375.8,-9.5,167,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3503
$GC,3789,-1.42,-146.6,406.0,-10.0,182,3793,0.00,2.70,0.00,0.000,4,0.000,0.076,2124,1340,3502
$GC,3833,-1.42,-146.6,410.7,-10.2,184,3837,0.00,2.72,0.00,0.000,6,0.000,0.078,2124,2753,3501
$GC,4154,-1.42,-146.6,442.6,-9.9,200,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2753,3500
$GC,4463,-1.42,-146.6,474.3,-10.3,215,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2753,3499
$GC,4772,-1.42,-146.6,506.2,-10.3,230,4777,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1335,3498
$GC,4800,-1.42,-146.6,509.3,-11.1,231,4805,0.00,2.72,0.00,0.000,6,0.000,0.077,2124,2751,3498
$GC,5117,-1.42,-146.6,541.6,-10.1,246,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3498
$GC,5426,-1.42,-146.6,572.6,-9.9,261,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3497
$GC,5735,-1.42,-146.6,602.2,-9.6,276,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3497
$GC,6045,-1.42,-146.6,631.5,-9.5,291,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3497
$GC,6354,-1.42,-146.6,660.3,-9.2,306,6358,0.00,2.67,0.00,0.000,4,0.000,0.072,2123,1338,3496
$GC,6394,-1.42,-146.6,664.3,-9.9,308,6398,0.00,2.72,0.00,0.000,6,0.000,0.077,2124,2760,3496
$GC,6721,-1.42,-146.6,695.6,-9.6,324,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3495
$GC,7030,-1.42,-146.6,725.1,-9.6,339,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3495
$GC,7339,-1.42,-146.6,754.1,-9.6,354,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3495
$GC,7649,-1.42,-146.6,784.0,-9.7,369,7653,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1340,3495
$GC,7677,-1.42,-146.6,786.8,-9.7,370,7682,0.00,2.70,0.00,0.000,6,0.000,0.077,2124,2747,3494
$GC,7993,-1.42,-146.6,817.1,-9.7,385,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2747,3494
$GC,8303,-1.42,-146.6,846.2,-9.4,400,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2747,3494
$GC,8613,-1.42,-146.6,875.3,-9.3,415,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2747,3493
$GC,8921,-1.42,-146.6,903.1,-8.8,430,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2747,3493
$GC,9231,-1.42,-146.6,931.3,-9.3,445,9232,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2747,3493
$GC,9540,-1.42,-146.6,959.9,-9.3,460,9544,0.00,2.65,0.00,0.000,4,0.000,0.073,2124,1340,3493
$GC,9584,-1.42,-146.6,964.2,-9.5,462,9588,0.00,2.72,0.00,0.000,6,0.000,0.081,2124,2750,3492
$STATE,9881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9881,begin apogee
$GC,9891,-0.42,0.0,991.5,9.1,477,10026,1.12,0.00,131.80,1.465,6,0.096,0.000,2346,2003,2902
$STATE,10027,end apogee,CONTROL_FINISHED_OK
$STATE,10027,begin climb
$GC,10030,1.42,146.6,998.1,0.0,484,10173,1.90,2.78,131.00,1.426,4,0.059,0.072,2746,585,2304
$GC,10426,1.50,213.0,987.4,5.6,501,10493,0.00,2.58,60.65,1.367,6,0.000,0.044,2746,2026,2033
$GC,10809,1.52,226.8,960.1,7.5,520,10829,0.12,0.00,13.95,1.272,6,0.047,0.000,2786,2027,1977
$GC,11139,1.52,226.8,932.0,8.6,536,11143,0.00,2.72,0.00,0.000,4,0.000,0.070,2786,586,1976
$GC,11189,1.52,226.8,927.3,8.5,538,11194,0.00,2.55,0.00,0.000,6,0.000,0.044,2786,2000,1976
$GC,11505,1.52,226.8,900.4,8.6,553,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2001,1976
$GC,11814,1.52,226.8,874.4,8.4,568,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2002,1976
$GC,12124,1.52,226.8,848.5,8.3,583,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2002,1976
$GC,12433,1.52,226.8,822.1,8.4,598,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2003,1975
$GC,12742,1.52,226.8,795.8,8.4,613,12743,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2003,1975
$GC,13052,1.52,226.8,769.5,8.6,628,13056,0.00,2.67,0.00,0.000,4,0.000,0.071,2786,580,1975
$GC,13107,1.52,226.8,764.5,8.4,630,13114,0.00,2.55,0.00,0.000,6,0.000,0.045,2786,2007,1975
$GC,13424,1.52,226.8,737.1,8.8,646,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2009,1975
$GC,13734,1.52,226.8,709.6,9.0,661,13738,0.00,2.70,0.00,0.000,4,0.000,0.070,2786,576,1975
$GC,13773,1.52,226.8,705.8,10.0,663,13778,0.00,2.58,0.00,0.000,6,0.000,0.045,2786,2010,1975
$GC,14100,1.52,226.8,676.6,9.1,679,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2011,1975
$GC,14409,1.52,226.8,649.7,8.5,694,14414,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,585,1975
$GC,14459,1.52,226.8,645.1,9.3,696,14464,0.00,2.55,0.00,0.000,6,0.000,0.046,2786,2007,1975
$GC,14776,1.52,226.8,618.1,8.3,711,14777,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2008,1974
$GC,15085,1.52,226.8,592.5,8.3,726,15089,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,578,1975
$GC,15174,1.52,226.8,584.6,8.7,730,15179,0.00,2.58,0.00,0.000,6,0.000,0.046,2786,2008,1975
$GC,15496,1.52,226.8,558.6,8.0,746,15497,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2009,1975
$GC,15806,1.52,226.8,533.2,8.2,761,15810,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,577,1975
$GC,15868,1.52,226.8,527.7,8.7,764,15872,0.00,2.55,0.00,0.000,6,0.000,0.046,2786,2001,1975
$GC,16194,1.52,226.8,500.5,8.2,780,16195,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2001,1974
$GC,16504,1.52,226.8,475.1,8.2,795,16509,0.00,2.67,0.00,0.000,4,0.000,0.071,2786,582,1975
$GC,16544,1.53,232.0,471.6,7.8,797,16555,0.00,2.55,5.72,0.927,6,0.000,0.046,2786,1998,1956
$GC,16871,1.53,232.0,444.2,8.2,813,16875,0.00,2.67,0.00,0.000,4,0.000,0.071,2786,585,1956
$GC,16916,1.53,232.0,440.2,9.0,815,16920,0.00,2.58,0.00,0.000,6,0.000,0.047,2786,2009,1956
$GC,17237,1.53,232.0,413.5,8.5,831,17242,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,581,1956
$GC,17283,1.53,232.0,409.5,9.1,833,17287,0.00,2.58,0.00,0.000,6,0.000,0.048,2786,2005,1956
$GC,17604,1.53,232.0,383.2,8.1,849,17606,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2005,1956
$GC,17913,1.53,232.0,358.2,8.2,864,17917,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,576,1956
$GC,17985,1.53,232.0,351.7,8.4,867,17990,0.00,2.58,0.00,0.000,6,0.000,0.048,2786,1998,1956
$GC,18302,1.53,232.0,325.3,8.3,882,18303,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1998,1956
$GC,18611,1.53,233.8,300.6,7.9,897,18612,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1998,1956
$GC,18920,1.55,248.6,276.8,7.5,912,18942,0.00,2.75,15.77,0.973,4,0.000,0.071,2786,585,1887
$GC,18989,1.55,248.6,271.2,8.4,915,18993,0.00,2.60,0.00,0.000,6,0.000,0.049,2786,2004,1887
$GC,19316,1.55,248.6,244.6,8.2,931,19320,0.00,2.70,0.00,0.000,4,0.000,0.072,2786,585,1887
$GC,19378,1.55,248.6,239.3,8.0,934,19383,0.00,2.58,0.00,0.000,6,0.000,0.050,2786,1997,1887
$GC,19705,1.55,248.6,212.6,8.2,950,19706,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1997,1887
$GC,20014,1.55,248.6,187.5,8.5,965,20015,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1997,1887
$GC,20323,1.55,248.6,161.9,8.4,980,20327,0.00,2.67,0.00,0.000,4,0.000,0.073,2786,586,1887
$GC,20390,1.55,248.6,155.8,9.0,983,20395,0.00,2.58,0.00,0.000,6,0.000,0.050,2786,2005,1887
$GC,20712,1.55,248.6,129.5,8.2,999,20717,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,577,1888
$GC,20757,1.55,248.6,125.6,8.0,1001,20762,0.00,2.58,0.00,0.000,6,0.000,0.048,2786,2007,1887
$GC,21079,1.55,248.6,99.8,8.1,1017,21083,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,578,1888
$GC,21174,1.55,248.6,91.4,8.5,1021,21178,0.00,2.58,0.00,0.000,6,0.000,0.047,2786,2005,1888
$GC,21491,1.55,253.1,66.8,7.8,1036,21502,0.00,2.70,5.80,0.724,4,0.000,0.070,2786,584,1869
$GC,21592,1.55,253.1,58.5,9.2,1040,21598,0.00,2.55,0.00,0.000,6,0.000,0.047,2786,2002,1870
$GC,21910,1.55,253.1,32.2,8.6,1056,21914,0.00,2.67,0.00,0.000,4,0.000,0.069,2786,581,1870
$GC,21982,1.55,253.1,25.3,9.1,1059,21987,0.00,2.55,0.00,0.000,6,0.000,0.044,2786,2003,1870
$STATE,22275,end climb,SURFACE_DEPTH_REACHED
$STATE,22275,begin surface coast
$FINISH,-0.3,1.001994
$STATE,22297,end surface coast,CONTROL_FINISHED_OK
$STATE,22297,begin surface
$SM_CCo,22383,0.00,0.000,0,0,1870,253.15
$SM_GC,1.29,12.30,0.00,0.00,0.038,0.000,0.000,50,2744,1870,-10.94,-0.17,253.15
$IRIDIUM_FIX,6327.46,-809.19,150898,161616
$TT8_MAMPS,0.028379
$HUMID,1869
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,15.50
$XPDR_PINGS,69
$24V_AH,22.5,69.247
$10V_AH,10.0,38.867
$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,27.400,150.175,364.700,0.000,0.000,28.911,27.513,158.611,25.750,0.000,0.000,11.969,1909.530,17549.525,478.300,2185.121,607.496,33.360,1563.732,0.000,2142.049,0.000,56.949,0.000
$DEVICE_MAMPS,161.070,96.642,1464.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,799.406,763.127,571.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53690,1074
$CAP_FILE_SIZE,143306,0
$CFSIZE,260165632,232402944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220509,045006,6354.233,-743.889,31,1.3,32,-9.4