version: 66.04
glider: 103
mission: 11
dive: 437
start: 5 22 109 17 17 54
data:
$ID,103
$MISSION,11
$DIVE,437
$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,-152242.3
$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,17
$R_STBD_OVSHOOT,12
$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
$GPS1,171107,6354.536,-729.679,33,0.8,34,-9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-62.1
$GPS2,171702,6354.519,-729.633,12,1.2,12,-9.2
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P5
$TGT_LATLONG,6430.000,-600.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.181,0.162
$KALMAN_X,-18983.3,-212.5,154.0,166156.4,583.5
$KALMAN_Y,-50074.2,-469.6,-1370.8,183099.4,347.0
$MHEAD_RNG_PITCHd_Wd,57.2,97084,-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,-146.6,0.0,0.0,0,72,0.00,0.00,-54.00,0.000,6,0.000,0.000,52,2745,3502
$GC,75,-1.42,-146.6,3.0,-10.6,2,96,11.95,2.08,0.00,0.000,4,0.166,0.087,2123,3790,3503
$GC,192,-1.42,-146.6,30.4,-12.3,7,196,0.00,1.90,0.00,0.000,6,0.000,0.051,2123,2740,3503
$GC,521,-1.42,-146.6,69.4,-11.6,23,525,0.00,2.62,0.00,0.000,4,0.000,0.070,2123,1333,3504
$GC,644,-1.42,-146.6,83.8,-11.0,28,651,0.00,2.75,0.00,0.000,6,0.000,0.078,2124,2758,3504
$GC,962,-1.42,-146.6,117.5,-10.5,44,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2758,3505
$GC,1271,-1.42,-146.6,150.8,-10.6,59,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2758,3504
$GC,1579,-1.42,-146.6,182.2,-10.0,74,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3504
$GC,1888,-1.42,-146.6,212.8,-9.7,89,1892,0.00,2.72,0.00,0.000,4,0.000,0.077,2123,1332,3504
$GC,1932,-1.42,-146.6,217.2,-9.4,91,1937,0.00,2.78,0.00,0.000,6,0.000,0.086,2123,2749,3504
$GC,2254,-1.42,-146.6,248.0,-9.6,107,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2748,3505
$GC,2562,-1.42,-146.6,278.8,-10.0,122,2567,0.00,2.67,0.00,0.000,4,0.000,0.074,2123,1340,3504
$GC,2603,-1.42,-146.6,282.9,-10.4,124,2607,0.00,2.70,0.00,0.000,6,0.000,0.076,2123,2751,3505
$GC,2930,-1.42,-146.6,316.8,-10.3,140,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2752,3504
$GC,3238,-1.42,-146.6,348.1,-10.0,155,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3504
$GC,3548,-1.42,-146.6,379.9,-10.4,170,3552,0.00,2.67,0.00,0.000,4,0.000,0.074,2124,1343,3503
$GC,3581,-1.42,-146.6,383.7,-10.8,171,3587,0.00,2.72,0.00,0.000,6,0.000,0.077,2123,2761,3503
$GC,3897,-1.42,-146.6,416.6,-10.5,187,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2762,3503
$GC,4206,-1.42,-146.6,448.6,-9.7,202,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2762,3502
$GC,4516,-1.42,-146.6,476.7,-8.5,217,4518,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2762,3501
$GC,4824,-1.42,-146.6,503.4,-8.7,232,4829,0.00,2.72,0.00,0.000,4,0.000,0.078,2123,1338,3501
$GC,4869,-1.42,-146.6,507.5,-9.5,234,4874,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2757,3501
$GC,5191,-1.42,-146.6,537.1,-9.6,250,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2757,3501
$GC,5500,-1.42,-146.6,566.9,-9.6,265,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3500
$GC,5809,-1.42,-146.6,596.0,-9.3,280,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2757,3500
$GC,6120,-1.42,-146.6,625.0,-9.8,295,6124,0.00,2.70,0.00,0.000,4,0.000,0.073,2124,1332,3500
$GC,6147,-1.42,-146.6,628.0,-10.4,296,6152,0.00,2.75,0.00,0.000,6,0.000,0.081,2123,2751,3500
$GC,6463,-1.42,-146.6,657.7,-9.2,311,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2751,3499
$GC,6774,-1.42,-146.6,685.0,-8.9,326,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3499
$GC,7082,-1.42,-146.6,712.1,-8.8,341,7086,0.00,2.70,0.00,0.000,4,0.000,0.075,2123,1332,3499
$GC,7109,-1.42,-146.6,714.7,-8.6,342,7114,0.00,2.75,0.00,0.000,6,0.000,0.079,2123,2760,3499
$GC,7426,-1.42,-146.6,743.9,-9.5,357,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2760,3499
$GC,7734,-1.42,-146.6,774.0,-9.8,372,7739,0.00,2.72,0.00,0.000,4,0.000,0.077,2124,1337,3499
$GC,7775,-1.42,-146.6,777.8,-9.5,374,7780,0.00,2.75,0.00,0.000,6,0.000,0.085,2123,2748,3499
$GC,8102,-1.42,-146.6,809.5,-10.0,390,8103,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2748,3499
$GC,8411,-1.42,-146.6,839.9,-9.9,405,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2749,3499
$GC,8720,-1.42,-146.6,869.8,-9.3,420,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2748,3498
$GC,9030,-1.42,-146.6,898.7,-9.3,435,9034,0.00,2.70,0.00,0.000,4,0.000,0.077,2124,1338,3498
$GC,9069,-1.42,-146.6,902.7,-10.0,437,9074,0.00,2.75,0.00,0.000,6,0.000,0.084,2123,2750,3498
$GC,9396,-1.42,-146.6,933.3,-9.3,453,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3498
$GC,9706,-1.42,-146.6,962.0,-9.4,468,9710,0.00,2.67,0.00,0.000,4,0.000,0.075,2124,1342,3498
$GC,9745,-1.42,-146.6,965.8,-9.7,470,9750,0.00,2.75,0.00,0.000,6,0.000,0.084,2123,2754,3498
$STATE,10007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10007,begin apogee
$GC,10016,-0.42,0.0,990.6,9.2,483,10154,1.12,0.00,134.38,1.427,6,0.097,0.000,2345,2006,2903
$STATE,10155,end apogee,CONTROL_FINISHED_OK
$STATE,10155,begin climb
$GC,10159,1.42,146.6,997.4,0.0,490,10304,1.92,2.83,131.98,1.393,4,0.061,0.072,2748,588,2304
$GC,10559,1.50,206.2,987.4,5.8,508,10620,0.00,2.58,54.38,1.378,6,0.000,0.044,2748,2017,2061
$GC,10948,1.54,243.8,961.6,6.6,527,10988,0.12,0.00,35.12,1.348,6,0.048,0.000,2786,2019,1907
$GC,11298,1.54,243.8,931.9,8.7,544,11302,0.00,2.72,0.00,0.000,4,0.000,0.071,2786,585,1907
$GC,11353,1.54,243.8,926.5,9.4,546,11360,0.00,2.58,0.00,0.000,6,0.000,0.046,2786,2004,1907
$GC,11669,1.54,243.8,899.0,8.7,562,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2004,1907
$GC,11979,1.54,243.8,871.9,8.9,577,11984,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,580,1907
$GC,12030,1.54,243.8,866.9,9.7,579,12034,0.00,2.58,0.00,0.000,6,0.000,0.045,2786,2007,1907
$GC,12345,1.54,243.8,838.9,8.9,594,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2007,1907
$GC,12655,1.54,243.8,811.2,9.1,609,12660,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,585,1907
$GC,12713,1.54,243.8,805.7,10.3,611,12719,0.00,2.58,0.00,0.000,6,0.000,0.046,2786,2010,1907
$GC,13029,1.54,243.8,777.1,9.2,627,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2010,1906
$GC,13338,1.54,243.8,749.0,9.2,642,13343,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,586,1906
$GC,13383,1.54,243.8,744.6,10.0,644,13387,0.00,2.55,0.00,0.000,6,0.000,0.045,2786,2001,1906
$GC,13704,1.54,243.8,715.1,8.9,660,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2001,1906
$GC,14013,1.54,243.8,687.8,8.9,675,14018,0.00,2.67,0.00,0.000,4,0.000,0.071,2786,588,1905
$GC,14054,1.54,243.8,683.8,11.2,677,14058,0.00,2.55,0.00,0.000,6,0.000,0.045,2786,2005,1905
$GC,14380,1.54,243.8,654.7,8.7,693,14381,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2005,1905
$GC,14690,1.54,243.8,627.6,8.4,708,14694,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,580,1905
$GC,14740,1.54,243.8,623.0,8.5,710,14744,0.00,2.58,0.00,0.000,6,0.000,0.045,2786,2009,1905
$GC,15056,1.54,243.8,595.5,8.9,725,15057,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2009,1905
$GC,15365,1.54,243.8,569.1,8.5,740,15370,0.00,2.70,0.00,0.000,4,0.000,0.071,2786,577,1905
$GC,15421,1.54,243.8,564.1,8.9,742,15427,0.00,2.58,0.00,0.000,6,0.000,0.046,2786,2007,1905
$GC,15737,1.54,243.8,537.4,8.4,758,15738,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2007,1905
$GC,16047,1.55,251.6,512.7,7.7,773,16061,0.00,2.78,8.23,1.031,4,0.000,0.071,2786,588,1876
$GC,16101,1.55,251.6,507.9,9.1,775,16105,0.00,2.58,0.00,0.000,6,0.000,0.046,2786,2005,1876
$GC,16417,1.55,251.6,482.4,8.3,790,16418,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2004,1876
$GC,16727,1.55,251.6,456.7,8.2,805,16731,0.00,2.70,0.00,0.000,4,0.000,0.072,2786,580,1876
$GC,16822,1.55,251.6,448.2,8.4,809,16826,0.00,2.58,0.00,0.000,6,0.000,0.048,2786,2003,1875
$GC,17138,1.55,251.6,421.7,8.8,824,17139,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2002,1876
$GC,17448,1.55,251.6,393.8,9.2,839,17449,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2002,1876
$GC,17756,1.55,251.6,365.2,9.5,854,17761,0.00,2.70,0.00,0.000,4,0.000,0.072,2786,580,1876
$GC,17823,1.55,251.6,358.7,8.9,857,17828,0.00,2.58,0.00,0.000,6,0.000,0.048,2786,2000,1875
$GC,18145,1.55,251.6,328.9,9.3,873,18146,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2000,1876
$GC,18453,1.55,251.6,300.5,8.9,888,18454,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2000,1876
$GC,18763,1.55,251.6,272.8,9.1,903,18764,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2000,1876
$GC,19072,1.55,251.6,245.5,8.7,918,19077,0.00,2.70,0.00,0.000,4,0.000,0.074,2786,578,1876
$GC,19158,1.55,251.6,237.7,9.5,922,19162,0.00,2.58,0.00,0.000,6,0.000,0.050,2786,1998,1876
$GC,19484,1.55,251.6,210.3,8.2,938,19485,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1999,1876
$GC,19794,1.55,251.6,184.4,8.7,953,19795,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1999,1876
$GC,20103,1.55,251.6,156.3,9.4,968,20107,0.00,2.67,0.00,0.000,4,0.000,0.071,2786,585,1876
$GC,20197,1.55,251.6,147.1,9.3,972,20202,0.00,2.58,0.00,0.000,6,0.000,0.050,2786,2001,1876
$GC,20516,1.55,251.6,118.7,9.0,987,20520,0.00,2.70,0.00,0.000,4,0.000,0.081,2786,3413,1876
$GC,20556,1.55,251.6,114.8,9.6,989,20560,0.00,2.62,0.00,0.000,6,0.000,0.058,2786,1988,1877
$GC,20883,1.55,251.6,85.8,8.9,1005,20888,0.00,2.62,0.00,0.000,4,0.000,0.073,2786,587,1877
$GC,20969,1.55,251.6,78.2,8.5,1009,20974,0.00,2.58,0.00,0.000,6,0.000,0.049,2786,2009,1877
$GC,21298,1.56,259.0,51.3,7.7,1025,21312,0.00,2.72,8.10,0.786,4,0.000,0.078,2786,3403,1846
$GC,21360,1.57,269.6,46.2,7.6,1027,21375,0.00,2.60,10.40,0.801,6,0.000,0.058,2786,1994,1802
$GC,21692,1.57,269.6,19.6,8.2,1044,21696,0.00,2.65,0.00,0.000,4,0.000,0.074,2786,588,1802
$GC,21863,1.57,269.6,5.0,8.5,1051,21869,0.00,2.55,0.00,0.000,6,0.000,0.047,2786,2001,1802
$STATE,21908,end climb,SURFACE_DEPTH_REACHED
$STATE,21908,begin surface coast
$FINISH,-0.3,1.027138
$STATE,21930,end surface coast,CONTROL_FINISHED_OK
$STATE,21930,begin surface
$SM_CCo,22016,0.00,0.000,0,0,1802,269.83
$SM_GC,1.24,12.32,0.00,0.00,0.038,0.000,0.000,50,2748,1802,-10.94,-0.06,269.83
$IRIDIUM_FIX,6327.46,-736.00,160898,111159
$TT8_MAMPS,0.028379
$HUMID,1872
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,14.40
$XPDR_PINGS,78
$24V_AH,22.4,69.750
$10V_AH,10.0,39.149
$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,27.450,151.075,382.575,0.000,0.000,29.099,25.326,158.547,28.000,0.000,0.000,12.755,1885.078,17168.547,504.912,2194.083,610.419,33.355,1597.990,0.000,2151.865,0.000,56.941,0.000
$DEVICE_MAMPS,165.672,97.409,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,796.199,740.622,554.531,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53767,1055
$CAP_FILE_SIZE,142117,0
$CFSIZE,260165632,232202240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220509,232606,6355.914,-722.515,37,0.8,38,-9.2