version: 66.04
glider: 103
mission: 11
dive: 458
start: 5 28 109 14 28 29
data:
$ID,103
$MISSION,11
$DIVE,458
$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,550
$T_MISSION,580
$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,63
$TGT_DEFAULT_LON,-6
$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,-152600.61
$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,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,16
$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
$GPS1,142100,6429.512,-624.146,37,1.1,42,-8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-57.9
$GPS2,142737,6429.563,-624.123,16,1.3,16,-8.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,P5
$TGT_LATLONG,6430.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.174,0.133
$KALMAN_X,-23112.8,176.5,293.0,225343.3,-1806.7
$KALMAN_Y,-99316.4,347.4,282.6,294747.6,-4178.3
$MHEAD_RNG_PITCHd_Wd,61.4,15268,-11.1,-6.000
$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,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-54.88,0.000,6,0.000,0.000,54,2761,3501
$GC,81,-1.10,-146.6,7.4,-16.4,3,102,12.38,2.05,0.00,0.000,4,0.166,0.092,2194,3783,3502
$GC,343,-1.10,-146.6,43.0,-9.7,14,349,0.00,1.98,0.00,0.000,6,0.000,0.068,2194,2752,3502
$GC,660,-1.10,-146.6,70.8,-8.8,30,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2752,3503
$GC,969,-1.10,-146.6,100.1,-9.6,45,973,0.00,2.72,0.00,0.000,4,0.000,0.084,2195,1332,3503
$GC,1018,-1.10,-146.6,105.0,-9.9,47,1023,0.00,2.70,0.00,0.000,6,0.000,0.075,2194,2744,3503
$GC,1335,-1.10,-146.6,134.0,-8.9,62,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2744,3503
$GC,1644,-1.10,-146.6,159.4,-7.9,77,1648,0.00,2.72,0.00,0.000,4,0.000,0.082,2194,1332,3503
$GC,1677,-1.10,-146.6,162.2,-8.4,78,1683,0.00,2.72,0.00,0.000,6,0.000,0.075,2194,2754,3503
$GC,1993,-1.10,-146.6,185.9,-7.5,94,1997,0.00,2.72,0.00,0.000,4,0.000,0.081,2195,1333,3503
$GC,2021,-1.10,-146.6,188.2,-7.9,95,2025,0.00,2.72,0.00,0.000,6,0.000,0.077,2195,2750,3503
$GC,2337,-1.10,-146.6,212.6,-7.8,110,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3503
$GC,2646,-1.10,-146.6,236.9,-8.0,125,2650,0.00,2.75,0.00,0.000,4,0.000,0.082,2195,1324,3503
$GC,2674,-1.10,-146.6,239.2,-8.3,126,2678,0.00,2.75,0.00,0.000,6,0.000,0.077,2195,2754,3503
$GC,2990,-1.10,-146.6,265.3,-8.6,141,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2755,3503
$GC,3299,-1.10,-146.6,291.9,-8.7,156,3304,0.00,2.75,0.00,0.000,4,0.000,0.083,2194,1333,3503
$GC,3333,-1.10,-146.6,295.0,-8.6,157,3340,0.00,2.72,0.00,0.000,6,0.000,0.077,2195,2749,3503
$GC,3649,-1.10,-146.6,323.8,-9.4,173,3651,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2749,3503
$GC,3959,-1.10,-146.6,351.8,-9.2,188,3964,0.00,2.75,0.00,0.000,4,0.000,0.083,2195,1327,3502
$GC,3987,-1.10,-146.6,354.5,-9.1,189,3992,0.00,2.75,0.00,0.000,6,0.000,0.078,2194,2756,3502
$GC,4303,-1.10,-146.6,382.2,-8.8,204,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2756,3502
$GC,4613,-1.10,-146.6,408.6,-8.3,219,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2756,3502
$GC,4922,-1.10,-146.6,434.2,-8.1,234,4927,0.00,2.75,0.00,0.000,4,0.000,0.083,2195,1332,3502
$GC,4963,-1.10,-146.6,437.4,-7.9,236,4967,0.00,2.72,0.00,0.000,6,0.000,0.078,2195,2749,3501
$GC,5290,-1.10,-146.6,462.1,-7.1,252,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2749,3502
$GC,5600,-1.10,-146.6,483.8,-6.9,267,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2749,3501
$GC,5908,-1.10,-146.6,505.7,-7.3,282,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2749,3501
$GC,6217,-1.10,-146.6,528.7,-7.5,297,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2749,3500
$GC,6527,-1.10,-146.6,549.5,-6.2,312,6532,0.00,2.72,0.00,0.000,4,0.000,0.081,2195,1332,3500
$GC,6568,-1.10,-146.6,552.2,-7.1,314,6572,0.00,2.72,0.00,0.000,6,0.000,0.078,2195,2750,3500
$GC,6894,-1.10,-146.6,573.5,-6.7,330,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3499
$GC,7204,-1.10,-146.6,593.8,-6.2,345,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3499
$GC,7513,-1.10,-146.6,612.9,-6.1,360,7514,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3499
$GC,7822,-1.10,-146.6,632.0,-6.4,375,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3498
$GC,8132,-1.10,-146.6,652.0,-6.6,390,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3497
$GC,8441,-1.10,-146.6,672.7,-6.5,405,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3497
$GC,8750,-1.10,-146.6,692.6,-6.3,420,8754,0.00,2.72,0.00,0.000,4,0.000,0.081,2194,1331,3497
$GC,8790,-1.10,-146.6,695.4,-7.0,422,8794,0.00,2.72,0.00,0.000,6,0.000,0.078,2195,2749,3497
$GC,9116,-1.10,-146.6,715.3,-6.1,438,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3497
$GC,9425,-1.10,-146.6,734.6,-6.2,453,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3496
$GC,9735,-1.10,-146.6,754.3,-6.5,468,9740,0.00,2.72,0.00,0.000,4,0.000,0.081,2195,1332,3496
$GC,9758,-1.10,-146.6,755.8,-6.4,469,9762,0.00,2.72,0.00,0.000,6,0.000,0.079,2194,2750,3496
$GC,10079,-1.10,-146.6,776.2,-6.6,485,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3496
$GC,10389,-1.10,-146.6,796.2,-6.5,500,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3496
$GC,10697,-1.10,-146.6,816.0,-6.6,515,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3496
$GC,11006,-1.10,-146.6,835.3,-6.3,530,11007,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3496
$GC,11316,-1.10,-146.6,854.2,-6.1,545,11317,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3495
$GC,11625,-1.10,-146.6,873.2,-6.2,560,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3495
$GC,11934,-1.10,-146.6,891.7,-6.0,575,11935,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3495
$GC,12244,-1.10,-146.6,910.3,-6.1,590,12245,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3495
$GC,12553,-1.10,-146.6,929.3,-6.2,605,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3495
$GC,12862,-1.10,-146.6,948.8,-6.2,620,12863,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3495
$GC,13172,-1.10,-146.6,967.9,-6.2,635,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2750,3495
$GC,13480,-1.10,-146.6,986.9,-6.2,650,13482,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3495
$STATE,13539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13539,begin apogee
$GC,13548,-0.42,0.0,990.5,6.1,653,13687,0.77,0.00,135.10,1.424,6,0.097,0.000,2346,2066,2902
$STATE,13687,end apogee,CONTROL_FINISHED_OK
$STATE,13687,begin climb
$GC,13691,1.10,146.6,996.4,0.0,660,13837,1.60,2.83,132.85,1.396,4,0.067,0.073,2678,654,2304
$GC,14068,1.14,181.0,986.8,5.0,677,14110,0.00,2.60,32.53,1.341,6,0.000,0.046,2679,2091,2164
$GC,14423,1.18,207.5,968.0,5.3,694,14454,0.00,2.75,25.77,1.331,4,0.000,0.077,2678,3483,2055
$GC,14516,1.19,218.0,962.1,5.7,698,14532,0.00,2.62,10.98,1.224,6,0.000,0.053,2679,2068,2013
$GC,14855,1.19,218.0,940.6,6.6,715,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2068,2012
$GC,15163,1.19,218.0,920.7,6.2,730,15168,0.00,2.75,0.00,0.000,4,0.000,0.078,2679,3486,2013
$GC,15227,1.19,218.0,916.7,6.2,733,15231,0.00,2.60,0.00,0.000,6,0.000,0.054,2678,2073,2013
$GC,15553,1.20,225.7,897.4,5.8,749,15565,0.10,0.00,8.85,1.204,6,0.054,0.000,2713,2073,1981
$GC,15862,1.20,225.7,876.4,6.5,764,15864,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2072,1980
$GC,16172,1.20,225.7,856.6,6.4,779,16173,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2073,1980
$GC,16481,1.21,230.6,837.9,5.9,794,16489,0.00,0.00,5.97,1.075,6,0.000,0.000,2713,2073,1961
$GC,16791,1.21,233.4,819.1,5.9,809,16797,0.00,0.00,4.43,0.937,6,0.000,0.000,2713,2073,1950
$GC,17100,1.22,242.1,800.9,5.8,824,17115,0.00,2.78,9.40,1.182,4,0.000,0.078,2713,3482,1915
$GC,17162,1.22,242.1,797.1,7.3,826,17166,0.00,2.60,0.00,0.000,6,0.000,0.054,2713,2075,1915
$GC,17489,1.22,242.1,777.9,6.1,842,17490,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2075,1915
$GC,17798,1.22,244.4,759.7,5.9,857,17804,0.00,0.00,4.07,0.872,6,0.000,0.000,2713,2075,1905
$GC,18107,1.22,244.4,740.8,6.1,872,18108,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2074,1905
$GC,18417,1.22,244.4,721.4,6.3,887,18418,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2075,1905
$GC,18725,1.22,244.4,701.6,6.4,902,18730,0.00,2.70,0.00,0.000,4,0.000,0.080,2713,3478,1905
$GC,18772,1.22,244.4,698.6,7.1,904,18776,0.00,2.60,0.00,0.000,6,0.000,0.054,2713,2067,1905
$GC,19093,1.22,244.4,678.0,6.4,920,19094,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2067,1905
$GC,19402,1.22,244.4,657.6,6.4,935,19403,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2067,1905
$GC,19711,1.22,244.4,638.7,6.1,950,19716,0.00,2.72,0.00,0.000,4,0.000,0.079,2713,3484,1905
$GC,19767,1.22,244.4,635.0,6.7,952,19773,0.00,2.60,0.00,0.000,6,0.000,0.054,2713,2071,1905
$GC,20083,1.22,244.5,615.6,6.0,968,20084,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2071,1905
$GC,20393,1.23,250.4,597.1,5.8,983,20401,0.00,0.00,6.97,1.028,6,0.000,0.000,2713,2071,1881
$GC,20704,1.25,263.0,579.0,5.7,998,20726,0.00,2.83,13.07,1.122,4,0.000,0.080,2713,3481,1829
$GC,20750,1.27,282.4,576.1,5.5,1000,20775,0.00,2.62,18.62,1.130,6,0.000,0.055,2713,2074,1750
$GC,21103,1.27,282.4,553.7,6.7,1017,21104,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2074,1750
$GC,21413,1.27,282.4,532.9,6.6,1032,21417,0.00,2.75,0.00,0.000,4,0.000,0.082,2713,3487,1750
$GC,21463,1.27,282.4,529.4,7.2,1034,21467,0.00,2.62,0.00,0.000,6,0.000,0.058,2713,2074,1750
$GC,21779,1.27,282.4,508.6,6.4,1049,21780,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2074,1749
$GC,22088,1.27,282.4,488.7,6.3,1064,22093,0.00,2.75,0.00,0.000,4,0.000,0.083,2713,3485,1749
$GC,22116,1.27,282.4,486.8,7.4,1065,22120,0.00,2.62,0.00,0.000,6,0.000,0.058,2713,2071,1750
$GC,22432,1.27,282.4,466.7,6.5,1080,22433,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2071,1749
$GC,22741,1.27,282.4,446.7,6.4,1095,22746,0.00,2.75,0.00,0.000,4,0.000,0.082,2713,3483,1749
$GC,22781,1.27,282.4,444.1,6.5,1097,22786,0.00,2.62,0.00,0.000,6,0.000,0.060,2713,2077,1749
$GC,23108,1.27,282.4,423.6,6.3,1113,23109,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2077,1749
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$GC,24120,1.29,296.9,359.6,7.0,1162,24121,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2066,1691
$GC,24429,1.29,296.9,336.7,7.4,1177,24433,0.00,2.75,0.00,0.000,4,0.000,0.084,2713,3477,1691
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$STATE,29186,end climb,SURFACE_DEPTH_REACHED
$STATE,29186,begin surface coast
$FINISH,-0.3,1.016900
$STATE,29208,end surface coast,CONTROL_FINISHED_OK
$STATE,29208,begin surface
$SM_CCo,29293,0.00,0.000,0,0,1628,312.51
$SM_GC,0.78,11.98,0.00,0.00,0.035,0.000,0.000,50,2754,1628,-10.93,0.11,312.51
$IRIDIUM_FIX,6401.59,-630.34,220898,060606
$TT8_MAMPS,0.028379
$HUMID,1816
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,14.70
$XPDR_PINGS,100
$24V_AH,22.4,73.398
$10V_AH,10.0,41.272
$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
$DEVICE_SECS,26.825,152.525,441.450,0.000,0.000,24.304,28.051,182.506,33.500,0.000,0.000,16.960,2435.285,23232.418,573.582,2699.456,733.959,33.372,1902.282,0.000,2664.667,0.000,56.953,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1059.249,999.140,728.310,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69471,1407
$CAP_FILE_SIZE,175842,0
$CFSIZE,260165632,230686720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,280509,223801,6430.132,-618.213,40,1.3,40,-8.7