version: 66.04
glider: 103
mission: 11
dive: 313
start: 5 1 109 16 29 5
data:
$ID,103
$MISSION,11
$DIVE,313
$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,-149034.03
$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,2675
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,13
$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
$GPS1,162006,6249.058,-1302.485,68,1.1,79,-12.0
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,3
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-60.7
$GPS2,162814,6249.134,-1302.547,22,1.2,22,-12.0
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.230,-0.079
$KALMAN_X,-43445.6,2250.1,2336.2,37180.5,-22352.7
$KALMAN_Y,7583.9,-230.4,-502.9,-9395.7,3139.2
$MHEAD_RNG_PITCHd_Wd,121.0,39940,-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,-41.20,0.000,2,0.000,0.000,53,2684,3217
$GC,62,-1.42,-146.6,3.6,-8.4,2,85,11.77,2.10,-4.93,0.000,4,0.160,0.094,2127,3786,3501
$GC,110,-1.42,-146.6,15.6,-18.4,4,113,0.00,2.00,0.00,0.000,6,0.000,0.051,2127,2676,3501
$GC,443,-1.42,-146.6,50.7,-10.1,20,446,0.00,2.15,0.00,0.000,4,0.000,0.086,2127,3786,3501
$GC,527,-1.42,-146.6,59.3,-9.9,23,533,0.00,2.03,0.00,0.000,6,0.000,0.051,2127,2675,3501
$GC,843,-1.42,-146.6,91.9,-10.8,39,844,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2675,3501
$GC,1152,-1.42,-146.6,123.1,-9.9,54,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2675,3501
$GC,1462,-1.42,-146.6,154.8,-10.3,69,1465,0.00,2.12,0.00,0.000,4,0.000,0.084,2127,3783,3501
$GC,1495,-1.42,-146.6,158.6,-10.8,70,1499,0.00,2.00,0.00,0.000,6,0.000,0.048,2127,2661,3501
$GC,1817,-1.42,-146.6,190.3,-9.7,86,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2661,3501
$GC,2127,-1.42,-146.6,220.2,-10.0,101,2130,0.00,2.15,0.00,0.000,4,0.000,0.080,2127,3792,3501
$GC,2173,-1.42,-146.6,225.0,-10.4,103,2177,0.00,2.00,0.00,0.000,6,0.000,0.048,2127,2665,3501
$GC,2506,-1.42,-146.6,257.4,-9.4,119,2510,0.00,2.12,0.00,0.000,4,0.000,0.080,2127,3783,3501
$GC,2540,-1.42,-146.6,260.8,-9.7,120,2544,0.00,1.98,0.00,0.000,6,0.000,0.049,2127,2665,3501
$GC,2862,-1.42,-146.6,291.2,-9.4,136,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2665,3501
$GC,3171,-1.42,-146.6,320.5,-9.5,151,3175,0.00,2.15,0.00,0.000,4,0.000,0.085,2127,3789,3501
$GC,3218,-1.42,-146.6,325.1,-9.6,153,3222,0.00,1.98,0.00,0.000,6,0.000,0.049,2127,2674,3501
$GC,3551,-1.42,-146.6,357.3,-9.6,169,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2673,3501
$GC,3860,-1.42,-146.6,387.6,-9.7,184,3864,0.00,2.12,0.00,0.000,4,0.000,0.082,2127,3789,3501
$GC,3888,-1.42,-146.6,390.5,-9.7,185,3892,0.00,1.98,0.00,0.000,6,0.000,0.046,2127,2671,3501
$GC,4216,-1.42,-146.6,421.1,-9.2,201,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2671,3501
$GC,4525,-1.42,-146.6,449.9,-9.4,216,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2671,3501
$GC,4835,-1.42,-146.6,479.5,-9.7,231,4839,0.00,2.12,0.00,0.000,4,0.000,0.082,2127,3786,3501
$GC,4881,-1.42,-146.6,484.2,-10.0,233,4885,0.00,1.98,0.00,0.000,6,0.000,0.044,2127,2662,3501
$GC,5214,-1.42,-146.6,514.9,-8.9,249,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2662,3501
$GC,5523,-1.42,-146.6,542.3,-9.0,264,5527,0.00,2.12,0.00,0.000,4,0.000,0.079,2127,3783,3501
$GC,5596,-1.42,-146.6,549.4,-9.7,267,5600,0.00,1.95,0.00,0.000,6,0.000,0.044,2127,2671,3501
$GC,5924,-1.42,-146.6,578.0,-8.7,283,5928,0.00,2.53,0.00,0.000,4,0.000,0.061,2127,1266,3501
$GC,5957,-1.42,-146.6,581.0,-9.1,284,5963,0.00,2.60,0.00,0.000,6,0.000,0.065,2127,2674,3501
$GC,6273,-1.42,-146.6,608.1,-8.7,300,6276,0.00,2.08,0.00,0.000,4,0.000,0.082,2127,3783,3501
$GC,6357,-1.42,-146.6,616.1,-9.9,303,6363,0.00,1.95,0.00,0.000,6,0.000,0.044,2128,2673,3501
$GC,6673,-1.42,-146.6,644.4,-8.9,319,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2673,3501
$GC,6982,-1.42,-146.6,670.7,-8.8,334,6986,0.00,2.12,0.00,0.000,4,0.000,0.082,2127,3787,3500
$GC,7051,-1.42,-146.6,677.6,-11.0,337,7054,0.00,1.98,0.00,0.000,6,0.000,0.045,2127,2665,3501
$GC,7383,-1.42,-146.6,718.0,-12.8,353,7388,0.00,2.55,0.00,0.000,4,0.000,0.063,2127,1255,3500
$GC,7411,-1.42,-146.6,721.7,-13.1,354,7416,0.00,2.62,0.00,0.000,6,0.000,0.065,2127,2673,3500
$GC,7728,-1.42,-146.6,753.8,-9.2,369,7731,0.00,2.12,0.00,0.000,4,0.000,0.087,2127,3793,3500
$GC,7879,-1.42,-146.6,768.4,-9.2,375,7886,0.00,2.00,0.00,0.000,6,0.000,0.048,2127,2677,3500
$STATE,7924,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7924,begin apogee
$GC,7932,-0.42,0.0,771.6,6.7,378,8067,1.10,0.00,126.53,1.190,6,0.095,0.000,2346,2074,2902
$STATE,8067,end apogee,CONTROL_FINISHED_OK
$STATE,8067,begin climb
$GC,8071,1.42,146.6,775.2,0.0,385,8204,1.88,2.67,124.47,1.157,4,0.056,0.061,2749,654,2304
$GC,8463,1.55,250.0,766.7,4.2,402,8557,0.12,2.55,87.88,1.172,6,0.047,0.038,2787,2104,1882
$GC,8879,1.55,250.0,729.1,10.6,423,8883,0.00,2.67,0.00,0.000,4,0.000,0.061,2787,656,1881
$GC,9130,1.55,250.0,699.2,11.8,434,9135,0.00,2.50,0.00,0.000,6,0.000,0.039,2787,2073,1881
$GC,9446,1.57,267.0,671.0,7.4,449,9468,0.00,2.65,15.27,1.100,4,0.000,0.058,2787,656,1813
$GC,9486,1.58,272.0,668.0,7.8,450,9496,0.00,2.50,5.90,0.881,6,0.000,0.038,2787,2076,1793
$GC,9819,1.58,277.8,642.8,7.8,467,9832,0.00,2.67,6.75,0.919,4,0.000,0.056,2787,661,1769
$GC,9856,1.58,277.8,639.6,9.3,468,9863,0.00,2.50,0.00,0.000,6,0.000,0.038,2787,2076,1769
$GC,10173,1.58,277.8,612.0,8.9,484,10177,0.00,2.58,0.00,0.000,4,0.000,0.055,2787,659,1769
$GC,10296,1.58,277.8,599.6,9.7,489,10300,0.00,2.50,0.00,0.000,6,0.000,0.036,2787,2085,1769
$GC,10612,1.58,277.8,570.4,9.4,504,10613,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2085,1769
$GC,10921,1.58,277.8,540.1,9.9,519,10925,0.00,2.60,0.00,0.000,4,0.000,0.055,2787,655,1769
$GC,11038,1.58,277.8,527.8,10.4,524,11042,0.00,2.50,0.00,0.000,6,0.000,0.036,2787,2085,1769
$GC,11354,1.58,277.8,496.3,9.9,539,11359,0.00,2.60,0.00,0.000,4,0.000,0.055,2787,655,1769
$GC,11427,1.58,277.8,488.3,11.1,542,11431,0.00,2.50,0.00,0.000,6,0.000,0.036,2787,2084,1769
$GC,11743,1.58,277.8,457.4,9.6,557,11748,0.00,2.60,0.00,0.000,4,0.000,0.055,2787,654,1770
$GC,11811,1.58,277.8,450.1,11.1,560,11815,0.00,2.50,0.00,0.000,6,0.000,0.037,2787,2082,1770
$GC,12132,1.58,277.8,418.3,9.8,576,12137,0.00,2.60,0.00,0.000,4,0.000,0.055,2787,651,1770
$GC,12200,1.58,277.8,411.1,11.0,579,12205,0.00,2.50,0.00,0.000,6,0.000,0.038,2787,2076,1770
$GC,12521,1.58,277.8,379.7,9.8,595,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2076,1770
$GC,12830,1.58,277.8,350.1,9.6,610,12835,0.00,2.58,0.00,0.000,4,0.000,0.056,2787,658,1770
$GC,12916,1.58,277.8,341.0,10.2,614,12920,0.00,2.50,0.00,0.000,6,0.000,0.038,2787,2084,1771
$GC,13242,1.58,277.8,307.5,10.3,630,13247,0.00,2.60,0.00,0.000,4,0.000,0.057,2787,655,1770
$GC,13298,1.58,277.8,301.5,10.4,632,13304,0.00,2.50,0.00,0.000,6,0.000,0.039,2787,2076,1770
$GC,13614,1.58,277.8,268.7,10.4,648,13619,0.00,2.58,0.00,0.000,4,0.000,0.058,2787,659,1770
$GC,13654,1.58,277.8,264.2,11.1,650,13658,0.00,2.47,0.00,0.000,6,0.000,0.040,2787,2075,1770
$GC,13987,1.58,277.8,229.5,10.2,666,13991,0.00,2.58,0.00,0.000,4,0.000,0.058,2787,656,1771
$GC,14037,1.58,277.8,224.1,10.9,668,14041,0.00,2.50,0.00,0.000,6,0.000,0.040,2787,2076,1770
$GC,14353,1.58,277.8,192.4,10.1,683,14357,0.00,2.58,0.00,0.000,4,0.000,0.058,2787,654,1771
$GC,14409,1.58,277.8,186.7,9.5,685,14413,0.00,2.50,0.00,0.000,6,0.000,0.040,2787,2076,1771
$GC,14725,1.58,277.8,154.6,10.2,700,14730,0.00,2.60,0.00,0.000,4,0.000,0.058,2787,651,1771
$GC,14776,1.58,277.8,149.4,9.3,702,14780,0.00,2.53,0.00,0.000,6,0.000,0.040,2787,2085,1770
$GC,15092,1.58,277.8,119.1,9.8,717,15096,0.00,2.62,0.00,0.000,4,0.000,0.060,2787,652,1771
$GC,15148,1.58,277.8,113.4,10.2,719,15154,0.00,2.50,0.00,0.000,6,0.000,0.041,2787,2077,1771
$GC,15464,1.58,277.8,83.5,10.0,735,15465,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2077,1771
$GC,15773,1.58,277.8,55.2,8.5,750,15777,0.00,2.60,0.00,0.000,4,0.000,0.061,2787,660,1771
$GC,15896,1.58,277.8,39.7,13.7,755,15903,0.00,2.50,0.00,0.000,6,0.000,0.042,2787,2083,1771
$GC,16213,1.58,277.8,3.3,9.6,771,16217,0.00,2.62,0.00,0.000,4,0.000,0.063,2787,656,1771
$STATE,16222,end climb,SURFACE_DEPTH_REACHED
$STATE,16222,begin surface coast
$FINISH,0.2,1.027429
$STATE,16244,end surface coast,CONTROL_FINISHED_OK
$STATE,16244,begin surface
$SM_CCo,16332,0.00,0.000,0,0,1770,277.43
$SM_GC,1.37,12.02,0.00,0.00,0.030,0.000,0.000,50,2675,1770,-10.93,0.00,277.43
$IRIDIUM_FIX,6221.17,-1307.43,260798,111151
$TT8_MAMPS,0.028379
$HUMID,1790
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,727.2,53.3
$24V_AH,23.2,52.938
$10V_AH,10.1,30.520
$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,26.900,154.175,366.800,0.000,0.000,29.077,35.945,249.779,6.250,0.000,0.000,22.301,1454.721,12344.542,456.731,1884.631,674.419,33.351,1415.319,0.000,1827.622,0.000,43.769,0.000
$DEVICE_MAMPS,160.303,93.574,1190.384,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,537.708,568.215,450.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37864,772
$CAP_FILE_SIZE,123848,0
$CFSIZE,260165632,238485504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010509,210236,6247.991,-1303.922,37,1.9,42,-12.0