version: 66.04
glider: 103
mission: 11
dive: 321
start: 5 3 109 4 42 9
data:
$ID,103
$MISSION,11
$DIVE,321
$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,1
$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,-149228.91
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,043437,6249.944,-1247.130,49,1.5,49,-11.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-59.3
$GPS2,044119,6249.958,-1247.001,10,1.4,15,-11.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.214,-0.116
$KALMAN_X,-62535.8,1334.7,1109.5,71580.3,-11032.0
$KALMAN_Y,8174.3,-804.3,235.5,-8628.5,-103.3
$MHEAD_RNG_PITCHd_Wd,130.2,29451,-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,15,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.70,0.000,2,0.000,0.000,44,2675,3351
$GC,63,-1.42,-146.6,4.8,-12.9,2,85,11.65,2.12,-2.38,0.000,4,0.155,0.095,2127,3770,3503
$GC,338,-1.42,-146.6,46.5,-12.3,14,342,0.00,1.98,0.00,0.000,6,0.000,0.054,2128,2676,3503
$GC,666,-1.42,-146.6,84.4,-11.2,30,670,0.00,2.12,0.00,0.000,4,0.000,0.082,2127,3785,3503
$GC,795,-1.42,-146.6,100.9,-12.9,35,801,0.00,2.00,0.00,0.000,6,0.000,0.048,2127,2654,3503
$GC,1111,-1.42,-146.6,137.2,-10.9,51,1115,0.00,2.17,0.00,0.000,4,0.000,0.083,2128,3784,3503
$GC,1168,-1.42,-146.6,143.6,-11.5,53,1171,0.00,1.98,0.00,0.000,6,0.000,0.048,2128,2676,3503
$GC,1489,-1.42,-146.6,179.4,-10.9,69,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2676,3503
$GC,1798,-1.42,-146.6,212.0,-10.6,84,1802,0.00,2.12,0.00,0.000,4,0.000,0.084,2128,3783,3503
$GC,1872,-1.42,-146.6,220.3,-11.5,87,1875,0.00,1.98,0.00,0.000,6,0.000,0.049,2128,2673,3503
$GC,2199,-1.42,-146.6,256.7,-10.8,103,2202,0.00,2.12,0.00,0.000,4,0.000,0.083,2127,3780,3503
$GC,2272,-1.42,-146.6,264.8,-10.5,106,2275,0.00,1.98,0.00,0.000,6,0.000,0.049,2127,2663,3503
$GC,2599,-1.42,-146.6,297.5,-9.5,122,2603,0.00,2.15,0.00,0.000,4,0.000,0.085,2127,3777,3503
$GC,2668,-1.42,-146.6,304.5,-10.1,125,2671,0.00,1.98,0.00,0.000,6,0.000,0.048,2128,2666,3504
$GC,3002,-1.42,-146.6,336.2,-9.1,141,3005,0.00,2.15,0.00,0.000,4,0.000,0.085,2128,3784,3503
$GC,3047,-1.42,-146.6,340.5,-9.7,143,3051,0.00,1.98,0.00,0.000,6,0.000,0.048,2128,2669,3503
$GC,3380,-1.42,-146.6,369.6,-8.8,159,3384,0.00,2.12,0.00,0.000,4,0.000,0.083,2127,3779,3503
$GC,3454,-1.42,-146.6,376.3,-9.2,162,3457,0.00,1.98,0.00,0.000,6,0.000,0.048,2128,2664,3503
$GC,3781,-1.42,-146.6,404.4,-8.4,178,3785,0.00,2.15,0.00,0.000,4,0.000,0.084,2127,3784,3503
$GC,3850,-1.42,-146.6,410.4,-8.8,181,3853,0.00,1.98,0.00,0.000,6,0.000,0.048,2127,2668,3503
$GC,4183,-1.42,-146.6,439.5,-9.0,197,4187,0.00,2.12,0.00,0.000,4,0.000,0.082,2128,3780,3503
$GC,4222,-1.42,-146.6,443.2,-9.2,198,4228,0.00,1.95,0.00,0.000,6,0.000,0.044,2128,2670,3503
$GC,4538,-1.42,-146.6,472.0,-9.0,214,4541,0.00,2.12,0.00,0.000,4,0.000,0.084,2127,3780,3503
$GC,4577,-1.42,-146.6,475.5,-8.4,215,4584,0.00,1.98,0.00,0.000,6,0.000,0.046,2127,2679,3503
$GC,4895,-1.42,-146.6,500.6,-7.6,231,4898,0.00,2.10,0.00,0.000,4,0.000,0.084,2127,3779,3503
$GC,4973,-1.42,-146.6,507.0,-7.8,234,4977,0.00,1.98,0.00,0.000,6,0.000,0.047,2127,2664,3503
$GC,5296,-1.42,-146.6,530.6,-7.7,250,5299,0.00,2.12,0.00,0.000,4,0.000,0.084,2128,3776,3503
$GC,5386,-1.42,-146.6,538.4,-8.9,254,5390,0.00,1.95,0.00,0.000,6,0.000,0.047,2127,2670,3503
$GC,5720,-1.42,-146.6,569.6,-10.1,270,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2671,3503
$GC,6028,-1.42,-146.6,603.3,-11.6,285,6032,0.00,2.12,0.00,0.000,4,0.000,0.086,2128,3778,3503
$GC,6101,-1.42,-146.6,611.9,-11.6,288,6105,0.00,1.95,0.00,0.000,6,0.000,0.047,2128,2675,3503
$GC,6429,-1.42,-146.6,648.7,-11.1,304,6433,0.00,2.12,0.00,0.000,4,0.000,0.085,2128,3786,3503
$GC,6497,-1.42,-146.6,656.2,-10.9,307,6501,0.00,1.98,0.00,0.000,6,0.000,0.046,2127,2665,3503
$GC,6829,-1.42,-146.6,689.2,-10.0,323,6833,0.00,2.15,0.00,0.000,4,0.000,0.087,2127,3783,3503
$GC,6899,-1.42,-146.6,696.2,-10.9,326,6903,0.00,1.98,0.00,0.000,6,0.000,0.048,2127,2665,3503
$STATE,7126,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7126,begin apogee
$GC,7134,-0.42,0.0,719.3,9.9,337,7268,1.08,0.00,127.20,1.144,6,0.088,0.000,2345,2069,2902
$STATE,7269,end apogee,CONTROL_FINISHED_OK
$STATE,7269,begin climb
$GC,7272,1.42,146.6,724.4,0.0,344,7405,1.88,2.65,124.25,1.122,4,0.053,0.058,2748,655,2304
$GC,7660,1.50,210.1,709.4,5.7,361,7721,0.00,2.53,55.00,1.098,6,0.000,0.036,2749,2095,2045
$GC,8041,1.54,241.0,684.3,6.9,380,8076,0.12,2.70,27.38,1.073,4,0.046,0.056,2787,658,1918
$GC,8195,1.54,241.0,670.0,9.8,387,8199,0.00,2.50,0.00,0.000,6,0.000,0.038,2787,2074,1918
$GC,8521,1.54,241.0,639.5,10.0,403,8526,0.00,2.58,0.00,0.000,4,0.000,0.061,2787,3488,1918
$GC,8561,1.54,241.0,635.4,10.3,405,8566,0.00,2.53,0.00,0.000,6,0.000,0.038,2787,2058,1918
$GC,8889,1.54,241.0,603.6,9.6,421,8893,0.00,2.53,0.00,0.000,4,0.000,0.058,2787,666,1917
$GC,9012,1.54,241.0,591.5,8.8,426,9018,0.00,2.47,0.00,0.000,6,0.000,0.037,2787,2079,1917
$GC,9327,1.54,241.0,563.3,8.4,442,9332,0.00,2.58,0.00,0.000,4,0.000,0.056,2787,665,1917
$GC,9446,1.54,241.0,552.7,9.5,447,9450,0.00,2.47,0.00,0.000,6,0.000,0.037,2787,2075,1917
$GC,9762,1.54,241.0,525.3,8.7,462,9766,0.00,2.55,0.00,0.000,4,0.000,0.055,2787,670,1917
$GC,9835,1.54,241.0,518.1,9.8,465,9839,0.00,2.47,0.00,0.000,6,0.000,0.035,2787,2088,1917
$GC,10151,1.54,241.0,487.4,9.9,480,10155,0.00,2.58,0.00,0.000,4,0.000,0.054,2787,669,1917
$GC,10245,1.54,241.0,477.3,10.8,484,10250,0.00,2.47,0.00,0.000,6,0.000,0.036,2787,2085,1917
$GC,10562,1.54,241.0,444.4,11.2,499,10566,0.00,2.58,0.00,0.000,4,0.000,0.055,2787,662,1917
$GC,10674,1.54,241.0,431.4,12.5,504,10679,0.00,2.47,0.00,0.000,6,0.000,0.037,2787,2078,1917
$GC,11001,1.54,241.0,395.8,11.0,520,11006,0.00,2.58,0.00,0.000,4,0.000,0.055,2787,660,1917
$GC,11125,1.54,241.0,382.2,11.2,525,11132,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2082,1917
$GC,11442,1.54,241.0,349.3,10.2,541,11446,0.00,2.58,0.00,0.000,4,0.000,0.056,2787,663,1917
$GC,11532,1.54,241.0,340.0,10.0,545,11536,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2076,1918
$GC,11854,1.54,241.0,309.4,9.2,561,11858,0.00,2.55,0.00,0.000,4,0.000,0.056,2787,671,1918
$GC,11909,1.54,241.0,304.0,9.8,563,11915,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2082,1918
$GC,12225,1.54,241.0,276.0,8.9,579,12230,0.00,2.58,0.00,0.000,4,0.000,0.056,2787,666,1918
$GC,12356,1.54,241.0,263.6,9.4,585,12360,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2077,1918
$GC,12684,1.54,241.0,233.2,9.4,601,12688,0.00,2.55,0.00,0.000,4,0.000,0.057,2787,671,1918
$GC,12797,1.54,241.0,221.8,10.7,606,12802,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2083,1918
$GC,13124,1.54,241.0,189.4,9.6,622,13129,0.00,2.58,0.00,0.000,4,0.000,0.056,2787,665,1918
$GC,13193,1.54,241.0,182.4,10.1,625,13197,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2076,1918
$GC,13514,1.54,241.0,149.4,10.6,641,13519,0.00,2.58,0.00,0.000,4,0.000,0.057,2787,659,1919
$GC,13600,1.54,241.0,140.1,11.3,645,13605,0.00,2.50,0.00,0.000,6,0.000,0.039,2787,2082,1919
$GC,13929,1.54,241.0,109.9,8.7,661,13933,0.00,2.58,0.00,0.000,4,0.000,0.058,2787,666,1919
$GC,14044,1.54,241.0,99.1,9.9,666,14048,0.00,2.47,0.00,0.000,6,0.000,0.040,2787,2074,1919
$GC,14372,1.54,241.0,69.1,9.5,682,14376,0.00,2.58,0.00,0.000,4,0.000,0.058,2787,662,1919
$GC,14528,1.54,241.0,52.8,10.3,689,14532,0.00,2.50,0.00,0.000,6,0.000,0.040,2787,2082,1919
$GC,14855,1.54,241.0,21.0,8.2,705,14859,0.00,2.58,0.00,0.000,4,0.000,0.060,2787,673,1919
$GC,14973,1.58,278.2,11.0,6.6,710,15009,0.00,2.47,30.58,0.690,6,0.000,0.041,2787,2084,1767
$STATE,15067,end climb,SURFACE_DEPTH_REACHED
$STATE,15067,begin surface coast
$FINISH,0.4,1.003741
$STATE,15089,end surface coast,CONTROL_FINISHED_OK
$STATE,15089,begin surface
$SM_CCo,15175,0.00,0.000,0,0,1766,278.42
$SM_GC,1.26,12.15,0.00,0.00,0.031,0.000,0.000,53,2680,1766,-10.92,0.14,278.42
$IRIDIUM_FIX,6221.17,-1252.63,280798,000000
$TT8_MAMPS,0.029146
$HUMID,1783
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.6,76.8
$24V_AH,23.2,54.057
$10V_AH,10.1,31.149
$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,26.875,159.075,364.400,0.000,0.000,28.461,29.942,212.458,5.500,0.000,0.000,15.539,1412.312,11132.499,442.928,1993.397,590.042,33.354,1450.440,0.000,1943.791,0.000,38.969,0.000
$DEVICE_MAMPS,154.934,95.108,1143.597,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.221,524.862,424.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34798,716
$CAP_FILE_SIZE,123437,0
$CFSIZE,260165632,238034944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030509,085631,6248.651,-1245.275,49,0.9,49,-11.8