version: 66.04
glider: 103
mission: 11
dive: 328
start: 5 4 109 11 10 29
data:
$ID,103
$MISSION,11
$DIVE,328
$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,-149355.67
$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,24
$R_STBD_OVSHOOT,7
$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
$GPS1,110337,6246.605,-1237.047,59,1.3,59,-11.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-58.1
$GPS2,110937,6246.619,-1237.121,11,1.2,16,-11.7
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.237,0.056
$KALMAN_X,-86068.5,1182.9,444.6,104293.4,-13934.1
$KALMAN_Y,14827.0,-395.4,-590.6,-21040.8,5447.9
$MHEAD_RNG_PITCHd_Wd,88.4,19033,-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,-146.6,0.0,0.0,0,64,0.00,0.00,-45.90,0.000,2,0.000,0.000,53,2673,3293
$GC,68,-1.42,-146.6,4.0,-6.6,3,90,11.80,2.60,-3.47,0.000,4,0.163,0.076,2126,1266,3500
$GC,107,-1.42,-146.6,14.8,-16.8,4,114,0.00,2.70,0.00,0.000,6,0.000,0.074,2126,2679,3500
$GC,425,-1.42,-146.6,53.1,-11.5,20,429,0.00,2.62,0.00,0.000,4,0.000,0.064,2126,1260,3500
$GC,682,-1.42,-146.6,79.7,-10.3,31,689,0.00,2.67,0.00,0.000,6,0.000,0.071,2126,2687,3500
$GC,1000,-1.42,-146.6,116.7,-11.5,47,1003,0.00,2.08,0.00,0.000,4,0.000,0.083,2126,3783,3500
$GC,1046,-1.42,-146.6,122.1,-11.4,49,1050,0.00,1.98,0.00,0.000,6,0.000,0.048,2126,2678,3500
$GC,1379,-1.42,-146.6,158.2,-10.7,65,1382,0.00,2.10,0.00,0.000,4,0.000,0.078,2126,3783,3500
$GC,1451,-1.42,-146.6,166.3,-11.1,68,1455,0.00,1.98,0.00,0.000,6,0.000,0.047,2126,2665,3500
$GC,1779,-1.42,-146.6,200.7,-10.4,84,1783,0.00,2.15,0.00,0.000,4,0.000,0.082,2126,3787,3500
$GC,1841,-1.42,-146.6,207.7,-11.0,86,1848,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2668,3500
$GC,2157,-1.42,-146.6,241.2,-10.7,102,2161,0.00,2.12,0.00,0.000,4,0.000,0.079,2126,3783,3500
$GC,2236,-1.42,-146.6,249.8,-10.8,105,2241,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2670,3500
$GC,2557,-1.42,-146.6,283.5,-10.6,121,2561,0.00,2.12,0.00,0.000,4,0.000,0.080,2126,3784,3500
$GC,2608,-1.42,-146.6,289.3,-10.9,123,2612,0.00,1.98,0.00,0.000,6,0.000,0.046,2126,2669,3500
$GC,2935,-1.42,-146.6,324.3,-10.5,139,2940,0.00,2.12,0.00,0.000,4,0.000,0.079,2126,3784,3500
$GC,2985,-1.42,-146.6,330.0,-11.4,141,2989,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2668,3500
$GC,3312,-1.42,-146.6,365.3,-10.8,157,3315,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3783,3500
$GC,3362,-1.42,-146.6,370.9,-10.9,159,3366,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2663,3500
$GC,3689,-1.42,-146.6,406.3,-10.9,175,3693,0.00,2.15,0.00,0.000,4,0.000,0.082,2126,3789,3500
$GC,3758,-1.42,-146.6,413.9,-10.8,178,3762,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2666,3500
$GC,4093,-1.42,-146.6,451.3,-11.8,194,4097,0.00,2.15,0.00,0.000,4,0.000,0.082,2126,3792,3500
$GC,4155,-1.42,-146.6,459.2,-12.2,196,4161,0.00,1.98,0.00,0.000,6,0.000,0.042,2126,2666,3500
$GC,4471,-1.42,-146.6,494.9,-11.0,212,4474,0.00,2.12,0.00,0.000,4,0.000,0.079,2126,3783,3500
$GC,4518,-1.42,-146.6,500.2,-11.2,214,4522,0.00,1.95,0.00,0.000,6,0.000,0.044,2126,2673,3500
$GC,4851,-1.42,-146.6,536.7,-11.0,230,4854,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3789,3500
$GC,4879,-1.42,-146.6,539.9,-11.5,231,4882,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2671,3500
$GC,5208,-1.42,-146.6,575.0,-10.8,247,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2671,3500
$GC,5515,-1.42,-146.6,606.9,-10.0,262,5519,0.00,2.12,0.00,0.000,4,0.000,0.083,2126,3783,3500
$GC,5628,-1.42,-146.6,618.7,-10.5,267,5632,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2661,3500
$GC,5962,-1.42,-146.6,651.8,-10.0,283,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2661,3500
$GC,6270,-1.42,-146.6,682.8,-9.9,298,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2661,3500
$GC,6579,-1.42,-146.6,712.3,-9.3,313,6582,0.00,2.17,0.00,0.000,4,0.000,0.084,2126,3792,3500
$GC,6635,-1.42,-146.6,717.9,-9.7,315,6639,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2669,3500
$STATE,6851,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6851,begin apogee
$GC,6860,-0.42,0.0,738.7,9.5,326,6993,1.10,0.00,126.90,1.155,6,0.094,0.000,2345,2073,2902
$STATE,6994,end apogee,CONTROL_FINISHED_OK
$STATE,6994,begin climb
$GC,6998,1.42,146.6,745.0,0.0,333,7131,1.88,2.67,123.85,1.128,4,0.055,0.058,2749,664,2304
$GC,7390,1.51,218.4,731.5,5.4,350,7458,0.00,2.50,61.65,1.124,6,0.000,0.035,2749,2092,2011
$GC,7772,1.53,233.6,704.7,7.4,369,7794,0.10,2.70,14.30,1.034,4,0.051,0.058,2782,659,1949
$GC,8046,1.53,233.6,678.1,10.2,381,8051,0.00,2.47,0.00,0.000,6,0.000,0.037,2782,2072,1949
$GC,8368,1.53,233.6,647.6,9.5,397,8372,0.00,2.60,0.00,0.000,4,0.000,0.057,2782,651,1948
$GC,8536,1.53,233.6,631.3,9.2,404,8542,0.00,2.50,0.00,0.000,6,0.000,0.036,2782,2077,1947
$GC,8852,1.53,233.6,603.1,8.8,420,8856,0.00,2.58,0.00,0.000,4,0.000,0.055,2782,656,1947
$GC,8902,1.53,233.6,598.1,9.8,422,8906,0.00,2.50,0.00,0.000,6,0.000,0.035,2782,2087,1947
$GC,9223,1.53,233.6,567.1,9.5,438,9227,0.00,2.60,0.00,0.000,4,0.000,0.055,2782,656,1948
$GC,9278,1.53,233.6,561.7,9.8,440,9285,0.00,2.47,0.00,0.000,6,0.000,0.036,2782,2080,1947
$GC,9595,1.53,233.6,532.0,9.5,456,9599,0.00,2.60,0.00,0.000,4,0.000,0.055,2782,652,1947
$GC,9795,1.53,233.6,512.7,9.6,465,9800,0.00,2.50,0.00,0.000,6,0.000,0.035,2782,2083,1947
$GC,10118,1.54,240.6,485.6,7.7,481,10132,0.00,2.67,7.12,0.848,4,0.000,0.054,2782,659,1921
$GC,10167,1.55,250.9,481.4,7.6,483,10184,0.00,2.50,10.27,0.906,6,0.000,0.035,2782,2083,1879
$GC,10493,1.55,250.9,453.6,8.7,499,10497,0.00,2.58,0.00,0.000,4,0.000,0.055,2782,661,1878
$GC,10578,1.55,250.9,446.0,9.4,502,10584,0.00,2.47,0.00,0.000,6,0.000,0.036,2782,2074,1879
$GC,10894,1.55,250.9,418.8,8.8,518,10898,0.00,2.58,0.00,0.000,4,0.000,0.055,2781,655,1879
$GC,10955,1.55,250.9,413.2,8.8,520,10962,0.00,2.47,0.00,0.000,6,0.000,0.036,2782,2077,1879
$GC,11272,1.55,250.9,386.4,8.4,536,11276,0.00,2.58,0.00,0.000,4,0.000,0.054,2782,659,1879
$GC,11344,1.55,250.9,379.9,8.8,539,11348,0.00,2.47,0.00,0.000,6,0.000,0.036,2782,2075,1879
$GC,11660,1.55,250.9,353.3,8.4,554,11664,0.00,2.58,0.00,0.000,4,0.000,0.055,2782,658,1879
$GC,11733,1.55,250.9,346.7,9.6,557,11737,0.00,2.50,0.00,0.000,6,0.000,0.037,2782,2083,1879
$GC,12048,1.55,250.9,320.1,8.4,572,12053,0.00,2.60,0.00,0.000,4,0.000,0.057,2782,655,1880
$GC,12156,1.55,250.9,310.8,8.1,577,12160,0.00,2.47,0.00,0.000,6,0.000,0.038,2782,2074,1880
$GC,12489,1.55,250.9,283.7,8.1,593,12493,0.00,2.58,0.00,0.000,4,0.000,0.056,2782,656,1880
$GC,12561,1.56,255.5,277.5,7.8,596,12573,0.00,2.50,5.90,0.697,6,0.000,0.038,2782,2080,1860
$GC,12883,1.56,255.5,251.5,8.2,612,12887,0.00,2.60,0.00,0.000,4,0.000,0.058,2782,651,1860
$GC,12968,1.56,255.5,243.9,8.9,616,12972,0.00,2.50,0.00,0.000,6,0.000,0.038,2782,2076,1860
$GC,13300,1.56,255.5,214.2,8.8,632,13304,0.00,2.58,0.00,0.000,4,0.000,0.057,2782,661,1860
$GC,13357,1.56,255.5,208.8,9.6,634,13363,0.00,2.50,0.00,0.000,6,0.000,0.038,2782,2082,1860
$GC,13672,1.56,255.5,181.3,8.6,650,13677,0.00,2.60,0.00,0.000,4,0.000,0.058,2782,655,1860
$GC,13740,1.56,255.5,175.3,8.8,653,13744,0.00,2.50,0.00,0.000,6,0.000,0.039,2782,2076,1860
$GC,14062,1.56,255.5,147.4,9.3,669,14066,0.00,2.58,0.00,0.000,4,0.000,0.056,2782,655,1860
$GC,14128,1.56,255.5,140.8,9.2,672,14133,0.00,2.50,0.00,0.000,6,0.000,0.039,2782,2077,1860
$GC,14450,1.56,255.5,110.9,9.5,688,14455,0.00,2.60,0.00,0.000,4,0.000,0.058,2782,652,1860
$GC,14546,1.56,255.5,101.9,9.8,692,14550,0.00,2.50,0.00,0.000,6,0.000,0.039,2782,2079,1860
$GC,14862,1.56,255.5,71.6,10.4,707,14867,0.00,2.60,0.00,0.000,4,0.000,0.060,2782,657,1861
$GC,15050,1.56,255.5,54.3,9.9,715,15055,0.00,2.47,0.00,0.000,6,0.000,0.036,2782,2081,1861
$GC,15367,1.56,255.5,21.5,10.4,730,15371,0.00,2.62,0.00,0.000,4,0.000,0.066,2782,663,1861
$GC,15580,1.56,255.5,6.1,8.1,739,15586,0.00,2.45,0.00,0.000,6,0.000,0.033,2782,2081,1861
$STATE,15645,end climb,SURFACE_DEPTH_REACHED
$STATE,15645,begin surface coast
$FINISH,0.6,1.027396
$STATE,15669,end surface coast,CONTROL_FINISHED_OK
$STATE,15669,begin surface
$SM_CCo,15754,0.00,0.000,0,0,1860,255.60
$SM_GC,2.03,12.02,0.00,0.00,0.031,0.000,0.000,53,2679,1860,-10.93,0.11,255.60
$IRIDIUM_FIX,6221.17,-1233.26,290798,060644
$TT8_MAMPS,0.028379
$HUMID,1775
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.8,20.4
$24V_AH,23.2,55.016
$10V_AH,10.1,31.691
$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,26.900,168.000,350.000,0.000,0.000,28.862,27.126,171.928,6.500,0.000,0.000,16.809,1455.375,11604.561,455.491,2035.117,560.473,33.357,1483.029,0.000,1977.723,0.000,46.600,0.000
$DEVICE_MAMPS,162.604,83.603,1155.102,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,516.839,546.700,442.232,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37935,744
$CAP_FILE_SIZE,125908,0
$CFSIZE,260165632,237637632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040509,153507,6246.945,-1237.273,87,1.7,87,-11.7