version: 66.04
glider: 103
mission: 11
dive: 330
start: 5 4 109 20 6 3
data:
$ID,103
$MISSION,11
$DIVE,330
$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,-149385.75
$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,15
$R_STBD_OVSHOOT,9
$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
$GPS1,195931,6247.241,-1234.521,43,1.6,43,-11.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-54.9
$GPS2,200513,6247.248,-1234.466,11,1.9,11,-11.7
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.208,-0.125
$KALMAN_X,-93881.6,1499.2,1065.9,113391.7,-14842.8
$KALMAN_Y,15674.7,-323.8,367.8,-21776.3,2881.9
$MHEAD_RNG_PITCHd_Wd,132.7,18207,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,74,0.00,0.00,-54.12,0.000,6,0.000,0.000,47,2670,3501
$GC,78,-1.42,-146.6,2.8,-7.0,2,98,11.80,2.17,0.00,0.000,4,0.161,0.079,2122,3793,3502
$GC,351,-1.42,-146.6,51.4,-12.5,14,354,0.00,2.00,0.00,0.000,6,0.000,0.044,2122,2663,3502
$GC,680,-1.42,-146.6,90.5,-11.3,30,683,0.00,2.12,0.00,0.000,4,0.000,0.075,2122,3787,3502
$GC,817,-1.42,-146.6,104.2,-7.4,36,820,0.00,1.98,0.00,0.000,6,0.000,0.042,2122,2662,3502
$GC,1150,-1.42,-146.6,137.0,-10.8,52,1153,0.00,2.15,0.00,0.000,4,0.000,0.077,2122,3792,3502
$GC,1202,-1.42,-146.6,142.7,-11.4,54,1205,0.00,1.98,0.00,0.000,6,0.000,0.040,2122,2664,3502
$GC,1529,-1.42,-146.6,179.3,-10.9,70,1533,0.00,2.15,0.00,0.000,4,0.000,0.080,2122,3790,3502
$GC,1602,-1.42,-146.6,187.5,-11.0,73,1605,0.00,1.95,0.00,0.000,6,0.000,0.040,2122,2675,3502
$GC,1929,-1.42,-146.6,223.1,-10.7,89,1933,0.00,2.10,0.00,0.000,4,0.000,0.078,2122,3787,3502
$GC,2002,-1.42,-146.6,231.5,-11.1,92,2006,0.00,1.95,0.00,0.000,6,0.000,0.040,2122,2671,3502
$GC,2329,-1.42,-146.6,265.4,-10.1,108,2333,0.00,2.15,0.00,0.000,4,0.000,0.082,2122,3794,3502
$GC,2425,-1.42,-146.6,275.5,-10.8,112,2428,0.00,1.98,0.00,0.000,6,0.000,0.043,2122,2670,3502
$GC,2752,-1.42,-146.6,308.9,-10.0,128,2756,0.00,2.12,0.00,0.000,4,0.000,0.081,2122,3789,3502
$GC,2826,-1.42,-146.6,316.4,-9.7,131,2830,0.00,1.98,0.00,0.000,6,0.000,0.046,2122,2672,3502
$GC,3154,-1.42,-146.6,348.1,-9.5,147,3157,0.00,2.15,0.00,0.000,4,0.000,0.081,2122,3797,3502
$GC,3232,-1.42,-146.6,356.0,-10.3,150,3236,0.00,2.00,0.00,0.000,6,0.000,0.046,2122,2668,3502
$GC,3555,-1.42,-146.6,388.5,-10.5,166,3559,0.00,2.15,0.00,0.000,4,0.000,0.081,2122,3796,3502
$GC,3617,-1.42,-146.6,395.6,-11.4,168,3623,0.00,2.00,0.00,0.000,6,0.000,0.047,2122,2664,3502
$GC,3933,-1.42,-146.6,429.2,-10.7,184,3937,0.00,2.15,0.00,0.000,4,0.000,0.081,2122,3795,3502
$GC,4024,-1.42,-146.6,439.3,-10.8,188,4028,0.00,1.98,0.00,0.000,6,0.000,0.043,2122,2668,3502
$GC,4358,-1.42,-146.6,476.1,-11.2,204,4362,0.00,2.15,0.00,0.000,4,0.000,0.082,2122,3792,3502
$GC,4426,-1.42,-146.6,484.3,-11.9,207,4430,0.00,1.98,0.00,0.000,6,0.000,0.043,2122,2657,3502
$GC,4760,-1.42,-146.6,523.9,-12.2,223,4763,0.00,2.15,0.00,0.000,4,0.000,0.081,2122,3787,3502
$GC,4883,-1.42,-146.6,539.4,-12.0,228,4887,0.00,1.95,0.00,0.000,6,0.000,0.042,2122,2671,3502
$GC,5207,-1.42,-146.6,577.2,-12.0,244,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2671,3501
$GC,5514,-1.42,-146.6,613.1,-12.0,259,5517,0.00,2.15,0.00,0.000,4,0.000,0.083,2122,3796,3502
$GC,5621,-1.42,-146.6,625.4,-10.5,263,5627,0.00,1.98,0.00,0.000,6,0.000,0.045,2122,2675,3502
$GC,5937,-1.42,-146.6,660.4,-11.3,279,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2675,3501
$GC,6246,-1.42,-146.6,690.0,-10.1,294,6250,0.00,2.12,0.00,0.000,4,0.000,0.086,2122,3787,3501
$GC,6319,-1.42,-146.6,698.0,-10.9,297,6323,0.00,1.98,0.00,0.000,6,0.000,0.045,2122,2666,3501
$STATE,6623,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6623,begin apogee
$GC,6632,-0.42,0.0,729.1,10.8,312,6765,1.12,0.00,126.65,1.153,6,0.091,0.000,2348,2070,2902
$STATE,6766,end apogee,CONTROL_FINISHED_OK
$STATE,6766,begin climb
$GC,6769,1.42,146.6,735.1,0.0,319,6902,1.85,2.70,123.78,1.121,4,0.054,0.058,2748,3501,2304
$GC,7160,1.52,222.8,722.1,5.2,336,7232,0.00,2.55,65.60,1.107,6,0.000,0.040,2748,2063,1993
$GC,7554,1.52,222.8,688.9,8.6,356,7559,0.10,2.67,0.00,0.000,4,0.052,0.060,2780,3507,1993
$GC,7587,1.52,222.8,685.6,9.5,357,7593,0.00,2.55,0.00,0.000,6,0.000,0.039,2780,2068,1993
$GC,7903,1.52,222.8,655.7,9.7,373,7907,0.00,2.55,0.00,0.000,4,0.000,0.061,2781,667,1992
$GC,8021,1.52,222.8,642.8,11.4,378,8025,0.00,2.50,0.00,0.000,6,0.000,0.037,2781,2093,1992
$GC,8337,1.52,222.8,614.4,8.7,393,8341,0.00,2.60,0.00,0.000,4,0.000,0.057,2780,669,1991
$GC,8556,1.52,222.8,593.9,9.5,403,8560,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,2086,1991
$GC,8888,1.52,222.8,566.0,8.0,419,8893,0.00,2.60,0.00,0.000,4,0.000,0.056,2781,659,1990
$GC,8929,1.52,222.8,562.7,8.5,421,8933,0.00,2.47,0.00,0.000,6,0.000,0.036,2780,2080,1990
$GC,9256,1.52,229.1,538.2,7.8,437,9269,0.00,2.65,6.53,0.854,4,0.000,0.055,2781,670,1968
$GC,9462,1.52,229.1,520.6,8.1,446,9466,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2076,1968
$GC,9783,1.52,229.1,493.8,8.5,462,9787,0.00,2.55,0.00,0.000,4,0.000,0.054,2781,667,1968
$GC,9923,1.52,229.1,481.1,9.1,468,9927,0.00,2.45,0.00,0.000,6,0.000,0.035,2781,2075,1968
$GC,10239,1.52,229.1,452.3,9.2,483,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2075,1968
$GC,10548,1.52,229.1,423.1,9.3,498,10552,0.00,2.55,0.00,0.000,4,0.000,0.054,2781,666,1968
$GC,10643,1.52,229.1,413.4,9.7,502,10647,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,2083,1968
$GC,10959,1.52,229.1,382.7,9.7,517,10963,0.00,2.58,0.00,0.000,4,0.000,0.055,2781,659,1968
$GC,11055,1.52,229.1,373.1,9.7,521,11059,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,2077,1968
$GC,11372,1.52,229.1,343.8,9.1,536,11376,0.00,2.55,0.00,0.000,4,0.000,0.056,2781,668,1968
$GC,11506,1.52,229.1,331.0,9.3,542,11510,0.00,2.47,0.00,0.000,6,0.000,0.036,2781,2085,1968
$GC,11827,1.52,229.1,301.7,9.0,558,11831,0.00,2.58,0.00,0.000,4,0.000,0.056,2780,668,1969
$GC,11916,1.52,229.1,292.9,9.7,562,11920,0.00,2.47,0.00,0.000,6,0.000,0.037,2780,2088,1969
$GC,12238,1.52,229.1,264.0,8.9,578,12242,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,668,1969
$GC,12333,1.52,229.1,254.9,9.9,582,12337,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2083,1969
$GC,12649,1.52,229.1,227.2,8.5,597,12653,0.00,2.58,0.00,0.000,4,0.000,0.056,2781,663,1970
$GC,12738,1.52,229.1,219.5,8.1,601,12742,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2078,1970
$GC,13059,1.52,230.3,194.1,8.0,617,13063,0.00,2.55,0.00,0.000,4,0.000,0.055,2780,668,1970
$GC,13204,1.52,230.3,182.1,8.3,623,13210,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2083,1970
$GC,13521,1.52,230.3,157.1,8.1,639,13525,0.00,2.58,0.00,0.000,4,0.000,0.055,2781,659,1970
$GC,13610,1.52,230.3,149.3,8.4,643,13614,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2075,1970
$GC,13931,1.52,230.3,122.5,8.7,659,13935,0.00,2.55,0.00,0.000,4,0.000,0.057,2781,666,1971
$GC,14032,1.52,230.3,112.9,9.4,663,14038,0.00,2.45,0.00,0.000,6,0.000,0.038,2781,2078,1971
$GC,14348,1.52,230.3,84.9,9.8,679,14352,0.00,2.58,0.00,0.000,4,0.000,0.058,2780,659,1971
$GC,14437,1.52,230.3,75.0,11.6,683,14441,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2074,1971
$GC,14759,1.53,231.5,52.3,8.0,699,14768,0.00,2.58,4.53,0.540,4,0.000,0.059,2781,669,1957
$GC,14943,1.53,231.5,29.4,15.5,707,14947,0.00,2.47,0.00,0.000,6,0.000,0.040,2781,2075,1957
$STATE,15241,end climb,SURFACE_DEPTH_REACHED
$STATE,15241,begin surface coast
$FINISH,0.6,1.027422
$STATE,15263,end surface coast,CONTROL_FINISHED_OK
$STATE,15263,begin surface
$SM_CCo,15349,0.00,0.000,0,0,1957,231.81
$SM_GC,1.65,12.18,0.00,0.00,0.038,0.000,0.000,53,2674,1957,-10.92,-0.03,231.81
$IRIDIUM_FIX,6221.17,-1237.84,290798,151510
$TT8_MAMPS,0.028379
$HUMID,1792
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.1,86.9
$24V_AH,23.2,55.273
$10V_AH,10.1,31.846
$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,27.050,151.075,327.075,0.000,0.000,31.006,27.239,155.840,5.500,0.000,0.000,11.974,1431.034,11269.911,426.440,2034.621,523.558,33.348,1433.318,0.000,1987.593,0.000,38.999,0.000
$DEVICE_MAMPS,161.070,85.904,1152.801,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,503.519,532.706,435.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38016,723
$CAP_FILE_SIZE,121268,0
$CFSIZE,260165632,237527040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050509,002658,6554.959,-835.133,249,2.2,268,-10.6