version: 66.04
glider: 103
mission: 11
dive: 331
start: 5 5 109 1 1 50
data:
$ID,103
$MISSION,11
$DIVE,331
$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,571.54901
$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,-150288.55
$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,18
$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
$GPS1,002658,6554.959,-835.133,249,2.2,268,-10.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-56.5
$GPS2,002658,6554.959,-835.133,249,2.2,268,-10.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.243,0.007
$KALMAN_X,-106410.2,967.0,-716.2,118548.4,-13445.6
$KALMAN_Y,18843.7,257.8,-500.7,-24873.6,4289.7
$MHEAD_RNG_PITCHd_Wd,98.9,408575,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,62,0.00,0.00,-41.75,0.000,2,0.000,0.000,52,2678,3392
$GC,66,-1.42,-146.6,4.7,-12.9,2,88,11.68,2.65,-1.70,0.000,4,0.160,0.076,2124,1266,3502
$GC,340,-1.42,-146.6,50.6,-10.8,14,345,0.00,2.65,0.00,0.000,6,0.000,0.071,2124,2676,3501
$GC,664,-1.42,-146.6,79.0,-8.7,30,668,0.00,2.60,0.00,0.000,4,0.000,0.063,2124,1257,3502
$GC,798,-1.42,-146.6,91.7,-9.4,36,802,0.00,2.65,0.00,0.000,6,0.000,0.068,2124,2677,3502
$GC,1119,-1.42,-146.6,124.6,-10.7,52,1123,0.00,2.10,0.00,0.000,4,0.000,0.081,2124,3794,3502
$GC,1211,-1.42,-146.6,135.0,-11.6,56,1215,0.00,1.98,0.00,0.000,6,0.000,0.050,2124,2676,3502
$GC,1543,-1.42,-146.6,171.8,-10.9,72,1547,0.00,2.10,0.00,0.000,4,0.000,0.076,2124,3789,3502
$GC,1621,-1.42,-146.6,180.6,-10.7,75,1625,0.00,1.98,0.00,0.000,6,0.000,0.046,2124,2675,3501
$GC,1944,-1.42,-146.6,216.5,-10.8,91,1948,0.00,2.10,0.00,0.000,4,0.000,0.079,2124,3786,3502
$GC,2017,-1.42,-146.6,224.9,-11.2,94,2025,0.00,2.00,0.00,0.000,6,0.000,0.051,2124,2667,3501
$GC,2347,-1.42,-146.6,260.5,-10.6,110,2351,0.00,2.15,0.00,0.000,4,0.000,0.081,2124,3795,3501
$GC,2438,-1.42,-146.6,270.6,-10.6,114,2441,0.00,2.00,0.00,0.000,6,0.000,0.050,2124,2669,3501
$GC,2771,-1.42,-146.6,304.9,-10.0,130,2774,0.00,2.15,0.00,0.000,4,0.000,0.082,2124,3793,3501
$GC,2850,-1.42,-146.6,313.3,-10.9,133,2853,0.00,2.00,0.00,0.000,6,0.000,0.048,2124,2663,3501
$GC,3171,-1.42,-146.6,345.5,-10.0,149,3175,0.00,2.12,0.00,0.000,4,0.000,0.081,2124,3786,3501
$GC,3262,-1.42,-146.6,354.6,-10.0,153,3266,0.00,1.98,0.00,0.000,6,0.000,0.047,2124,2666,3501
$GC,3595,-1.42,-146.6,390.0,-10.6,169,3599,0.00,2.12,0.00,0.000,4,0.000,0.083,2124,3789,3501
$GC,3680,-1.42,-146.6,399.8,-11.8,172,3690,0.00,1.98,0.00,0.000,6,0.000,0.045,2124,2668,3501
$GC,3995,-1.42,-146.6,435.1,-11.4,188,3999,0.00,2.12,0.00,0.000,4,0.000,0.081,2124,3790,3501
$GC,4057,-1.42,-146.6,442.2,-10.6,190,4063,0.00,2.00,0.00,0.000,6,0.000,0.044,2124,2644,3501
$GC,4374,-1.42,-146.6,476.4,-10.6,206,4378,0.00,2.17,0.00,0.000,4,0.000,0.077,2124,3795,3501
$GC,4420,-1.42,-146.6,481.8,-11.4,208,4424,0.00,1.98,0.00,0.000,6,0.000,0.044,2124,2668,3501
$GC,4753,-1.42,-146.6,516.2,-10.0,224,4757,0.00,2.12,0.00,0.000,4,0.000,0.079,2124,3790,3501
$GC,4832,-1.42,-146.6,524.2,-10.0,227,4835,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2659,3501
$GC,5154,-1.42,-146.6,554.5,-9.6,243,5157,0.00,2.15,0.00,0.000,4,0.000,0.077,2124,3796,3501
$GC,5249,-1.42,-146.6,565.0,-11.1,247,5253,0.00,1.95,0.00,0.000,6,0.000,0.042,2124,2678,3501
$GC,5576,-1.42,-146.6,599.1,-10.7,263,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2678,3501
$GC,5886,-1.42,-146.6,631.3,-10.7,278,5890,0.00,2.10,0.00,0.000,4,0.000,0.079,2124,3787,3501
$GC,5992,-1.42,-146.6,642.1,-10.0,282,5998,0.00,1.95,0.00,0.000,6,0.000,0.045,2124,2676,3501
$GC,6308,-1.42,-146.6,671.7,-9.8,298,6312,0.00,2.10,0.00,0.000,4,0.000,0.079,2124,3786,3500
$GC,6365,-1.42,-146.6,677.5,-10.0,300,6369,0.00,1.98,0.00,0.000,6,0.000,0.046,2124,2666,3500
$GC,6688,-1.42,-146.6,708.2,-8.7,316,6691,0.00,2.15,0.00,0.000,4,0.000,0.082,2124,3791,3500
$GC,6744,-1.42,-146.6,713.8,-10.2,318,6747,0.00,1.98,0.00,0.000,6,0.000,0.048,2124,2676,3500
$STATE,6877,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6877,begin apogee
$GC,6886,-0.42,0.0,725.8,9.5,325,7019,1.12,0.00,126.55,1.148,6,0.101,0.000,2345,2076,2902
$STATE,7020,end apogee,CONTROL_FINISHED_OK
$STATE,7020,begin climb
$GC,7023,1.42,146.6,732.4,0.0,332,7156,1.88,2.70,124.47,1.115,4,0.058,0.063,2744,3493,2304
$GC,7415,1.54,246.3,721.2,4.4,349,7508,0.15,2.53,85.18,1.111,6,0.043,0.038,2786,2065,1898
$GC,7835,1.54,246.3,682.9,10.8,370,7839,0.00,2.65,0.00,0.000,4,0.000,0.060,2786,3496,1897
$GC,7862,1.54,246.3,679.7,11.8,371,7867,0.00,2.53,0.00,0.000,6,0.000,0.039,2786,2073,1897
$GC,8179,1.54,246.3,647.8,9.4,386,8183,0.00,2.55,0.00,0.000,4,0.000,0.058,2786,671,1897
$GC,8268,1.54,246.3,639.1,9.5,390,8273,0.00,2.50,0.00,0.000,6,0.000,0.035,2786,2102,1897
$GC,8590,1.54,246.3,611.5,8.0,406,8594,0.00,2.62,0.00,0.000,4,0.000,0.056,2786,662,1895
$GC,8720,1.54,246.3,600.3,8.7,412,8724,0.00,2.47,0.00,0.000,6,0.000,0.036,2786,2081,1895
$GC,9053,1.55,254.6,574.0,7.7,428,9067,0.00,2.65,8.40,0.928,4,0.000,0.054,2786,668,1864
$GC,9158,1.55,254.6,564.7,9.0,432,9164,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,2085,1863
$GC,9474,1.55,254.6,537.5,9.0,448,9478,0.00,2.58,0.00,0.000,4,0.000,0.054,2786,662,1864
$GC,9530,1.55,254.6,532.2,9.3,450,9534,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,2086,1863
$GC,9846,1.56,261.6,506.3,7.7,465,9860,0.00,2.62,7.53,0.871,4,0.000,0.053,2786,672,1835
$GC,9895,1.56,261.6,502.1,8.1,467,9899,0.00,2.45,0.00,0.000,6,0.000,0.034,2786,2078,1835
$GC,10216,1.56,261.6,475.6,8.6,483,10221,0.00,2.55,0.00,0.000,4,0.000,0.054,2786,665,1835
$GC,10289,1.56,261.6,468.9,9.1,486,10293,0.00,2.45,0.00,0.000,6,0.000,0.035,2786,2086,1835
$GC,10611,1.56,261.6,440.6,8.8,502,10615,0.00,2.58,0.00,0.000,4,0.000,0.053,2786,661,1835
$GC,10711,1.56,261.6,430.9,9.0,506,10717,0.00,2.45,0.00,0.000,6,0.000,0.035,2786,2073,1836
$GC,11027,1.56,261.6,402.2,9.4,522,11032,0.00,2.55,0.00,0.000,4,0.000,0.053,2786,659,1836
$GC,11141,1.56,261.6,390.6,10.6,527,11145,0.00,2.47,0.00,0.000,6,0.000,0.036,2786,2079,1836
$GC,11462,1.56,261.6,360.1,9.5,543,11466,0.00,2.55,0.00,0.000,4,0.000,0.054,2786,668,1836
$GC,11529,1.56,261.6,353.5,9.9,546,11533,0.00,2.47,0.00,0.000,6,0.000,0.036,2786,2086,1836
$GC,11850,1.56,261.6,323.7,9.2,562,11854,0.00,2.58,0.00,0.000,4,0.000,0.055,2786,665,1836
$GC,11951,1.56,261.6,313.9,9.6,566,11957,0.00,2.47,0.00,0.000,6,0.000,0.038,2786,2081,1836
$GC,12267,1.56,261.6,285.0,9.3,582,12271,0.00,2.58,0.00,0.000,4,0.000,0.057,2786,662,1836
$GC,12329,1.56,261.6,279.0,9.4,585,12333,0.00,2.47,0.00,0.000,6,0.000,0.038,2786,2081,1837
$GC,12656,1.56,261.6,247.0,10.0,601,12660,0.00,2.58,0.00,0.000,4,0.000,0.057,2786,665,1837
$GC,12741,1.56,261.6,237.8,11.2,605,12745,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2078,1837
$GC,13068,1.56,261.6,204.9,9.7,621,13072,0.00,2.55,0.00,0.000,4,0.000,0.055,2786,665,1837
$GC,13146,1.56,261.6,196.6,10.4,624,13151,0.00,2.47,0.00,0.000,6,0.000,0.038,2786,2080,1837
$GC,13462,1.56,261.6,166.6,9.5,639,13467,0.00,2.58,0.00,0.000,4,0.000,0.057,2786,660,1837
$GC,13552,1.56,261.6,158.1,8.3,643,13556,0.00,2.50,0.00,0.000,6,0.000,0.038,2786,2086,1837
$GC,13874,1.58,275.1,132.0,7.5,659,13896,0.00,2.65,12.95,0.729,4,0.000,0.058,2786,675,1780
$GC,13997,1.58,275.1,119.1,11.2,664,14002,0.00,2.47,0.00,0.000,6,0.000,0.039,2786,2078,1780
$GC,14314,1.58,275.1,89.5,10.4,679,14318,0.00,2.58,0.00,0.000,4,0.000,0.057,2786,660,1780
$GC,14431,1.58,275.1,75.9,13.8,684,14435,0.00,2.47,0.00,0.000,6,0.000,0.040,2786,2075,1780
$GC,14754,1.69,361.2,49.9,4.8,700,14830,0.00,2.72,68.88,0.706,4,0.000,0.064,2786,663,1428
$GC,14951,1.69,361.2,21.7,16.4,709,14956,0.00,2.55,0.00,0.000,6,0.000,0.048,2786,2081,1429
$STATE,15131,end climb,SURFACE_DEPTH_REACHED
$STATE,15131,begin surface coast
$FINISH,0.3,1.026813
$STATE,15154,end surface coast,CONTROL_FINISHED_OK
$STATE,15155,begin surface
$SM_CCo,15180,153.48,0.656,0,0,572,571.55
$SM_GC,0.91,0.00,0.00,153.48,0.000,0.000,0.656,55,2681,572,-10.97,0.17,571.55
$IRIDIUM_FIX,6221.17,-1233.26,300798,000002
$TT8_MAMPS,0.029146
$HUMID,1751
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.3,58.7
$24V_AH,23.2,55.468
$10V_AH,10.1,31.960
$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,27.100,166.825,433.950,153.475,0.000,148.927,246.986,366.309,5.750,0.000,0.000,902.169,1415.677,11289.985,660.916,2866.412,1141.681,33.350,1693.904,0.000,1956.104,0.000,42.451,0.000
$DEVICE_MAMPS,160.303,82.836,1148.199,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,500.946,527.735,427.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34882,719
$CAP_FILE_SIZE,158125,0
$CFSIZE,260165632,237424640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,413
$GPS,050509,051840,6247.351,-1229.764,35,1.3,35,-11.6