version: 66.04
glider: 103
mission: 11
dive: 333
start: 5 5 109 9 41 46
data:
$ID,103
$MISSION,11
$DIVE,333
$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,-150330.52
$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,23
$R_STBD_OVSHOOT,5
$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
$GPS1,093437,6246.461,-1225.651,27,1.2,27,-11.6
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-54.7
$GPS2,094055,6246.459,-1225.557,17,1.3,17,-11.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.233,-0.068
$KALMAN_X,-99159.6,3730.7,-630.8,125641.3,-7748.9
$KALMAN_Y,21079.6,-1161.9,-373.2,-27041.3,6640.1
$MHEAD_RNG_PITCHd_Wd,117.9,12861,-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,-41.62,0.000,2,0.000,0.000,51,2666,3108
$GC,63,-1.42,-146.6,3.0,-6.2,2,89,11.77,2.62,-7.38,0.000,4,0.161,0.073,2123,1264,3502
$GC,95,-1.42,-146.6,10.5,-18.6,3,100,0.00,2.62,0.00,0.000,6,0.000,0.060,2123,2683,3502
$GC,411,-1.42,-146.6,51.9,-9.3,18,416,0.00,2.62,0.00,0.000,4,0.000,0.061,2123,1257,3503
$GC,669,-1.42,-146.6,81.4,-11.2,29,675,0.00,2.65,0.00,0.000,6,0.000,0.068,2123,2674,3502
$GC,987,-1.42,-146.6,114.9,-10.9,45,991,0.00,2.60,0.00,0.000,4,0.000,0.063,2123,1260,3502
$GC,1010,-1.42,-146.6,117.4,-10.0,46,1015,0.00,2.65,0.00,0.000,6,0.000,0.067,2123,2682,3502
$GC,1332,-1.42,-146.6,149.5,-9.1,62,1337,0.00,2.08,0.00,0.000,4,0.000,0.081,2123,3790,3502
$GC,1438,-1.42,-146.6,160.3,-9.9,66,1444,0.00,2.00,0.00,0.000,6,0.000,0.049,2123,2672,3502
$GC,1754,-1.42,-146.6,192.4,-10.5,82,1758,0.00,2.12,0.00,0.000,4,0.000,0.078,2123,3790,3502
$GC,1839,-1.42,-146.6,201.8,-10.7,85,1846,0.00,2.03,0.00,0.000,6,0.000,0.049,2123,2672,3502
$GC,2155,-1.42,-146.6,234.9,-10.6,101,2159,0.00,2.12,0.00,0.000,4,0.000,0.078,2123,3789,3502
$GC,2228,-1.42,-146.6,243.0,-10.9,104,2232,0.00,2.00,0.00,0.000,6,0.000,0.051,2123,2669,3502
$GC,2555,-1.42,-146.6,278.6,-11.1,120,2559,0.00,2.12,0.00,0.000,4,0.000,0.079,2123,3787,3502
$GC,2639,-1.42,-146.6,288.0,-11.0,123,2645,0.00,2.00,0.00,0.000,6,0.000,0.049,2123,2666,3502
$GC,2956,-1.42,-146.6,321.2,-10.4,139,2959,0.00,2.12,0.00,0.000,4,0.000,0.079,2123,3783,3502
$GC,3026,-1.42,-146.6,328.6,-10.7,142,3030,0.00,1.98,0.00,0.000,6,0.000,0.048,2123,2668,3502
$GC,3359,-1.42,-146.6,361.7,-9.7,158,3362,0.00,2.12,0.00,0.000,4,0.000,0.078,2123,3787,3502
$GC,3421,-1.42,-146.6,367.9,-10.2,160,3427,0.00,2.00,0.00,0.000,6,0.000,0.048,2123,2655,3502
$GC,3737,-1.42,-146.6,397.5,-9.5,176,3741,0.00,2.15,0.00,0.000,4,0.000,0.077,2123,3790,3502
$GC,3828,-1.42,-146.6,406.4,-9.8,180,3832,0.00,1.98,0.00,0.000,6,0.000,0.045,2123,2669,3502
$GC,4162,-1.42,-146.6,438.1,-9.4,196,4166,0.00,2.12,0.00,0.000,4,0.000,0.079,2123,3792,3502
$GC,4230,-1.42,-146.6,445.1,-10.0,199,4234,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2665,3502
$GC,4564,-1.42,-146.6,478.8,-10.2,215,4567,0.00,2.12,0.00,0.000,4,0.000,0.080,2123,3786,3502
$GC,4621,-1.42,-146.6,484.6,-10.4,217,4625,0.00,1.95,0.00,0.000,6,0.000,0.044,2123,2676,3502
$GC,4942,-1.42,-146.6,517.7,-10.3,233,4946,0.00,2.10,0.00,0.000,4,0.000,0.077,2123,3787,3502
$GC,4993,-1.42,-146.6,523.3,-11.4,235,4996,0.00,1.95,0.00,0.000,6,0.000,0.044,2123,2675,3502
$GC,5320,-1.42,-146.6,557.9,-10.7,251,5324,0.00,2.10,0.00,0.000,4,0.000,0.077,2123,3787,3502
$GC,5405,-1.42,-146.6,567.2,-11.7,254,5410,0.00,1.95,0.00,0.000,6,0.000,0.043,2123,2672,3502
$GC,5723,-1.42,-146.6,601.8,-10.7,270,5727,0.00,2.10,0.00,0.000,4,0.000,0.077,2123,3787,3502
$GC,5792,-1.42,-146.6,609.5,-10.5,273,5795,0.00,1.95,0.00,0.000,6,0.000,0.043,2123,2672,3502
$GC,6124,-1.42,-146.6,643.9,-10.1,289,6128,0.00,2.12,0.00,0.000,4,0.000,0.079,2123,3789,3501
$GC,6270,-1.42,-146.6,659.9,-11.6,295,6274,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2662,3501
$GC,6592,-1.42,-146.6,691.5,-10.0,311,6596,0.00,2.12,0.00,0.000,4,0.000,0.077,2123,3784,3501
$GC,6732,-1.42,-146.6,705.7,-10.0,317,6737,0.00,2.00,0.00,0.000,6,0.000,0.046,2123,2647,3501
$STATE,7016,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7016,begin apogee
$GC,7025,-0.42,0.0,733.9,10.5,331,7158,1.12,0.00,125.45,1.168,6,0.099,0.000,2345,2074,2902
$STATE,7159,end apogee,CONTROL_FINISHED_OK
$STATE,7159,begin climb
$GC,7162,1.42,146.6,739.9,0.0,338,7295,1.90,2.67,123.15,1.136,4,0.060,0.059,2749,666,2304
$GC,7554,1.47,181.8,725.1,6.7,355,7590,0.00,2.50,30.73,1.099,6,0.000,0.037,2749,2101,2161
$GC,7915,1.51,214.8,701.5,6.8,373,7950,0.00,2.72,29.25,1.107,4,0.000,0.059,2749,661,2026
$GC,8169,1.52,228.1,682.3,7.5,384,8190,0.10,2.50,12.55,1.035,6,0.051,0.038,2787,2081,1972
$GC,8512,1.52,228.1,653.5,8.2,401,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2082,1971
$GC,8822,1.52,228.1,627.6,8.9,416,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2083,1971
$GC,9131,1.52,228.1,599.7,8.8,431,9135,0.00,2.60,0.00,0.000,4,0.000,0.054,2787,652,1970
$GC,9208,1.52,228.1,592.6,8.9,434,9215,0.00,2.47,0.00,0.000,6,0.000,0.034,2787,2079,1970
$GC,9525,1.52,228.1,563.9,8.9,450,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2080,1970
$GC,9834,1.54,240.0,538.6,7.6,465,9855,0.00,2.62,11.30,0.960,4,0.000,0.053,2787,655,1923
$GC,9978,1.54,240.0,526.6,8.7,471,9983,0.00,2.47,0.00,0.000,6,0.000,0.034,2787,2081,1923
$GC,10295,1.54,240.0,501.9,8.3,486,10299,0.00,2.58,0.00,0.000,4,0.000,0.053,2787,654,1923
$GC,10373,1.54,240.0,494.6,9.4,489,10379,0.00,2.47,0.00,0.000,6,0.000,0.033,2787,2084,1923
$GC,10689,1.54,240.0,465.8,9.1,505,10694,0.00,2.58,0.00,0.000,4,0.000,0.052,2787,656,1923
$GC,10774,1.54,240.0,457.3,10.3,509,10778,0.00,2.45,0.00,0.000,6,0.000,0.034,2787,2075,1923
$GC,11100,1.54,240.0,426.9,9.1,525,11105,0.00,2.58,0.00,0.000,4,0.000,0.053,2787,651,1923
$GC,11232,1.54,240.0,414.1,10.5,531,11236,0.00,2.47,0.00,0.000,6,0.000,0.035,2787,2077,1923
$GC,11558,1.54,240.0,384.0,9.2,547,11563,0.00,2.58,0.00,0.000,4,0.000,0.053,2787,652,1924
$GC,11603,1.54,240.0,379.6,9.8,549,11607,0.00,2.47,0.00,0.000,6,0.000,0.035,2787,2076,1923
$GC,11924,1.54,240.0,349.9,9.3,565,11929,0.00,2.58,0.00,0.000,4,0.000,0.054,2787,652,1923
$GC,12004,1.54,240.0,341.9,9.4,568,12010,0.00,2.47,0.00,0.000,6,0.000,0.035,2787,2075,1923
$GC,12321,1.54,240.0,311.8,9.3,584,12325,0.00,2.55,0.00,0.000,4,0.000,0.054,2787,660,1924
$GC,12434,1.54,240.0,300.9,9.4,589,12438,0.00,2.47,0.00,0.000,6,0.000,0.036,2787,2082,1924
$GC,12755,1.54,240.0,271.3,9.4,605,12759,0.00,2.58,0.00,0.000,4,0.000,0.055,2787,659,1924
$GC,12833,1.54,240.0,263.4,9.4,608,12839,0.00,2.47,0.00,0.000,6,0.000,0.037,2787,2078,1924
$GC,13149,1.54,240.0,234.7,8.9,624,13153,0.00,2.58,0.00,0.000,4,0.000,0.056,2787,656,1924
$GC,13243,1.54,240.0,226.1,8.5,628,13248,0.00,2.47,0.00,0.000,6,0.000,0.037,2787,2076,1924
$GC,13560,1.54,240.0,198.6,9.0,643,13564,0.00,2.58,0.00,0.000,4,0.000,0.056,2787,650,1925
$GC,13654,1.54,240.0,189.6,9.2,647,13658,0.00,2.47,0.00,0.000,6,0.000,0.037,2787,2077,1925
$GC,13977,1.55,249.6,163.5,7.6,663,13991,0.00,2.62,9.73,0.729,4,0.000,0.056,2787,652,1884
$GC,14070,1.55,249.6,155.4,9.0,666,14075,0.00,2.50,0.00,0.000,6,0.000,0.038,2787,2073,1884
$GC,14387,1.55,249.6,126.6,9.7,681,14391,0.00,2.58,0.00,0.000,4,0.000,0.057,2787,657,1884
$GC,14527,1.55,249.6,112.8,9.3,687,14531,0.00,2.50,0.00,0.000,6,0.000,0.039,2787,2079,1884
$GC,14843,1.55,249.6,84.3,8.3,702,14848,0.00,2.58,0.00,0.000,4,0.000,0.056,2787,656,1884
$GC,14956,1.55,249.6,71.6,13.2,707,14960,0.00,2.50,0.00,0.000,6,0.000,0.037,2787,2086,1884
$GC,15277,1.55,249.6,38.2,10.9,723,15282,0.00,2.62,0.00,0.000,4,0.000,0.061,2787,654,1884
$GC,15378,1.55,249.6,27.3,11.1,727,15385,0.00,2.50,0.00,0.000,6,0.000,0.039,2787,2078,1884
$STATE,15650,end climb,SURFACE_DEPTH_REACHED
$STATE,15650,begin surface coast
$FINISH,0.4,1.027398
$STATE,15672,end surface coast,CONTROL_FINISHED_OK
$STATE,15672,begin surface
$SM_CCo,15758,0.00,0.000,0,0,1884,249.96
$SM_GC,1.26,12.02,0.00,0.00,0.030,0.000,0.000,45,2673,1884,-10.93,-0.06,249.96
$IRIDIUM_FIX,6221.17,-1234.28,300798,050533
$TT8_MAMPS,0.029913
$HUMID,1779
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.1,42.2
$24V_AH,23.2,55.719
$10V_AH,10.1,32.114
$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,26.925,161.725,342.150,0.000,0.000,27.470,28.692,187.410,6.500,0.000,0.000,19.325,1455.845,11611.257,447.671,2042.500,574.928,33.356,1473.139,0.000,1987.226,0.000,48.012,0.000
$DEVICE_MAMPS,161.070,80.535,1168.141,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,514.771,549.229,438.702,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37952,742
$CAP_FILE_SIZE,125586,0
$CFSIZE,260165632,237346816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050509,140556,6244.519,-1224.522,55,1.4,55,-11.6