version: 66.04
glider: 103
mission: 11
dive: 334
start: 5 5 109 14 13 34
data:
$ID,103
$MISSION,11
$DIVE,334
$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,-150342.66
$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,16
$R_STBD_OVSHOOT,10
$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
$GPS1,140556,6244.519,-1224.522,55,1.4,55,-11.6
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-58.4
$GPS2,141244,6244.502,-1224.453,11,1.2,11,-11.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.194,-0.146
$KALMAN_X,-102939.2,2052.4,368.5,131107.7,-12242.0
$KALMAN_Y,18474.3,-1010.8,-711.8,-27855.1,3661.7
$MHEAD_RNG_PITCHd_Wd,138.5,9158,-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,-41.70,0.000,2,0.000,0.000,45,2678,3314
$GC,63,-1.42,-146.6,4.6,-13.1,2,85,11.68,2.15,-3.00,0.000,4,0.156,0.096,2126,3785,3503
$GC,338,-1.42,-146.6,49.4,-9.4,14,342,0.00,2.00,0.00,0.000,6,0.000,0.052,2126,2671,3504
$GC,666,-1.42,-146.6,84.2,-11.2,30,670,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3792,3504
$GC,735,-1.42,-146.6,92.0,-12.1,33,739,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2666,3504
$GC,1068,-1.42,-146.6,129.6,-11.2,49,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2666,3504
$GC,1377,-1.42,-146.6,161.8,-10.2,64,1381,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3793,3504
$GC,1502,-1.42,-146.6,175.4,-10.9,69,1505,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2666,3504
$GC,1823,-1.42,-146.6,209.4,-10.4,85,1827,0.00,2.15,0.00,0.000,4,0.000,0.080,2126,3793,3504
$GC,1937,-1.42,-146.6,221.9,-11.0,90,1940,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2670,3504
$GC,2270,-1.42,-146.6,257.3,-10.9,106,2274,0.00,2.12,0.00,0.000,4,0.000,0.077,2126,3789,3504
$GC,2361,-1.42,-146.6,267.5,-11.4,110,2365,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2664,3504
$GC,2694,-1.42,-146.6,302.9,-10.7,126,2698,0.00,2.15,0.00,0.000,4,0.000,0.078,2126,3795,3503
$GC,2801,-1.42,-146.6,314.6,-10.2,130,2807,0.00,2.00,0.00,0.000,6,0.000,0.044,2126,2675,3503
$GC,3118,-1.42,-146.6,347.5,-10.1,146,3121,0.00,2.12,0.00,0.000,4,0.000,0.078,2126,3794,3503
$GC,3202,-1.42,-146.6,356.6,-10.5,149,3208,0.00,2.00,0.00,0.000,6,0.000,0.046,2126,2664,3503
$GC,3518,-1.42,-146.6,389.0,-10.4,165,3522,0.00,2.12,0.00,0.000,4,0.000,0.079,2126,3789,3503
$GC,3608,-1.42,-146.6,399.0,-11.3,169,3612,0.00,2.00,0.00,0.000,6,0.000,0.047,2126,2675,3503
$GC,3941,-1.42,-146.6,434.2,-11.0,185,3945,0.00,2.10,0.00,0.000,4,0.000,0.077,2126,3789,3503
$GC,4032,-1.42,-146.6,444.7,-11.7,189,4036,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2664,3503
$GC,4365,-1.42,-146.6,480.1,-10.6,205,4369,0.00,2.12,0.00,0.000,4,0.000,0.078,2126,3787,3503
$GC,4472,-1.42,-146.6,491.7,-10.4,209,4478,0.00,1.95,0.00,0.000,6,0.000,0.043,2126,2675,3503
$GC,4788,-1.42,-146.6,524.3,-10.3,225,4792,0.00,2.10,0.00,0.000,4,0.000,0.078,2126,3787,3503
$GC,4856,-1.42,-146.6,531.6,-11.0,228,4860,0.00,1.95,0.00,0.000,6,0.000,0.043,2126,2672,3503
$GC,5190,-1.42,-146.6,566.0,-10.3,244,5193,0.00,2.10,0.00,0.000,4,0.000,0.077,2126,3787,3503
$GC,5275,-1.42,-146.6,575.5,-11.2,247,5282,0.00,1.95,0.00,0.000,6,0.000,0.041,2126,2668,3503
$GC,5591,-1.42,-146.6,606.3,-9.4,263,5594,0.00,2.12,0.00,0.000,4,0.000,0.077,2126,3790,3503
$GC,5660,-1.42,-146.6,612.3,-8.3,266,5664,0.00,1.95,0.00,0.000,6,0.000,0.041,2126,2670,3504
$GC,5993,-1.42,-146.6,647.2,-10.2,282,5997,0.00,2.12,0.00,0.000,4,0.000,0.078,2126,3796,3503
$GC,6048,-1.42,-146.6,653.3,-10.9,284,6052,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2672,3503
$GC,6370,-1.42,-146.6,686.5,-10.1,300,6374,0.00,2.12,0.00,0.000,4,0.000,0.078,2126,3796,3503
$GC,6488,-1.42,-146.6,699.1,-10.7,305,6492,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2674,3503
$GC,6816,-1.42,-146.6,731.3,-10.2,321,6820,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3790,3503
$GC,6885,-1.42,-146.6,738.0,-9.7,324,6889,0.00,2.00,0.00,0.000,6,0.000,0.044,2126,2666,3502
$STATE,7070,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7070,begin apogee
$GC,7079,-0.42,0.0,756.6,10.5,333,7213,1.12,0.00,127.07,1.159,6,0.107,0.000,2344,2071,2902
$STATE,7214,end apogee,CONTROL_FINISHED_OK
$STATE,7214,begin climb
$GC,7217,1.42,146.6,761.6,0.0,340,7351,1.90,2.67,123.90,1.131,4,0.058,0.059,2750,661,2303
$GC,7501,1.47,188.0,754.7,6.5,353,7543,0.00,2.53,36.55,1.093,6,0.000,0.037,2750,2098,2135
$GC,7852,1.50,211.7,729.4,7.1,370,7879,0.00,2.60,21.65,1.082,4,0.000,0.061,2750,3483,2038
$GC,7964,1.51,218.6,721.1,7.7,375,7981,0.00,2.53,7.43,0.925,6,0.000,0.041,2750,2066,2010
$GC,8291,1.51,219.6,695.9,8.0,391,8295,0.00,2.55,0.00,0.000,4,0.000,0.060,2750,661,2009
$GC,8347,1.51,219.6,691.0,8.3,393,8351,0.00,2.50,0.00,0.000,6,0.000,0.037,2750,2086,2009
$GC,8663,1.51,219.6,665.5,8.2,408,8664,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2086,2009
$GC,8973,1.53,232.4,641.9,7.5,423,8995,0.10,2.67,12.85,1.024,4,0.049,0.056,2786,672,1954
$GC,9029,1.53,232.4,636.4,10.2,425,9033,0.00,2.47,0.00,0.000,6,0.000,0.035,2786,2085,1954
$GC,9345,1.53,232.4,607.0,9.5,440,9350,0.00,2.58,0.00,0.000,4,0.000,0.055,2786,666,1954
$GC,9569,1.53,232.4,585.5,8.9,450,9573,0.00,2.45,0.00,0.000,6,0.000,0.034,2786,2079,1954
$GC,9891,1.53,232.4,557.0,9.1,466,9895,0.00,2.58,0.00,0.000,4,0.000,0.055,2786,660,1954
$GC,9925,1.53,232.4,553.7,9.7,467,9932,0.00,2.47,0.00,0.000,6,0.000,0.034,2786,2089,1954
$GC,10241,1.53,232.4,524.2,9.3,483,10246,0.00,2.58,0.00,0.000,4,0.000,0.054,2786,666,1954
$GC,10394,1.53,232.4,509.7,8.9,490,10399,0.00,2.45,0.00,0.000,6,0.000,0.034,2786,2084,1954
$GC,10721,1.53,232.4,480.0,8.9,506,10726,0.00,2.58,0.00,0.000,4,0.000,0.054,2786,661,1954
$GC,10772,1.53,232.4,474.9,10.1,508,10776,0.00,2.45,0.00,0.000,6,0.000,0.034,2786,2075,1954
$GC,11088,1.53,232.4,446.6,8.8,523,11092,0.00,2.55,0.00,0.000,4,0.000,0.054,2786,665,1954
$GC,11183,1.53,232.4,437.8,8.8,527,11187,0.00,2.45,0.00,0.000,6,0.000,0.033,2786,2083,1954
$GC,11509,1.53,232.4,407.9,9.6,543,11514,0.00,2.55,0.00,0.000,4,0.000,0.054,2786,669,1954
$GC,11611,1.53,232.4,398.1,9.7,547,11617,0.00,2.45,0.00,0.000,6,0.000,0.035,2786,2081,1954
$GC,11927,1.53,232.4,368.1,9.6,563,11931,0.00,2.55,0.00,0.000,4,0.000,0.054,2786,659,1955
$GC,12085,1.53,232.4,352.2,9.8,570,12089,0.00,2.45,0.00,0.000,6,0.000,0.035,2786,2080,1955
$GC,12418,1.53,232.4,321.5,9.1,586,12422,0.00,2.55,0.00,0.000,4,0.000,0.055,2786,667,1955
$GC,12536,1.53,232.4,310.7,9.1,591,12540,0.00,2.45,0.00,0.000,6,0.000,0.036,2786,2074,1955
$GC,12852,1.53,232.6,284.5,8.0,606,12856,0.00,2.55,0.00,0.000,4,0.000,0.055,2786,665,1955
$GC,12960,1.53,232.6,275.3,8.5,611,12964,0.00,2.45,0.00,0.000,6,0.000,0.037,2786,2075,1955
$GC,13293,1.53,232.6,248.5,8.2,627,13297,0.00,2.55,0.00,0.000,4,0.000,0.056,2786,664,1956
$GC,13427,1.53,232.6,237.0,8.9,633,13431,0.00,2.47,0.00,0.000,6,0.000,0.037,2786,2082,1956
$GC,13748,1.53,238.3,212.0,7.8,649,13762,0.00,2.60,6.82,0.696,4,0.000,0.055,2786,660,1929
$GC,13894,1.53,238.3,199.6,9.0,655,13899,0.00,2.47,0.00,0.000,6,0.000,0.037,2786,2074,1929
$GC,14211,1.54,245.9,174.0,7.7,670,14225,0.00,2.62,8.00,0.706,4,0.000,0.057,2786,666,1898
$GC,14333,1.54,245.9,163.2,9.2,675,14338,0.00,2.47,0.00,0.000,6,0.000,0.037,2786,2079,1899
$GC,14650,1.54,245.9,136.7,8.8,690,14654,0.00,2.58,0.00,0.000,4,0.000,0.056,2786,661,1899
$GC,14717,1.54,245.9,129.7,10.6,693,14721,0.00,2.47,0.00,0.000,6,0.000,0.038,2786,2077,1898
$GC,15038,1.54,245.9,99.7,10.1,709,15042,0.00,2.58,0.00,0.000,4,0.000,0.058,2786,661,1898
$GC,15235,1.54,245.9,77.8,10.7,718,15239,0.00,2.47,0.00,0.000,6,0.000,0.038,2786,2079,1899
$GC,15562,1.54,245.9,48.3,10.4,734,15566,0.00,2.55,0.00,0.000,4,0.000,0.055,2786,669,1899
$GC,15680,1.60,292.9,38.3,6.3,739,15724,0.00,2.47,37.85,0.703,6,0.000,0.039,2786,2081,1708
$GC,16043,1.60,292.9,8.2,10.8,757,16047,0.00,2.60,0.00,0.000,4,0.000,0.063,2786,669,1707
$STATE,16103,end climb,SURFACE_DEPTH_REACHED
$STATE,16103,begin surface coast
$FINISH,1.1,1.027424
$STATE,16108,end surface coast,CONTROL_FINISHED_OK
$STATE,16108,begin surface
$SM_CCo,16196,0.00,0.000,0,0,1706,293.38
$SM_GC,1.14,12.10,0.00,0.00,0.031,0.000,0.000,50,2667,1706,-10.92,-0.23,293.38
$IRIDIUM_FIX,6221.17,-1227.65,300798,090925
$TT8_MAMPS,0.027612
$HUMID,1789
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.0,88.7
$24V_AH,23.2,55.852
$10V_AH,10.1,32.196
$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,26.900,169.225,382.125,0.000,0.000,28.331,27.484,223.314,5.750,0.000,0.000,11.509,1509.666,11847.661,469.969,2162.515,607.814,33.355,1560.548,0.000,2110.299,0.000,40.621,0.000
$DEVICE_MAMPS,156.468,95.875,1158.937,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,529.190,561.726,445.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38072,760
$CAP_FILE_SIZE,131672,0
$CFSIZE,260165632,237281280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050509,184507,6243.439,-1222.385,60,1.5,60,-11.5