version: 66.04
glider: 103
mission: 11
dive: 311
start: 5 1 109 6 59 52
data:
$ID,103
$MISSION,11
$DIVE,311
$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,0
$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,-148995.62
$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,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
$GPS1,063937,6247.729,-1300.083,108,1.1,108,-11.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-58.3
$GPS2,065901,6247.869,-1300.604,14,1.4,31,-11.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.236,-0.057
$KALMAN_X,-28900.3,451.3,685.8,27763.3,-14723.2
$KALMAN_Y,7618.6,-736.6,-691.4,-11062.7,5190.6
$MHEAD_RNG_PITCHd_Wd,115.5,37478,-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,-146.6,0.0,0.0,0,49,0.00,0.00,-31.20,0.000,2,0.000,0.000,48,2671,2915
$GC,53,-1.42,-146.6,3.0,-6.6,2,82,11.77,2.20,-11.07,0.000,4,0.156,0.103,2125,3780,3503
$GC,173,-1.42,-146.6,24.1,-14.2,7,179,0.00,2.00,0.00,0.000,6,0.000,0.042,2125,2642,3503
$GC,489,-1.42,-146.6,63.3,-11.6,23,493,0.00,2.22,0.00,0.000,4,0.000,0.084,2125,3792,3503
$GC,568,-1.42,-146.6,72.5,-12.1,26,571,0.00,2.00,0.00,0.000,6,0.000,0.046,2125,2668,3503
$GC,890,-1.42,-146.6,110.3,-11.5,42,893,0.00,2.17,0.00,0.000,4,0.000,0.086,2125,3791,3502
$GC,958,-1.42,-146.6,118.8,-12.2,45,962,0.00,2.00,0.00,0.000,6,0.000,0.045,2125,2664,3502
$GC,1292,-1.42,-146.6,156.2,-10.8,61,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2664,3502
$GC,1601,-1.42,-146.6,189.3,-10.9,76,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2664,3502
$GC,1910,-1.42,-146.6,223.3,-10.9,91,1914,0.00,2.15,0.00,0.000,4,0.000,0.084,2125,3787,3502
$GC,1971,-1.42,-146.6,230.3,-11.3,93,1977,0.00,1.98,0.00,0.000,6,0.000,0.047,2125,2673,3502
$GC,2287,-1.42,-146.6,264.2,-10.6,109,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2673,3502
$GC,2597,-1.42,-146.6,297.2,-10.8,124,2600,0.00,2.15,0.00,0.000,4,0.000,0.084,2125,3793,3502
$GC,2630,-1.42,-146.6,300.8,-11.0,125,2633,0.00,2.00,0.00,0.000,6,0.000,0.046,2125,2665,3502
$GC,2952,-1.42,-146.6,334.9,-10.9,141,2956,0.00,2.15,0.00,0.000,4,0.000,0.081,2125,3793,3502
$GC,2985,-1.42,-146.6,338.9,-11.5,142,2989,0.00,1.98,0.00,0.000,6,0.000,0.044,2125,2675,3502
$GC,3307,-1.42,-146.6,373.7,-10.8,158,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2675,3502
$GC,3616,-1.42,-146.6,406.7,-10.6,173,3620,0.00,2.12,0.00,0.000,4,0.000,0.082,2125,3790,3502
$GC,3649,-1.42,-146.6,410.5,-11.1,174,3653,0.00,1.98,0.00,0.000,6,0.000,0.043,2125,2666,3502
$GC,3971,-1.42,-146.6,444.6,-10.8,190,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2666,3502
$GC,4280,-1.42,-146.6,478.3,-10.9,205,4284,0.00,2.15,0.00,0.000,4,0.000,0.084,2125,3787,3501
$GC,4349,-1.42,-146.6,486.2,-11.5,208,4353,0.00,1.98,0.00,0.000,6,0.000,0.045,2125,2670,3502
$GC,4682,-1.42,-146.6,522.0,-10.8,224,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2670,3502
$GC,4991,-1.42,-146.6,555.5,-10.8,239,4995,0.00,2.55,0.00,0.000,4,0.000,0.061,2125,1255,3502
$GC,5014,-1.42,-146.6,558.0,-11.5,240,5019,0.00,2.65,0.00,0.000,6,0.000,0.064,2125,2688,3502
$GC,5336,-1.42,-146.6,592.6,-10.8,256,5340,0.00,2.05,0.00,0.000,4,0.000,0.081,2125,3785,3502
$GC,5420,-1.42,-146.6,602.3,-10.9,259,5426,0.00,1.98,0.00,0.000,6,0.000,0.043,2125,2661,3502
$GC,5736,-1.42,-146.6,636.5,-11.0,275,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2661,3502
$GC,6045,-1.42,-146.6,670.4,-10.6,290,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2661,3502
$GC,6356,-1.42,-146.6,701.2,-9.6,305,6361,0.00,2.53,0.00,0.000,4,0.000,0.060,2125,1258,3501
$GC,6385,-1.42,-146.6,704.1,-10.1,306,6389,0.00,2.62,0.00,0.000,6,0.000,0.066,2125,2675,3501
$GC,6701,-1.42,-146.6,733.8,-9.4,321,6705,0.00,2.10,0.00,0.000,4,0.000,0.085,2125,3786,3501
$GC,6808,-1.42,-146.6,744.8,-10.2,325,6815,0.00,2.00,0.00,0.000,6,0.000,0.048,2125,2677,3501
$GC,7124,-1.42,-146.6,776.1,-10.5,341,7128,0.00,2.12,0.00,0.000,4,0.000,0.085,2125,3782,3501
$STATE,7155,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7155,begin apogee
$GC,7166,-0.42,0.0,778.9,7.2,342,7298,1.10,0.00,126.82,1.187,6,0.104,0.000,2343,2073,2902
$STATE,7299,end apogee,CONTROL_FINISHED_OK
$STATE,7299,begin climb
$GC,7302,1.42,146.6,784.9,0.0,349,7435,1.88,2.70,124.28,1.160,4,0.054,0.061,2746,3494,2304
$GC,7586,1.47,185.5,769.6,6.6,362,7626,0.00,2.55,34.42,1.118,6,0.000,0.040,2746,2065,2145
$GC,7958,1.47,185.5,742.4,8.4,380,7962,0.00,2.67,0.00,0.000,4,0.000,0.064,2746,3494,2144
$GC,8030,1.47,185.5,735.9,8.5,383,8034,0.00,2.55,0.00,0.000,6,0.000,0.042,2746,2071,2144
$GC,8346,1.48,191.9,710.9,7.8,398,8360,0.00,2.67,6.95,0.944,4,0.000,0.061,2747,658,2119
$GC,8451,1.48,191.9,701.5,9.0,402,8457,0.00,2.55,0.00,0.000,6,0.000,0.040,2746,2097,2118
$GC,8767,1.48,191.9,674.6,8.6,418,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2097,2118
$GC,9076,1.48,191.9,648.9,8.2,433,9080,0.00,2.62,0.00,0.000,4,0.000,0.058,2746,665,2118
$GC,9276,1.52,223.0,633.1,6.9,441,9310,0.10,2.47,27.08,1.094,6,0.051,0.038,2780,2076,1992
$GC,9635,1.54,239.4,604.4,7.4,459,9657,0.00,2.65,15.12,1.030,4,0.000,0.056,2780,658,1926
$GC,9781,1.54,239.4,592.3,8.1,465,9785,0.00,2.50,0.00,0.000,6,0.000,0.036,2780,2078,1926
$GC,10097,1.55,251.9,567.8,7.5,480,10120,0.00,2.70,12.07,0.977,4,0.000,0.055,2780,657,1875
$GC,10211,1.55,251.9,558.3,8.6,485,10216,0.00,2.50,0.00,0.000,6,0.000,0.036,2780,2081,1875
$GC,10538,1.55,251.9,530.4,8.4,501,10542,0.00,2.58,0.00,0.000,4,0.000,0.055,2780,666,1875
$GC,10673,1.55,251.9,518.0,9.4,507,10677,0.00,2.47,0.00,0.000,6,0.000,0.036,2780,2079,1875
$GC,10993,1.55,251.9,490.8,8.7,523,10998,0.00,2.58,0.00,0.000,4,0.000,0.055,2780,663,1875
$GC,11124,1.55,251.9,478.8,9.9,529,11128,0.00,2.47,0.00,0.000,6,0.000,0.036,2780,2081,1876
$GC,11451,1.55,251.9,449.8,9.3,545,11455,0.00,2.58,0.00,0.000,4,0.000,0.055,2780,663,1876
$GC,11546,1.55,251.9,440.5,9.2,549,11550,0.00,2.47,0.00,0.000,6,0.000,0.036,2780,2080,1876
$GC,11862,1.55,251.9,410.9,9.6,564,11866,0.00,2.58,0.00,0.000,4,0.000,0.055,2780,661,1877
$GC,11968,1.55,251.9,399.7,10.0,568,11974,0.00,2.47,0.00,0.000,6,0.000,0.037,2780,2076,1877
$GC,12284,1.55,251.9,367.5,10.6,584,12288,0.00,2.58,0.00,0.000,4,0.000,0.056,2780,661,1877
$GC,12334,1.55,251.9,361.8,10.5,586,12338,0.00,2.47,0.00,0.000,6,0.000,0.037,2780,2075,1877
$GC,12656,1.55,251.9,327.1,10.8,602,12660,0.00,2.58,0.00,0.000,4,0.000,0.056,2780,655,1877
$GC,12711,1.55,251.9,320.8,11.8,604,12717,0.00,2.50,0.00,0.000,6,0.000,0.038,2780,2082,1877
$GC,13027,1.55,251.9,287.0,10.5,620,13031,0.00,2.58,0.00,0.000,4,0.000,0.056,2780,662,1877
$GC,13100,1.55,251.9,278.9,11.3,623,13104,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2075,1877
$GC,13421,1.55,251.9,244.5,10.9,639,13425,0.00,2.55,0.00,0.000,4,0.000,0.056,2780,666,1877
$GC,13511,1.55,251.9,234.4,11.2,643,13515,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2078,1877
$GC,13832,1.55,251.9,200.7,10.4,659,13836,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,659,1877
$GC,13899,1.55,251.9,193.3,10.7,662,13903,0.00,2.50,0.00,0.000,6,0.000,0.038,2780,2083,1877
$GC,14220,1.55,251.9,162.1,9.7,678,14224,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,665,1877
$GC,14343,1.55,251.9,148.6,11.3,683,14349,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2078,1878
$GC,14660,1.55,251.9,115.0,10.5,699,14664,0.00,2.58,0.00,0.000,4,0.000,0.059,2780,666,1878
$GC,14754,1.55,251.9,104.1,10.7,703,14759,0.00,2.47,0.00,0.000,6,0.000,0.039,2780,2075,1878
$GC,15071,1.55,251.9,72.4,10.0,718,15075,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,655,1878
$GC,15104,1.55,251.9,69.3,9.2,719,15111,0.00,2.50,0.00,0.000,6,0.000,0.041,2780,2075,1878
$GC,15420,1.55,251.9,37.6,9.9,735,15424,0.00,2.58,0.00,0.000,4,0.000,0.058,2780,657,1878
$GC,15493,1.55,251.9,30.3,9.5,738,15498,0.00,2.53,0.00,0.000,6,0.000,0.042,2780,2084,1878
$STATE,15785,end climb,SURFACE_DEPTH_REACHED
$STATE,15786,begin surface coast
$FINISH,0.4,1.027285
$STATE,15807,end surface coast,CONTROL_FINISHED_OK
$STATE,15808,begin surface
$SM_CCo,15833,225.20,0.671,0,0,572,571.55
$SM_GC,0.70,0.00,0.00,225.20,0.000,0.000,0.671,50,2675,572,-10.99,0.00,571.55
$IRIDIUM_FIX,6225.82,-1258.27,260798,070743
$TT8_MAMPS,0.029146
$HUMID,1743
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,751.3,37.4
$24V_AH,23.2,52.663
$10V_AH,10.1,30.360
$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,27.000,155.025,346.750,225.200,0.000,147.236,183.619,412.620,6.750,0.000,0.000,31.225,1436.878,12121.874,666.582,1905.720,1090.476,33.354,1626.510,0.000,1832.707,0.000,52.083,0.000
$DEVICE_MAMPS,156.468,102.778,1187.316,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,524.820,558.524,431.672,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37940,753
$CAP_FILE_SIZE,130901,0
$CFSIZE,260165632,238583808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010509,112900,6247.438,-1303.641,48,1.7,48,-12.0