version: 66.04
glider: 103
mission: 11
dive: 315
start: 5 2 109 1 52 34
data:
$ID,103
$MISSION,11
$DIVE,315
$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,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,-149067.38
$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,13
$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
$GPS1,014231,6250.472,-1303.318,41,1.8,41,-12.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-46.4
$GPS2,015144,6250.537,-1303.274,15,1.7,15,-12.0
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.228,-0.084
$KALMAN_X,-50265.3,1822.6,1982.5,44173.3,-19069.2
$KALMAN_Y,7012.7,-288.3,17.5,-6698.1,924.4
$MHEAD_RNG_PITCHd_Wd,122.1,41653,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,47,2674,2933
$GC,63,-1.42,-146.6,3.1,-9.1,2,90,11.73,2.15,-10.52,0.000,4,0.159,0.098,2123,3788,3500
$GC,337,-1.42,-146.6,41.1,-11.1,14,341,0.00,1.98,0.00,0.000,6,0.000,0.042,2123,2670,3500
$GC,659,-1.42,-146.6,77.8,-12.0,30,663,0.00,2.12,0.00,0.000,4,0.000,0.078,2123,3783,3500
$GC,715,-1.42,-146.6,84.7,-12.2,32,719,0.00,1.98,0.00,0.000,6,0.000,0.042,2123,2664,3500
$GC,1037,-1.42,-146.6,121.4,-10.9,48,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2664,3500
$GC,1346,-1.42,-146.6,156.0,-11.0,63,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2664,3500
$GC,1655,-1.42,-146.6,190.6,-11.3,78,1659,0.00,2.15,0.00,0.000,4,0.000,0.080,2123,3789,3500
$GC,1689,-1.42,-146.6,194.6,-11.5,79,1693,0.00,1.98,0.00,0.000,6,0.000,0.043,2123,2665,3500
$GC,2011,-1.42,-146.6,230.9,-11.3,95,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2665,3499
$GC,2320,-1.42,-146.6,265.4,-11.2,110,2324,0.00,2.15,0.00,0.000,4,0.000,0.084,2123,3784,3499
$GC,2360,-1.42,-146.6,270.0,-11.4,111,2366,0.00,1.98,0.00,0.000,6,0.000,0.045,2123,2669,3499
$GC,2675,-1.42,-146.6,306.4,-11.7,127,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2669,3499
$GC,2985,-1.42,-146.6,342.3,-11.8,142,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2669,3499
$GC,3294,-1.42,-146.6,378.0,-11.4,157,3298,0.00,2.15,0.00,0.000,4,0.000,0.084,2123,3789,3499
$GC,3328,-1.42,-146.6,382.1,-11.5,158,3332,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2670,3499
$GC,3649,-1.42,-146.6,418.9,-11.6,174,3653,0.00,2.15,0.00,0.000,4,0.000,0.085,2123,3789,3499
$GC,3696,-1.42,-146.6,424.3,-12.4,176,3701,0.00,1.98,0.00,0.000,6,0.000,0.043,2123,2668,3499
$GC,4028,-1.42,-146.6,461.2,-11.0,192,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2668,3499
$GC,4337,-1.42,-146.6,493.9,-10.2,207,4341,0.00,2.15,0.00,0.000,4,0.000,0.082,2123,3793,3499
$GC,4371,-1.42,-146.6,497.7,-11.0,208,4375,0.00,2.00,0.00,0.000,6,0.000,0.044,2123,2662,3499
$GC,4693,-1.42,-146.6,530.3,-9.9,224,4697,0.00,2.55,0.00,0.000,4,0.000,0.063,2123,1250,3499
$GC,4733,-1.42,-146.6,534.3,-10.1,226,4737,0.00,2.65,0.00,0.000,6,0.000,0.066,2123,2679,3499
$GC,5060,-1.42,-146.6,565.7,-9.3,242,5064,0.00,2.08,0.00,0.000,4,0.000,0.081,2123,3786,3499
$GC,5151,-1.42,-146.6,575.0,-10.0,246,5156,0.00,1.98,0.00,0.000,6,0.000,0.046,2123,2666,3499
$GC,5483,-1.42,-146.6,608.3,-10.1,262,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2666,3499
$GC,5793,-1.42,-146.6,640.3,-10.1,277,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2666,3499
$GC,6102,-1.42,-146.6,669.3,-10.1,292,6106,0.00,2.12,0.00,0.000,4,0.000,0.081,2123,3789,3499
$GC,6193,-1.42,-146.6,679.4,-11.9,296,6197,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2666,3499
$GC,6526,-1.42,-146.6,714.8,-10.5,312,6531,0.00,2.55,0.00,0.000,4,0.000,0.061,2123,1254,3499
$GC,6554,-1.42,-146.6,717.7,-10.4,313,6559,0.00,2.65,0.00,0.000,6,0.000,0.065,2123,2680,3499
$GC,6871,-1.42,-146.6,747.5,-9.6,328,6874,0.00,2.08,0.00,0.000,4,0.000,0.082,2123,3785,3499
$STATE,6946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6946,begin apogee
$GC,6957,-0.42,0.0,755.4,11.3,331,7089,1.08,0.00,126.22,1.173,6,0.095,0.000,2342,2072,2902
$STATE,7089,end apogee,CONTROL_FINISHED_OK
$STATE,7089,begin climb
$GC,7093,1.42,146.6,761.0,0.0,338,7226,1.90,2.67,123.80,1.147,4,0.059,0.060,2747,669,2304
$GC,7484,1.46,178.1,746.2,6.8,355,7519,0.00,2.50,28.05,1.105,6,0.000,0.038,2747,2096,2176
$GC,7845,1.52,223.0,723.2,6.4,373,7890,0.10,2.75,39.12,1.126,4,0.051,0.059,2781,662,1992
$GC,8127,1.52,223.0,695.5,10.0,385,8134,0.00,2.50,0.00,0.000,6,0.000,0.039,2781,2082,1991
$GC,8443,1.52,223.0,667.5,8.4,401,8448,0.00,2.60,0.00,0.000,4,0.000,0.058,2781,663,1991
$GC,8631,1.52,223.0,650.4,9.9,409,8636,0.00,2.50,0.00,0.000,6,0.000,0.038,2781,2083,1991
$GC,8947,1.52,223.0,622.8,8.8,424,8951,0.00,2.60,0.00,0.000,4,0.000,0.056,2781,659,1990
$GC,9019,1.52,223.0,615.9,9.3,427,9024,0.00,2.50,0.00,0.000,6,0.000,0.036,2781,2086,1990
$GC,9335,1.52,223.0,588.8,8.3,442,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2086,1990
$GC,9645,1.53,232.7,564.7,7.6,457,9659,0.00,2.65,9.38,0.948,4,0.000,0.055,2781,659,1953
$GC,9795,1.53,232.7,551.1,9.5,463,9801,0.00,2.50,0.00,0.000,6,0.000,0.035,2781,2085,1953
$GC,10111,1.53,232.7,524.3,8.3,479,10116,0.00,2.60,0.00,0.000,4,0.000,0.054,2781,654,1953
$GC,10219,1.53,232.7,514.9,8.6,484,10224,0.00,2.50,0.00,0.000,6,0.000,0.035,2781,2084,1953
$GC,10547,1.53,232.7,487.8,8.3,500,10551,0.00,2.60,0.00,0.000,4,0.000,0.054,2781,654,1953
$GC,10692,1.53,232.7,475.0,9.2,506,10698,0.00,2.50,0.00,0.000,6,0.000,0.036,2781,2085,1953
$GC,11008,1.53,232.7,448.9,8.3,522,11012,0.00,2.60,0.00,0.000,4,0.000,0.054,2781,654,1954
$GC,11093,1.53,232.7,441.6,8.9,526,11098,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,2074,1954
$GC,11420,1.53,232.7,414.2,8.8,542,11424,0.00,2.58,0.00,0.000,4,0.000,0.054,2781,652,1954
$GC,11521,1.53,232.7,404.6,9.6,546,11527,0.00,2.50,0.00,0.000,6,0.000,0.036,2781,2083,1954
$GC,11837,1.53,232.7,375.0,9.6,562,11841,0.00,2.58,0.00,0.000,4,0.000,0.054,2781,662,1954
$GC,11914,1.53,232.7,367.1,9.7,565,11921,0.00,2.47,0.00,0.000,6,0.000,0.037,2781,2086,1954
$GC,12231,1.53,232.7,337.2,9.3,581,12235,0.00,2.58,0.00,0.000,4,0.000,0.055,2781,662,1955
$GC,12339,1.53,232.7,326.9,10.1,586,12343,0.00,2.47,0.00,0.000,6,0.000,0.037,2781,2084,1954
$GC,12671,1.53,232.7,296.0,9.2,602,12676,0.00,2.60,0.00,0.000,4,0.000,0.056,2781,654,1955
$GC,12795,1.53,232.7,283.8,9.2,607,12802,0.00,2.50,0.00,0.000,6,0.000,0.038,2781,2081,1955
$GC,13111,1.53,232.7,255.5,8.9,623,13116,0.00,2.60,0.00,0.000,4,0.000,0.057,2781,652,1955
$GC,13213,1.53,232.7,246.1,9.4,627,13219,0.00,2.50,0.00,0.000,6,0.000,0.038,2781,2079,1955
$GC,13528,1.53,232.7,219.3,8.2,643,13532,0.00,2.58,0.00,0.000,4,0.000,0.056,2781,660,1955
$GC,13624,1.53,233.1,211.1,8.0,647,13628,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2076,1956
$GC,13951,1.54,241.1,185.3,7.7,663,13966,0.00,2.65,8.90,0.732,4,0.000,0.056,2781,655,1919
$GC,14086,1.55,247.3,174.7,7.8,669,14099,0.00,2.50,6.65,0.680,6,0.000,0.038,2781,2075,1894
$GC,14418,1.55,247.4,149.5,8.0,685,14422,0.00,2.58,0.00,0.000,4,0.000,0.058,2781,660,1894
$GC,14518,1.55,247.8,140.9,8.0,689,14525,0.00,2.47,0.00,0.000,6,0.000,0.040,2781,2074,1894
$GC,14835,1.55,247.8,113.6,9.6,705,14839,0.00,2.58,0.00,0.000,4,0.000,0.058,2781,661,1894
$GC,14890,1.55,247.8,107.5,10.5,707,14897,0.00,2.47,0.00,0.000,6,0.000,0.040,2781,2075,1894
$GC,15207,1.55,247.8,75.0,10.2,723,15211,0.00,2.58,0.00,0.000,4,0.000,0.060,2781,662,1894
$GC,15308,1.55,247.8,65.7,8.5,727,15314,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2082,1894
$GC,15626,1.60,287.8,46.9,6.5,743,15669,0.00,2.72,33.25,0.712,4,0.000,0.058,2781,657,1728
$GC,15748,1.60,287.8,36.1,11.0,748,15752,0.00,2.47,0.00,0.000,6,0.000,0.034,2781,2078,1728
$STATE,16046,end climb,SURFACE_DEPTH_REACHED
$STATE,16046,begin surface coast
$FINISH,0.5,1.027417
$STATE,16067,end surface coast,CONTROL_FINISHED_OK
$STATE,16068,begin surface
$SM_CCo,16153,0.00,0.000,0,0,1727,288.23
$SM_GC,1.92,12.00,0.00,0.00,0.028,0.000,0.000,47,2670,1727,-10.93,-0.14,288.23
$IRIDIUM_FIX,6225.82,-1308.50,260798,212131
$TT8_MAMPS,0.029146
$HUMID,1782
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,701.8,63.1
$24V_AH,23.2,53.223
$10V_AH,10.1,30.678
$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,26.800,150.825,375.375,0.000,0.000,33.072,44.486,342.240,6.000,0.000,0.000,15.087,1465.647,12007.049,467.411,2020.438,741.042,33.359,1483.478,0.000,1970.675,0.000,42.192,0.000
$DEVICE_MAMPS,158.769,98.176,1172.743,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,532.712,557.072,450.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38069,764
$CAP_FILE_SIZE,125552,0
$CFSIZE,260165632,238370816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020509,062340,6250.343,-1301.427,75,1.2,76,-12.0