version: 66.04
glider: 103
mission: 11
dive: 318
start: 5 2 109 15 5 16
data:
$ID,103
$MISSION,11
$DIVE,318
$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,-149144.33
$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,15
$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
$GPS1,145907,6250.680,-1257.184,28,1.8,28,-11.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-54.1
$GPS2,150426,6250.698,-1257.070,15,1.9,15,-11.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.222,-0.100
$KALMAN_X,-56595.4,1085.8,911.2,57573.5,-14027.0
$KALMAN_Y,8804.5,-248.3,594.4,-8812.2,603.1
$MHEAD_RNG_PITCHd_Wd,126.1,37233,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,80,0.00,0.00,-60.30,0.000,6,0.000,0.000,44,2689,3502
$GC,83,-1.42,-146.6,5.8,-11.5,3,104,11.80,2.12,0.00,0.000,4,0.161,0.078,2125,3787,3503
$GC,357,-1.42,-146.6,52.4,-13.3,15,361,0.00,2.00,0.00,0.000,6,0.000,0.047,2125,2666,3503
$GC,686,-1.42,-146.6,92.7,-13.6,31,690,0.00,2.15,0.00,0.000,4,0.000,0.084,2125,3782,3503
$GC,823,-1.42,-146.6,110.8,-13.5,37,826,0.00,2.00,0.00,0.000,6,0.000,0.050,2125,2662,3502
$GC,1156,-1.42,-146.6,150.1,-11.6,53,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2662,3503
$GC,1464,-1.42,-146.6,186.4,-12.1,68,1468,0.00,2.15,0.00,0.000,4,0.000,0.082,2125,3785,3502
$GC,1534,-1.42,-146.6,194.8,-12.2,71,1537,0.00,2.00,0.00,0.000,6,0.000,0.049,2125,2661,3502
$GC,1866,-1.42,-146.6,233.1,-11.2,87,1870,0.00,2.15,0.00,0.000,4,0.000,0.082,2125,3782,3503
$GC,1945,-1.42,-146.6,242.3,-11.5,90,1949,0.00,1.98,0.00,0.000,6,0.000,0.048,2125,2669,3503
$GC,2267,-1.42,-146.6,278.2,-10.9,106,2271,0.00,2.15,0.00,0.000,4,0.000,0.086,2125,3783,3503
$GC,2318,-1.42,-146.6,284.1,-10.8,108,2322,0.00,1.98,0.00,0.000,6,0.000,0.051,2125,2676,3503
$GC,2645,-1.42,-146.6,319.8,-11.1,124,2649,0.00,2.12,0.00,0.000,4,0.000,0.084,2125,3782,3503
$GC,2718,-1.42,-146.6,328.5,-11.3,127,2722,0.00,1.98,0.00,0.000,6,0.000,0.050,2125,2676,3503
$GC,3045,-1.42,-146.6,363.9,-10.6,143,3047,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2676,3503
$GC,3355,-1.42,-146.6,395.8,-10.0,158,3359,0.00,2.12,0.00,0.000,4,0.000,0.085,2125,3783,3503
$GC,3426,-1.42,-146.6,402.9,-10.7,161,3429,0.00,1.98,0.00,0.000,6,0.000,0.049,2125,2674,3503
$GC,3758,-1.42,-146.6,440.0,-11.2,177,3762,0.00,2.12,0.00,0.000,4,0.000,0.083,2125,3785,3503
$GC,3827,-1.42,-146.6,447.8,-11.6,180,3831,0.00,1.98,0.00,0.000,6,0.000,0.048,2125,2672,3503
$GC,4160,-1.42,-146.6,484.0,-10.5,196,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2672,3503
$GC,4469,-1.42,-146.6,513.8,-9.0,211,4473,0.00,2.15,0.00,0.000,4,0.000,0.086,2125,3786,3503
$GC,4516,-1.42,-146.6,518.2,-9.6,213,4519,0.00,1.98,0.00,0.000,6,0.000,0.048,2125,2673,3503
$GC,4848,-1.42,-146.6,547.4,-8.9,229,4852,0.00,2.15,0.00,0.000,4,0.000,0.085,2125,3790,3503
$GC,4887,-1.42,-146.6,551.1,-9.8,230,4894,0.00,2.00,0.00,0.000,6,0.000,0.048,2125,2656,3503
$GC,5204,-1.42,-146.6,579.7,-9.4,246,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2656,3503
$GC,5513,-1.42,-146.6,607.6,-8.8,261,5517,0.00,2.53,0.00,0.000,4,0.000,0.061,2125,1257,3503
$GC,5540,-1.42,-146.6,610.2,-9.0,262,5545,0.00,2.65,0.00,0.000,6,0.000,0.067,2125,2677,3503
$GC,5857,-1.42,-146.6,635.7,-7.4,277,5861,0.00,2.10,0.00,0.000,4,0.000,0.085,2125,3789,3503
$GC,5907,-1.42,-146.6,639.7,-7.9,279,5911,0.00,1.98,0.00,0.000,6,0.000,0.046,2125,2671,3503
$GC,6234,-1.42,-146.6,666.0,-8.5,295,6239,0.00,2.55,0.00,0.000,4,0.000,0.061,2125,1263,3503
$GC,6275,-1.42,-146.6,669.5,-9.4,297,6280,0.00,2.65,0.00,0.000,6,0.000,0.067,2125,2690,3503
$GC,6602,-1.42,-146.6,699.7,-10.1,313,6605,0.00,2.08,0.00,0.000,4,0.000,0.086,2125,3783,3503
$GC,6742,-1.42,-146.6,714.3,-9.8,319,6746,0.00,2.00,0.00,0.000,6,0.000,0.051,2125,2669,3503
$STATE,6922,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6922,begin apogee
$GC,6931,-0.42,0.0,733.6,11.0,328,7065,1.12,0.00,126.40,1.162,6,0.100,0.000,2346,2067,2902
$STATE,7066,end apogee,CONTROL_FINISHED_OK
$STATE,7066,begin climb
$GC,7069,1.42,146.6,739.1,0.0,335,7201,1.88,2.70,124.10,1.131,4,0.058,0.057,2747,3495,2304
$GC,7286,1.45,166.4,733.5,7.3,345,7311,0.00,2.58,18.70,1.052,6,0.000,0.040,2747,2055,2223
$GC,7635,1.47,183.3,708.9,7.4,362,7656,0.00,0.00,15.40,1.049,6,0.000,0.000,2747,2054,2154
$GC,7966,1.51,215.9,686.3,6.8,378,7997,0.00,0.00,28.77,1.091,6,0.000,0.000,2747,2055,2022
$GC,8297,1.52,223.6,661.3,7.7,394,8312,0.10,2.75,8.35,0.954,4,0.051,0.061,2779,3494,1990
$GC,8364,1.52,223.6,655.5,8.8,397,8369,0.00,2.55,0.00,0.000,6,0.000,0.041,2779,2065,1990
$GC,8691,1.52,223.6,627.0,8.2,413,8696,0.00,2.55,0.00,0.000,4,0.000,0.060,2779,669,1990
$GC,8863,1.56,256.0,613.9,6.8,420,8898,0.00,2.47,28.08,1.073,6,0.000,0.038,2780,2086,1858
$GC,9220,1.56,256.0,585.7,8.5,438,9225,0.00,2.60,0.00,0.000,4,0.000,0.057,2780,668,1858
$GC,9300,1.56,256.0,578.4,9.2,441,9306,0.00,2.47,0.00,0.000,6,0.000,0.038,2779,2074,1857
$GC,9616,1.56,256.0,552.1,8.6,457,9621,0.00,2.58,0.00,0.000,4,0.000,0.055,2779,664,1857
$GC,9706,1.56,256.0,543.5,9.1,461,9710,0.00,2.47,0.00,0.000,6,0.000,0.035,2779,2076,1857
$GC,10027,1.56,256.0,514.5,8.8,477,10031,0.00,2.58,0.00,0.000,4,0.000,0.055,2779,661,1857
$GC,10167,1.56,256.0,501.9,8.7,483,10171,0.00,2.50,0.00,0.000,6,0.000,0.037,2779,2084,1857
$GC,10488,1.56,256.0,475.7,8.0,499,10492,0.00,2.58,0.00,0.000,4,0.000,0.055,2779,668,1858
$GC,10550,1.56,256.0,470.1,8.9,502,10554,0.00,2.47,0.00,0.000,6,0.000,0.038,2779,2078,1857
$GC,10877,1.56,256.0,441.7,9.1,518,10881,0.00,2.58,0.00,0.000,4,0.000,0.055,2780,661,1858
$GC,10940,1.56,256.0,435.8,10.3,521,10944,0.00,2.50,0.00,0.000,6,0.000,0.038,2779,2083,1858
$GC,11266,1.56,256.0,405.3,9.6,537,11271,0.00,2.58,0.00,0.000,4,0.000,0.055,2779,665,1858
$GC,11390,1.56,256.0,392.6,10.0,542,11396,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2077,1858
$GC,11706,1.56,256.0,363.1,9.6,558,11710,0.00,2.55,0.00,0.000,4,0.000,0.055,2780,669,1858
$GC,11791,1.56,256.0,354.5,10.8,562,11795,0.00,2.47,0.00,0.000,6,0.000,0.038,2779,2082,1858
$GC,12118,1.56,256.0,323.6,9.8,578,12122,0.00,2.58,0.00,0.000,4,0.000,0.056,2779,665,1859
$GC,12218,1.56,256.0,313.6,9.8,582,12224,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2076,1859
$GC,12535,1.56,256.0,283.4,9.6,598,12539,0.00,2.58,0.00,0.000,4,0.000,0.056,2779,661,1859
$GC,12613,1.56,256.0,275.0,10.8,601,12619,0.00,2.50,0.00,0.000,6,0.000,0.038,2779,2083,1859
$GC,12929,1.56,256.0,242.8,10.2,617,12933,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,668,1859
$GC,13014,1.56,256.0,233.9,10.7,621,13018,0.00,2.47,0.00,0.000,6,0.000,0.038,2780,2078,1859
$GC,13341,1.56,256.0,201.7,9.9,637,13345,0.00,2.58,0.00,0.000,4,0.000,0.056,2780,660,1860
$GC,13435,1.56,256.0,191.7,10.9,641,13440,0.00,2.50,0.00,0.000,6,0.000,0.039,2780,2081,1860
$GC,13752,1.56,256.0,160.2,9.6,656,13756,0.00,2.58,0.00,0.000,4,0.000,0.058,2780,666,1860
$GC,13859,1.56,256.0,149.3,10.4,661,13863,0.00,2.47,0.00,0.000,6,0.000,0.039,2780,2084,1860
$GC,14193,1.56,256.0,117.1,9.6,677,14197,0.00,2.60,0.00,0.000,4,0.000,0.058,2780,658,1860
$GC,14288,1.56,256.0,107.5,9.8,681,14292,0.00,2.50,0.00,0.000,6,0.000,0.039,2780,2078,1860
$GC,14604,1.56,256.0,78.0,8.9,696,14608,0.00,2.58,0.00,0.000,4,0.000,0.059,2779,668,1860
$GC,14699,1.56,256.0,68.7,9.7,700,14703,0.00,2.47,0.00,0.000,6,0.000,0.039,2780,2076,1860
$GC,15015,1.56,256.0,39.3,9.5,715,15019,0.00,2.58,0.00,0.000,4,0.000,0.059,2779,666,1860
$GC,15138,1.56,256.0,26.4,12.2,720,15144,0.00,2.47,0.00,0.000,6,0.000,0.040,2780,2081,1860
$STATE,15369,end climb,SURFACE_DEPTH_REACHED
$STATE,15369,begin surface coast
$FINISH,0.4,1.013690
$STATE,15391,end surface coast,CONTROL_FINISHED_OK
$STATE,15391,begin surface
$SM_CCo,15476,0.00,0.000,0,0,1860,255.60
$SM_GC,1.53,12.02,0.00,0.00,0.031,0.000,0.000,40,2665,1860,-10.93,-0.28,255.60
$IRIDIUM_FIX,6225.82,-1254.73,270798,111155
$TT8_MAMPS,0.028379
$HUMID,1788
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.5,65.3
$24V_AH,23.2,53.674
$10V_AH,10.1,30.911
$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,26.925,153.575,349.800,0.000,0.000,25.052,26.430,145.173,5.750,0.000,0.000,15.312,1420.324,11497.370,465.303,1910.273,498.624,33.346,1428.441,0.000,1861.305,0.000,43.136,0.000
$DEVICE_MAMPS,161.070,96.642,1162.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,511.840,543.431,421.438,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37845,733
$CAP_FILE_SIZE,119856,0
$CFSIZE,260165632,238211072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020509,192545,6250.014,-1253.863,96,2.9,115,-11.9