version: 66.04
glider: 103
mission: 11
dive: 323
start: 5 3 109 13 34 16
data:
$ID,103
$MISSION,11
$DIVE,323
$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,-149259.53
$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,27
$R_STBD_OVSHOOT,12
$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
$GPS1,132755,6248.315,-1243.722,40,1.7,40,-11.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-61.0
$GPS2,133326,6248.363,-1243.714,13,1.7,13,-11.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.222,-0.099
$KALMAN_X,-68446.4,516.8,637.1,81588.5,-11143.9
$KALMAN_Y,6388.1,521.0,-239.0,-10641.0,-1514.8
$MHEAD_RNG_PITCHd_Wd,125.9,25427,-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,-146.6,0.0,0.0,0,61,0.00,0.00,-41.10,0.000,2,0.000,0.000,46,2686,3200
$GC,64,-1.42,-146.6,3.7,-9.5,2,88,11.80,2.08,-5.18,0.000,4,0.160,0.094,2126,3784,3502
$GC,340,-1.42,-146.6,42.4,-12.6,14,344,0.00,1.98,0.00,0.000,6,0.000,0.046,2126,2674,3502
$GC,669,-1.42,-146.6,79.7,-11.6,30,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2674,3502
$GC,978,-1.42,-146.6,114.6,-11.8,45,981,0.00,2.12,0.00,0.000,4,0.000,0.080,2126,3786,3502
$GC,1039,-1.42,-146.6,122.3,-12.7,47,1046,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2658,3502
$GC,1355,-1.42,-146.6,156.8,-10.5,63,1359,0.00,2.17,0.00,0.000,4,0.000,0.083,2126,3789,3502
$GC,1417,-1.42,-146.6,163.6,-11.4,65,1423,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2655,3502
$GC,1733,-1.42,-146.6,197.3,-11.1,81,1736,0.00,2.17,0.00,0.000,4,0.000,0.084,2126,3785,3502
$GC,1806,-1.42,-146.6,205.5,-11.2,84,1810,0.00,1.98,0.00,0.000,6,0.000,0.048,2126,2673,3502
$GC,2133,-1.42,-146.6,239.5,-10.4,100,2137,0.00,2.12,0.00,0.000,4,0.000,0.084,2126,3786,3502
$GC,2174,-1.42,-146.6,244.1,-11.6,101,2180,0.00,1.98,0.00,0.000,6,0.000,0.046,2126,2672,3502
$GC,2490,-1.42,-146.6,278.7,-11.4,117,2493,0.00,2.15,0.00,0.000,4,0.000,0.083,2126,3792,3502
$GC,2546,-1.42,-146.6,285.5,-12.1,119,2550,0.00,2.00,0.00,0.000,6,0.000,0.047,2126,2666,3502
$GC,2868,-1.42,-146.6,320.4,-10.9,135,2871,0.00,2.15,0.00,0.000,4,0.000,0.086,2126,3785,3502
$GC,2929,-1.42,-146.6,327.2,-11.4,137,2935,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2662,3502
$GC,3246,-1.42,-146.6,361.3,-10.8,153,3249,0.00,2.15,0.00,0.000,4,0.000,0.083,2126,3786,3502
$GC,3315,-1.42,-146.6,368.9,-11.4,156,3319,0.00,1.98,0.00,0.000,6,0.000,0.048,2126,2675,3502
$GC,3647,-1.42,-146.6,405.9,-11.0,172,3651,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3792,3502
$GC,3682,-1.42,-146.6,409.9,-11.7,173,3685,0.00,2.00,0.00,0.000,6,0.000,0.046,2126,2662,3502
$GC,4003,-1.42,-146.6,445.8,-11.1,189,4007,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3789,3502
$GC,4037,-1.42,-146.6,449.7,-11.6,190,4041,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2671,3502
$GC,4358,-1.42,-146.6,485.2,-11.2,206,4362,0.00,2.15,0.00,0.000,4,0.000,0.085,2126,3787,3502
$GC,4409,-1.42,-146.6,491.1,-11.7,208,4413,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2666,3502
$GC,4737,-1.42,-146.6,526.1,-10.3,224,4740,0.00,2.15,0.00,0.000,4,0.000,0.084,2126,3786,3502
$GC,4861,-1.42,-146.6,539.5,-10.4,229,4864,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2667,3502
$GC,5182,-1.42,-146.6,572.1,-10.4,245,5186,0.00,2.15,0.00,0.000,4,0.000,0.085,2126,3786,3502
$GC,5234,-1.42,-146.6,577.5,-10.5,247,5237,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2665,3502
$GC,5561,-1.42,-146.6,609.9,-10.0,263,5564,0.00,2.15,0.00,0.000,4,0.000,0.084,2126,3785,3502
$GC,5656,-1.42,-146.6,619.9,-10.8,267,5660,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2666,3502
$GC,5986,-1.42,-146.6,650.8,-9.5,283,5991,0.00,2.53,0.00,0.000,4,0.000,0.061,2126,1265,3502
$GC,6009,-1.42,-146.6,653.5,-10.2,284,6013,0.00,2.62,0.00,0.000,6,0.000,0.066,2126,2678,3502
$GC,6330,-1.42,-146.6,684.3,-9.4,300,6333,0.00,2.10,0.00,0.000,4,0.000,0.083,2126,3796,3501
$GC,6582,-1.42,-146.6,709.2,-10.7,311,6585,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2667,3501
$STATE,6741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6741,begin apogee
$GC,6749,-0.42,0.0,723.6,8.4,319,6884,1.12,0.00,127.22,1.144,6,0.106,0.000,2344,2071,2901
$STATE,6885,end apogee,CONTROL_FINISHED_OK
$STATE,6885,begin climb
$GC,6889,1.42,146.6,728.2,0.0,326,7022,1.90,2.67,124.05,1.117,4,0.061,0.061,2748,668,2304
$GC,7280,1.42,146.6,717.0,8.4,343,7286,0.00,2.53,0.00,0.000,6,0.000,0.038,2748,2097,2303
$GC,7596,1.51,214.4,699.3,5.5,359,7660,0.00,2.78,58.22,1.128,4,0.000,0.061,2748,663,2028
$GC,7806,1.51,214.4,683.1,8.8,368,7810,0.00,2.53,0.00,0.000,6,0.000,0.041,2748,2084,2027
$GC,8122,1.54,240.8,660.9,7.0,383,8148,0.12,0.00,23.30,1.095,6,0.046,0.000,2789,2085,1920
$GC,8451,1.54,240.8,631.7,8.8,399,8455,0.00,2.60,0.00,0.000,4,0.000,0.058,2788,662,1919
$GC,8602,1.54,240.8,618.2,8.7,405,8608,0.00,2.47,0.00,0.000,6,0.000,0.038,2789,2077,1919
$GC,8918,1.54,240.8,590.7,9.1,421,8923,0.00,2.60,0.00,0.000,4,0.000,0.055,2789,653,1919
$GC,9004,1.54,240.8,582.4,9.6,425,9008,0.00,2.50,0.00,0.000,6,0.000,0.035,2789,2081,1919
$GC,9331,1.54,240.8,553.5,8.8,441,9335,0.00,2.60,0.00,0.000,4,0.000,0.055,2789,655,1919
$GC,9416,1.54,240.8,545.5,9.4,445,9420,0.00,2.47,0.00,0.000,6,0.000,0.036,2789,2081,1919
$GC,9743,1.54,240.8,515.4,9.6,461,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2082,1919
$GC,10052,1.54,240.8,486.4,9.1,476,10056,0.00,2.58,0.00,0.000,4,0.000,0.054,2789,660,1919
$GC,10147,1.54,240.8,477.3,9.2,480,10151,0.00,2.47,0.00,0.000,6,0.000,0.035,2789,2078,1919
$GC,10463,1.54,240.8,446.9,9.8,495,10467,0.00,2.58,0.00,0.000,4,0.000,0.055,2789,655,1919
$GC,10525,1.54,240.8,440.6,10.4,498,10529,0.00,2.47,0.00,0.000,6,0.000,0.035,2789,2076,1919
$GC,10852,1.54,240.8,411.2,8.8,514,10856,0.00,2.58,0.00,0.000,4,0.000,0.054,2789,656,1920
$GC,11022,1.54,240.8,395.0,9.3,521,11028,0.00,2.50,0.00,0.000,6,0.000,0.037,2789,2085,1920
$GC,11338,1.54,240.8,367.8,8.5,537,11343,0.00,2.60,0.00,0.000,4,0.000,0.054,2789,651,1920
$GC,11394,1.54,240.8,362.7,9.1,539,11400,0.00,2.50,0.00,0.000,6,0.000,0.036,2789,2083,1920
$GC,11710,1.54,240.8,335.1,9.3,555,11714,0.00,2.60,0.00,0.000,4,0.000,0.055,2789,650,1921
$GC,11828,1.54,240.8,324.0,8.9,560,11832,0.00,2.50,0.00,0.000,6,0.000,0.037,2789,2078,1921
$GC,12149,1.54,240.8,296.5,8.7,576,12154,0.00,2.58,0.00,0.000,4,0.000,0.056,2789,659,1921
$GC,12234,1.54,240.8,288.6,9.5,580,12238,0.00,2.47,0.00,0.000,6,0.000,0.038,2789,2083,1921
$GC,12568,1.54,240.8,259.7,8.4,596,12572,0.00,2.60,0.00,0.000,4,0.000,0.056,2789,652,1921
$GC,12668,1.54,240.8,250.2,10.1,600,12675,0.00,2.50,0.00,0.000,6,0.000,0.038,2789,2085,1921
$GC,12985,1.54,240.8,223.1,8.2,616,12989,0.00,2.60,0.00,0.000,4,0.000,0.058,2789,651,1922
$GC,13046,1.54,240.8,217.5,9.2,618,13052,0.00,2.50,0.00,0.000,6,0.000,0.038,2789,2078,1922
$GC,13362,1.54,240.8,189.8,8.9,634,13366,0.00,2.58,0.00,0.000,4,0.000,0.057,2789,660,1922
$GC,13457,1.54,240.8,180.5,9.2,638,13462,0.00,2.50,0.00,0.000,6,0.000,0.038,2789,2084,1922
$GC,13773,1.54,240.8,150.4,9.5,653,13777,0.00,2.60,0.00,0.000,4,0.000,0.058,2789,655,1923
$GC,13828,1.54,240.8,144.9,9.8,655,13833,0.00,2.50,0.00,0.000,6,0.000,0.038,2789,2084,1922
$GC,14145,1.54,240.8,116.6,8.9,670,14149,0.00,2.60,0.00,0.000,4,0.000,0.058,2789,655,1922
$GC,14230,1.54,240.8,108.3,10.5,674,14235,0.00,2.50,0.00,0.000,6,0.000,0.038,2789,2081,1923
$GC,14557,1.54,240.8,77.8,8.9,690,14562,0.00,2.60,0.00,0.000,4,0.000,0.059,2789,656,1923
$GC,14736,1.54,240.8,60.7,10.3,698,14740,0.00,2.50,0.00,0.000,6,0.000,0.040,2789,2081,1923
$GC,15063,1.54,240.8,29.1,9.1,714,15067,0.00,2.60,0.00,0.000,4,0.000,0.061,2789,662,1923
$GC,15153,1.54,240.8,20.1,9.8,718,15157,0.00,2.50,0.00,0.000,6,0.000,0.041,2789,2078,1923
$STATE,15368,end climb,SURFACE_DEPTH_REACHED
$STATE,15368,begin surface coast
$FINISH,0.4,1.020727
$STATE,15390,end surface coast,CONTROL_FINISHED_OK
$STATE,15390,begin surface
$SM_CCo,15475,0.00,0.000,0,0,1923,240.15
$SM_GC,1.86,12.00,0.00,0.00,0.028,0.000,0.000,47,2674,1923,-10.93,-0.03,240.15
$IRIDIUM_FIX,6221.17,-1243.46,280798,090911
$TT8_MAMPS,0.029146
$HUMID,1778
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,650.8,81.3
$24V_AH,23.3,54.311
$10V_AH,10.1,31.305
$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,26.950,161.100,332.800,0.000,0.000,29.864,26.496,143.961,6.000,0.000,0.000,13.880,1428.207,11412.058,436.673,1991.836,531.995,33.349,1434.362,0.000,1940.546,0.000,38.989,0.000
$DEVICE_MAMPS,160.303,93.574,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.543,535.131,435.170,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37994,730
$CAP_FILE_SIZE,122400,0
$CFSIZE,260165632,237920256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030509,175355,6248.405,-1241.176,67,1.2,67,-11.8