version: 66.04
glider: 103
mission: 11
dive: 324
start: 5 3 109 18 3 46
data:
$ID,103
$MISSION,11
$DIVE,324
$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,-149275.31
$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,17
$R_STBD_OVSHOOT,11
$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
$GPS1,175355,6248.405,-1241.176,67,1.2,67,-11.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-60.2
$GPS2,180256,6248.479,-1241.014,15,1.2,15,-11.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.216,-0.111
$KALMAN_X,-70844.8,370.5,765.5,86270.5,-9962.6
$KALMAN_Y,8476.1,500.8,757.3,-13524.5,-1474.4
$MHEAD_RNG_PITCHd_Wd,128.9,23788,-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,-41.33,0.000,2,0.000,0.000,47,2678,3318
$GC,62,-1.42,-146.6,4.4,-12.5,2,85,11.77,2.15,-2.97,0.000,4,0.160,0.094,2122,3785,3503
$GC,335,-1.42,-146.6,44.0,-11.6,14,339,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2671,3503
$GC,670,-1.42,-146.6,81.5,-11.3,30,674,0.00,2.12,0.00,0.000,4,0.000,0.078,2122,3786,3503
$GC,703,-1.42,-146.6,85.6,-11.7,31,707,0.00,1.98,0.00,0.000,6,0.000,0.041,2122,2665,3503
$GC,1026,-1.42,-146.6,123.6,-12.0,47,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2665,3503
$GC,1334,-1.42,-146.6,160.3,-12.0,62,1338,0.00,2.15,0.00,0.000,4,0.000,0.077,2123,3793,3503
$GC,1457,-1.42,-146.6,176.1,-12.7,67,1461,0.00,1.98,0.00,0.000,6,0.000,0.039,2122,2662,3503
$GC,1779,-1.42,-146.6,214.9,-11.9,83,1783,0.00,2.12,0.00,0.000,4,0.000,0.076,2122,3786,3503
$GC,1885,-1.42,-146.6,228.0,-11.9,87,1891,0.00,1.95,0.00,0.000,6,0.000,0.039,2123,2669,3503
$GC,2201,-1.42,-146.6,263.3,-11.1,103,2205,0.00,2.12,0.00,0.000,4,0.000,0.078,2123,3786,3503
$GC,2241,-1.42,-146.6,267.9,-11.7,104,2247,0.00,1.95,0.00,0.000,6,0.000,0.040,2122,2673,3503
$GC,2557,-1.42,-146.6,302.5,-11.1,120,2560,0.00,2.10,0.00,0.000,4,0.000,0.077,2123,3790,3503
$GC,2618,-1.42,-146.6,309.4,-11.1,122,2625,0.00,1.95,0.00,0.000,6,0.000,0.039,2123,2673,3503
$GC,2934,-1.42,-146.6,340.7,-9.8,138,2938,0.00,2.12,0.00,0.000,4,0.000,0.080,2123,3789,3503
$GC,2996,-1.42,-146.6,347.1,-10.3,140,3002,0.00,1.98,0.00,0.000,6,0.000,0.039,2123,2675,3503
$GC,3313,-1.42,-146.6,377.0,-9.0,156,3316,0.00,2.12,0.00,0.000,4,0.000,0.081,2122,3791,3503
$GC,3381,-1.42,-146.6,383.7,-9.8,159,3385,0.00,1.98,0.00,0.000,6,0.000,0.041,2122,2663,3503
$GC,3714,-1.42,-146.6,417.0,-10.3,175,3718,0.00,2.15,0.00,0.000,4,0.000,0.081,2122,3790,3503
$GC,3794,-1.42,-146.6,425.4,-10.6,178,3798,0.00,1.95,0.00,0.000,6,0.000,0.040,2122,2670,3503
$GC,4115,-1.42,-146.6,457.7,-10.2,194,4119,0.00,2.15,0.00,0.000,4,0.000,0.084,2123,3793,3503
$GC,4171,-1.42,-146.6,463.8,-10.8,196,4175,0.00,1.98,0.00,0.000,6,0.000,0.043,2122,2671,3503
$GC,4493,-1.42,-146.6,498.0,-10.6,212,4497,0.00,2.12,0.00,0.000,4,0.000,0.081,2123,3785,3503
$GC,4554,-1.42,-146.6,504.6,-10.3,214,4560,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2664,3503
$GC,4870,-1.42,-146.6,536.7,-10.4,230,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2665,3503
$GC,5180,-1.42,-146.6,567.4,-9.5,245,5184,0.00,2.15,0.00,0.000,4,0.000,0.082,2123,3788,3503
$GC,5309,-1.42,-146.6,579.9,-9.2,250,5315,0.00,1.98,0.00,0.000,6,0.000,0.041,2123,2676,3503
$GC,5626,-1.42,-146.6,609.6,-9.6,266,5629,0.00,2.10,0.00,0.000,4,0.000,0.079,2123,3786,3503
$GC,5672,-1.42,-146.6,614.4,-10.8,268,5675,0.00,1.95,0.00,0.000,6,0.000,0.041,2122,2671,3503
$GC,6004,-1.42,-146.6,647.8,-10.0,284,6008,0.00,2.12,0.00,0.000,4,0.000,0.082,2123,3794,3503
$GC,6051,-1.42,-146.6,652.1,-9.6,286,6055,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2670,3503
$GC,6384,-1.42,-146.6,684.2,-9.5,302,6388,0.00,2.12,0.00,0.000,4,0.000,0.081,2123,3786,3502
$GC,6598,-1.42,-146.6,707.7,-10.3,311,6601,0.00,1.98,0.00,0.000,6,0.000,0.045,2122,2666,3502
$STATE,6710,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6710,begin apogee
$GC,6719,-0.42,0.0,720.3,11.3,317,6853,1.12,0.00,127.05,1.144,6,0.094,0.000,2348,2072,2902
$STATE,6854,end apogee,CONTROL_FINISHED_OK
$STATE,6854,begin climb
$GC,6857,1.42,146.6,727.9,0.0,324,6990,1.88,2.70,124.07,1.115,4,0.058,0.059,2748,3495,2304
$GC,7018,1.47,183.4,723.9,6.7,331,7057,0.00,2.58,32.53,1.067,6,0.000,0.042,2748,2064,2154
$GC,7377,1.52,222.3,700.9,6.6,349,7419,0.00,2.75,34.40,1.089,4,0.000,0.062,2747,3501,1995
$GC,7604,1.54,246.6,683.2,7.1,359,7633,0.12,2.55,21.55,1.067,6,0.047,0.043,2785,2076,1896
$GC,7950,1.54,246.6,650.8,10.9,376,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2076,1895
$GC,8260,1.54,246.6,619.0,9.6,391,8264,0.00,2.58,0.00,0.000,4,0.000,0.060,2785,665,1895
$GC,8322,1.54,246.6,612.6,9.7,394,8326,0.00,2.53,0.00,0.000,6,0.000,0.038,2785,2099,1894
$GC,8654,1.54,246.6,579.8,9.5,410,8658,0.00,2.62,0.00,0.000,4,0.000,0.057,2785,665,1894
$GC,8716,1.54,246.6,573.6,10.3,413,8721,0.00,2.47,0.00,0.000,6,0.000,0.036,2785,2080,1894
$GC,9044,1.54,246.6,543.3,9.2,429,9048,0.00,2.58,0.00,0.000,4,0.000,0.055,2785,663,1894
$GC,9139,1.54,246.6,534.5,9.5,433,9143,0.00,2.47,0.00,0.000,6,0.000,0.035,2785,2083,1894
$GC,9455,1.54,246.6,506.1,9.1,448,9459,0.00,2.58,0.00,0.000,4,0.000,0.054,2785,661,1894
$GC,9595,1.54,246.6,492.3,9.9,454,9599,0.00,2.47,0.00,0.000,6,0.000,0.035,2785,2082,1894
$GC,9911,1.54,246.6,461.8,9.6,469,9915,0.00,2.58,0.00,0.000,4,0.000,0.055,2785,659,1894
$GC,9979,1.54,246.6,455.0,10.3,472,9983,0.00,2.47,0.00,0.000,6,0.000,0.035,2785,2079,1894
$GC,10305,1.54,246.6,425.1,9.1,488,10309,0.00,2.58,0.00,0.000,4,0.000,0.055,2785,661,1895
$GC,10413,1.54,246.6,414.5,10.8,493,10417,0.00,2.47,0.00,0.000,6,0.000,0.036,2785,2081,1895
$GC,10739,1.54,246.6,383.2,9.7,509,10744,0.00,2.55,0.00,0.000,4,0.000,0.054,2785,669,1895
$GC,10840,1.54,246.6,372.9,10.8,513,10846,0.00,2.47,0.00,0.000,6,0.000,0.036,2785,2086,1895
$GC,11156,1.54,246.6,342.0,9.7,529,11161,0.00,2.58,0.00,0.000,4,0.000,0.055,2785,668,1896
$GC,11235,1.54,246.6,333.9,10.0,532,11241,0.00,2.47,0.00,0.000,6,0.000,0.037,2785,2081,1896
$GC,11551,1.54,246.6,304.1,9.4,548,11556,0.00,2.58,0.00,0.000,4,0.000,0.055,2785,659,1896
$GC,11659,1.54,246.6,293.3,10.3,553,11663,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2075,1896
$GC,11992,1.54,246.6,261.0,9.1,569,11996,0.00,2.55,0.00,0.000,4,0.000,0.057,2785,669,1896
$GC,12092,1.54,246.6,251.2,9.7,573,12098,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2080,1896
$GC,12408,1.54,246.6,222.7,9.0,589,12412,0.00,2.55,0.00,0.000,4,0.000,0.057,2785,666,1896
$GC,12499,1.54,246.6,214.2,9.7,593,12503,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2086,1896
$GC,12832,1.54,246.6,182.2,9.6,609,12836,0.00,2.60,0.00,0.000,4,0.000,0.058,2785,658,1897
$GC,12945,1.54,246.6,170.6,11.4,614,12949,0.00,2.50,0.00,0.000,6,0.000,0.040,2785,2080,1897
$GC,13266,1.54,246.6,138.5,9.9,630,13268,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2079,1897
$GC,13575,1.54,246.6,107.9,10.1,645,13580,0.00,2.58,0.00,0.000,4,0.000,0.059,2785,669,1897
$GC,13687,1.54,246.6,96.1,10.6,650,13692,0.00,2.47,0.00,0.000,6,0.000,0.039,2785,2078,1897
$GC,14010,1.54,246.6,63.5,10.3,666,14014,0.00,2.58,0.00,0.000,4,0.000,0.060,2785,669,1898
$GC,14162,1.54,246.6,48.2,9.5,673,14167,0.00,2.47,0.00,0.000,6,0.000,0.039,2785,2081,1898
$GC,14490,1.54,246.6,19.5,8.1,689,14495,0.00,2.58,0.00,0.000,4,0.000,0.058,2785,665,1898
$GC,14625,1.54,246.6,7.3,9.3,695,14629,0.00,2.53,0.00,0.000,6,0.000,0.046,2785,2078,1898
$STATE,14696,end climb,SURFACE_DEPTH_REACHED
$STATE,14696,begin surface coast
$FINISH,0.3,1.011057
$STATE,14718,end surface coast,CONTROL_FINISHED_OK
$STATE,14718,begin surface
$SM_CCo,14804,0.00,0.000,0,0,1898,246.28
$SM_GC,1.89,11.98,0.00,0.00,0.028,0.000,0.000,40,2680,1898,-10.94,0.14,246.28
$IRIDIUM_FIX,6225.82,-1244.50,280798,131345
$TT8_MAMPS,0.028379
$HUMID,1773
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.5,78.1
$24V_AH,23.2,54.443
$10V_AH,10.1,31.382
$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,26.875,150.175,339.600,0.000,0.000,28.566,28.048,353.179,5.500,0.000,0.000,15.162,1375.674,10907.085,432.740,1907.302,716.414,33.350,1397.095,0.000,1863.324,0.000,38.972,0.000
$DEVICE_MAMPS,160.303,93.574,1143.597,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.367,520.840,420.046,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34803,700
$CAP_FILE_SIZE,119850,0
$CFSIZE,260165632,237867008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030509,221154,6247.716,-1240.212,30,1.9,47,-11.7