version: 66.04
glider: 103
mission: 11
dive: 326
start: 5 4 109 2 56 9
data:
$ID,103
$MISSION,11
$DIVE,326
$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,-149322.89
$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,26
$R_STBD_OVSHOOT,8
$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
$GPS1,023707,6248.275,-1238.397,36,1.2,36,-11.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-60.7
$GPS2,025520,6248.463,-1238.381,14,1.4,14,-11.7
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.209,-0.123
$KALMAN_X,-79768.4,1385.9,927.8,96247.8,-14300.6
$KALMAN_Y,11521.6,-235.5,-86.4,-14983.7,1897.8
$MHEAD_RNG_PITCHd_Wd,132.2,22136,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-40.75,0.000,2,0.000,0.000,38,2670,3128
$GC,62,-1.42,-146.6,3.6,-9.7,2,86,11.90,2.20,-6.43,0.000,4,0.162,0.093,2124,3790,3503
$GC,193,-1.42,-146.6,26.3,-10.3,7,200,0.00,2.03,0.00,0.000,6,0.000,0.051,2125,2668,3504
$GC,511,-1.42,-146.6,62.0,-12.0,23,515,0.00,2.17,0.00,0.000,4,0.000,0.086,2124,3789,3503
$GC,561,-1.42,-146.6,68.2,-11.5,25,565,0.00,2.00,0.00,0.000,6,0.000,0.047,2124,2668,3503
$GC,889,-1.42,-146.6,105.2,-10.8,41,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2668,3503
$GC,1198,-1.42,-146.6,139.5,-11.3,56,1202,0.00,2.17,0.00,0.000,4,0.000,0.087,2125,3790,3503
$GC,1304,-1.42,-146.6,152.1,-12.6,60,1310,0.00,2.00,0.00,0.000,6,0.000,0.045,2124,2656,3503
$GC,1620,-1.42,-146.6,185.8,-10.6,76,1624,0.00,2.17,0.00,0.000,4,0.000,0.082,2124,3789,3503
$GC,1666,-1.42,-146.6,191.1,-11.7,78,1670,0.00,1.98,0.00,0.000,6,0.000,0.045,2125,2676,3503
$GC,1999,-1.42,-146.6,228.7,-10.9,94,2003,0.00,2.12,0.00,0.000,4,0.000,0.081,2125,3789,3503
$GC,2046,-1.42,-146.6,234.1,-12.1,96,2049,0.00,1.98,0.00,0.000,6,0.000,0.045,2124,2674,3503
$GC,2378,-1.42,-146.6,271.2,-10.9,112,2382,0.00,2.15,0.00,0.000,4,0.000,0.083,2124,3794,3502
$GC,2447,-1.42,-146.6,278.9,-11.8,115,2451,0.00,1.98,0.00,0.000,6,0.000,0.044,2124,2673,3503
$GC,2780,-1.42,-146.6,313.7,-10.4,131,2784,0.00,2.15,0.00,0.000,4,0.000,0.084,2124,3791,3502
$GC,2864,-1.42,-146.6,322.6,-10.6,134,2870,0.00,2.00,0.00,0.000,6,0.000,0.047,2125,2663,3503
$GC,3181,-1.42,-146.6,352.6,-9.4,150,3184,0.00,2.15,0.00,0.000,4,0.000,0.082,2124,3789,3503
$GC,3214,-1.42,-146.6,356.0,-9.8,151,3218,0.00,1.98,0.00,0.000,6,0.000,0.046,2124,2672,3503
$GC,3535,-1.42,-146.6,385.3,-9.2,167,3539,0.00,2.12,0.00,0.000,4,0.000,0.081,2125,3788,3503
$GC,3569,-1.42,-146.6,388.5,-9.7,168,3573,0.00,1.98,0.00,0.000,6,0.000,0.044,2125,2668,3503
$GC,3891,-1.42,-146.6,418.8,-9.6,184,3894,0.00,2.15,0.00,0.000,4,0.000,0.081,2124,3791,3503
$GC,3986,-1.42,-146.6,428.5,-10.1,188,3990,0.00,1.98,0.00,0.000,6,0.000,0.042,2124,2667,3503
$GC,4314,-1.42,-146.6,459.8,-9.4,204,4317,0.00,2.15,0.00,0.000,4,0.000,0.078,2124,3797,3503
$GC,4364,-1.42,-146.6,464.9,-9.9,206,4368,0.00,1.98,0.00,0.000,6,0.000,0.042,2124,2671,3503
$GC,4691,-1.42,-146.6,495.9,-9.6,222,4695,0.00,2.15,0.00,0.000,4,0.000,0.081,2125,3794,3502
$GC,4753,-1.42,-146.6,501.9,-9.5,224,4759,0.00,1.98,0.00,0.000,6,0.000,0.043,2124,2671,3502
$GC,5069,-1.42,-146.6,530.2,-8.8,240,5073,0.00,2.12,0.00,0.000,4,0.000,0.080,2124,3789,3502
$GC,5108,-1.42,-146.6,534.0,-9.9,241,5114,0.00,1.98,0.00,0.000,6,0.000,0.042,2125,2665,3502
$GC,5424,-1.42,-146.6,562.2,-9.1,257,5428,0.00,2.15,0.00,0.000,4,0.000,0.082,2125,3787,3502
$GC,5553,-1.42,-146.6,574.2,-8.8,262,5559,0.00,1.98,0.00,0.000,6,0.000,0.044,2125,2668,3502
$GC,5871,-1.42,-146.6,600.8,-8.5,278,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2668,3502
$GC,6179,-1.42,-146.6,628.9,-10.1,293,6182,0.00,2.15,0.00,0.000,4,0.000,0.086,2124,3788,3502
$GC,6337,-1.42,-146.6,645.3,-10.4,300,6340,0.00,1.98,0.00,0.000,6,0.000,0.044,2124,2667,3502
$GC,6670,-1.42,-146.6,676.7,-9.6,316,6674,0.00,2.17,0.00,0.000,4,0.000,0.087,2125,3796,3502
$GC,6929,-1.42,-146.6,702.1,-9.6,327,6932,0.00,2.00,0.00,0.000,6,0.000,0.045,2125,2666,3501
$STATE,7082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7082,begin apogee
$GC,7091,-0.42,0.0,716.6,9.0,335,7225,1.15,0.00,127.03,1.145,6,0.108,0.000,2347,2079,2902
$STATE,7226,end apogee,CONTROL_FINISHED_OK
$STATE,7226,begin climb
$GC,7229,1.42,146.6,722.4,0.0,342,7362,1.85,2.75,124.00,1.115,4,0.053,0.072,2747,655,2304
$GC,7424,1.69,362.7,723.5,0.1,351,7617,0.28,2.65,183.12,1.106,6,0.051,0.056,2807,2088,1423
$GC,7934,1.69,362.7,685.0,11.5,376,7938,0.00,2.62,0.00,0.000,4,0.000,0.068,2807,3492,1422
$GC,8001,1.69,362.7,677.0,11.7,379,8005,0.00,2.55,0.00,0.000,6,0.000,0.042,2808,2063,1422
$GC,8322,1.69,362.7,638.5,12.9,395,8326,0.00,2.55,0.00,0.000,4,0.000,0.059,2807,666,1421
$GC,8355,1.69,362.7,633.6,14.6,396,8362,0.00,2.53,0.00,0.000,6,0.000,0.041,2808,2085,1421
$GC,8671,1.69,362.7,591.0,13.9,412,8676,0.00,2.60,0.00,0.000,4,0.000,0.058,2808,668,1421
$GC,8716,1.69,362.7,584.7,14.5,414,8720,0.00,2.50,0.00,0.000,6,0.000,0.040,2808,2078,1421
$GC,9037,1.69,362.7,543.0,12.7,430,9042,0.00,2.58,0.00,0.000,4,0.000,0.056,2808,667,1420
$GC,9105,1.69,362.7,533.8,13.7,433,9109,0.00,2.50,0.00,0.000,6,0.000,0.038,2808,2085,1421
$GC,9432,1.69,362.7,491.7,13.2,449,9436,0.00,2.60,0.00,0.000,4,0.000,0.056,2808,658,1420
$GC,9539,1.69,362.7,477.5,13.3,454,9543,0.00,2.50,0.00,0.000,6,0.000,0.039,2808,2084,1420
$GC,9872,1.69,362.7,433.6,12.8,470,9876,0.00,2.60,0.00,0.000,4,0.000,0.056,2807,657,1420
$GC,9944,1.69,362.7,423.6,13.5,473,9949,0.00,2.50,0.00,0.000,6,0.000,0.038,2808,2076,1420
$GC,10261,1.69,362.7,382.2,13.2,488,10265,0.00,2.58,0.00,0.000,4,0.000,0.056,2808,663,1421
$GC,10338,1.69,362.7,371.0,15.4,491,10345,0.00,2.50,0.00,0.000,6,0.000,0.040,2808,2079,1421
$GC,10655,1.69,362.7,328.6,13.1,507,10659,0.00,2.58,0.00,0.000,4,0.000,0.057,2808,665,1421
$GC,10762,1.69,362.7,314.4,13.0,512,10766,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2083,1421
$GC,11095,1.69,362.7,272.2,13.2,528,11099,0.00,2.60,0.00,0.000,4,0.000,0.058,2808,658,1421
$GC,11202,1.69,362.7,257.5,13.9,533,11206,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2075,1421
$GC,11534,1.69,362.7,213.9,13.2,549,11539,0.00,2.58,0.00,0.000,4,0.000,0.058,2808,661,1422
$GC,11620,1.69,362.7,202.2,13.6,553,11624,0.00,2.53,0.00,0.000,6,0.000,0.042,2808,2086,1422
$GC,11946,1.69,362.7,155.5,14.7,569,11951,0.00,2.60,0.00,0.000,4,0.000,0.058,2807,662,1422
$GC,12042,1.69,362.7,141.5,14.2,573,12046,0.00,2.53,0.00,0.000,6,0.000,0.042,2808,2085,1422
$GC,12360,1.69,362.7,97.0,13.9,588,12364,0.00,2.60,0.00,0.000,4,0.000,0.060,2808,666,1422
$GC,12445,1.69,362.7,85.3,12.8,592,12449,0.00,2.50,0.00,0.000,6,0.000,0.042,2808,2078,1422
$GC,12772,1.69,362.7,42.4,13.4,608,12776,0.00,2.60,0.00,0.000,4,0.000,0.063,2808,668,1423
$GC,12906,1.69,362.7,23.7,14.1,614,12910,0.00,2.50,0.00,0.000,6,0.000,0.041,2808,2084,1423
$STATE,13067,end climb,SURFACE_DEPTH_REACHED
$STATE,13067,begin surface coast
$FINISH,0.2,1.010834
$STATE,13088,end surface coast,CONTROL_FINISHED_OK
$STATE,13088,begin surface
$SM_CCo,13173,0.00,0.000,0,0,1421,363.04
$SM_GC,1.05,12.05,0.00,0.00,0.026,0.000,0.000,47,2678,1421,-10.93,0.11,363.04
$IRIDIUM_FIX,6225.82,-1234.28,290798,020213
$TT8_MAMPS,0.028379
$HUMID,1790
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,651.4,74.6
$24V_AH,23.0,54.767
$10V_AH,10.1,31.534
$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,27.225,140.175,434.150,0.000,0.000,101.968,112.172,553.901,5.500,0.000,0.000,14.330,1213.372,9812.657,486.393,1688.927,1059.188,33.350,1366.449,0.000,1639.014,0.000,41.802,0.000
$DEVICE_MAMPS,161.837,92.807,1145.131,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,435.941,458.382,367.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31657,623
$CAP_FILE_SIZE,114807,0
$CFSIZE,260165632,237760512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040509,063701,6247.897,-1236.206,41,1.2,41,-11.7