version: 66.04
glider: 103
mission: 11
dive: 327
start: 5 4 109 6 43 16
data:
$ID,103
$MISSION,11
$DIVE,327
$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,-149338.23
$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,14
$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
$GPS1,063701,6247.897,-1236.206,41,1.2,41,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-56.1
$GPS2,064226,6247.921,-1236.177,14,1.2,14,-11.7
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.202,-0.135
$KALMAN_X,-81680.1,1255.0,803.8,100257.3,-14254.0
$KALMAN_Y,13741.3,-722.1,227.4,-18049.9,4035.0
$MHEAD_RNG_PITCHd_Wd,135.5,20110,-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,15,-1.42,-146.6,0.0,0.0,0,79,0.00,0.00,-61.38,0.000,2,0.000,0.000,47,2683,3464
$GC,82,-1.42,-146.6,5.2,-10.2,3,104,11.70,2.15,-0.57,0.000,4,0.157,0.094,2126,3782,3502
$GC,354,-1.42,-146.6,47.3,-11.3,15,358,0.00,1.98,0.00,0.000,6,0.000,0.051,2126,2680,3502
$GC,689,-1.42,-146.6,83.0,-10.8,31,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2680,3502
$GC,997,-1.42,-146.6,115.3,-9.8,46,1001,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3790,3502
$GC,1133,-1.42,-146.6,128.8,-9.7,52,1137,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2668,3502
$GC,1466,-1.42,-146.6,160.9,-9.8,68,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2668,3502
$GC,1775,-1.42,-146.6,192.3,-10.5,83,1779,0.00,2.15,0.00,0.000,4,0.000,0.081,2126,3789,3502
$GC,1866,-1.42,-146.6,202.0,-10.6,87,1870,0.00,1.98,0.00,0.000,6,0.000,0.046,2126,2674,3502
$GC,2199,-1.42,-146.6,234.5,-9.7,103,2203,0.00,2.12,0.00,0.000,4,0.000,0.082,2126,3783,3502
$GC,2250,-1.42,-146.6,239.7,-9.9,105,2253,0.00,1.98,0.00,0.000,6,0.000,0.047,2126,2673,3502
$GC,2577,-1.42,-146.6,271.6,-9.9,121,2581,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3786,3502
$GC,2633,-1.42,-146.6,277.6,-10.1,123,2637,0.00,1.98,0.00,0.000,6,0.000,0.048,2126,2674,3502
$GC,2955,-1.42,-146.6,310.9,-10.3,139,2958,0.00,2.12,0.00,0.000,4,0.000,0.080,2126,3790,3502
$GC,2994,-1.42,-146.6,315.0,-9.9,140,3000,0.00,2.00,0.00,0.000,6,0.000,0.048,2126,2660,3502
$GC,3310,-1.42,-146.6,344.7,-9.6,156,3314,0.00,2.15,0.00,0.000,4,0.000,0.079,2126,3790,3502
$GC,3379,-1.42,-146.6,351.5,-9.9,159,3383,0.00,2.00,0.00,0.000,6,0.000,0.046,2126,2664,3502
$GC,3712,-1.42,-146.6,383.8,-9.7,175,3715,0.00,2.12,0.00,0.000,4,0.000,0.078,2126,3783,3502
$GC,3758,-1.42,-146.6,388.5,-10.2,177,3761,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2665,3502
$GC,4091,-1.42,-146.6,423.0,-10.9,193,4094,0.00,2.12,0.00,0.000,4,0.000,0.077,2126,3787,3502
$GC,4159,-1.42,-146.6,430.7,-10.9,196,4163,0.00,1.98,0.00,0.000,6,0.000,0.044,2126,2670,3502
$GC,4492,-1.42,-146.6,465.5,-10.3,212,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2670,3502
$GC,4801,-1.42,-146.6,496.5,-9.8,227,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2669,3502
$GC,5111,-1.42,-146.6,525.4,-9.6,242,5115,0.00,2.12,0.00,0.000,4,0.000,0.079,2126,3790,3502
$GC,5252,-1.42,-146.6,539.3,-9.3,248,5255,0.00,1.98,0.00,0.000,6,0.000,0.043,2126,2670,3502
$GC,5579,-1.42,-146.6,570.4,-10.0,264,5583,0.00,2.12,0.00,0.000,4,0.000,0.081,2126,3784,3502
$GC,5626,-1.42,-146.6,575.4,-11.3,266,5630,0.00,1.98,0.00,0.000,6,0.000,0.043,2126,2662,3502
$GC,5959,-1.42,-146.6,611.8,-10.3,282,5963,0.00,2.15,0.00,0.000,4,0.000,0.084,2126,3790,3502
$GC,6050,-1.42,-146.6,621.8,-11.4,286,6054,0.00,1.98,0.00,0.000,6,0.000,0.046,2126,2667,3502
$GC,6383,-1.42,-146.6,653.3,-8.7,302,6387,0.00,2.15,0.00,0.000,4,0.000,0.086,2126,3786,3502
$GC,6417,-1.42,-146.6,656.5,-8.8,303,6420,0.00,1.98,0.00,0.000,6,0.000,0.045,2126,2666,3502
$GC,6738,-1.42,-146.6,685.6,-9.4,319,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2666,3502
$GC,7048,-1.42,-146.6,716.6,-10.4,334,7052,0.00,2.15,0.00,0.000,4,0.000,0.087,2126,3790,3502
$STATE,7113,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7113,begin apogee
$GC,7124,-0.42,0.0,723.1,9.6,337,7256,1.10,0.00,126.62,1.148,6,0.085,0.000,2350,2075,2902
$STATE,7257,end apogee,CONTROL_FINISHED_OK
$STATE,7257,begin climb
$GC,7260,1.42,146.6,729.0,0.0,344,7393,1.88,2.65,124.45,1.115,4,0.058,0.059,2751,658,2304
$GC,7655,1.51,214.9,718.1,5.5,362,7720,0.00,2.53,59.05,1.106,6,0.000,0.038,2751,2100,2026
$GC,8048,1.51,214.9,687.7,8.3,381,8053,0.00,2.55,0.00,0.000,4,0.000,0.063,2751,3488,2024
$GC,8246,1.51,214.9,669.2,9.6,390,8250,0.00,2.55,0.00,0.000,6,0.000,0.041,2751,2055,2024
$GC,8573,1.51,214.9,641.0,8.5,406,8577,0.00,2.53,0.00,0.000,4,0.000,0.059,2751,661,2023
$GC,8628,1.51,214.9,636.0,8.6,408,8635,0.00,2.47,0.00,0.000,6,0.000,0.038,2751,2072,2023
$GC,8945,1.52,229.0,611.0,7.5,424,8967,0.00,2.65,12.90,1.012,4,0.000,0.058,2751,671,1968
$GC,9052,1.54,245.0,603.2,7.4,428,9072,0.12,2.47,14.77,1.014,6,0.043,0.037,2795,2078,1903
$GC,9388,1.54,245.0,572.4,9.8,445,9393,0.00,2.58,0.00,0.000,4,0.000,0.056,2795,669,1903
$GC,9451,1.54,245.0,565.8,10.8,448,9456,0.00,2.47,0.00,0.000,6,0.000,0.037,2795,2082,1903
$GC,9778,1.54,245.0,532.9,10.2,464,9783,0.00,2.58,0.00,0.000,4,0.000,0.056,2795,668,1903
$GC,9969,1.54,245.0,513.6,9.6,472,9975,0.00,2.47,0.00,0.000,6,0.000,0.036,2795,2084,1903
$GC,10285,1.54,245.0,486.0,8.5,488,10290,0.00,2.58,0.00,0.000,4,0.000,0.055,2795,665,1903
$GC,10498,1.54,245.0,466.5,8.9,497,10504,0.00,2.47,0.00,0.000,6,0.000,0.036,2795,2081,1903
$GC,10814,1.54,245.0,435.4,10.2,513,10818,0.00,2.58,0.00,0.000,4,0.000,0.054,2795,659,1903
$GC,10931,1.54,245.0,422.3,11.1,518,10935,0.00,2.47,0.00,0.000,6,0.000,0.036,2795,2077,1903
$GC,11247,1.54,245.0,390.0,9.9,533,11251,0.00,2.55,0.00,0.000,4,0.000,0.055,2795,669,1903
$GC,11383,1.54,245.0,376.7,9.7,539,11387,0.00,2.47,0.00,0.000,6,0.000,0.036,2795,2086,1904
$GC,11710,1.54,245.0,346.7,9.1,555,11714,0.00,2.58,0.00,0.000,4,0.000,0.055,2795,668,1904
$GC,11821,1.54,245.0,335.9,9.8,560,11826,0.00,2.47,0.00,0.000,6,0.000,0.037,2795,2083,1904
$GC,12143,1.54,245.0,306.4,9.6,576,12148,0.00,2.58,0.00,0.000,4,0.000,0.056,2795,663,1904
$GC,12278,1.54,245.0,292.5,9.8,582,12283,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2077,1904
$GC,12600,1.54,245.0,262.2,9.0,598,12604,0.00,2.58,0.00,0.000,4,0.000,0.057,2795,661,1905
$GC,12695,1.54,245.0,252.9,9.9,602,12699,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2074,1905
$GC,13011,1.54,245.0,224.1,9.0,617,13015,0.00,2.55,0.00,0.000,4,0.000,0.057,2795,662,1905
$GC,13145,1.54,245.0,210.8,9.7,623,13149,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2075,1905
$GC,13466,1.54,245.0,182.3,8.7,639,13470,0.00,2.55,0.00,0.000,4,0.000,0.057,2795,668,1905
$GC,13583,1.54,245.0,171.3,9.7,644,13587,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2080,1905
$GC,13900,1.54,245.0,143.6,8.8,659,13904,0.00,2.58,0.00,0.000,4,0.000,0.058,2795,666,1905
$GC,14030,1.54,245.0,131.3,10.1,665,14034,0.00,2.47,0.00,0.000,6,0.000,0.038,2795,2078,1905
$GC,14358,1.54,245.0,101.6,8.5,681,14362,0.00,2.58,0.00,0.000,4,0.000,0.058,2795,668,1905
$GC,14541,1.54,245.0,84.2,9.4,689,14546,0.00,2.47,0.00,0.000,6,0.000,0.039,2795,2078,1905
$GC,14859,1.54,245.0,55.5,8.1,704,14864,0.00,2.58,0.00,0.000,4,0.000,0.059,2795,669,1906
$GC,14961,1.55,249.0,47.2,7.9,708,14971,0.00,2.45,5.55,0.588,6,0.000,0.038,2795,2076,1887
$GC,15294,1.58,273.2,16.2,7.1,725,15320,0.00,2.67,20.75,0.686,4,0.000,0.067,2795,670,1787
$STATE,15433,end climb,SURFACE_DEPTH_REACHED
$STATE,15433,begin surface coast
$FINISH,1.1,1.027409
$STATE,15436,end surface coast,CONTROL_FINISHED_OK
$STATE,15437,begin surface
$SM_CCo,15525,0.00,0.000,0,0,1786,273.75
$SM_GC,1.52,12.23,0.00,0.00,0.035,0.000,0.000,53,2668,1786,-10.92,-0.20,273.75
$IRIDIUM_FIX,6221.17,-1243.46,290798,020222
$TT8_MAMPS,0.028379
$HUMID,1788
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,626.4,106.6
$24V_AH,23.2,54.891
$10V_AH,10.1,31.612
$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,27.025,151.275,364.100,0.000,0.000,30.462,29.377,141.547,5.250,0.000,0.000,14.721,1444.922,11360.405,459.448,2074.846,506.834,33.349,1489.009,0.000,2021.112,0.000,40.047,0.000
$DEVICE_MAMPS,157.235,93.574,1148.199,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,507.751,539.006,438.670,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37947,731
$CAP_FILE_SIZE,121764,0
$CFSIZE,260165632,237703168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040509,110337,6246.605,-1237.047,59,1.3,59,-11.7