version: 66.04
glider: 103
mission: 11
dive: 329
start: 5 4 109 15 45 18
data:
$ID,103
$MISSION,11
$DIVE,329
$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,-149373.16
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,153507,6246.945,-1237.273,87,1.7,87,-11.7
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-53.1
$GPS2,154426,6246.949,-1237.210,16,1.8,16,-11.7
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.107
$KALMAN_X,-91265.4,966.0,808.7,109269.6,-15158.8
$KALMAN_Y,12990.6,-300.4,-289.3,-18974.8,1605.7
$MHEAD_RNG_PITCHd_Wd,127.7,19489,-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,-41.55,0.000,2,0.000,0.000,53,2684,3250
$GC,62,-1.42,-146.6,4.1,-11.0,2,85,11.68,2.65,-4.05,0.000,4,0.158,0.073,2123,1252,3501
$GC,339,-1.42,-146.6,45.5,-11.0,14,344,0.00,2.65,0.00,0.000,6,0.000,0.067,2123,2669,3501
$GC,660,-1.42,-146.6,79.6,-10.6,30,665,0.00,2.60,0.00,0.000,4,0.000,0.061,2123,1256,3501
$GC,772,-1.42,-146.6,91.4,-10.7,35,777,0.00,2.67,0.00,0.000,6,0.000,0.070,2123,2679,3501
$GC,1095,-1.42,-146.6,123.2,-10.1,51,1098,0.00,2.10,0.00,0.000,4,0.000,0.084,2123,3786,3501
$GC,1187,-1.42,-146.6,133.7,-11.6,55,1191,0.00,2.00,0.00,0.000,6,0.000,0.048,2123,2662,3501
$GC,1520,-1.42,-146.6,170.7,-11.0,71,1524,0.00,2.12,0.00,0.000,4,0.000,0.079,2123,3786,3501
$GC,1567,-1.42,-146.6,175.9,-11.1,73,1570,0.00,1.98,0.00,0.000,6,0.000,0.047,2123,2672,3501
$GC,1899,-1.42,-146.6,213.0,-11.1,89,1903,0.00,2.12,0.00,0.000,4,0.000,0.081,2123,3789,3501
$GC,1961,-1.42,-146.6,220.1,-11.2,91,1967,0.00,2.00,0.00,0.000,6,0.000,0.048,2123,2663,3501
$GC,2277,-1.42,-146.6,253.5,-10.3,107,2281,0.00,2.15,0.00,0.000,4,0.000,0.082,2123,3789,3501
$GC,2328,-1.42,-146.6,259.5,-11.0,109,2331,0.00,2.00,0.00,0.000,6,0.000,0.049,2123,2664,3501
$GC,2655,-1.42,-146.6,294.6,-10.7,125,2658,0.00,2.15,0.00,0.000,4,0.000,0.082,2123,3790,3501
$GC,2694,-1.42,-146.6,299.0,-11.2,126,2700,0.00,1.98,0.00,0.000,6,0.000,0.048,2123,2675,3501
$GC,3010,-1.42,-146.6,331.6,-10.2,142,3014,0.00,2.12,0.00,0.000,4,0.000,0.081,2123,3788,3501
$GC,3060,-1.42,-146.6,337.1,-10.9,144,3064,0.00,1.98,0.00,0.000,6,0.000,0.048,2123,2671,3501
$GC,3388,-1.42,-146.6,370.1,-10.1,160,3392,0.00,2.12,0.00,0.000,4,0.000,0.081,2123,3786,3501
$GC,3450,-1.42,-146.6,376.7,-10.3,162,3456,0.00,1.98,0.00,0.000,6,0.000,0.045,2123,2664,3501
$GC,3766,-1.42,-146.6,409.3,-10.4,178,3770,0.00,2.15,0.00,0.000,4,0.000,0.081,2123,3793,3501
$GC,3812,-1.42,-146.6,414.2,-10.4,180,3816,0.00,1.98,0.00,0.000,6,0.000,0.047,2123,2676,3500
$GC,4145,-1.42,-146.6,447.0,-9.7,196,4149,0.00,2.12,0.00,0.000,4,0.000,0.080,2123,3796,3500
$GC,4195,-1.42,-146.6,452.3,-10.0,198,4199,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2674,3501
$GC,4523,-1.42,-146.6,481.9,-8.8,214,4526,0.00,2.12,0.00,0.000,4,0.000,0.081,2123,3792,3500
$GC,4569,-1.42,-146.6,486.2,-9.2,216,4573,0.00,1.95,0.00,0.000,6,0.000,0.045,2123,2671,3500
$GC,4902,-1.42,-146.6,517.5,-10.0,232,4905,0.00,2.15,0.00,0.000,4,0.000,0.083,2123,3796,3501
$GC,4963,-1.42,-146.6,524.2,-10.9,234,4969,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2674,3500
$GC,5279,-1.42,-146.6,557.3,-10.3,250,5283,0.00,2.12,0.00,0.000,4,0.000,0.082,2123,3790,3501
$GC,5330,-1.42,-146.6,562.8,-10.8,252,5334,0.00,1.95,0.00,0.000,6,0.000,0.042,2123,2665,3500
$GC,5657,-1.42,-146.6,595.5,-9.7,268,5661,0.00,2.15,0.00,0.000,4,0.000,0.082,2123,3790,3500
$GC,5752,-1.42,-146.6,604.9,-9.4,272,5756,0.00,1.98,0.00,0.000,6,0.000,0.044,2123,2665,3501
$GC,6080,-1.42,-146.6,639.3,-11.7,288,6083,0.00,2.15,0.00,0.000,4,0.000,0.083,2123,3791,3500
$GC,6164,-1.42,-146.6,649.4,-11.7,291,6173,0.00,1.98,0.00,0.000,6,0.000,0.043,2123,2666,3500
$GC,6480,-1.42,-146.6,683.7,-10.5,307,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2666,3500
$GC,6789,-1.42,-146.6,714.8,-10.2,322,6793,0.00,2.15,0.00,0.000,4,0.000,0.086,2123,3786,3499
$STATE,6888,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6888,begin apogee
$GC,6898,-0.42,0.0,725.5,10.6,326,7030,1.10,0.00,126.43,1.147,6,0.097,0.000,2344,2078,2902
$STATE,7031,end apogee,CONTROL_FINISHED_OK
$STATE,7031,begin climb
$GC,7034,1.42,146.6,731.2,0.0,333,7163,1.88,0.00,123.55,1.121,6,0.056,0.000,2746,2078,2305
$GC,7469,1.47,187.6,714.9,6.5,354,7508,0.00,0.00,36.28,1.091,6,0.000,0.000,2746,2078,2137
$GC,7819,1.51,214.2,688.8,7.0,371,7848,0.00,2.67,23.77,1.069,4,0.000,0.059,2746,663,2028
$GC,7878,1.51,216.3,684.0,7.9,373,7885,0.10,2.53,0.00,0.000,6,0.050,0.038,2781,2089,2028
$GC,8194,1.51,216.3,658.2,8.1,389,8198,0.00,2.62,0.00,0.000,4,0.000,0.058,2781,658,2027
$GC,8340,1.55,252.5,647.5,6.7,395,8380,0.00,2.50,33.00,1.085,6,0.000,0.037,2781,2086,1872
$GC,8699,1.57,263.0,621.5,7.6,413,8715,0.00,2.67,10.60,0.975,4,0.000,0.058,2781,652,1829
$GC,8779,1.57,263.0,614.9,8.2,415,8785,0.00,2.50,0.00,0.000,6,0.000,0.037,2780,2078,1829
$GC,9095,1.58,275.6,591.4,7.5,431,9117,0.00,2.67,12.27,0.987,4,0.000,0.056,2780,659,1778
$GC,9168,1.58,275.6,585.4,8.2,434,9172,0.00,2.50,0.00,0.000,6,0.000,0.037,2781,2086,1778
$GC,9494,1.58,275.6,557.2,9.1,450,9499,0.00,2.60,0.00,0.000,4,0.000,0.056,2781,659,1777
$GC,9562,1.58,275.6,550.1,10.9,453,9566,0.00,2.50,0.00,0.000,6,0.000,0.037,2780,2085,1777
$GC,9883,1.58,275.6,518.8,9.5,469,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2085,1777
$GC,10192,1.58,275.6,490.0,9.2,484,10196,0.00,2.60,0.00,0.000,4,0.000,0.056,2780,655,1777
$GC,10258,1.58,275.6,483.2,10.7,487,10263,0.00,2.50,0.00,0.000,6,0.000,0.037,2780,2082,1777
$GC,10580,1.58,275.6,451.0,10.7,503,10584,0.00,2.60,0.00,0.000,4,0.000,0.056,2781,651,1777
$GC,10658,1.58,275.6,441.9,11.7,506,10664,0.00,2.50,0.00,0.000,6,0.000,0.037,2781,2078,1777
$GC,10974,1.58,275.6,406.9,11.1,522,10978,0.00,2.58,0.00,0.000,4,0.000,0.056,2780,658,1778
$GC,11036,1.58,275.6,399.8,11.2,525,11040,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2077,1778
$GC,11369,1.58,275.6,364.6,10.4,541,11374,0.00,2.58,0.00,0.000,4,0.000,0.057,2780,659,1778
$GC,11459,1.58,275.6,354.8,10.7,545,11463,0.00,2.50,0.00,0.000,6,0.000,0.038,2781,2083,1778
$GC,11781,1.58,275.6,323.0,9.7,561,11785,0.00,2.60,0.00,0.000,4,0.000,0.058,2781,654,1778
$GC,11843,1.58,275.6,316.3,10.7,564,11848,0.00,2.50,0.00,0.000,6,0.000,0.038,2780,2079,1778
$GC,12171,1.58,275.6,284.1,9.7,580,12175,0.00,2.60,0.00,0.000,4,0.000,0.058,2781,650,1779
$GC,12237,1.58,275.6,277.0,10.0,583,12241,0.00,2.50,0.00,0.000,6,0.000,0.038,2781,2084,1779
$GC,12565,1.58,275.6,245.8,9.6,599,12570,0.00,2.60,0.00,0.000,4,0.000,0.058,2781,655,1779
$GC,12610,1.58,275.6,241.1,10.2,601,12615,0.00,2.50,0.00,0.000,6,0.000,0.038,2781,2081,1779
$GC,12932,1.58,275.6,212.1,8.9,617,12936,0.00,2.60,0.00,0.000,4,0.000,0.058,2780,651,1779
$GC,12998,1.58,275.6,205.8,9.6,620,13003,0.00,2.50,0.00,0.000,6,0.000,0.039,2781,2075,1779
$GC,13321,1.58,275.6,176.0,9.0,636,13325,0.00,2.58,0.00,0.000,4,0.000,0.058,2781,655,1779
$GC,13400,1.58,275.6,168.6,8.9,639,13406,0.00,2.50,0.00,0.000,6,0.000,0.039,2781,2078,1779
$GC,13717,1.58,275.6,141.6,8.3,655,13721,0.00,2.60,0.00,0.000,4,0.000,0.059,2781,651,1779
$GC,13767,1.58,275.6,137.0,8.6,657,13772,0.00,2.50,0.00,0.000,6,0.000,0.040,2781,2077,1779
$GC,14085,1.60,287.5,112.5,7.6,672,14106,0.00,2.67,11.45,0.714,4,0.000,0.058,2781,657,1729
$GC,14191,1.60,287.5,103.6,8.7,676,14198,0.00,2.50,0.00,0.000,6,0.000,0.038,2781,2085,1729
$GC,14508,1.60,287.5,67.8,11.9,692,14512,0.00,2.60,0.00,0.000,4,0.000,0.058,2781,658,1729
$GC,14647,1.60,287.5,51.9,12.1,698,14652,0.00,2.47,0.00,0.000,6,0.000,0.035,2781,2082,1729
$GC,14964,1.60,287.5,10.9,13.8,713,14968,0.00,2.67,0.00,0.000,4,0.000,0.074,2780,661,1729
$GC,15009,1.60,294.9,7.2,7.7,715,15026,0.00,2.47,7.65,0.616,6,0.000,0.038,2781,2074,1699
$STATE,15065,end climb,SURFACE_DEPTH_REACHED
$STATE,15065,begin surface coast
$FINISH,0.3,1.014536
$STATE,15087,end surface coast,CONTROL_FINISHED_OK
$STATE,15088,begin surface
$SM_CCo,15173,0.00,0.000,0,0,1697,295.59
$SM_GC,1.32,12.18,0.00,0.00,0.035,0.000,0.000,47,2666,1697,-10.94,-0.25,295.59
$IRIDIUM_FIX,6221.17,-1237.84,290798,151559
$TT8_MAMPS,0.029146
$HUMID,1793
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.2,35.1
$24V_AH,23.2,55.156
$10V_AH,10.1,31.769
$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,26.925,166.675,385.000,0.000,0.000,59.268,69.790,237.274,6.250,0.000,0.000,16.858,1398.430,11300.932,489.414,1850.448,688.905,33.380,1449.867,0.000,1800.096,0.000,45.040,0.000
$DEVICE_MAMPS,158.002,100.477,1146.665,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,499.954,534.484,423.360,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37947,719
$CAP_FILE_SIZE,123644,0
$CFSIZE,260165632,237580288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040509,195931,6247.241,-1234.521,43,1.6,43,-11.7