version: 66.04
glider: 103
mission: 11
dive: 336
start: 5 5 109 23 1 38
data:
$ID,103
$MISSION,11
$DIVE,336
$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,-150376.3
$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,17
$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
$GPS1,225506,6241.812,-1220.589,43,1.5,48,-11.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.2
$GPS2,230046,6241.783,-1220.561,13,1.6,15,-11.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P1
$TGT_LATLONG,6215.000,-1130.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.146,-0.195
$KALMAN_X,-104123.3,-618.4,-788.0,139395.4,-1020.9
$KALMAN_Y,18667.7,456.4,-456.3,-34835.1,1822.2
$MHEAD_RNG_PITCHd_Wd,154.7,66040,-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,-146.6,0.0,0.0,0,64,0.00,0.00,-45.88,0.000,2,0.000,0.000,52,2687,3261
$GC,68,-1.42,-146.6,4.4,-7.8,3,90,11.65,2.08,-3.92,0.000,4,0.156,0.094,2127,3785,3502
$GC,342,-1.42,-146.6,45.9,-9.9,15,346,0.00,2.00,0.00,0.000,6,0.000,0.051,2127,2670,3501
$GC,671,-1.42,-146.6,85.5,-14.7,31,675,0.00,2.12,0.00,0.000,4,0.000,0.082,2127,3780,3501
$GC,778,-1.42,-146.6,100.8,-15.2,35,785,0.00,2.00,0.00,0.000,6,0.000,0.049,2127,2646,3502
$GC,1095,-1.42,-146.6,138.9,-11.9,51,1098,0.00,2.17,0.00,0.000,4,0.000,0.084,2127,3780,3501
$GC,1134,-1.42,-146.6,144.3,-13.6,52,1140,0.00,2.00,0.00,0.000,6,0.000,0.047,2127,2648,3501
$GC,1450,-1.42,-146.6,186.1,-12.1,68,1454,0.00,2.17,0.00,0.000,4,0.000,0.081,2127,3785,3502
$GC,1489,-1.42,-146.6,191.0,-12.8,69,1495,0.00,1.98,0.00,0.000,6,0.000,0.047,2127,2669,3501
$GC,1805,-1.42,-146.6,222.7,-9.7,85,1809,0.00,2.12,0.00,0.000,4,0.000,0.078,2127,3787,3501
$GC,1851,-1.42,-146.6,227.2,-10.0,87,1855,0.00,1.98,0.00,0.000,6,0.000,0.047,2128,2673,3501
$GC,2184,-1.42,-146.6,261.9,-10.5,103,2187,0.00,2.12,0.00,0.000,4,0.000,0.079,2127,3790,3501
$GC,2285,-1.42,-146.6,272.8,-10.4,107,2288,0.00,1.98,0.00,0.000,6,0.000,0.046,2127,2673,3501
$GC,2606,-1.42,-146.6,304.3,-9.6,123,2610,0.00,2.12,0.00,0.000,4,0.000,0.084,2127,3784,3501
$GC,2713,-1.42,-146.6,315.2,-9.9,127,2719,0.00,1.98,0.00,0.000,6,0.000,0.045,2127,2664,3501
$GC,3029,-1.42,-146.6,348.3,-10.0,143,3033,0.00,2.12,0.00,0.000,4,0.000,0.081,2127,3780,3501
$GC,3068,-1.42,-146.6,352.4,-10.6,144,3074,0.00,1.95,0.00,0.000,6,0.000,0.044,2127,2669,3501
$GC,3384,-1.42,-146.6,383.9,-10.5,160,3388,0.00,2.12,0.00,0.000,4,0.000,0.082,2127,3782,3502
$GC,3446,-1.42,-146.6,391.1,-11.2,162,3452,0.00,1.95,0.00,0.000,6,0.000,0.043,2127,2671,3501
$GC,3762,-1.42,-146.6,427.4,-11.7,178,3766,0.00,2.12,0.00,0.000,4,0.000,0.082,2127,3787,3501
$GC,3846,-1.42,-146.6,437.9,-12.8,181,3852,0.00,1.95,0.00,0.000,6,0.000,0.041,2127,2671,3501
$GC,4165,-1.42,-146.6,475.7,-11.9,197,4169,0.00,2.10,0.00,0.000,4,0.000,0.079,2127,3780,3501
$GC,4272,-1.42,-146.6,489.5,-12.9,201,4277,0.00,1.92,0.00,0.000,6,0.000,0.040,2127,2674,3501
$GC,4590,-1.42,-146.6,527.0,-11.6,217,4593,0.00,2.10,0.00,0.000,4,0.000,0.076,2128,3787,3501
$GC,4682,-1.42,-146.6,538.2,-12.4,221,4685,0.00,1.95,0.00,0.000,6,0.000,0.042,2127,2674,3501
$GC,5017,-1.42,-146.6,576.2,-11.2,237,5021,0.00,2.10,0.00,0.000,4,0.000,0.081,2127,3780,3501
$GC,5101,-1.42,-146.6,585.9,-11.1,240,5108,0.00,1.98,0.00,0.000,6,0.000,0.042,2127,2666,3501
$GC,5418,-1.42,-146.6,619.9,-11.0,256,5421,0.00,2.12,0.00,0.000,4,0.000,0.081,2127,3780,3501
$GC,5524,-1.42,-146.6,632.7,-11.4,260,5531,0.00,1.95,0.00,0.000,6,0.000,0.043,2127,2682,3501
$GC,5841,-1.42,-146.6,667.5,-10.5,276,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2682,3501
$GC,6150,-1.42,-146.6,698.3,-9.7,291,6154,0.00,2.08,0.00,0.000,4,0.000,0.079,2127,3785,3501
$GC,6251,-1.42,-146.6,708.4,-10.3,295,6254,0.00,1.95,0.00,0.000,6,0.000,0.042,2127,2671,3501
$GC,6573,-1.42,-146.6,738.0,-9.2,311,6576,0.00,2.12,0.00,0.000,4,0.000,0.084,2127,3779,3501
$GC,6668,-1.42,-146.6,748.1,-9.2,315,6672,0.00,1.95,0.00,0.000,6,0.000,0.047,2127,2669,3501
$STATE,6827,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6827,begin apogee
$GC,6836,-0.42,0.0,762.9,8.8,323,6970,1.08,0.00,127.62,1.162,6,0.084,0.000,2346,2074,2902
$STATE,6971,end apogee,CONTROL_FINISHED_OK
$STATE,6971,begin climb
$GC,6974,1.42,146.6,767.1,0.0,330,7107,1.88,2.67,124.15,1.134,4,0.059,0.059,2746,663,2304
$GC,7365,1.56,259.0,753.3,3.9,347,7468,0.15,2.50,95.65,1.127,6,0.043,0.035,2790,2093,1846
$GC,7784,1.56,259.0,713.7,9.1,368,7786,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2094,1845
$GC,8094,1.56,259.0,687.7,8.1,383,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2095,1845
$GC,8403,1.59,286.4,664.5,7.0,398,8433,0.00,2.70,24.55,1.073,4,0.000,0.057,2790,656,1734
$GC,8578,1.64,324.5,652.1,6.6,405,8618,0.00,2.47,33.22,1.079,6,0.000,0.036,2790,2075,1579
$GC,8935,1.64,324.5,623.6,8.9,423,8939,0.00,2.58,0.00,0.000,4,0.000,0.054,2790,657,1579
$GC,8970,1.64,324.5,620.3,9.4,424,8976,0.00,2.50,0.00,0.000,6,0.000,0.035,2790,2083,1579
$GC,9286,1.64,324.5,589.4,10.1,440,9290,0.00,2.60,0.00,0.000,4,0.000,0.054,2790,650,1579
$GC,9319,1.64,324.5,585.7,10.2,441,9325,0.00,2.50,0.00,0.000,6,0.000,0.035,2790,2079,1579
$GC,9635,1.64,324.5,552.6,11.0,457,9639,0.00,2.58,0.00,0.000,4,0.000,0.054,2790,651,1579
$GC,9707,1.64,324.5,544.1,11.4,460,9712,0.00,2.50,0.00,0.000,6,0.000,0.035,2790,2081,1579
$GC,10028,1.64,324.5,508.5,11.1,476,10033,0.00,2.58,0.00,0.000,4,0.000,0.054,2790,653,1579
$GC,10091,1.64,324.5,501.0,11.7,478,10097,0.00,2.50,0.00,0.000,6,0.000,0.036,2790,2084,1579
$GC,10406,1.64,324.5,464.4,11.8,494,10411,0.00,2.60,0.00,0.000,4,0.000,0.054,2790,650,1579
$GC,10469,1.64,324.5,456.9,12.3,497,10473,0.00,2.50,0.00,0.000,6,0.000,0.036,2790,2080,1579
$GC,10796,1.64,324.5,417.1,12.2,513,10800,0.00,2.58,0.00,0.000,4,0.000,0.055,2790,657,1579
$GC,10874,1.64,324.5,406.8,14.4,516,10880,0.00,2.50,0.00,0.000,6,0.000,0.038,2790,2083,1579
$GC,11189,1.64,324.5,366.9,13.0,532,11194,0.00,2.60,0.00,0.000,4,0.000,0.056,2790,652,1579
$GC,11230,1.64,324.5,361.5,14.4,534,11234,0.00,2.50,0.00,0.000,6,0.000,0.038,2790,2076,1579
$GC,11557,1.64,324.5,321.7,11.5,550,11561,0.00,2.58,0.00,0.000,4,0.000,0.055,2790,652,1579
$GC,11636,1.64,324.5,312.3,11.8,553,11642,0.00,2.50,0.00,0.000,6,0.000,0.039,2790,2075,1579
$GC,11953,1.64,324.5,274.2,12.2,569,11957,0.00,2.58,0.00,0.000,4,0.000,0.058,2790,654,1580
$GC,12008,1.64,324.5,266.6,12.7,571,12014,0.00,2.50,0.00,0.000,6,0.000,0.038,2790,2078,1580
$GC,12324,1.64,324.5,228.1,12.0,587,12328,0.00,2.60,0.00,0.000,4,0.000,0.058,2790,650,1580
$GC,12431,1.64,324.5,215.2,11.8,592,12436,0.00,2.53,0.00,0.000,6,0.000,0.041,2790,2082,1580
$GC,12758,1.64,324.5,179.8,10.9,608,12763,0.00,2.60,0.00,0.000,4,0.000,0.058,2790,652,1580
$GC,12844,1.64,324.5,170.9,10.1,612,12849,0.00,2.53,0.00,0.000,6,0.000,0.041,2790,2083,1580
$GC,13171,1.64,324.5,136.9,10.9,628,13175,0.00,2.60,0.00,0.000,4,0.000,0.058,2790,656,1580
$GC,13324,1.64,324.5,118.4,12.8,635,13328,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,2075,1580
$GC,13652,1.64,324.5,83.7,10.7,651,13656,0.00,2.60,0.00,0.000,4,0.000,0.061,2790,652,1580
$GC,13774,1.64,324.5,71.6,10.4,656,13781,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,2075,1580
$GC,14091,1.64,324.5,36.2,11.9,672,14096,0.00,2.60,0.00,0.000,4,0.000,0.059,2790,652,1580
$GC,14155,1.66,337.1,28.9,7.5,675,14176,0.00,2.50,12.12,0.672,6,0.000,0.039,2790,2077,1527
$STATE,14380,end climb,SURFACE_DEPTH_REACHED
$STATE,14380,begin surface coast
$FINISH,0.4,1.014886
$STATE,14402,end surface coast,CONTROL_FINISHED_OK
$STATE,14402,begin surface
$SM_CCo,14488,0.00,0.000,0,0,1526,337.53
$SM_GC,1.45,12.02,0.00,0.00,0.028,0.000,0.000,47,2667,1526,-10.93,-0.23,337.53
$IRIDIUM_FIX,6221.17,-1223.07,300798,191911
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,700.0,71.0
$24V_AH,23.2,56.138
$10V_AH,10.1,32.344
$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,26.775,149.350,417.325,0.000,0.000,23.355,31.921,155.833,6.000,0.000,0.000,15.292,1328.823,10624.814,504.033,1845.010,522.828,33.378,1460.980,0.000,1799.099,0.000,42.189,0.000
$DEVICE_MAMPS,156.468,110.448,1162.005,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,479.801,505.061,397.733,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34840,687
$CAP_FILE_SIZE,115775,0
$CFSIZE,260165632,237182976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060509,030425,6239.431,-1222.577,42,1.2,42,-11.5