version: 66.04
glider: 103
mission: 11
dive: 356
start: 5 10 109 3 20 10
data:
$ID,103
$MISSION,11
$DIVE,356
$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,-150807.31
$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,2750
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,16
$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
$GPS1,031354,6230.100,-1107.940,25,1.3,42,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-61.4
$GPS2,031920,6230.071,-1107.909,16,1.7,16,-10.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.043,0.239
$KALMAN_X,-118001.4,132.7,-666.2,213850.5,5229.1
$KALMAN_Y,-9470.8,658.4,-429.2,-28623.2,-3915.1
$MHEAD_RNG_PITCHd_Wd,0.6,63879,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,61,0.00,0.00,-41.20,0.000,2,0.000,0.000,50,2759,3302
$GC,64,-1.42,-146.6,4.2,-10.7,2,87,11.75,2.62,-3.25,0.000,4,0.160,0.075,2126,1343,3501
$GC,340,-1.42,-146.6,41.7,-11.0,14,344,0.00,2.65,0.00,0.000,6,0.000,0.069,2126,2755,3501
$GC,662,-1.42,-146.6,74.0,-9.8,30,667,0.00,2.62,0.00,0.000,4,0.000,0.064,2126,1337,3501
$GC,727,-1.42,-146.6,80.6,-10.7,33,732,0.00,2.62,0.00,0.000,6,0.000,0.063,2126,2754,3501
$GC,1056,-1.42,-146.6,117.8,-11.8,49,1061,0.00,2.60,0.00,0.000,4,0.000,0.062,2126,1343,3501
$GC,1097,-1.42,-146.6,122.8,-11.9,51,1101,0.00,2.60,0.00,0.000,6,0.000,0.063,2126,2749,3501
$GC,1424,-1.42,-146.6,160.3,-11.1,67,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2749,3501
$GC,1733,-1.42,-146.6,194.3,-11.1,82,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2749,3501
$GC,2042,-1.42,-146.6,229.7,-11.7,97,2046,0.00,2.60,0.00,0.000,4,0.000,0.064,2126,1337,3501
$GC,2075,-1.42,-146.6,233.5,-11.5,98,2082,0.00,2.62,0.00,0.000,6,0.000,0.064,2126,2751,3501
$GC,2391,-1.42,-146.6,268.0,-11.0,114,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3501
$GC,2701,-1.42,-146.6,302.6,-11.4,129,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3501
$GC,3010,-1.42,-146.6,338.0,-11.8,144,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3501
$GC,3319,-1.42,-146.6,372.3,-10.6,159,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3501
$GC,3628,-1.42,-146.6,404.3,-10.2,174,3630,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3501
$GC,3938,-1.42,-146.6,436.1,-10.4,189,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3501
$GC,4247,-1.42,-146.6,467.2,-9.8,204,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3501
$GC,4556,-1.42,-146.6,497.3,-9.9,219,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3501
$GC,4866,-1.42,-146.6,528.3,-10.1,234,4870,0.00,2.58,0.00,0.000,4,0.000,0.061,2126,1338,3501
$GC,4908,-1.42,-146.6,532.5,-10.8,236,4912,0.00,2.62,0.00,0.000,6,0.000,0.064,2126,2761,3501
$GC,5234,-1.42,-146.6,567.9,-10.5,252,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2761,3501
$GC,5544,-1.42,-146.6,598.9,-9.7,267,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2761,3501
$GC,5853,-1.42,-146.6,629.2,-10.0,282,5857,0.00,2.60,0.00,0.000,4,0.000,0.061,2126,1339,3501
$GC,5919,-1.42,-146.6,636.4,-10.7,285,5924,0.00,2.60,0.00,0.000,6,0.000,0.061,2126,2751,3501
$GC,6241,-1.42,-146.6,668.7,-9.8,301,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3501
$GC,6550,-1.42,-146.6,697.5,-9.3,316,6554,0.00,2.60,0.00,0.000,4,0.000,0.064,2126,1338,3501
$GC,6590,-1.42,-146.6,701.3,-9.4,318,6594,0.00,2.62,0.00,0.000,6,0.000,0.064,2126,2755,3500
$STATE,6872,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6872,begin apogee
$GC,6882,-0.42,0.0,728.2,9.7,332,7015,1.08,0.00,126.78,1.159,6,0.085,0.000,2344,1998,2901
$STATE,7016,end apogee,CONTROL_FINISHED_OK
$STATE,7016,begin climb
$GC,7019,1.42,146.6,734.4,0.0,339,7152,1.88,2.67,124.07,1.125,4,0.054,0.055,2747,3419,2304
$GC,7347,1.52,227.8,725.9,5.0,354,7424,0.10,2.55,69.53,1.124,6,0.052,0.039,2778,1983,1972
$GC,7740,1.52,227.8,694.4,8.3,373,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1983,1972
$GC,8049,1.52,227.8,667.6,8.8,388,8054,0.00,2.55,0.00,0.000,4,0.000,0.063,2778,596,1971
$GC,8128,1.52,227.8,660.2,9.3,391,8134,0.00,2.50,0.00,0.000,6,0.000,0.039,2778,2017,1970
$GC,8444,1.52,227.8,633.0,8.5,407,8449,0.00,2.62,0.00,0.000,4,0.000,0.061,2778,596,1970
$GC,8512,1.52,227.8,627.1,8.7,410,8516,0.00,2.47,0.00,0.000,6,0.000,0.040,2778,1996,1969
$GC,8833,1.52,227.8,601.3,8.5,426,8837,0.00,2.58,0.00,0.000,4,0.000,0.061,2778,598,1969
$GC,8939,1.52,227.8,591.5,9.2,430,8946,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,2013,1969
$GC,9256,1.52,227.8,561.3,9.2,446,9260,0.00,2.53,0.00,0.000,4,0.000,0.058,2778,3403,1968
$GC,9305,1.52,227.8,556.5,9.6,448,9310,0.00,2.47,0.00,0.000,6,0.000,0.039,2778,1998,1969
$GC,9622,1.52,227.8,529.4,8.4,463,9626,0.00,2.53,0.00,0.000,4,0.000,0.058,2778,590,1969
$GC,9773,1.52,227.8,515.6,9.2,469,9779,0.00,2.47,0.00,0.000,6,0.000,0.036,2778,2006,1969
$GC,10089,1.52,227.8,488.5,8.7,485,10094,0.00,2.58,0.00,0.000,4,0.000,0.056,2778,594,1969
$GC,10213,1.52,227.8,476.7,9.6,490,10219,0.00,2.45,0.00,0.000,6,0.000,0.036,2778,2006,1969
$GC,10529,1.52,227.8,448.2,8.8,506,10533,0.00,2.58,0.00,0.000,4,0.000,0.056,2778,588,1969
$GC,10602,1.52,227.8,441.3,9.9,509,10606,0.00,2.47,0.00,0.000,6,0.000,0.035,2778,2007,1970
$GC,10918,1.52,227.8,413.7,8.9,524,10922,0.00,2.58,0.00,0.000,4,0.000,0.056,2778,590,1970
$GC,10996,1.52,227.8,406.5,9.4,527,11002,0.00,2.47,0.00,0.000,6,0.000,0.035,2778,2009,1970
$GC,11312,1.52,227.8,379.2,8.8,543,11316,0.00,2.58,0.00,0.000,4,0.000,0.056,2778,591,1970
$GC,11362,1.52,227.8,374.3,9.4,545,11366,0.00,2.47,0.00,0.000,6,0.000,0.036,2778,2010,1970
$GC,11677,1.52,227.8,345.8,8.9,560,11682,0.00,2.58,0.00,0.000,4,0.000,0.058,2778,592,1971
$GC,11756,1.52,227.8,338.4,9.3,563,11762,0.00,2.47,0.00,0.000,6,0.000,0.037,2778,2008,1971
$GC,12072,1.52,227.8,311.1,8.5,579,12076,0.00,2.58,0.00,0.000,4,0.000,0.058,2778,588,1971
$GC,12127,1.52,227.8,306.1,8.7,581,12133,0.00,2.47,0.00,0.000,6,0.000,0.037,2778,2004,1972
$GC,12444,1.52,227.8,279.2,8.6,597,12448,0.00,2.58,0.00,0.000,4,0.000,0.057,2778,589,1972
$GC,12484,1.52,227.8,275.8,8.9,599,12488,0.00,2.47,0.00,0.000,6,0.000,0.037,2778,2006,1972
$GC,12811,1.52,227.8,247.6,8.8,615,12815,0.00,2.58,0.00,0.000,4,0.000,0.058,2778,592,1972
$GC,12861,1.52,227.8,242.6,10.2,617,12865,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,2006,1972
$GC,13177,1.52,227.8,215.5,8.1,632,13178,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2006,1972
$GC,13486,1.52,227.8,190.2,8.1,647,13490,0.00,2.58,0.00,0.000,4,0.000,0.058,2778,588,1973
$GC,13575,1.52,227.8,182.4,8.5,651,13580,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,2004,1973
$GC,13903,1.53,230.7,156.0,7.9,667,13912,0.00,2.60,4.10,0.558,4,0.000,0.058,2778,588,1961
$GC,13959,1.53,230.7,151.4,8.0,669,13963,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,2012,1961
$GC,14275,1.53,230.7,126.5,8.9,684,14279,0.00,2.60,0.00,0.000,4,0.000,0.058,2778,587,1961
$GC,14330,1.53,230.7,120.9,9.9,686,14337,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,1998,1961
$GC,14647,1.53,230.7,96.5,8.5,702,14651,0.00,2.58,0.00,0.000,4,0.000,0.058,2778,587,1961
$GC,14747,1.53,230.7,85.6,11.1,706,14754,0.00,2.47,0.00,0.000,6,0.000,0.037,2778,2011,1961
$GC,15065,1.53,230.7,56.3,8.2,722,15069,0.00,2.60,0.00,0.000,4,0.000,0.061,2778,589,1962
$GC,15121,1.53,230.7,51.1,9.2,724,15127,0.00,2.45,0.00,0.000,6,0.000,0.038,2778,2000,1962
$GC,15437,1.53,230.7,24.6,8.5,740,15441,0.00,2.58,0.00,0.000,4,0.000,0.060,2778,588,1962
$GC,15554,1.53,230.7,14.3,9.2,745,15559,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,2000,1962
$STATE,15723,end climb,SURFACE_DEPTH_REACHED
$STATE,15723,begin surface coast
$FINISH,0.5,1.025486
$STATE,15745,end surface coast,CONTROL_FINISHED_OK
$STATE,15745,begin surface
$SM_CCo,15831,0.00,0.000,0,0,1961,230.58
$SM_GC,2.36,12.02,0.00,0.00,0.032,0.000,0.000,54,2750,1961,-10.92,0.00,230.58
$IRIDIUM_FIX,6207.28,-1110.37,030898,222250
$TT8_MAMPS,0.029146
$HUMID,1807
$INTERNAL_PRESSURE,8.59408
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,676.4,60.8
$24V_AH,23.2,59.119
$10V_AH,10.1,34.034
$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,26.825,140.575,324.475,0.000,0.000,28.983,25.684,140.394,5.750,0.000,0.000,16.029,1400.469,12045.770,430.210,1781.639,493.819,33.359,1326.709,0.000,1736.221,0.000,40.550,0.000
$DEVICE_MAMPS,159.536,75.166,1158.937,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,525.339,558.553,457.606,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37957,754
$CAP_FILE_SIZE,113163,0
$CFSIZE,260165632,235937792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100509,074530,6231.920,-1107.970,47,1.2,52,-10.8