version: 66.04
glider: 103
mission: 11
dive: 353
start: 5 9 109 13 58 52
data:
$ID,103
$MISSION,11
$DIVE,353
$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,-150741.59
$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,24
$R_STBD_OVSHOOT,10
$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
$GPS1,135237,6223.848,-1115.501,40,2.0,40,-10.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-49.1
$GPS2,135802,6223.789,-1115.428,14,1.9,14,-10.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.127,0.207
$KALMAN_X,-122435.1,199.9,-122.5,211264.0,2170.1
$KALMAN_Y,-4195.6,156.5,-315.8,-45163.7,-1849.8
$MHEAD_RNG_PITCHd_Wd,42.4,75062,-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,-146.6,0.0,0.0,0,81,0.00,0.00,-61.08,0.000,2,0.000,0.000,44,2748,3439
$GC,84,-1.42,-146.6,5.0,-9.4,3,106,11.82,2.65,-1.00,0.000,4,0.161,0.075,2123,1343,3503
$GC,214,-1.42,-146.6,29.0,-14.5,8,220,0.00,2.60,0.00,0.000,6,0.000,0.061,2124,2754,3503
$GC,531,-1.42,-146.6,70.6,-13.7,24,536,0.00,2.62,0.00,0.000,4,0.000,0.063,2124,1333,3503
$GC,555,-1.42,-146.6,74.0,-13.6,25,559,0.00,2.62,0.00,0.000,6,0.000,0.061,2124,2753,3503
$GC,876,-1.42,-146.6,111.4,-12.3,41,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2754,3503
$GC,1187,-1.42,-146.6,144.9,-11.9,56,1191,0.00,2.62,0.00,0.000,4,0.000,0.064,2124,1333,3503
$GC,1250,-1.42,-146.6,151.9,-11.0,59,1254,0.00,2.65,0.00,0.000,6,0.000,0.066,2124,2756,3503
$GC,1577,-1.42,-146.6,185.0,-9.9,75,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2756,3503
$GC,1885,-1.42,-146.6,217.0,-10.6,90,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2756,3504
$GC,2195,-1.42,-146.6,252.9,-11.1,105,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2757,3504
$GC,2504,-1.42,-146.6,287.2,-11.1,120,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3504
$GC,2813,-1.42,-146.6,321.1,-10.8,135,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3504
$GC,3123,-1.42,-146.6,354.7,-11.2,150,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3504
$GC,3432,-1.42,-146.6,389.1,-11.0,165,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2757,3504
$GC,3741,-1.42,-146.6,422.9,-10.8,180,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2757,3504
$GC,4050,-1.42,-146.6,456.0,-10.6,195,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3504
$GC,4360,-1.42,-146.6,488.4,-10.2,210,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2757,3504
$GC,4669,-1.42,-146.6,518.9,-9.9,225,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3504
$GC,4979,-1.42,-146.6,550.6,-10.6,240,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3504
$GC,5288,-1.42,-146.6,584.4,-11.0,255,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3504
$GC,5597,-1.42,-146.6,616.1,-9.7,270,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3504
$GC,5906,-1.42,-146.6,644.1,-9.0,285,5910,0.00,1.90,0.00,0.000,4,0.000,0.074,2124,3787,3504
$GC,5940,-1.42,-146.6,647.5,-10.4,286,5944,0.00,1.83,0.00,0.000,6,0.000,0.040,2124,2736,3503
$GC,6261,-1.42,-146.6,680.4,-9.6,302,6266,0.00,2.53,0.00,0.000,4,0.000,0.061,2123,1338,3504
$GC,6312,-1.42,-146.6,685.0,-8.8,304,6316,0.00,2.60,0.00,0.000,6,0.000,0.058,2124,2758,3504
$GC,6628,-1.42,-146.6,713.0,-9.8,319,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3504
$GC,6937,-1.42,-146.6,741.9,-8.8,334,6941,0.00,2.55,0.00,0.000,4,0.000,0.057,2124,1344,3504
$GC,7044,-1.42,-146.6,751.4,-8.8,339,7048,0.00,2.60,0.00,0.000,6,0.000,0.064,2124,2761,3504
$GC,7371,-1.42,-146.6,777.8,-8.0,355,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2761,3504
$GC,7680,-1.42,-146.6,806.2,-9.1,370,7684,0.00,2.60,0.00,0.000,4,0.000,0.063,2124,1345,3504
$GC,7724,-1.42,-146.6,810.5,-9.2,372,7728,0.00,2.60,0.00,0.000,6,0.000,0.066,2124,2752,3503
$STATE,7836,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7836,begin apogee
$GC,7845,-0.42,0.0,820.7,8.9,378,7979,1.12,0.00,129.02,1.292,6,0.095,0.000,2347,2003,2902
$STATE,7979,end apogee,CONTROL_FINISHED_OK
$STATE,7980,begin climb
$GC,7983,1.42,146.6,825.3,0.0,385,8118,1.88,2.72,126.20,1.259,4,0.057,0.068,2749,3416,2304
$GC,8377,1.69,364.0,825.3,0.0,403,8575,0.28,2.62,186.60,1.198,6,0.038,0.058,2814,1992,1418
$GC,8897,1.69,364.0,772.2,13.8,428,8901,0.00,2.65,0.00,0.000,4,0.000,0.063,2814,3415,1417
$GC,9074,1.69,364.0,747.6,14.0,436,9079,0.00,2.55,0.00,0.000,6,0.000,0.044,2813,1987,1416
$GC,9401,1.69,364.0,702.3,13.0,452,9405,0.00,2.58,0.00,0.000,4,0.000,0.064,2813,589,1415
$GC,9508,1.69,364.0,687.0,14.2,457,9512,0.00,2.50,0.00,0.000,6,0.000,0.041,2814,2008,1415
$GC,9835,1.69,364.0,644.7,13.0,473,9839,0.00,2.60,0.00,0.000,4,0.000,0.058,2814,590,1415
$GC,9890,1.69,364.0,637.0,13.2,475,9897,0.00,2.47,0.00,0.000,6,0.000,0.038,2814,2004,1415
$GC,10206,1.69,364.0,594.9,13.5,491,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2004,1415
$GC,10516,1.69,364.0,554.0,12.7,506,10520,0.00,2.58,0.00,0.000,4,0.000,0.057,2814,593,1415
$GC,10560,1.69,364.0,548.0,13.7,508,10565,0.00,2.47,0.00,0.000,6,0.000,0.038,2814,2001,1415
$GC,10882,1.69,364.0,506.7,13.1,524,10883,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2000,1415
$GC,11191,1.69,364.0,465.5,13.2,539,11196,0.00,2.58,0.00,0.000,4,0.000,0.058,2814,591,1415
$GC,11254,1.69,364.0,456.7,13.8,542,11258,0.00,2.47,0.00,0.000,6,0.000,0.038,2814,1999,1415
$GC,11586,1.69,364.0,412.8,13.3,558,11591,0.00,2.58,0.00,0.000,4,0.000,0.058,2813,586,1415
$GC,11631,1.69,364.0,406.4,13.8,560,11636,0.00,2.50,0.00,0.000,6,0.000,0.038,2814,2006,1415
$GC,11953,1.69,364.0,363.2,13.8,576,11958,0.00,2.60,0.00,0.000,4,0.000,0.058,2814,582,1416
$GC,11998,1.69,364.0,356.5,14.3,578,12002,0.00,2.50,0.00,0.000,6,0.000,0.039,2814,2001,1416
$GC,12319,1.69,364.0,311.1,14.2,594,12323,0.00,2.58,0.00,0.000,4,0.000,0.059,2814,581,1416
$GC,12357,1.69,364.0,305.2,14.2,595,12364,0.00,2.53,0.00,0.000,6,0.000,0.040,2814,2011,1416
$GC,12674,1.69,364.0,262.9,13.4,611,12678,0.00,2.60,0.00,0.000,4,0.000,0.059,2814,591,1417
$GC,12714,1.69,364.0,257.2,14.1,613,12718,0.00,2.50,0.00,0.000,6,0.000,0.041,2813,2007,1417
$GC,13040,1.69,364.0,213.2,13.5,629,13045,0.00,2.60,0.00,0.000,4,0.000,0.060,2814,582,1417
$GC,13107,1.69,364.0,204.0,13.9,632,13112,0.00,2.53,0.00,0.000,6,0.000,0.041,2814,2009,1417
$GC,13429,1.69,364.0,158.5,15.0,648,13433,0.00,2.60,0.00,0.000,4,0.000,0.061,2813,591,1417
$GC,13491,1.69,364.0,149.4,13.7,650,13497,0.00,2.47,0.00,0.000,6,0.000,0.041,2814,2002,1417
$GC,13807,1.69,364.0,107.6,11.6,666,13808,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2002,1417
$GC,14119,1.69,364.0,65.6,14.5,681,14123,0.00,2.60,0.00,0.000,4,0.000,0.063,2814,591,1418
$GC,14219,1.69,364.0,50.0,13.7,685,14226,0.00,2.50,0.00,0.000,6,0.000,0.043,2814,2002,1418
$GC,14535,1.69,364.0,9.3,11.4,701,14540,0.00,2.65,0.00,0.000,4,0.000,0.074,2814,591,1418
$STATE,14583,end climb,SURFACE_DEPTH_REACHED
$STATE,14583,begin surface coast
$FINISH,0.5,1.027433
$STATE,14589,end surface coast,CONTROL_FINISHED_OK
$STATE,14589,begin surface
$SM_CCo,14678,0.00,0.000,0,0,1416,364.52
$SM_GC,1.18,12.18,0.00,0.00,0.031,0.000,0.000,54,2745,1416,-10.92,-0.14,364.52
$IRIDIUM_FIX,6158.08,-1116.78,030898,090912
$TT8_MAMPS,0.028379
$HUMID,1794
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,726.9,102.1
$24V_AH,23.1,58.744
$10V_AH,10.1,33.812
$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,27.275,109.750,441.825,0.000,0.000,23.203,35.135,143.655,6.250,0.000,0.000,14.879,1271.080,11158.326,502.761,1588.981,478.655,33.353,1326.103,0.000,1550.588,0.000,46.530,0.000
$DEVICE_MAMPS,161.070,84.370,1292.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,490.247,520.029,392.679,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34805,703
$CAP_FILE_SIZE,100645,0
$CFSIZE,260165632,236105728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090509,180437,6225.250,-1112.321,30,1.0,30,-10.8