version: 66.04
glider: 103
mission: 11
dive: 401
start: 5 15 109 23 58 40
data:
$ID,103
$MISSION,11
$DIVE,401
$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,0
$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,-151557.5
$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,19
$R_STBD_OVSHOOT,11
$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
$GPS1,235231,6316.771,-905.666,42,1.0,42,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-60.7
$GPS2,235750,6316.792,-905.569,13,1.0,13,-9.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.208,0.126
$KALMAN_X,-34128.8,899.9,840.9,98055.5,-13064.4
$KALMAN_Y,19306.0,-2276.9,-343.4,44670.7,10364.1
$MHEAD_RNG_PITCHd_Wd,68.6,74925,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.72,0.000,2,0.000,0.000,46,2755,3193
$GC,63,-1.42,-146.6,4.0,-11.9,2,82,11.90,0.00,-5.12,0.000,6,0.159,0.000,2126,2755,3502
$GC,389,-1.42,-146.6,47.0,-11.4,18,394,0.00,2.62,0.00,0.000,4,0.000,0.065,2126,1337,3503
$GC,430,-1.42,-146.6,52.0,-11.4,20,435,0.00,2.67,0.00,0.000,6,0.000,0.068,2126,2764,3503
$GC,757,-1.42,-146.6,87.5,-10.7,36,761,0.00,2.65,0.00,0.000,4,0.000,0.062,2126,1328,3503
$GC,797,-1.42,-146.6,91.9,-10.8,38,801,0.00,2.67,0.00,0.000,6,0.000,0.067,2126,2758,3503
$GC,1124,-1.42,-146.6,126.3,-10.2,54,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2758,3503
$GC,1433,-1.42,-146.6,159.4,-11.3,69,1437,0.00,2.62,0.00,0.000,4,0.000,0.061,2126,1327,3503
$GC,1477,-1.42,-146.6,164.5,-11.2,71,1481,0.00,2.65,0.00,0.000,6,0.000,0.065,2126,2751,3503
$GC,1799,-1.42,-146.6,200.4,-11.0,87,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3503
$GC,2107,-1.42,-146.6,231.4,-9.6,102,2111,0.00,2.60,0.00,0.000,4,0.000,0.060,2126,1333,3503
$GC,2147,-1.42,-146.6,235.3,-10.0,104,2151,0.00,2.62,0.00,0.000,6,0.000,0.063,2126,2749,3503
$GC,2474,-1.42,-146.6,267.5,-9.9,120,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2749,3503
$GC,2782,-1.42,-146.6,299.9,-10.4,135,2790,0.00,2.60,0.00,0.000,4,0.000,0.063,2126,1337,3503
$GC,2825,-1.42,-146.6,304.6,-11.4,136,2831,0.00,2.65,0.00,0.000,6,0.000,0.065,2126,2763,3503
$GC,3141,-1.42,-146.6,337.3,-9.8,152,3145,0.00,2.62,0.00,0.000,4,0.000,0.063,2126,1340,3503
$GC,3213,-1.42,-146.6,344.8,-10.3,155,3218,0.00,2.62,0.00,0.000,6,0.000,0.067,2126,2747,3503
$GC,3529,-1.42,-146.6,374.6,-10.0,170,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2747,3503
$GC,3839,-1.42,-146.6,405.3,-9.2,185,3843,0.00,2.60,0.00,0.000,4,0.000,0.063,2126,1337,3503
$GC,3872,-1.42,-146.6,408.5,-9.3,186,3878,0.00,2.65,0.00,0.000,6,0.000,0.067,2126,2752,3503
$GC,4188,-1.42,-146.6,439.3,-9.9,202,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3503
$GC,4497,-1.42,-146.6,468.5,-9.7,217,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3502
$GC,4806,-1.42,-146.6,498.7,-9.4,232,4810,0.00,2.65,0.00,0.000,4,0.000,0.070,2126,1339,3501
$GC,4839,-1.42,-146.6,502.4,-11.2,233,4845,0.00,2.67,0.00,0.000,6,0.000,0.074,2126,2748,3501
$STATE,4987,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4988,begin apogee
$GC,4997,-0.42,0.0,518.4,10.7,241,5129,1.12,0.00,124.57,1.058,6,0.101,0.000,2346,2004,2902
$STATE,5130,end apogee,CONTROL_FINISHED_OK
$STATE,5130,begin climb
$GC,5133,1.42,146.6,525.2,0.0,248,5266,1.88,2.70,121.82,1.025,4,0.058,0.061,2747,3423,2304
$GC,5524,1.51,220.4,517.3,5.3,265,5594,0.10,2.60,62.00,1.026,6,0.054,0.046,2778,1980,2003
$GC,5902,1.51,220.4,488.5,8.2,284,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1980,2002
$GC,6212,1.51,220.4,464.5,8.1,299,6216,0.00,2.60,0.00,0.000,4,0.000,0.071,2778,588,2000
$GC,6256,1.53,232.6,460.9,7.5,301,6273,0.00,2.55,11.30,0.952,6,0.000,0.044,2778,2009,1953
$GC,6583,1.53,237.1,434.7,7.8,317,6593,0.00,2.65,5.28,0.802,4,0.000,0.070,2778,3412,1936
$GC,6661,1.54,238.7,428.3,7.9,320,6667,0.00,2.58,0.00,0.000,6,0.000,0.052,2778,2004,1935
$GC,6978,1.54,238.7,403.1,8.1,336,6982,0.00,2.62,0.00,0.000,4,0.000,0.071,2778,592,1934
$GC,7056,1.54,238.7,396.5,8.6,339,7062,0.00,2.53,0.00,0.000,6,0.000,0.044,2778,2003,1934
$GC,7371,1.54,238.7,370.7,8.5,355,7376,0.00,2.65,0.00,0.000,4,0.000,0.068,2778,590,1934
$GC,7429,1.54,238.7,365.7,9.2,357,7436,0.00,2.53,0.00,0.000,6,0.000,0.044,2778,2005,1934
$GC,7745,1.54,238.7,338.9,8.0,373,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2004,1933
$GC,8054,1.56,259.1,314.7,7.3,388,8079,0.00,2.70,19.23,0.940,4,0.000,0.066,2778,590,1845
$GC,8254,1.56,259.1,296.8,9.8,397,8259,0.00,2.50,0.00,0.000,6,0.000,0.041,2778,1997,1845
$GC,8581,1.56,259.1,266.1,9.0,413,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1997,1845
$GC,8891,1.56,259.1,238.4,8.8,428,8895,0.00,2.60,0.00,0.000,4,0.000,0.061,2778,580,1845
$GC,8958,1.56,259.1,232.2,9.3,431,8962,0.00,2.53,0.00,0.000,6,0.000,0.038,2778,2014,1845
$GC,9279,1.56,259.1,203.5,9.1,447,9283,0.00,2.62,0.00,0.000,4,0.000,0.061,2778,586,1846
$GC,9328,1.56,259.1,198.7,10.1,449,9333,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,2005,1846
$GC,9645,1.56,259.1,170.9,8.5,464,9646,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2005,1847
$GC,9954,1.56,259.1,144.0,9.0,479,9958,0.00,2.60,0.00,0.000,4,0.000,0.060,2778,587,1848
$GC,10004,1.56,259.1,139.2,9.4,481,10008,0.00,2.50,0.00,0.000,6,0.000,0.038,2778,2007,1848
$GC,10321,1.56,259.1,110.7,8.9,496,10325,0.00,2.60,0.00,0.000,4,0.000,0.060,2778,588,1848
$GC,10365,1.56,259.1,106.2,9.8,498,10369,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,2004,1849
$GC,10692,1.56,259.1,76.5,9.2,514,10693,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2005,1849
$GC,11002,1.56,259.1,49.2,8.5,529,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2005,1850
$GC,11312,1.56,259.1,21.0,9.8,544,11313,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2005,1851
$STATE,11555,end climb,SURFACE_DEPTH_REACHED
$STATE,11555,begin surface coast
$FINISH,0.4,1.027419
$STATE,11577,end surface coast,CONTROL_FINISHED_OK
$STATE,11577,begin surface
$SM_CCo,11663,0.00,0.000,0,0,1851,257.81
$SM_GC,1.54,11.98,0.00,0.00,0.028,0.000,0.000,54,2744,1851,-10.92,-0.17,257.81
$IRIDIUM_FIX,6249.28,-906.55,090898,212144
$TT8_MAMPS,0.028379
$HUMID,1814
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,450.8,77.4
$24V_AH,23.2,64.472
$10V_AH,10.1,36.518
$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,26.975,96.725,344.200,0.000,0.000,25.826,34.866,147.921,5.250,0.000,0.000,13.746,1027.447,8826.557,418.967,1263.437,447.773,33.352,1072.495,0.000,1238.190,0.000,26.031,0.000
$DEVICE_MAMPS,158.769,85.137,1058.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.589,406.807,391.184,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28568,557
$CAP_FILE_SIZE,82745,0
$CFSIZE,260165632,234156032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160509,031424,6317.734,-857.701,26,1.2,43,-9.8