version: 66.04
glider: 103
mission: 11
dive: 402
start: 5 16 109 3 20 58
data:
$ID,103
$MISSION,11
$DIVE,402
$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,-151572.45
$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
$GPS1,031424,6317.734,-857.701,26,1.2,43,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-59.1
$GPS2,032008,6317.687,-857.591,14,1.2,14,-9.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.186,0.157
$KALMAN_X,-30190.5,692.7,782.8,101147.1,-5524.4
$KALMAN_Y,15714.3,-1760.8,-402.1,49448.6,4683.1
$MHEAD_RNG_PITCHd_Wd,59.7,69167,-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,-41.20,0.000,2,0.000,0.000,54,2744,3256
$GC,62,-1.42,-146.6,4.0,-10.9,2,84,11.75,0.00,-4.00,0.000,6,0.160,0.000,2125,2744,3502
$GC,396,-1.42,-146.6,48.3,-11.3,18,400,0.00,2.62,0.00,0.000,4,0.000,0.067,2125,1333,3503
$GC,429,-1.42,-146.6,52.3,-10.5,19,435,0.00,2.65,0.00,0.000,6,0.000,0.066,2125,2758,3503
$GC,746,-1.42,-146.6,86.1,-10.4,35,751,0.00,2.65,0.00,0.000,4,0.000,0.064,2125,1330,3503
$GC,787,-1.42,-146.6,90.6,-10.6,37,792,0.00,2.67,0.00,0.000,6,0.000,0.067,2125,2758,3503
$GC,1115,-1.42,-146.6,125.0,-10.3,53,1119,0.00,2.62,0.00,0.000,4,0.000,0.063,2125,1339,3503
$GC,1155,-1.42,-146.6,129.4,-10.9,55,1159,0.00,2.65,0.00,0.000,6,0.000,0.065,2125,2761,3503
$GC,1482,-1.42,-146.6,163.4,-10.6,71,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3503
$GC,1792,-1.42,-146.6,195.3,-10.1,86,1796,0.00,2.62,0.00,0.000,4,0.000,0.061,2125,1331,3503
$GC,1825,-1.42,-146.6,199.0,-10.4,87,1831,0.00,2.65,0.00,0.000,6,0.000,0.064,2125,2758,3503
$GC,2141,-1.42,-146.6,231.4,-10.5,103,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2758,3503
$GC,2451,-1.42,-146.6,261.5,-9.3,118,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3504
$GC,2759,-1.42,-146.6,288.5,-8.3,133,2764,0.00,2.62,0.00,0.000,4,0.000,0.060,2125,1330,3504
$GC,2805,-1.42,-146.6,292.2,-8.0,135,2809,0.00,2.65,0.00,0.000,6,0.000,0.066,2125,2748,3504
$GC,3126,-1.42,-146.6,321.4,-10.3,151,3131,0.00,2.60,0.00,0.000,4,0.000,0.063,2125,1336,3504
$GC,3171,-1.42,-146.6,326.9,-12.5,153,3176,0.00,2.65,0.00,0.000,6,0.000,0.067,2125,2755,3504
$GC,3493,-1.42,-146.6,360.5,-9.5,169,3497,0.00,2.62,0.00,0.000,4,0.000,0.063,2125,1333,3504
$GC,3627,-1.42,-146.6,375.3,-10.2,175,3632,0.00,2.65,0.00,0.000,6,0.000,0.066,2125,2755,3504
$GC,3949,-1.42,-146.6,407.7,-10.5,191,3953,0.00,2.62,0.00,0.000,4,0.000,0.065,2125,1337,3504
$GC,3989,-1.42,-146.6,412.0,-10.9,193,3993,0.00,2.67,0.00,0.000,6,0.000,0.070,2125,2762,3504
$GC,4316,-1.42,-146.6,446.4,-10.2,209,4317,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2762,3504
$GC,4625,-1.42,-146.6,477.3,-10.2,224,4629,0.00,2.67,0.00,0.000,4,0.000,0.070,2125,1332,3503
$GC,4698,-1.42,-146.6,484.7,-10.3,227,4702,0.00,2.70,0.00,0.000,6,0.000,0.074,2125,2756,3502
$GC,5016,-1.42,-146.6,516.0,-9.5,242,5020,0.00,2.67,0.00,0.000,4,0.000,0.070,2125,1329,3501
$GC,5050,-1.42,-146.6,519.4,-9.2,243,5056,0.00,2.72,0.00,0.000,6,0.000,0.077,2125,2756,3501
$STATE,5219,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5219,begin apogee
$GC,5228,-0.42,0.0,535.8,9.8,252,5356,1.12,0.00,124.00,1.095,6,0.100,0.000,2347,1998,2902
$STATE,5357,end apogee,CONTROL_FINISHED_OK
$STATE,5357,begin climb
$GC,5360,1.42,146.6,541.7,0.0,258,5490,1.90,2.72,121.20,1.055,4,0.061,0.064,2747,3416,2304
$GC,5499,1.61,298.4,545.1,2.4,264,5634,0.20,2.62,127.95,1.016,6,0.039,0.047,2801,1980,1685
$GC,5959,1.61,298.4,503.3,10.1,287,5964,0.00,2.60,0.00,0.000,4,0.000,0.072,2801,594,1683
$GC,6147,1.61,298.4,482.8,11.7,295,6151,0.00,2.55,0.00,0.000,6,0.000,0.045,2801,2006,1683
$GC,6463,1.61,298.4,449.0,10.7,310,6467,0.00,2.67,0.00,0.000,4,0.000,0.071,2801,594,1682
$GC,6525,1.61,298.4,442.0,11.6,313,6530,0.00,2.55,0.00,0.000,6,0.000,0.046,2801,2009,1682
$GC,6852,1.61,298.4,406.3,10.1,329,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2009,1680
$GC,7162,1.61,298.4,371.5,10.0,344,7166,0.00,2.67,0.00,0.000,4,0.000,0.071,2801,590,1680
$GC,7263,1.61,298.4,360.3,11.6,348,7269,0.00,2.55,0.00,0.000,6,0.000,0.045,2801,2009,1679
$GC,7579,1.61,298.4,326.7,10.5,364,7583,0.00,2.67,0.00,0.000,4,0.000,0.071,2801,589,1679
$GC,7702,1.61,298.4,313.9,11.2,369,7708,0.00,2.53,0.00,0.000,6,0.000,0.042,2801,2006,1679
$GC,8018,1.61,298.4,279.8,11.2,385,8022,0.00,2.62,0.00,0.000,4,0.000,0.065,2801,590,1679
$GC,8084,1.61,298.4,271.7,12.2,388,8089,0.00,2.50,0.00,0.000,6,0.000,0.041,2801,1996,1679
$GC,8406,1.61,298.4,236.6,10.7,404,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,1996,1680
$GC,8715,1.61,298.4,205.5,9.4,419,8719,0.00,2.60,0.00,0.000,4,0.000,0.064,2801,593,1681
$GC,8793,1.61,298.4,197.6,10.2,422,8799,0.00,2.50,0.00,0.000,6,0.000,0.040,2801,2006,1681
$GC,9109,1.61,298.4,168.1,9.6,438,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2006,1682
$GC,9418,1.61,298.4,134.3,11.6,453,9423,0.00,2.62,0.00,0.000,4,0.000,0.061,2801,582,1682
$GC,9482,1.61,298.4,126.4,12.5,456,9486,0.00,2.50,0.00,0.000,6,0.000,0.038,2801,2002,1683
$GC,9809,1.61,298.4,86.9,12.1,472,9813,0.00,2.60,0.00,0.000,4,0.000,0.061,2801,591,1683
$GC,9859,1.61,298.4,80.4,12.4,474,9863,0.00,2.47,0.00,0.000,6,0.000,0.039,2801,2000,1684
$GC,10181,1.61,298.4,43.7,11.4,490,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2001,1684
$GC,10490,1.61,298.4,8.8,11.7,505,10495,0.00,2.60,0.00,0.000,4,0.000,0.062,2801,588,1684
$GC,10535,1.61,298.4,2.6,13.8,507,10539,0.00,2.20,0.00,0.000,3,0.000,0.034,2800,1858,1684
$STATE,10539,end climb,SURFACE_DEPTH_REACHED
$STATE,10540,begin surface coast
$FINISH,1.2,1.027425
$STATE,10543,end surface coast,CONTROL_FINISHED_OK
$STATE,10544,begin surface
$SM_CCo,10629,0.00,0.000,0,0,1684,298.78
$SM_GC,1.02,12.23,0.00,0.00,0.035,0.000,0.000,54,2747,1684,-10.92,-0.11,298.78
$IRIDIUM_FIX,6254.00,-844.41,100898,000004
$TT8_MAMPS,0.028379
$HUMID,1820
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,18.90
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,525.8,19.7
$24V_AH,23.1,64.597
$10V_AH,10.1,36.574
$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,27.200,107.600,373.150,0.000,0.000,30.848,29.944,162.215,6.500,0.000,0.000,14.328,957.728,7908.671,433.693,1210.451,462.754,33.354,1075.399,0.000,1182.373,0.000,33.402,0.000
$DEVICE_MAMPS,159.536,81.302,1095.276,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,360.351,370.765,345.069,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25401,507
$CAP_FILE_SIZE,81244,0
$CFSIZE,260165632,234115072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160509,061925,6317.074,-851.746,40,1.6,40,-9.8