version: 66.04
glider: 103
mission: 11
dive: 403
start: 5 16 109 6 25 57
data:
$ID,103
$MISSION,11
$DIVE,403
$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,-151590.5
$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,23
$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
$GPS1,061925,6317.074,-851.746,40,1.6,40,-9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-55.5
$GPS2,062507,6316.987,-851.706,12,1.2,17,-9.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.069,0.233
$KALMAN_X,-28164.9,887.0,-201.7,104929.6,-1100.3
$KALMAN_Y,8244.4,-466.4,-757.9,54681.1,-5055.9
$MHEAD_RNG_PITCHd_Wd,26.3,66972,-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,-146.6,0.0,0.0,0,64,0.00,0.00,-46.33,0.000,2,0.000,0.000,54,2751,3233
$GC,68,-1.42,-146.6,3.9,-7.1,3,90,11.75,1.98,-4.45,0.000,4,0.160,0.093,2124,3787,3502
$GC,160,-1.42,-146.6,21.1,-11.8,7,163,0.00,1.85,0.00,0.000,6,0.000,0.042,2124,2741,3502
$GC,493,-1.42,-146.6,58.2,-10.9,23,497,0.00,2.58,0.00,0.000,4,0.000,0.064,2124,1337,3502
$GC,526,-1.42,-146.6,61.9,-10.8,24,532,0.00,2.65,0.00,0.000,6,0.000,0.065,2124,2763,3502
$GC,844,-1.42,-146.6,97.9,-11.5,40,848,0.00,2.62,0.00,0.000,4,0.000,0.059,2124,1334,3502
$GC,877,-1.42,-146.6,102.1,-11.5,41,883,0.00,2.62,0.00,0.000,6,0.000,0.062,2124,2758,3502
$GC,1193,-1.42,-146.6,137.4,-11.2,57,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3503
$GC,1502,-1.42,-146.6,171.5,-10.8,72,1507,0.00,2.62,0.00,0.000,4,0.000,0.062,2124,1333,3503
$GC,1537,-1.42,-146.6,175.4,-11.3,73,1543,0.00,2.65,0.00,0.000,6,0.000,0.064,2124,2757,3503
$GC,1853,-1.42,-146.6,209.5,-10.7,89,1857,0.00,2.62,0.00,0.000,4,0.000,0.062,2124,1333,3503
$GC,1902,-1.42,-146.6,214.8,-10.3,91,1907,0.00,2.60,0.00,0.000,6,0.000,0.060,2123,2752,3503
$GC,2219,-1.42,-146.6,247.4,-10.6,106,2223,0.00,2.60,0.00,0.000,4,0.000,0.060,2124,1338,3503
$GC,2259,-1.42,-146.6,251.9,-11.5,108,2263,0.00,2.62,0.00,0.000,6,0.000,0.061,2124,2759,3503
$GC,2586,-1.42,-146.6,288.0,-11.5,124,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3503
$GC,2894,-1.42,-146.6,319.9,-10.2,139,2899,0.00,2.62,0.00,0.000,4,0.000,0.061,2124,1331,3504
$GC,2980,-1.42,-146.6,328.2,-9.5,143,2984,0.00,2.65,0.00,0.000,6,0.000,0.063,2124,2760,3504
$GC,3307,-1.42,-146.6,361.8,-10.6,159,3311,0.00,2.65,0.00,0.000,4,0.000,0.064,2124,1331,3504
$GC,3340,-1.42,-146.6,365.2,-10.4,160,3346,0.00,2.65,0.00,0.000,6,0.000,0.067,2124,2758,3504
$GC,3656,-1.42,-146.6,396.5,-10.1,176,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3504
$GC,3966,-1.42,-146.6,425.8,-9.4,191,3971,0.00,2.62,0.00,0.000,4,0.000,0.067,2124,1340,3504
$GC,4039,-1.42,-146.6,432.9,-9.6,194,4044,0.00,2.65,0.00,0.000,6,0.000,0.069,2124,2747,3504
$GC,4355,-1.42,-146.6,462.0,-8.8,209,4360,0.00,2.62,0.00,0.000,4,0.000,0.068,2124,1336,3503
$GC,4383,-1.42,-146.6,464.6,-9.2,210,4387,0.00,2.67,0.00,0.000,6,0.000,0.071,2124,2755,3503
$GC,4699,-1.42,-146.6,492.1,-9.1,225,4703,0.00,2.65,0.00,0.000,4,0.000,0.069,2124,1337,3502
$GC,4726,-1.42,-146.6,494.7,-9.3,226,4731,0.00,2.70,0.00,0.000,6,0.000,0.074,2124,2757,3502
$GC,5042,-1.42,-146.6,523.5,-9.2,241,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3501
$STATE,5307,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5307,begin apogee
$GC,5316,-0.42,0.0,548.3,9.3,254,5444,1.12,0.00,124.62,1.097,6,0.102,0.000,2345,2005,2902
$STATE,5445,end apogee,CONTROL_FINISHED_OK
$STATE,5445,begin climb
$GC,5448,1.42,146.6,553.2,0.0,260,5581,1.90,2.80,122.35,1.058,4,0.059,0.071,2747,583,2304
$GC,5733,1.52,226.1,544.5,5.1,273,5807,0.10,2.58,67.18,1.046,6,0.054,0.043,2779,2025,1980
$GC,6116,1.52,226.1,515.5,8.1,291,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2026,1979
$GC,6426,1.52,228.5,490.9,7.9,306,6431,0.00,2.72,0.00,0.000,4,0.000,0.071,2779,586,1977
$GC,6476,1.52,228.5,486.6,8.2,308,6481,0.00,2.55,0.00,0.000,6,0.000,0.044,2779,2004,1977
$GC,6792,1.52,228.5,460.8,8.2,323,6797,0.00,2.65,0.00,0.000,4,0.000,0.071,2779,3413,1976
$GC,6848,1.52,228.5,456.3,8.0,325,6855,0.00,2.60,0.00,0.000,6,0.000,0.052,2779,1985,1976
$GC,7164,1.54,243.8,431.6,7.4,341,7186,0.00,2.67,15.43,1.006,4,0.000,0.072,2779,588,1907
$GC,7305,1.54,243.8,419.8,8.9,347,7309,0.00,2.55,0.00,0.000,6,0.000,0.045,2779,2006,1906
$GC,7626,1.54,243.8,392.9,8.1,363,7630,0.00,2.67,0.00,0.000,4,0.000,0.070,2779,586,1906
$GC,7733,1.54,243.8,383.8,9.3,368,7738,0.00,2.53,0.00,0.000,6,0.000,0.044,2779,2000,1906
$GC,8060,1.54,243.8,354.2,9.1,384,8065,0.00,2.62,0.00,0.000,4,0.000,0.071,2779,3406,1906
$GC,8128,1.54,243.8,347.7,9.9,387,8132,0.00,2.55,0.00,0.000,6,0.000,0.051,2779,2000,1906
$GC,8449,1.54,243.8,319.6,8.7,403,8454,0.00,2.62,0.00,0.000,4,0.000,0.067,2779,584,1906
$GC,8612,1.54,243.8,304.9,9.2,410,8616,0.00,2.53,0.00,0.000,6,0.000,0.041,2779,2007,1905
$GC,8928,1.54,243.8,279.0,8.6,425,8933,0.00,2.65,0.00,0.000,4,0.000,0.064,2779,584,1905
$GC,9085,1.54,243.8,264.0,10.0,432,9090,0.00,2.53,0.00,0.000,6,0.000,0.041,2779,2005,1906
$GC,9406,1.54,243.8,234.4,9.3,448,9411,0.00,2.62,0.00,0.000,4,0.000,0.063,2779,588,1906
$GC,9496,1.54,243.8,226.2,8.5,452,9501,0.00,2.53,0.00,0.000,6,0.000,0.041,2779,2011,1906
$GC,9818,1.54,243.8,197.0,8.7,468,9822,0.00,2.62,0.00,0.000,4,0.000,0.061,2779,588,1907
$GC,9908,1.54,243.8,188.8,9.4,472,9912,0.00,2.50,0.00,0.000,6,0.000,0.039,2779,2003,1907
$GC,10229,1.54,243.8,161.7,8.4,488,10233,0.00,2.60,0.00,0.000,4,0.000,0.061,2779,589,1907
$GC,10336,1.54,243.8,152.4,8.5,493,10340,0.00,2.50,0.00,0.000,6,0.000,0.039,2779,2008,1908
$GC,10665,1.54,243.8,123.9,8.9,509,10669,0.00,2.62,0.00,0.000,4,0.000,0.061,2779,581,1908
$GC,10750,1.54,243.8,116.3,8.9,513,10754,0.00,2.50,0.00,0.000,6,0.000,0.038,2779,2003,1909
$GC,11077,1.55,251.0,90.1,7.7,529,11091,0.00,2.67,8.18,0.698,4,0.000,0.061,2779,588,1878
$GC,11161,1.55,251.0,82.9,8.8,532,11167,0.00,2.50,0.00,0.000,6,0.000,0.038,2779,2002,1878
$GC,11477,1.55,251.0,56.0,9.0,548,11478,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2002,1878
$GC,11787,1.55,251.0,30.9,8.5,563,11788,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2002,1879
$GC,12096,1.55,251.0,3.7,8.4,578,12100,0.00,2.55,0.00,0.000,4,0.000,0.051,2779,588,1879
$GC,12106,1.55,251.0,2.8,9.1,578,12113,0.00,2.50,0.00,0.000,6,0.000,0.039,2779,2010,1879
$STATE,12132,end climb,SURFACE_DEPTH_REACHED
$STATE,12132,begin surface coast
$FINISH,0.2,1.027402
$STATE,12153,end surface coast,CONTROL_FINISHED_OK
$STATE,12153,begin surface
$SM_CCo,12239,0.00,0.000,0,0,1879,250.94
$SM_GC,1.29,12.00,0.00,0.00,0.028,0.000,0.000,49,2745,1879,-10.93,-0.14,250.94
$IRIDIUM_FIX,6254.00,-858.61,100898,030306
$TT8_MAMPS,0.028379
$HUMID,1802
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.80
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,475.9,81.1
$24V_AH,23.1,64.713
$10V_AH,10.1,36.636
$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,26.875,132.025,337.750,0.000,0.000,31.454,31.086,157.869,8.500,0.000,0.000,17.421,1111.896,9117.346,428.144,1447.623,477.510,33.356,1176.541,0.000,1410.283,0.000,33.298,0.000
$DEVICE_MAMPS,160.303,92.807,1096.810,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,417.008,420.164,401.415,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28486,581
$CAP_FILE_SIZE,94838,0
$CFSIZE,260165632,234057728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160509,095137,6316.619,-849.695,63,1.7,63,-9.8