version: 66.04
glider: 103
mission: 11
dive: 404
start: 5 16 109 9 57 51
data:
$ID,103
$MISSION,11
$DIVE,404
$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,-151607.55
$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,21
$R_STBD_OVSHOOT,9
$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
$GPS1,095137,6316.619,-849.695,63,1.7,63,-9.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-61.7
$GPS2,095701,6316.538,-849.657,11,1.9,16,-9.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.129,0.206
$KALMAN_X,-27975.0,589.6,116.4,106474.1,-1466.3
$KALMAN_Y,-851.9,435.0,590.8,60667.7,-17301.4
$MHEAD_RNG_PITCHd_Wd,41.7,66580,-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,-146.6,0.0,0.0,0,58,0.00,0.00,-40.78,0.000,2,0.000,0.000,49,2749,3257
$GC,61,-1.42,-146.6,3.8,-11.1,2,84,11.80,1.98,-4.03,0.000,4,0.160,0.095,2124,3786,3503
$GC,153,-1.42,-146.6,22.8,-12.6,6,157,0.00,1.83,0.00,0.000,6,0.000,0.040,2124,2749,3503
$GC,486,-1.42,-146.6,61.4,-11.4,22,491,0.00,2.60,0.00,0.000,4,0.000,0.067,2124,1342,3503
$GC,531,-1.42,-146.6,66.4,-10.7,24,536,0.00,2.65,0.00,0.000,6,0.000,0.070,2124,2757,3503
$GC,853,-1.42,-146.6,101.1,-10.8,40,857,0.00,2.62,0.00,0.000,4,0.000,0.062,2124,1335,3503
$GC,893,-1.42,-146.6,105.6,-11.5,42,898,0.00,2.65,0.00,0.000,6,0.000,0.068,2124,2750,3503
$GC,1220,-1.42,-146.6,142.7,-11.5,58,1224,0.00,2.62,0.00,0.000,4,0.000,0.064,2124,1331,3503
$GC,1276,-1.42,-146.6,149.1,-11.0,60,1282,0.00,2.65,0.00,0.000,6,0.000,0.067,2124,2758,3503
$GC,1592,-1.42,-146.6,184.5,-11.2,76,1597,0.00,2.62,0.00,0.000,4,0.000,0.064,2124,1333,3504
$GC,1661,-1.42,-146.6,192.4,-11.9,79,1665,0.00,2.65,0.00,0.000,6,0.000,0.064,2124,2756,3504
$GC,1982,-1.42,-146.6,227.4,-10.8,95,1987,0.00,2.62,0.00,0.000,4,0.000,0.064,2124,1339,3504
$GC,2050,-1.42,-146.6,234.9,-11.0,98,2054,0.00,2.65,0.00,0.000,6,0.000,0.067,2124,2754,3504
$GC,2370,-1.42,-146.6,268.2,-9.6,114,2375,0.00,2.62,0.00,0.000,4,0.000,0.063,2124,1333,3504
$GC,2404,-1.42,-146.6,271.5,-9.3,115,2411,0.00,2.65,0.00,0.000,6,0.000,0.068,2124,2758,3504
$GC,2722,-1.42,-146.6,301.8,-10.2,131,2726,0.00,2.62,0.00,0.000,4,0.000,0.066,2124,1334,3504
$GC,2762,-1.42,-146.6,305.9,-10.2,133,2766,0.00,2.67,0.00,0.000,6,0.000,0.069,2124,2761,3504
$GC,3089,-1.42,-146.6,340.1,-10.3,149,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2761,3504
$GC,3397,-1.42,-146.6,372.6,-10.3,164,3402,0.00,2.65,0.00,0.000,4,0.000,0.066,2124,1334,3504
$GC,3425,-1.42,-146.6,375.6,-10.5,165,3430,0.00,2.67,0.00,0.000,6,0.000,0.069,2124,2759,3504
$GC,3742,-1.42,-146.6,403.7,-8.1,180,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3503
$GC,4050,-1.42,-146.6,432.9,-10.2,195,4055,0.00,2.65,0.00,0.000,4,0.000,0.067,2124,1341,3502
$GC,4151,-1.42,-146.6,443.8,-10.3,199,4157,0.00,2.67,0.00,0.000,6,0.000,0.072,2124,2756,3502
$GC,4468,-1.42,-146.6,474.3,-9.7,215,4469,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2755,3500
$GC,4776,-1.42,-146.6,505.2,-10.0,230,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2755,3500
$GC,5086,-1.42,-146.6,534.8,-10.4,245,5090,0.00,2.67,0.00,0.000,4,0.000,0.073,2124,1339,3499
$GC,5126,-1.42,-146.6,538.9,-10.3,247,5131,0.00,2.70,0.00,0.000,6,0.000,0.078,2124,2748,3499
$STATE,5134,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5134,begin apogee
$GC,5143,-0.42,0.0,540.0,10.3,247,5272,1.10,0.00,124.85,1.095,6,0.103,0.000,2343,1993,2902
$STATE,5272,end apogee,CONTROL_FINISHED_OK
$STATE,5272,begin climb
$GC,5276,1.42,146.6,547.8,0.0,254,5408,1.92,2.75,123.30,1.053,4,0.062,0.070,2749,585,2303
$GC,5667,1.54,240.4,540.2,4.6,271,5757,0.12,2.58,79.07,1.052,6,0.048,0.042,2785,2027,1921
$GC,6066,1.54,240.4,507.8,8.4,291,6070,0.00,2.72,0.00,0.000,4,0.000,0.069,2785,584,1920
$GC,6177,1.54,240.4,497.1,9.6,296,6182,0.00,2.55,0.00,0.000,6,0.000,0.044,2785,1998,1919
$GC,6499,1.54,240.4,468.5,8.8,312,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1999,1918
$GC,6808,1.54,240.4,442.1,8.3,327,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1998,1917
$GC,7118,1.54,242.6,417.2,7.9,342,7122,0.00,2.67,0.00,0.000,4,0.000,0.070,2785,580,1917
$GC,7305,1.54,242.6,400.7,9.2,350,7310,0.00,2.55,0.00,0.000,6,0.000,0.046,2785,1996,1917
$GC,7621,1.54,242.6,372.7,9.2,365,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1996,1915
$GC,7931,1.54,242.6,345.2,9.2,380,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1996,1915
$GC,8240,1.54,242.6,317.3,9.0,395,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1996,1915
$GC,8549,1.54,242.6,288.6,9.2,410,8553,0.00,2.65,0.00,0.000,4,0.000,0.066,2785,577,1915
$GC,8622,1.54,242.6,281.4,10.5,413,8626,0.00,2.55,0.00,0.000,6,0.000,0.043,2785,2005,1915
$GC,8938,1.54,242.6,252.4,8.9,428,8942,0.00,2.65,0.00,0.000,4,0.000,0.065,2785,578,1915
$GC,9038,1.54,242.6,242.9,9.5,432,9044,0.00,2.55,0.00,0.000,6,0.000,0.042,2785,2011,1915
$GC,9355,1.54,242.6,214.6,8.6,448,9359,0.00,2.65,0.00,0.000,4,0.000,0.064,2785,585,1916
$GC,9439,1.54,242.6,207.0,8.7,452,9444,0.00,2.53,0.00,0.000,6,0.000,0.041,2785,2009,1916
$GC,9766,1.54,242.6,180.3,8.3,468,9771,0.00,2.65,0.00,0.000,4,0.000,0.061,2785,574,1917
$GC,9862,1.54,242.6,172.0,8.4,472,9866,0.00,2.53,0.00,0.000,6,0.000,0.040,2785,2003,1917
$GC,10178,1.54,242.6,144.7,9.1,487,10183,0.00,2.62,0.00,0.000,4,0.000,0.061,2785,578,1918
$GC,10246,1.54,242.6,138.3,9.9,490,10250,0.00,2.53,0.00,0.000,6,0.000,0.039,2785,2009,1918
$GC,10568,1.54,242.6,109.0,9.1,506,10572,0.00,2.62,0.00,0.000,4,0.000,0.061,2785,586,1918
$GC,10676,1.54,242.6,98.6,10.4,511,10680,0.00,2.50,0.00,0.000,6,0.000,0.039,2785,2004,1919
$GC,11003,1.55,247.4,70.9,7.8,527,11017,0.00,2.67,7.15,0.674,4,0.000,0.057,2785,585,1893
$GC,11109,1.55,247.4,60.7,9.4,531,11115,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2000,1893
$GC,11425,1.55,247.4,31.0,8.9,547,11429,0.00,2.60,0.00,0.000,4,0.000,0.061,2785,585,1894
$GC,11520,1.55,247.4,21.1,10.2,551,11524,0.00,2.50,0.00,0.000,6,0.000,0.037,2785,2006,1894
$STATE,11751,end climb,SURFACE_DEPTH_REACHED
$STATE,11751,begin surface coast
$FINISH,0.2,1.025968
$STATE,11773,end surface coast,CONTROL_FINISHED_OK
$STATE,11773,begin surface
$SM_CCo,11859,0.00,0.000,0,0,1894,247.26
$SM_GC,1.27,12.15,0.00,0.00,0.034,0.000,0.000,51,2745,1894,-10.93,-0.14,247.26
$IRIDIUM_FIX,6249.28,-852.40,100898,060609
$TT8_MAMPS,0.028379
$HUMID,1816
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.70
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,526.3,23.3
$24V_AH,23.1,64.826
$10V_AH,10.1,36.697
$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,27.100,116.750,334.375,0.000,0.000,29.206,28.926,141.952,9.500,0.000,0.000,16.420,1072.146,8827.418,412.408,1418.142,451.832,33.361,1135.163,0.000,1378.829,0.000,39.204,0.000
$DEVICE_MAMPS,160.303,95.108,1094.509,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.177,401.536,383.003,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,563
$CAP_FILE_SIZE,90095,0
$CFSIZE,260165632,234024960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160509,131654,6317.049,-845.478,29,1.0,46,-9.7