version: 66.04
glider: 103
mission: 11
dive: 405
start: 5 16 109 13 23 7
data:
$ID,103
$MISSION,11
$DIVE,405
$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,-151628.27
$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,14
$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
$GPS1,131654,6317.049,-845.478,29,1.0,46,-9.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-60.2
$GPS2,132219,6316.978,-845.370,15,1.1,20,-9.7
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.113,0.215
$KALMAN_X,-26642.2,-180.5,265.3,109396.7,204.9
$KALMAN_Y,-4757.8,1135.7,1194.1,64033.0,-21133.1
$MHEAD_RNG_PITCHd_Wd,37.4,63832,-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,-41.00,0.000,2,0.000,0.000,51,2750,3294
$GC,62,-1.42,-146.6,4.0,-11.2,2,85,11.85,2.00,-3.35,0.000,4,0.162,0.097,2126,3791,3502
$GC,192,-1.42,-146.6,26.5,-10.8,7,199,0.00,1.90,0.00,0.000,6,0.000,0.044,2126,2739,3502
$GC,510,-1.42,-146.6,60.3,-10.3,23,514,0.00,2.60,0.00,0.000,4,0.000,0.071,2126,1332,3503
$GC,610,-1.42,-146.6,71.4,-11.3,27,617,0.00,2.70,0.00,0.000,6,0.000,0.073,2126,2755,3503
$GC,927,-1.42,-146.6,105.7,-11.0,43,931,0.00,2.62,0.00,0.000,4,0.000,0.064,2126,1332,3503
$GC,971,-1.42,-146.6,110.8,-11.2,45,976,0.00,2.67,0.00,0.000,6,0.000,0.067,2126,2761,3503
$GC,1293,-1.42,-146.6,145.3,-10.7,61,1297,0.00,2.65,0.00,0.000,4,0.000,0.065,2126,1333,3503
$GC,1349,-1.42,-146.6,151.1,-10.2,63,1355,0.00,2.67,0.00,0.000,6,0.000,0.070,2126,2757,3503
$GC,1665,-1.42,-146.6,185.1,-10.9,79,1669,0.00,2.62,0.00,0.000,4,0.000,0.064,2126,1334,3503
$GC,1709,-1.42,-146.6,189.9,-10.3,81,1713,0.00,2.65,0.00,0.000,6,0.000,0.067,2126,2751,3503
$GC,2031,-1.42,-146.6,225.6,-11.1,97,2035,0.00,2.62,0.00,0.000,4,0.000,0.063,2126,1332,3503
$GC,2086,-1.42,-146.6,232.0,-11.1,99,2092,0.00,2.67,0.00,0.000,6,0.000,0.069,2126,2754,3503
$GC,2402,-1.42,-146.6,267.8,-11.4,115,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2754,3503
$GC,2712,-1.42,-146.6,304.4,-11.8,130,2716,0.00,2.62,0.00,0.000,4,0.000,0.065,2126,1331,3504
$GC,2751,-1.42,-146.6,309.2,-12.0,132,2756,0.00,2.67,0.00,0.000,6,0.000,0.069,2126,2757,3504
$GC,3078,-1.42,-146.6,345.4,-10.6,148,3082,0.00,2.62,0.00,0.000,4,0.000,0.067,2126,1340,3504
$GC,3128,-1.42,-146.6,350.8,-10.3,150,3133,0.00,2.67,0.00,0.000,6,0.000,0.071,2126,2761,3504
$GC,3444,-1.42,-146.6,382.8,-9.9,165,3449,0.00,2.67,0.00,0.000,4,0.000,0.068,2126,1330,3504
$GC,3484,-1.42,-146.6,386.7,-9.9,167,3488,0.00,2.70,0.00,0.000,6,0.000,0.074,2126,2751,3504
$GC,3811,-1.42,-146.6,419.4,-10.0,183,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3503
$GC,4120,-1.42,-146.6,448.8,-9.5,198,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3502
$GC,4429,-1.42,-146.6,478.6,-9.4,213,4433,0.00,2.67,0.00,0.000,4,0.000,0.072,2126,1333,3501
$GC,4492,-1.42,-146.6,484.5,-9.7,216,4496,0.00,2.72,0.00,0.000,6,0.000,0.077,2126,2761,3501
$GC,4818,-1.42,-146.6,516.0,-9.7,232,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2761,3500
$GC,5128,-1.42,-146.6,546.2,-10.1,247,5133,0.00,2.70,0.00,0.000,4,0.000,0.073,2126,1331,3499
$STATE,5170,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5170,begin apogee
$GC,5178,-0.42,0.0,550.9,10.6,249,5307,1.10,0.00,125.25,1.101,6,0.098,0.000,2345,2011,2902
$STATE,5308,end apogee,CONTROL_FINISHED_OK
$STATE,5308,begin climb
$GC,5311,1.42,146.6,556.6,0.0,255,5444,1.90,2.80,123.07,1.061,4,0.060,0.070,2747,591,2304
$GC,5489,1.54,244.0,558.7,4.4,263,5578,0.12,2.55,82.68,1.041,6,0.048,0.041,2785,2017,1907
$GC,5888,1.54,244.0,526.8,8.5,282,5892,0.00,2.70,0.00,0.000,4,0.000,0.070,2785,588,1906
$GC,5960,1.54,244.0,520.0,9.0,285,5965,0.00,2.53,0.00,0.000,6,0.000,0.044,2784,1994,1906
$GC,6276,1.54,244.0,493.3,8.7,300,6277,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1995,1905
$GC,6586,1.54,244.0,466.4,8.8,315,6590,0.00,2.65,0.00,0.000,4,0.000,0.070,2784,587,1904
$GC,6630,1.54,244.0,462.1,9.3,317,6634,0.00,2.55,0.00,0.000,6,0.000,0.045,2785,2005,1904
$GC,6951,1.54,244.0,433.6,9.0,333,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2005,1903
$GC,7261,1.54,244.0,405.4,8.7,348,7265,0.00,2.65,0.00,0.000,4,0.000,0.074,2785,3412,1902
$GC,7351,1.54,244.0,397.8,8.1,352,7356,0.00,2.58,0.00,0.000,6,0.000,0.053,2785,1996,1902
$GC,7679,1.59,279.7,374.6,6.7,368,7711,0.00,0.00,30.58,1.079,6,0.000,0.000,2785,1996,1761
$GC,8008,1.61,301.6,350.6,7.2,384,8033,0.00,2.70,20.05,0.999,4,0.000,0.071,2785,591,1672
$GC,8106,1.61,301.6,342.3,8.6,388,8113,0.00,2.55,0.00,0.000,6,0.000,0.046,2784,1996,1672
$GC,8422,1.61,301.6,317.2,8.0,404,8427,0.00,2.65,0.00,0.000,4,0.000,0.068,2784,588,1671
$GC,8501,1.61,301.6,310.4,8.5,407,8508,0.00,2.55,0.00,0.000,6,0.000,0.044,2784,2005,1672
$GC,8817,1.61,301.6,284.4,8.7,423,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2005,1672
$GC,9126,1.61,301.6,256.1,9.5,438,9131,0.00,2.62,0.00,0.000,4,0.000,0.065,2784,588,1672
$GC,9217,1.61,301.6,246.9,10.8,442,9221,0.00,2.53,0.00,0.000,6,0.000,0.042,2785,2003,1672
$GC,9544,1.61,301.6,214.9,9.9,458,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2003,1672
$GC,9853,1.61,301.6,184.4,10.2,473,9857,0.00,2.62,0.00,0.000,4,0.000,0.062,2785,586,1672
$GC,9954,1.61,301.6,172.9,11.7,477,9960,0.00,2.53,0.00,0.000,6,0.000,0.041,2784,2008,1672
$GC,10270,1.61,301.6,137.7,11.3,493,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2008,1673
$GC,10579,1.61,301.6,105.0,10.0,508,10581,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2008,1673
$GC,10891,1.61,301.6,72.6,10.8,523,10892,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2008,1673
$GC,11198,1.61,301.6,39.5,10.9,538,11202,0.00,2.65,0.00,0.000,4,0.000,0.064,2785,581,1674
$GC,11276,1.61,301.6,30.7,10.2,541,11282,0.00,2.53,0.00,0.000,6,0.000,0.040,2785,2008,1674
$STATE,11568,end climb,SURFACE_DEPTH_REACHED
$STATE,11569,begin surface coast
$FINISH,0.1,1.004044
$STATE,11592,end surface coast,CONTROL_FINISHED_OK
$STATE,11592,begin surface
$SM_CCo,11678,0.00,0.000,0,0,1674,301.47
$SM_GC,0.95,12.15,0.00,0.00,0.034,0.000,0.000,50,2749,1674,-10.93,-0.03,301.47
$IRIDIUM_FIX,6249.28,-847.68,100898,101018
$TT8_MAMPS,0.029146
$HUMID,1828
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.50
$XPDR_PINGS,23
$ALTIM_BOTTOM_PING,525.8,34.8
$24V_AH,23.0,64.953
$10V_AH,10.1,36.756
$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,27.125,104.175,381.625,0.000,0.000,24.832,26.229,144.912,10.250,0.000,0.000,20.089,1033.458,8785.026,446.483,1298.374,437.153,33.356,1120.088,0.000,1260.146,0.000,36.335,0.000
$DEVICE_MAMPS,161.837,97.409,1100.645,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.140,394.085,372.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28565,557
$CAP_FILE_SIZE,84685,0
$CFSIZE,260165632,233979904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160509,163921,6317.692,-840.761,38,2.8,57,-9.7