version: 66.04
glider: 103
mission: 11
dive: 406
start: 5 16 109 16 46 30
data:
$ID,103
$MISSION,11
$DIVE,406
$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,-151663.19
$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,20
$R_STBD_OVSHOOT,14
$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
$GPS1,163921,6317.692,-840.761,38,2.8,57,-9.7
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-57.2
$GPS2,164540,6317.605,-840.710,12,2.7,31,-9.7
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.095,0.224
$KALMAN_X,-24648.4,-437.7,-175.8,112059.6,3953.1
$KALMAN_Y,-7137.2,1946.3,872.6,67071.4,-21298.0
$MHEAD_RNG_PITCHd_Wd,32.7,60712,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,71,0.00,0.00,-53.47,0.000,6,0.000,0.000,50,2754,3502
$GC,75,-1.42,-146.6,2.8,-8.9,2,92,11.82,2.62,0.00,0.000,4,0.161,0.061,2123,1340,3502
$GC,126,-1.42,-146.6,21.3,-12.9,5,131,0.00,2.65,0.00,0.000,6,0.000,0.067,2123,2753,3502
$GC,447,-1.42,-146.6,57.8,-10.8,21,452,0.00,2.62,0.00,0.000,4,0.000,0.061,2123,1335,3502
$GC,494,-1.42,-146.6,63.1,-11.3,23,498,0.00,2.65,0.00,0.000,6,0.000,0.065,2123,2752,3502
$GC,815,-1.42,-146.6,98.9,-11.0,39,820,0.00,2.62,0.00,0.000,4,0.000,0.062,2123,1333,3502
$GC,843,-1.42,-146.6,102.2,-11.4,40,848,0.00,2.65,0.00,0.000,6,0.000,0.066,2123,2747,3502
$GC,1161,-1.42,-146.6,135.6,-10.4,55,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2747,3503
$GC,1469,-1.42,-146.6,166.5,-10.0,70,1473,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,1334,3503
$GC,1535,-1.42,-146.6,173.3,-10.3,73,1540,0.00,2.67,0.00,0.000,6,0.000,0.068,2123,2760,3503
$GC,1856,-1.42,-146.6,205.1,-10.0,89,1861,0.00,2.65,0.00,0.000,4,0.000,0.063,2123,1330,3503
$GC,1897,-1.42,-146.6,209.1,-10.0,91,1902,0.00,2.67,0.00,0.000,6,0.000,0.067,2123,2757,3503
$GC,2225,-1.42,-146.6,242.6,-10.2,107,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2758,3503
$GC,2534,-1.42,-146.6,274.5,-10.2,122,2542,0.00,2.65,0.00,0.000,4,0.000,0.065,2123,1330,3503
$GC,2588,-1.42,-146.6,280.7,-11.2,124,2592,0.00,2.67,0.00,0.000,6,0.000,0.068,2123,2756,3503
$GC,2908,-1.42,-146.6,317.1,-11.1,140,2913,0.00,2.62,0.00,0.000,4,0.000,0.064,2123,1331,3504
$GC,2948,-1.42,-146.6,321.5,-11.3,142,2953,0.00,2.65,0.00,0.000,6,0.000,0.064,2123,2757,3504
$GC,3275,-1.42,-146.6,357.0,-10.9,158,3279,0.00,2.62,0.00,0.000,4,0.000,0.066,2123,1335,3504
$GC,3308,-1.42,-146.6,360.7,-10.6,159,3314,0.00,2.67,0.00,0.000,6,0.000,0.068,2123,2760,3504
$GC,3624,-1.42,-146.6,392.3,-9.8,175,3628,0.00,2.67,0.00,0.000,4,0.000,0.069,2123,1334,3504
$GC,3669,-1.42,-146.6,396.9,-10.2,177,3673,0.00,2.67,0.00,0.000,6,0.000,0.070,2123,2754,3504
$GC,3989,-1.42,-146.6,427.4,-9.6,193,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2753,3504
$GC,4299,-1.42,-146.6,456.1,-9.5,208,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3503
$GC,4608,-1.42,-146.6,485.3,-9.4,223,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3502
$GC,4917,-1.42,-146.6,515.5,-9.8,238,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3501
$GC,5227,-1.42,-146.6,546.7,-9.9,253,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2754,3500
$STATE,5368,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5368,begin apogee
$GC,5378,-0.42,0.0,561.0,9.7,260,5511,1.12,0.00,125.68,1.126,6,0.096,0.000,2346,1995,2902
$STATE,5511,end apogee,CONTROL_FINISHED_OK
$STATE,5511,begin climb
$GC,5515,1.42,146.6,568.3,0.0,267,5648,1.90,2.75,122.90,1.077,4,0.059,0.071,2748,588,2304
$GC,5907,1.55,248.4,557.2,4.3,284,5999,0.12,2.55,86.10,1.070,6,0.048,0.043,2784,2014,1889
$GC,6327,1.55,248.4,521.9,9.1,305,6331,0.00,2.72,0.00,0.000,4,0.000,0.071,2784,577,1888
$GC,6450,1.55,248.4,509.8,9.6,310,6456,0.00,2.55,0.00,0.000,6,0.000,0.044,2784,1994,1888
$GC,6766,1.55,248.4,481.2,8.7,326,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1994,1887
$GC,7075,1.55,248.4,455.5,8.4,341,7079,0.00,2.65,0.00,0.000,4,0.000,0.073,2784,3406,1886
$GC,7131,1.55,248.4,450.5,9.0,343,7137,0.00,2.60,0.00,0.000,6,0.000,0.053,2784,1984,1886
$GC,7447,1.55,248.4,424.3,8.1,359,7451,0.00,2.60,0.00,0.000,4,0.000,0.072,2784,593,1885
$GC,7525,1.55,248.4,417.9,8.1,362,7531,0.00,2.55,0.00,0.000,6,0.000,0.046,2784,2009,1885
$GC,7841,1.55,248.4,394.2,8.2,378,7845,0.00,2.62,0.00,0.000,4,0.000,0.073,2783,3405,1885
$GC,7874,1.55,248.4,391.4,8.4,379,7880,0.00,2.58,0.00,0.000,6,0.000,0.053,2784,1998,1885
$GC,8190,1.55,248.4,364.8,8.5,395,8194,0.00,2.62,0.00,0.000,4,0.000,0.070,2784,586,1884
$GC,8290,1.55,248.4,355.3,9.9,399,8296,0.00,2.55,0.00,0.000,6,0.000,0.045,2784,2005,1884
$GC,8606,1.55,248.4,326.4,9.5,415,8611,0.00,2.65,0.00,0.000,4,0.000,0.068,2784,591,1884
$GC,8662,1.55,248.4,320.8,10.7,417,8668,0.00,2.53,0.00,0.000,6,0.000,0.044,2784,1996,1884
$GC,8977,1.55,248.4,290.4,9.7,433,8982,0.00,2.62,0.00,0.000,4,0.000,0.067,2784,591,1884
$GC,9079,1.55,248.4,280.6,9.2,437,9085,0.00,2.53,0.00,0.000,6,0.000,0.044,2784,2003,1884
$GC,9395,1.55,248.4,252.4,8.6,453,9399,0.00,2.62,0.00,0.000,4,0.000,0.070,2784,3415,1884
$GC,9427,1.55,248.4,249.3,9.0,454,9434,0.00,2.58,0.00,0.000,6,0.000,0.049,2784,1990,1884
$GC,9744,1.55,248.4,221.6,9.3,470,9748,0.00,2.58,0.00,0.000,4,0.000,0.065,2784,587,1885
$GC,9799,1.55,248.4,216.4,9.2,472,9805,0.00,2.53,0.00,0.000,6,0.000,0.040,2784,2010,1885
$GC,10115,1.55,248.4,187.6,9.1,488,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2010,1886
$GC,10425,1.55,248.4,160.1,8.6,503,10429,0.00,2.62,0.00,0.000,4,0.000,0.063,2784,581,1887
$GC,10475,1.55,248.4,155.3,8.9,505,10480,0.00,2.53,0.00,0.000,6,0.000,0.039,2784,2008,1887
$GC,10797,1.55,248.4,128.4,8.3,521,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2008,1887
$GC,11107,1.56,261.6,103.4,7.5,536,11129,0.00,2.70,12.30,0.762,4,0.000,0.063,2784,595,1835
$GC,11220,1.56,261.6,94.5,8.1,541,11225,0.00,2.50,0.00,0.000,6,0.000,0.040,2784,2004,1835
$GC,11548,1.58,277.0,70.7,7.4,557,11567,0.00,0.00,14.30,0.742,6,0.000,0.000,2784,2004,1772
$GC,11879,1.58,277.0,38.2,11.0,573,11884,0.00,2.62,0.00,0.000,4,0.000,0.063,2784,586,1773
$GC,11943,1.58,277.0,31.0,10.9,576,11947,0.00,2.53,0.00,0.000,6,0.000,0.041,2784,2009,1772
$STATE,12267,end climb,SURFACE_DEPTH_REACHED
$STATE,12267,begin surface coast
$FINISH,0.2,1.027459
$STATE,12289,end surface coast,CONTROL_FINISHED_OK
$STATE,12289,begin surface
$SM_CCo,12375,0.00,0.000,0,0,1772,276.94
$SM_GC,1.13,12.07,0.00,0.00,0.030,0.000,0.000,50,2748,1772,-10.93,-0.06,276.94
$IRIDIUM_FIX,6249.28,-842.95,100898,131331
$TT8_MAMPS,0.028379
$HUMID,1814
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.40
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,550.9,19.6
$24V_AH,23.0,65.078
$10V_AH,10.1,36.819
$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,27.050,118.125,361.275,0.000,0.000,30.611,31.202,180.073,13.250,0.000,0.000,34.301,1096.804,9295.795,459.625,1403.287,498.476,33.354,1175.584,0.000,1352.371,0.000,35.051,0.000
$DEVICE_MAMPS,161.070,99.710,1125.956,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,433.085,417.566,401.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31700,593
$CAP_FILE_SIZE,91348,0
$CFSIZE,260165632,233922560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160509,201407,6317.838,-838.530,38,1.4,44,-9.7