version: 66.04
glider: 103
mission: 11
dive: 407
start: 5 16 109 20 20 4
data:
$ID,103
$MISSION,11
$DIVE,407
$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,-151678.33
$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,8
$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
$GPS1,201407,6317.838,-838.530,38,1.4,44,-9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-58.8
$GPS2,201914,6317.793,-838.605,14,1.1,14,-9.7
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.094,0.224
$KALMAN_X,-25797.2,-287.5,-333.4,115021.3,2245.1
$KALMAN_Y,-10567.8,2256.0,997.7,70418.0,-22545.6
$MHEAD_RNG_PITCHd_Wd,32.4,59488,-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,-40.80,0.000,2,0.000,0.000,49,2748,3108
$GC,61,-1.42,-146.6,3.1,-9.5,2,83,11.85,0.00,-7.00,0.000,6,0.157,0.000,2126,2748,3503
$GC,388,-1.42,-146.6,42.7,-9.4,18,389,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2748,3503
$GC,696,-1.42,-146.6,76.5,-11.7,33,701,0.00,2.62,0.00,0.000,4,0.000,0.064,2126,1333,3503
$GC,737,-1.42,-146.6,81.4,-12.1,35,742,0.00,2.70,0.00,0.000,6,0.000,0.071,2126,2763,3503
$GC,1064,-1.42,-146.6,119.5,-11.8,51,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2763,3503
$GC,1374,-1.42,-146.6,155.8,-12.0,66,1378,0.00,2.65,0.00,0.000,4,0.000,0.065,2126,1328,3503
$GC,1413,-1.42,-146.6,160.6,-12.5,68,1418,0.00,2.67,0.00,0.000,6,0.000,0.067,2126,2756,3503
$GC,1740,-1.42,-146.6,196.8,-10.8,84,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2756,3504
$GC,2050,-1.42,-146.6,228.1,-9.7,99,2054,0.00,2.62,0.00,0.000,4,0.000,0.062,2126,1336,3504
$GC,2100,-1.42,-146.6,232.9,-9.3,101,2104,0.00,2.65,0.00,0.000,6,0.000,0.067,2126,2753,3504
$GC,2416,-1.42,-146.6,261.1,-8.5,116,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2753,3504
$GC,2726,-1.42,-146.6,290.2,-9.8,131,2730,0.00,2.62,0.00,0.000,4,0.000,0.064,2126,1330,3504
$GC,2759,-1.42,-146.6,293.5,-10.1,132,2765,0.00,2.67,0.00,0.000,6,0.000,0.071,2126,2751,3504
$GC,3075,-1.42,-146.6,324.4,-10.2,148,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2751,3504
$GC,3385,-1.42,-146.6,355.8,-10.2,163,3389,0.00,2.65,0.00,0.000,4,0.000,0.068,2126,1337,3504
$GC,3447,-1.42,-146.6,362.0,-10.1,166,3452,0.00,2.67,0.00,0.000,6,0.000,0.073,2126,2748,3504
$GC,3774,-1.42,-146.6,391.1,-8.7,182,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2748,3504
$GC,4084,-1.42,-146.6,416.7,-7.9,197,4088,0.00,2.67,0.00,0.000,4,0.000,0.073,2126,1332,3503
$GC,4124,-1.42,-146.6,420.0,-8.3,199,4128,0.00,2.72,0.00,0.000,6,0.000,0.076,2126,2761,3503
$GC,4450,-1.42,-146.6,448.6,-9.2,215,4454,0.00,2.00,0.00,0.000,4,0.000,0.096,2126,3788,3502
$GC,4484,-1.42,-146.6,451.8,-9.7,216,4488,0.00,1.90,0.00,0.000,6,0.000,0.054,2126,2743,3501
$GC,4806,-1.42,-146.6,483.1,-10.5,232,4810,0.00,2.62,0.00,0.000,4,0.000,0.076,2126,1338,3500
$GC,4852,-1.42,-146.6,487.7,-9.9,234,4856,0.00,2.72,0.00,0.000,6,0.000,0.079,2126,2756,3500
$GC,5173,-1.42,-146.6,519.8,-10.2,250,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2756,3499
$GC,5482,-1.42,-146.6,549.7,-9.6,265,5487,0.00,2.67,0.00,0.000,4,0.000,0.072,2126,1338,3498
$GC,5509,-1.42,-146.6,552.5,-9.4,266,5514,0.00,2.70,0.00,0.000,6,0.000,0.075,2126,2754,3498
$GC,5832,-1.42,-146.6,570.2,0.0,282,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2754,3497
$STATE,5993,end dive,NO_VERTICAL_VELOCITY
$STATE,5993,begin apogee
$GC,6002,-0.42,0.0,570.1,0.0,290,6130,1.05,0.00,124.97,1.151,6,0.062,0.000,2350,1992,2902
$STATE,6131,end apogee,CONTROL_FINISHED_OK
$STATE,6131,begin climb
$GC,6134,1.42,146.6,570.0,0.0,296,6264,1.88,0.00,124.88,1.082,6,0.061,0.000,2750,1992,2304
$GC,6571,1.53,231.5,555.1,4.9,318,6650,0.10,2.78,72.20,1.081,4,0.054,0.069,2782,3419,1958
$GC,6719,1.60,289.7,544.2,5.9,324,6775,0.00,2.62,50.28,1.058,6,0.000,0.051,2782,1988,1720
$GC,7091,1.60,289.7,513.0,8.9,341,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1988,1719
$GC,7396,1.60,289.7,484.8,9.2,356,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1988,1718
$GC,7706,1.60,289.7,457.3,8.3,371,7710,0.00,2.65,0.00,0.000,4,0.000,0.076,2782,588,1718
$GC,7778,1.60,289.7,450.8,9.4,374,7782,0.00,2.58,0.00,0.000,6,0.000,0.048,2782,2018,1718
$GC,8094,1.60,289.7,423.7,8.7,389,8098,0.00,2.65,0.00,0.000,4,0.000,0.077,2782,3415,1717
$GC,8134,1.60,289.7,420.2,9.1,391,8139,0.00,2.60,0.00,0.000,6,0.000,0.055,2782,2000,1716
$GC,8461,1.60,289.7,392.4,8.7,407,8465,0.00,2.65,0.00,0.000,4,0.000,0.073,2782,587,1716
$GC,8527,1.60,289.7,386.2,9.5,410,8532,0.00,2.58,0.00,0.000,6,0.000,0.048,2782,2008,1716
$GC,8850,1.60,289.7,356.1,9.5,426,8851,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2008,1715
$GC,9159,1.60,289.7,326.9,9.4,441,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2008,1715
$GC,9468,1.60,289.7,299.0,8.7,456,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2008,1715
$GC,9777,1.60,289.7,271.2,9.6,471,9782,0.00,2.67,0.00,0.000,4,0.000,0.071,2782,590,1715
$GC,9827,1.60,289.7,265.8,10.7,473,9832,0.00,2.55,0.00,0.000,6,0.000,0.046,2782,2005,1715
$GC,10143,1.60,289.7,234.9,9.6,488,10148,0.00,2.67,0.00,0.000,4,0.000,0.068,2782,583,1716
$GC,10206,1.60,289.7,228.7,10.2,491,10211,0.00,2.55,0.00,0.000,6,0.000,0.044,2782,2004,1716
$GC,10533,1.60,289.7,195.6,10.2,507,10538,0.00,2.65,0.00,0.000,4,0.000,0.065,2782,580,1717
$GC,10584,1.60,289.7,190.1,10.1,509,10588,0.00,2.55,0.00,0.000,6,0.000,0.042,2782,2009,1716
$GC,10900,1.60,289.7,160.0,9.5,524,10904,0.00,2.65,0.00,0.000,4,0.000,0.063,2782,578,1717
$GC,10940,1.60,289.7,155.8,10.4,526,10944,0.00,2.53,0.00,0.000,6,0.000,0.041,2782,2002,1718
$GC,11268,1.60,289.7,123.9,9.5,542,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2002,1719
$GC,11579,1.60,289.7,95.0,9.4,557,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2002,1719
$GC,11886,1.60,289.7,64.3,9.7,572,11891,0.00,2.62,0.00,0.000,4,0.000,0.062,2782,581,1720
$GC,11920,1.60,289.7,60.9,9.2,573,11926,0.00,2.53,0.00,0.000,6,0.000,0.039,2782,2009,1721
$GC,12238,1.60,289.7,30.6,9.1,589,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2009,1721
$GC,12545,1.60,289.7,2.9,8.4,604,12550,0.00,2.65,0.00,0.000,4,0.000,0.064,2782,582,1722
$STATE,12553,end climb,SURFACE_DEPTH_REACHED
$STATE,12553,begin surface coast
$FINISH,0.6,1.027464
$STATE,12562,end surface coast,CONTROL_FINISHED_OK
$STATE,12562,begin surface
$SM_CCo,12651,0.00,0.000,0,0,1721,289.70
$SM_GC,0.83,12.10,0.00,0.00,0.031,0.000,0.000,49,2746,1721,-10.93,-0.11,289.70
$IRIDIUM_FIX,6249.28,-842.95,100898,161606
$TT8_MAMPS,0.029146
$HUMID,1829
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.30
$XPDR_PINGS,34
$24V_AH,23.0,65.206
$10V_AH,10.1,36.879
$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,26.975,102.000,372.325,0.000,0.000,24.539,28.681,131.391,13.000,0.000,0.000,14.522,1106.473,9703.717,459.542,1250.827,437.057,33.361,1098.753,0.000,1225.173,0.000,35.072,0.000
$DEVICE_MAMPS,157.235,95.875,1150.500,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.840,426.459,398.436,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31755,605
$CAP_FILE_SIZE,85881,0
$CFSIZE,260165632,233885696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160509,235207,6318.909,-836.147,34,0.9,34,-9.6