version: 66.04
glider: 103
mission: 11
dive: 408
start: 5 16 109 23 58 4
data:
$ID,103
$MISSION,11
$DIVE,408
$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,-151694.03
$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,18
$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
$GPS1,235207,6318.909,-836.147,34,0.9,34,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-58.6
$GPS2,235714,6318.896,-836.097,15,1.2,15,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.097,0.223
$KALMAN_X,-26754.1,-166.0,-21.9,117666.3,340.4
$KALMAN_Y,-11702.0,1961.1,1442.0,73431.8,-21344.5
$MHEAD_RNG_PITCHd_Wd,33.1,56670,-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,-40.80,0.000,2,0.000,0.000,49,2750,3053
$GC,61,-1.42,-146.6,3.1,-9.5,2,84,11.85,0.00,-7.97,0.000,6,0.162,0.000,2123,2750,3501
$GC,394,-1.42,-146.6,43.6,-11.7,18,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2750,3502
$GC,703,-1.42,-146.6,78.6,-10.9,33,707,0.00,2.60,0.00,0.000,4,0.000,0.063,2124,1338,3502
$GC,747,-1.42,-146.6,83.7,-11.1,35,752,0.00,2.67,0.00,0.000,6,0.000,0.071,2123,2753,3502
$GC,1069,-1.42,-146.6,118.1,-10.9,51,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2753,3502
$GC,1379,-1.42,-146.6,153.1,-11.5,66,1383,0.00,2.62,0.00,0.000,4,0.000,0.062,2124,1332,3503
$GC,1423,-1.42,-146.6,158.4,-11.5,68,1428,0.00,2.65,0.00,0.000,6,0.000,0.065,2124,2749,3503
$GC,1745,-1.42,-146.6,193.2,-10.5,84,1749,0.00,2.62,0.00,0.000,4,0.000,0.064,2124,1332,3503
$GC,1785,-1.42,-146.6,197.5,-10.6,86,1790,0.00,2.65,0.00,0.000,6,0.000,0.066,2124,2753,3503
$GC,2113,-1.42,-146.6,229.7,-9.5,102,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2754,3503
$GC,2422,-1.42,-146.6,259.5,-9.5,117,2426,0.00,2.62,0.00,0.000,4,0.000,0.063,2124,1333,3504
$GC,2455,-1.42,-146.6,262.6,-9.2,118,2461,0.00,2.65,0.00,0.000,6,0.000,0.064,2124,2756,3504
$GC,2771,-1.42,-146.6,293.1,-9.8,134,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2756,3504
$GC,3080,-1.42,-146.6,324.1,-9.7,149,3085,0.00,2.65,0.00,0.000,4,0.000,0.068,2124,1338,3503
$GC,3114,-1.42,-146.6,327.3,-9.5,150,3120,0.00,2.65,0.00,0.000,6,0.000,0.071,2124,2748,3503
$GC,3430,-1.42,-146.6,356.7,-9.3,166,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2748,3504
$GC,3739,-1.42,-146.6,388.0,-10.3,181,3744,0.00,2.65,0.00,0.000,4,0.000,0.070,2123,1340,3502
$GC,3790,-1.42,-146.6,393.4,-10.3,183,3795,0.00,2.70,0.00,0.000,6,0.000,0.077,2124,2752,3502
$GC,4106,-1.42,-146.6,423.7,-9.4,198,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2752,3501
$GC,4415,-1.42,-146.6,452.4,-9.9,213,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3500
$GC,4725,-1.42,-146.6,483.5,-9.1,228,4730,0.00,2.67,0.00,0.000,4,0.000,0.073,2124,1333,3499
$GC,4753,-1.42,-146.6,486.1,-9.0,229,4758,0.00,2.72,0.00,0.000,6,0.000,0.077,2123,2759,3499
$GC,5069,-1.42,-146.6,517.8,-11.2,244,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3498
$GC,5381,-1.42,-146.6,551.6,-10.1,259,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3497
$GC,5688,-1.42,-146.6,581.6,-9.0,274,5692,0.00,2.70,0.00,0.000,4,0.000,0.074,2123,1333,3496
$STATE,5707,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5707,begin apogee
$GC,5715,-0.42,0.0,583.7,9.2,275,5845,1.08,0.00,125.68,1.141,6,0.094,0.000,2343,2016,2902
$STATE,5845,end apogee,CONTROL_FINISHED_OK
$STATE,5845,begin climb
$GC,5849,1.42,146.6,587.7,0.0,281,5982,1.85,2.80,124.43,1.094,4,0.034,0.074,2758,588,2304
$GC,6238,1.68,359.0,587.2,0.2,298,6433,0.22,2.55,180.60,1.092,6,0.039,0.044,2818,2017,1438
$GC,6740,1.68,359.0,550.5,11.6,323,6744,0.00,2.62,0.00,0.000,4,0.000,0.074,2818,3396,1437
$GC,6824,1.68,359.0,540.0,12.1,327,6829,0.00,2.55,0.00,0.000,6,0.000,0.051,2818,1989,1437
$GC,7151,1.68,359.0,502.4,11.6,343,7155,0.00,2.70,0.00,0.000,4,0.000,0.076,2818,3397,1436
$GC,7252,1.68,359.0,489.8,12.1,347,7258,0.00,2.58,0.00,0.000,6,0.000,0.053,2818,1992,1436
$GC,7567,1.68,359.0,451.3,12.0,363,7572,0.00,2.70,0.00,0.000,4,0.000,0.077,2818,3403,1435
$GC,7668,1.68,359.0,439.0,12.1,367,7674,0.00,2.58,0.00,0.000,6,0.000,0.054,2818,2003,1435
$GC,7984,1.68,359.0,404.7,11.3,383,7989,0.00,2.67,0.00,0.000,4,0.000,0.078,2818,3393,1435
$GC,8057,1.68,359.0,395.8,12.0,386,8062,0.00,2.58,0.00,0.000,6,0.000,0.054,2818,1991,1435
$GC,8374,1.68,359.0,361.6,10.9,401,8379,0.00,2.70,0.00,0.000,4,0.000,0.078,2818,3396,1434
$GC,8414,1.68,359.0,356.9,11.6,403,8418,0.00,2.58,0.00,0.000,6,0.000,0.055,2818,1995,1434
$GC,8740,1.68,359.0,318.8,11.9,419,8741,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1995,1434
$GC,9050,1.68,359.0,282.9,11.6,434,9054,0.00,2.67,0.00,0.000,4,0.000,0.077,2818,3394,1433
$GC,9105,1.68,359.0,276.3,11.6,436,9111,0.00,2.58,0.00,0.000,6,0.000,0.055,2818,1990,1434
$GC,9421,1.68,359.0,238.2,12.3,452,9426,0.00,2.67,0.00,0.000,4,0.000,0.075,2818,3394,1434
$GC,9484,1.68,359.0,230.2,12.7,455,9488,0.00,2.58,0.00,0.000,6,0.000,0.056,2818,1993,1434
$GC,9811,1.68,359.0,188.9,13.0,471,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1993,1434
$GC,10120,1.68,359.0,149.9,12.3,486,10125,0.00,2.67,0.00,0.000,4,0.000,0.074,2818,3403,1434
$GC,10154,1.68,359.0,145.6,12.3,487,10160,0.00,2.55,0.00,0.000,6,0.000,0.052,2818,1995,1435
$GC,10472,1.68,359.0,107.5,11.8,503,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1995,1435
$GC,10779,1.68,359.0,68.5,12.8,518,10784,0.00,2.60,0.00,0.000,4,0.000,0.067,2818,585,1436
$GC,10820,1.68,359.0,63.2,13.1,520,10825,0.00,2.50,0.00,0.000,6,0.000,0.041,2818,1991,1436
$GC,11148,1.68,359.0,23.3,12.0,536,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1991,1437
$STATE,11309,end climb,SURFACE_DEPTH_REACHED
$STATE,11309,begin surface coast
$FINISH,0.0,1.011238
$STATE,11331,end surface coast,CONTROL_FINISHED_OK
$STATE,11331,begin surface
$SM_CCo,11417,0.00,0.000,0,0,1437,359.36
$SM_GC,0.74,12.35,0.00,0.00,0.036,0.000,0.000,54,2748,1437,-10.93,-0.06,359.36
$IRIDIUM_FIX,6254.00,-838.95,100898,202045
$TT8_MAMPS,0.029146
$HUMID,1844
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,16.30
$XPDR_PINGS,32
$ALTIM_BOTTOM_PING,576.0,17.6
$24V_AH,23.0,65.353
$10V_AH,10.1,36.936
$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,27.350,95.150,430.700,0.000,0.000,28.043,35.852,123.137,13.000,0.000,0.000,15.073,997.216,8581.502,468.753,1252.204,424.097,33.351,1133.745,0.000,1219.758,0.000,36.387,0.000
$DEVICE_MAMPS,161.837,112.749,1140.529,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.291,382.621,357.371,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28550,545
$CAP_FILE_SIZE,81241,0
$CFSIZE,260165632,233848832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170509,031001,6320.476,-830.963,62,1.1,62,-9.6