version: 66.04
glider: 103
mission: 11
dive: 409
start: 5 17 109 3 15 52
data:
$ID,103
$MISSION,11
$DIVE,409
$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,-151709.12
$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,17
$R_STBD_OVSHOOT,12
$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
$GPS1,031001,6320.476,-830.963,62,1.1,62,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-56.8
$GPS2,031502,6320.439,-830.818,14,1.4,14,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.086,0.227
$KALMAN_X,-24960.5,20.3,297.1,119832.3,1872.6
$KALMAN_Y,-11312.0,1732.6,1098.8,76471.0,-18693.2
$MHEAD_RNG_PITCHd_Wd,30.3,52021,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.45,0.000,2,0.000,0.000,53,2752,3478
$GC,81,-1.42,-146.6,4.9,-10.2,3,103,11.82,2.05,-0.38,0.000,4,0.163,0.099,2124,3784,3502
$GC,195,-1.42,-146.6,27.5,-12.9,8,199,0.00,1.85,0.00,0.000,6,0.000,0.043,2124,2740,3502
$GC,530,-1.42,-146.6,67.2,-11.8,24,534,0.00,2.58,0.00,0.000,4,0.000,0.067,2124,1335,3502
$GC,585,-1.42,-146.6,74.0,-11.7,26,592,0.00,2.67,0.00,0.000,6,0.000,0.068,2124,2758,3502
$GC,902,-1.42,-146.6,111.4,-12.0,42,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3503
$GC,1211,-1.42,-146.6,145.0,-10.7,57,1215,0.00,2.62,0.00,0.000,4,0.000,0.064,2124,1342,3504
$GC,1283,-1.42,-146.6,152.9,-11.1,60,1287,0.00,2.62,0.00,0.000,6,0.000,0.064,2124,2751,3504
$GC,1599,-1.42,-146.6,184.3,-9.8,75,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3504
$GC,1908,-1.42,-146.6,215.1,-10.2,90,1913,0.00,2.62,0.00,0.000,4,0.000,0.064,2124,1337,3504
$GC,1987,-1.42,-146.6,223.2,-10.5,93,1993,0.00,2.65,0.00,0.000,6,0.000,0.066,2124,2757,3505
$GC,2303,-1.42,-146.6,254.3,-9.4,109,2304,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3505
$GC,2612,-1.42,-146.6,283.7,-9.8,124,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3505
$GC,2921,-1.42,-146.6,314.5,-10.1,139,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3505
$GC,3231,-1.42,-146.6,347.1,-10.7,154,3235,0.00,2.65,0.00,0.000,4,0.000,0.068,2124,1340,3505
$GC,3298,-1.42,-146.6,354.6,-11.6,157,3302,0.00,2.67,0.00,0.000,6,0.000,0.074,2124,2752,3505
$GC,3618,-1.42,-146.6,387.9,-10.5,173,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3505
$GC,3928,-1.42,-146.6,420.9,-10.5,188,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3505
$GC,4237,-1.42,-146.6,452.7,-9.8,203,4241,0.00,2.67,0.00,0.000,4,0.000,0.072,2124,1335,3504
$GC,4265,-1.42,-146.6,455.6,-9.8,204,4269,0.00,2.70,0.00,0.000,6,0.000,0.075,2124,2751,3503
$GC,4581,-1.42,-146.6,487.1,-9.7,219,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3502
$GC,4890,-1.42,-146.6,518.7,-10.5,234,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3501
$GC,5199,-1.42,-146.6,549.6,-9.6,249,5203,0.00,2.67,0.00,0.000,4,0.000,0.073,2124,1333,3500
$GC,5262,-1.42,-146.6,555.8,-9.5,252,5266,0.00,2.72,0.00,0.000,6,0.000,0.076,2124,2761,3500
$STATE,5585,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5585,begin apogee
$GC,5594,-0.42,0.0,587.0,8.8,268,5728,1.12,0.00,126.75,1.147,6,0.102,0.000,2345,2006,2902
$STATE,5729,end apogee,CONTROL_FINISHED_OK
$STATE,5729,begin climb
$GC,5732,1.42,146.6,593.0,0.0,275,5866,1.90,2.83,124.20,1.111,4,0.054,0.079,2750,573,2304
$GC,6121,1.63,312.3,593.1,1.9,292,6274,0.20,2.60,141.38,1.099,6,0.037,0.043,2806,2030,1628
$GC,6581,1.63,312.3,550.1,10.6,315,6585,0.00,2.75,0.00,0.000,4,0.000,0.072,2806,577,1628
$GC,6793,1.63,312.3,525.8,11.5,324,6799,0.00,2.55,0.00,0.000,6,0.000,0.047,2805,1986,1627
$GC,7109,1.63,312.3,492.8,10.3,340,7113,0.00,2.67,0.00,0.000,4,0.000,0.073,2806,578,1626
$GC,7159,1.63,312.3,487.3,11.0,342,7164,0.00,2.60,0.00,0.000,6,0.000,0.048,2805,2006,1626
$GC,7475,1.63,312.3,453.0,11.4,357,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2007,1625
$GC,7784,1.63,312.3,418.0,11.3,372,7789,0.00,2.70,0.00,0.000,4,0.000,0.071,2805,585,1625
$GC,7824,1.63,312.3,412.9,12.9,374,7829,0.00,2.58,0.00,0.000,6,0.000,0.048,2806,2003,1625
$GC,8151,1.63,312.3,372.9,12.3,390,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2003,1624
$GC,8460,1.63,312.3,335.9,11.5,405,8465,0.00,2.70,0.00,0.000,4,0.000,0.071,2806,577,1624
$GC,8550,1.63,312.3,324.9,12.4,409,8555,0.00,2.60,0.00,0.000,6,0.000,0.050,2806,2004,1624
$GC,8871,1.63,312.3,288.3,11.5,425,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2005,1624
$GC,9181,1.63,312.3,250.8,12.2,440,9185,0.00,2.67,0.00,0.000,4,0.000,0.070,2806,581,1624
$GC,9281,1.63,312.3,238.2,11.9,444,9288,0.00,2.58,0.00,0.000,6,0.000,0.048,2806,2004,1624
$GC,9597,1.63,312.3,202.5,11.4,460,9602,0.00,2.67,0.00,0.000,4,0.000,0.068,2806,580,1624
$GC,9638,1.63,312.3,198.0,11.7,462,9642,0.00,2.58,0.00,0.000,6,0.000,0.047,2806,2006,1624
$GC,9965,1.63,312.3,164.3,10.3,478,9969,0.00,2.67,0.00,0.000,4,0.000,0.067,2806,577,1625
$GC,10014,1.63,312.3,158.7,10.6,480,10019,0.00,2.58,0.00,0.000,6,0.000,0.045,2806,2012,1625
$GC,10331,1.63,312.3,128.4,9.3,495,10335,0.00,2.67,0.00,0.000,4,0.000,0.067,2806,581,1625
$GC,10454,1.63,312.3,115.4,10.5,500,10460,0.00,2.53,0.00,0.000,6,0.000,0.044,2806,2003,1625
$GC,10772,1.63,312.3,83.1,10.4,516,10776,0.00,2.65,0.00,0.000,4,0.000,0.064,2806,577,1626
$GC,10844,1.63,312.3,74.8,11.0,519,10848,0.00,2.55,0.00,0.000,6,0.000,0.042,2806,2007,1626
$GC,11161,1.63,312.3,41.5,10.3,534,11165,0.00,2.65,0.00,0.000,4,0.000,0.064,2806,580,1627
$GC,11223,1.63,312.3,34.3,12.3,537,11228,0.00,2.55,0.00,0.000,6,0.000,0.042,2806,2012,1627
$STATE,11506,end climb,SURFACE_DEPTH_REACHED
$STATE,11506,begin surface coast
$FINISH,-0.1,1.027470
$STATE,11529,end surface coast,CONTROL_FINISHED_OK
$STATE,11530,begin surface
$SM_CCo,11616,0.00,0.000,0,0,1628,312.76
$SM_GC,0.68,12.23,0.00,0.00,0.031,0.000,0.000,48,2747,1628,-10.93,-0.08,312.76
$IRIDIUM_FIX,6254.00,-824.74,110898,000051
$TT8_MAMPS,0.028379
$HUMID,1850
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,16.20
$XPDR_PINGS,38
$ALTIM_BOTTOM_PING,525.3,69.9
$24V_AH,22.9,65.489
$10V_AH,10.1,36.995
$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,27.275,96.650,392.325,0.000,0.000,27.795,29.760,124.812,13.750,0.000,0.000,14.472,1031.670,8674.014,460.446,1333.771,417.709,33.349,1150.674,0.000,1301.198,0.000,33.530,0.000
$DEVICE_MAMPS,162.604,98.943,1147.432,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.204,387.825,364.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28545,552
$CAP_FILE_SIZE,83323,0
$CFSIZE,260165632,233803776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170509,063037,6320.604,-824.983,31,1.7,31,-9.6