version: 66.04
glider: 103
mission: 11
dive: 410
start: 5 17 109 6 39 55
data:
$ID,103
$MISSION,11
$DIVE,410
$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,-151746.06
$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,13
$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
$GPS1,063037,6320.604,-824.983,31,1.7,31,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-53.8
$GPS2,063904,6320.487,-824.785,16,3.2,35,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.056,0.237
$KALMAN_X,-21638.6,278.1,-135.6,121807.1,5861.7
$KALMAN_Y,-14225.5,1431.3,586.3,80311.8,-18761.8
$MHEAD_RNG_PITCHd_Wd,22.9,49730,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-54.50,0.000,6,0.000,0.000,48,2751,3502
$GC,80,-1.42,-146.6,7.3,-16.0,3,101,11.88,2.03,0.00,0.000,4,0.163,0.078,2123,3793,3502
$GC,151,-1.42,-146.6,27.6,-12.2,6,155,0.00,1.88,0.00,0.000,6,0.000,0.041,2123,2736,3502
$GC,481,-1.42,-146.6,66.9,-11.6,22,485,0.00,2.55,0.00,0.000,4,0.000,0.064,2123,1340,3502
$GC,525,-1.42,-146.6,72.4,-10.9,24,530,0.00,2.65,0.00,0.000,6,0.000,0.066,2123,2754,3503
$GC,846,-1.42,-146.6,107.7,-11.1,40,851,0.00,2.62,0.00,0.000,4,0.000,0.063,2123,1340,3503
$GC,887,-1.42,-146.6,112.1,-11.2,42,892,0.00,2.65,0.00,0.000,6,0.000,0.068,2123,2748,3503
$GC,1215,-1.42,-146.6,144.5,-9.7,58,1219,0.00,2.60,0.00,0.000,4,0.000,0.064,2123,1338,3503
$GC,1247,-1.42,-146.6,147.8,-9.6,59,1254,0.00,2.67,0.00,0.000,6,0.000,0.068,2123,2762,3503
$GC,1563,-1.42,-146.6,178.2,-9.8,75,1568,0.00,2.65,0.00,0.000,4,0.000,0.062,2123,1331,3503
$GC,1597,-1.42,-146.6,181.8,-10.4,76,1603,0.00,2.70,0.00,0.000,6,0.000,0.071,2123,2760,3503
$GC,1913,-1.42,-146.6,213.0,-9.2,92,1917,0.00,2.65,0.00,0.000,4,0.000,0.064,2123,1333,3504
$GC,1946,-1.42,-146.6,216.1,-9.4,93,1953,0.00,2.70,0.00,0.000,6,0.000,0.072,2123,2756,3503
$GC,2263,-1.42,-146.6,246.3,-9.4,109,2267,0.00,2.62,0.00,0.000,4,0.000,0.067,2123,1340,3504
$GC,2296,-1.42,-146.6,249.6,-9.6,110,2304,0.00,2.67,0.00,0.000,6,0.000,0.071,2123,2758,3504
$GC,2612,-1.42,-146.6,279.1,-9.9,126,2616,0.00,2.65,0.00,0.000,4,0.000,0.068,2123,1342,3504
$GC,2652,-1.42,-146.6,283.2,-10.3,128,2657,0.00,2.67,0.00,0.000,6,0.000,0.072,2123,2752,3504
$GC,2979,-1.42,-146.6,318.1,-10.1,144,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2752,3504
$GC,3289,-1.42,-146.6,350.1,-10.2,159,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2752,3504
$GC,3598,-1.42,-146.6,379.3,-9.2,174,3602,0.00,2.67,0.00,0.000,4,0.000,0.071,2123,1332,3504
$GC,3642,-1.42,-146.6,383.6,-9.0,176,3646,0.00,2.72,0.00,0.000,6,0.000,0.079,2123,2750,3503
$GC,3963,-1.42,-146.6,413.3,-9.1,192,3967,0.00,2.65,0.00,0.000,4,0.000,0.071,2123,1338,3502
$GC,4003,-1.42,-146.6,416.7,-8.8,194,4007,0.00,2.72,0.00,0.000,6,0.000,0.080,2123,2757,3502
$GC,4329,-1.42,-146.6,444.1,-9.0,210,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2757,3501
$GC,4639,-1.42,-146.6,472.2,-8.6,225,4643,0.00,2.70,0.00,0.000,4,0.000,0.074,2123,1333,3500
$GC,4673,-1.42,-146.6,475.1,-9.0,226,4679,0.00,2.70,0.00,0.000,6,0.000,0.075,2123,2748,3500
$GC,4989,-1.42,-146.6,502.3,-8.7,242,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2748,3499
$GC,5298,-1.42,-146.6,528.4,-8.7,257,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2748,3498
$GC,5608,-1.42,-146.6,556.7,-9.7,272,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2748,3497
$GC,5916,-1.42,-146.6,587.0,-9.8,287,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2748,3496
$STATE,5934,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5934,begin apogee
$GC,5943,-0.42,0.0,589.0,9.9,288,6077,1.15,0.00,126.45,1.151,6,0.111,0.000,2344,1998,2902
$STATE,6078,end apogee,CONTROL_FINISHED_OK
$STATE,6078,begin climb
$GC,6082,1.42,146.6,595.9,0.0,295,6215,1.90,2.75,124.80,1.108,4,0.044,0.074,2757,586,2304
$GC,6241,1.67,349.2,596.1,0.6,302,6425,0.22,2.60,173.12,1.085,6,0.037,0.044,2814,2024,1478
$GC,6732,1.67,349.2,545.1,12.5,325,6736,0.00,2.62,0.00,0.000,4,0.000,0.077,2814,3401,1476
$GC,6909,1.67,349.2,521.6,14.0,333,6914,0.00,2.60,0.00,0.000,6,0.000,0.054,2814,1987,1476
$GC,7236,1.67,349.2,480.3,11.9,349,7241,0.00,2.65,0.00,0.000,4,0.000,0.075,2814,585,1476
$GC,7287,1.67,349.2,474.1,12.1,351,7291,0.00,2.58,0.00,0.000,6,0.000,0.049,2814,1997,1475
$GC,7604,1.67,349.2,439.1,10.8,366,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1997,1475
$GC,7912,1.67,349.2,406.0,10.9,381,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1997,1474
$GC,8222,1.67,349.2,372.5,11.1,396,8226,0.00,2.67,0.00,0.000,4,0.000,0.074,2814,591,1474
$GC,8284,1.67,349.2,365.3,11.1,399,8289,0.00,2.58,0.00,0.000,6,0.000,0.051,2814,2005,1474
$GC,8611,1.67,349.2,331.1,10.9,415,8616,0.00,2.67,0.00,0.000,4,0.000,0.079,2814,3412,1474
$GC,8639,1.67,349.2,328.0,11.5,416,8644,0.00,2.60,0.00,0.000,6,0.000,0.057,2814,1993,1474
$GC,8956,1.67,349.2,292.9,11.5,431,8960,0.00,2.62,0.00,0.000,4,0.000,0.073,2814,590,1473
$GC,9000,1.67,349.2,287.4,12.6,433,9005,0.00,2.58,0.00,0.000,6,0.000,0.049,2814,2009,1474
$GC,9322,1.67,349.2,250.0,12.0,449,9326,0.00,2.67,0.00,0.000,4,0.000,0.071,2814,588,1474
$GC,9366,1.67,349.2,244.2,12.9,451,9371,0.00,2.58,0.00,0.000,6,0.000,0.048,2814,2009,1474
$GC,9688,1.67,349.2,204.2,12.3,467,9692,0.00,2.67,0.00,0.000,4,0.000,0.071,2814,590,1474
$GC,9783,1.67,349.2,192.2,12.4,471,9787,0.00,2.58,0.00,0.000,6,0.000,0.048,2814,2009,1474
$GC,10099,1.67,349.2,156.4,11.1,486,10104,0.00,2.67,0.00,0.000,4,0.000,0.069,2814,586,1474
$GC,10150,1.67,349.2,150.6,10.8,488,10154,0.00,2.58,0.00,0.000,6,0.000,0.047,2814,2012,1474
$GC,10466,1.67,349.2,114.3,12.4,503,10467,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2012,1474
$GC,10776,1.67,349.2,77.1,11.8,518,10780,0.00,2.67,0.00,0.000,4,0.000,0.068,2814,586,1475
$GC,10854,1.67,349.2,67.1,11.9,521,10860,0.00,2.55,0.00,0.000,6,0.000,0.045,2814,2009,1475
$GC,11170,1.67,349.2,28.0,13.2,537,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2010,1476
$STATE,11373,end climb,SURFACE_DEPTH_REACHED
$STATE,11373,begin surface coast
$FINISH,-0.0,1.027512
$STATE,11395,end surface coast,CONTROL_FINISHED_OK
$STATE,11395,begin surface
$SM_CCo,11482,0.00,0.000,0,0,1476,350.04
$SM_GC,0.73,12.30,0.00,0.00,0.034,0.000,0.000,54,2751,1476,-10.93,0.03,350.04
$IRIDIUM_FIX,6254.00,-824.74,110898,060616
$TT8_MAMPS,0.029146
$HUMID,1852
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,14.20
$XPDR_PINGS,41
$ALTIM_BOTTOM_PING,576.9,20.1
$24V_AH,22.9,65.640
$10V_AH,10.1,37.054
$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,27.450,112.650,424.375,0.000,0.000,54.135,58.218,186.331,15.250,0.000,0.000,36.314,1006.174,8669.914,495.646,1264.814,553.766,33.362,1165.277,0.000,1207.557,0.000,43.655,0.000
$DEVICE_MAMPS,163.371,102.778,1151.267,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,407.962,381.595,350.613,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28518,548
$CAP_FILE_SIZE,87855,0
$CFSIZE,260165632,233754624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170509,095236,6320.232,-821.839,41,1.3,41,-9.5