version: 66.04
glider: 103
mission: 11
dive: 411
start: 5 17 109 9 58 22
data:
$ID,103
$MISSION,11
$DIVE,411
$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,-151764.03
$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,17
$R_STBD_OVSHOOT,6
$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
$GPS1,095236,6320.232,-821.839,41,1.3,41,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-55.5
$GPS2,095732,6320.188,-821.774,17,1.3,17,-9.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.040,0.240
$KALMAN_X,-20451.0,12.3,-485.8,123810.6,6916.9
$KALMAN_Y,-19051.5,1113.0,966.0,84525.7,-23015.2
$MHEAD_RNG_PITCHd_Wd,19.0,49292,-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,-61.15,0.000,6,0.000,0.000,53,2755,3502
$GC,82,-1.42,-146.6,5.0,-10.7,3,103,11.95,2.03,0.00,0.000,4,0.166,0.080,2125,3793,3502
$GC,194,-1.42,-146.6,28.9,-13.0,8,198,0.00,1.88,0.00,0.000,6,0.000,0.044,2125,2740,3502
$GC,530,-1.42,-146.6,68.6,-12.0,24,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2740,3502
$GC,837,-1.42,-146.6,103.5,-10.7,39,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2740,3503
$GC,1146,-1.42,-146.6,137.1,-11.6,54,1150,0.00,2.60,0.00,0.000,4,0.000,0.070,2125,1330,3504
$GC,1213,-1.42,-146.6,145.3,-12.0,57,1218,0.00,2.72,0.00,0.000,6,0.000,0.074,2125,2760,3504
$GC,1535,-1.42,-146.6,184.9,-12.8,73,1536,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3505
$GC,1844,-1.42,-146.6,223.4,-11.8,88,1848,0.00,1.98,0.00,0.000,4,0.000,0.091,2125,3785,3505
$GC,1883,-1.42,-146.6,228.4,-12.4,89,1889,0.00,1.88,0.00,0.000,6,0.000,0.054,2125,2751,3505
$GC,2199,-1.42,-146.6,267.1,-12.8,105,2204,0.00,2.62,0.00,0.000,4,0.000,0.070,2125,1337,3505
$GC,2250,-1.42,-146.6,273.9,-12.7,107,2254,0.00,2.70,0.00,0.000,6,0.000,0.074,2125,2751,3505
$GC,2566,-1.42,-146.6,314.2,-12.6,122,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2751,3505
$GC,2876,-1.42,-146.6,352.0,-12.0,137,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2751,3505
$GC,3184,-1.42,-146.6,386.4,-10.0,152,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2751,3505
$GC,3493,-1.42,-146.6,415.1,-9.1,167,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2751,3505
$GC,3803,-1.42,-146.6,444.0,-9.2,182,3807,0.00,2.70,0.00,0.000,4,0.000,0.075,2125,1331,3504
$GC,3871,-1.42,-146.6,450.2,-9.4,185,3875,0.00,2.72,0.00,0.000,6,0.000,0.077,2125,2754,3503
$GC,4193,-1.42,-146.6,481.0,-10.1,201,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3502
$GC,4502,-1.42,-146.6,511.8,-10.1,216,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3502
$GC,4812,-1.42,-146.6,543.2,-9.9,231,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3501
$GC,5120,-1.42,-146.6,573.8,-10.1,246,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3499
$STATE,5364,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5364,begin apogee
$GC,5373,-0.42,0.0,598.5,9.7,258,5507,1.12,0.00,127.45,1.160,6,0.101,0.000,2345,2002,2902
$STATE,5508,end apogee,CONTROL_FINISHED_OK
$STATE,5508,begin climb
$GC,5511,1.42,146.6,605.6,0.0,265,5645,1.90,2.80,124.50,1.119,4,0.060,0.081,2746,589,2304
$GC,5901,1.55,249.2,597.3,4.2,282,5995,0.15,2.58,87.68,1.114,6,0.043,0.046,2794,2016,1886
$GC,6317,1.55,249.2,562.0,8.5,303,6322,0.00,2.72,0.00,0.000,4,0.000,0.072,2794,586,1885
$GC,6513,1.55,249.2,543.8,8.8,312,6518,0.00,2.58,0.00,0.000,6,0.000,0.047,2794,2006,1885
$GC,6841,1.55,249.2,514.6,8.8,328,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2006,1884
$GC,7150,1.55,249.2,487.2,8.6,343,7151,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2006,1884
$GC,7459,1.55,249.2,461.0,8.1,358,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2007,1884
$GC,7768,1.55,249.2,434.5,8.8,373,7773,0.00,2.70,0.00,0.000,4,0.000,0.072,2794,584,1883
$GC,7825,1.55,249.2,429.1,10.1,375,7831,0.00,2.55,0.00,0.000,6,0.000,0.048,2794,2001,1883
$GC,8141,1.55,249.2,402.1,8.2,391,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2002,1883
$GC,8451,1.55,249.2,373.9,10.0,406,8452,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2001,1883
$GC,8760,1.55,249.2,341.8,10.1,421,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2001,1882
$GC,9069,1.55,249.2,310.6,10.0,436,9073,0.00,2.67,0.00,0.000,4,0.000,0.071,2794,584,1882
$GC,9136,1.55,249.2,303.6,10.0,439,9140,0.00,2.58,0.00,0.000,6,0.000,0.046,2794,2006,1882
$GC,9457,1.55,249.2,273.2,9.5,455,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2006,1882
$GC,9766,1.55,249.2,244.7,8.8,470,9770,0.00,2.67,0.00,0.000,4,0.000,0.071,2794,585,1882
$GC,9923,1.55,249.2,230.0,10.1,477,9927,0.00,2.58,0.00,0.000,6,0.000,0.047,2794,2009,1882
$GC,10245,1.57,268.2,204.2,7.3,493,10264,0.00,0.00,16.83,0.905,6,0.000,0.000,2794,2009,1808
$GC,10574,1.59,283.7,179.4,7.4,509,10595,0.00,2.75,14.45,0.868,4,0.000,0.068,2794,584,1745
$GC,10664,1.59,283.7,172.1,8.7,513,10668,0.00,2.58,0.00,0.000,6,0.000,0.046,2794,2004,1745
$GC,10992,1.60,294.8,146.9,7.6,529,11004,0.00,0.00,10.77,0.820,6,0.000,0.000,2794,2003,1700
$GC,11302,1.60,294.8,122.3,8.4,544,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2004,1700
$GC,11610,1.60,294.8,93.3,9.8,559,11614,0.00,2.67,0.00,0.000,4,0.000,0.067,2794,577,1701
$GC,11733,1.60,294.8,79.3,11.9,564,11740,0.00,2.55,0.00,0.000,6,0.000,0.044,2794,2005,1701
$GC,12049,1.60,294.8,45.4,10.2,580,12054,0.00,2.67,0.00,0.000,4,0.000,0.067,2794,577,1702
$GC,12123,1.60,294.8,37.6,10.8,583,12127,0.00,2.55,0.00,0.000,6,0.000,0.041,2794,2007,1702
$GC,12439,1.60,294.8,5.8,9.3,598,12443,0.00,2.70,0.00,0.000,4,0.000,0.071,2794,577,1702
$STATE,12476,end climb,SURFACE_DEPTH_REACHED
$STATE,12476,begin surface coast
$FINISH,1.0,1.027527
$STATE,12482,end surface coast,CONTROL_FINISHED_OK
$STATE,12482,begin surface
$SM_CCo,12571,0.00,0.000,0,0,1701,294.36
$SM_GC,0.61,12.23,0.00,0.00,0.033,0.000,0.000,50,2747,1701,-10.93,-0.08,294.36
$IRIDIUM_FIX,6254.00,-824.74,110898,060646
$TT8_MAMPS,0.029146
$HUMID,1841
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,17.80
$XPDR_PINGS,46
$ALTIM_BOTTOM_PING,551.5,55.6
$24V_AH,22.9,65.770
$10V_AH,10.1,37.114
$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,27.350,74.300,381.675,0.000,0.000,26.402,28.291,118.577,16.250,0.000,0.000,17.347,1090.173,9553.675,449.001,1351.681,422.727,33.355,1130.597,0.000,1326.298,0.000,38.100,0.000
$DEVICE_MAMPS,166.439,90.506,1159.704,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,455.305,417.469,388.439,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31740,600
$CAP_FILE_SIZE,82703,0
$CFSIZE,260165632,233709568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170509,132926,6320.834,-818.568,35,2.8,54,-9.5