version: 66.04
glider: 103
mission: 11
dive: 413
start: 5 17 109 17 23 52
data:
$ID,103
$MISSION,11
$DIVE,413
$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,-151816.2
$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,10
$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
$GPS1,171707,6321.822,-814.637,28,1.2,28,-9.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-60.2
$GPS2,172302,6321.776,-814.548,15,1.2,15,-9.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.012,0.243
$KALMAN_X,-16424.5,-1097.0,-292.3,126833.0,9215.6
$KALMAN_Y,-24243.6,2087.4,1010.6,91615.4,-20363.1
$MHEAD_RNG_PITCHd_Wd,12.3,44631,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.42,-146.6,0.0,0.0,0,73,0.00,0.00,-53.47,0.000,6,0.000,0.000,43,2745,3500
$GC,77,-1.42,-146.6,2.6,-8.6,2,98,12.00,2.08,0.00,0.000,4,0.166,0.087,2125,3792,3501
$GC,194,-1.42,-146.6,29.8,-12.6,7,197,0.00,1.88,0.00,0.000,6,0.000,0.048,2125,2751,3501
$GC,523,-1.42,-146.6,67.5,-11.3,23,527,0.00,2.60,0.00,0.000,4,0.000,0.068,2125,1333,3501
$GC,640,-1.42,-146.6,80.6,-10.6,28,644,0.00,2.72,0.00,0.000,6,0.000,0.077,2125,2755,3501
$GC,957,-1.42,-146.6,114.9,-11.1,43,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3502
$GC,1267,-1.42,-146.6,149.7,-11.1,58,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2756,3503
$GC,1574,-1.42,-146.6,183.1,-10.3,73,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2755,3503
$GC,1884,-1.42,-146.6,214.7,-10.1,88,1888,0.00,2.67,0.00,0.000,4,0.000,0.070,2125,1331,3503
$GC,1934,-1.42,-146.6,220.0,-10.1,90,1938,0.00,2.72,0.00,0.000,6,0.000,0.075,2125,2760,3503
$GC,2250,-1.42,-146.6,248.9,-9.1,105,2254,0.00,2.67,0.00,0.000,4,0.000,0.071,2126,1335,3503
$GC,2290,-1.42,-146.6,252.6,-9.4,107,2294,0.00,2.70,0.00,0.000,6,0.000,0.076,2125,2748,3503
$GC,2616,-1.42,-146.6,283.9,-10.0,123,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2748,3503
$GC,2925,-1.42,-146.6,313.1,-9.3,138,2929,0.00,2.03,0.00,0.000,4,0.000,0.096,2125,3789,3503
$GC,2965,-1.42,-146.6,316.9,-10.2,139,2971,0.00,1.90,0.00,0.000,6,0.000,0.056,2125,2747,3503
$GC,3281,-1.42,-146.6,346.7,-9.4,155,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2748,3503
$GC,3591,-1.42,-146.6,376.6,-10.0,170,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2748,3503
$GC,3900,-1.42,-146.6,406.5,-9.7,185,3904,0.00,2.65,0.00,0.000,4,0.000,0.073,2125,1331,3503
$GC,4000,-1.42,-146.6,416.1,-9.6,189,4006,0.00,2.75,0.00,0.000,6,0.000,0.080,2125,2760,3503
$GC,4316,-1.42,-146.6,447.0,-9.5,205,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3503
$GC,4625,-1.42,-146.6,477.5,-10.2,220,4630,0.00,2.70,0.00,0.000,4,0.000,0.073,2126,1335,3502
$GC,4670,-1.42,-146.6,482.3,-10.6,222,4675,0.00,2.75,0.00,0.000,6,0.000,0.084,2125,2750,3501
$GC,4991,-1.42,-146.6,515.6,-10.3,238,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2750,3500
$GC,5300,-1.42,-146.6,546.5,-10.0,253,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2750,3499
$GC,5610,-1.42,-146.6,577.1,-9.9,268,5614,0.00,2.70,0.00,0.000,4,0.000,0.076,2126,1331,3499
$GC,5650,-1.42,-146.6,581.0,-10.5,270,5654,0.00,2.75,0.00,0.000,6,0.000,0.082,2125,2750,3499
$GC,5977,-1.42,-146.6,612.8,-9.7,286,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2750,3497
$STATE,6200,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6200,begin apogee
$GC,6209,-0.42,0.0,634.1,9.1,297,6343,1.15,0.00,127.12,1.198,6,0.110,0.000,2346,1997,2902
$STATE,6344,end apogee,CONTROL_FINISHED_OK
$STATE,6344,begin climb
$GC,6347,1.42,146.6,640.2,0.0,304,6480,1.90,2.75,123.85,1.179,4,0.060,0.072,2746,588,2304
$GC,6736,1.55,252.7,631.0,4.1,321,6834,0.15,2.58,90.55,1.171,6,0.045,0.044,2788,2026,1872
$GC,7156,1.55,252.7,596.3,9.1,342,7160,0.00,2.75,0.00,0.000,4,0.000,0.071,2789,577,1870
$GC,7413,1.55,252.7,571.5,10.0,353,7419,0.00,2.55,0.00,0.000,6,0.000,0.044,2788,1991,1869
$GC,7729,1.55,252.7,543.0,9.1,369,7730,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1993,1868
$GC,8039,1.55,252.7,514.0,9.8,384,8043,0.00,2.67,0.00,0.000,4,0.000,0.071,2788,577,1868
$GC,8066,1.55,252.7,511.0,10.7,385,8070,0.00,2.58,0.00,0.000,6,0.000,0.046,2788,2006,1868
$GC,8382,1.55,252.7,481.3,9.4,400,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2006,1867
$GC,8692,1.55,252.7,452.6,9.3,415,8696,0.00,2.67,0.00,0.000,4,0.000,0.071,2788,587,1867
$GC,8758,1.55,252.7,445.6,10.3,418,8763,0.00,2.55,0.00,0.000,6,0.000,0.047,2788,1997,1867
$GC,9079,1.55,252.7,415.6,9.3,434,9084,0.00,2.67,0.00,0.000,4,0.000,0.077,2788,3409,1866
$GC,9129,1.55,252.7,410.8,9.3,436,9134,0.00,2.60,0.00,0.000,6,0.000,0.054,2789,1990,1866
$GC,9446,1.55,252.7,381.3,9.8,451,9450,0.00,2.62,0.00,0.000,4,0.000,0.073,2789,594,1866
$GC,9613,1.55,252.7,364.1,9.7,458,9620,0.00,2.55,0.00,0.000,6,0.000,0.048,2789,2004,1866
$GC,9930,1.55,252.7,335.1,8.8,474,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2004,1866
$GC,10239,1.55,252.7,308.2,8.5,489,10243,0.00,2.67,0.00,0.000,4,0.000,0.071,2788,590,1866
$GC,10352,1.55,252.7,298.8,8.2,494,10357,0.00,2.55,0.00,0.000,6,0.000,0.047,2788,2002,1866
$GC,10673,1.57,268.7,274.9,7.4,510,10693,0.00,0.00,14.27,0.960,6,0.000,0.000,2789,2002,1806
$GC,11003,1.57,268.7,246.7,9.1,526,11004,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2003,1806
$GC,11313,1.57,268.7,219.3,8.6,541,11317,0.00,2.67,0.00,0.000,4,0.000,0.071,2788,585,1806
$GC,11397,1.57,268.7,211.8,8.4,545,11402,0.00,2.55,0.00,0.000,6,0.000,0.046,2788,1997,1805
$GC,11724,1.61,295.9,186.8,7.0,561,11750,0.00,0.00,24.00,0.917,6,0.000,0.000,2788,1997,1695
$GC,12053,1.61,295.9,158.7,9.5,577,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1997,1695
$GC,12363,1.61,295.9,129.5,9.3,592,12364,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1997,1696
$GC,12672,1.61,295.9,103.4,8.6,607,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1997,1695
$GC,12982,1.61,295.9,76.4,9.0,622,12986,0.00,2.65,0.00,0.000,4,0.000,0.071,2788,591,1696
$GC,13076,1.61,295.9,67.0,9.8,626,13081,0.00,2.55,0.00,0.000,6,0.000,0.045,2789,2008,1696
$GC,13393,1.61,295.9,38.3,9.1,641,13397,0.00,2.67,0.00,0.000,4,0.000,0.068,2789,586,1696
$GC,13494,1.61,295.9,29.0,9.0,645,13500,0.00,2.55,0.00,0.000,6,0.000,0.044,2789,2010,1697
$STATE,13786,end climb,SURFACE_DEPTH_REACHED
$STATE,13786,begin surface coast
$FINISH,-0.2,1.027148
$STATE,13810,end surface coast,CONTROL_FINISHED_OK
$STATE,13810,begin surface
$SM_CCo,13896,0.00,0.000,0,0,1697,295.59
$SM_GC,0.49,12.07,0.00,0.00,0.028,0.000,0.000,48,2745,1697,-10.92,-0.14,295.59
$IRIDIUM_FIX,6258.74,-820.70,110898,131300
$TT8_MAMPS,0.029146
$HUMID,1863
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,15.60
$XPDR_PINGS,54
$ALTIM_BOTTOM_PING,626.5,16.4
$24V_AH,22.8,66.044
$10V_AH,10.1,37.246
$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,27.275,95.700,379.800,0.000,0.000,33.043,37.149,157.782,18.750,0.000,0.000,15.740,1213.694,10547.376,458.936,1535.061,494.937,33.355,1225.383,0.000,1498.694,0.000,36.824,0.000
$DEVICE_MAMPS,166.439,107.380,1198.054,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,493.949,462.334,415.730,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34853,661
$CAP_FILE_SIZE,94476,0
$CFSIZE,260165632,233603072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170509,211637,6322.114,-813.680,31,1.7,31,-9.5