version: 66.04
glider: 103
mission: 11
dive: 416
start: 5 18 109 5 56 34
data:
$ID,103
$MISSION,11
$DIVE,416
$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,-151882.45
$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,7
$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
$GPS1,055030,6325.025,-811.536,37,1.1,42,-9.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-58.3
$GPS2,055544,6324.996,-811.457,13,2.0,13,-9.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.030,0.241
$KALMAN_X,-18473.0,-627.3,-110.2,130848.8,3266.5
$KALMAN_Y,-29520.0,1660.9,1048.1,103236.9,-14164.8
$MHEAD_RNG_PITCHd_Wd,16.7,38218,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-54.95,0.000,6,0.000,0.000,51,2752,3501
$GC,80,-1.42,-146.6,7.2,-16.3,3,96,12.10,0.00,0.00,0.000,6,0.166,0.000,2121,2753,3501
$GC,408,-1.42,-146.6,56.9,-11.5,19,413,0.00,2.60,0.00,0.000,4,0.000,0.061,2121,1333,3502
$GC,481,-1.42,-146.6,65.2,-11.4,22,486,0.00,2.67,0.00,0.000,6,0.000,0.064,2121,2763,3502
$GC,797,-1.42,-146.6,101.7,-11.1,37,802,0.00,2.62,0.00,0.000,4,0.000,0.061,2121,1334,3503
$GC,883,-1.42,-146.6,111.8,-11.8,41,887,0.00,2.65,0.00,0.000,6,0.000,0.065,2121,2749,3503
$GC,1212,-1.42,-146.6,147.8,-10.7,57,1215,0.00,2.00,0.00,0.000,4,0.000,0.092,2121,3782,3503
$GC,1273,-1.42,-146.6,155.0,-11.5,59,1279,0.00,1.85,0.00,0.000,6,0.000,0.045,2121,2740,3503
$GC,1590,-1.42,-146.6,186.3,-9.7,75,1594,0.00,2.60,0.00,0.000,4,0.000,0.066,2121,1333,3503
$GC,1617,-1.42,-146.6,189.2,-10.4,76,1621,0.00,2.70,0.00,0.000,6,0.000,0.071,2121,2756,3503
$GC,1933,-1.42,-146.6,218.0,-8.8,91,1938,0.00,2.65,0.00,0.000,4,0.000,0.065,2121,1338,3503
$GC,1967,-1.42,-146.6,221.3,-9.5,92,1973,0.00,2.67,0.00,0.000,6,0.000,0.069,2121,2751,3503
$GC,2283,-1.42,-146.6,252.8,-10.5,108,2287,0.00,2.03,0.00,0.000,4,0.000,0.097,2121,3785,3503
$GC,2406,-1.42,-146.6,268.2,-12.6,113,2410,0.00,1.88,0.00,0.000,6,0.000,0.045,2121,2748,3504
$GC,2728,-1.42,-146.6,308.1,-12.4,129,2733,0.00,2.60,0.00,0.000,4,0.000,0.067,2121,1343,3504
$GC,2791,-1.42,-146.6,315.9,-12.1,132,2795,0.00,2.67,0.00,0.000,6,0.000,0.072,2121,2750,3504
$GC,3118,-1.42,-146.6,352.8,-11.2,148,3122,0.00,2.65,0.00,0.000,4,0.000,0.072,2121,1335,3504
$GC,3168,-1.42,-146.6,358.5,-11.3,150,3172,0.00,2.72,0.00,0.000,6,0.000,0.077,2121,2752,3504
$GC,3484,-1.42,-146.6,392.3,-10.8,165,3485,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2752,3504
$GC,3795,-1.42,-146.6,427.2,-11.2,180,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2752,3503
$GC,4103,-1.42,-146.6,461.9,-10.9,195,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2752,3503
$GC,4412,-1.42,-146.6,497.1,-11.2,210,4416,0.00,2.67,0.00,0.000,4,0.000,0.074,2121,1343,3502
$GC,4456,-1.42,-146.6,502.5,-12.4,212,4460,0.00,2.72,0.00,0.000,6,0.000,0.083,2121,2750,3502
$GC,4777,-1.42,-146.6,538.3,-11.1,228,4778,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2750,3501
$GC,5086,-1.42,-146.6,571.3,-10.7,243,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2750,3500
$GC,5395,-1.42,-146.6,604.3,-10.5,258,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2750,3500
$GC,5705,-1.42,-146.6,635.8,-9.9,273,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2750,3499
$GC,6014,-1.42,-146.6,665.9,-9.5,288,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2750,3498
$STATE,6135,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6135,begin apogee
$GC,6144,-0.42,0.0,677.5,9.3,294,6278,1.15,0.00,128.82,1.222,6,0.105,0.000,2344,2003,2902
$STATE,6279,end apogee,CONTROL_FINISHED_OK
$STATE,6279,begin climb
$GC,6282,1.42,146.6,683.4,0.0,301,6420,1.92,2.83,127.12,1.175,4,0.058,0.067,2749,3423,2304
$GC,6680,1.52,222.9,675.0,5.2,319,6752,0.00,2.62,66.57,1.164,6,0.000,0.048,2749,1983,1993
$GC,7068,1.53,235.1,647.0,7.6,338,7090,0.10,2.83,12.30,1.080,4,0.054,0.071,2782,3412,1943
$GC,7192,1.53,235.1,636.1,8.6,343,7197,0.00,2.60,0.00,0.000,6,0.000,0.050,2782,1990,1942
$GC,7508,1.53,235.1,609.0,8.3,358,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1989,1942
$GC,7818,1.53,235.1,583.0,8.5,373,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1989,1941
$GC,8127,1.53,235.1,557.6,8.2,388,8128,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1990,1941
$GC,8436,1.53,235.1,531.9,8.3,403,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1989,1941
$GC,8746,1.55,246.9,507.4,7.6,418,8767,0.00,2.85,11.40,1.059,4,0.000,0.074,2782,3422,1894
$GC,8795,1.55,246.9,503.4,8.1,420,8799,0.00,2.62,0.00,0.000,6,0.000,0.052,2782,2002,1894
$GC,9116,1.55,246.9,478.1,8.2,436,9118,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2002,1894
$GC,9426,1.55,246.9,452.5,8.4,451,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2002,1894
$GC,9735,1.55,246.9,425.3,9.0,466,9739,0.00,2.67,0.00,0.000,4,0.000,0.074,2782,585,1894
$GC,9785,1.55,246.9,420.4,10.0,468,9789,0.00,2.58,0.00,0.000,6,0.000,0.047,2782,2010,1894
$GC,10100,1.55,246.9,391.0,9.4,483,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2010,1894
$GC,10410,1.55,246.9,362.0,9.5,498,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2011,1893
$GC,10719,1.55,246.9,334.2,8.4,513,10723,0.00,2.67,0.00,0.000,4,0.000,0.073,2782,593,1893
$GC,10759,1.55,246.9,330.5,9.5,515,10763,0.00,2.55,0.00,0.000,6,0.000,0.048,2782,2007,1893
$GC,11086,1.56,258.2,303.9,7.6,531,11099,0.00,0.00,11.00,0.957,6,0.000,0.000,2782,2007,1849
$GC,11395,1.59,279.3,280.9,7.2,546,11417,0.00,0.00,19.30,0.973,6,0.000,0.000,2782,2007,1763
$GC,11727,1.62,305.6,256.7,7.0,562,11756,0.00,2.80,23.30,0.952,4,0.000,0.072,2782,592,1656
$GC,11819,1.62,307.0,249.5,8.0,566,11824,0.00,2.58,0.00,0.000,6,0.000,0.049,2782,1997,1656
$GC,12140,1.62,307.0,222.3,8.9,582,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1997,1657
$GC,12450,1.62,307.0,193.9,9.5,597,12454,0.00,2.70,0.00,0.000,4,0.000,0.080,2782,3413,1657
$GC,12512,1.62,307.0,187.9,10.0,600,12517,0.00,2.62,0.00,0.000,6,0.000,0.058,2782,1994,1657
$GC,12840,1.62,307.0,156.6,9.6,616,12845,0.00,2.62,0.00,0.000,4,0.000,0.071,2782,588,1657
$GC,12930,1.62,307.0,147.1,10.6,620,12934,0.00,2.58,0.00,0.000,6,0.000,0.048,2782,2011,1658
$GC,13253,1.62,307.0,116.8,9.9,636,13257,0.00,2.67,0.00,0.000,4,0.000,0.068,2782,588,1658
$GC,13280,1.62,307.0,113.7,10.4,637,13285,0.00,2.55,0.00,0.000,6,0.000,0.047,2782,2002,1658
$GC,13597,1.62,307.0,78.6,11.7,652,13598,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2002,1657
$GC,13906,1.62,307.0,47.3,9.0,667,13915,0.00,2.72,3.62,0.561,4,0.000,0.077,2782,3412,1650
$GC,13951,1.62,307.0,43.3,8.5,669,13956,0.00,2.60,0.00,0.000,6,0.000,0.056,2782,1987,1650
$GC,14278,1.62,307.0,14.6,9.1,685,14283,0.00,2.60,0.00,0.000,4,0.000,0.067,2782,585,1650
$GC,14329,1.62,307.0,9.5,10.0,687,14333,0.00,2.55,0.00,0.000,6,0.000,0.044,2782,2006,1650
$STATE,14415,end climb,SURFACE_DEPTH_REACHED
$STATE,14415,begin surface coast
$FINISH,-0.3,1.018570
$STATE,14437,end surface coast,CONTROL_FINISHED_OK
$STATE,14437,begin surface
$SM_CCo,14524,0.00,0.000,0,0,1651,306.87
$SM_GC,0.35,12.00,0.00,0.00,0.025,0.000,0.000,50,2749,1651,-10.92,0.00,306.87
$IRIDIUM_FIX,6258.74,-811.88,120898,010121
$TT8_MAMPS,0.029146
$HUMID,1853
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,13.90
$XPDR_PINGS,60
$ALTIM_BOTTOM_PING,675.6,11.7
$24V_AH,22.8,66.491
$10V_AH,10.0,37.454
$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,27.275,106.375,403.450,0.000,0.000,25.419,28.681,138.336,20.750,0.000,0.000,13.200,1270.873,11092.939,480.240,1526.223,465.157,33.351,1263.113,0.000,1487.832,0.000,43.071,0.000
$DEVICE_MAMPS,166.439,97.409,1221.831,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,516.248,481.758,415.347,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34865,692
$CAP_FILE_SIZE,99365,0
$CFSIZE,260165632,233459712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180509,100006,6325.213,-813.052,50,1.3,50,-9.5