version: 66.04
glider: 103
mission: 11
dive: 421
start: 5 19 109 2 6 10
data:
$ID,103
$MISSION,11
$DIVE,421
$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,-151955.78
$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,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
$GPS1,015706,6327.227,-827.765,35,1.3,35,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-58.6
$GPS2,020520,6327.185,-827.784,12,1.2,12,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.147,0.194
$KALMAN_X,-26422.4,263.2,148.5,123782.7,-5012.3
$KALMAN_Y,-44610.9,1869.3,1212.0,122024.1,-16916.4
$MHEAD_RNG_PITCHd_Wd,332.4,40082,-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,-60.42,0.000,2,0.000,0.000,53,2748,3416
$GC,81,-1.42,-146.6,4.5,-9.6,3,104,11.88,2.05,-1.33,0.000,4,0.162,0.100,2125,3785,3502
$GC,300,-1.42,-146.6,39.9,-11.8,12,307,0.00,1.88,0.00,0.000,6,0.000,0.044,2125,2749,3502
$GC,619,-1.42,-146.6,77.1,-11.5,28,623,0.00,2.62,0.00,0.000,4,0.000,0.068,2125,1331,3503
$GC,681,-1.42,-146.6,84.4,-11.5,31,686,0.00,2.70,0.00,0.000,6,0.000,0.070,2125,2758,3503
$GC,1010,-1.42,-146.6,120.3,-10.4,47,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2758,3503
$GC,1319,-1.42,-146.6,151.2,-10.2,62,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2758,3504
$GC,1626,-1.42,-146.6,182.4,-10.6,77,1631,0.00,2.65,0.00,0.000,4,0.000,0.067,2125,1338,3504
$GC,1654,-1.42,-146.6,185.5,-11.0,78,1659,0.00,2.67,0.00,0.000,6,0.000,0.070,2125,2756,3504
$GC,1971,-1.42,-146.6,221.0,-10.8,93,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3504
$GC,2279,-1.42,-146.6,253.1,-10.3,108,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2756,3504
$GC,2589,-1.42,-146.6,287.3,-11.2,123,2592,0.00,2.00,0.00,0.000,4,0.000,0.093,2125,3786,3505
$GC,2651,-1.42,-146.6,294.5,-11.6,125,2657,0.00,1.90,0.00,0.000,6,0.000,0.054,2125,2756,3505
$GC,2967,-1.42,-146.6,329.7,-11.5,141,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2756,3505
$GC,3277,-1.42,-146.6,364.2,-10.9,156,3281,0.00,2.65,0.00,0.000,4,0.000,0.074,2125,1334,3505
$GC,3304,-1.42,-146.6,367.4,-11.3,157,3309,0.00,2.70,0.00,0.000,6,0.000,0.077,2125,2746,3505
$GC,3620,-1.42,-146.6,398.6,-9.8,172,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2746,3504
$GC,3930,-1.42,-146.6,429.2,-10.4,187,3933,0.00,2.05,0.00,0.000,4,0.000,0.100,2125,3789,3503
$GC,3963,-1.42,-146.6,433.0,-11.3,188,3967,0.00,1.90,0.00,0.000,6,0.000,0.056,2125,2749,3503
$GC,4285,-1.42,-146.6,466.4,-10.1,204,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2749,3502
$GC,4594,-1.42,-146.6,496.8,-9.8,219,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2749,3500
$GC,4904,-1.42,-146.6,527.2,-9.9,234,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2749,3499
$GC,5213,-1.42,-146.6,557.0,-9.8,249,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2749,3498
$GC,5522,-1.42,-146.6,588.7,-10.3,264,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2749,3497
$GC,5832,-1.42,-146.6,620.0,-10.0,279,5836,0.00,2.67,0.00,0.000,4,0.000,0.076,2125,1331,3496
$GC,5865,-1.42,-146.6,623.3,-9.8,280,5871,0.00,2.75,0.00,0.000,6,0.000,0.082,2125,2751,3496
$GC,6181,-1.42,-146.6,654.1,-9.8,296,6186,0.00,2.67,0.00,0.000,4,0.000,0.070,2125,1329,3495
$GC,6227,-1.42,-146.6,654.3,0.1,298,6231,0.00,2.70,0.00,0.000,6,0.000,0.069,2126,2757,3495
$STATE,6421,end dive,NO_VERTICAL_VELOCITY
$STATE,6421,begin apogee
$GC,6430,-0.42,0.0,654.2,0.0,308,6564,1.08,0.00,126.43,1.230,6,0.073,0.000,2348,1995,2902
$STATE,6565,end apogee,CONTROL_FINISHED_OK
$STATE,6565,begin climb
$GC,6568,1.42,146.6,654.0,0.0,315,6702,1.90,2.80,125.80,1.172,4,0.064,0.081,2746,585,2304
$GC,6962,1.69,361.7,653.8,0.1,333,7159,0.28,2.60,184.40,1.159,6,0.035,0.049,2815,2015,1427
$GC,7481,1.69,361.7,603.0,11.5,358,7485,0.00,2.72,0.00,0.000,4,0.000,0.074,2815,587,1425
$GC,7643,1.69,361.7,583.1,12.2,365,7648,0.00,2.58,0.00,0.000,6,0.000,0.050,2815,1998,1425
$GC,7959,1.69,361.7,547.3,11.4,380,7963,0.00,2.70,0.00,0.000,4,0.000,0.078,2815,3417,1424
$GC,7986,1.69,361.7,543.9,12.2,381,7991,0.00,2.60,0.00,0.000,6,0.000,0.054,2815,1997,1424
$GC,8303,1.69,361.7,507.4,11.4,396,8307,0.00,2.65,0.00,0.000,4,0.000,0.074,2815,592,1424
$GC,8347,1.69,361.7,501.8,12.1,398,8352,0.00,2.58,0.00,0.000,6,0.000,0.051,2815,2003,1424
$GC,8669,1.69,361.7,464.6,11.7,414,8673,0.00,2.67,0.00,0.000,4,0.000,0.081,2815,3410,1423
$GC,8713,1.69,361.7,458.9,12.8,416,8718,0.00,2.62,0.00,0.000,6,0.000,0.056,2815,1989,1423
$GC,9035,1.69,361.7,422.3,11.2,432,9039,0.00,2.65,0.00,0.000,4,0.000,0.076,2815,588,1423
$GC,9079,1.69,361.7,416.8,12.5,434,9084,0.00,2.60,0.00,0.000,6,0.000,0.051,2815,2010,1423
$GC,9400,1.69,361.7,380.7,11.3,450,9405,0.00,2.70,0.00,0.000,4,0.000,0.081,2815,3420,1423
$GC,9433,1.69,361.7,376.5,12.2,451,9440,0.00,2.62,0.00,0.000,6,0.000,0.058,2815,2003,1423
$GC,9749,1.69,361.7,340.4,11.5,467,9754,0.00,2.67,0.00,0.000,4,0.000,0.077,2815,588,1422
$GC,9817,1.69,361.7,332.3,11.8,470,9822,0.00,2.60,0.00,0.000,6,0.000,0.052,2815,2009,1423
$GC,10139,1.69,361.7,297.0,11.2,486,10144,0.00,2.70,0.00,0.000,4,0.000,0.082,2815,3418,1423
$GC,10195,1.69,361.7,290.4,11.9,488,10201,0.00,2.65,0.00,0.000,6,0.000,0.059,2815,1989,1423
$GC,10511,1.69,361.7,254.8,11.4,504,10515,0.00,2.65,0.00,0.000,4,0.000,0.075,2815,585,1423
$GC,10641,1.69,361.7,239.0,12.0,510,10645,0.00,2.58,0.00,0.000,6,0.000,0.051,2815,2000,1423
$GC,10969,1.69,361.7,200.3,12.0,526,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2000,1423
$GC,11277,1.69,361.7,161.4,12.5,541,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2000,1423
$GC,11587,1.69,361.7,123.4,12.2,556,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2000,1424
$GC,11898,1.69,361.7,84.7,12.5,571,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2000,1425
$GC,12205,1.69,361.7,46.2,12.5,586,12206,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2000,1426
$GC,12514,1.69,361.7,10.0,11.9,601,12519,0.00,2.67,0.00,0.000,4,0.000,0.074,2815,583,1427
$GC,12570,1.69,361.7,3.5,12.7,603,12577,0.00,2.55,0.00,0.000,6,0.000,0.045,2815,2009,1427
$STATE,12595,end climb,SURFACE_DEPTH_REACHED
$STATE,12595,begin surface coast
$FINISH,-0.3,1.012451
$STATE,12617,end surface coast,CONTROL_FINISHED_OK
$STATE,12617,begin surface
$SM_CCo,12703,0.00,0.000,0,0,1427,361.82
$SM_GC,0.64,12.27,0.00,0.00,0.032,0.000,0.000,49,2750,1427,-10.93,0.00,361.82
$IRIDIUM_FIX,6303.50,-831.61,130898,020246
$TT8_MAMPS,0.029146
$HUMID,1836
$INTERNAL_PRESSURE,8.46712
$TCM_TEMP,16.10
$XPDR_PINGS,47
$24V_AH,22.8,67.235
$10V_AH,10.0,37.779
$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,27.400,99.725,436.625,0.000,0.000,58.835,56.505,194.111,17.500,0.000,0.000,12.905,1117.304,9614.348,496.729,1400.404,567.873,33.354,1231.825,0.000,1363.259,0.000,45.194,0.000
$DEVICE_MAMPS,161.837,100.477,1230.268,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,448.284,425.908,374.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31760,606
$CAP_FILE_SIZE,92454,0
$CFSIZE,260165632,233238528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,053907,6329.062,-828.781,36,2.0,36,-9.6