version: 66.04
glider: 103
mission: 11
dive: 422
start: 5 19 109 5 44 58
data:
$ID,103
$MISSION,11
$DIVE,422
$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,-151970.98
$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,16
$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
$GPS1,053907,6329.062,-828.781,36,2.0,36,-9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-57.0
$GPS2,054408,6329.009,-828.699,14,2.0,14,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.124,0.209
$KALMAN_X,-23113.2,173.5,729.3,119170.8,-1027.4
$KALMAN_Y,-43583.7,1664.6,901.3,124884.8,-13211.1
$MHEAD_RNG_PITCHd_Wd,40.2,37811,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.35,0.000,2,0.000,0.000,48,2756,3476
$GC,82,-1.42,-146.6,5.1,-10.8,3,102,12.00,2.72,-0.43,0.000,4,0.163,0.076,2125,1331,3504
$GC,121,-1.42,-146.6,18.1,-22.8,5,125,0.00,2.70,0.00,0.000,6,0.000,0.070,2125,2754,3504
$GC,448,-1.42,-146.6,53.7,-10.0,21,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3503
$GC,757,-1.42,-146.6,89.8,-11.5,36,761,0.00,2.65,0.00,0.000,4,0.000,0.066,2125,1335,3504
$GC,823,-1.42,-146.6,97.7,-11.7,39,828,0.00,2.65,0.00,0.000,6,0.000,0.065,2125,2753,3504
$GC,1145,-1.42,-146.6,134.9,-11.5,55,1150,0.00,2.65,0.00,0.000,4,0.000,0.065,2125,1331,3505
$GC,1178,-1.42,-146.6,139.1,-12.0,56,1185,0.00,2.67,0.00,0.000,6,0.000,0.069,2125,2757,3505
$GC,1494,-1.42,-146.6,173.2,-10.4,72,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2756,3505
$GC,1804,-1.42,-146.6,206.5,-10.7,87,1808,0.00,2.65,0.00,0.000,4,0.000,0.067,2125,1335,3506
$GC,1859,-1.42,-146.6,212.6,-11.3,89,1866,0.00,2.67,0.00,0.000,6,0.000,0.068,2125,2757,3506
$GC,2175,-1.42,-146.6,246.3,-11.0,105,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3506
$GC,2485,-1.42,-146.6,281.1,-11.5,120,2490,0.00,2.67,0.00,0.000,4,0.000,0.067,2125,1329,3506
$GC,2553,-1.42,-146.6,289.1,-11.4,123,2557,0.00,2.70,0.00,0.000,6,0.000,0.071,2125,2752,3507
$GC,2874,-1.42,-146.6,323.7,-10.5,139,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3507
$GC,3183,-1.42,-146.6,355.5,-9.9,154,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3507
$GC,3492,-1.42,-146.6,387.0,-10.2,169,3497,0.00,2.65,0.00,0.000,4,0.000,0.071,2125,1338,3506
$GC,3532,-1.42,-146.6,391.3,-10.5,171,3537,0.00,2.72,0.00,0.000,6,0.000,0.080,2125,2754,3505
$GC,3860,-1.42,-146.6,424.5,-9.9,187,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3505
$GC,4169,-1.42,-146.6,454.7,-9.7,202,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3505
$GC,4478,-1.42,-146.6,486.1,-10.3,217,4479,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3503
$GC,4788,-1.42,-146.6,517.7,-10.0,232,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3502
$GC,5097,-1.42,-146.6,549.0,-10.1,247,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3501
$GC,5406,-1.42,-146.6,580.7,-10.6,262,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3500
$GC,5715,-1.42,-146.6,612.6,-10.2,277,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3499
$GC,6024,-1.42,-146.6,645.0,-10.4,292,6029,0.00,2.70,0.00,0.000,4,0.000,0.074,2125,1330,3498
$GC,6058,-1.42,-146.6,648.6,-10.8,293,6064,0.00,2.75,0.00,0.000,6,0.000,0.080,2125,2756,3497
$STATE,6247,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6247,begin apogee
$GC,6257,-0.42,0.0,668.5,10.3,303,6390,1.15,0.00,128.43,1.206,6,0.107,0.000,2346,1997,2902
$STATE,6391,end apogee,CONTROL_FINISHED_OK
$STATE,6391,begin climb
$GC,6394,1.42,146.6,675.2,0.0,310,6527,1.92,0.00,127.70,1.162,6,0.063,0.000,2749,1995,2304
$GC,6832,1.52,226.8,663.9,5.1,331,6908,0.00,2.80,70.45,1.151,4,0.000,0.071,2749,3422,1977
$GC,6979,1.56,254.9,654.6,7.0,337,7011,0.15,2.62,25.58,1.106,6,0.048,0.049,2788,1990,1863
$GC,7330,1.56,254.9,624.5,8.8,354,7335,0.00,2.65,0.00,0.000,4,0.000,0.073,2789,588,1861
$GC,7420,1.56,254.9,615.6,8.6,358,7424,0.00,2.58,0.00,0.000,6,0.000,0.046,2788,2013,1861
$GC,7741,1.56,254.9,588.0,8.5,374,7746,0.00,2.62,0.00,0.000,4,0.000,0.074,2788,3412,1861
$GC,7782,1.56,254.9,584.3,9.2,376,7787,0.00,2.58,0.00,0.000,6,0.000,0.050,2788,1999,1860
$GC,8109,1.56,254.9,556.6,8.3,392,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1999,1860
$GC,8419,1.56,254.9,530.4,8.5,407,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1999,1860
$GC,8728,1.56,254.9,504.2,8.4,422,8729,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1999,1860
$GC,9037,1.56,254.9,477.4,8.8,437,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1999,1859
$GC,9347,1.56,254.9,451.5,8.2,452,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1999,1859
$GC,9657,1.57,264.8,427.6,7.6,467,9668,0.00,0.00,9.68,1.001,6,0.000,0.000,2788,1999,1822
$GC,9965,1.58,273.5,403.7,7.7,482,9979,0.00,2.75,9.27,0.983,4,0.000,0.075,2789,3406,1786
$GC,10020,1.58,273.7,399.1,8.0,484,10025,0.00,2.62,0.00,0.000,6,0.000,0.054,2789,1992,1786
$GC,10337,1.58,273.7,372.7,8.8,499,10341,0.00,2.65,0.00,0.000,4,0.000,0.074,2788,585,1785
$GC,10405,1.58,273.7,366.5,9.2,502,10409,0.00,2.58,0.00,0.000,6,0.000,0.048,2789,2006,1785
$GC,10732,1.58,273.7,337.1,9.1,518,10736,0.00,2.70,0.00,0.000,4,0.000,0.072,2789,580,1785
$GC,10826,1.58,273.7,328.2,9.8,522,10831,0.00,2.58,0.00,0.000,6,0.000,0.049,2788,2000,1785
$GC,11142,1.58,273.7,301.3,8.2,537,11147,0.00,2.67,0.00,0.000,4,0.000,0.077,2788,3412,1785
$GC,11183,1.58,273.7,297.8,8.7,539,11188,0.00,2.60,0.00,0.000,6,0.000,0.055,2788,1997,1785
$GC,11510,1.58,273.7,270.5,8.4,555,11515,0.00,2.65,0.00,0.000,4,0.000,0.072,2788,583,1785
$GC,11641,1.58,273.7,258.6,9.2,561,11645,0.00,2.58,0.00,0.000,6,0.000,0.048,2789,2008,1784
$GC,11968,1.58,273.7,230.9,8.3,577,11972,0.00,2.67,0.00,0.000,4,0.000,0.071,2788,580,1785
$GC,12102,1.58,273.7,218.4,9.7,583,12106,0.00,2.58,0.00,0.000,6,0.000,0.047,2788,2008,1785
$GC,12424,1.58,273.7,188.7,9.1,599,12425,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2008,1785
$GC,12732,1.58,273.7,162.9,8.5,614,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2009,1786
$GC,13042,1.58,273.7,135.7,9.2,629,13046,0.00,2.65,0.00,0.000,4,0.000,0.066,2788,588,1787
$GC,13098,1.58,273.7,129.9,10.8,631,13104,0.00,2.53,0.00,0.000,6,0.000,0.043,2789,2010,1787
$GC,13414,1.58,273.7,100.1,9.3,647,13415,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2010,1788
$GC,13725,1.58,273.7,72.0,9.6,662,13729,0.00,2.62,0.00,0.000,4,0.000,0.070,2788,3420,1789
$GC,13758,1.58,273.7,68.3,10.6,663,13764,0.00,2.60,0.00,0.000,6,0.000,0.051,2788,1987,1790
$GC,14075,1.58,273.7,38.1,9.4,679,14079,0.00,2.58,0.00,0.000,4,0.000,0.066,2788,587,1790
$GC,14125,1.58,273.7,32.5,10.9,681,14129,0.00,2.53,0.00,0.000,6,0.000,0.040,2789,2011,1790
$GC,14441,1.58,273.7,2.3,9.7,696,14442,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2011,1791
$STATE,14458,end climb,SURFACE_DEPTH_REACHED
$STATE,14458,begin surface coast
$FINISH,-0.2,1.024004
$STATE,14480,end surface coast,CONTROL_FINISHED_OK
$STATE,14480,begin surface
$SM_CCo,14566,0.00,0.000,0,0,1790,272.53
$SM_GC,0.92,12.23,0.00,0.00,0.035,0.000,0.000,49,2749,1790,-10.94,-0.03,272.53
$IRIDIUM_FIX,6303.50,-832.32,130898,020257
$TT8_MAMPS,0.029146
$HUMID,1829
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.30
$XPDR_PINGS,47
$ALTIM_BOTTOM_PING,651.4,26.5
$24V_AH,22.8,67.369
$10V_AH,10.1,37.845
$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,27.450,103.500,371.100,0.000,0.000,27.513,25.892,126.956,17.250,0.000,0.000,14.573,1255.954,11215.515,477.857,1450.853,466.460,33.361,1209.834,0.000,1429.746,0.000,41.519,0.000
$DEVICE_MAMPS,162.604,88.972,1206.491,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,523.323,494.533,427.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34839,698
$CAP_FILE_SIZE,96515,0
$CFSIZE,260165632,233185280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,094900,6330.419,-824.044,38,1.9,38,-9.6