version: 66.04
glider: 103
mission: 11
dive: 423
start: 5 19 109 9 58 10
data:
$ID,103
$MISSION,11
$DIVE,423
$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,-151984.16
$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,19
$R_STBD_OVSHOOT,8
$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
$GPS1,094900,6330.419,-824.044,38,1.9,38,-9.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-60.0
$GPS2,095720,6330.368,-824.154,12,1.9,12,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.110,0.217
$KALMAN_X,-21529.6,545.9,-178.0,122005.2,1432.8
$KALMAN_Y,-44238.5,1385.8,531.3,128729.1,-10358.6
$MHEAD_RNG_PITCHd_Wd,36.6,33552,-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,-146.6,0.0,0.0,0,61,0.00,0.00,-41.40,0.000,2,0.000,0.000,49,2753,3161
$GC,65,-1.42,-146.6,3.4,-10.9,2,87,11.88,0.00,-5.75,0.000,6,0.163,0.000,2124,2754,3504
$GC,398,-1.42,-146.6,48.9,-11.6,18,402,0.00,2.65,0.00,0.000,4,0.000,0.064,2124,1329,3504
$GC,448,-1.42,-146.6,55.2,-11.5,20,452,0.00,2.72,0.00,0.000,6,0.000,0.074,2124,2756,3504
$GC,765,-1.42,-146.6,91.0,-11.0,35,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2756,3505
$GC,1074,-1.42,-146.6,125.1,-10.8,50,1078,0.00,2.65,0.00,0.000,4,0.000,0.066,2124,1333,3505
$GC,1114,-1.42,-146.6,129.7,-11.4,52,1118,0.00,2.67,0.00,0.000,6,0.000,0.069,2124,2755,3505
$GC,1441,-1.42,-146.6,166.3,-10.9,68,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2756,3505
$GC,1750,-1.42,-146.6,198.2,-9.9,83,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2755,3506
$GC,2059,-1.42,-146.6,228.1,-9.7,98,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2755,3506
$GC,2368,-1.42,-146.6,257.4,-9.6,113,2373,0.00,2.65,0.00,0.000,4,0.000,0.067,2124,1332,3506
$GC,2447,-1.42,-146.6,265.4,-9.8,116,2453,0.00,2.70,0.00,0.000,6,0.000,0.072,2124,2755,3506
$GC,2763,-1.42,-146.6,296.8,-10.0,132,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2756,3506
$GC,3072,-1.42,-146.6,328.3,-10.3,147,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2755,3505
$GC,3382,-1.42,-146.6,358.0,-9.6,162,3386,0.00,2.67,0.00,0.000,4,0.000,0.074,2124,1336,3505
$GC,3415,-1.42,-146.6,361.3,-9.4,163,3421,0.00,2.70,0.00,0.000,6,0.000,0.072,2124,2758,3505
$GC,3731,-1.42,-146.6,391.2,-9.4,179,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3503
$GC,4041,-1.42,-146.6,421.4,-9.9,194,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3502
$GC,4349,-1.42,-146.6,453.2,-10.4,209,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3501
$GC,4659,-1.42,-146.6,484.6,-10.1,224,4663,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1335,3500
$GC,4692,-1.42,-146.6,488.1,-10.4,225,4699,0.00,2.70,0.00,0.000,6,0.000,0.077,2124,2750,3501
$GC,5009,-1.42,-146.6,519.5,-10.0,241,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3499
$GC,5318,-1.42,-146.6,550.0,-9.9,256,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3498
$GC,5628,-1.42,-146.6,580.0,-9.6,271,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3497
$GC,5937,-1.42,-146.6,609.9,-9.7,286,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3496
$GC,6246,-1.42,-146.6,640.0,-9.5,301,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3496
$GC,6556,-1.42,-146.6,670.1,-9.8,316,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3494
$STATE,6820,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6820,begin apogee
$GC,6829,-0.42,0.0,696.7,9.8,329,6963,1.12,0.00,128.55,1.226,6,0.100,0.000,2344,1995,2902
$STATE,6964,end apogee,CONTROL_FINISHED_OK
$STATE,6964,begin climb
$GC,6967,1.42,146.6,703.0,0.0,336,7105,1.92,2.80,127.22,1.183,4,0.064,0.072,2748,583,2304
$GC,7171,1.57,265.9,701.3,3.6,345,7286,0.15,2.60,103.95,1.162,6,0.045,0.043,2789,2030,1817
$GC,7595,1.57,265.9,666.2,8.7,366,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2031,1817
$GC,7904,1.57,265.9,639.9,8.6,381,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2031,1817
$GC,8213,1.57,265.9,613.1,8.7,396,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2031,1816
$GC,8523,1.57,265.9,586.5,8.6,411,8527,0.00,2.75,0.00,0.000,4,0.000,0.072,2789,575,1815
$GC,8556,1.57,265.9,583.3,9.4,412,8562,0.00,2.55,0.00,0.000,6,0.000,0.045,2789,1992,1815
$GC,8871,1.57,265.9,555.0,9.1,428,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1992,1815
$GC,9181,1.57,265.9,527.0,9.2,443,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1992,1815
$GC,9490,1.57,265.9,499.5,8.8,458,9494,0.00,2.65,0.00,0.000,4,0.000,0.074,2789,3405,1815
$GC,9517,1.57,265.9,496.9,9.7,459,9522,0.00,2.60,0.00,0.000,6,0.000,0.052,2789,1982,1815
$GC,9834,1.57,265.9,468.9,9.0,474,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1982,1815
$GC,10142,1.57,265.9,439.3,9.8,489,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1982,1815
$GC,10452,1.57,265.9,408.6,10.0,504,10453,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1982,1815
$GC,10761,1.57,265.9,378.0,9.6,519,10762,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1982,1815
$GC,11071,1.57,265.9,349.8,8.7,534,11075,0.00,2.72,0.00,0.000,4,0.000,0.076,2789,3406,1814
$GC,11155,1.57,265.9,342.3,9.7,538,11160,0.00,2.58,0.00,0.000,6,0.000,0.056,2789,1997,1814
$GC,11483,1.57,265.9,313.0,8.9,554,11487,0.00,2.65,0.00,0.000,4,0.000,0.074,2789,585,1814
$GC,11555,1.57,265.9,306.5,9.5,557,11560,0.00,2.55,0.00,0.000,6,0.000,0.048,2789,1994,1814
$GC,11871,1.57,265.9,279.4,8.5,572,11876,0.00,2.67,0.00,0.000,4,0.000,0.071,2789,580,1814
$GC,11950,1.57,265.9,272.0,9.4,575,11956,0.00,2.55,0.00,0.000,6,0.000,0.048,2789,2000,1814
$GC,12266,1.57,265.9,243.0,9.3,591,12270,0.00,2.67,0.00,0.000,4,0.000,0.077,2789,3418,1814
$GC,12328,1.57,265.9,236.9,10.1,594,12333,0.00,2.62,0.00,0.000,6,0.000,0.058,2789,1991,1814
$GC,12656,1.57,265.9,206.9,9.1,610,12660,0.00,2.60,0.00,0.000,4,0.000,0.071,2789,588,1814
$GC,12706,1.57,265.9,202.1,9.4,612,12710,0.00,2.55,0.00,0.000,6,0.000,0.048,2789,2000,1814
$GC,13021,1.57,265.9,174.6,8.8,627,13026,0.00,2.65,0.00,0.000,4,0.000,0.070,2789,588,1814
$GC,13078,1.57,265.9,169.5,9.1,629,13084,0.00,2.55,0.00,0.000,6,0.000,0.046,2789,2004,1814
$GC,13395,1.57,268.4,144.2,7.9,645,13399,0.00,2.65,0.00,0.000,4,0.000,0.068,2789,588,1814
$GC,13467,1.57,268.4,137.8,9.1,648,13471,0.00,2.55,0.00,0.000,6,0.000,0.044,2789,2009,1814
$GC,13785,1.57,268.4,110.6,8.9,663,13790,0.00,2.65,0.00,0.000,4,0.000,0.067,2789,588,1815
$GC,13948,1.57,268.4,94.1,9.9,670,13952,0.00,2.53,0.00,0.000,6,0.000,0.042,2789,2007,1815
$GC,14266,1.57,268.4,66.0,8.8,685,14275,0.00,2.67,4.12,0.586,4,0.000,0.066,2789,585,1806
$GC,14350,1.57,268.4,57.8,9.5,688,14357,0.00,2.53,0.00,0.000,6,0.000,0.041,2789,2004,1806
$GC,14666,1.57,268.4,28.4,9.3,704,14667,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2004,1807
$STATE,14931,end climb,SURFACE_DEPTH_REACHED
$STATE,14931,begin surface coast
$FINISH,-0.1,1.014769
$STATE,14954,end surface coast,CONTROL_FINISHED_OK
$STATE,14954,begin surface
$SM_CCo,15040,0.00,0.000,0,0,1807,268.60
$SM_GC,1.03,12.25,0.00,0.00,0.036,0.000,0.000,53,2743,1807,-10.93,-0.20,268.60
$IRIDIUM_FIX,6303.50,-828.27,130898,101046
$TT8_MAMPS,0.029146
$HUMID,1844
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,14.60
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,676.5,28.5
$24V_AH,22.8,67.509
$10V_AH,10.1,37.915
$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,27.325,92.675,363.850,0.000,0.000,63.000,127.296,127.763,18.750,0.000,0.000,12.546,1276.649,11748.707,434.244,1483.110,594.647,33.359,1191.305,0.000,1455.860,0.000,40.700,0.000
$DEVICE_MAMPS,162.604,90.506,1226.433,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,537.045,506.135,434.081,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37994,718
$CAP_FILE_SIZE,96245,0
$CFSIZE,260165632,233136128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,141006,6332.212,-821.419,38,1.2,38,-9.6