version: 66.04
glider: 103
mission: 11
dive: 425
start: 5 19 109 18 49 37
data:
$ID,103
$MISSION,11
$DIVE,425
$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,-152030.5
$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,11
$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
$GPS1,184237,6334.943,-821.493,36,1.7,43,-9.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-61.4
$GPS2,184846,6334.949,-821.398,12,2.8,31,-9.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.106,0.219
$KALMAN_X,-18358.0,-393.5,729.5,121196.6,2156.6
$KALMAN_Y,-43714.7,872.5,766.2,136965.7,-5893.8
$MHEAD_RNG_PITCHd_Wd,343.7,25568,-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,-146.6,0.0,0.0,0,58,0.00,0.00,-40.88,0.000,2,0.000,0.000,48,2755,3144
$GC,62,-1.42,-146.6,3.3,-10.0,2,85,11.88,2.08,-6.22,0.000,4,0.162,0.107,2126,3783,3503
$GC,298,-1.42,-146.6,35.5,-12.4,12,302,0.00,1.90,0.00,0.000,6,0.000,0.057,2126,2741,3503
$GC,620,-1.42,-146.6,73.2,-11.9,28,624,0.00,2.60,0.00,0.000,4,0.000,0.067,2126,1334,3503
$GC,687,-1.42,-146.6,81.1,-11.3,31,692,0.00,2.72,0.00,0.000,6,0.000,0.075,2126,2760,3503
$GC,1008,-1.42,-146.6,116.5,-10.5,47,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2760,3504
$GC,1318,-1.42,-146.6,149.2,-10.5,62,1322,0.00,2.65,0.00,0.000,4,0.000,0.065,2126,1338,3504
$GC,1380,-1.42,-146.6,155.4,-9.7,65,1384,0.00,2.70,0.00,0.000,6,0.000,0.074,2126,2757,3504
$GC,1707,-1.42,-146.6,189.4,-10.9,81,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2757,3505
$GC,2016,-1.42,-146.6,223.6,-11.0,96,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2757,3505
$GC,2326,-1.42,-146.6,258.3,-10.8,111,2331,0.00,2.65,0.00,0.000,4,0.000,0.068,2126,1335,3505
$GC,2393,-1.42,-146.6,265.8,-10.7,114,2397,0.00,2.70,0.00,0.000,6,0.000,0.073,2126,2756,3505
$GC,2714,-1.42,-146.6,299.4,-10.6,130,2719,0.00,2.67,0.00,0.000,4,0.000,0.068,2126,1329,3505
$GC,2747,-1.42,-146.6,303.0,-11.0,131,2752,0.00,2.72,0.00,0.000,6,0.000,0.074,2126,2755,3505
$GC,3064,-1.42,-146.6,338.1,-11.4,146,3068,0.00,2.03,0.00,0.000,4,0.000,0.096,2126,3793,3505
$GC,3103,-1.42,-146.6,342.7,-11.3,147,3109,0.00,1.90,0.00,0.000,6,0.000,0.056,2126,2751,3505
$GC,3420,-1.42,-146.6,374.0,-9.3,163,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2750,3504
$GC,3728,-1.42,-146.6,402.6,-9.1,178,3733,0.00,2.62,0.00,0.000,4,0.000,0.074,2126,1338,3502
$GC,3779,-1.42,-146.6,407.4,-9.4,180,3783,0.00,2.72,0.00,0.000,6,0.000,0.077,2126,2758,3502
$GC,4095,-1.42,-146.6,436.1,-9.2,195,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2758,3501
$GC,4404,-1.42,-146.6,463.8,-9.1,210,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2758,3500
$GC,4713,-1.42,-146.6,492.3,-9.1,225,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2758,3499
$GC,5023,-1.42,-146.6,522.0,-9.9,240,5026,0.00,2.03,0.00,0.000,4,0.000,0.099,2126,3789,3499
$GC,5069,-1.42,-146.6,526.6,-10.1,242,5073,0.00,1.90,0.00,0.000,6,0.000,0.057,2126,2748,3499
$GC,5402,-1.42,-146.6,559.4,-9.7,258,5406,0.00,2.65,0.00,0.000,4,0.000,0.073,2126,1332,3497
$GC,5447,-1.42,-146.6,563.8,-10.1,260,5451,0.00,2.75,0.00,0.000,6,0.000,0.081,2126,2752,3497
$GC,5768,-1.42,-146.6,595.0,-9.9,276,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3496
$GC,6078,-1.42,-146.6,625.2,-9.6,291,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3496
$GC,6387,-1.42,-146.6,654.9,-9.5,306,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2752,3495
$GC,6696,-1.42,-146.6,685.7,-10.1,321,6700,0.00,2.70,0.00,0.000,4,0.000,0.074,2126,1332,3494
$GC,6723,-1.42,-146.6,688.6,-10.1,322,6728,0.00,2.75,0.00,0.000,6,0.000,0.080,2126,2757,3494
$GC,7039,-1.42,-146.6,719.0,-9.4,337,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2757,3493
$GC,7348,-1.42,-146.6,748.9,-9.7,352,7353,0.00,2.70,0.00,0.000,4,0.000,0.072,2126,1329,3493
$STATE,7386,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7386,begin apogee
$GC,7395,-0.42,0.0,752.9,10.2,354,7529,1.12,0.00,128.23,1.289,6,0.100,0.000,2347,2011,2902
$STATE,7530,end apogee,CONTROL_FINISHED_OK
$STATE,7530,begin climb
$GC,7533,1.42,146.6,760.3,0.0,361,7668,1.90,2.72,126.35,1.260,4,0.061,0.067,2747,3420,2304
$GC,7928,1.53,233.0,748.2,4.8,379,8012,0.12,2.60,74.93,1.238,6,0.051,0.048,2782,1991,1952
$GC,8321,1.53,233.0,716.9,8.1,398,8325,0.00,2.70,0.00,0.000,4,0.000,0.070,2782,3410,1950
$GC,8371,1.53,233.0,712.4,8.7,400,8375,0.00,2.58,0.00,0.000,6,0.000,0.050,2782,2001,1950
$GC,8687,1.53,233.0,685.8,8.6,415,8691,0.00,2.65,0.00,0.000,4,0.000,0.073,2782,594,1950
$GC,8749,1.53,233.0,680.0,9.2,418,8754,0.00,2.55,0.00,0.000,6,0.000,0.045,2782,2010,1950
$GC,9076,1.53,233.0,651.8,8.6,434,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2010,1950
$GC,9386,1.53,233.0,624.6,8.9,449,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2011,1949
$GC,9695,1.53,233.0,597.2,8.7,464,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2011,1949
$GC,10004,1.53,235.4,572.1,7.9,479,10006,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2011,1948
$GC,10314,1.53,236.9,547.9,7.9,494,10320,0.00,0.00,4.65,0.880,6,0.000,0.000,2782,2011,1936
$GC,10623,1.53,236.9,521.8,8.4,509,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2011,1936
$GC,10932,1.53,236.9,495.5,8.5,524,10936,0.00,2.70,0.00,0.000,4,0.000,0.073,2782,588,1936
$GC,10982,1.53,236.9,490.9,8.7,526,10986,0.00,2.55,0.00,0.000,6,0.000,0.047,2782,2000,1936
$GC,11299,1.53,236.9,463.2,8.8,541,11300,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2000,1935
$GC,11607,1.53,236.9,435.3,9.5,556,11609,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2000,1935
$GC,11917,1.53,236.9,407.5,8.5,571,11918,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2000,1935
$GC,12227,1.55,248.5,382.9,7.6,586,12244,0.00,0.00,11.52,1.029,6,0.000,0.000,2782,2000,1887
$GC,12554,1.56,261.1,357.2,7.5,602,12573,0.00,0.00,12.23,1.000,6,0.000,0.000,2782,2000,1837
$GC,12883,1.56,261.1,328.2,9.2,618,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2000,1836
$GC,13192,1.56,261.1,301.8,8.2,633,13197,0.00,2.67,0.00,0.000,4,0.000,0.073,2782,587,1836
$GC,13233,1.56,261.1,298.4,9.2,635,13237,0.00,2.55,0.00,0.000,6,0.000,0.048,2782,1996,1836
$GC,13560,1.57,264.6,272.7,7.9,651,13569,0.00,2.70,4.68,0.771,4,0.000,0.071,2781,588,1823
$GC,13621,1.57,264.6,267.2,9.3,653,13627,0.00,2.58,0.00,0.000,6,0.000,0.048,2782,2002,1823
$GC,13937,1.57,264.6,239.4,8.7,669,13941,0.00,2.67,0.00,0.000,4,0.000,0.078,2782,3409,1823
$GC,13977,1.57,264.6,236.0,9.6,671,13981,0.00,2.60,0.00,0.000,6,0.000,0.058,2782,2003,1823
$GC,14304,1.57,264.6,208.4,8.1,687,14308,0.00,2.65,0.00,0.000,4,0.000,0.072,2782,588,1823
$GC,14411,1.57,264.6,199.1,9.2,692,14415,0.00,2.55,0.00,0.000,6,0.000,0.048,2782,1999,1823
$GC,14737,1.57,264.6,169.8,9.2,708,14738,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1999,1823
$GC,15047,1.57,264.6,140.8,9.3,723,15051,0.00,2.65,0.00,0.000,4,0.000,0.069,2782,587,1824
$GC,15102,1.57,264.6,135.3,9.6,725,15109,0.00,2.55,0.00,0.000,6,0.000,0.046,2782,2010,1824
$GC,15419,1.57,264.6,108.4,8.8,741,15420,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2010,1824
$GC,15730,1.58,271.6,82.5,7.7,756,15744,0.00,2.75,8.27,0.759,4,0.000,0.068,2782,586,1793
$GC,15847,1.58,271.6,72.2,8.4,761,15851,0.00,2.55,0.00,0.000,6,0.000,0.043,2782,2008,1794
$GC,16169,1.58,271.6,43.5,9.4,777,16173,0.00,2.62,0.00,0.000,4,0.000,0.072,2782,3410,1795
$GC,16202,1.58,271.6,40.2,9.6,778,16209,0.00,2.58,0.00,0.000,6,0.000,0.051,2782,1992,1795
$GC,16519,1.58,271.6,11.4,9.0,794,16521,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1992,1795
$STATE,16619,end climb,SURFACE_DEPTH_REACHED
$STATE,16619,begin surface coast
$FINISH,-0.1,1.027461
$STATE,16640,end surface coast,CONTROL_FINISHED_OK
$STATE,16640,begin surface
$SM_CCo,16726,0.00,0.000,0,0,1795,271.55
$SM_GC,0.99,12.23,0.00,0.00,0.036,0.000,0.000,49,2744,1795,-10.94,-0.17,271.55
$IRIDIUM_FIX,6308.26,-818.72,130898,141452
$TT8_MAMPS,0.028379
$HUMID,1844
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,16.00
$XPDR_PINGS,52
$ALTIM_BOTTOM_PING,726.9,35.6
$24V_AH,22.7,67.793
$10V_AH,10.0,38.065
$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,27.250,112.725,370.850,0.000,0.000,23.230,26.704,168.846,19.250,0.000,0.000,32.521,1454.725,12911.268,456.772,1738.428,530.743,33.382,1319.749,0.000,1681.790,0.000,43.697,0.000
$DEVICE_MAMPS,161.837,106.613,1288.560,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,594.795,565.060,469.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41169,800
$CAP_FILE_SIZE,111865,0
$CFSIZE,260165632,233017344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190509,232936,6336.832,-824.247,35,1.1,35,-9.6