version: 66.04
glider: 103
mission: 11
dive: 352
start: 5 9 109 9 45 42
data:
$ID,103
$MISSION,11
$DIVE,352
$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,1
$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,-150726.09
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,093436,6222.372,-1121.980,32,2.0,32,-10.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-54.0
$GPS2,094451,6222.332,-1121.741,10,2.7,29,-10.8
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.161,0.182
$KALMAN_X,-126482.0,1049.5,1323.9,207690.4,-5264.3
$KALMAN_Y,-4054.6,376.6,921.2,-49453.6,-5283.3
$MHEAD_RNG_PITCHd_Wd,52.3,81038,-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,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.50,0.000,2,0.000,0.000,51,2764,2982
$GC,63,-1.42,-146.6,3.1,-7.8,2,90,11.62,2.62,-9.60,0.000,4,0.155,0.071,2124,1337,3501
$GC,152,-1.42,-146.6,17.4,-12.0,6,156,0.00,2.67,0.00,0.000,6,0.000,0.072,2124,2747,3501
$GC,473,-1.42,-146.6,50.0,-9.9,22,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2747,3500
$GC,782,-1.42,-146.6,82.7,-9.8,37,787,0.00,2.60,0.00,0.000,4,0.000,0.062,2125,1339,3500
$GC,823,-1.42,-146.6,87.8,-13.1,39,828,0.00,2.62,0.00,0.000,6,0.000,0.064,2124,2757,3500
$GC,1151,-1.42,-146.6,121.5,-10.0,55,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3500
$GC,1460,-1.42,-146.6,158.5,-11.7,70,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3500
$GC,1769,-1.42,-146.6,193.2,-11.0,85,1774,0.00,2.58,0.00,0.000,4,0.000,0.060,2124,1340,3500
$GC,1837,-1.42,-146.6,201.1,-11.4,88,1841,0.00,2.62,0.00,0.000,6,0.000,0.065,2124,2751,3500
$GC,2158,-1.42,-146.6,237.8,-11.6,104,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3499
$GC,2467,-1.42,-146.6,272.3,-11.2,119,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3500
$GC,2776,-1.42,-146.6,306.0,-10.6,134,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3499
$GC,3086,-1.42,-146.6,339.2,-10.8,149,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3500
$GC,3395,-1.42,-146.6,371.4,-10.4,164,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3500
$GC,3704,-1.42,-146.6,405.2,-11.1,179,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3500
$GC,4014,-1.42,-146.6,440.0,-11.7,194,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3500
$GC,4323,-1.42,-146.6,473.0,-10.6,209,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3500
$GC,4632,-1.42,-146.6,506.5,-11.1,224,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3500
$GC,4942,-1.42,-146.6,539.9,-10.6,239,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3499
$GC,5250,-1.42,-146.6,571.1,-9.9,254,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3499
$GC,5560,-1.42,-146.6,600.9,-9.6,269,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3499
$GC,5869,-1.42,-146.6,632.4,-10.5,284,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3499
$GC,6178,-1.42,-146.6,666.1,-10.8,299,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2752,3499
$GC,6487,-1.42,-146.6,696.9,-9.4,314,6492,0.00,2.58,0.00,0.000,4,0.000,0.059,2124,1337,3499
$GC,6515,-1.42,-146.6,699.5,-9.3,315,6520,0.00,2.60,0.00,0.000,6,0.000,0.061,2124,2751,3499
$GC,6837,-1.42,-146.6,733.9,-11.2,331,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3499
$GC,7147,-1.42,-146.6,766.0,-9.7,346,7151,0.00,2.55,0.00,0.000,4,0.000,0.060,2125,1344,3499
$GC,7232,-1.42,-146.6,774.5,-10.0,350,7239,0.00,2.60,0.00,0.000,6,0.000,0.061,2124,2759,3499
$GC,7567,-1.42,-146.6,803.8,-8.4,366,7571,0.00,2.60,0.00,0.000,4,0.000,0.058,2124,1332,3498
$GC,7629,-1.42,-146.6,809.3,-8.9,369,7633,0.00,2.62,0.00,0.000,6,0.000,0.062,2124,2757,3498
$STATE,7911,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7911,begin apogee
$GC,7921,-0.42,0.0,836.4,9.4,383,8054,1.10,0.00,128.02,1.296,6,0.088,0.000,2346,2000,2902
$STATE,8055,end apogee,CONTROL_FINISHED_OK
$STATE,8055,begin climb
$GC,8058,1.42,146.6,843.4,0.0,390,8193,1.88,2.75,126.18,1.269,4,0.056,0.070,2748,3420,2304
$GC,8453,1.69,364.1,844.2,0.0,408,8651,0.28,2.62,187.32,1.273,6,0.031,0.058,2817,1995,1417
$GC,8967,1.69,364.1,795.8,13.9,433,8971,0.00,2.65,0.00,0.000,4,0.000,0.061,2817,3421,1416
$GC,9056,1.69,364.1,783.6,13.6,437,9060,0.00,2.55,0.00,0.000,6,0.000,0.042,2817,1995,1416
$GC,9377,1.69,364.1,742.1,12.9,453,9382,0.00,2.58,0.00,0.000,4,0.000,0.062,2817,589,1415
$GC,9530,1.69,364.1,721.2,13.1,460,9534,0.00,2.53,0.00,0.000,6,0.000,0.041,2817,2016,1414
$GC,9857,1.69,364.1,681.2,12.5,476,9862,0.00,2.60,0.00,0.000,4,0.000,0.057,2817,593,1414
$GC,9924,1.69,364.1,671.6,14.7,479,9928,0.00,2.47,0.00,0.000,6,0.000,0.038,2817,2000,1414
$GC,10252,1.69,364.1,625.1,14.1,495,10256,0.00,2.58,0.00,0.000,4,0.000,0.058,2817,590,1414
$GC,10336,1.69,364.1,612.4,15.1,499,10341,0.00,2.50,0.00,0.000,6,0.000,0.038,2817,2011,1414
$GC,10664,1.69,364.1,566.9,13.5,515,10668,0.00,2.60,0.00,0.000,4,0.000,0.056,2817,586,1414
$GC,10736,1.69,364.1,556.7,13.6,518,10740,0.00,2.50,0.00,0.000,6,0.000,0.037,2817,2012,1414
$GC,11052,1.69,364.1,514.0,13.9,533,11056,0.00,2.58,0.00,0.000,4,0.000,0.056,2817,595,1414
$GC,11102,1.69,364.1,506.6,14.1,535,11106,0.00,2.47,0.00,0.000,6,0.000,0.037,2817,2004,1414
$GC,11418,1.69,364.1,463.4,13.5,550,11422,0.00,2.58,0.00,0.000,4,0.000,0.056,2817,590,1415
$GC,11480,1.69,364.1,454.6,14.4,553,11485,0.00,2.47,0.00,0.000,6,0.000,0.038,2817,2001,1415
$GC,11807,1.69,364.1,408.5,14.3,569,11812,0.00,2.58,0.00,0.000,4,0.000,0.058,2817,590,1415
$GC,11870,1.69,364.1,399.1,15.0,572,11875,0.00,2.47,0.00,0.000,6,0.000,0.038,2817,2001,1415
$GC,12197,1.69,364.1,351.8,14.3,588,12201,0.00,2.58,0.00,0.000,4,0.000,0.058,2817,589,1416
$GC,12252,1.69,364.1,343.6,14.8,590,12259,0.00,2.47,0.00,0.000,6,0.000,0.039,2817,2003,1416
$GC,12569,1.69,364.1,299.7,13.9,606,12573,0.00,2.58,0.00,0.000,4,0.000,0.059,2817,595,1416
$GC,12625,1.69,364.1,291.2,15.1,608,12631,0.00,2.47,0.00,0.000,6,0.000,0.040,2817,2001,1416
$GC,12941,1.69,364.1,246.2,14.2,624,12945,0.00,2.55,0.00,0.000,4,0.000,0.060,2817,593,1417
$GC,12987,1.69,364.1,239.2,15.1,626,12991,0.00,2.47,0.00,0.000,6,0.000,0.040,2817,1998,1417
$GC,13314,1.69,364.1,191.7,14.7,642,13318,0.00,2.58,0.00,0.000,4,0.000,0.061,2817,594,1417
$GC,13381,1.69,364.1,180.8,16.9,645,13385,0.00,2.50,0.00,0.000,6,0.000,0.041,2817,2010,1417
$GC,13703,1.69,364.1,134.2,15.8,661,13707,0.00,2.60,0.00,0.000,4,0.000,0.061,2817,593,1417
$GC,13736,1.69,364.1,128.5,16.1,662,13743,0.00,2.47,0.00,0.000,6,0.000,0.039,2817,2009,1418
$GC,14053,1.69,364.1,80.6,16.1,678,14058,0.00,2.60,0.00,0.000,4,0.000,0.062,2817,596,1417
$GC,14127,1.69,364.1,69.5,13.5,681,14131,0.00,2.50,0.00,0.000,6,0.000,0.041,2817,2008,1417
$GC,14443,1.69,364.1,28.0,15.1,696,14447,0.00,2.60,0.00,0.000,4,0.000,0.058,2817,588,1417
$GC,14543,1.69,364.1,14.4,9.3,700,14550,0.00,2.50,0.00,0.000,6,0.000,0.045,2817,2002,1417
$STATE,14629,end climb,SURFACE_DEPTH_REACHED
$STATE,14630,begin surface coast
$FINISH,0.3,1.027444
$STATE,14651,end surface coast,CONTROL_FINISHED_OK
$STATE,14652,begin surface
$SM_CCo,14738,0.00,0.000,0,0,1416,364.52
$SM_GC,1.42,12.15,0.00,0.00,0.028,0.000,0.000,44,2748,1416,-10.94,-0.06,364.52
$IRIDIUM_FIX,6158.08,-1126.79,030898,090932
$TT8_MAMPS,0.028379
$HUMID,1800
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,800.5,44.7
$24V_AH,22.9,58.577
$10V_AH,10.1,33.744
$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,27.025,115.700,441.525,0.000,0.000,56.626,61.719,277.803,7.250,0.000,0.000,30.795,1286.920,11242.317,489.166,1637.309,690.458,33.361,1330.892,0.000,1577.756,0.000,52.471,0.000
$DEVICE_MAMPS,154.934,82.069,1296.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,492.171,525.139,399.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34778,706
$CAP_FILE_SIZE,108220,0
$CFSIZE,260165632,236150784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090509,135237,6223.848,-1115.501,40,2.0,40,-10.8