version: 66.04
glider: 103
mission: 11
dive: 360
start: 5 10 109 19 57 15
data:
$ID,103
$MISSION,11
$DIVE,360
$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,-150875.5
$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,26
$R_STBD_OVSHOOT,10
$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
$GPS1,195100,6234.500,-1051.797,38,1.8,38,-10.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-59.3
$GPS2,195625,6234.542,-1051.698,14,1.6,14,-10.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.205,0.131
$KALMAN_X,-119864.9,-1116.7,-147.7,230176.2,-337.4
$KALMAN_Y,-16630.0,782.8,987.6,-14746.2,-8795.2
$MHEAD_RNG_PITCHd_Wd,68.0,47927,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.72,0.000,2,0.000,0.000,48,2752,3168
$GC,62,-1.42,-146.6,4.0,-11.4,2,86,11.73,2.67,-5.53,0.000,4,0.160,0.074,2124,1343,3502
$GC,339,-1.42,-146.6,42.7,-12.4,14,344,0.00,2.65,0.00,0.000,6,0.000,0.068,2123,2758,3502
$GC,660,-1.42,-146.6,80.5,-11.1,30,665,0.00,2.62,0.00,0.000,4,0.000,0.066,2124,1346,3502
$GC,769,-1.42,-146.6,92.7,-11.6,35,773,0.00,2.62,0.00,0.000,6,0.000,0.067,2124,2755,3502
$GC,1096,-1.42,-146.6,128.5,-11.0,51,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2755,3502
$GC,1405,-1.42,-146.6,161.8,-10.4,66,1410,0.00,2.62,0.00,0.000,4,0.000,0.065,2123,1339,3502
$GC,1450,-1.42,-146.6,166.7,-10.5,68,1454,0.00,2.65,0.00,0.000,6,0.000,0.067,2124,2760,3502
$GC,1771,-1.42,-146.6,199.6,-10.2,84,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3503
$GC,2080,-1.42,-146.6,231.8,-10.4,99,2084,0.00,2.60,0.00,0.000,4,0.000,0.061,2124,1345,3502
$GC,2143,-1.42,-146.6,238.5,-11.3,102,2147,0.00,2.62,0.00,0.000,6,0.000,0.067,2123,2757,3502
$GC,2469,-1.42,-146.6,273.0,-10.6,118,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2758,3502
$GC,2778,-1.42,-146.6,306.0,-10.6,133,2783,0.00,2.60,0.00,0.000,4,0.000,0.062,2124,1343,3502
$GC,2813,-1.42,-146.6,309.7,-10.3,134,2819,0.00,2.62,0.00,0.000,6,0.000,0.064,2124,2760,3502
$GC,3129,-1.42,-146.6,343.4,-10.5,150,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3502
$GC,3438,-1.42,-146.6,373.4,-9.3,165,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3502
$GC,3748,-1.42,-146.6,401.7,-9.3,180,3753,0.00,2.60,0.00,0.000,4,0.000,0.060,2124,1340,3502
$GC,3806,-1.42,-146.6,407.1,-9.1,182,3812,0.00,2.62,0.00,0.000,6,0.000,0.064,2124,2755,3502
$GC,4122,-1.42,-146.6,437.9,-9.8,198,4125,0.00,1.92,0.00,0.000,4,0.000,0.078,2124,3786,3502
$GC,4178,-1.42,-146.6,443.8,-10.3,200,4182,0.00,1.85,0.00,0.000,6,0.000,0.047,2124,2759,3502
$GC,4500,-1.42,-146.6,474.0,-9.3,216,4504,0.00,2.58,0.00,0.000,4,0.000,0.061,2124,1334,3502
$GC,4533,-1.42,-146.6,477.3,-9.7,217,4539,0.00,2.62,0.00,0.000,6,0.000,0.064,2124,2750,3502
$GC,4849,-1.42,-146.6,506.1,-8.3,233,4854,0.00,2.60,0.00,0.000,4,0.000,0.062,2124,1333,3502
$GC,4890,-1.42,-146.6,509.3,-7.9,235,4894,0.00,2.65,0.00,0.000,6,0.000,0.066,2124,2760,3502
$GC,5217,-1.42,-146.6,534.0,-8.0,251,5222,0.00,2.62,0.00,0.000,4,0.000,0.063,2124,1332,3502
$GC,5253,-1.42,-146.6,536.6,-7.7,252,5259,0.00,2.65,0.00,0.000,6,0.000,0.068,2124,2753,3502
$GC,5568,-1.42,-146.6,562.5,-9.4,268,5573,0.00,2.62,0.00,0.000,4,0.000,0.064,2124,1329,3502
$GC,5596,-1.42,-146.6,565.1,-9.0,269,5601,0.00,2.65,0.00,0.000,6,0.000,0.066,2124,2759,3502
$GC,5913,-1.42,-146.6,591.9,-8.0,284,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3501
$STATE,6136,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6136,begin apogee
$GC,6145,-0.42,0.0,612.7,10.5,295,6278,1.10,0.00,125.68,1.081,6,0.093,0.000,2343,1989,2902
$STATE,6279,end apogee,CONTROL_FINISHED_OK
$STATE,6279,begin climb
$GC,6282,1.42,146.6,617.1,0.0,302,6416,1.90,2.78,123.10,1.047,4,0.059,0.066,2747,3416,2304
$GC,6672,1.70,370.0,616.9,-0.2,319,6867,0.28,2.60,183.88,1.091,6,0.031,0.054,2822,1995,1393
$GC,7173,1.70,370.0,566.4,13.9,344,7177,0.00,2.62,0.00,0.000,4,0.000,0.063,2822,3413,1392
$GC,7218,1.70,370.0,558.9,17.0,346,7222,0.00,2.55,0.00,0.000,6,0.000,0.043,2822,1988,1392
$GC,7539,1.70,370.0,507.2,15.3,362,7543,0.00,2.58,0.00,0.000,4,0.000,0.065,2822,592,1392
$GC,7624,1.70,370.0,493.8,16.0,366,7628,0.00,2.53,0.00,0.000,6,0.000,0.041,2822,2011,1392
$GC,7951,1.70,370.0,449.3,13.6,382,7955,0.00,2.62,0.00,0.000,4,0.000,0.061,2822,589,1391
$GC,8013,1.70,370.0,440.9,13.7,385,8017,0.00,2.50,0.00,0.000,6,0.000,0.040,2822,2003,1391
$GC,8340,1.70,370.0,400.5,12.4,401,8344,0.00,2.60,0.00,0.000,4,0.000,0.061,2822,588,1391
$GC,8373,1.70,370.0,396.0,13.5,402,8379,0.00,2.50,0.00,0.000,6,0.000,0.039,2822,2002,1391
$GC,8689,1.70,370.0,353.3,13.5,418,8693,0.00,2.60,0.00,0.000,4,0.000,0.060,2822,586,1391
$GC,8761,1.70,370.0,343.4,13.9,421,8766,0.00,2.50,0.00,0.000,6,0.000,0.039,2822,1999,1391
$GC,9078,1.70,370.0,301.9,13.5,436,9079,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1999,1392
$GC,9387,1.70,370.0,258.6,14.2,451,9391,0.00,2.60,0.00,0.000,4,0.000,0.061,2822,585,1392
$GC,9471,1.70,370.0,246.1,15.1,455,9476,0.00,2.53,0.00,0.000,6,0.000,0.041,2822,2012,1392
$GC,9800,1.70,370.0,200.0,14.7,471,9804,0.00,2.60,0.00,0.000,4,0.000,0.061,2822,595,1392
$GC,9872,1.70,370.0,188.9,14.2,474,9876,0.00,2.50,0.00,0.000,6,0.000,0.041,2822,2006,1393
$GC,10188,1.70,370.0,145.6,13.7,489,10193,0.00,2.60,0.00,0.000,4,0.000,0.061,2822,591,1393
$GC,10230,1.70,370.0,139.8,13.7,491,10234,0.00,2.50,0.00,0.000,6,0.000,0.041,2822,2006,1393
$GC,10557,1.70,370.0,94.3,14.1,507,10561,0.00,2.60,0.00,0.000,4,0.000,0.062,2822,595,1393
$GC,10613,1.70,370.0,86.1,14.5,509,10619,0.00,2.47,0.00,0.000,6,0.000,0.041,2822,2005,1393
$GC,10929,1.70,370.0,42.0,14.3,525,10934,0.00,2.62,0.00,0.000,4,0.000,0.064,2822,588,1393
$GC,11025,1.70,370.0,28.5,14.8,529,11029,0.00,2.50,0.00,0.000,6,0.000,0.041,2822,2004,1393
$STATE,11214,end climb,SURFACE_DEPTH_REACHED
$STATE,11214,begin surface coast
$FINISH,0.5,1.013933
$STATE,11236,end surface coast,CONTROL_FINISHED_OK
$STATE,11236,begin surface
$SM_CCo,11322,0.00,0.000,0,0,1392,370.40
$SM_GC,1.32,12.20,0.00,0.00,0.030,0.000,0.000,47,2748,1392,-10.93,-0.08,370.40
$IRIDIUM_FIX,6207.28,-1052.07,040898,161613
$TT8_MAMPS,0.028379
$HUMID,1806
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.5,70.8
$24V_AH,23.2,59.625
$10V_AH,10.1,34.293
$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,27.200,115.775,432.650,0.000,0.000,28.152,28.114,147.221,4.500,0.000,0.000,14.943,1018.220,8349.796,483.018,1347.969,446.350,33.359,1198.533,0.000,1311.335,0.000,35.144,0.000
$DEVICE_MAMPS,159.536,95.108,1090.674,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,376.587,393.300,336.457,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25492,539
$CAP_FILE_SIZE,87048,0
$CFSIZE,260165632,235782144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100509,230708,6236.696,-1045.362,32,1.1,33,-10.6