version: 66.04
glider: 103
mission: 11
dive: 361
start: 5 10 109 23 12 52
data:
$ID,103
$MISSION,11
$DIVE,361
$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,-150887.94
$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,24
$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
$GPS1,230708,6236.696,-1045.362,32,1.1,33,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-58.1
$GPS2,231202,6236.726,-1045.220,11,1.7,11,-10.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.098,0.222
$KALMAN_X,-120356.8,-524.9,205.5,235158.7,-1159.8
$KALMAN_Y,-14301.5,853.4,489.6,-12619.1,-4999.5
$MHEAD_RNG_PITCHd_Wd,34.3,41294,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.50,0.000,2,0.000,0.000,47,2752,3461
$GC,81,-1.42,-146.6,5.4,-9.7,3,103,11.80,2.67,-0.62,0.000,4,0.161,0.077,2124,1342,3504
$GC,356,-1.42,-146.6,49.0,-9.5,15,360,0.00,2.65,0.00,0.000,6,0.000,0.068,2124,2755,3504
$GC,679,-1.42,-146.6,85.9,-11.6,31,683,0.00,2.60,0.00,0.000,4,0.000,0.061,2124,1342,3504
$GC,712,-1.42,-146.6,90.0,-11.8,32,718,0.00,2.65,0.00,0.000,6,0.000,0.070,2124,2759,3504
$GC,1028,-1.42,-146.6,124.3,-10.5,48,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3504
$GC,1337,-1.42,-146.6,157.2,-11.1,63,1341,0.00,2.60,0.00,0.000,4,0.000,0.061,2124,1338,3504
$GC,1387,-1.42,-146.6,162.9,-11.8,65,1391,0.00,2.62,0.00,0.000,6,0.000,0.064,2124,2749,3504
$GC,1703,-1.42,-146.6,198.1,-11.4,80,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2749,3504
$GC,2012,-1.42,-146.6,230.9,-10.3,95,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3504
$GC,2321,-1.42,-146.6,262.6,-10.2,110,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3504
$GC,2631,-1.42,-146.6,293.6,-10.2,125,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2750,3504
$GC,2939,-1.42,-146.6,324.4,-10.4,140,2944,0.00,2.60,0.00,0.000,4,0.000,0.061,2124,1333,3504
$GC,2978,-1.42,-146.6,328.6,-11.1,141,2984,0.00,2.62,0.00,0.000,6,0.000,0.061,2124,2757,3504
$GC,3294,-1.42,-146.6,364.2,-11.4,157,3296,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3504
$GC,3603,-1.42,-146.6,396.3,-10.2,172,3604,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2757,3504
$GC,3913,-1.42,-146.6,428.0,-10.1,187,3916,0.00,2.58,0.00,0.000,4,0.000,0.058,2124,1338,3504
$GC,3947,-1.42,-146.6,431.7,-10.3,188,3951,0.00,2.60,0.00,0.000,6,0.000,0.060,2124,2751,3504
$GC,4262,-1.42,-146.6,461.9,-9.5,203,4267,0.00,2.58,0.00,0.000,4,0.000,0.058,2124,1340,3504
$GC,4303,-1.42,-146.6,465.6,-9.1,205,4307,0.00,2.60,0.00,0.000,6,0.000,0.062,2124,2749,3504
$GC,4630,-1.42,-146.6,492.5,-8.3,221,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2749,3504
$GC,4939,-1.42,-146.6,519.0,-8.6,236,4943,0.00,2.55,0.00,0.000,4,0.000,0.060,2124,1340,3504
$GC,5051,-1.42,-146.6,528.1,-8.9,241,5055,0.00,2.60,0.00,0.000,6,0.000,0.061,2124,2754,3504
$GC,5372,-1.42,-146.6,560.2,-9.7,257,5376,0.00,1.95,0.00,0.000,4,0.000,0.081,2124,3776,3504
$GC,5456,-1.42,-146.6,568.6,-9.9,260,5462,0.00,1.85,0.00,0.000,6,0.000,0.047,2124,2750,3504
$STATE,5666,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5666,begin apogee
$GC,5676,-0.42,0.0,588.2,9.2,271,5803,1.12,0.00,123.88,1.104,6,0.095,0.000,2347,1995,2902
$STATE,5804,end apogee,CONTROL_FINISHED_OK
$STATE,5804,begin climb
$GC,5807,1.42,146.6,593.5,0.0,277,5936,1.90,2.67,120.62,1.063,4,0.061,0.056,2749,3419,2303
$GC,6097,1.53,234.3,586.4,4.8,290,6178,0.10,2.53,72.65,1.061,6,0.052,0.041,2782,1996,1947
$GC,6500,1.54,242.8,556.2,7.7,310,6514,0.00,2.67,8.68,0.892,4,0.000,0.065,2782,594,1912
$GC,6619,1.54,242.8,545.5,9.3,315,6623,0.00,2.53,0.00,0.000,6,0.000,0.038,2782,2021,1912
$GC,6940,1.54,242.8,515.4,9.6,331,6945,0.00,2.65,0.00,0.000,4,0.000,0.061,2782,588,1911
$GC,7098,1.54,242.8,500.5,9.4,338,7102,0.00,2.50,0.00,0.000,6,0.000,0.040,2782,1997,1911
$GC,7419,1.54,242.8,471.5,10.0,354,7423,0.00,2.58,0.00,0.000,4,0.000,0.059,2782,3408,1910
$GC,7446,1.54,242.8,468.5,11.0,355,7450,0.00,2.50,0.00,0.000,6,0.000,0.041,2782,1997,1910
$GC,7768,1.54,242.8,436.9,9.6,371,7772,0.00,2.55,0.00,0.000,4,0.000,0.061,2782,596,1910
$GC,7975,1.55,253.9,418.8,7.6,380,7991,0.00,2.47,10.57,0.907,6,0.000,0.037,2782,2007,1866
$GC,8313,1.55,253.9,393.0,8.1,397,8318,0.00,2.60,0.00,0.000,4,0.000,0.058,2782,589,1866
$GC,8376,1.55,253.9,387.7,8.7,400,8380,0.00,2.47,0.00,0.000,6,0.000,0.037,2782,2000,1866
$GC,8703,1.55,253.9,359.9,9.1,416,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2000,1866
$GC,9013,1.55,253.9,328.6,10.3,431,9017,0.00,2.58,0.00,0.000,4,0.000,0.058,2782,590,1866
$GC,9062,1.55,253.9,322.9,11.6,433,9067,0.00,2.47,0.00,0.000,6,0.000,0.037,2782,2003,1866
$GC,9378,1.55,253.9,289.2,10.7,448,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2003,1866
$GC,9688,1.55,253.9,258.6,9.4,463,9692,0.00,2.58,0.00,0.000,4,0.000,0.058,2782,588,1867
$GC,9749,1.55,253.9,252.5,10.2,465,9755,0.00,2.47,0.00,0.000,6,0.000,0.037,2782,2008,1867
$GC,10065,1.55,253.9,225.2,8.3,481,10069,0.00,2.58,0.00,0.000,4,0.000,0.058,2782,595,1867
$GC,10127,1.55,253.9,219.3,9.5,483,10133,0.00,2.47,0.00,0.000,6,0.000,0.037,2782,2007,1868
$GC,10443,1.55,253.9,190.6,8.9,499,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2007,1868
$GC,10753,1.55,253.9,162.8,9.7,514,10757,0.00,2.60,0.00,0.000,4,0.000,0.058,2782,584,1868
$GC,10803,1.55,253.9,157.7,9.9,516,10807,0.00,2.50,0.00,0.000,6,0.000,0.037,2782,2010,1868
$GC,11125,1.55,253.9,126.3,9.9,532,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2010,1868
$GC,11436,1.55,253.9,96.5,9.6,547,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2010,1868
$GC,11744,1.55,253.9,67.6,8.7,562,11748,0.00,2.60,0.00,0.000,4,0.000,0.058,2782,588,1869
$GC,11816,1.55,253.9,60.5,9.6,565,11820,0.00,2.47,0.00,0.000,6,0.000,0.038,2782,1998,1869
$GC,12132,1.55,253.9,30.2,10.0,580,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1998,1869
$STATE,12418,end climb,SURFACE_DEPTH_REACHED
$STATE,12418,begin surface coast
$FINISH,0.5,1.019121
$STATE,12441,end surface coast,CONTROL_FINISHED_OK
$STATE,12442,begin surface
$SM_CCo,12528,0.00,0.000,0,0,1868,253.64
$SM_GC,1.82,12.07,0.00,0.00,0.032,0.000,0.000,48,2745,1868,-10.94,-0.14,253.64
$IRIDIUM_FIX,6207.28,-1052.96,040898,202041
$TT8_MAMPS,0.029146
$HUMID,1800
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.3,71.5
$24V_AH,23.2,59.737
$10V_AH,10.1,34.354
$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,27.000,99.175,336.400,0.000,0.000,29.386,30.096,118.191,4.250,0.000,0.000,11.818,1109.110,9452.177,417.704,1405.329,438.084,33.361,1137.713,0.000,1383.324,0.000,33.527,0.000
$DEVICE_MAMPS,161.070,81.302,1104.480,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,415.876,445.076,387.673,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28567,595
$CAP_FILE_SIZE,88182,0
$CFSIZE,260165632,235732992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110509,024315,6238.146,-1041.598,38,4.9,57,-10.6