version: 66.04
glider: 103
mission: 11
dive: 363
start: 5 11 109 6 7 16
data:
$ID,103
$MISSION,11
$DIVE,363
$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,-150936.14
$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,20
$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
$GPS1,055737,6239.317,-1040.814,29,1.0,29,-10.6
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-59.0
$GPS2,060626,6239.342,-1040.736,14,1.6,14,-10.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P2
$TGT_LATLONG,6245.000,-1000.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.216,0.112
$KALMAN_X,-122160.1,984.1,-23.8,239478.6,-4255.7
$KALMAN_Y,-19364.4,142.4,472.2,-1947.1,-9659.7
$MHEAD_RNG_PITCHd_Wd,73.1,36097,-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,-61.10,0.000,6,0.000,0.000,44,2747,3502
$GC,82,-1.42,-146.6,5.3,-9.7,3,103,11.75,2.65,0.00,0.000,4,0.159,0.062,2125,1338,3502
$GC,109,-1.42,-146.6,17.2,-37.1,4,114,0.00,2.70,0.00,0.000,6,0.000,0.071,2125,2762,3502
$GC,431,-1.42,-146.6,54.3,-10.9,20,435,0.00,2.62,0.00,0.000,4,0.000,0.064,2125,1338,3502
$GC,688,-1.42,-146.6,82.3,-10.7,31,695,0.00,2.65,0.00,0.000,6,0.000,0.071,2125,2753,3502
$GC,1005,-1.42,-146.6,116.5,-10.9,47,1009,0.00,2.62,0.00,0.000,4,0.000,0.064,2125,1333,3502
$GC,1105,-1.42,-146.6,127.9,-11.2,51,1112,0.00,2.65,0.00,0.000,6,0.000,0.070,2125,2748,3502
$GC,1421,-1.42,-146.6,162.8,-11.1,67,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2748,3502
$GC,1731,-1.42,-146.6,196.8,-10.9,82,1735,0.00,2.60,0.00,0.000,4,0.000,0.063,2125,1338,3502
$GC,1765,-1.42,-146.6,200.4,-10.0,83,1771,0.00,2.65,0.00,0.000,6,0.000,0.068,2125,2755,3502
$GC,2080,-1.42,-146.6,231.4,-9.7,99,2082,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3503
$GC,2390,-1.42,-146.6,262.3,-10.3,114,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3503
$GC,2699,-1.42,-146.6,295.6,-10.8,129,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2756,3503
$GC,3009,-1.42,-146.6,326.6,-9.6,144,3014,0.00,2.60,0.00,0.000,4,0.000,0.061,2126,1338,3503
$GC,3050,-1.42,-146.6,330.6,-9.9,146,3055,0.00,2.65,0.00,0.000,6,0.000,0.066,2125,2762,3503
$GC,3377,-1.42,-146.6,366.6,-11.5,162,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2761,3503
$GC,3687,-1.42,-146.6,398.3,-9.1,177,3691,0.00,2.62,0.00,0.000,4,0.000,0.061,2125,1333,3503
$GC,3720,-1.42,-146.6,401.4,-9.0,178,3726,0.00,2.65,0.00,0.000,6,0.000,0.065,2125,2760,3503
$GC,4036,-1.42,-146.6,430.9,-9.8,194,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3503
$GC,4345,-1.42,-146.6,462.7,-9.7,209,4350,0.00,2.60,0.00,0.000,4,0.000,0.060,2125,1328,3503
$GC,4379,-1.42,-146.6,465.8,-8.8,210,4386,0.00,2.62,0.00,0.000,6,0.000,0.066,2125,2747,3503
$GC,4696,-1.42,-146.6,493.1,-9.2,226,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2747,3503
$GC,5005,-1.42,-146.6,528.4,-12.1,241,5009,0.00,2.60,0.00,0.000,4,0.000,0.064,2125,1338,3503
$GC,5050,-1.42,-146.6,533.9,-11.5,243,5054,0.00,2.65,0.00,0.000,6,0.000,0.067,2125,2762,3503
$GC,5370,-1.42,-146.6,565.8,-8.8,259,5372,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2762,3503
$STATE,5429,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5429,begin apogee
$GC,5438,-0.42,0.0,572.0,9.9,262,5565,1.12,0.00,122.78,1.101,6,0.097,0.000,2347,1995,2902
$STATE,5566,end apogee,CONTROL_FINISHED_OK
$STATE,5566,begin climb
$GC,5569,1.42,146.6,576.7,0.0,268,5699,1.88,2.67,120.78,1.054,4,0.056,0.056,2748,3416,2304
$GC,5783,1.53,235.7,575.3,4.7,278,5865,0.12,2.55,74.78,1.008,6,0.048,0.040,2785,1986,1941
$GC,6192,1.53,235.7,539.7,9.3,298,6197,0.00,2.65,0.00,0.000,4,0.000,0.061,2785,3412,1940
$GC,6282,1.53,235.7,530.2,10.9,302,6286,0.00,2.53,0.00,0.000,6,0.000,0.042,2785,2002,1939
$GC,6603,1.53,235.7,496.6,9.3,318,6607,0.00,2.60,0.00,0.000,4,0.000,0.065,2785,594,1939
$GC,6692,1.53,235.7,487.7,10.3,322,6696,0.00,2.50,0.00,0.000,6,0.000,0.039,2785,2008,1939
$GC,7013,1.53,235.7,458.2,9.0,338,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2009,1938
$GC,7323,1.55,252.8,433.3,7.4,353,7345,0.00,2.67,14.98,0.946,4,0.000,0.060,2785,587,1871
$GC,7413,1.55,252.8,425.9,8.8,357,7418,0.00,2.53,0.00,0.000,6,0.000,0.039,2785,2011,1871
$GC,7741,1.55,252.8,400.0,8.6,373,7742,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2010,1871
$GC,8050,1.55,252.8,368.4,10.6,388,8054,0.00,2.60,0.00,0.000,4,0.000,0.058,2785,588,1871
$GC,8105,1.55,252.8,362.0,11.5,390,8112,0.00,2.47,0.00,0.000,6,0.000,0.038,2785,2002,1871
$GC,8422,1.55,252.8,329.5,9.7,406,8426,0.00,2.60,0.00,0.000,4,0.000,0.059,2785,586,1870
$GC,8461,1.55,252.8,325.3,10.0,408,8466,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2002,1871
$GC,8788,1.55,252.8,295.2,9.1,424,8793,0.00,2.60,0.00,0.000,4,0.000,0.059,2785,585,1871
$GC,8833,1.55,252.8,290.9,9.9,426,8837,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2004,1871
$GC,9155,1.55,252.8,260.7,9.6,442,9158,0.00,2.58,0.00,0.000,4,0.000,0.058,2785,588,1871
$GC,9216,1.55,252.8,254.3,10.5,444,9222,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2008,1871
$GC,9532,1.55,252.8,225.0,8.9,460,9533,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2008,1872
$GC,9842,1.55,252.8,197.5,8.8,475,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2008,1872
$GC,10150,1.55,252.8,170.5,8.6,490,10154,0.00,2.60,0.00,0.000,4,0.000,0.058,2785,580,1872
$GC,10247,1.55,252.8,161.6,9.0,494,10252,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2003,1872
$GC,10571,1.55,252.8,133.0,8.9,510,10572,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2003,1873
$GC,10879,1.55,252.8,106.1,8.5,525,10883,0.00,2.60,0.00,0.000,4,0.000,0.061,2785,586,1873
$GC,10928,1.55,252.8,101.5,9.0,527,10932,0.00,2.47,0.00,0.000,6,0.000,0.039,2785,2000,1873
$GC,11251,1.55,252.8,73.0,9.0,543,11252,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2000,1873
$GC,11560,1.55,252.8,43.8,8.9,558,11564,0.00,2.60,0.00,0.000,4,0.000,0.063,2785,586,1873
$GC,11626,1.55,252.8,36.9,9.9,561,11630,0.00,2.50,0.00,0.000,6,0.000,0.038,2785,2010,1874
$GC,11949,1.55,252.8,7.3,9.1,577,11953,0.00,2.65,0.00,0.000,4,0.000,0.071,2785,598,1874
$GC,11982,1.55,252.8,4.2,9.4,578,11988,0.00,2.50,0.00,0.000,6,0.000,0.045,2785,2002,1874
$STATE,12027,end climb,SURFACE_DEPTH_REACHED
$STATE,12027,begin surface coast
$FINISH,0.5,1.018761
$STATE,12050,end surface coast,CONTROL_FINISHED_OK
$STATE,12050,begin surface
$SM_CCo,12137,0.00,0.000,0,0,1872,252.66
$SM_GC,1.81,12.23,0.00,0.00,0.039,0.000,0.000,54,2749,1872,-10.92,-0.03,252.66
$IRIDIUM_FIX,6216.53,-1035.45,050898,060609
$TT8_MAMPS,0.028379
$HUMID,1800
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,502.0,78.2
$24V_AH,23.2,59.994
$10V_AH,10.1,34.473
$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,27.100,106.550,333.300,0.000,0.000,51.450,61.597,231.645,4.250,0.000,0.000,14.800,1072.096,9233.847,431.514,1325.423,604.793,33.357,1114.153,0.000,1295.161,0.000,35.798,0.000
$DEVICE_MAMPS,158.769,77.467,1101.412,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,406.120,432.606,394.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28515,582
$CAP_FILE_SIZE,90700,0
$CFSIZE,260165632,235646976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110509,093037,6241.167,-1034.891,27,1.8,27,-10.5