version: 66.04
glider: 103
mission: 11
dive: 114
start: 3 18 109 5 8 54
data:
$ID,103
$MISSION,11
$DIVE,114
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,135
$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,-145259.06
$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,2650
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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
$GPS1,050406,6300.496,-1031.757,37,0.9,42,-10.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-63.3
$GPS2,050838,6300.516,-1031.606,15,1.0,15,-10.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,6252.879,-1014.854
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.128,-0.177
$KALMAN_X,128972.2,-2223.1,-952.6,-183953.4,42292.5
$KALMAN_Y,65935.9,-5074.7,-858.3,47123.3,67423.9
$MHEAD_RNG_PITCHd_Wd,145.6,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,60,0.00,0.00,-41.75,0.000,2,0.000,0.000,47,2653,3299
$GC,63,-1.42,-146.6,4.5,-11.8,2,86,11.77,2.17,-3.25,0.000,4,0.159,0.100,2127,3785,3502
$GC,165,-1.42,-146.6,24.1,-12.5,6,169,0.00,2.05,0.00,0.000,6,0.000,0.051,2127,2646,3503
$GC,487,-1.42,-146.6,57.8,-10.5,22,491,0.00,2.22,0.00,0.000,4,0.000,0.088,2127,3791,3503
$GC,531,-1.42,-146.6,62.7,-10.0,24,535,0.00,2.08,0.00,0.000,6,0.000,0.055,2127,2642,3503
$GC,859,-1.42,-146.6,94.4,-9.4,40,863,0.00,2.22,0.00,0.000,4,0.000,0.085,2127,3792,3503
$GC,899,-1.42,-146.6,98.5,-10.5,42,903,0.00,2.08,0.00,0.000,6,0.000,0.054,2127,2642,3503
$GC,1232,-1.42,-146.6,132.2,-10.1,58,1236,0.00,2.22,0.00,0.000,4,0.000,0.085,2127,3793,3503
$GC,1283,-1.42,-146.6,137.6,-10.2,60,1287,0.00,2.08,0.00,0.000,6,0.000,0.054,2126,2641,3503
$GC,1611,-1.42,-146.6,167.9,-9.5,76,1614,0.00,2.20,0.00,0.000,4,0.000,0.081,2127,3790,3503
$GC,1679,-1.42,-146.6,174.7,-9.5,79,1684,0.00,2.05,0.00,0.000,6,0.000,0.054,2127,2652,3503
$GC,2012,-1.42,-146.6,202.6,-7.6,95,2015,0.00,2.17,0.00,0.000,4,0.000,0.081,2126,3788,3503
$GC,2058,-1.42,-146.6,206.1,-7.7,97,2062,0.00,2.05,0.00,0.000,6,0.000,0.053,2126,2644,3503
$GC,2391,-1.42,-146.6,230.3,-7.4,113,2395,0.00,2.20,0.00,0.000,4,0.000,0.083,2127,3790,3503
$GC,2419,-1.42,-146.6,232.5,-7.8,114,2423,0.00,2.05,0.00,0.000,6,0.000,0.053,2127,2650,3503
$GC,2747,-1.42,-146.6,257.5,-7.3,130,2751,0.00,2.17,0.00,0.000,4,0.000,0.083,2127,3786,3503
$GC,2820,-1.42,-146.6,263.1,-7.3,133,2824,0.00,2.05,0.00,0.000,6,0.000,0.053,2127,2641,3503
$GC,3147,-1.42,-146.6,289.1,-8.4,149,3151,0.00,2.20,0.00,0.000,4,0.000,0.085,2126,3786,3503
$GC,3181,-1.42,-146.6,292.4,-9.5,150,3185,0.00,2.05,0.00,0.000,6,0.000,0.054,2127,2644,3504
$GC,3503,-1.42,-146.6,324.5,-10.6,166,3507,0.00,2.20,0.00,0.000,4,0.000,0.084,2127,3792,3504
$GC,3548,-1.42,-146.6,329.5,-11.3,168,3552,0.00,2.05,0.00,0.000,6,0.000,0.051,2127,2644,3503
$GC,3881,-1.42,-146.6,366.1,-11.5,184,3884,0.00,2.20,0.00,0.000,4,0.000,0.085,2127,3789,3504
$GC,3954,-1.42,-146.6,374.5,-10.5,187,3958,0.00,2.05,0.00,0.000,6,0.000,0.053,2127,2644,3503
$GC,4280,-1.42,-146.6,403.2,-8.4,203,4284,0.00,2.20,0.00,0.000,4,0.000,0.084,2127,3790,3504
$GC,4336,-1.42,-146.6,408.4,-9.3,205,4340,0.00,2.05,0.00,0.000,6,0.000,0.051,2127,2643,3504
$GC,4658,-1.42,-146.6,436.8,-8.7,221,4662,0.00,2.20,0.00,0.000,4,0.000,0.087,2127,3786,3504
$GC,4846,-1.42,-146.6,455.0,-10.4,229,4850,0.00,2.03,0.00,0.000,6,0.000,0.050,2127,2652,3503
$STATE,4902,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4902,begin apogee
$GC,4910,-0.42,0.0,460.7,9.6,232,5036,1.10,0.00,122.12,0.961,6,0.097,0.000,2344,1993,2902
$STATE,5036,end apogee,CONTROL_FINISHED_OK
$STATE,5036,begin climb
$GC,5040,1.42,146.6,466.2,0.0,238,5168,1.90,2.67,119.53,0.933,4,0.058,0.054,2748,3423,2304
$GC,5381,1.51,221.8,457.8,5.2,253,5450,0.00,2.55,62.25,0.922,6,0.000,0.041,2748,1989,1996
$GC,5764,1.64,323.9,436.9,4.3,272,5851,0.17,0.00,84.10,0.924,6,0.036,0.000,2806,1989,1581
$GC,6160,1.64,323.9,392.0,12.7,291,6161,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1989,1580
$GC,6466,1.64,323.9,351.0,13.5,306,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1989,1580
$GC,6774,1.64,323.9,308.6,13.1,321,6779,0.00,2.58,0.00,0.000,4,0.000,0.065,2806,588,1579
$GC,6808,1.64,323.9,303.7,14.0,322,6814,0.00,2.53,0.00,0.000,6,0.000,0.041,2806,2016,1579
$GC,7124,1.64,323.9,261.5,12.9,338,7128,0.00,2.62,0.00,0.000,4,0.000,0.063,2806,594,1579
$GC,7151,1.64,323.9,257.9,13.2,339,7155,0.00,2.50,0.00,0.000,6,0.000,0.041,2806,2007,1579
$GC,7467,1.64,323.9,219.5,11.5,354,7471,0.00,2.60,0.00,0.000,4,0.000,0.062,2806,596,1580
$GC,7524,1.64,323.9,212.7,12.4,356,7530,0.00,2.50,0.00,0.000,6,0.000,0.041,2806,2010,1580
$GC,7840,1.64,323.9,176.5,11.7,372,7844,0.00,2.60,0.00,0.000,4,0.000,0.062,2806,596,1580
$GC,7895,1.64,323.9,169.6,11.9,374,7901,0.00,2.50,0.00,0.000,6,0.000,0.041,2806,2012,1580
$GC,8213,1.64,323.9,131.8,11.9,390,8217,0.00,2.62,0.00,0.000,4,0.000,0.063,2806,588,1580
$GC,8277,1.64,323.9,123.8,13.1,393,8281,0.00,2.50,0.00,0.000,6,0.000,0.041,2806,2005,1580
$GC,8604,1.64,323.9,86.2,11.0,409,8608,0.00,2.60,0.00,0.000,4,0.000,0.064,2806,595,1580
$GC,8649,1.64,323.9,80.7,11.9,411,8653,0.00,2.47,0.00,0.000,6,0.000,0.041,2806,2001,1579
$GC,8970,1.64,323.9,39.4,13.0,427,8975,0.00,2.60,0.00,0.000,4,0.000,0.064,2806,590,1580
$GC,9033,1.64,323.9,31.1,12.4,430,9038,0.00,2.47,0.00,0.000,6,0.000,0.040,2806,2000,1580
$STATE,9277,end climb,SURFACE_DEPTH_REACHED
$STATE,9277,begin surface coast
$FINISH,0.6,1.013374
$STATE,9297,end surface coast,CONTROL_FINISHED_OK
$STATE,9297,begin surface
$SM_CCo,9383,0.00,0.000,0,0,1579,324.53
$SM_GC,1.63,12.20,0.00,0.00,0.032,0.000,0.000,50,2641,1579,-10.93,-0.28,324.53
$IRIDIUM_FIX,6235.17,-1038.63,120698,020201
$TT8_MAMPS,0.028379
$HUMID,1775
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.4,69.1
$24V_AH,23.5,25.519
$10V_AH,10.1,13.537
$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,27.150,98.700,388.000,0.000,0.000,30.070,29.558,104.132,3.000,0.000,0.000,15.334,874.299,6832.652,426.396,1146.455,378.471,0.000,1043.471,0.000,1121.219,0.000,22.139,0.000
$DEVICE_MAMPS,158.769,100.477,961.051,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,314.769,319.580,323.891,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22302,443
$CAP_FILE_SIZE,75682,0
$CFSIZE,260165632,250818560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180309,074628,6259.107,-1027.273,13,2.2,32,-10.6