version: 66.04
glider: 103
mission: 11
dive: 115
start: 3 18 109 7 51 58
data:
$ID,103
$MISSION,11
$DIVE,115
$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,-145291.53
$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,25
$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
$GPS1,074628,6259.107,-1027.273,13,2.2,32,-10.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-60.5
$GPS2,075143,6259.097,-1027.184,14,1.6,31,-10.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,6251.461,-1010.445
$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,-146.6,0.0,0.0,0,59,0.00,0.00,-40.90,0.000,2,0.000,0.000,49,2645,2921
$GC,63,-1.42,-146.6,3.1,-6.8,2,93,11.82,2.62,-11.77,0.000,4,0.162,0.075,2124,1244,3501
$GC,161,-1.42,-146.6,15.2,-10.5,6,165,0.00,2.62,0.00,0.000,6,0.000,0.065,2124,2653,3501
$GC,479,-1.42,-146.6,47.5,-10.4,21,482,0.00,2.15,0.00,0.000,4,0.000,0.084,2124,3786,3501
$GC,557,-1.42,-146.6,56.3,-11.2,24,561,0.00,2.05,0.00,0.000,6,0.000,0.052,2124,2645,3501
$GC,881,-1.42,-146.6,88.3,-9.8,40,884,0.00,2.20,0.00,0.000,4,0.000,0.084,2124,3786,3501
$GC,927,-1.42,-146.6,93.2,-10.2,42,931,0.00,2.03,0.00,0.000,6,0.000,0.050,2124,2652,3501
$GC,1259,-1.42,-146.6,125.8,-10.1,58,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2651,3501
$GC,1568,-1.42,-146.6,156.4,-10.2,73,1572,0.00,2.20,0.00,0.000,4,0.000,0.084,2124,3793,3501
$GC,1624,-1.42,-146.6,162.7,-11.6,75,1628,0.00,2.05,0.00,0.000,6,0.000,0.051,2124,2647,3501
$GC,1946,-1.42,-146.6,194.8,-9.9,91,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2647,3501
$GC,2256,-1.42,-146.6,225.1,-9.8,106,2260,0.00,2.17,0.00,0.000,4,0.000,0.082,2124,3789,3501
$GC,2335,-1.42,-146.6,233.2,-10.1,109,2338,0.00,2.05,0.00,0.000,6,0.000,0.052,2124,2644,3501
$GC,2657,-1.42,-146.6,263.8,-10.0,125,2660,0.00,2.20,0.00,0.000,4,0.000,0.083,2124,3792,3501
$GC,2712,-1.42,-146.6,269.7,-10.6,127,2716,0.00,2.05,0.00,0.000,6,0.000,0.050,2124,2642,3501
$GC,3034,-1.42,-146.6,302.5,-10.2,143,3038,0.00,2.20,0.00,0.000,4,0.000,0.084,2124,3790,3501
$GC,3073,-1.42,-146.6,306.6,-10.5,144,3079,0.00,2.05,0.00,0.000,6,0.000,0.050,2124,2641,3501
$GC,3389,-1.42,-146.6,335.6,-8.6,160,3392,0.00,2.20,0.00,0.000,4,0.000,0.082,2125,3790,3501
$GC,3428,-1.42,-146.6,339.4,-9.5,161,3434,0.00,2.05,0.00,0.000,6,0.000,0.050,2124,2637,3501
$GC,3744,-1.42,-146.6,365.1,-8.3,177,3747,0.00,2.20,0.00,0.000,4,0.000,0.081,2124,3792,3501
$GC,3790,-1.42,-146.6,369.2,-8.8,179,3793,0.00,2.03,0.00,0.000,6,0.000,0.051,2124,2656,3501
$GC,4122,-1.42,-146.6,399.3,-8.9,195,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2656,3501
$GC,4431,-1.42,-146.6,428.2,-9.4,210,4435,0.00,2.17,0.00,0.000,4,0.000,0.083,2124,3793,3501
$GC,4560,-1.42,-146.6,441.2,-10.3,215,4567,0.00,2.03,0.00,0.000,6,0.000,0.051,2124,2649,3501
$STATE,4771,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4771,begin apogee
$GC,4779,-0.42,0.0,460.3,9.2,226,4905,1.15,0.00,122.45,0.953,6,0.107,0.000,2347,1991,2902
$STATE,4906,end apogee,CONTROL_FINISHED_OK
$STATE,4906,begin climb
$GC,4909,1.42,146.6,463.5,0.0,232,5039,1.85,2.65,120.10,0.927,4,0.055,0.052,2749,3422,2304
$GC,5124,1.54,245.4,461.7,4.4,242,5214,0.12,2.55,81.00,0.915,6,0.044,0.039,2787,1986,1901
$GC,5523,1.54,245.4,425.0,9.3,262,5527,0.00,2.58,0.00,0.000,4,0.000,0.064,2787,588,1900
$GC,5674,1.54,245.4,410.7,9.4,268,5680,0.00,2.53,0.00,0.000,6,0.000,0.038,2787,2020,1899
$GC,5990,1.54,245.4,375.9,11.4,284,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2020,1899
$GC,6299,1.54,245.4,342.3,10.9,299,6304,0.00,2.62,0.00,0.000,4,0.000,0.061,2788,593,1899
$GC,6384,1.54,245.4,332.6,11.5,303,6389,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,2003,1899
$GC,6711,1.54,245.4,296.8,10.8,319,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2002,1899
$GC,7021,1.54,245.4,262.7,10.8,334,7025,0.00,2.60,0.00,0.000,4,0.000,0.061,2787,587,1898
$GC,7099,1.54,245.4,253.6,11.8,337,7105,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,2000,1899
$GC,7414,1.54,245.4,219.6,10.5,353,7419,0.00,2.58,0.00,0.000,4,0.000,0.061,2788,592,1898
$GC,7455,1.54,245.4,215.2,11.6,355,7459,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,2007,1898
$GC,7782,1.54,245.4,181.5,10.2,371,7786,0.00,2.60,0.00,0.000,4,0.000,0.060,2788,587,1899
$GC,7837,1.54,245.4,175.3,10.9,373,7843,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,2000,1899
$GC,8153,1.54,245.4,143.8,9.9,389,8158,0.00,2.58,0.00,0.000,4,0.000,0.061,2788,588,1899
$GC,8194,1.54,245.4,139.6,10.8,391,8198,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,2010,1899
$GC,8521,1.54,245.4,107.2,9.8,407,8525,0.00,2.60,0.00,0.000,4,0.000,0.061,2788,588,1899
$GC,8583,1.54,245.4,100.8,10.3,410,8588,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,2002,1899
$GC,8911,1.54,245.4,69.5,9.3,426,8915,0.00,2.58,0.00,0.000,4,0.000,0.061,2788,594,1900
$GC,8983,1.54,245.4,62.2,9.3,429,8987,0.00,2.47,0.00,0.000,6,0.000,0.038,2787,2008,1900
$GC,9299,1.54,245.4,32.5,9.2,444,9304,0.00,2.60,0.00,0.000,4,0.000,0.062,2788,588,1900
$GC,9372,1.54,245.4,25.2,10.0,447,9376,0.00,2.47,0.00,0.000,6,0.000,0.038,2788,2005,1900
$STATE,9625,end climb,SURFACE_DEPTH_REACHED
$STATE,9625,begin surface coast
$FINISH,0.6,1.027462
$STATE,9645,end surface coast,CONTROL_FINISHED_OK
$STATE,9645,begin surface
$SM_CCo,9731,0.00,0.000,0,0,1900,245.79
$SM_GC,1.83,12.05,0.00,0.00,0.029,0.000,0.000,46,2649,1900,-10.94,-0.03,245.79
$IRIDIUM_FIX,6235.17,-1033.98,120698,050531
$TT8_MAMPS,0.028379
$HUMID,1773
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.2,69.1
$24V_AH,23.5,25.616
$10V_AH,10.1,13.588
$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,27.000,96.625,323.550,0.000,0.000,30.919,24.545,136.450,3.000,0.000,0.000,31.842,883.542,7211.513,399.581,1157.978,395.026,0.000,994.170,0.000,1115.724,0.000,22.113,0.000
$DEVICE_MAMPS,161.837,84.370,952.614,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.526,341.103,354.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22264,460
$CAP_FILE_SIZE,74619,0
$CFSIZE,260165632,250785792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180309,103525,6257.704,-1023.512,39,1.6,39,-10.5