version: 66.04
glider: 103
mission: 11
dive: 116
start: 3 18 109 10 43 59
data:
$ID,103
$MISSION,11
$DIVE,116
$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,-145308
$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,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
$GPS1,103525,6257.704,-1023.512,39,1.6,39,-10.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.0
$GPS2,104343,6257.694,-1023.340,10,1.5,15,-10.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,6250.058,-1006.614
$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,145.5,20000,-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,-41.60,0.000,2,0.000,0.000,46,2653,3336
$GC,63,-1.42,-146.6,4.6,-12.3,2,86,11.82,2.20,-2.65,0.000,4,0.160,0.097,2124,3779,3503
$GC,182,-1.42,-146.6,25.5,-12.2,7,185,0.00,2.03,0.00,0.000,6,0.000,0.048,2124,2652,3503
$GC,509,-1.42,-146.6,60.6,-10.1,23,513,0.00,2.20,0.00,0.000,4,0.000,0.084,2124,3790,3503
$GC,543,-1.42,-146.6,64.3,-11.0,24,546,0.00,2.05,0.00,0.000,6,0.000,0.048,2125,2644,3503
$GC,864,-1.42,-146.6,97.0,-10.4,40,868,0.00,2.20,0.00,0.000,4,0.000,0.084,2124,3787,3503
$GC,898,-1.42,-146.6,100.5,-10.2,41,901,0.00,2.05,0.00,0.000,6,0.000,0.048,2125,2639,3503
$GC,1220,-1.42,-146.6,133.7,-10.2,57,1223,0.00,2.22,0.00,0.000,4,0.000,0.089,2124,3785,3503
$GC,1270,-1.42,-146.6,139.4,-11.3,59,1274,0.00,2.05,0.00,0.000,6,0.000,0.054,2124,2642,3503
$GC,1596,-1.42,-146.6,173.2,-10.8,75,1600,0.00,2.20,0.00,0.000,4,0.000,0.083,2125,3786,3502
$GC,1648,-1.42,-146.6,178.6,-10.5,77,1652,0.00,2.05,0.00,0.000,6,0.000,0.054,2124,2647,3503
$GC,1975,-1.42,-146.6,211.5,-10.1,93,1979,0.00,2.17,0.00,0.000,4,0.000,0.082,2124,3784,3503
$GC,2037,-1.42,-146.6,217.9,-10.9,95,2043,0.00,2.03,0.00,0.000,6,0.000,0.052,2125,2646,3503
$GC,2354,-1.42,-146.6,250.2,-10.2,111,2358,0.00,2.17,0.00,0.000,4,0.000,0.082,2124,3784,3503
$GC,2400,-1.42,-146.6,255.4,-11.1,113,2404,0.00,2.03,0.00,0.000,6,0.000,0.053,2124,2652,3503
$GC,2732,-1.42,-146.6,288.7,-9.7,129,2736,0.00,2.20,0.00,0.000,4,0.000,0.087,2124,3790,3503
$GC,2779,-1.42,-146.6,293.2,-10.0,131,2782,0.00,2.05,0.00,0.000,6,0.000,0.053,2124,2642,3503
$GC,3112,-1.42,-146.6,324.7,-9.3,147,3116,0.00,2.20,0.00,0.000,4,0.000,0.085,2124,3785,3503
$GC,3173,-1.42,-146.6,331.0,-10.3,149,3179,0.00,2.03,0.00,0.000,6,0.000,0.052,2124,2651,3503
$GC,3489,-1.42,-146.6,363.4,-10.5,165,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2652,3503
$GC,3798,-1.42,-146.6,399.9,-13.3,180,3805,0.00,2.17,0.00,0.000,4,0.000,0.084,2124,3788,3503
$GC,3906,-1.42,-146.6,415.4,-14.0,184,3912,0.00,2.05,0.00,0.000,6,0.000,0.053,2124,2643,3503
$GC,4223,-1.42,-146.6,448.1,-8.2,200,4227,0.00,2.25,0.00,0.000,4,0.000,0.096,2124,3793,3503
$GC,4291,-1.42,-146.6,454.7,-9.9,203,4295,0.00,2.05,0.00,0.000,6,0.000,0.052,2125,2646,3503
$STATE,4353,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4353,begin apogee
$GC,4361,-0.42,0.0,461.1,9.8,206,4488,1.12,0.00,122.55,0.957,6,0.103,0.000,2344,2002,2902
$STATE,4488,end apogee,CONTROL_FINISHED_OK
$STATE,4488,begin climb
$GC,4492,1.42,146.6,466.1,0.0,212,4620,1.90,2.67,119.45,0.931,4,0.061,0.064,2746,584,2304
$GC,4789,1.53,233.1,458.3,4.8,225,4867,0.12,2.50,71.43,0.921,6,0.046,0.036,2783,2027,1951
$GC,5189,1.53,233.1,427.9,8.5,245,5193,0.00,2.53,0.00,0.000,4,0.000,0.064,2783,3396,1951
$GC,5245,1.53,233.1,423.2,8.5,247,5251,0.00,2.53,0.00,0.000,6,0.000,0.046,2783,1989,1950
$GC,5561,1.54,246.3,399.3,7.5,263,5582,0.00,2.67,11.82,0.863,4,0.000,0.065,2783,590,1897
$GC,5651,1.59,283.8,392.7,6.6,267,5691,0.00,2.47,31.58,0.920,6,0.000,0.039,2783,1991,1745
$GC,6001,1.59,283.8,362.1,11.8,284,6005,0.00,2.60,0.00,0.000,4,0.000,0.064,2783,586,1744
$GC,6129,1.59,283.8,343.1,14.8,289,6136,0.00,2.50,0.00,0.000,6,0.000,0.040,2783,1998,1744
$GC,6445,1.59,283.8,304.3,11.3,305,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1998,1744
$GC,6754,1.59,283.8,271.9,10.3,320,6759,0.00,2.58,0.00,0.000,4,0.000,0.062,2783,590,1744
$GC,6840,1.59,283.8,262.7,11.5,324,6844,0.00,2.47,0.00,0.000,6,0.000,0.039,2783,2004,1744
$GC,7172,1.59,283.8,230.6,9.7,340,7177,0.00,2.60,0.00,0.000,4,0.000,0.061,2783,588,1744
$GC,7239,1.59,283.8,223.6,10.8,343,7244,0.00,2.50,0.00,0.000,6,0.000,0.039,2783,2009,1744
$GC,7561,1.59,283.8,192.2,9.9,359,7565,0.00,2.60,0.00,0.000,4,0.000,0.061,2783,589,1744
$GC,7633,1.59,283.8,184.7,10.7,362,7638,0.00,2.47,0.00,0.000,6,0.000,0.039,2783,1999,1744
$GC,7949,1.59,283.8,153.2,10.0,377,7953,0.00,2.60,0.00,0.000,4,0.000,0.062,2783,585,1745
$GC,7999,1.59,283.8,147.7,10.8,379,8003,0.00,2.50,0.00,0.000,6,0.000,0.040,2783,2006,1745
$GC,8316,1.59,283.8,114.8,10.7,394,8321,0.00,2.60,0.00,0.000,4,0.000,0.061,2783,586,1745
$GC,8372,1.59,283.8,108.1,12.0,396,8379,0.00,2.50,0.00,0.000,6,0.000,0.039,2783,2009,1745
$GC,8688,1.59,283.8,75.7,9.6,412,8693,0.00,2.60,0.00,0.000,4,0.000,0.063,2783,591,1745
$GC,8744,1.59,283.8,69.8,10.7,414,8751,0.00,2.47,0.00,0.000,6,0.000,0.040,2783,2007,1745
$GC,9061,1.59,283.8,38.8,10.1,430,9065,0.00,2.60,0.00,0.000,4,0.000,0.062,2782,590,1745
$GC,9123,1.59,283.8,32.4,10.4,433,9127,0.00,2.47,0.00,0.000,6,0.000,0.040,2783,1999,1745
$STATE,9447,end climb,SURFACE_DEPTH_REACHED
$STATE,9447,begin surface coast
$FINISH,0.6,1.016811
$STATE,9469,end surface coast,CONTROL_FINISHED_OK
$STATE,9469,begin surface
$SM_CCo,9554,0.00,0.000,0,0,1745,283.81
$SM_GC,1.37,11.93,0.00,0.00,0.025,0.000,0.000,48,2648,1745,-10.93,-0.06,283.81
$IRIDIUM_FIX,6230.49,-1027.59,120698,101050
$TT8_MAMPS,0.029146
$HUMID,1778
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.9,44.3
$24V_AH,23.5,25.728
$10V_AH,10.1,13.641
$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,26.900,105.150,356.825,0.000,0.000,57.647,55.202,211.610,3.250,0.000,0.000,15.843,880.335,7032.784,417.875,1189.231,534.070,0.000,1051.548,0.000,1158.332,0.000,23.991,0.000
$DEVICE_MAMPS,160.303,97.409,957.216,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,318.666,324.066,339.191,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22244,450
$CAP_FILE_SIZE,80109,0
$CFSIZE,260165632,250744832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180309,132430,6256.302,-1018.854,40,1.2,40,-10.5