version: 66.04
glider: 103
mission: 11
dive: 118
start: 3 18 109 16 7 42
data:
$ID,103
$MISSION,11
$DIVE,118
$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,225
$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,-145360.23
$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,10
$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
$GPS1,160255,6253.867,-1014.825,39,1.3,39,-10.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-61.6
$GPS2,160726,6253.817,-1014.761,14,1.1,14,-10.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,6246.181,-1031.449
$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,235.4,20000,-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,-40.95,0.000,2,0.000,0.000,50,2645,3123
$GC,62,-1.42,-146.6,3.8,-10.2,2,83,11.95,0.00,-6.68,0.000,6,0.162,0.000,2126,2646,3503
$GC,389,-1.42,-146.6,43.2,-10.7,18,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2646,3503
$GC,697,-1.42,-146.6,76.2,-10.9,33,700,0.00,2.20,0.00,0.000,4,0.000,0.088,2126,3790,3503
$GC,747,-1.42,-146.6,81.8,-10.9,35,751,0.00,2.05,0.00,0.000,6,0.000,0.052,2126,2646,3502
$GC,1074,-1.42,-146.6,116.1,-10.5,51,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2646,3502
$GC,1384,-1.42,-146.6,149.8,-10.8,66,1392,0.00,2.22,0.00,0.000,4,0.000,0.091,2126,3789,3503
$GC,1426,-1.42,-146.6,154.5,-11.1,67,1432,0.00,2.05,0.00,0.000,6,0.000,0.054,2126,2646,3502
$GC,1742,-1.42,-146.6,186.4,-9.8,83,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2126,2646,3503
$GC,2051,-1.42,-146.6,215.2,-9.2,98,2055,0.00,2.17,0.00,0.000,4,0.000,0.085,2126,3786,3502
$GC,2119,-1.42,-146.6,221.8,-9.8,101,2123,0.00,2.03,0.00,0.000,6,0.000,0.052,2126,2651,3502
$GC,2452,-1.42,-146.6,254.4,-9.7,117,2455,0.00,2.17,0.00,0.000,4,0.000,0.085,2126,3786,3503
$GC,2502,-1.42,-146.6,259.7,-10.0,119,2506,0.00,2.03,0.00,0.000,6,0.000,0.049,2126,2648,3503
$GC,2829,-1.42,-146.6,290.3,-9.2,135,2833,0.00,2.17,0.00,0.000,4,0.000,0.083,2126,3786,3503
$GC,2897,-1.42,-146.6,296.8,-9.3,138,2901,0.00,2.03,0.00,0.000,6,0.000,0.051,2126,2643,3503
$GC,3230,-1.42,-146.6,330.0,-10.8,154,3234,0.00,2.20,0.00,0.000,4,0.000,0.084,2126,3790,3504
$GC,3331,-1.42,-146.6,342.3,-12.6,158,3335,0.00,2.03,0.00,0.000,6,0.000,0.049,2126,2651,3504
$GC,3652,-1.42,-146.6,383.1,-13.2,174,3656,0.00,2.17,0.00,0.000,4,0.000,0.086,2126,3786,3503
$GC,3725,-1.42,-146.6,392.3,-12.8,177,3729,0.00,2.03,0.00,0.000,6,0.000,0.048,2126,2640,3503
$GC,4052,-1.42,-146.6,428.9,-10.6,193,4056,0.00,2.20,0.00,0.000,4,0.000,0.084,2126,3789,3503
$GC,4127,-1.42,-146.6,436.8,-11.0,196,4130,0.00,2.03,0.00,0.000,6,0.000,0.050,2126,2652,3504
$GC,4454,-1.42,-146.6,469.8,-9.6,212,4458,0.00,2.20,0.00,0.000,4,0.000,0.087,2126,3792,3504
$STATE,4485,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4485,begin apogee
$GC,4495,-0.42,0.0,473.3,10.6,213,4621,1.10,0.00,122.43,0.966,6,0.107,0.000,2342,1989,2902
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4626,1.42,146.6,478.4,0.0,219,4753,1.90,2.65,119.12,0.943,4,0.056,0.064,2748,586,2304
$GC,4962,1.52,226.8,470.1,5.1,234,5036,0.10,2.53,66.07,0.936,6,0.052,0.036,2781,2026,1977
$GC,5345,1.52,226.8,440.1,8.8,253,5349,0.00,2.55,0.00,0.000,4,0.000,0.064,2781,3407,1976
$GC,5379,1.52,226.8,437.0,8.9,254,5386,0.00,2.55,0.00,0.000,6,0.000,0.047,2781,1989,1976
$GC,5696,1.53,235.5,410.7,7.7,270,5710,0.00,2.70,8.45,0.834,4,0.000,0.063,2782,3401,1941
$GC,5767,1.55,253.4,405.4,7.3,273,5788,0.00,2.53,15.85,0.895,6,0.000,0.046,2781,1998,1869
$GC,6110,1.56,255.6,380.0,7.9,290,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1998,1868
$GC,6419,1.56,255.6,352.6,8.8,305,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1998,1868
$GC,6728,1.56,255.6,325.2,9.0,320,6732,0.00,2.60,0.00,0.000,4,0.000,0.062,2781,3405,1868
$GC,6750,1.56,255.6,323.0,9.5,321,6754,0.00,2.53,0.00,0.000,6,0.000,0.047,2781,1996,1868
$GC,7070,1.56,255.6,292.2,9.8,337,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1996,1868
$GC,7380,1.56,255.6,263.6,9.2,352,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1996,1868
$GC,7689,1.56,255.6,234.6,9.3,367,7693,0.00,2.55,0.00,0.000,4,0.000,0.061,2781,585,1868
$GC,7722,1.56,255.6,231.2,10.0,368,7727,0.00,2.47,0.00,0.000,6,0.000,0.037,2781,2001,1868
$GC,8038,1.56,255.6,200.3,9.9,383,8047,0.00,2.60,3.85,0.551,4,0.000,0.060,2781,589,1858
$GC,8088,1.56,255.6,195.1,10.6,385,8092,0.00,2.47,0.00,0.000,6,0.000,0.038,2782,2003,1859
$GC,8409,1.56,255.6,163.0,9.8,401,8414,0.00,2.60,0.00,0.000,4,0.000,0.061,2782,582,1859
$GC,8465,1.56,255.6,156.9,10.5,403,8471,0.00,2.50,0.00,0.000,6,0.000,0.038,2782,2010,1859
$GC,8781,1.56,255.6,125.9,10.1,419,8786,0.00,2.60,0.00,0.000,4,0.000,0.061,2781,589,1859
$GC,8822,1.56,255.6,121.5,11.4,421,8826,0.00,2.47,0.00,0.000,6,0.000,0.038,2782,2008,1859
$GC,9154,1.56,255.6,87.9,9.8,437,9159,0.00,2.60,0.00,0.000,4,0.000,0.061,2782,587,1859
$GC,9182,1.56,255.6,84.7,11.6,438,9187,0.00,2.47,0.00,0.000,6,0.000,0.038,2782,2003,1859
$GC,9500,1.56,255.6,53.7,9.6,453,9504,0.00,2.58,0.00,0.000,4,0.000,0.065,2782,3410,1860
$GC,9528,1.56,255.6,50.5,9.9,454,9532,0.00,2.53,0.00,0.000,6,0.000,0.048,2782,1998,1860
$GC,9844,1.56,255.6,20.2,9.8,469,9848,0.00,2.58,0.00,0.000,4,0.000,0.066,2782,588,1860
$GC,9865,1.56,255.6,17.9,10.4,470,9869,0.00,2.47,0.00,0.000,6,0.000,0.038,2781,2004,1860
$STATE,10040,end climb,SURFACE_DEPTH_REACHED
$STATE,10040,begin surface coast
$FINISH,0.7,1.027443
$STATE,10062,end surface coast,CONTROL_FINISHED_OK
$STATE,10062,begin surface
$SM_CCo,10148,0.00,0.000,0,0,1860,255.60
$SM_GC,1.78,12.18,0.00,0.00,0.036,0.000,0.000,51,2649,1860,-10.94,-0.03,255.60
$IRIDIUM_FIX,6230.49,-1022.09,120698,131355
$TT8_MAMPS,0.028379
$HUMID,1783
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.7,81.3
$24V_AH,23.5,25.931
$10V_AH,10.1,13.741
$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,27.225,96.675,335.775,0.000,0.000,28.000,28.414,108.673,3.000,0.000,0.000,14.850,915.396,7600.983,394.229,1143.141,368.701,0.000,996.949,0.000,1115.899,0.000,22.163,0.000
$DEVICE_MAMPS,161.837,90.506,966.420,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,337.674,349.607,352.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25341,480
$CAP_FILE_SIZE,76416,0
$CFSIZE,260165632,250667008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180309,185806,6250.611,-1016.726,39,1.1,39,-10.4