version: 66.04
glider: 103
mission: 11
dive: 119
start: 3 18 109 19 5 17
data:
$ID,103
$MISSION,11
$DIVE,119
$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,-145379.27
$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,20
$R_STBD_OVSHOOT,12
$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
$GPS1,185806,6250.611,-1016.726,39,1.1,39,-10.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-62.4
$GPS2,190501,6250.462,-1016.730,13,1.8,18,-10.4
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,6242.826,-1033.387
$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,-40.90,0.000,2,0.000,0.000,51,2652,3264
$GC,62,-1.42,-146.6,4.3,-10.6,2,85,11.70,2.62,-3.90,0.000,4,0.158,0.079,2124,1241,3502
$GC,125,-1.42,-146.6,17.5,-11.3,4,131,0.00,2.62,0.00,0.000,6,0.000,0.066,2124,2656,3502
$GC,441,-1.42,-146.6,50.5,-10.3,20,444,0.00,2.15,0.00,0.000,4,0.000,0.086,2125,3782,3502
$GC,564,-1.42,-146.6,64.0,-11.5,25,568,0.00,2.05,0.00,0.000,6,0.000,0.051,2124,2642,3502
$GC,887,-1.42,-146.6,98.0,-10.6,41,891,0.00,2.20,0.00,0.000,4,0.000,0.084,2125,3781,3502
$GC,971,-1.42,-146.6,107.3,-10.4,44,977,0.00,2.03,0.00,0.000,6,0.000,0.053,2125,2648,3502
$GC,1289,-1.42,-146.6,141.8,-11.2,60,1292,0.00,2.20,0.00,0.000,4,0.000,0.085,2125,3789,3502
$GC,1328,-1.42,-146.6,146.4,-10.6,61,1334,0.00,2.05,0.00,0.000,6,0.000,0.052,2125,2638,3502
$GC,1644,-1.42,-146.6,178.8,-10.2,77,1647,0.00,2.20,0.00,0.000,4,0.000,0.083,2125,3786,3502
$GC,1683,-1.42,-146.6,183.0,-10.4,78,1688,0.00,2.03,0.00,0.000,6,0.000,0.050,2125,2650,3502
$GC,1998,-1.42,-146.6,215.0,-10.5,94,2002,0.00,2.17,0.00,0.000,4,0.000,0.081,2124,3787,3502
$GC,2032,-1.42,-146.6,218.7,-11.1,95,2036,0.00,2.05,0.00,0.000,6,0.000,0.050,2124,2638,3502
$GC,2354,-1.42,-146.6,253.0,-10.7,111,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2637,3502
$GC,2663,-1.42,-146.6,285.3,-10.2,126,2667,0.00,2.20,0.00,0.000,4,0.000,0.083,2124,3789,3502
$GC,2742,-1.42,-146.6,293.7,-10.4,129,2746,0.00,2.03,0.00,0.000,6,0.000,0.050,2125,2654,3502
$GC,3064,-1.42,-146.6,326.2,-10.3,145,3068,0.00,2.15,0.00,0.000,4,0.000,0.083,2124,3783,3502
$GC,3136,-1.42,-146.6,333.9,-10.3,148,3140,0.00,2.03,0.00,0.000,6,0.000,0.048,2124,2641,3502
$GC,3463,-1.42,-146.6,365.9,-9.8,164,3467,0.00,2.20,0.00,0.000,4,0.000,0.084,2124,3790,3502
$GC,3542,-1.42,-146.6,374.2,-10.1,167,3546,0.00,2.03,0.00,0.000,6,0.000,0.048,2124,2650,3502
$GC,3864,-1.42,-146.6,407.0,-10.7,183,3865,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2650,3502
$GC,4173,-1.42,-146.6,440.6,-10.6,198,4174,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2650,3502
$GC,4482,-1.42,-146.6,465.4,-8.2,213,4486,0.00,2.17,0.00,0.000,4,0.000,0.084,2125,3790,3502
$GC,4550,-1.42,-146.6,471.9,-9.8,216,4554,0.00,2.03,0.00,0.000,6,0.000,0.050,2124,2650,3502
$STATE,4674,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4674,begin apogee
$GC,4682,-0.42,0.0,483.8,9.4,222,4808,1.15,0.00,122.15,0.971,6,0.110,0.000,2346,1989,2902
$STATE,4809,end apogee,CONTROL_FINISHED_OK
$STATE,4809,begin climb
$GC,4812,1.42,146.6,488.5,0.0,228,4940,1.88,2.67,119.22,0.946,4,0.054,0.063,2748,590,2303
$GC,5126,1.47,184.3,481.9,6.6,242,5163,0.00,2.50,32.15,0.924,6,0.000,0.036,2748,2023,2150
$GC,5487,1.59,283.6,461.8,4.4,260,5575,0.17,2.72,80.82,0.957,4,0.039,0.064,2803,584,1745
$GC,5592,1.60,289.6,454.6,7.8,265,5608,0.00,2.53,6.53,0.754,6,0.000,0.039,2803,1996,1721
$GC,5917,1.60,289.6,422.7,10.9,281,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1996,1721
$GC,6227,1.60,289.6,389.8,10.8,296,6231,0.00,2.62,0.00,0.000,4,0.000,0.061,2803,578,1720
$GC,6304,1.60,289.6,380.6,12.3,299,6310,0.00,2.53,0.00,0.000,6,0.000,0.039,2803,2009,1720
$GC,6620,1.60,289.6,343.6,11.9,315,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2009,1720
$GC,6929,1.60,289.6,306.3,12.1,330,6934,0.00,2.62,0.00,0.000,4,0.000,0.061,2803,583,1720
$GC,6963,1.60,289.6,302.1,12.3,331,6969,0.00,2.50,0.00,0.000,6,0.000,0.038,2803,2007,1720
$GC,7279,1.60,289.6,266.6,11.4,347,7283,0.00,2.62,0.00,0.000,4,0.000,0.061,2803,577,1720
$GC,7311,1.60,289.6,262.5,11.5,348,7318,0.00,2.50,0.00,0.000,6,0.000,0.038,2803,2002,1720
$GC,7627,1.60,289.6,226.6,11.6,364,7632,0.00,2.60,0.00,0.000,4,0.000,0.061,2803,582,1720
$GC,7713,1.60,289.6,216.6,11.9,368,7717,0.00,2.50,0.00,0.000,6,0.000,0.038,2803,2009,1720
$GC,8040,1.60,289.6,179.7,11.3,384,8044,0.00,2.60,0.00,0.000,4,0.000,0.061,2803,588,1720
$GC,8140,1.60,289.6,167.7,11.9,388,8146,0.00,2.47,0.00,0.000,6,0.000,0.039,2803,1998,1720
$GC,8456,1.60,289.6,132.1,11.5,404,8460,0.00,2.60,0.00,0.000,4,0.000,0.063,2803,584,1720
$GC,8483,1.60,289.6,128.7,12.2,405,8488,0.00,2.50,0.00,0.000,6,0.000,0.039,2803,2006,1720
$GC,8801,1.60,289.6,92.7,11.4,420,8805,0.00,2.60,0.00,0.000,4,0.000,0.061,2803,586,1720
$GC,8851,1.60,289.6,86.4,12.3,422,8855,0.00,2.47,0.00,0.000,6,0.000,0.038,2803,2000,1721
$GC,9169,1.60,289.6,50.7,11.4,437,9173,0.00,2.60,0.00,0.000,4,0.000,0.062,2803,578,1720
$GC,9201,1.60,289.6,46.5,11.8,438,9208,0.00,2.47,0.00,0.000,6,0.000,0.038,2803,2002,1721
$GC,9518,1.60,289.6,10.7,11.5,454,9522,0.00,2.58,0.00,0.000,4,0.000,0.058,2803,586,1721
$GC,9580,1.60,289.6,2.9,12.7,457,9584,0.00,2.50,0.00,0.000,6,0.000,0.044,2803,2001,1721
$STATE,9589,end climb,SURFACE_DEPTH_REACHED
$STATE,9589,begin surface coast
$FINISH,0.9,1.027444
$STATE,9596,end surface coast,CONTROL_FINISHED_OK
$STATE,9596,begin surface
$SM_CCo,9681,0.00,0.000,0,0,1721,289.94
$SM_GC,1.33,12.18,0.00,0.00,0.032,0.000,0.000,53,2655,1721,-10.93,0.08,289.94
$IRIDIUM_FIX,6225.82,-1020.40,120698,191933
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.1,16.8
$24V_AH,23.5,26.042
$10V_AH,10.1,13.792
$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,27.075,102.000,360.875,0.000,0.000,60.634,70.273,115.346,4.500,0.000,0.000,18.405,887.108,7180.508,428.517,1154.998,446.509,0.000,1037.061,0.000,1114.893,0.000,35.527,0.000
$DEVICE_MAMPS,158.002,85.904,971.022,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,322.578,329.190,327.340,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22242,458
$CAP_FILE_SIZE,77535,0
$CFSIZE,260165632,250634240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180309,214754,6247.396,-1021.233,35,1.5,39,-10.4