version: 66.04
glider: 103
mission: 11
dive: 374
start: 5 12 109 16 11 58
data:
$ID,103
$MISSION,11
$DIVE,374
$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,0
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,-1
$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,-151095.03
$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,2750
$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
$GPS1,160004,6244.583,-948.250,10,2.9,29,-10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-57.8
$GPS2,161108,6244.482,-948.074,16,1.9,16,-10.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,M3
$TGT_LATLONG,6311.000,-902.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.094,0.224
$KALMAN_X,4234.0,517.1,-652.5,25557.3,6831.8
$KALMAN_Y,-20476.8,2099.5,590.0,19219.8,-27764.2
$MHEAD_RNG_PITCHd_Wd,32.8,62400,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.42,-146.6,0.0,0.0,0,77,0.00,0.00,-57.25,0.000,6,0.000,0.000,51,2751,3500
$GC,81,-1.42,-146.6,6.6,-13.7,3,101,11.75,2.03,0.00,0.000,4,0.160,0.080,2125,3792,3501
$GC,354,-1.42,-146.6,49.6,-11.3,15,357,0.00,1.85,0.00,0.000,6,0.000,0.044,2125,2751,3501
$GC,683,-1.42,-146.6,85.7,-11.5,31,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2751,3501
$GC,991,-1.42,-146.6,121.9,-11.5,46,995,0.00,2.60,0.00,0.000,4,0.000,0.066,2125,1338,3501
$GC,1046,-1.42,-146.6,128.2,-11.1,48,1053,0.00,2.65,0.00,0.000,6,0.000,0.069,2125,2761,3501
$GC,1362,-1.42,-146.6,161.2,-10.0,64,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2761,3501
$GC,1672,-1.42,-146.6,190.8,-9.4,79,1676,0.00,2.62,0.00,0.000,4,0.000,0.066,2125,1338,3501
$GC,1699,-1.42,-146.6,193.5,-9.2,80,1703,0.00,2.65,0.00,0.000,6,0.000,0.067,2125,2757,3501
$GC,2017,-1.42,-146.6,226.7,-11.2,95,2021,0.00,2.62,0.00,0.000,4,0.000,0.065,2125,1340,3502
$GC,2080,-1.42,-146.6,234.2,-11.3,98,2084,0.00,2.62,0.00,0.000,6,0.000,0.064,2125,2754,3501
$GC,2407,-1.42,-146.6,275.5,-12.7,114,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3502
$GC,2716,-1.42,-146.6,312.5,-11.2,129,2720,0.00,2.62,0.00,0.000,4,0.000,0.067,2125,1341,3502
$GC,2766,-1.42,-146.6,318.1,-10.8,131,2770,0.00,2.65,0.00,0.000,6,0.000,0.070,2125,2754,3502
$GC,3083,-1.42,-146.6,351.7,-10.5,146,3087,0.00,2.65,0.00,0.000,4,0.000,0.069,2125,1331,3502
$GC,3133,-1.42,-146.6,357.2,-11.2,148,3137,0.00,2.67,0.00,0.000,6,0.000,0.072,2125,2753,3502
$GC,3449,-1.42,-146.6,394.7,-12.0,163,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3502
$GC,3758,-1.42,-146.6,428.6,-10.3,178,3762,0.00,2.65,0.00,0.000,4,0.000,0.071,2125,1340,3501
$GC,3836,-1.42,-146.6,437.0,-11.0,181,3843,0.00,2.67,0.00,0.000,6,0.000,0.076,2125,2749,3501
$GC,4152,-1.42,-146.6,467.3,-9.0,197,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2749,3500
$STATE,4335,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4335,begin apogee
$GC,4344,-0.42,0.0,484.9,9.5,206,4472,1.12,0.00,123.90,1.042,6,0.100,0.000,2346,1999,2902
$STATE,4473,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4476,1.42,146.6,490.3,0.0,212,4609,1.90,2.70,121.80,1.005,4,0.062,0.062,2748,3419,2304
$GC,4867,1.52,228.7,480.2,5.0,229,4944,0.10,2.60,69.25,1.004,6,0.053,0.048,2779,1984,1969
$GC,5266,1.52,228.7,446.7,8.5,249,5270,0.00,2.72,0.00,0.000,4,0.000,0.070,2779,3426,1968
$GC,5300,1.52,228.7,443.8,8.4,250,5306,0.00,2.60,0.00,0.000,6,0.000,0.050,2779,1995,1968
$GC,5616,1.52,229.6,418.3,8.0,266,5620,0.00,2.62,0.00,0.000,4,0.000,0.071,2779,586,1967
$GC,5750,1.52,229.6,405.2,9.7,272,5755,0.00,2.55,0.00,0.000,6,0.000,0.044,2779,2012,1966
$GC,6071,1.52,229.6,375.9,9.8,288,6076,0.00,2.67,0.00,0.000,4,0.000,0.070,2779,588,1965
$GC,6144,1.52,229.6,367.9,10.7,291,6148,0.00,2.53,0.00,0.000,6,0.000,0.045,2779,1997,1965
$GC,6460,1.52,229.6,334.7,10.8,306,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1997,1965
$GC,6770,1.53,236.0,305.8,7.8,321,6783,0.00,2.70,6.88,0.833,4,0.000,0.066,2779,594,1939
$GC,6852,1.56,256.5,299.6,7.3,324,6880,0.00,2.53,18.40,0.928,6,0.000,0.043,2779,2005,1856
$GC,7190,1.57,268.8,275.9,7.5,341,7208,0.00,0.00,11.70,0.880,6,0.000,0.000,2779,2005,1806
$GC,7518,1.57,268.8,249.1,8.8,357,7522,0.00,2.62,0.00,0.000,4,0.000,0.064,2779,592,1806
$GC,7580,1.57,268.8,243.2,9.5,360,7584,0.00,2.53,0.00,0.000,6,0.000,0.043,2779,2007,1806
$GC,7908,1.57,268.8,211.9,9.7,376,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2007,1807
$GC,8216,1.61,299.3,187.4,6.9,391,8250,0.00,2.75,26.67,0.847,4,0.000,0.061,2779,584,1680
$GC,8337,1.62,310.9,178.4,7.6,396,8352,0.00,2.53,10.93,0.787,6,0.000,0.041,2779,2000,1634
$GC,8674,1.62,310.9,149.7,9.4,413,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2000,1635
$GC,8984,1.62,310.9,120.1,9.7,428,8988,0.00,2.60,0.00,0.000,4,0.000,0.062,2779,588,1634
$GC,9024,1.62,310.9,116.1,10.5,430,9029,0.00,2.50,0.00,0.000,6,0.000,0.041,2779,2002,1634
$GC,9352,1.62,310.9,84.4,9.4,446,9356,0.00,2.62,0.00,0.000,4,0.000,0.062,2779,582,1635
$GC,9385,1.62,310.9,81.0,9.6,447,9391,0.00,2.50,0.00,0.000,6,0.000,0.041,2779,2004,1635
$GC,9703,1.62,310.9,51.0,9.8,463,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2004,1636
$GC,10010,1.62,310.9,20.0,10.4,478,10012,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2004,1637
$STATE,10193,end climb,SURFACE_DEPTH_REACHED
$STATE,10193,begin surface coast
$FINISH,0.2,1.016497
$STATE,10215,end surface coast,CONTROL_FINISHED_OK
$STATE,10215,begin surface
$SM_CCo,10301,0.00,0.000,0,0,1636,310.55
$SM_GC,1.26,12.15,0.00,0.00,0.035,0.000,0.000,53,2748,1636,-10.92,-0.06,310.55
$IRIDIUM_FIX,6216.53,-944.71,060898,161657
$TT8_MAMPS,0.028379
$HUMID,1828
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.50
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,452.0,41.3
$24V_AH,23.2,61.287
$10V_AH,10.1,35.084
$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,27.025,85.425,389.525,0.000,0.000,88.985,86.337,244.071,6.500,0.000,0.000,16.299,918.336,7747.297,456.914,1204.035,641.885,33.351,1083.595,0.000,1170.027,0.000,30.701,0.000
$DEVICE_MAMPS,160.303,94.341,1042.353,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,352.752,349.121,350.414,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25382,488
$CAP_FILE_SIZE,81814,0
$CFSIZE,260165632,235200512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120509,190454,6244.867,-946.903,37,1.4,37,-10.1