version: 66.04
glider: 103
mission: 11
dive: 375
start: 5 12 109 19 12 14
data:
$ID,103
$MISSION,11
$DIVE,375
$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,-151113.03
$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,21
$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
$GPS1,190454,6244.867,-946.903,37,1.4,37,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-59.6
$GPS2,191125,6244.877,-946.825,12,1.4,17,-10.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P3
$TGT_LATLONG,6300.000,-920.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.083,0.229
$KALMAN_X,2268.0,-291.8,-256.7,28997.4,2119.8
$KALMAN_Y,-22873.0,1827.0,1571.6,21612.8,-28893.2
$MHEAD_RNG_PITCHd_Wd,30.0,35960,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.42,-146.6,0.0,0.0,0,62,0.00,0.00,-41.40,0.000,2,0.000,0.000,53,2751,3007
$GC,66,-1.42,-146.6,3.1,-7.6,2,92,11.80,2.00,-9.30,0.000,4,0.161,0.097,2125,3794,3502
$GC,344,-1.42,-146.6,40.1,-12.3,14,351,0.00,1.88,0.00,0.000,6,0.000,0.044,2125,2753,3502
$GC,662,-1.42,-146.6,77.4,-11.7,30,666,0.00,2.00,0.00,0.000,4,0.000,0.082,2125,3794,3502
$GC,724,-1.42,-146.6,85.2,-11.8,32,731,0.00,1.88,0.00,0.000,6,0.000,0.044,2125,2754,3502
$GC,1041,-1.42,-146.6,123.4,-12.4,48,1045,0.00,2.60,0.00,0.000,4,0.000,0.062,2125,1328,3502
$GC,1103,-1.42,-146.6,131.1,-12.8,51,1108,0.00,2.67,0.00,0.000,6,0.000,0.066,2124,2760,3503
$GC,1430,-1.42,-146.6,166.4,-10.0,67,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2759,3503
$GC,1739,-1.42,-146.6,195.9,-9.1,82,1744,0.00,2.62,0.00,0.000,4,0.000,0.063,2125,1330,3503
$GC,1784,-1.42,-146.6,200.1,-9.5,84,1789,0.00,2.67,0.00,0.000,6,0.000,0.068,2124,2756,3503
$GC,2106,-1.42,-146.6,230.0,-9.7,100,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3503
$GC,2414,-1.42,-146.6,266.3,-12.6,115,2415,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3503
$GC,2725,-1.42,-146.6,300.5,-9.8,130,2729,0.00,2.62,0.00,0.000,4,0.000,0.063,2125,1328,3503
$GC,2826,-1.42,-146.6,310.2,-9.2,134,2830,0.00,2.67,0.00,0.000,6,0.000,0.069,2125,2752,3503
$GC,3142,-1.42,-146.6,338.8,-10.5,149,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3503
$GC,3451,-1.42,-146.6,383.9,-15.7,164,3456,0.00,2.62,0.00,0.000,4,0.000,0.065,2124,1338,3503
$GC,3563,-1.42,-146.6,399.2,-14.1,169,3568,0.00,2.67,0.00,0.000,6,0.000,0.073,2125,2752,3503
$GC,3886,-1.42,-146.6,439.1,-11.1,185,3890,0.00,1.98,0.00,0.000,4,0.000,0.089,2125,3782,3502
$GC,3932,-1.42,-146.6,444.1,-10.5,187,3936,0.00,1.88,0.00,0.000,6,0.000,0.052,2124,2736,3502
$GC,4265,-1.42,-146.6,473.4,-9.5,203,4269,0.00,2.60,0.00,0.000,4,0.000,0.076,2124,1345,3501
$GC,4315,-1.42,-146.6,478.6,-9.9,205,4320,0.00,2.70,0.00,0.000,6,0.000,0.078,2125,2755,3500
$STATE,4381,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4381,begin apogee
$GC,4390,-0.42,0.0,485.1,9.8,208,4523,1.12,0.00,125.00,1.035,6,0.101,0.000,2345,2007,2902
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4527,1.42,146.6,492.0,0.0,215,4660,1.90,2.80,122.12,1.002,4,0.061,0.071,2748,585,2304
$GC,4767,1.57,264.9,491.5,3.7,226,4875,0.15,2.55,99.10,0.995,6,0.044,0.040,2791,2017,1822
$GC,5197,1.57,264.9,454.1,10.1,247,5198,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2017,1821
$GC,5506,1.57,264.9,424.8,9.1,262,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2017,1820
$GC,5815,1.57,264.9,396.9,8.9,277,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2017,1819
$GC,6125,1.57,264.9,370.7,8.3,292,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2017,1819
$GC,6434,1.57,264.9,343.3,9.0,307,6438,0.00,2.70,0.00,0.000,4,0.000,0.071,2792,586,1818
$GC,6530,1.57,264.9,334.1,9.7,311,6534,0.00,2.55,0.00,0.000,6,0.000,0.045,2791,2004,1818
$GC,6847,1.57,264.9,306.6,8.8,326,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2003,1818
$GC,7155,1.57,264.9,276.0,10.2,341,7160,0.00,2.65,0.00,0.000,4,0.000,0.066,2791,585,1817
$GC,7318,1.57,264.9,259.3,10.6,348,7322,0.00,2.53,0.00,0.000,6,0.000,0.043,2791,1997,1817
$GC,7640,1.57,264.9,227.6,10.2,364,7644,0.00,2.62,0.00,0.000,4,0.000,0.065,2791,587,1817
$GC,7695,1.57,264.9,221.4,11.2,366,7701,0.00,2.53,0.00,0.000,6,0.000,0.044,2791,2003,1817
$GC,8011,1.57,264.9,189.2,10.1,382,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2003,1817
$GC,8321,1.57,264.9,160.3,8.9,397,8325,0.00,2.62,0.00,0.000,4,0.000,0.064,2791,586,1818
$GC,8388,1.57,264.9,153.9,9.2,400,8392,0.00,2.53,0.00,0.000,6,0.000,0.041,2791,2009,1818
$GC,8709,1.57,264.9,124.0,9.8,416,8714,0.00,2.65,0.00,0.000,4,0.000,0.063,2791,577,1818
$GC,8751,1.57,264.9,119.6,10.7,418,8755,0.00,2.53,0.00,0.000,6,0.000,0.040,2791,2010,1818
$GC,9078,1.57,264.9,87.6,9.5,434,9082,0.00,2.58,0.00,0.000,4,0.000,0.067,2792,3406,1819
$GC,9118,1.57,264.9,83.8,8.8,436,9123,0.00,2.53,0.00,0.000,6,0.000,0.048,2791,1990,1819
$GC,9446,1.57,264.9,53.5,9.4,452,9450,0.00,2.58,0.00,0.000,4,0.000,0.065,2792,586,1820
$GC,9540,1.57,264.9,44.2,9.9,456,9545,0.00,2.50,0.00,0.000,6,0.000,0.039,2791,2004,1820
$GC,9857,1.57,264.9,15.1,9.4,471,9861,0.00,2.60,0.00,0.000,4,0.000,0.060,2791,587,1821
$GC,9935,1.57,264.9,7.3,9.4,474,9942,0.00,2.53,0.00,0.000,6,0.000,0.044,2791,2005,1821
$STATE,10001,end climb,SURFACE_DEPTH_REACHED
$STATE,10001,begin surface coast
$FINISH,0.2,1.024628
$STATE,10023,end surface coast,CONTROL_FINISHED_OK
$STATE,10023,begin surface
$SM_CCo,10109,0.00,0.000,0,0,1821,265.17
$SM_GC,1.41,12.10,0.00,0.00,0.030,0.000,0.000,46,2749,1821,-10.94,-0.03,265.17
$IRIDIUM_FIX,6221.17,-950.14,060898,161639
$TT8_MAMPS,0.029146
$HUMID,1826
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.60
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,475.2,19.2
$24V_AH,23.2,61.403
$10V_AH,10.1,35.138
$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,27.075,87.550,346.225,0.000,0.000,30.535,31.884,214.769,7.500,0.000,0.000,17.377,913.721,7476.403,404.324,1207.419,498.452,33.347,1027.278,0.000,1172.776,0.000,36.191,0.000
$DEVICE_MAMPS,161.070,97.409,1034.683,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,349.321,340.882,350.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25372,479
$CAP_FILE_SIZE,77091,0
$CFSIZE,260165632,235167744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120509,220200,6247.474,-943.598,39,2.0,39,-10.1