version: 66.04
glider: 103
mission: 11
dive: 376
start: 5 12 109 22 7 27
data:
$ID,103
$MISSION,11
$DIVE,376
$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,-151125.69
$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,7
$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
$GPS1,220200,6247.474,-943.598,39,2.0,39,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-60.7
$GPS2,220637,6247.542,-943.492,12,1.3,12,-10.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P3
$TGT_LATLONG,6300.000,-920.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.080,0.229
$KALMAN_X,3416.7,-1247.5,131.6,31226.4,4132.0
$KALMAN_Y,-19651.8,1559.7,1638.3,23507.1,-21877.8
$MHEAD_RNG_PITCHd_Wd,29.4,30373,-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,-146.6,0.0,0.0,0,58,0.00,0.00,-40.83,0.000,2,0.000,0.000,46,2753,3198
$GC,61,-1.42,-146.6,3.8,-11.1,2,85,11.80,1.98,-5.07,0.000,4,0.161,0.097,2123,3789,3502
$GC,338,-1.42,-146.6,42.4,-11.2,14,342,0.00,1.85,0.00,0.000,6,0.000,0.043,2123,2742,3502
$GC,666,-1.42,-146.6,79.6,-11.8,30,670,0.00,2.58,0.00,0.000,4,0.000,0.064,2123,1340,3502
$GC,805,-1.42,-146.6,95.5,-11.4,36,810,0.00,2.67,0.00,0.000,6,0.000,0.068,2123,2767,3503
$GC,1122,-1.42,-146.6,129.3,-10.5,51,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2767,3503
$GC,1431,-1.42,-146.6,162.3,-10.8,66,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2767,3503
$GC,1740,-1.42,-146.6,193.6,-9.5,81,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2767,3503
$GC,2050,-1.42,-146.6,221.3,-8.9,96,2055,0.00,2.65,0.00,0.000,4,0.000,0.063,2123,1333,3504
$GC,2078,-1.42,-146.6,224.1,-9.3,97,2083,0.00,2.65,0.00,0.000,6,0.000,0.069,2123,2747,3504
$GC,2394,-1.42,-146.6,256.2,-11.2,112,2398,0.00,2.62,0.00,0.000,4,0.000,0.065,2123,1335,3504
$GC,2444,-1.42,-146.6,262.0,-11.3,114,2449,0.00,2.67,0.00,0.000,6,0.000,0.072,2123,2752,3504
$GC,2761,-1.42,-146.6,300.2,-12.3,129,2765,0.00,2.65,0.00,0.000,4,0.000,0.067,2123,1331,3504
$GC,2802,-1.42,-146.6,305.2,-12.2,131,2806,0.00,2.67,0.00,0.000,6,0.000,0.070,2123,2753,3504
$GC,3129,-1.42,-146.6,339.6,-8.9,147,3132,0.00,1.95,0.00,0.000,4,0.000,0.085,2123,3782,3504
$GC,3162,-1.42,-146.6,342.8,-8.9,148,3166,0.00,1.85,0.00,0.000,6,0.000,0.048,2123,2746,3504
$GC,3484,-1.42,-146.6,371.0,-9.2,164,3488,0.00,2.60,0.00,0.000,4,0.000,0.068,2123,1336,3504
$GC,3534,-1.42,-146.6,375.9,-10.3,166,3538,0.00,2.67,0.00,0.000,6,0.000,0.072,2123,2751,3504
$GC,3850,-1.42,-146.6,406.6,-9.9,181,3855,0.00,2.62,0.00,0.000,4,0.000,0.067,2124,1339,3503
$GC,3901,-1.42,-146.6,411.4,-9.0,183,3905,0.00,2.67,0.00,0.000,6,0.000,0.071,2123,2757,3503
$GC,4217,-1.42,-146.6,440.4,-9.0,198,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2757,3502
$GC,4526,-1.42,-146.6,468.7,-9.4,213,4530,0.00,2.65,0.00,0.000,4,0.000,0.070,2123,1341,3501
$GC,4553,-1.42,-146.6,471.4,-9.3,214,4557,0.00,2.70,0.00,0.000,6,0.000,0.077,2123,2757,3501
$STATE,4742,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4742,begin apogee
$GC,4752,-0.42,0.0,490.6,10.4,223,4884,1.15,0.00,124.85,1.048,6,0.104,0.000,2348,1997,2902
$STATE,4885,end apogee,CONTROL_FINISHED_OK
$STATE,4885,begin climb
$GC,4888,1.42,146.6,496.2,0.0,230,5018,1.90,2.70,121.43,1.016,4,0.062,0.068,2749,590,2304
$GC,5044,1.61,297.2,495.8,2.5,237,5180,0.17,2.55,126.22,0.989,6,0.042,0.039,2796,2018,1689
$GC,5489,1.61,297.2,454.0,10.9,259,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2018,1688
$GC,5799,1.61,297.2,419.7,11.1,274,5803,0.00,2.70,0.00,0.000,4,0.000,0.071,2796,587,1687
$GC,5843,1.61,297.2,414.5,11.9,276,5848,0.00,2.53,0.00,0.000,6,0.000,0.045,2796,1985,1687
$GC,6164,1.61,297.2,381.0,9.9,292,6168,0.00,2.65,0.00,0.000,4,0.000,0.071,2796,585,1687
$GC,6220,1.61,297.2,375.6,10.1,294,6226,0.00,2.58,0.00,0.000,6,0.000,0.048,2796,2009,1686
$GC,6536,1.61,297.2,345.5,9.4,310,6540,0.00,2.70,0.00,0.000,4,0.000,0.070,2796,581,1685
$GC,6580,1.61,297.2,341.1,10.1,312,6584,0.00,2.58,0.00,0.000,6,0.000,0.047,2796,2006,1685
$GC,6901,1.61,297.2,307.5,11.3,328,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2006,1685
$GC,7210,1.61,297.2,270.4,11.5,343,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2006,1685
$GC,7519,1.61,297.2,237.3,10.1,358,7524,0.00,2.67,0.00,0.000,4,0.000,0.067,2796,580,1684
$GC,7638,1.61,297.2,225.2,10.0,363,7642,0.00,2.55,0.00,0.000,6,0.000,0.044,2796,2005,1685
$GC,7954,1.61,297.2,194.6,10.0,378,7958,0.00,2.65,0.00,0.000,4,0.000,0.066,2796,585,1685
$GC,8009,1.61,297.2,188.7,10.1,380,8016,0.00,2.53,0.00,0.000,6,0.000,0.043,2796,1998,1685
$GC,8326,1.61,297.2,157.9,9.6,396,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1998,1685
$GC,8635,1.61,297.2,127.2,10.1,411,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1998,1685
$GC,8945,1.61,297.2,94.8,10.8,426,8950,0.00,2.62,0.00,0.000,4,0.000,0.065,2796,586,1685
$GC,8996,1.61,297.2,88.7,11.1,428,9001,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2006,1686
$GC,9314,1.61,297.2,54.6,10.7,443,9315,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2006,1687
$GC,9622,1.61,297.2,21.3,11.1,458,9626,0.00,2.65,0.00,0.000,4,0.000,0.065,2796,582,1687
$GC,9666,1.61,297.2,15.9,11.7,460,9671,0.00,2.53,0.00,0.000,6,0.000,0.040,2796,2009,1687
$STATE,9820,end climb,SURFACE_DEPTH_REACHED
$STATE,9820,begin surface coast
$FINISH,0.1,1.012367
$STATE,9844,end surface coast,CONTROL_FINISHED_OK
$STATE,9844,begin surface
$SM_CCo,9930,0.00,0.000,0,0,1687,298.04
$SM_GC,0.97,12.18,0.00,0.00,0.032,0.000,0.000,49,2739,1687,-10.94,-0.31,298.04
$IRIDIUM_FIX,6221.17,-950.14,060898,191932
$TT8_MAMPS,0.029146
$HUMID,1827
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,425.5,73.1
$24V_AH,23.1,61.520
$10V_AH,10.1,35.189
$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,27.200,89.375,372.500,0.000,0.000,29.637,28.230,108.452,5.000,0.000,0.000,12.028,883.017,7414.499,420.874,1109.682,381.052,33.349,1010.111,0.000,1089.763,0.000,24.385,0.000
$DEVICE_MAMPS,161.070,97.409,1047.722,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,343.632,330.700,336.950,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25343,469
$CAP_FILE_SIZE,72751,0
$CFSIZE,260165632,235134976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130509,005406,6250.831,-938.418,31,1.4,31,-10.1