version: 66.04
glider: 103
mission: 11
dive: 387
start: 5 14 109 7 22 4
data:
$ID,103
$MISSION,11
$DIVE,387
$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,-151303.73
$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
$GPS1,071607,6303.530,-936.604,108,1.1,108,-10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.7
$GPS2,072114,6303.615,-936.733,13,1.1,13,-10.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,M3
$TGT_LATLONG,6311.000,-902.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.243,0.009
$KALMAN_X,-23664.7,2003.1,394.4,60478.0,-22736.3
$KALMAN_Y,2571.3,-1740.9,-732.3,36851.9,11776.7
$MHEAD_RNG_PITCHd_Wd,98.1,32081,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,48,2752,3333
$GC,63,-1.42,-146.6,4.2,-11.3,2,85,11.82,2.03,-2.72,0.000,4,0.162,0.097,2125,3787,3504
$GC,125,-1.42,-146.6,20.2,-15.6,4,131,0.00,1.88,0.00,0.000,6,0.000,0.045,2125,2753,3504
$GC,441,-1.42,-146.6,56.3,-11.9,20,443,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2753,3503
$GC,750,-1.42,-146.6,91.1,-10.9,35,755,0.00,2.60,0.00,0.000,4,0.000,0.065,2125,1334,3504
$GC,778,-1.42,-146.6,94.2,-10.3,36,783,0.00,2.70,0.00,0.000,6,0.000,0.074,2125,2760,3504
$GC,1096,-1.42,-146.6,127.7,-10.6,51,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3504
$GC,1404,-1.42,-146.6,160.3,-10.4,66,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2759,3504
$GC,1713,-1.42,-146.6,192.4,-10.4,81,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3504
$GC,2023,-1.42,-146.6,224.6,-10.7,96,2028,0.00,2.65,0.00,0.000,4,0.000,0.065,2125,1331,3504
$GC,2050,-1.42,-146.6,227.8,-10.9,97,2055,0.00,2.70,0.00,0.000,6,0.000,0.073,2125,2755,3505
$GC,2371,-1.42,-146.6,261.3,-10.3,113,2375,0.00,1.98,0.00,0.000,4,0.000,0.087,2125,3792,3504
$GC,2405,-1.42,-146.6,265.1,-11.8,114,2409,0.00,1.88,0.00,0.000,6,0.000,0.050,2125,2749,3504
$GC,2728,-1.42,-146.6,300.7,-11.7,130,2732,0.00,2.60,0.00,0.000,4,0.000,0.067,2125,1333,3505
$GC,2768,-1.42,-146.6,305.6,-11.9,131,2774,0.00,2.67,0.00,0.000,6,0.000,0.071,2125,2752,3505
$GC,3084,-1.42,-146.6,341.9,-11.3,147,3088,0.00,1.98,0.00,0.000,4,0.000,0.087,2125,3790,3505
$GC,3140,-1.42,-146.6,349.0,-12.6,149,3144,0.00,1.90,0.00,0.000,6,0.000,0.051,2125,2727,3505
$GC,3462,-1.42,-146.6,388.3,-12.1,165,3466,0.00,2.55,0.00,0.000,4,0.000,0.067,2125,1333,3505
$GC,3495,-1.42,-146.6,392.4,-11.6,166,3502,0.00,2.67,0.00,0.000,6,0.000,0.071,2125,2755,3505
$GC,3812,-1.42,-146.6,427.1,-10.2,182,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3505
$GC,4120,-1.42,-146.6,461.1,-11.5,197,4125,0.00,2.62,0.00,0.000,4,0.000,0.067,2125,1338,3504
$GC,4176,-1.42,-146.6,467.9,-12.3,199,4183,0.00,2.70,0.00,0.000,6,0.000,0.074,2125,2760,3504
$STATE,4366,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4366,begin apogee
$GC,4375,-0.42,0.0,491.1,12.3,209,4503,1.12,0.00,124.90,1.019,6,0.101,0.000,2346,1996,2902
$STATE,4504,end apogee,CONTROL_FINISHED_OK
$STATE,4504,begin climb
$GC,4507,1.42,146.6,498.7,0.0,215,4638,1.90,2.67,121.75,0.987,4,0.061,0.062,2748,583,2304
$GC,4896,1.50,207.4,488.8,5.8,232,4954,0.00,2.55,52.03,0.978,6,0.000,0.038,2748,2027,2056
$GC,5273,1.50,207.4,460.4,8.2,251,5278,0.00,2.55,0.00,0.000,4,0.000,0.065,2748,3400,2055
$GC,5307,1.50,207.4,457.0,8.7,252,5313,0.00,2.55,0.00,0.000,6,0.000,0.046,2748,1986,2055
$GC,5623,1.50,207.4,429.4,8.3,268,5628,0.00,2.58,0.00,0.000,4,0.000,0.065,2748,594,2054
$GC,5687,1.50,207.4,424.0,8.4,271,5691,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,2002,2054
$GC,6013,1.50,207.4,396.3,8.2,287,6018,0.00,2.60,0.00,0.000,4,0.000,0.067,2748,3406,2054
$GC,6081,1.50,207.4,390.3,9.5,290,6086,0.00,2.55,0.00,0.000,6,0.000,0.048,2748,1992,2053
$GC,6403,1.50,207.4,362.1,8.2,306,6407,0.00,2.58,0.00,0.000,4,0.000,0.064,2748,594,2052
$GC,6470,1.50,209.8,356.7,7.9,309,6475,0.00,2.50,0.00,0.000,6,0.000,0.041,2748,2002,2052
$GC,6793,1.52,225.8,331.2,7.4,325,6812,0.10,0.00,15.82,0.913,6,0.053,0.000,2778,2003,1981
$GC,7122,1.56,261.6,307.6,6.7,341,7155,0.00,0.00,30.80,0.912,6,0.000,0.000,2778,2003,1835
$GC,7450,1.58,278.8,283.2,7.4,357,7469,0.00,0.00,15.82,0.868,6,0.000,0.000,2778,2003,1765
$GC,7780,1.59,280.3,257.2,7.9,373,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2003,1765
$GC,8089,1.59,280.3,232.5,8.2,388,8093,0.00,2.60,0.00,0.000,4,0.000,0.062,2778,592,1765
$GC,8156,1.59,280.3,226.7,8.8,391,8160,0.00,2.50,0.00,0.000,6,0.000,0.040,2778,2003,1765
$GC,8477,1.59,280.3,200.3,8.3,407,8478,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2003,1765
$GC,8786,1.59,280.3,176.8,8.1,422,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2003,1765
$GC,9096,1.59,280.3,150.9,8.3,437,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2003,1765
$GC,9405,1.59,280.3,124.8,8.6,452,9409,0.00,2.60,0.00,0.000,4,0.000,0.061,2778,591,1766
$GC,9445,1.59,280.3,121.3,9.2,454,9449,0.00,2.50,0.00,0.000,6,0.000,0.040,2778,2008,1766
$GC,9778,1.59,280.3,92.2,8.7,470,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2008,1766
$GC,10088,1.59,280.3,64.1,9.2,485,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2008,1767
$GC,10398,1.59,280.3,34.8,9.9,500,10402,0.00,2.60,0.00,0.000,4,0.000,0.069,2778,3412,1767
$GC,10426,1.59,280.3,31.8,10.4,501,10430,0.00,2.55,0.00,0.000,6,0.000,0.050,2778,1994,1767
$GC,10743,1.61,302.5,3.5,7.2,516,10757,0.00,0.00,12.30,0.668,2,0.000,0.000,2778,1992,1712
$STATE,10758,end climb,SURFACE_DEPTH_REACHED
$STATE,10758,begin surface coast
$FINISH,0.3,1.027301
$STATE,10784,end surface coast,CONTROL_FINISHED_OK
$STATE,10784,begin surface
$SM_CCo,10870,0.00,0.000,0,0,1711,292.15
$SM_GC,1.20,12.10,0.00,0.00,0.029,0.000,0.000,44,2751,1711,-10.93,0.00,292.15
$IRIDIUM_FIX,6239.86,-932.42,080898,040416
$TT8_MAMPS,0.029146
$HUMID,1814
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.0,24.9
$24V_AH,23.2,62.820
$10V_AH,10.1,35.784
$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,27.050,82.050,373.425,0.000,0.000,30.591,25.798,132.902,4.250,0.000,0.000,13.336,957.743,8224.654,435.658,1144.313,415.053,33.359,1027.063,0.000,1116.510,0.000,35.980,0.000
$DEVICE_MAMPS,161.837,97.409,1018.576,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,366.260,376.690,371.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25394,518
$CAP_FILE_SIZE,76985,0
$CFSIZE,260165632,234692608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140509,102501,6305.807,-935.627,69,1.0,69,-10.1