version: 66.04
glider: 103
mission: 11
dive: 388
start: 5 14 109 10 31 36
data:
$ID,103
$MISSION,11
$DIVE,388
$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,-151317.88
$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,22
$R_STBD_OVSHOOT,11
$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
$GPS1,102501,6305.807,-935.627,69,1.0,69,-10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-57.6
$GPS2,103044,6305.942,-935.649,13,1.0,13,-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,-0.012
$KALMAN_X,-27132.7,1689.0,1499.6,64065.7,-26761.6
$KALMAN_Y,4326.5,-1153.2,-59.2,38123.7,12002.8
$MHEAD_RNG_PITCHd_Wd,102.9,29633,-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,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.40,0.000,2,0.000,0.000,44,2751,3109
$GC,63,-1.42,-146.6,3.6,-9.6,2,85,11.82,0.00,-6.88,0.000,6,0.160,0.000,2124,2751,3502
$GC,396,-1.42,-146.6,47.1,-11.1,18,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3502
$GC,703,-1.42,-146.6,79.6,-10.6,33,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3502
$GC,1013,-1.42,-146.6,110.5,-10.0,48,1017,0.00,2.60,0.00,0.000,4,0.000,0.061,2124,1334,3502
$GC,1063,-1.42,-146.6,115.5,-9.6,50,1068,0.00,2.65,0.00,0.000,6,0.000,0.067,2124,2755,3502
$GC,1379,-1.42,-146.6,145.6,-9.2,65,1384,0.00,2.62,0.00,0.000,4,0.000,0.063,2124,1337,3502
$GC,1420,-1.42,-146.6,149.2,-9.4,67,1424,0.00,2.65,0.00,0.000,6,0.000,0.070,2124,2747,3502
$GC,1747,-1.42,-146.6,177.7,-8.8,83,1751,0.00,2.62,0.00,0.000,4,0.000,0.067,2124,1329,3502
$GC,1779,-1.42,-146.6,180.9,-9.3,84,1786,0.00,2.67,0.00,0.000,6,0.000,0.067,2124,2760,3502
$GC,2095,-1.42,-146.6,211.7,-10.4,100,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3502
$GC,2405,-1.42,-146.6,247.2,-11.9,115,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2761,3502
$GC,2714,-1.42,-146.6,286.8,-13.2,130,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2762,3502
$GC,3023,-1.42,-146.6,328.9,-13.9,145,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2762,3502
$GC,3333,-1.42,-146.6,371.9,-13.5,160,3337,0.00,2.65,0.00,0.000,4,0.000,0.066,2124,1332,3502
$GC,3379,-1.42,-146.6,378.1,-13.7,162,3383,0.00,2.65,0.00,0.000,6,0.000,0.064,2124,2760,3502
$GC,3700,-1.42,-146.6,420.0,-12.9,178,3701,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2760,3502
$GC,4009,-1.42,-146.6,456.7,-11.0,193,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2761,3502
$GC,4318,-1.42,-146.6,490.8,-10.9,208,4322,0.00,1.98,0.00,0.000,4,0.000,0.091,2124,3792,3501
$STATE,4349,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4349,begin apogee
$GC,4360,-0.42,0.0,494.5,10.5,209,4492,1.10,0.00,124.43,1.016,6,0.100,0.000,2343,1996,2902
$STATE,4493,end apogee,CONTROL_FINISHED_OK
$STATE,4493,begin climb
$GC,4496,1.42,146.6,500.8,0.0,216,4628,1.90,2.67,121.70,0.985,4,0.061,0.063,2746,581,2304
$GC,4734,1.56,256.9,498.6,4.0,227,4833,0.15,2.55,92.57,0.974,6,0.043,0.038,2790,2021,1854
$GC,5143,1.56,256.9,462.1,9.8,246,5147,0.00,2.58,0.00,0.000,4,0.000,0.066,2790,3404,1853
$GC,5187,1.56,256.9,457.6,9.6,248,5192,0.00,2.55,0.00,0.000,6,0.000,0.046,2790,1992,1853
$GC,5509,1.56,256.9,424.2,10.9,264,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1992,1853
$GC,5818,1.56,256.9,391.6,10.1,279,5822,0.00,2.65,0.00,0.000,4,0.000,0.068,2790,3403,1852
$GC,5846,1.56,256.9,388.6,10.8,280,5850,0.00,2.55,0.00,0.000,6,0.000,0.048,2790,1996,1852
$GC,6162,1.56,256.9,357.3,9.5,295,6166,0.00,2.60,0.00,0.000,4,0.000,0.065,2790,585,1851
$GC,6303,1.56,256.9,343.3,9.4,301,6307,0.00,2.50,0.00,0.000,6,0.000,0.041,2790,1990,1850
$GC,6620,1.56,256.9,316.0,8.8,316,6624,0.00,2.60,0.00,0.000,4,0.000,0.063,2790,588,1850
$GC,6692,1.56,256.9,309.5,8.6,319,6696,0.00,2.53,0.00,0.000,6,0.000,0.041,2790,2007,1850
$GC,7008,1.56,256.9,280.2,10.2,334,7009,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2007,1850
$GC,7318,1.56,256.9,247.0,10.9,349,7322,0.00,2.62,0.00,0.000,4,0.000,0.062,2790,588,1850
$GC,7396,1.56,256.9,237.9,11.8,352,7402,0.00,2.50,0.00,0.000,6,0.000,0.040,2790,2000,1850
$GC,7711,1.56,256.9,201.4,11.9,368,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2000,1850
$GC,8021,1.56,256.9,165.7,11.3,383,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1999,1851
$GC,8332,1.56,256.9,135.8,9.0,398,8336,0.00,2.60,0.00,0.000,4,0.000,0.062,2790,586,1851
$GC,8387,1.56,256.9,130.6,9.4,400,8394,0.00,2.50,0.00,0.000,6,0.000,0.040,2790,2005,1851
$GC,8704,1.57,267.0,105.2,7.6,416,8716,0.00,0.00,9.55,0.719,6,0.000,0.000,2790,2005,1813
$GC,9015,1.57,267.0,80.0,8.5,431,9019,0.00,2.62,0.00,0.000,4,0.000,0.062,2790,586,1813
$GC,9087,1.57,267.0,73.4,9.0,434,9091,0.00,2.50,0.00,0.000,6,0.000,0.039,2790,2000,1813
$GC,9404,1.57,267.0,47.3,8.7,449,9408,0.00,2.60,0.00,0.000,4,0.000,0.067,2790,3408,1814
$GC,9431,1.57,267.0,44.7,9.1,450,9436,0.00,2.55,0.00,0.000,6,0.000,0.048,2790,1990,1813
$GC,9748,1.57,267.0,13.7,10.1,465,9752,0.00,2.55,0.00,0.000,4,0.000,0.060,2790,586,1814
$GC,9820,1.57,267.0,6.2,10.6,468,9825,0.00,2.55,0.00,0.000,6,0.000,0.046,2790,2013,1814
$STATE,9865,end climb,SURFACE_DEPTH_REACHED
$STATE,9866,begin surface coast
$FINISH,0.5,1.027420
$STATE,9889,end surface coast,CONTROL_FINISHED_OK
$STATE,9889,begin surface
$SM_CCo,9975,0.00,0.000,0,0,1814,266.89
$SM_GC,1.65,12.00,0.00,0.00,0.026,0.000,0.000,50,2752,1814,-10.93,0.06,266.89
$IRIDIUM_FIX,6239.86,-932.42,080898,070747
$TT8_MAMPS,0.028379
$HUMID,1800
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,452.2,51.8
$24V_AH,23.2,62.931
$10V_AH,10.1,35.836
$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,26.975,79.300,348.250,0.000,0.000,25.488,25.530,175.624,3.750,0.000,0.000,13.518,881.073,7528.002,400.774,1068.296,443.467,33.360,960.517,0.000,1044.096,0.000,31.599,0.000
$DEVICE_MAMPS,160.303,90.506,1016.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,330.177,346.458,364.242,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22186,471
$CAP_FILE_SIZE,72721,0
$CFSIZE,260165632,234659840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140509,131911,6308.120,-931.903,38,1.4,42,-10.1