version: 66.04
glider: 103
mission: 11
dive: 391
start: 5 14 109 18 54 46
data:
$ID,103
$MISSION,11
$DIVE,391
$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,-151380.83
$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,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
$GPS1,184907,6309.305,-929.380,27,1.0,27,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-57.6
$GPS2,185356,6309.368,-929.519,15,1.0,15,-10.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,M3
$TGT_LATLONG,6311.000,-902.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.236,-0.060
$KALMAN_X,-30318.4,1691.0,893.7,73069.1,-26919.5
$KALMAN_Y,9138.1,-634.7,-641.9,39736.1,15776.2
$MHEAD_RNG_PITCHd_Wd,114.4,23190,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.92,0.000,2,0.000,0.000,50,2741,3448
$GC,82,-1.42,-146.6,4.8,-8.7,3,105,11.75,2.65,-0.85,0.000,4,0.159,0.074,2127,1339,3503
$GC,178,-1.42,-146.6,24.4,-9.7,7,182,0.00,2.67,0.00,0.000,6,0.000,0.070,2127,2757,3503
$GC,499,-1.42,-146.6,60.2,-10.5,23,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2757,3503
$GC,808,-1.42,-146.6,93.1,-10.7,38,813,0.00,2.62,0.00,0.000,4,0.000,0.063,2127,1339,3503
$GC,853,-1.42,-146.6,98.0,-10.6,40,858,0.00,2.65,0.00,0.000,6,0.000,0.069,2127,2758,3503
$GC,1176,-1.42,-146.6,133.1,-11.0,56,1180,0.00,2.65,0.00,0.000,4,0.000,0.065,2127,1331,3503
$GC,1203,-1.42,-146.6,136.3,-11.1,57,1207,0.00,2.65,0.00,0.000,6,0.000,0.064,2127,2755,3503
$GC,1519,-1.42,-146.6,168.9,-10.3,72,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2755,3503
$GC,1830,-1.42,-146.6,200.5,-10.4,87,1834,0.00,2.62,0.00,0.000,4,0.000,0.061,2127,1328,3503
$GC,1862,-1.42,-146.6,204.1,-10.8,88,1869,0.00,2.65,0.00,0.000,6,0.000,0.064,2127,2752,3503
$GC,2178,-1.42,-146.6,237.4,-10.5,104,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2753,3504
$GC,2488,-1.42,-146.6,271.3,-11.1,119,2492,0.00,1.98,0.00,0.000,4,0.000,0.088,2127,3787,3504
$GC,2534,-1.42,-146.6,276.7,-11.7,121,2538,0.00,1.88,0.00,0.000,6,0.000,0.049,2127,2751,3504
$GC,2867,-1.42,-146.6,312.4,-10.4,137,2871,0.00,2.58,0.00,0.000,4,0.000,0.064,2127,1338,3504
$GC,2895,-1.42,-146.6,315.4,-10.5,138,2899,0.00,2.65,0.00,0.000,6,0.000,0.065,2127,2761,3504
$GC,3211,-1.42,-146.6,346.2,-9.3,153,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2761,3504
$GC,3520,-1.42,-146.6,374.0,-9.5,168,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2761,3504
$GC,3830,-1.42,-146.6,403.9,-10.2,183,3834,0.00,1.95,0.00,0.000,4,0.000,0.085,2127,3790,3504
$GC,3869,-1.42,-146.6,408.2,-11.0,184,3875,0.00,1.85,0.00,0.000,6,0.000,0.048,2127,2750,3504
$GC,4185,-1.42,-146.6,441.0,-10.5,200,4190,0.00,2.60,0.00,0.000,4,0.000,0.065,2127,1328,3504
$GC,4317,-1.42,-146.6,454.2,-10.1,206,4321,0.00,2.65,0.00,0.000,6,0.000,0.066,2127,2751,3504
$GC,4643,-1.42,-146.6,485.3,-9.1,222,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2751,3504
$STATE,4764,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4764,begin apogee
$GC,4773,-0.42,0.0,496.9,9.5,228,4900,1.12,0.00,123.07,1.046,6,0.101,0.000,2346,1992,2902
$STATE,4900,end apogee,CONTROL_FINISHED_OK
$STATE,4900,begin climb
$GC,4904,1.42,146.6,501.7,0.0,234,5032,1.90,2.70,118.68,1.027,4,0.064,0.062,2746,586,2304
$GC,5061,1.54,243.5,502.3,4.5,241,5147,0.12,2.55,79.50,1.001,6,0.046,0.035,2784,2029,1909
$GC,5463,1.54,243.5,467.5,9.6,261,5468,0.00,2.53,0.00,0.000,4,0.000,0.065,2784,3393,1908
$GC,5514,1.54,243.5,462.3,10.4,263,5518,0.00,2.53,0.00,0.000,6,0.000,0.044,2784,1988,1908
$GC,5830,1.54,243.5,433.8,8.4,278,5834,0.00,2.58,0.00,0.000,4,0.000,0.065,2784,591,1907
$GC,5982,1.54,243.5,420.3,8.9,285,5986,0.00,2.47,0.00,0.000,6,0.000,0.040,2784,1990,1907
$GC,6315,1.54,243.5,390.9,9.4,301,6319,0.00,2.60,0.00,0.000,4,0.000,0.063,2784,590,1906
$GC,6365,1.54,243.5,385.7,10.2,303,6369,0.00,2.50,0.00,0.000,6,0.000,0.040,2784,2002,1906
$GC,6681,1.54,243.5,358.3,8.2,318,6685,0.00,2.58,0.00,0.000,4,0.000,0.061,2785,3413,1906
$GC,6733,1.54,243.5,353.7,8.5,320,6737,0.00,2.55,0.00,0.000,6,0.000,0.045,2784,1989,1906
$GC,7055,1.54,243.5,326.6,8.5,336,7059,0.00,2.58,0.00,0.000,4,0.000,0.063,2784,586,1905
$GC,7275,1.54,243.5,306.3,9.8,346,7279,0.00,2.50,0.00,0.000,6,0.000,0.039,2784,2004,1905
$GC,7602,1.54,243.5,277.4,8.8,362,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2004,1906
$GC,7911,1.54,243.5,250.7,8.4,377,7915,0.00,2.60,0.00,0.000,4,0.000,0.061,2784,589,1906
$GC,7961,1.54,243.5,246.1,9.0,379,7965,0.00,2.50,0.00,0.000,6,0.000,0.038,2784,2008,1906
$GC,8277,1.54,243.5,218.5,8.7,394,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2008,1906
$GC,8586,1.54,243.5,189.8,9.7,409,8590,0.00,2.60,0.00,0.000,4,0.000,0.059,2784,591,1907
$GC,8693,1.54,243.5,178.6,10.8,414,8697,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,1999,1907
$GC,9020,1.54,243.5,147.1,9.7,430,9024,0.00,2.60,0.00,0.000,4,0.000,0.061,2784,585,1907
$GC,9089,1.54,243.5,139.9,10.1,433,9093,0.00,2.47,0.00,0.000,6,0.000,0.038,2784,2002,1907
$GC,9422,1.54,243.5,108.9,9.0,449,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2002,1908
$GC,9731,1.54,243.5,82.1,8.6,464,9735,0.00,2.60,0.00,0.000,4,0.000,0.061,2784,587,1908
$GC,9771,1.54,243.5,78.2,9.6,466,9775,0.00,2.50,0.00,0.000,6,0.000,0.038,2784,2012,1908
$GC,10104,1.54,243.5,48.0,9.2,482,10109,0.00,2.62,0.00,0.000,4,0.000,0.061,2784,586,1908
$GC,10155,1.54,243.5,43.0,9.5,484,10159,0.00,2.50,0.00,0.000,6,0.000,0.038,2784,2007,1908
$GC,10471,1.54,243.5,13.5,9.2,499,10472,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,2007,1909
$STATE,10614,end climb,SURFACE_DEPTH_REACHED
$STATE,10614,begin surface coast
$FINISH,0.3,1.027428
$STATE,10634,end surface coast,CONTROL_FINISHED_OK
$STATE,10634,begin surface
$SM_CCo,10721,0.00,0.000,0,0,1908,243.83
$SM_GC,1.89,12.15,0.00,0.00,0.035,0.000,0.000,52,2751,1908,-10.93,0.06,243.83
$IRIDIUM_FIX,6244.56,-928.52,080898,161605
$TT8_MAMPS,0.028379
$HUMID,1804
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.8,80.9
$24V_AH,23.2,63.299
$10V_AH,10.1,35.991
$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,27.050,98.350,321.250,0.000,0.000,31.122,28.659,113.771,3.250,0.000,0.000,15.272,960.985,8034.302,398.691,1211.605,406.032,33.348,1028.144,0.000,1186.181,0.000,24.409,0.000
$DEVICE_MAMPS,158.769,90.506,1046.188,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,353.987,378.112,367.311,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25410,507
$CAP_FILE_SIZE,79010,0
$CFSIZE,260165632,234536960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140509,215437,6311.023,-929.266,32,1.3,32,-10.1