version: 66.04
glider: 103
mission: 11
dive: 395
start: 5 15 109 6 42 58
data:
$ID,103
$MISSION,11
$DIVE,395
$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,-151444.05
$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,18
$R_STBD_OVSHOOT,12
$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
$GPS1,063707,6313.649,-921.872,30,1.5,30,-10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-58.1
$GPS2,064208,6313.682,-921.930,12,1.6,12,-10.0
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,M3
$TGT_LATLONG,6311.000,-902.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.192,-0.149
$KALMAN_X,-33232.1,1996.6,674.5,82331.5,-21393.7
$KALMAN_Y,19764.7,-1322.1,-1263.6,38438.4,24686.6
$MHEAD_RNG_PITCHd_Wd,137.8,17377,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.47,0.000,2,0.000,0.000,51,2757,3419
$GC,81,-1.42,-146.6,4.9,-9.4,3,103,11.80,2.67,-1.27,0.000,4,0.161,0.074,2127,1339,3503
$GC,255,-1.42,-146.6,33.9,-12.1,10,262,0.00,2.67,0.00,0.000,6,0.000,0.071,2127,2757,3503
$GC,573,-1.42,-146.6,69.2,-11.3,26,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2757,3503
$GC,881,-1.42,-146.6,103.7,-10.7,41,885,0.00,2.65,0.00,0.000,4,0.000,0.067,2127,1335,3503
$GC,931,-1.42,-146.6,109.5,-11.5,43,935,0.00,2.65,0.00,0.000,6,0.000,0.068,2127,2754,3503
$GC,1247,-1.42,-146.6,144.5,-11.1,58,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2754,3503
$GC,1556,-1.42,-146.6,177.6,-10.6,73,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2754,3503
$GC,1865,-1.42,-146.6,207.8,-9.3,88,1870,0.00,2.62,0.00,0.000,4,0.000,0.063,2127,1333,3503
$GC,1916,-1.42,-146.6,212.3,-8.9,90,1920,0.00,2.65,0.00,0.000,6,0.000,0.067,2127,2751,3503
$GC,2232,-1.42,-146.6,238.7,-8.3,105,2236,0.00,2.62,0.00,0.000,4,0.000,0.063,2127,1330,3503
$GC,2259,-1.42,-146.6,241.2,-8.5,106,2263,0.00,2.65,0.00,0.000,6,0.000,0.065,2127,2749,3503
$GC,2576,-1.42,-146.6,269.8,-9.5,121,2579,0.00,1.98,0.00,0.000,4,0.000,0.084,2127,3789,3503
$GC,2627,-1.42,-146.6,275.1,-10.2,123,2631,0.00,1.90,0.00,0.000,6,0.000,0.050,2127,2744,3503
$GC,2954,-1.42,-146.6,307.8,-10.3,139,2959,0.00,2.58,0.00,0.000,4,0.000,0.063,2127,1333,3504
$GC,2995,-1.42,-146.6,312.2,-11.1,141,2999,0.00,2.62,0.00,0.000,6,0.000,0.064,2127,2750,3504
$GC,3321,-1.42,-146.6,347.2,-10.5,157,3325,0.00,1.95,0.00,0.000,4,0.000,0.084,2127,3783,3504
$GC,3355,-1.42,-146.6,351.0,-10.8,158,3359,0.00,1.85,0.00,0.000,6,0.000,0.048,2127,2744,3504
$GC,3677,-1.42,-146.6,385.3,-10.3,174,3681,0.00,2.00,0.00,0.000,4,0.000,0.084,2127,3790,3504
$GC,3723,-1.42,-146.6,390.4,-11.1,176,3727,0.00,1.88,0.00,0.000,6,0.000,0.050,2127,2741,3504
$GC,4057,-1.42,-146.6,422.8,-9.2,192,4061,0.00,2.55,0.00,0.000,4,0.000,0.064,2127,1338,3504
$GC,4118,-1.42,-146.6,428.4,-8.6,194,4124,0.00,2.67,0.00,0.000,6,0.000,0.071,2127,2757,3504
$GC,4434,-1.42,-146.6,453.0,-7.9,210,4438,0.00,1.95,0.00,0.000,4,0.000,0.085,2127,3787,3504
$GC,4462,-1.42,-146.6,455.4,-8.1,211,4466,0.00,1.88,0.00,0.000,6,0.000,0.050,2127,2740,3504
$GC,4790,-1.42,-146.6,484.7,-9.6,227,4794,0.00,2.58,0.00,0.000,4,0.000,0.067,2126,1341,3504
$GC,4817,-1.42,-146.6,487.4,-9.4,228,4822,0.00,2.67,0.00,0.000,6,0.000,0.071,2127,2761,3504
$STATE,4930,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4930,begin apogee
$GC,4939,-0.42,0.0,497.9,9.3,234,5067,1.12,0.00,124.45,1.024,6,0.101,0.000,2347,1999,2902
$STATE,5068,end apogee,CONTROL_FINISHED_OK
$STATE,5068,begin climb
$GC,5071,1.42,146.6,502.6,0.0,240,5201,1.88,2.72,120.85,0.992,4,0.058,0.062,2745,3420,2304
$GC,5457,1.57,268.4,493.7,3.5,257,5565,0.17,2.58,101.15,0.999,6,0.042,0.044,2793,1988,1807
$GC,5876,1.58,274.3,462.1,7.8,277,5890,0.00,2.80,6.55,0.819,4,0.000,0.069,2793,3425,1783
$GC,6104,1.58,274.3,444.1,8.8,287,6109,0.00,2.60,0.00,0.000,6,0.000,0.051,2793,2001,1782
$GC,6425,1.58,274.3,412.5,10.5,303,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2001,1781
$GC,6734,1.58,274.3,377.8,11.8,318,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2000,1780
$GC,7044,1.58,274.3,340.4,11.9,333,7048,0.00,2.65,0.00,0.000,4,0.000,0.067,2793,3423,1779
$GC,7084,1.58,274.3,335.4,13.3,335,7088,0.00,2.58,0.00,0.000,6,0.000,0.048,2793,1993,1779
$GC,7411,1.58,274.3,295.4,11.7,351,7415,0.00,2.58,0.00,0.000,4,0.000,0.064,2793,591,1779
$GC,7483,1.58,274.3,286.5,11.9,354,7487,0.00,2.53,0.00,0.000,6,0.000,0.040,2793,2017,1779
$GC,7799,1.58,274.3,251.0,11.0,369,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2017,1779
$GC,8108,1.58,274.3,219.8,9.6,384,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2017,1780
$GC,8417,1.58,274.3,191.4,9.1,399,8422,0.00,2.62,0.00,0.000,4,0.000,0.061,2794,589,1781
$GC,8480,1.58,274.3,185.6,9.2,402,8485,0.00,2.50,0.00,0.000,6,0.000,0.039,2793,2008,1781
$GC,8807,1.58,274.3,157.7,8.2,418,8812,0.00,2.62,0.00,0.000,4,0.000,0.061,2793,583,1781
$GC,8852,1.58,274.3,153.8,8.7,420,8856,0.00,2.50,0.00,0.000,6,0.000,0.039,2793,2002,1781
$GC,9175,1.58,274.3,126.4,8.5,436,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2002,1781
$GC,9483,1.58,274.3,99.7,8.6,451,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2002,1781
$GC,9792,1.58,274.3,70.7,9.7,466,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2002,1782
$GC,10101,1.58,274.3,39.5,9.7,481,10106,0.00,2.60,0.00,0.000,4,0.000,0.062,2794,590,1782
$GC,10130,1.58,274.3,36.8,9.8,482,10134,0.00,2.50,0.00,0.000,6,0.000,0.039,2793,2010,1782
$GC,10447,1.58,274.3,6.2,10.2,497,10452,0.00,2.62,0.00,0.000,4,0.000,0.062,2793,586,1783
$GC,10481,1.58,274.3,2.4,11.6,498,10487,0.00,2.53,0.00,0.000,6,0.000,0.047,2794,1996,1783
$STATE,10506,end climb,SURFACE_DEPTH_REACHED
$STATE,10506,begin surface coast
$FINISH,0.3,1.010616
$STATE,10527,end surface coast,CONTROL_FINISHED_OK
$STATE,10527,begin surface
$SM_CCo,10614,0.00,0.000,0,0,1783,274.74
$SM_GC,1.32,12.07,0.00,0.00,0.030,0.000,0.000,48,2755,1783,-10.92,0.14,274.74
$IRIDIUM_FIX,6249.28,-916.74,090898,030340
$TT8_MAMPS,0.028379
$HUMID,1805
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,476.7,29.9
$24V_AH,23.2,63.785
$10V_AH,10.1,36.205
$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,27.050,96.700,353.000,0.000,0.000,30.740,30.278,128.110,4.250,0.000,0.000,12.407,956.395,7909.162,420.817,1210.305,420.416,33.348,1058.035,0.000,1182.848,0.000,30.397,0.000
$DEVICE_MAMPS,161.070,85.137,1023.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.950,370.489,360.517,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25450,501
$CAP_FILE_SIZE,79716,0
$CFSIZE,260165632,234389504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150509,094107,6314.053,-921.240,38,1.1,38,-10.0