version: 66.04
glider: 103
mission: 11
dive: 400
start: 5 15 109 21 0 28
data:
$ID,103
$MISSION,11
$DIVE,400
$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,-151543.12
$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,24
$R_STBD_OVSHOOT,8
$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
$GPS1,205407,6315.345,-910.420,32,1.0,32,-9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-60.6
$GPS2,205938,6315.372,-910.426,14,1.1,14,-9.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.215,0.114
$KALMAN_X,-34254.0,1232.2,167.4,94416.2,-13618.8
$KALMAN_Y,22009.7,-1705.1,-1227.1,39672.6,15949.4
$MHEAD_RNG_PITCHd_Wd,72.0,79615,-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,-41.70,0.000,2,0.000,0.000,53,2743,3307
$GC,63,-1.42,-146.6,4.5,-13.5,2,85,11.68,2.62,-3.05,0.000,4,0.158,0.074,2125,1334,3503
$GC,110,-1.42,-146.6,17.4,-14.3,4,114,0.00,2.70,0.00,0.000,6,0.000,0.069,2125,2763,3503
$GC,437,-1.42,-146.6,53.5,-11.0,20,438,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2763,3503
$GC,746,-1.42,-146.6,87.0,-10.9,35,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2763,3503
$GC,1055,-1.42,-146.6,121.3,-11.2,50,1060,0.00,2.62,0.00,0.000,4,0.000,0.062,2125,1341,3503
$GC,1096,-1.42,-146.6,125.9,-11.3,52,1101,0.00,2.65,0.00,0.000,6,0.000,0.068,2125,2761,3503
$GC,1423,-1.42,-146.6,161.3,-10.7,68,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2761,3503
$GC,1732,-1.42,-146.6,194.2,-10.6,83,1737,0.00,2.62,0.00,0.000,4,0.000,0.062,2125,1338,3503
$GC,1773,-1.42,-146.6,198.6,-11.2,85,1777,0.00,2.62,0.00,0.000,6,0.000,0.064,2125,2752,3503
$GC,2100,-1.42,-146.6,231.9,-10.1,101,2104,0.00,2.60,0.00,0.000,4,0.000,0.061,2125,1334,3504
$GC,2133,-1.42,-146.6,235.1,-9.8,102,2139,0.00,2.62,0.00,0.000,6,0.000,0.061,2125,2758,3504
$GC,2449,-1.42,-146.6,267.7,-10.8,118,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2758,3504
$GC,2759,-1.42,-146.6,300.9,-10.1,133,2763,0.00,2.60,0.00,0.000,4,0.000,0.061,2125,1343,3504
$GC,2809,-1.42,-146.6,306.1,-9.8,135,2813,0.00,2.62,0.00,0.000,6,0.000,0.064,2125,2757,3504
$GC,3125,-1.42,-146.6,337.5,-10.1,150,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3504
$GC,3434,-1.42,-146.6,369.2,-9.7,165,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3504
$GC,3743,-1.42,-146.6,398.2,-10.0,180,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3504
$GC,4055,-1.42,-146.6,426.0,-8.4,195,4059,0.00,2.62,0.00,0.000,4,0.000,0.065,2125,1342,3504
$GC,4150,-1.42,-146.6,435.2,-9.2,199,4154,0.00,2.65,0.00,0.000,6,0.000,0.071,2125,2749,3504
$GC,4466,-1.42,-146.6,464.7,-9.5,214,4470,0.00,2.62,0.00,0.000,4,0.000,0.071,2125,1343,3503
$GC,4488,-1.42,-146.6,467.0,-9.3,215,4492,0.00,2.67,0.00,0.000,6,0.000,0.075,2125,2753,3503
$STATE,4641,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4641,begin apogee
$GC,4650,-0.42,0.0,481.6,8.8,223,4778,1.12,0.00,124.45,1.014,6,0.101,0.000,2345,1998,2902
$STATE,4779,end apogee,CONTROL_FINISHED_OK
$STATE,4779,begin climb
$GC,4783,1.42,146.6,486.8,0.0,229,4912,1.90,2.72,120.97,0.987,4,0.061,0.063,2748,3425,2304
$GC,5171,1.56,255.5,476.1,4.0,246,5269,0.15,2.60,90.57,0.989,6,0.044,0.046,2791,1985,1859
$GC,5590,1.56,255.5,439.9,9.5,267,5595,0.00,2.72,0.00,0.000,4,0.000,0.069,2791,3425,1858
$GC,5624,1.56,255.5,436.6,9.7,268,5630,0.00,2.60,0.00,0.000,6,0.000,0.051,2791,2002,1857
$GC,5940,1.57,270.3,410.0,7.5,284,5962,0.00,2.72,13.30,0.933,4,0.000,0.072,2791,598,1800
$GC,6046,1.57,270.3,400.8,9.2,288,6052,0.00,2.55,0.00,0.000,6,0.000,0.044,2791,2011,1800
$GC,6362,1.57,270.3,370.7,9.9,304,6367,0.00,2.67,0.00,0.000,4,0.000,0.069,2791,588,1799
$GC,6425,1.57,270.3,364.2,10.4,307,6429,0.00,2.55,0.00,0.000,6,0.000,0.043,2791,2010,1798
$GC,6752,1.58,272.5,336.0,7.9,323,6753,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2010,1798
$GC,7061,1.58,272.5,309.7,8.7,338,7066,0.00,2.65,0.00,0.000,4,0.000,0.064,2791,584,1798
$GC,7146,1.58,272.5,301.8,9.4,342,7151,0.00,2.53,0.00,0.000,6,0.000,0.040,2791,2008,1798
$GC,7473,1.58,272.5,271.6,9.9,358,7478,0.00,2.62,0.00,0.000,4,0.000,0.063,2791,589,1798
$GC,7559,1.58,272.5,262.1,12.0,362,7563,0.00,2.50,0.00,0.000,6,0.000,0.038,2791,2007,1798
$GC,7886,1.58,272.5,227.5,10.6,378,7890,0.00,2.62,0.00,0.000,4,0.000,0.061,2791,585,1799
$GC,7930,1.58,272.5,222.4,11.0,380,7934,0.00,2.50,0.00,0.000,6,0.000,0.038,2791,2003,1799
$GC,8251,1.58,272.5,190.0,9.9,396,8260,0.00,2.65,3.70,0.553,4,0.000,0.061,2791,589,1790
$GC,8324,1.58,272.5,182.2,10.4,399,8328,0.00,2.50,0.00,0.000,6,0.000,0.038,2790,2006,1790
$GC,8645,1.58,272.5,149.9,10.0,415,8649,0.00,2.62,0.00,0.000,4,0.000,0.061,2791,578,1791
$GC,8690,1.58,272.5,145.2,10.8,417,8694,0.00,2.53,0.00,0.000,6,0.000,0.038,2790,2012,1791
$GC,9011,1.58,272.5,113.1,9.9,433,9013,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2012,1791
$GC,9323,1.58,272.5,82.2,10.1,448,9327,0.00,2.62,0.00,0.000,4,0.000,0.061,2791,587,1792
$GC,9367,1.58,272.5,77.3,10.4,450,9371,0.00,2.50,0.00,0.000,6,0.000,0.038,2790,2009,1792
$GC,9688,1.58,272.5,46.6,9.4,466,9693,0.00,2.62,0.00,0.000,4,0.000,0.062,2791,586,1792
$GC,9729,1.58,272.5,42.6,10.2,468,9733,0.00,2.50,0.00,0.000,6,0.000,0.038,2791,2007,1792
$GC,10056,1.58,272.5,9.2,10.1,484,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2007,1793
$STATE,10135,end climb,SURFACE_DEPTH_REACHED
$STATE,10135,begin surface coast
$FINISH,0.3,1.014493
$STATE,10157,end surface coast,CONTROL_FINISHED_OK
$STATE,10158,begin surface
$SM_CCo,10243,0.00,0.000,0,0,1793,272.04
$SM_GC,1.33,11.98,0.00,0.00,0.025,0.000,0.000,46,2750,1793,-10.94,0.03,272.04
$IRIDIUM_FIX,6249.28,-911.26,090898,181815
$TT8_MAMPS,0.029146
$HUMID,1809
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,15.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,426.0,65.6
$24V_AH,23.2,64.360
$10V_AH,10.1,36.460
$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,26.825,96.900,353.000,0.000,0.000,27.747,30.394,154.343,3.500,0.000,0.000,14.301,917.400,7653.930,412.265,1157.755,433.782,33.347,1017.704,0.000,1129.781,0.000,27.109,0.000
$DEVICE_MAMPS,158.002,75.166,1013.974,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,345.198,355.057,353.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25345,489
$CAP_FILE_SIZE,77205,0
$CFSIZE,260165632,234201088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150509,235231,6316.771,-905.666,42,1.0,42,-9.9