version: 66.04
glider: 103
mission: 11
dive: 111
start: 3 17 109 20 29 42
data:
$ID,103
$MISSION,11
$DIVE,111
$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,550
$T_MISSION,580
$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,1
$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,-145199.08
$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,2650
$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
$GPS1,202336,6256.470,-1051.649,39,1.3,45,-10.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-63.5
$GPS2,202850,6256.590,-1051.431,12,2.0,12,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.128,-0.177
$KALMAN_X,128972.2,-2223.1,-952.6,-183953.4,42292.5
$KALMAN_Y,65935.9,-5074.7,-858.3,47123.3,67423.9
$MHEAD_RNG_PITCHd_Wd,226.7,64422,-11.1,-6.000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.10,-146.6,0.0,0.0,0,61,0.00,0.00,-41.70,0.000,2,0.000,0.000,47,2648,3370
$GC,64,-1.10,-146.6,4.8,-14.1,2,87,12.23,2.72,-2.08,0.000,4,0.161,0.093,2195,1244,3502
$GC,115,-1.10,-146.6,16.6,-7.6,4,120,0.00,2.62,0.00,0.000,6,0.000,0.067,2195,2651,3502
$GC,437,-1.10,-146.6,42.2,-9.1,20,441,0.00,2.20,0.00,0.000,4,0.000,0.096,2195,3783,3503
$GC,465,-1.10,-146.6,44.8,-9.4,21,468,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2653,3503
$GC,792,-1.10,-146.6,70.9,-7.4,37,796,0.00,2.20,0.00,0.000,4,0.000,0.091,2195,3782,3502
$GC,884,-1.10,-146.6,78.4,-9.0,41,887,0.00,2.08,0.00,0.000,6,0.000,0.060,2196,2646,3502
$GC,1217,-1.10,-146.6,105.7,-8.6,57,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3503
$GC,1526,-1.10,-146.6,132.4,-8.4,72,1529,0.00,2.20,0.00,0.000,4,0.000,0.089,2195,3782,3503
$GC,1574,-1.10,-146.6,136.1,-8.2,74,1577,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2642,3503
$GC,1906,-1.10,-146.6,160.8,-6.9,90,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3503
$GC,2216,-1.10,-146.6,181.3,-6.4,105,2219,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3787,3502
$GC,2266,-1.10,-146.6,185.0,-7.1,107,2270,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2643,3503
$GC,2593,-1.10,-146.6,205.0,-6.0,123,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3503
$GC,2902,-1.10,-146.6,223.7,-6.2,138,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3503
$GC,3212,-1.10,-146.6,246.0,-7.8,153,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3503
$GC,3521,-1.10,-146.6,271.9,-8.6,168,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3502
$GC,3830,-1.10,-146.6,298.6,-8.6,183,3834,0.00,2.20,0.00,0.000,4,0.000,0.087,2196,3783,3504
$GC,3899,-1.10,-146.6,304.4,-8.7,186,3903,0.00,2.08,0.00,0.000,6,0.000,0.059,2195,2641,3504
$GC,4232,-1.10,-146.6,330.5,-7.9,202,4233,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3504
$GC,4541,-1.10,-146.6,354.5,-7.6,217,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3504
$GC,4850,-1.10,-146.6,379.7,-8.4,232,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3504
$GC,5159,-1.10,-146.6,406.7,-8.7,247,5163,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3783,3504
$GC,5193,-1.10,-146.6,409.8,-9.3,248,5196,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2640,3504
$GC,5514,-1.10,-146.6,435.2,-7.3,264,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3504
$STATE,5779,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5779,begin apogee
$GC,5787,-0.42,0.0,453.2,6.7,277,5913,0.77,0.00,122.15,0.967,6,0.107,0.000,2345,1991,2902
$STATE,5914,end apogee,CONTROL_FINISHED_OK
$STATE,5914,begin climb
$GC,5917,1.10,146.6,459.3,0.0,283,6045,1.55,2.80,119.10,0.936,4,0.054,0.073,2681,3414,2304
$GC,6303,1.37,360.0,461.4,0.1,300,6487,0.25,2.62,173.62,0.941,6,0.035,0.058,2743,1992,1434
$GC,6809,1.37,360.0,428.6,10.0,325,6813,0.00,2.67,0.00,0.000,4,0.000,0.066,2743,3425,1435
$GC,7001,1.37,360.0,407.4,10.8,333,7007,0.00,2.62,0.00,0.000,6,0.000,0.056,2743,1996,1434
$GC,7317,1.37,360.0,372.2,11.3,349,7321,0.00,2.62,0.00,0.000,4,0.000,0.070,2743,580,1434
$GC,7357,1.37,360.0,367.9,11.3,351,7361,0.00,2.55,0.00,0.000,6,0.000,0.042,2743,2017,1434
$GC,7683,1.37,360.0,332.6,11.0,367,7688,0.00,2.58,0.00,0.000,4,0.000,0.070,2743,3406,1434
$GC,7746,1.37,360.0,325.4,11.5,370,7751,0.00,2.60,0.00,0.000,6,0.000,0.057,2743,1987,1433
$GC,8073,1.37,360.0,290.5,10.4,386,8078,0.00,2.67,0.00,0.000,4,0.000,0.069,2743,3414,1433
$GC,8106,1.37,360.0,286.7,11.6,387,8112,0.00,2.60,0.00,0.000,6,0.000,0.057,2744,1995,1433
$GC,8422,1.37,360.0,256.6,9.2,403,8426,0.00,2.65,0.00,0.000,4,0.000,0.069,2744,3412,1433
$GC,8449,1.37,360.0,253.7,10.2,404,8453,0.00,2.60,0.00,0.000,6,0.000,0.056,2743,1989,1433
$GC,8765,1.37,360.0,222.6,10.1,419,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1989,1433
$GC,9074,1.37,360.0,191.3,9.6,434,9078,0.00,2.65,0.00,0.000,4,0.000,0.068,2743,3410,1433
$GC,9129,1.37,360.0,185.6,10.7,436,9136,0.00,2.58,0.00,0.000,6,0.000,0.057,2743,2002,1433
$GC,9445,1.37,360.0,155.2,9.7,452,9450,0.00,2.62,0.00,0.000,4,0.000,0.068,2743,3409,1434
$GC,9473,1.37,360.0,152.4,10.3,453,9477,0.00,2.58,0.00,0.000,6,0.000,0.056,2743,2000,1433
$GC,9789,1.37,360.0,121.5,10.1,468,9794,0.00,2.62,0.00,0.000,4,0.000,0.067,2743,3415,1434
$GC,9812,1.37,360.0,119.0,10.7,469,9816,0.00,2.60,0.00,0.000,6,0.000,0.058,2744,1993,1434
$GC,10133,1.37,360.0,84.8,10.8,485,10138,0.00,2.62,0.00,0.000,4,0.000,0.067,2744,3407,1434
$GC,10166,1.37,360.0,80.8,11.7,486,10172,0.00,2.58,0.00,0.000,6,0.000,0.059,2743,1993,1434
$GC,10484,1.37,360.0,45.2,11.0,502,10488,0.00,2.62,0.00,0.000,4,0.000,0.066,2744,3408,1434
$GC,10511,1.37,360.0,42.1,11.2,503,10516,0.00,2.60,0.00,0.000,6,0.000,0.059,2743,1989,1434
$GC,10828,1.37,360.0,7.3,11.0,518,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1989,1434
$STATE,10886,end climb,SURFACE_DEPTH_REACHED
$STATE,10887,begin surface coast
$FINISH,0.5,1.020560
$STATE,10910,end surface coast,CONTROL_FINISHED_OK
$STATE,10910,begin surface
$SM_CCo,10995,0.00,0.000,0,0,1433,360.35
$SM_GC,1.34,11.90,0.00,0.00,0.031,0.000,0.000,51,2645,1433,-10.93,-0.14,360.35
$IRIDIUM_FIX,6230.49,-1056.35,110698,171744
$TT8_MAMPS,0.029146
$HUMID,1791
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,376.0,86.6
$24V_AH,23.5,25.215
$10V_AH,10.1,13.386
$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,26.700,91.225,414.875,0.000,0.000,25.824,27.486,149.326,2.750,0.000,0.000,12.151,970.734,8253.200,444.307,1222.985,420.400,33.360,1089.881,0.000,1199.846,0.000,20.543,0.000
$DEVICE_MAMPS,161.070,95.875,967.187,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.372,373.861,383.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25409,522
$CAP_FILE_SIZE,79251,0
$CFSIZE,260165632,250925056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170309,233406,6258.646,-1047.478,32,1.5,32,-10.8