version: 66.04
glider: 103
mission: 11
dive: 113
start: 3 18 109 2 23 23
data:
$ID,103
$MISSION,11
$DIVE,113
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,135
$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,-145243.11
$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,21
$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
$GPS1,021837,6300.431,-1038.999,41,1.1,41,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-61.4
$GPS2,022307,6300.503,-1038.760,11,1.6,11,-10.7
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,6252.867,-1022.008
$TGT_RADIUS,1852.000
$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,145.7,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-40.97,0.000,2,0.000,0.000,45,2652,3320
$GC,62,-1.42,-146.6,4.5,-12.6,2,85,11.85,2.22,-2.88,0.000,4,0.162,0.099,2126,3785,3502
$GC,169,-1.42,-146.6,24.0,-12.2,6,176,0.00,2.05,0.00,0.000,6,0.000,0.058,2127,2651,3503
$GC,486,-1.42,-146.6,57.3,-9.9,22,489,0.00,2.20,0.00,0.000,4,0.000,0.085,2127,3789,3502
$GC,532,-1.42,-146.6,62.4,-12.1,24,536,0.00,2.05,0.00,0.000,6,0.000,0.056,2127,2645,3502
$GC,865,-1.42,-146.6,98.7,-10.4,40,869,0.00,2.22,0.00,0.000,4,0.000,0.088,2127,3793,3502
$GC,955,-1.42,-146.6,107.9,-10.2,44,958,0.00,2.08,0.00,0.000,6,0.000,0.058,2127,2653,3502
$GC,1284,-1.42,-146.6,138.0,-9.1,60,1287,0.00,2.17,0.00,0.000,4,0.000,0.083,2127,3788,3502
$GC,1330,-1.42,-146.6,142.5,-9.6,62,1333,0.00,2.08,0.00,0.000,6,0.000,0.058,2127,2644,3502
$GC,1662,-1.42,-146.6,174.1,-10.0,78,1666,0.00,2.20,0.00,0.000,4,0.000,0.084,2127,3790,3502
$GC,1703,-1.42,-146.6,178.2,-10.4,79,1709,0.00,2.08,0.00,0.000,6,0.000,0.058,2127,2640,3502
$GC,2019,-1.42,-146.6,208.9,-9.4,95,2022,0.00,2.20,0.00,0.000,4,0.000,0.082,2127,3789,3502
$GC,2069,-1.42,-146.6,214.0,-10.1,97,2073,0.00,2.08,0.00,0.000,6,0.000,0.058,2127,2641,3502
$GC,2396,-1.42,-146.6,245.5,-9.9,113,2400,0.00,2.20,0.00,0.000,4,0.000,0.084,2127,3787,3502
$GC,2435,-1.42,-146.6,249.5,-10.2,114,2445,0.00,2.05,0.00,0.000,6,0.000,0.056,2127,2650,3503
$GC,2751,-1.42,-146.6,280.6,-10.1,130,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2650,3503
$GC,3060,-1.42,-146.6,311.4,-9.7,145,3064,0.00,2.17,0.00,0.000,4,0.000,0.083,2127,3787,3503
$GC,3139,-1.42,-146.6,319.5,-10.2,148,3142,0.00,2.05,0.00,0.000,6,0.000,0.053,2127,2642,3503
$GC,3460,-1.42,-146.6,348.5,-8.3,164,3464,0.00,2.17,0.00,0.000,4,0.000,0.081,2127,3792,3503
$GC,3533,-1.42,-146.6,354.9,-9.2,167,3537,0.00,2.05,0.00,0.000,6,0.000,0.051,2127,2647,3503
$GC,3860,-1.42,-146.6,384.3,-9.2,183,3864,0.00,2.20,0.00,0.000,4,0.000,0.085,2127,3794,3503
$GC,3916,-1.42,-146.6,389.9,-10.3,185,3920,0.00,2.05,0.00,0.000,6,0.000,0.051,2127,2647,3503
$GC,4238,-1.42,-146.6,415.7,-8.3,201,4242,0.00,2.20,0.00,0.000,4,0.000,0.086,2127,3792,3503
$GC,4266,-1.42,-146.6,418.4,-9.1,202,4270,0.00,2.03,0.00,0.000,6,0.000,0.048,2127,2651,3503
$STATE,4528,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4528,begin apogee
$GC,4537,-0.42,0.0,444.5,9.5,215,4662,1.15,0.00,122.10,0.943,6,0.111,0.000,2347,1991,2902
$STATE,4663,end apogee,CONTROL_FINISHED_OK
$STATE,4663,begin climb
$GC,4666,1.42,146.6,449.0,0.0,221,4794,1.90,2.75,119.25,0.920,4,0.059,0.066,2750,3429,2303
$GC,5047,1.55,252.9,446.2,4.1,238,5142,0.12,2.55,86.93,0.920,6,0.045,0.039,2788,1989,1871
$GC,5450,1.55,252.9,407.7,11.5,258,5455,0.00,2.67,0.00,0.000,4,0.000,0.063,2789,3431,1870
$GC,5545,1.55,252.9,397.4,10.0,262,5549,0.00,2.58,0.00,0.000,6,0.000,0.046,2789,1999,1870
$GC,5861,1.55,252.9,365.6,9.9,277,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1999,1869
$GC,6170,1.55,252.9,336.5,9.5,292,6174,0.00,2.58,0.00,0.000,4,0.000,0.063,2789,591,1869
$GC,6197,1.55,252.9,333.6,10.4,293,6201,0.00,2.50,0.00,0.000,6,0.000,0.038,2789,2014,1869
$GC,6513,1.55,252.9,303.8,8.9,308,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2014,1869
$GC,6822,1.55,252.9,276.0,9.2,323,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2014,1869
$GC,7131,1.55,252.9,245.4,10.1,338,7135,0.00,2.60,0.00,0.000,4,0.000,0.062,2788,590,1869
$GC,7215,1.55,252.9,236.2,11.6,341,7221,0.00,2.47,0.00,0.000,6,0.000,0.039,2789,2000,1869
$GC,7531,1.55,252.9,203.9,10.5,357,7532,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2000,1869
$GC,7840,1.55,252.9,172.0,10.3,372,7845,0.00,2.58,0.00,0.000,4,0.000,0.063,2789,588,1869
$GC,7874,1.55,252.9,168.2,10.8,373,7880,0.00,2.47,0.00,0.000,6,0.000,0.039,2789,1999,1869
$GC,8190,1.55,252.9,134.6,11.2,389,8194,0.00,2.60,0.00,0.000,4,0.000,0.062,2789,584,1869
$GC,8217,1.55,252.9,131.2,11.8,390,8221,0.00,2.50,0.00,0.000,6,0.000,0.038,2789,2009,1869
$GC,8535,1.55,252.9,98.1,10.7,405,8539,0.00,2.60,0.00,0.000,4,0.000,0.062,2789,591,1870
$GC,8568,1.55,252.9,93.8,11.6,406,8574,0.00,2.45,0.00,0.000,6,0.000,0.039,2789,1998,1869
$GC,8884,1.55,252.9,58.0,10.1,422,8889,0.00,2.60,0.00,0.000,4,0.000,0.065,2789,588,1870
$GC,8929,1.55,252.9,52.6,12.3,424,8934,0.00,2.50,0.00,0.000,6,0.000,0.041,2789,2011,1870
$GC,9251,1.55,252.9,21.0,9.7,440,9256,0.00,2.62,0.00,0.000,4,0.000,0.064,2789,583,1870
$GC,9329,1.55,252.9,13.2,8.9,443,9336,0.00,2.50,0.00,0.000,6,0.000,0.044,2788,2004,1870
$STATE,9457,end climb,SURFACE_DEPTH_REACHED
$STATE,9457,begin surface coast
$FINISH,0.7,1.027468
$STATE,9479,end surface coast,CONTROL_FINISHED_OK
$STATE,9479,begin surface
$SM_CCo,9564,0.00,0.000,0,0,1869,253.15
$SM_GC,1.97,12.07,0.00,0.00,0.030,0.000,0.000,47,2649,1869,-10.94,-0.03,253.15
$IRIDIUM_FIX,6235.17,-1047.94,110698,232336
$TT8_MAMPS,0.028379
$HUMID,1761
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,401.4,52.6
$24V_AH,23.5,25.406
$10V_AH,10.1,13.487
$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,27.100,95.400,328.275,0.000,0.000,28.438,26.072,111.649,3.250,0.000,0.000,11.977,870.305,7088.129,389.053,1124.492,364.657,0.000,985.932,0.000,1097.934,0.000,24.993,0.000
$DEVICE_MAMPS,161.837,98.943,942.643,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,318.556,325.233,335.830,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22261,451
$CAP_FILE_SIZE,73977,0
$CFSIZE,260165632,250855424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180309,050406,6300.496,-1031.757,37,0.9,42,-10.6