version: 66.04
glider: 103
mission: 11
dive: 122
start: 3 19 109 3 53 54
data:
$ID,103
$MISSION,11
$DIVE,122
$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,225
$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,-145421.56
$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,22
$R_STBD_OVSHOOT,10
$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
$GPS1,034836,6242.760,-1032.954,39,1.0,39,-10.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.6
$GPS2,035338,6242.695,-1033.118,12,1.2,12,-10.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,6235.059,-1049.702
$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,235.5,20000,-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,-146.6,0.0,0.0,0,60,0.00,0.00,-41.72,0.000,2,0.000,0.000,48,2644,3318
$GC,63,-1.42,-146.6,4.6,-12.9,2,86,11.80,2.62,-2.92,0.000,4,0.163,0.081,2124,1243,3502
$GC,120,-1.42,-146.6,17.8,-11.3,4,125,0.00,2.67,0.00,0.000,6,0.000,0.071,2124,2660,3502
$GC,438,-1.42,-146.6,50.2,-10.2,19,442,0.00,2.15,0.00,0.000,4,0.000,0.086,2124,3786,3502
$GC,522,-1.42,-146.6,59.3,-10.3,22,528,0.00,2.03,0.00,0.000,6,0.000,0.051,2124,2650,3502
$GC,840,-1.42,-146.6,91.8,-10.5,38,841,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2650,3502
$GC,1148,-1.42,-146.6,123.2,-10.1,53,1151,0.00,2.17,0.00,0.000,4,0.000,0.084,2124,3785,3502
$GC,1220,-1.42,-146.6,130.9,-10.8,56,1224,0.00,2.03,0.00,0.000,6,0.000,0.048,2124,2645,3502
$GC,1547,-1.42,-146.6,163.6,-9.5,72,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2646,3502
$GC,1857,-1.42,-146.6,191.7,-9.0,87,1861,0.00,2.20,0.00,0.000,4,0.000,0.082,2124,3795,3502
$GC,1907,-1.42,-146.6,196.4,-9.8,89,1911,0.00,2.05,0.00,0.000,6,0.000,0.049,2124,2645,3502
$GC,2235,-1.42,-146.6,227.3,-10.0,105,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2645,3502
$GC,2544,-1.42,-146.6,259.6,-10.4,120,2547,0.00,2.17,0.00,0.000,4,0.000,0.081,2124,3786,3502
$GC,2612,-1.42,-146.6,267.0,-10.8,123,2615,0.00,2.03,0.00,0.000,6,0.000,0.048,2124,2646,3503
$GC,2946,-1.42,-146.6,301.0,-10.2,139,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2645,3503
$GC,3254,-1.42,-146.6,332.7,-10.0,154,3258,0.00,2.20,0.00,0.000,4,0.000,0.083,2124,3794,3503
$GC,3338,-1.42,-146.6,341.5,-10.3,157,3344,0.00,2.05,0.00,0.000,6,0.000,0.051,2124,2646,3503
$GC,3654,-1.42,-146.6,372.2,-10.2,173,3657,0.00,2.17,0.00,0.000,4,0.000,0.083,2124,3786,3503
$GC,3684,-1.42,-146.6,375.2,-10.3,174,3688,0.00,2.03,0.00,0.000,6,0.000,0.050,2124,2649,3503
$GC,4011,-1.42,-146.6,405.0,-8.2,190,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2649,3503
$GC,4321,-1.42,-146.6,432.1,-10.0,205,4324,0.00,2.17,0.00,0.000,4,0.000,0.084,2124,3786,3503
$GC,4400,-1.42,-146.6,441.0,-11.2,208,4404,0.00,2.03,0.00,0.000,6,0.000,0.050,2124,2650,3503
$GC,4722,-1.42,-146.6,484.6,-14.5,224,4726,0.00,2.20,0.00,0.000,4,0.000,0.086,2124,3794,3503
$GC,4806,-1.42,-146.6,495.8,-12.4,227,4812,0.00,2.05,0.00,0.000,6,0.000,0.050,2124,2644,3503
$GC,5122,-1.42,-146.6,522.3,-6.2,243,5127,0.00,2.58,0.00,0.000,4,0.000,0.071,2124,1240,3503
$GC,5191,-1.42,-146.6,526.1,-5.3,246,5196,0.00,2.65,0.00,0.000,6,0.000,0.070,2124,2659,3502
$GC,5513,-1.42,-146.6,549.3,-8.8,262,5516,0.00,2.17,0.00,0.000,4,0.000,0.091,2124,3793,3502
$GC,5574,-1.42,-146.6,555.6,-9.9,264,5581,0.00,2.08,0.00,0.000,6,0.000,0.059,2124,2650,3501
$STATE,5642,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5642,begin apogee
$GC,5650,-0.42,0.0,562.3,9.9,268,5776,1.12,0.00,122.75,1.055,6,0.104,0.000,2345,2000,2902
$STATE,5777,end apogee,CONTROL_FINISHED_OK
$STATE,5777,begin climb
$GC,5781,1.42,146.6,567.7,0.0,274,5909,1.90,2.75,120.05,1.029,4,0.059,0.076,2748,581,2304
$GC,6167,1.69,364.6,570.0,0.0,291,6355,0.28,2.60,178.05,1.055,6,0.045,0.053,2813,2009,1415
$GC,6664,1.69,364.6,524.0,14.6,315,6668,0.00,2.67,0.00,0.000,4,0.000,0.071,2813,588,1415
$GC,6840,1.69,364.6,499.1,13.8,323,6845,0.00,2.55,0.00,0.000,6,0.000,0.045,2813,2009,1414
$GC,7168,1.69,364.6,456.9,13.9,339,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2009,1413
$GC,7477,1.69,364.6,413.6,14.1,354,7481,0.00,2.65,0.00,0.000,4,0.000,0.066,2813,588,1412
$GC,7549,1.69,364.6,402.3,15.7,357,7554,0.00,2.53,0.00,0.000,6,0.000,0.042,2813,2008,1412
$GC,7865,1.69,364.6,357.6,13.3,372,7869,0.00,2.65,0.00,0.000,4,0.000,0.064,2813,575,1412
$GC,7920,1.69,364.6,349.9,13.8,374,7927,0.00,2.53,0.00,0.000,6,0.000,0.041,2813,2002,1412
$GC,8236,1.69,364.6,311.2,12.4,390,8240,0.00,2.62,0.00,0.000,4,0.000,0.063,2813,577,1412
$GC,8277,1.69,364.6,305.8,13.7,391,8283,0.00,2.53,0.00,0.000,6,0.000,0.041,2813,2006,1412
$GC,8593,1.69,364.6,264.6,13.1,407,8597,0.00,2.62,0.00,0.000,4,0.000,0.062,2813,580,1412
$GC,8661,1.69,364.6,255.2,14.5,410,8665,0.00,2.53,0.00,0.000,6,0.000,0.041,2813,2009,1412
$GC,8982,1.69,364.6,212.9,13.0,426,8987,0.00,2.62,0.00,0.000,4,0.000,0.062,2813,580,1413
$GC,9045,1.69,364.6,204.3,13.9,429,9049,0.00,2.50,0.00,0.000,6,0.000,0.040,2813,2003,1413
$GC,9377,1.69,364.6,161.1,12.9,445,9381,0.00,2.62,0.00,0.000,4,0.000,0.062,2813,575,1413
$GC,9439,1.69,364.6,153.0,13.0,448,9443,0.00,2.53,0.00,0.000,6,0.000,0.041,2813,2007,1413
$GC,9767,1.69,364.6,113.2,12.1,464,9771,0.00,2.62,0.00,0.000,4,0.000,0.064,2813,581,1414
$GC,9822,1.69,364.6,105.9,12.6,466,9828,0.00,2.50,0.00,0.000,6,0.000,0.041,2813,2005,1414
$GC,10138,1.69,364.6,65.3,13.1,482,10143,0.00,2.62,0.00,0.000,4,0.000,0.064,2813,580,1414
$GC,10205,1.69,364.6,55.6,14.2,485,10210,0.00,2.50,0.00,0.000,6,0.000,0.041,2813,1998,1414
$GC,10527,1.69,364.6,12.0,13.9,501,10531,0.00,2.60,0.00,0.000,4,0.000,0.061,2813,579,1415
$GC,10577,1.69,364.6,4.7,14.0,503,10581,0.00,2.53,0.00,0.000,6,0.000,0.042,2813,2009,1415
$STATE,10606,end climb,SURFACE_DEPTH_REACHED
$STATE,10606,begin surface coast
$FINISH,0.6,1.004608
$STATE,10629,end surface coast,CONTROL_FINISHED_OK
$STATE,10629,begin surface
$SM_CCo,10714,0.00,0.000,0,0,1415,364.76
$SM_GC,1.46,12.05,0.00,0.00,0.025,0.000,0.000,51,2648,1415,-10.93,-0.06,364.76
$IRIDIUM_FIX,6216.53,-1027.10,130698,000033
$TT8_MAMPS,0.028379
$HUMID,1778
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,501.0,70.1
$24V_AH,23.4,26.397
$10V_AH,10.1,13.954
$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,27.150,107.850,420.850,0.000,0.000,30.533,25.982,134.803,4.000,0.000,0.000,12.513,982.992,7855.523,459.086,1296.759,422.323,0.000,1156.084,0.000,1270.105,0.000,28.593,0.000
$DEVICE_MAMPS,162.604,91.273,1055.392,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,365.328,365.940,337.638,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25391,506
$CAP_FILE_SIZE,84690,0
$CFSIZE,260165632,250503168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190309,065337,6239.934,-1042.714,32,1.3,32,-10.6