version: 66.04
glider: 103
mission: 11
dive: 250
start: 4 17 109 12 24 2
data:
$ID,103
$MISSION,11
$DIVE,250
$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,-147728.08
$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,2675
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,11
$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
$GPS1,121731,6347.113,-1316.653,41,1.4,41,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-64.1
$GPS2,122308,6347.107,-1316.551,15,1.4,15,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,KE
$TGT_LATLONG,6350.000,-1310.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.068,-0.079
$KALMAN_X,8695.6,-262.9,2815.8,-32086.5,3835.7
$KALMAN_Y,13332.5,384.5,-8216.2,-22841.7,7044.2
$MHEAD_RNG_PITCHd_Wd,151.8,7572,-27.3,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-2.31,-29.1,0.0,0.0,0,48,0.00,0.00,-30.83,0.000,6,0.000,0.000,49,2669,3022
$GC,52,-2.36,-72.6,2.3,-0.0,1,74,10.68,2.17,-3.50,0.000,4,0.161,0.097,1918,3779,3200
$GC,148,-2.36,-72.6,22.5,-19.0,5,151,0.00,1.98,0.00,0.000,6,0.000,0.051,1918,2681,3200
$GC,475,-2.36,-72.6,81.6,-18.2,21,476,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2682,3200
$GC,784,-2.36,-72.6,136.9,-17.8,36,789,0.00,2.62,0.00,0.000,4,0.000,0.067,1918,1253,3200
$GC,812,-2.36,-72.6,142.1,-18.2,37,817,0.00,2.67,0.00,0.000,6,0.000,0.068,1918,2683,3200
$GC,1128,-2.36,-72.6,197.1,-17.1,52,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2683,3200
$GC,1438,-2.36,-72.6,250.6,-17.3,67,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2684,3201
$GC,1747,-2.36,-72.6,304.2,-17.5,82,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2684,3201
$GC,2056,-2.36,-72.6,357.7,-17.2,97,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2684,3201
$GC,2365,-2.36,-72.6,413.4,-18.0,112,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2684,3201
$GC,2675,-2.36,-72.6,468.1,-17.8,127,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2684,3201
$GC,2984,-2.36,-72.6,521.4,-16.6,142,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2684,3201
$GC,3293,-2.36,-72.6,573.1,-16.7,157,3298,0.00,2.65,0.00,0.000,4,0.000,0.068,1918,1250,3201
$GC,3469,-2.36,-72.6,601.6,-15.5,165,3473,0.00,2.65,0.00,0.000,6,0.000,0.068,1918,2675,3201
$GC,3796,-2.36,-72.6,653.7,-16.8,181,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2675,3201
$GC,4106,-2.36,-72.6,702.1,-14.7,196,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,2675,3201
$GC,4415,-2.36,-72.6,747.5,-14.5,211,4419,0.00,2.62,0.00,0.000,4,0.000,0.071,1918,1260,3201
$GC,4585,-2.36,-72.6,774.4,-15.7,218,4592,0.00,2.65,0.00,0.000,6,0.000,0.072,1918,2675,3201
$GC,4901,-2.36,-72.6,824.9,-15.9,234,4908,0.00,2.62,0.00,0.000,4,0.000,0.075,1918,1260,3201
$GC,4964,-2.36,-72.6,835.4,-15.6,236,4971,0.00,2.67,0.00,0.000,6,0.000,0.074,1918,2682,3201
$STATE,4989,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4989,begin apogee
$GC,4997,-0.42,0.0,839.6,15.8,238,5071,2.30,0.00,64.85,1.215,6,0.131,0.000,2346,2024,2902
$STATE,5071,end apogee,CONTROL_FINISHED_OK
$STATE,5072,begin climb
$GC,5075,2.36,72.6,845.0,0.0,242,5146,2.85,2.78,62.40,1.200,4,0.063,0.076,2954,3441,2606
$GC,5402,2.42,118.3,847.7,-0.3,257,5447,0.00,2.70,39.88,1.190,6,0.000,0.074,2954,2026,2420
$GC,5772,2.47,161.0,847.6,0.1,275,5816,0.10,2.83,37.55,1.199,4,0.051,0.081,2988,3439,2245
$GC,6069,2.47,161.0,826.5,12.0,288,6073,0.00,2.55,0.00,0.000,6,0.000,0.040,2988,2004,2244
$GC,6390,2.47,161.0,787.5,12.6,304,6394,0.00,2.53,0.00,0.000,4,0.000,0.061,2988,619,2243
$GC,6581,2.47,161.0,763.5,12.7,312,6587,0.00,2.50,0.00,0.000,6,0.000,0.038,2988,2046,2242
$GC,6897,2.47,161.0,726.0,11.7,328,6901,0.00,2.62,0.00,0.000,4,0.000,0.059,2988,616,2241
$GC,7154,2.47,161.0,695.7,11.0,339,7160,0.00,2.47,0.00,0.000,6,0.000,0.038,2988,2031,2241
$GC,7470,2.47,161.0,661.7,11.1,355,7474,0.00,2.53,0.00,0.000,4,0.000,0.057,2989,3434,2241
$GC,7561,2.47,161.0,650.9,11.7,359,7565,0.00,2.47,0.00,0.000,6,0.000,0.038,2988,2021,2241
$GC,7893,2.47,161.0,613.4,11.4,375,7897,0.00,2.53,0.00,0.000,4,0.000,0.058,2988,616,2240
$GC,8151,2.47,161.0,582.1,11.7,386,8157,0.00,2.45,0.00,0.000,6,0.000,0.035,2988,2040,2240
$GC,8467,2.47,161.0,545.7,11.7,402,8471,0.00,2.58,0.00,0.000,4,0.000,0.055,2988,616,2240
$GC,8725,2.47,161.0,513.3,12.8,413,8731,0.00,2.42,0.00,0.000,6,0.000,0.034,2988,2028,2240
$GC,9041,2.47,161.0,476.3,11.5,429,9045,0.00,2.47,0.00,0.000,4,0.000,0.051,2988,3419,2240
$GC,9283,2.47,161.0,447.8,11.8,440,9287,0.00,2.42,0.00,0.000,6,0.000,0.035,2988,2021,2241
$GC,9610,2.47,161.0,411.9,10.8,456,9614,0.00,2.50,0.00,0.000,4,0.000,0.055,2988,618,2241
$GC,9867,2.47,161.0,382.2,11.1,467,9873,0.00,2.42,0.00,0.000,6,0.000,0.033,2988,2039,2241
$GC,10183,2.47,161.0,347.4,11.1,483,10187,0.00,2.53,0.00,0.000,4,0.000,0.053,2988,623,2242
$GC,10440,2.47,161.0,316.9,12.2,494,10444,0.00,2.40,0.00,0.000,6,0.000,0.033,2988,2032,2242
$GC,10761,2.47,161.0,280.9,10.9,510,10765,0.00,2.47,0.00,0.000,4,0.000,0.052,2988,3425,2242
$GC,11019,2.47,161.0,251.9,11.4,521,11026,0.00,2.45,0.00,0.000,6,0.000,0.036,2988,2010,2243
$GC,11336,2.47,161.0,219.3,10.2,537,11340,0.00,2.47,0.00,0.000,4,0.000,0.054,2988,621,2243
$GC,11533,2.47,161.0,198.2,10.2,546,11538,0.00,2.40,0.00,0.000,6,0.000,0.032,2988,2031,2243
$GC,11861,2.47,161.0,165.4,9.9,562,11865,0.00,2.53,0.00,0.000,4,0.000,0.051,2988,620,2243
$GC,12119,2.47,161.0,138.6,10.2,573,12125,0.00,2.42,0.00,0.000,6,0.000,0.033,2988,2026,2244
$GC,12435,2.47,161.0,107.6,10.0,589,12439,0.00,2.50,0.00,0.000,4,0.000,0.051,2988,623,2244
$GC,12694,2.47,161.0,79.7,10.7,600,12700,0.00,2.38,0.00,0.000,6,0.000,0.033,2988,2025,2244
$GC,13010,2.47,161.0,46.3,10.5,616,13014,0.00,2.50,0.00,0.000,4,0.000,0.052,2988,624,2244
$GC,13043,2.47,161.0,42.4,10.9,617,13049,0.00,2.38,0.00,0.000,6,0.000,0.032,2988,2026,2244
$GC,13361,2.47,161.0,9.2,10.5,633,13365,0.00,2.53,0.00,0.000,4,0.000,0.058,2988,3429,2244
$STATE,13425,end climb,SURFACE_DEPTH_REACHED
$STATE,13425,begin surface coast
$FINISH,1.3,1.027451
$STATE,13431,end surface coast,CONTROL_FINISHED_OK
$STATE,13432,begin surface
$SM_CCo,13458,49.83,0.693,0,0,1984,225.19
$SM_GC,1.00,0.00,0.00,49.83,0.000,0.000,0.693,50,2679,1984,-10.99,0.11,225.19
$IRIDIUM_FIX,6322.64,-1311.36,120798,070701
$TT8_MAMPS,0.029146
$HUMID,1779
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,825.9,20.4
$24V_AH,23.3,44.053
$10V_AH,10.1,25.098
$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,28.975,105.725,204.675,49.825,0.000,28.645,26.768,143.668,7.500,0.000,0.000,15.793,1280.239,9809.761,355.673,1899.355,498.107,33.349,1259.182,0.000,1851.983,0.000,53.053,0.000
$DEVICE_MAMPS,161.070,97.409,1214.928,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,445.971,470.328,361.496,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31780,636
$CAP_FILE_SIZE,105959,0
$CFSIZE,260165632,242425856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,170409,161054,6346.349,-1313.563,63,1.3,63,-12.5