version: 66.04
glider: 103
mission: 11
dive: 296
start: 4 27 109 19 53 40
data:
$ID,103
$MISSION,11
$DIVE,296
$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,-148702.97
$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,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,194257,6247.939,-1312.278,27,2.8,47,-12.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-64.2
$GPS2,195250,6247.963,-1312.220,36,2.0,36,-12.0
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HE
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.079,0.072
$KALMAN_X,-12058.4,-687.9,-21.0,-4604.7,3285.7
$KALMAN_Y,90837.4,-580.3,-613.0,-216510.1,1372.6
$MHEAD_RNG_PITCHd_Wd,59.9,7177,-26.5,-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,13,begin dive
$GC,16,-2.25,-30.8,0.0,0.0,0,58,0.00,0.00,-35.72,0.000,6,0.000,0.000,50,2675,3029
$GC,61,-2.25,-30.8,3.9,-10.1,2,77,10.85,0.00,0.00,0.000,6,0.159,0.000,1943,2675,3030
$GC,389,-2.25,-30.8,60.4,-16.2,18,393,0.00,2.65,0.00,0.000,4,0.000,0.073,1943,1256,3029
$GC,467,-2.25,-30.8,72.9,-15.3,21,474,0.00,2.67,0.00,0.000,6,0.000,0.074,1943,2680,3030
$GC,785,-2.25,-30.8,121.7,-15.5,37,786,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2680,3029
$GC,1092,-2.25,-30.8,169.6,-15.4,52,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2680,3030
$GC,1401,-2.25,-30.8,217.0,-15.4,67,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2680,3029
$GC,1711,-2.25,-30.8,263.5,-15.4,82,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2680,3030
$GC,2020,-2.25,-30.8,311.2,-15.3,97,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2680,3030
$GC,2329,-2.25,-30.8,357.9,-15.0,112,2334,0.00,2.65,0.00,0.000,4,0.000,0.073,1943,1262,3030
$GC,2379,-2.25,-30.8,365.5,-14.8,114,2384,0.00,2.65,0.00,0.000,6,0.000,0.067,1943,2685,3030
$GC,2695,-2.25,-30.8,411.0,-14.4,129,2700,0.00,2.67,0.00,0.000,4,0.000,0.072,1943,1255,3030
$GC,2758,-2.25,-30.8,420.4,-14.4,132,2762,0.00,2.62,0.00,0.000,6,0.000,0.067,1943,2677,3030
$GC,3085,-2.25,-30.8,468.3,-14.8,148,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2677,3030
$GC,3394,-2.25,-30.8,512.2,-14.0,163,3398,0.00,2.65,0.00,0.000,4,0.000,0.071,1943,1253,3030
$GC,3478,-2.25,-30.8,524.1,-14.0,167,3483,0.00,2.65,0.00,0.000,6,0.000,0.066,1943,2684,3030
$GC,3811,-2.25,-30.8,569.2,-13.6,183,3816,0.00,2.65,0.00,0.000,4,0.000,0.070,1943,1255,3030
$GC,3861,-2.25,-30.8,576.1,-12.8,185,3865,0.00,2.62,0.00,0.000,6,0.000,0.065,1943,2675,3030
$GC,4177,-2.25,-30.8,617.1,-12.9,200,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2675,3030
$GC,4486,-2.25,-30.8,657.7,-13.1,215,4490,0.00,2.62,0.00,0.000,4,0.000,0.070,1943,1257,3030
$GC,4543,-2.25,-30.8,665.0,-13.0,217,4549,0.00,2.62,0.00,0.000,6,0.000,0.066,1944,2677,3030
$GC,4859,-2.25,-30.8,705.4,-12.7,233,4863,0.00,2.62,0.00,0.000,4,0.000,0.071,1943,1257,3030
$GC,5022,-2.25,-30.8,727.0,-13.1,240,5026,0.00,2.62,0.00,0.000,6,0.000,0.065,1943,2677,3029
$GC,5344,-2.25,-30.8,767.7,-12.9,256,5348,0.00,2.65,0.00,0.000,4,0.000,0.071,1943,1255,3029
$GC,5496,-2.25,-30.8,787.1,-12.1,263,5500,0.00,2.65,0.00,0.000,6,0.000,0.067,1943,2681,3029
$STATE,5656,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5656,begin apogee
$GC,5665,-0.42,0.0,808.0,13.3,271,5698,2.10,0.00,28.40,1.171,6,0.117,0.000,2346,2080,2902
$STATE,5699,end apogee,CONTROL_FINISHED_OK
$STATE,5699,begin climb
$GC,5702,2.25,30.8,810.9,0.0,273,5735,2.65,0.00,28.05,1.154,6,0.049,0.000,2936,2079,2776
$GC,6033,2.30,76.6,816.9,0.0,289,6079,0.00,2.83,39.88,1.181,4,0.000,0.084,2936,3494,2589
$GC,6332,2.36,123.9,816.9,-0.2,302,6379,0.00,2.70,41.25,1.183,6,0.000,0.071,2936,2068,2396
$GC,6692,2.42,170.3,816.9,-0.1,319,6739,0.15,2.88,40.58,1.193,4,0.048,0.089,2979,3493,2207
$GC,6992,2.48,219.1,816.8,-0.4,332,7040,0.00,2.70,42.78,1.197,6,0.000,0.073,2979,2077,2008
$GC,7350,2.54,265.8,816.7,-0.1,350,7396,0.00,2.80,40.95,1.203,4,0.000,0.081,2979,3489,1818
$GC,7517,2.54,265.8,804.0,17.2,357,7523,0.00,2.55,0.00,0.000,6,0.000,0.039,2979,2056,1818
$GC,7833,2.54,265.8,748.3,17.3,373,7837,0.00,2.53,0.00,0.000,4,0.000,0.059,2979,669,1817
$GC,8090,2.54,265.8,700.0,18.6,384,8097,0.00,2.50,0.00,0.000,6,0.000,0.038,2979,2092,1816
$GC,8406,2.54,265.8,645.3,17.1,400,8410,0.00,2.50,0.00,0.000,4,0.000,0.057,2979,3482,1816
$GC,8523,2.54,265.8,625.1,17.0,405,8528,0.00,2.47,0.00,0.000,6,0.000,0.035,2979,2071,1816
$GC,8846,2.54,265.8,571.0,17.0,421,8850,0.00,2.50,0.00,0.000,4,0.000,0.054,2979,670,1816
$GC,9103,2.54,265.8,525.3,17.8,432,9107,0.00,2.45,0.00,0.000,6,0.000,0.034,2979,2088,1816
$GC,9425,2.54,265.8,471.5,16.6,448,9429,0.00,2.50,0.00,0.000,4,0.000,0.055,2979,3477,1816
$GC,9532,2.54,265.8,452.5,17.6,453,9537,0.00,2.45,0.00,0.000,6,0.000,0.035,2979,2071,1816
$GC,9859,2.54,265.8,396.5,17.6,469,9864,0.00,2.50,0.00,0.000,4,0.000,0.054,2979,670,1817
$GC,10117,2.54,265.8,349.3,18.3,480,10124,0.00,2.42,0.00,0.000,6,0.000,0.034,2979,2078,1817
$GC,10434,2.54,265.8,294.5,17.4,496,10438,0.00,2.55,0.00,0.000,4,0.000,0.058,2979,3491,1817
$GC,10551,2.54,265.8,272.8,18.2,501,10556,0.00,2.50,0.00,0.000,6,0.000,0.038,2979,2066,1817
$GC,10873,2.54,265.8,216.7,17.2,517,10877,0.00,2.50,0.00,0.000,4,0.000,0.054,2979,665,1817
$GC,11130,2.54,265.8,170.1,18.8,528,11137,0.00,2.45,0.00,0.000,6,0.000,0.035,2979,2075,1817
$GC,11447,2.54,265.8,115.7,17.4,544,11451,0.00,2.55,0.00,0.000,4,0.000,0.061,2979,3482,1818
$GC,11600,2.54,265.8,88.9,16.3,551,11605,0.00,2.47,0.00,0.000,6,0.000,0.040,2979,2074,1818
$GC,11930,2.54,265.8,33.2,16.7,567,11934,0.00,2.53,0.00,0.000,4,0.000,0.054,2979,659,1818
$STATE,12097,end climb,SURFACE_DEPTH_REACHED
$STATE,12097,begin surface coast
$FINISH,0.6,1.027405
$STATE,12102,end surface coast,CONTROL_FINISHED_OK
$STATE,12102,begin surface
$SM_CCo,12191,0.00,0.000,0,0,1818,265.66
$SM_GC,1.58,12.90,0.00,0.00,0.031,0.000,0.000,44,2667,1818,-10.94,-0.23,265.66
$IRIDIUM_FIX,6221.17,-1312.01,220798,191957
$TT8_MAMPS,0.028379
$HUMID,1795
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,802.4,14.8
$24V_AH,23.2,50.555
$10V_AH,10.1,29.042
$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,28.650,106.125,261.875,0.000,0.000,53.163,131.371,183.859,7.250,0.000,0.000,36.853,1145.046,8997.147,333.909,1660.532,635.165,33.355,1140.853,0.000,1590.397,0.000,51.314,0.000
$DEVICE_MAMPS,158.769,88.972,1203.423,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,402.513,426.252,312.219,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28589,575
$CAP_FILE_SIZE,96990,0
$CFSIZE,260165632,239579136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270409,231807,6248.995,-1308.737,39,1.1,39,-12.0