version: 66.04
glider: 103
mission: 11
dive: 373
start: 5 12 109 13 27 45
data:
$ID,103
$MISSION,11
$DIVE,373
$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,0
$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,-151078.11
$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,2750
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,7
$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
$GPS1,132206,6245.063,-951.934,37,1.2,42,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-60.8
$GPS2,132655,6245.019,-951.760,9,1.8,15,-10.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,M3
$TGT_LATLONG,6311.000,-902.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.111,0.216
$KALMAN_X,4481.5,519.3,-344.2,21842.1,7597.3
$KALMAN_Y,-15059.9,1162.4,748.5,15577.2,-19108.2
$MHEAD_RNG_PITCHd_Wd,37.3,63591,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-41.50,0.000,2,0.000,0.000,49,2747,3324
$GC,62,-1.42,-146.6,4.6,-14.2,2,85,11.77,2.05,-2.83,0.000,4,0.160,0.098,2124,3792,3503
$GC,339,-1.42,-146.6,45.9,-11.8,14,342,0.00,1.88,0.00,0.000,6,0.000,0.044,2124,2737,3504
$GC,666,-1.42,-146.6,84.4,-12.1,30,670,0.00,2.03,0.00,0.000,4,0.000,0.081,2124,3793,3504
$GC,728,-1.42,-146.6,92.1,-12.4,32,734,0.00,1.88,0.00,0.000,6,0.000,0.044,2124,2750,3504
$GC,1045,-1.42,-146.6,128.2,-11.2,48,1049,0.00,2.58,0.00,0.000,4,0.000,0.065,2124,1339,3504
$GC,1107,-1.42,-146.6,134.9,-10.9,51,1112,0.00,2.65,0.00,0.000,6,0.000,0.067,2124,2756,3504
$GC,1434,-1.42,-146.6,170.3,-11.0,67,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2756,3504
$GC,1744,-1.42,-146.6,203.9,-10.7,82,1748,0.00,2.62,0.00,0.000,4,0.000,0.062,2124,1327,3504
$GC,1777,-1.42,-146.6,207.6,-10.8,83,1783,0.00,2.70,0.00,0.000,6,0.000,0.071,2124,2762,3504
$GC,2092,-1.42,-146.6,239.0,-9.7,99,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2763,3505
$GC,2402,-1.42,-146.6,268.2,-9.3,114,2406,0.00,2.65,0.00,0.000,4,0.000,0.063,2124,1326,3505
$GC,2446,-1.42,-146.6,272.4,-9.7,116,2451,0.00,2.67,0.00,0.000,6,0.000,0.067,2125,2757,3505
$GC,2768,-1.42,-146.6,302.6,-9.5,132,2772,0.00,2.62,0.00,0.000,4,0.000,0.064,2124,1337,3505
$GC,2853,-1.42,-146.6,310.7,-9.6,136,2858,0.00,2.65,0.00,0.000,6,0.000,0.067,2124,2754,3506
$GC,3180,-1.42,-146.6,345.6,-10.8,152,3185,0.00,2.60,0.00,0.000,4,0.000,0.064,2124,1338,3506
$GC,3247,-1.42,-146.6,353.1,-11.7,155,3252,0.00,2.62,0.00,0.000,6,0.000,0.067,2124,2749,3506
$GC,3569,-1.42,-146.6,386.9,-10.8,171,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2749,3505
$GC,3878,-1.42,-146.6,419.1,-10.7,186,3883,0.00,2.62,0.00,0.000,4,0.000,0.067,2124,1340,3504
$GC,3923,-1.42,-146.6,424.3,-11.3,188,3928,0.00,2.67,0.00,0.000,6,0.000,0.074,2124,2752,3504
$GC,4245,-1.42,-146.6,456.1,-10.0,204,4249,0.00,2.65,0.00,0.000,4,0.000,0.070,2124,1334,3503
$GC,4345,-1.42,-146.6,466.2,-9.7,208,4351,0.00,2.70,0.00,0.000,6,0.000,0.074,2124,2760,3503
$STATE,4534,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4534,begin apogee
$GC,4544,-0.42,0.0,484.9,9.8,218,4676,1.12,0.00,124.82,1.029,6,0.099,0.000,2346,1999,2902
$STATE,4677,end apogee,CONTROL_FINISHED_OK
$STATE,4677,begin climb
$GC,4680,1.42,146.6,491.6,0.0,225,4813,1.90,2.72,121.97,0.994,4,0.059,0.071,2749,581,2304
$GC,4866,1.66,336.3,491.9,1.1,233,5034,0.22,2.58,158.23,0.979,6,0.035,0.039,2809,2030,1531
$GC,5344,1.66,336.3,441.9,12.3,256,5348,0.00,2.58,0.00,0.000,4,0.000,0.074,2809,3396,1530
$GC,5531,1.66,336.3,418.0,12.6,264,5536,0.00,2.58,0.00,0.000,6,0.000,0.054,2809,1990,1529
$GC,5853,1.66,336.3,375.5,13.3,280,5857,0.00,2.62,0.00,0.000,4,0.000,0.071,2809,585,1528
$GC,5926,1.66,336.3,365.1,14.3,283,5930,0.00,2.53,0.00,0.000,6,0.000,0.045,2809,1987,1528
$GC,6247,1.66,336.3,326.3,12.0,299,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1988,1527
$GC,6556,1.66,336.3,294.7,10.6,314,6561,0.00,2.62,0.00,0.000,4,0.000,0.067,2809,588,1527
$GC,6670,1.66,336.3,281.5,12.0,319,6675,0.00,2.55,0.00,0.000,6,0.000,0.044,2809,2010,1527
$GC,6991,1.66,336.3,242.0,12.4,335,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2010,1527
$GC,7301,1.66,336.3,203.3,12.5,350,7306,0.00,2.65,0.00,0.000,4,0.000,0.065,2809,586,1527
$GC,7358,1.66,336.3,196.1,13.0,352,7365,0.00,2.53,0.00,0.000,6,0.000,0.043,2809,2006,1527
$GC,7674,1.66,336.3,158.4,11.8,368,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2006,1527
$GC,7984,1.66,336.3,119.1,13.1,383,7988,0.00,2.62,0.00,0.000,4,0.000,0.064,2809,591,1527
$GC,8024,1.66,336.3,113.6,14.1,385,8028,0.00,2.50,0.00,0.000,6,0.000,0.041,2809,2000,1527
$GC,8352,1.66,336.3,72.2,12.2,401,8356,0.00,2.62,0.00,0.000,4,0.000,0.065,2809,586,1528
$GC,8424,1.66,336.3,63.4,11.6,404,8428,0.00,2.53,0.00,0.000,6,0.000,0.041,2809,2009,1528
$GC,8742,1.66,336.3,26.8,11.7,419,8747,0.00,2.65,0.00,0.000,4,0.000,0.066,2809,586,1528
$GC,8783,1.66,336.3,21.5,12.9,421,8787,0.00,2.53,0.00,0.000,6,0.000,0.042,2809,2009,1529
$STATE,8964,end climb,SURFACE_DEPTH_REACHED
$STATE,8964,begin surface coast
$FINISH,0.2,1.025727
$STATE,8984,end surface coast,CONTROL_FINISHED_OK
$STATE,8984,begin surface
$SM_CCo,9071,0.00,0.000,0,0,1528,337.04
$SM_GC,1.27,12.15,0.00,0.00,0.029,0.000,0.000,51,2749,1528,-10.93,-0.03,337.04
$IRIDIUM_FIX,6216.53,-958.58,060898,101040
$TT8_MAMPS,0.028379
$HUMID,1829
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,425.3,68.2
$24V_AH,23.2,61.155
$10V_AH,10.1,35.027
$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,27.175,89.175,405.025,0.000,0.000,25.952,34.597,111.396,3.500,0.000,0.000,15.945,827.392,6599.014,440.924,1113.086,379.665,33.351,1037.180,0.000,1085.175,0.000,24.631,0.000
$DEVICE_MAMPS,160.303,98.176,1028.547,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,312.012,307.106,307.669,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22275,431
$CAP_FILE_SIZE,70540,0
$CFSIZE,260165632,235249664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120509,160004,6244.583,-948.250,10,2.9,29,-10.1