version: 66.04
glider: 103
mission: 11
dive: 378
start: 5 13 109 4 5 46
data:
$ID,103
$MISSION,11
$DIVE,378
$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,-151159.14
$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,19
$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
$GPS1,040006,6253.292,-936.594,34,1.0,34,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-62.0
$GPS2,040456,6253.358,-936.631,14,1.4,14,-10.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P3
$TGT_LATLONG,6300.000,-920.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.090,0.226
$KALMAN_X,4082.7,-43.2,-722.3,36051.6,5398.2
$KALMAN_Y,-14590.9,1798.9,203.6,30465.5,-9511.8
$MHEAD_RNG_PITCHd_Wd,31.8,18624,-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,15,-1.42,-146.6,0.0,0.0,0,58,0.00,0.00,-40.85,0.000,2,0.000,0.000,55,2747,3149
$GC,62,-1.42,-146.6,3.6,-9.8,2,85,11.77,2.08,-6.05,0.000,4,0.161,0.098,2124,3794,3503
$GC,337,-1.42,-146.6,42.4,-11.7,14,341,0.00,1.85,0.00,0.000,6,0.000,0.043,2124,2751,3503
$GC,667,-1.42,-146.6,78.2,-11.0,30,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3504
$GC,974,-1.42,-146.6,111.6,-10.4,45,979,0.00,2.60,0.00,0.000,4,0.000,0.070,2124,1340,3504
$GC,1048,-1.42,-146.6,119.6,-10.8,48,1052,0.00,2.67,0.00,0.000,6,0.000,0.070,2124,2764,3504
$GC,1363,-1.42,-146.6,155.5,-11.6,63,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2763,3504
$GC,1673,-1.42,-146.6,188.7,-9.9,78,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2764,3504
$GC,1982,-1.42,-146.6,213.6,-8.1,93,1987,0.00,2.65,0.00,0.000,4,0.000,0.065,2124,1337,3505
$GC,2005,-1.42,-146.6,215.7,-8.5,94,2009,0.00,2.65,0.00,0.000,6,0.000,0.071,2124,2747,3505
$GC,2325,-1.42,-146.6,246.7,-10.0,110,2329,0.00,1.98,0.00,0.000,4,0.000,0.085,2124,3786,3505
$GC,2399,-1.42,-146.6,254.9,-10.7,113,2402,0.00,1.88,0.00,0.000,6,0.000,0.054,2123,2747,3505
$GC,2726,-1.42,-146.6,295.6,-12.7,129,2730,0.00,2.60,0.00,0.000,4,0.000,0.068,2124,1340,3505
$GC,2767,-1.42,-146.6,300.5,-12.7,131,2771,0.00,2.67,0.00,0.000,6,0.000,0.074,2124,2751,3505
$GC,3094,-1.42,-146.6,337.0,-10.1,147,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3505
$GC,3403,-1.42,-146.6,364.8,-8.2,162,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3504
$GC,3712,-1.42,-146.6,390.3,-8.9,177,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2751,3504
$GC,4021,-1.42,-146.6,423.5,-11.4,192,4026,0.00,2.65,0.00,0.000,4,0.000,0.074,2124,1340,3503
$GC,4094,-1.42,-146.6,432.6,-12.0,195,4099,0.00,2.72,0.00,0.000,6,0.000,0.080,2124,2759,3503
$GC,4410,-1.42,-146.6,466.3,-10.5,210,4415,0.00,2.70,0.00,0.000,4,0.000,0.074,2124,1329,3502
$GC,4444,-1.42,-146.6,469.7,-9.7,211,4450,0.00,2.72,0.00,0.000,6,0.000,0.079,2124,2748,3501
$STATE,4654,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4654,begin apogee
$GC,4663,-0.42,0.0,491.5,10.3,222,4796,1.15,0.00,125.28,1.051,6,0.108,0.000,2346,1996,2902
$STATE,4797,end apogee,CONTROL_FINISHED_OK
$STATE,4797,begin climb
$GC,4800,1.42,146.6,497.6,0.0,229,4932,1.88,2.80,121.75,1.019,4,0.057,0.065,2746,3424,2304
$GC,5163,1.51,221.0,489.5,5.3,245,5233,0.10,2.60,62.95,1.014,6,0.054,0.047,2777,1986,2001
$GC,5542,1.51,221.0,459.2,8.4,264,5546,0.00,2.62,0.00,0.000,4,0.000,0.071,2777,588,2000
$GC,5586,1.51,221.0,455.4,8.5,266,5591,0.00,2.55,0.00,0.000,6,0.000,0.044,2777,2011,2000
$GC,5907,1.51,221.0,429.0,8.3,282,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2012,1998
$GC,6216,1.51,221.0,402.8,8.4,297,6221,0.00,2.67,0.00,0.000,4,0.000,0.070,2777,594,1998
$GC,6302,1.51,221.0,395.4,8.8,301,6307,0.00,2.53,0.00,0.000,6,0.000,0.045,2777,2003,1997
$GC,6630,1.58,275.7,372.9,6.0,317,6678,0.00,0.00,46.20,1.002,6,0.000,0.000,2777,2004,1777
$GC,6979,1.61,299.5,350.4,7.1,334,7002,0.00,0.00,21.30,0.955,6,0.000,0.000,2776,2004,1681
$GC,7309,1.62,309.6,324.5,7.6,350,7324,0.00,2.70,10.40,0.890,4,0.000,0.072,2777,3414,1639
$GC,7386,1.62,309.6,317.5,9.6,352,7392,0.00,2.60,0.00,0.000,6,0.000,0.052,2777,1997,1639
$GC,7702,1.62,309.6,284.6,11.4,368,7706,0.00,2.62,0.00,0.000,4,0.000,0.068,2777,586,1639
$GC,7775,1.62,309.6,275.7,12.3,371,7779,0.00,2.55,0.00,0.000,6,0.000,0.044,2777,2008,1638
$GC,8091,1.62,309.6,239.1,11.5,386,8095,0.00,2.62,0.00,0.000,4,0.000,0.072,2777,3410,1638
$GC,8153,1.62,309.6,231.9,11.8,389,8157,0.00,2.58,0.00,0.000,6,0.000,0.052,2777,1994,1638
$GC,8480,1.62,309.6,202.3,8.3,405,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1994,1638
$GC,8789,1.62,309.6,174.3,9.8,420,8793,0.00,2.60,0.00,0.000,4,0.000,0.065,2777,581,1639
$GC,8851,1.62,309.6,167.8,10.6,423,8856,0.00,2.53,0.00,0.000,6,0.000,0.041,2777,2005,1639
$GC,9178,1.62,309.6,134.6,9.7,439,9183,0.00,2.62,0.00,0.000,4,0.000,0.071,2777,3414,1640
$GC,9219,1.62,309.6,130.5,10.5,441,9223,0.00,2.55,0.00,0.000,6,0.000,0.051,2777,1999,1640
$GC,9546,1.62,309.6,98.5,9.7,457,9547,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1999,1640
$GC,9856,1.62,309.6,68.2,9.9,472,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1999,1641
$GC,10166,1.62,309.6,36.9,10.2,487,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1999,1641
$GC,10474,1.62,309.6,5.5,10.8,502,10478,0.00,2.60,0.00,0.000,4,0.000,0.067,2777,588,1643
$STATE,10504,end climb,SURFACE_DEPTH_REACHED
$STATE,10504,begin surface coast
$FINISH,1.1,1.027439
$STATE,10512,end surface coast,CONTROL_FINISHED_OK
$STATE,10512,begin surface
$SM_CCo,10601,0.00,0.000,0,0,1642,309.08
$SM_GC,0.83,12.02,0.00,0.00,0.029,0.000,0.000,48,2745,1642,-10.93,-0.14,309.08
$IRIDIUM_FIX,6225.82,-937.81,070898,010144
$TT8_MAMPS,0.029146
$HUMID,1814
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.40
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,476.8,23.5
$24V_AH,23.1,61.756
$10V_AH,10.1,35.299
$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,26.925,84.375,387.875,0.000,0.000,28.457,24.630,119.761,7.750,0.000,0.000,14.351,940.581,7927.346,445.751,1186.303,392.460,33.350,1055.491,0.000,1160.668,0.000,30.139,0.000
$DEVICE_MAMPS,161.070,98.176,1050.790,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,369.554,359.004,354.075,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25501,504
$CAP_FILE_SIZE,76025,0
$CFSIZE,260165632,235053056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130509,070336,6255.616,-938.750,31,1.4,31,-10.1