version: 66.04
glider: 103
mission: 11
dive: 381
start: 5 13 109 13 17 10
data:
$ID,103
$MISSION,11
$DIVE,381
$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,-151223.33
$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
$GPS1,131137,6302.167,-937.934,34,0.9,34,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-57.4
$GPS2,131620,6302.230,-937.979,12,1.7,12,-10.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P3
$TGT_LATLONG,6300.000,-920.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.180,-0.163
$KALMAN_X,-5821.9,-233.0,293.1,43945.6,-9088.4
$KALMAN_Y,-6410.9,-93.9,-55.5,40884.6,5280.9
$MHEAD_RNG_PITCHd_Wd,142.2,15671,-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,-146.6,0.0,0.0,0,76,0.00,0.00,-56.85,0.000,6,0.000,0.000,45,2750,3501
$GC,80,-1.42,-146.6,6.6,-13.5,3,96,11.93,0.00,0.00,0.000,6,0.160,0.000,2121,2751,3502
$GC,408,-1.42,-146.6,54.8,-11.3,19,412,0.00,2.60,0.00,0.000,4,0.000,0.060,2121,1331,3502
$GC,481,-1.42,-146.6,63.1,-11.2,22,485,0.00,2.62,0.00,0.000,6,0.000,0.060,2121,2752,3502
$GC,797,-1.42,-146.6,97.5,-11.1,37,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2752,3502
$GC,1106,-1.42,-146.6,132.1,-11.2,52,1111,0.00,2.60,0.00,0.000,4,0.000,0.058,2121,1333,3502
$GC,1170,-1.42,-146.6,139.3,-11.2,55,1174,0.00,2.62,0.00,0.000,6,0.000,0.061,2121,2754,3502
$GC,1497,-1.42,-146.6,174.8,-10.9,71,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2753,3502
$GC,1806,-1.42,-146.6,208.1,-10.9,86,1810,0.00,2.60,0.00,0.000,4,0.000,0.059,2121,1333,3502
$GC,1846,-1.42,-146.6,212.4,-11.0,88,1850,0.00,2.65,0.00,0.000,6,0.000,0.064,2121,2760,3502
$GC,2173,-1.42,-146.6,245.7,-9.8,104,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2761,3503
$GC,2483,-1.42,-146.6,275.7,-9.6,119,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2761,3503
$GC,2792,-1.42,-146.6,305.8,-9.7,134,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2121,2761,3503
$GC,3100,-1.42,-146.6,336.3,-10.1,149,3105,0.00,2.60,0.00,0.000,4,0.000,0.062,2121,1340,3503
$GC,3173,-1.42,-146.6,344.2,-11.6,152,3178,0.00,2.65,0.00,0.000,6,0.000,0.067,2121,2757,3503
$GC,3490,-1.42,-146.6,377.3,-10.4,167,3494,0.00,2.62,0.00,0.000,4,0.000,0.062,2121,1331,3503
$GC,3556,-1.42,-146.6,384.5,-11.0,170,3561,0.00,2.67,0.00,0.000,6,0.000,0.070,2122,2752,3503
$GC,3879,-1.42,-146.6,417.1,-9.9,186,3882,0.00,1.98,0.00,0.000,4,0.000,0.089,2121,3787,3503
$GC,3957,-1.42,-146.6,425.8,-11.4,189,3961,0.00,1.85,0.00,0.000,6,0.000,0.046,2121,2743,3503
$GC,4278,-1.42,-146.6,458.7,-11.1,205,4282,0.00,2.58,0.00,0.000,4,0.000,0.067,2121,1343,3503
$GC,4328,-1.42,-146.6,463.4,-8.6,207,4333,0.00,2.67,0.00,0.000,6,0.000,0.074,2121,2755,3503
$STATE,4600,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4600,begin apogee
$GC,4609,-0.42,0.0,491.3,10.3,220,4742,1.15,0.00,124.95,1.033,6,0.099,0.000,2348,1998,2902
$STATE,4743,end apogee,CONTROL_FINISHED_OK
$STATE,4743,begin climb
$GC,4746,1.42,146.6,497.6,0.0,227,4878,1.88,2.78,121.97,0.999,4,0.061,0.063,2745,3419,2304
$GC,5126,1.56,257.3,489.8,3.9,244,5225,0.15,2.58,92.53,1.000,6,0.044,0.046,2788,1993,1853
$GC,5547,1.56,261.3,456.5,7.9,265,5554,0.00,0.00,5.15,0.749,6,0.000,0.000,2788,1993,1836
$GC,5856,1.56,261.3,430.8,8.4,280,5860,0.00,2.62,0.00,0.000,4,0.000,0.072,2788,596,1835
$GC,5941,1.56,261.3,423.3,9.0,284,5945,0.00,2.55,0.00,0.000,6,0.000,0.046,2788,2009,1835
$GC,6273,1.56,261.3,397.3,8.1,300,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2010,1833
$GC,6583,1.56,261.3,372.3,8.1,315,6587,0.00,2.67,0.00,0.000,4,0.000,0.069,2788,588,1833
$GC,6667,1.56,261.3,365.0,8.7,319,6672,0.00,2.55,0.00,0.000,6,0.000,0.046,2788,2005,1833
$GC,6994,1.59,281.8,340.6,7.2,335,7017,0.00,2.78,17.70,0.947,4,0.000,0.068,2788,588,1753
$GC,7057,1.59,281.8,335.5,8.7,337,7063,0.00,2.55,0.00,0.000,6,0.000,0.044,2788,2003,1753
$GC,7373,1.59,281.8,307.8,9.6,353,7378,0.00,2.62,0.00,0.000,4,0.000,0.067,2788,590,1753
$GC,7446,1.59,281.8,299.9,10.6,356,7450,0.00,2.53,0.00,0.000,6,0.000,0.043,2788,2004,1753
$GC,7763,1.59,281.8,265.0,11.6,371,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2004,1753
$GC,8072,1.59,281.8,231.8,10.4,386,8076,0.00,2.62,0.00,0.000,4,0.000,0.064,2788,588,1753
$GC,8138,1.59,281.8,224.3,10.9,389,8143,0.00,2.53,0.00,0.000,6,0.000,0.041,2788,2010,1753
$GC,8460,1.59,281.8,190.1,10.9,405,8461,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2010,1754
$GC,8769,1.59,281.8,158.0,10.0,420,8773,0.00,2.62,0.00,0.000,4,0.000,0.063,2788,586,1754
$GC,8802,1.59,281.8,154.5,10.2,421,8808,0.00,2.50,0.00,0.000,6,0.000,0.040,2788,2001,1754
$GC,9120,1.59,281.8,124.3,9.7,437,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2000,1754
$GC,9427,1.59,281.8,93.5,9.9,452,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2001,1755
$GC,9737,1.59,281.8,63.4,9.9,467,9741,0.00,2.60,0.00,0.000,4,0.000,0.063,2788,588,1756
$GC,9781,1.59,281.8,58.7,10.3,469,9785,0.00,2.50,0.00,0.000,6,0.000,0.040,2788,2005,1756
$GC,10108,1.59,281.8,27.2,9.7,485,10113,0.00,2.62,0.00,0.000,4,0.000,0.063,2788,584,1756
$GC,10171,1.59,281.8,20.9,9.2,488,10176,0.00,2.50,0.00,0.000,6,0.000,0.039,2788,2004,1756
$STATE,10393,end climb,SURFACE_DEPTH_REACHED
$STATE,10393,begin surface coast
$FINISH,0.4,1.026697
$STATE,10416,end surface coast,CONTROL_FINISHED_OK
$STATE,10416,begin surface
$SM_CCo,10502,0.00,0.000,0,0,1756,281.11
$SM_GC,1.12,11.98,0.00,0.00,0.026,0.000,0.000,52,2741,1756,-10.92,-0.25,281.11
$IRIDIUM_FIX,6235.17,-940.19,070898,101035
$TT8_MAMPS,0.028379
$HUMID,1819
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,451.9,48.9
$24V_AH,23.2,62.114
$10V_AH,10.1,35.460
$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,27.075,84.975,362.300,0.000,0.000,23.374,35.316,112.185,6.000,0.000,0.000,12.783,932.382,7874.728,426.705,1168.727,384.532,33.361,1034.801,0.000,1143.944,0.000,25.935,0.000
$DEVICE_MAMPS,159.536,92.807,1033.149,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.402,360.405,357.281,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25397,500
$CAP_FILE_SIZE,75302,0
$CFSIZE,260165632,234934272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130509,161336,6301.524,-937.706,40,1.6,46,-10.1