version: 66.04
glider: 103
mission: 11
dive: 382
start: 5 13 109 16 19 14
data:
$ID,103
$MISSION,11
$DIVE,382
$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,-151234.22
$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,23
$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
$GPS1,161336,6301.524,-937.706,40,1.6,46,-10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-59.2
$GPS2,161826,6301.561,-937.864,10,1.7,10,-10.1
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P3
$TGT_LATLONG,6300.000,-920.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.020,-0.242
$KALMAN_X,-10033.4,549.6,10.3,47758.5,-13166.4
$KALMAN_Y,-3908.0,201.1,-375.6,37188.7,8414.0
$MHEAD_RNG_PITCHd_Wd,185.3,15296,-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,13,begin dive
$GC,16,-1.42,-146.6,0.0,0.0,0,59,0.00,0.00,-40.92,0.000,2,0.000,0.000,52,2745,3123
$GC,62,-1.42,-146.6,3.5,-10.6,2,86,11.73,2.67,-6.62,0.000,4,0.159,0.073,2125,1333,3503
$GC,159,-1.42,-146.6,18.8,-10.7,6,164,0.00,2.70,0.00,0.000,6,0.000,0.071,2125,2758,3503
$GC,482,-1.42,-146.6,54.3,-10.9,22,486,0.00,2.62,0.00,0.000,4,0.000,0.064,2125,1342,3503
$GC,515,-1.42,-146.6,58.1,-11.0,23,521,0.00,2.65,0.00,0.000,6,0.000,0.071,2125,2751,3503
$GC,833,-1.42,-146.6,91.4,-10.5,39,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2751,3503
$GC,1141,-1.42,-146.6,124.3,-10.6,54,1145,0.00,2.62,0.00,0.000,4,0.000,0.066,2125,1337,3503
$GC,1181,-1.42,-146.6,128.6,-10.7,56,1185,0.00,2.65,0.00,0.000,6,0.000,0.068,2125,2754,3503
$GC,1507,-1.42,-146.6,161.7,-9.9,72,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3504
$GC,1817,-1.42,-146.6,193.7,-10.7,87,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3504
$GC,2127,-1.42,-146.6,226.7,-10.5,102,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3504
$GC,2435,-1.42,-146.6,259.6,-10.3,117,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3504
$GC,2745,-1.42,-146.6,291.0,-10.1,132,2749,0.00,2.62,0.00,0.000,4,0.000,0.064,2125,1340,3504
$GC,2789,-1.42,-146.6,295.6,-10.3,134,2794,0.00,2.65,0.00,0.000,6,0.000,0.068,2125,2754,3504
$GC,3111,-1.42,-146.6,327.6,-9.9,150,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2755,3504
$GC,3420,-1.42,-146.6,359.2,-10.3,165,3425,0.00,2.62,0.00,0.000,4,0.000,0.067,2125,1341,3504
$GC,3465,-1.42,-146.6,364.0,-10.8,167,3470,0.00,2.65,0.00,0.000,6,0.000,0.071,2125,2749,3504
$GC,3786,-1.42,-146.6,396.1,-10.1,183,3790,0.00,2.62,0.00,0.000,4,0.000,0.067,2125,1340,3504
$GC,3887,-1.42,-146.6,406.7,-10.6,187,3893,0.00,2.65,0.00,0.000,6,0.000,0.069,2125,2752,3504
$GC,4203,-1.42,-146.6,437.5,-9.5,203,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2752,3503
$GC,4512,-1.42,-146.6,467.3,-10.0,218,4517,0.00,2.65,0.00,0.000,4,0.000,0.070,2125,1334,3502
$GC,4540,-1.42,-146.6,470.1,-9.3,219,4544,0.00,2.67,0.00,0.000,6,0.000,0.073,2125,2750,3502
$STATE,4750,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4750,begin apogee
$GC,4759,-0.42,0.0,491.1,10.0,229,4887,1.12,0.00,124.78,1.035,6,0.101,0.000,2346,2007,2902
$STATE,4888,end apogee,CONTROL_FINISHED_OK
$STATE,4888,begin climb
$GC,4892,1.42,146.6,496.4,0.0,235,5022,1.90,2.78,121.32,1.015,4,0.061,0.077,2747,584,2304
$GC,5280,1.55,247.9,491.2,4.3,252,5373,0.12,2.55,85.22,1.009,6,0.048,0.042,2786,2014,1891
$GC,5701,1.55,247.9,455.2,8.8,273,5705,0.00,2.70,0.00,0.000,4,0.000,0.069,2786,581,1889
$GC,5734,1.55,247.9,452.2,9.2,274,5740,0.00,2.55,0.00,0.000,6,0.000,0.044,2786,2003,1889
$GC,6050,1.55,247.9,425.2,8.4,290,6054,0.00,2.67,0.00,0.000,4,0.000,0.069,2786,580,1888
$GC,6116,1.55,247.9,419.0,9.5,293,6121,0.00,2.55,0.00,0.000,6,0.000,0.044,2786,1999,1888
$GC,6439,1.55,250.3,393.2,7.9,309,6443,0.00,2.67,0.00,0.000,4,0.000,0.068,2786,575,1887
$GC,6501,1.55,250.3,387.9,8.7,312,6505,0.00,2.58,0.00,0.000,6,0.000,0.045,2786,2009,1886
$GC,6828,1.59,286.4,364.0,6.7,328,6869,0.00,2.80,32.30,0.984,4,0.000,0.069,2786,585,1734
$GC,7061,1.59,286.4,347.0,8.2,338,7065,0.00,2.55,0.00,0.000,6,0.000,0.046,2786,2000,1734
$GC,7376,1.59,286.4,322.4,8.7,353,7381,0.00,2.62,0.00,0.000,4,0.000,0.071,2786,3408,1734
$GC,7399,1.59,286.4,320.3,9.1,354,7404,0.00,2.58,0.00,0.000,6,0.000,0.051,2786,1990,1734
$GC,7720,1.59,286.4,290.8,9.1,370,7724,0.00,2.60,0.00,0.000,4,0.000,0.067,2786,586,1734
$GC,7764,1.59,286.4,286.3,10.2,372,7768,0.00,2.53,0.00,0.000,6,0.000,0.042,2786,2001,1734
$GC,8085,1.59,286.4,253.4,10.1,388,8090,0.00,2.62,0.00,0.000,4,0.000,0.064,2786,586,1734
$GC,8125,1.59,286.4,249.0,11.0,390,8129,0.00,2.53,0.00,0.000,6,0.000,0.042,2786,2008,1734
$GC,8458,1.59,286.4,213.8,11.1,406,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2009,1734
$GC,8767,1.59,286.4,179.7,11.4,421,8772,0.00,2.62,0.00,0.000,4,0.000,0.063,2786,590,1735
$GC,8830,1.59,286.4,172.0,12.0,424,8834,0.00,2.53,0.00,0.000,6,0.000,0.042,2786,2011,1735
$GC,9163,1.59,286.4,134.7,11.1,440,9167,0.00,2.62,0.00,0.000,4,0.000,0.063,2786,588,1735
$GC,9218,1.59,286.4,127.9,12.0,442,9225,0.00,2.50,0.00,0.000,6,0.000,0.041,2786,2005,1736
$GC,9535,1.59,286.4,92.2,10.5,458,9539,0.00,2.62,0.00,0.000,4,0.000,0.063,2786,586,1736
$GC,9597,1.59,286.4,85.3,10.7,461,9602,0.00,2.53,0.00,0.000,6,0.000,0.041,2786,2010,1736
$GC,9925,1.59,286.4,51.7,10.1,477,9930,0.00,2.65,0.00,0.000,4,0.000,0.064,2786,581,1737
$GC,9959,1.59,286.4,48.2,10.4,478,9965,0.00,2.53,0.00,0.000,6,0.000,0.039,2786,2010,1736
$GC,10277,1.59,286.4,17.6,9.8,494,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2010,1737
$STATE,10438,end climb,SURFACE_DEPTH_REACHED
$STATE,10438,begin surface coast
$FINISH,0.3,1.027397
$STATE,10459,end surface coast,CONTROL_FINISHED_OK
$STATE,10459,begin surface
$SM_CCo,10545,0.00,0.000,0,0,1737,285.77
$SM_GC,1.09,12.07,0.00,0.00,0.031,0.000,0.000,51,2749,1737,-10.92,-0.03,285.77
$IRIDIUM_FIX,6239.86,-946.46,070898,131308
$TT8_MAMPS,0.029146
$HUMID,1832
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,16.40
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,425.7,74.2
$24V_AH,23.1,62.229
$10V_AH,10.1,35.515
$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,26.950,102.425,363.625,0.000,0.000,27.885,28.026,120.508,5.750,0.000,0.000,10.264,948.573,7852.696,425.414,1201.996,406.267,33.359,1060.220,0.000,1178.953,0.000,27.075,0.000
$DEVICE_MAMPS,158.769,78.234,1035.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,361.241,365.047,357.284,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25424,503
$CAP_FILE_SIZE,79259,0
$CFSIZE,260165632,234889216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130509,191606,6300.390,-942.640,29,1.0,29,-10.2