version: 66.04
glider: 103
mission: 11
dive: 384
start: 5 13 109 22 0 33
data:
$ID,103
$MISSION,11
$DIVE,384
$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,-151261.97
$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,2750
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$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
$GPS1,215437,6301.266,-943.095,37,1.6,37,-10.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.4
$GPS2,215943,6301.342,-943.171,10,1.6,15,-10.2
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,M3
$TGT_LATLONG,6311.000,-902.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.243,0.000
$KALMAN_X,-19298.5,1345.0,897.9,50806.0,-28180.1
$KALMAN_Y,2846.0,-638.4,-638.1,31147.6,17772.3
$MHEAD_RNG_PITCHd_Wd,100.1,38771,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.30,0.000,2,0.000,0.000,49,2747,3496
$GC,81,-1.42,-146.6,5.4,-10.7,3,102,11.85,2.03,0.00,0.000,4,0.163,0.081,2125,3789,3496
$GC,175,-1.42,-146.6,27.0,-12.6,7,179,0.00,1.88,0.00,0.000,6,0.000,0.047,2125,2741,3496
$GC,503,-1.42,-146.6,64.7,-11.4,23,507,0.00,2.58,0.00,0.000,4,0.000,0.063,2125,1334,3496
$GC,575,-1.42,-146.6,73.1,-11.2,26,580,0.00,2.70,0.00,0.000,6,0.000,0.071,2125,2763,3496
$GC,893,-1.42,-146.6,108.5,-11.4,41,898,0.00,2.65,0.00,0.000,4,0.000,0.062,2125,1331,3497
$GC,934,-1.42,-146.6,113.3,-11.4,43,938,0.00,2.70,0.00,0.000,6,0.000,0.071,2125,2760,3497
$GC,1262,-1.42,-146.6,150.2,-11.1,59,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3497
$GC,1570,-1.42,-146.6,183.0,-10.4,74,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3497
$GC,1879,-1.42,-146.6,214.0,-9.8,89,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2760,3497
$GC,2188,-1.42,-146.6,241.6,-8.7,104,2192,0.00,2.65,0.00,0.000,4,0.000,0.065,2125,1333,3498
$GC,2215,-1.42,-146.6,244.0,-8.3,105,2220,0.00,2.67,0.00,0.000,6,0.000,0.067,2125,2763,3498
$GC,2532,-1.42,-146.6,270.9,-8.6,120,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2763,3498
$GC,2840,-1.42,-146.6,297.3,-8.3,135,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2764,3498
$GC,3150,-1.42,-146.6,322.9,-8.2,150,3154,0.00,2.65,0.00,0.000,4,0.000,0.066,2125,1333,3498
$GC,3235,-1.42,-146.6,330.6,-9.3,154,3240,0.00,2.67,0.00,0.000,6,0.000,0.070,2125,2757,3499
$GC,3561,-1.42,-146.6,361.2,-9.9,170,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2757,3499
$GC,3871,-1.42,-146.6,391.1,-9.4,185,3875,0.00,1.98,0.00,0.000,4,0.000,0.090,2125,3786,3499
$GC,3929,-1.42,-146.6,396.8,-10.1,187,3932,0.00,1.88,0.00,0.000,6,0.000,0.051,2125,2742,3498
$GC,4250,-1.42,-146.6,427.3,-9.4,203,4255,0.00,2.60,0.00,0.000,4,0.000,0.067,2125,1331,3498
$GC,4301,-1.42,-146.6,432.1,-9.2,205,4306,0.00,2.67,0.00,0.000,6,0.000,0.071,2125,2750,3498
$GC,4617,-1.42,-146.6,463.4,-10.0,220,4618,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2750,3498
$STATE,4842,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4842,begin apogee
$GC,4851,-0.42,0.0,485.6,10.1,231,4977,1.15,0.00,122.50,1.059,6,0.107,0.000,2347,1989,2902
$STATE,4978,end apogee,CONTROL_FINISHED_OK
$STATE,4978,begin climb
$GC,4982,1.42,146.6,490.8,0.0,237,5110,1.88,2.75,119.68,1.042,4,0.057,0.064,2746,3422,2304
$GC,5364,1.60,292.9,486.3,2.6,254,5494,0.20,2.58,120.65,1.024,6,0.042,0.044,2797,1990,1707
$GC,5803,1.60,292.9,445.3,10.3,276,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1990,1705
$GC,6113,1.60,292.9,412.9,10.4,291,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1990,1705
$GC,6422,1.60,292.9,379.7,10.3,306,6426,0.00,2.70,0.00,0.000,4,0.000,0.074,2797,3414,1704
$GC,6511,1.60,292.9,370.1,10.9,310,6515,0.00,2.60,0.00,0.000,6,0.000,0.054,2797,1997,1704
$GC,6833,1.60,292.9,336.9,9.7,326,6837,0.00,2.62,0.00,0.000,4,0.000,0.071,2797,591,1704
$GC,6895,1.60,292.9,330.4,10.5,329,6899,0.00,2.55,0.00,0.000,6,0.000,0.045,2797,2011,1703
$GC,7221,1.60,292.9,299.9,9.7,345,7226,0.00,2.67,0.00,0.000,4,0.000,0.068,2797,586,1703
$GC,7345,1.60,292.9,286.9,10.5,350,7352,0.00,2.55,0.00,0.000,6,0.000,0.044,2797,2008,1703
$GC,7662,1.60,292.9,256.4,9.3,366,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2008,1703
$GC,7971,1.60,292.9,228.0,9.0,381,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2008,1703
$GC,8280,1.60,292.9,199.7,8.9,396,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2008,1703
$GC,8589,1.60,292.9,171.4,9.0,411,8594,0.00,2.65,0.00,0.000,4,0.000,0.064,2797,580,1703
$GC,8623,1.60,292.9,167.8,9.8,412,8630,0.00,2.53,0.00,0.000,6,0.000,0.042,2797,2008,1704
$GC,8940,1.60,292.9,134.6,11.0,428,8944,0.00,2.65,0.00,0.000,4,0.000,0.064,2797,579,1704
$GC,8995,1.60,292.9,128.1,11.0,430,9001,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2010,1705
$GC,9311,1.60,292.9,92.8,11.1,446,9316,0.00,2.65,0.00,0.000,4,0.000,0.064,2797,584,1705
$GC,9345,1.60,292.9,88.7,11.4,447,9352,0.00,2.53,0.00,0.000,6,0.000,0.041,2797,2006,1705
$GC,9661,1.60,292.9,53.8,10.8,463,9666,0.00,2.62,0.00,0.000,4,0.000,0.061,2797,585,1706
$GC,9706,1.60,292.9,48.4,11.8,465,9711,0.00,2.53,0.00,0.000,6,0.000,0.039,2798,2014,1706
$GC,10028,1.60,292.9,14.3,10.6,481,10032,0.00,2.65,0.00,0.000,4,0.000,0.063,2797,581,1706
$GC,10113,1.60,292.9,5.1,9.6,485,10117,0.00,2.53,0.00,0.000,6,0.000,0.040,2797,2009,1706
$STATE,10148,end climb,SURFACE_DEPTH_REACHED
$STATE,10148,begin surface coast
$FINISH,0.3,1.014384
$STATE,10170,end surface coast,CONTROL_FINISHED_OK
$STATE,10170,begin surface
$SM_CCo,10257,0.00,0.000,0,0,1707,293.38
$SM_GC,0.96,12.07,0.00,0.00,0.028,0.000,0.000,44,2753,1707,-10.93,0.08,293.38
$IRIDIUM_FIX,6235.17,-837.93,070898,191946
$TT8_MAMPS,0.029146
$HUMID,1827
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.60
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,475.2,19.0
$24V_AH,23.1,62.480
$10V_AH,10.1,35.616
$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,27.150,84.050,362.825,0.000,0.000,25.048,26.521,141.136,6.750,0.000,0.000,15.488,911.209,7665.143,431.891,1150.010,407.212,33.352,1031.873,0.000,1119.497,0.000,33.253,0.000
$DEVICE_MAMPS,162.604,89.739,1059.227,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,351.401,351.451,338.481,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25340,488
$CAP_FILE_SIZE,74364,0
$CFSIZE,260165632,234815488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140509,005236,6303.122,-939.436,28,1.5,28,-10.1