version: 66.04
glider: 103
mission: 11
dive: 2
start: 2 23 109 16 30 56
data:
$ID,103
$MISSION,11
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,200
$USE_BATHY,-3
$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,1
$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,571
$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,-142920.11
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,55
$PITCH_MAX,3362
$C_PITCH,2400
$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,2200
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,400
$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,20
$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,0
$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
$GPS1,162501,6110.820,-929.181,13,1.9,30,-9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-47.1
$GPS2,162907,6110.783,-929.153,13,1.9,13,-9.4
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.123,0.231
$KALMAN_X,-17.6,-17.6,-17.6,182.7,-71.3
$KALMAN_Y,-234.8,-234.8,-234.8,-110.5,-952.8
$MHEAD_RNG_PITCHd_Wd,37.3,31020,-18.2,-10.000
$D_GRID,696
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.70,-146.6,0.0,0.0,0,110,0.00,0.00,-93.47,0.000,6,0.000,0.000,51,2198,3500
$GC,114,-1.70,-146.6,2.5,-2.3,4,135,11.38,2.62,0.00,0.000,4,0.167,0.064,2022,773,3500
$GC,387,-1.70,-146.6,52.5,-17.4,16,392,0.00,2.58,0.00,0.000,6,0.000,0.053,2022,2207,3500
$GC,709,-1.70,-146.6,97.1,-12.7,32,713,0.00,2.65,0.00,0.000,4,0.000,0.080,2022,3611,3500
$GC,820,-1.70,-146.6,113.2,-14.7,37,825,0.00,2.55,0.00,0.000,6,0.000,0.052,2022,2197,3500
$GC,1141,-1.70,-146.6,159.7,-15.0,53,1146,0.00,2.67,0.00,0.000,4,0.000,0.078,2022,3614,3499
$GC,1377,-1.70,-146.6,196.6,-15.8,63,1383,0.00,2.55,0.00,0.000,6,0.000,0.052,2022,2199,3499
$GC,1693,-1.70,-146.6,244.0,-14.7,79,1697,0.00,2.65,0.00,0.000,4,0.000,0.078,2022,3607,3500
$GC,1939,-1.70,-146.6,281.8,-15.0,90,1943,0.00,2.53,0.00,0.000,6,0.000,0.051,2023,2199,3499
$STATE,2072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2072,begin apogee
$GC,2080,-0.42,0.0,301.6,14.8,97,2201,1.42,0.00,117.10,0.935,6,0.100,0.000,2305,2348,2902
$STATE,2201,end apogee,CONTROL_FINISHED_OK
$STATE,2201,begin climb
$GC,2205,1.70,146.6,308.9,0.0,103,2330,2.17,2.65,116.85,0.907,4,0.071,0.052,2767,931,2304
$GC,2557,1.83,253.2,301.1,5.1,119,2649,0.15,2.50,85.95,0.884,6,0.041,0.035,2812,2368,1868
$GC,2971,1.84,262.0,264.4,9.6,139,2985,0.00,2.62,8.90,0.782,4,0.000,0.064,2812,931,1834
$GC,3241,1.84,262.0,236.4,10.4,151,3245,0.00,2.50,0.00,0.000,6,0.000,0.038,2812,2349,1834
$GC,3567,1.84,262.0,203.2,10.0,167,3572,0.00,2.58,0.00,0.000,4,0.000,0.054,2813,928,1834
$GC,3825,1.84,262.0,175.3,11.3,178,3831,0.00,2.50,0.00,0.000,6,0.000,0.040,2812,2354,1834
$GC,4141,1.84,262.0,143.0,10.2,194,4146,0.00,2.55,0.00,0.000,4,0.000,0.054,2813,931,1834
$GC,4399,1.84,262.0,115.4,10.4,205,4406,0.00,2.47,0.00,0.000,6,0.000,0.041,2812,2353,1834
$GC,4716,1.84,262.0,82.3,10.4,221,4720,0.00,2.55,0.00,0.000,4,0.000,0.055,2813,931,1834
$GC,4973,1.84,262.0,55.4,10.7,232,4979,0.00,2.47,0.00,0.000,6,0.000,0.041,2812,2356,1834
$GC,5289,1.84,262.0,21.7,11.6,248,5293,0.00,2.58,0.00,0.000,4,0.000,0.053,2812,923,1834
$STATE,5446,end climb,SURFACE_DEPTH_REACHED
$STATE,5446,begin surface coast
$FINISH,0.4,1.027418
$STATE,5466,end surface coast,CONTROL_FINISHED_OK
$STATE,5466,begin surface
$SM_CCo,5492,199.43,0.718,0,0,574,571.06
$SM_GC,0.86,0.00,0.00,199.43,0.000,0.000,0.718,41,2200,574,-10.85,0.00,571.06
$IRIDIUM_FIX,6046.07,-929.21,200598,161602
$TT8_MAMPS,0.028379
$HUMID,1717
$INTERNAL_PRESSURE,8.49642
$TCM_TEMP,19.00
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.5,18.8
$24V_AH,23.5,10.685
$10V_AH,10.1,4.682
$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,27.200,51.475,328.800,199.425,0.000,0.000,0.000,0.000,4.750,0.000,0.000,13.930,575.029,3508.234,606.589,983.563,151.188,30.181,1099.323,0.000,959.459,0.000,13.968,0.000
$DEVICE_MAMPS,167.206,79.768,934.973,717.912,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,181.758,177.643,245.472,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12781,256
$CAP_FILE_SIZE,66387,0
$CFSIZE,260165632,257257472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
$GPS,230209,180706,6110.323,-928.016,38,2.0,39,-9.3