version: 66.04
glider: 103
mission: 11
dive: 4
start: 2 23 109 20 8 44
data:
$ID,103
$MISSION,11
$DIVE,4
$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,330
$T_MISSION,350
$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,300
$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,-143047.16
$T_RSLEEP,2
$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,2300
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$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,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
$GPS1,200132,6109.998,-926.391,34,1.5,35,-9.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-49.3
$GPS2,200650,6109.964,-926.336,13,1.2,13,-9.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.172,0.197
$KALMAN_X,408.0,546.9,0.5,1678.7,497.2
$KALMAN_Y,-1770.8,-2522.3,-610.7,2567.0,-368.9
$MHEAD_RNG_PITCHd_Wd,50.4,29881,-18.2,-10.000
$D_GRID,618
$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,16,-1.70,-146.6,0.0,0.0,0,99,0.00,0.00,-81.12,0.000,2,0.000,0.000,49,2302,3198
$GC,102,-1.70,-146.6,3.5,-4.2,4,126,11.57,2.70,-5.22,0.000,4,0.163,0.081,2064,884,3502
$GC,379,-1.70,-146.6,47.0,-12.7,16,383,0.00,2.58,0.00,0.000,6,0.000,0.058,2064,2298,3502
$GC,700,-1.70,-146.6,90.1,-13.6,32,704,0.00,2.70,0.00,0.000,4,0.000,0.083,2064,3714,3502
$GC,807,-1.70,-146.6,104.2,-12.8,37,812,0.00,2.55,0.00,0.000,6,0.000,0.051,2064,2292,3502
$GC,1135,-1.70,-146.6,144.9,-12.3,53,1139,0.00,2.70,0.00,0.000,4,0.000,0.081,2064,3708,3502
$GC,1336,-1.70,-146.6,171.3,-13.1,62,1340,0.00,2.53,0.00,0.000,6,0.000,0.053,2064,2298,3502
$GC,1657,-1.70,-146.6,211.9,-12.9,78,1661,0.00,2.70,0.00,0.000,4,0.000,0.084,2064,3711,3502
$GC,1836,-1.70,-146.6,236.6,-14.3,86,1840,0.00,2.53,0.00,0.000,6,0.000,0.053,2064,2302,3502
$GC,2159,-1.70,-146.6,277.3,-12.5,102,2164,0.00,2.67,0.00,0.000,4,0.000,0.084,2064,3708,3502
$GC,2356,-1.70,-146.6,304.0,-13.1,111,2361,0.00,2.53,0.00,0.000,6,0.000,0.054,2064,2297,3502
$GC,2683,-1.70,-146.6,345.8,-12.3,127,2688,0.00,2.70,0.00,0.000,4,0.000,0.084,2064,3711,3502
$GC,2854,-1.70,-146.6,367.6,-12.7,134,2860,0.00,2.53,0.00,0.000,6,0.000,0.054,2064,2302,3502
$GC,3169,-1.70,-146.6,408.1,-12.8,150,3174,0.00,2.70,0.00,0.000,4,0.000,0.087,2064,3714,3502
$GC,3329,-1.70,-146.6,429.7,-13.6,157,3333,0.00,2.55,0.00,0.000,6,0.000,0.056,2064,2290,3504
$GC,3649,-1.70,-146.6,472.8,-13.3,173,3654,0.00,2.72,0.00,0.000,4,0.000,0.089,2064,3712,3504
$GC,3814,-1.70,-146.6,494.2,-13.4,180,3818,0.00,2.55,0.00,0.000,6,0.000,0.055,2064,2292,3504
$GC,4130,-1.70,-146.6,533.9,-12.4,195,4134,0.00,2.72,0.00,0.000,4,0.000,0.092,2064,3708,3504
$GC,4315,-1.70,-146.6,556.5,-11.8,203,4320,0.00,2.53,0.00,0.000,6,0.000,0.055,2064,2299,3504
$GC,4631,-1.70,-146.6,593.1,-11.5,218,4636,0.00,2.70,0.00,0.000,4,0.000,0.088,2065,3708,3504
$GC,4743,-1.70,-146.6,606.9,-12.3,223,4747,0.00,2.53,0.00,0.000,6,0.000,0.054,2064,2290,3504
$STATE,4813,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4814,begin apogee
$GC,4821,-0.42,0.0,615.8,12.3,227,4948,1.42,0.00,122.53,1.117,6,0.102,0.000,2345,2244,2902
$STATE,4948,end apogee,CONTROL_FINISHED_OK
$STATE,4948,begin climb
$GC,4952,1.70,146.6,621.3,0.0,233,5083,2.15,2.60,121.25,1.098,4,0.059,0.051,2811,827,2304
$GC,5111,1.84,267.9,620.8,4.4,240,5221,0.15,2.50,100.53,1.078,6,0.044,0.031,2851,2271,1809
$GC,5530,1.84,267.9,574.8,11.9,261,5534,0.00,2.60,0.00,0.000,4,0.000,0.054,2851,836,1809
$GC,5788,1.84,267.9,541.7,13.4,272,5794,0.00,2.45,0.00,0.000,6,0.000,0.036,2851,2242,1809
$GC,6103,1.84,267.9,501.5,12.4,288,6108,0.00,2.58,0.00,0.000,4,0.000,0.054,2851,827,1809
$GC,6361,1.84,267.9,468.7,12.9,299,6367,0.00,2.50,0.00,0.000,6,0.000,0.038,2851,2250,1809
$GC,6676,1.84,267.9,428.5,13.2,315,6681,0.00,2.58,0.00,0.000,4,0.000,0.055,2851,829,1809
$GC,6935,1.84,267.9,392.9,14.4,326,6941,0.00,2.50,0.00,0.000,6,0.000,0.039,2851,2250,1809
$GC,7250,1.84,267.9,351.8,12.8,342,7255,0.00,2.58,0.00,0.000,4,0.000,0.056,2851,830,1809
$GC,7508,1.84,267.9,318.8,12.6,353,7514,0.00,2.50,0.00,0.000,6,0.000,0.040,2851,2249,1809
$GC,7824,1.84,267.9,280.3,12.6,369,7828,0.00,2.55,0.00,0.000,4,0.000,0.058,2851,835,1809
$GC,8081,1.84,267.9,246.2,13.1,380,8088,0.00,2.47,0.00,0.000,6,0.000,0.041,2851,2250,1809
$GC,8397,1.84,267.9,206.2,12.8,396,8402,0.00,2.58,0.00,0.000,4,0.000,0.058,2851,828,1809
$GC,8656,1.84,267.9,171.7,13.5,407,8662,0.00,2.50,0.00,0.000,6,0.000,0.041,2851,2249,1809
$GC,8972,1.84,267.9,132.2,12.4,423,8976,0.00,2.55,0.00,0.000,4,0.000,0.058,2851,836,1809
$GC,9229,1.84,267.9,97.4,14.1,434,9235,0.00,2.47,0.00,0.000,6,0.000,0.041,2851,2250,1809
$GC,9546,1.84,267.9,55.2,13.4,450,9551,0.00,2.55,0.00,0.000,4,0.000,0.058,2851,835,1809
$GC,9804,1.84,267.9,21.0,12.1,461,9811,0.00,2.47,0.00,0.000,6,0.000,0.039,2851,2253,1809
$STATE,9994,end climb,SURFACE_DEPTH_REACHED
$STATE,9994,begin surface coast
$FINISH,0.4,1.003214
$STATE,10016,end surface coast,CONTROL_FINISHED_OK
$STATE,10016,begin surface
$SM_CCo,10040,20.50,0.724,0,0,1678,300.00
$SM_GC,1.26,0.00,0.00,20.50,0.000,0.000,0.724,44,2295,1678,-11.02,-0.14,300.00
$IRIDIUM_FIX,6046.07,-929.21,200598,181800
$TT8_MAMPS,0.027612
$HUMID,1753
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,17.9,16.4
$ALTIM_BOTTOM_PING,576.4,47.6
$24V_AH,23.4,10.958
$10V_AH,10.1,4.790
$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,27.625,98.075,344.300,20.500,0.000,29.307,25.357,144.426,5.750,0.000,0.000,13.767,1007.009,6847.956,467.293,1643.471,489.657,32.328,1269.397,0.000,1597.010,0.000,35.017,0.000
$DEVICE_MAMPS,163.371,118.118,1116.752,724.048,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,332.950,333.605,311.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22323,472
$CAP_FILE_SIZE,88334,0
$CFSIZE,260165632,257167360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,230209,225737,6108.835,-924.057,31,1.2,31,-9.3