version: 66.04
glider: 103
mission: 11
dive: 7
start: 2 24 109 4 43 25
data:
$ID,103
$MISSION,11
$DIVE,7
$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,-143088.48
$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,2600
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,12
$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,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
$GPS1,043707,6107.798,-925.488,30,1.2,30,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-61.0
$GPS2,044132,6107.764,-925.559,15,1.5,15,-9.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.040,0.259
$KALMAN_X,-695.9,-376.5,-167.9,4580.9,-894.0
$KALMAN_Y,-16854.9,353.4,-42.8,10109.7,-3247.1
$MHEAD_RNG_PITCHd_Wd,18.1,32080,-18.2,-10.000
$D_GRID,539
$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,-1.70,-146.6,0.0,0.0,0,59,0.00,0.00,-41.60,0.000,2,0.000,0.000,47,2448,3019
$GC,63,-1.70,-146.6,3.0,-7.5,2,89,11.48,2.38,-9.30,0.000,4,0.161,0.086,2063,1181,3502
$GC,274,-1.70,-146.6,34.7,-12.9,11,281,0.00,2.65,0.00,0.000,6,0.000,0.073,2063,2599,3502
$GC,592,-1.70,-146.6,74.2,-12.5,27,596,0.00,2.30,0.00,0.000,4,0.000,0.091,2063,3786,3502
$GC,677,-1.70,-146.6,85.0,-12.3,31,681,0.00,2.12,0.00,0.000,6,0.000,0.055,2063,2599,3502
$GC,1010,-1.70,-146.6,125.6,-12.3,47,1014,0.00,2.30,0.00,0.000,4,0.000,0.088,2063,3782,3501
$GC,1089,-1.70,-146.6,136.0,-12.4,50,1095,0.00,2.15,0.00,0.000,6,0.000,0.058,2063,2606,3501
$GC,1405,-1.70,-146.6,175.5,-12.4,66,1410,0.00,2.30,0.00,0.000,4,0.000,0.090,2063,3786,3501
$GC,1473,-1.70,-146.6,184.2,-12.2,69,1476,0.00,2.12,0.00,0.000,6,0.000,0.053,2063,2599,3501
$GC,1800,-1.70,-146.6,223.5,-12.1,85,1804,0.00,2.30,0.00,0.000,4,0.000,0.090,2063,3783,3501
$GC,1867,-1.70,-146.6,232.1,-12.5,88,1871,0.00,2.12,0.00,0.000,6,0.000,0.054,2063,2598,3501
$GC,2194,-1.70,-146.6,271.4,-12.1,104,2198,0.00,2.30,0.00,0.000,4,0.000,0.090,2063,3782,3501
$GC,2262,-1.70,-146.6,279.8,-12.4,107,2266,0.00,2.12,0.00,0.000,6,0.000,0.054,2063,2594,3501
$GC,2589,-1.70,-146.6,319.0,-11.9,123,2593,0.00,2.28,0.00,0.000,4,0.000,0.087,2063,3782,3501
$GC,2656,-1.70,-146.6,327.4,-12.8,126,2660,0.00,2.12,0.00,0.000,6,0.000,0.055,2063,2598,3501
$GC,2983,-1.70,-146.6,365.2,-11.5,142,2987,0.00,2.28,0.00,0.000,4,0.000,0.088,2063,3782,3501
$GC,3046,-1.70,-146.6,372.4,-11.3,145,3050,0.00,2.12,0.00,0.000,6,0.000,0.054,2063,2592,3501
$GC,3379,-1.70,-146.6,410.8,-11.5,161,3383,0.00,2.28,0.00,0.000,4,0.000,0.087,2063,3782,3501
$GC,3428,-1.70,-146.6,416.7,-11.8,163,3432,0.00,2.10,0.00,0.000,6,0.000,0.053,2063,2601,3501
$GC,3750,-1.70,-146.6,453.7,-11.5,179,3754,0.00,2.28,0.00,0.000,4,0.000,0.087,2063,3788,3501
$GC,3822,-1.70,-146.6,462.4,-12.1,182,3826,0.00,2.12,0.00,0.000,6,0.000,0.050,2063,2591,3501
$GC,4143,-1.70,-146.6,499.5,-11.7,198,4148,0.00,2.28,0.00,0.000,4,0.000,0.086,2063,3786,3501
$GC,4199,-1.70,-146.6,506.4,-12.6,200,4203,0.00,2.10,0.00,0.000,6,0.000,0.048,2063,2596,3501
$STATE,4497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4497,begin apogee
$GC,4505,-0.42,0.0,541.4,11.4,215,4630,1.45,0.00,120.95,1.072,6,0.110,0.000,2344,1953,2902
$STATE,4631,end apogee,CONTROL_FINISHED_OK
$STATE,4631,begin climb
$GC,4634,1.70,146.6,546.1,0.0,221,4762,2.12,2.65,119.43,1.052,4,0.058,0.056,2807,531,2304
$GC,5020,1.77,210.0,530.6,7.1,238,5080,0.00,2.50,53.25,1.013,6,0.000,0.031,2807,1987,2045
$GC,5399,1.79,223.1,496.0,9.4,257,5421,0.10,2.72,12.23,0.929,4,0.051,0.057,2839,536,1992
$GC,5557,1.79,223.1,478.5,11.1,264,5562,0.00,2.42,0.00,0.000,6,0.000,0.034,2838,1935,1992
$GC,5884,1.79,223.1,443.3,10.8,280,5889,0.00,2.55,0.00,0.000,4,0.000,0.057,2839,534,1992
$GC,6019,1.79,223.1,427.9,11.0,286,6023,0.00,2.47,0.00,0.000,6,0.000,0.034,2839,1957,1992
$GC,6339,1.79,223.1,391.3,11.2,302,6344,0.00,2.58,0.00,0.000,4,0.000,0.056,2839,535,1992
$GC,6485,1.79,223.1,373.9,11.6,308,6491,0.00,2.45,0.00,0.000,6,0.000,0.035,2839,1950,1992
$GC,6800,1.79,223.1,338.9,11.6,324,6805,0.00,2.58,0.00,0.000,4,0.000,0.057,2839,529,1992
$GC,6957,1.79,223.1,319.6,12.0,331,6962,0.00,2.47,0.00,0.000,6,0.000,0.035,2838,1952,1992
$GC,7279,1.79,223.1,283.7,11.0,347,7283,0.00,2.58,0.00,0.000,4,0.000,0.058,2839,534,1992
$GC,7418,1.79,223.1,267.5,11.6,353,7423,0.00,2.47,0.00,0.000,6,0.000,0.036,2838,1954,1992
$GC,7734,1.79,223.1,233.8,10.6,368,7738,0.00,2.58,0.00,0.000,4,0.000,0.058,2839,535,1992
$GC,7874,1.79,223.1,218.4,10.8,374,7878,0.00,2.47,0.00,0.000,6,0.000,0.037,2839,1956,1992
$GC,8190,1.80,228.3,186.8,9.8,389,8201,0.00,2.60,5.93,0.716,4,0.000,0.057,2839,532,1971
$GC,8356,1.80,228.3,169.9,10.0,396,8360,0.00,2.47,0.00,0.000,6,0.000,0.037,2839,1951,1971
$GC,8673,1.82,251.2,140.5,8.9,411,8698,0.00,2.65,19.60,0.800,4,0.000,0.058,2838,539,1877
$GC,8794,1.82,251.2,127.3,11.1,416,8798,0.00,2.47,0.00,0.000,6,0.000,0.037,2838,1951,1877
$GC,9110,1.82,251.2,91.6,11.6,431,9115,0.00,2.58,0.00,0.000,4,0.000,0.060,2839,535,1877
$GC,9234,1.82,251.2,75.8,12.5,436,9240,0.00,2.47,0.00,0.000,6,0.000,0.038,2839,1956,1877
$GC,9550,1.82,251.2,37.6,12.1,452,9554,0.00,2.60,0.00,0.000,4,0.000,0.060,2839,530,1877
$GC,9702,1.82,251.2,18.9,11.5,459,9707,0.00,2.47,0.00,0.000,6,0.000,0.036,2838,1955,1877
$STATE,9862,end climb,SURFACE_DEPTH_REACHED
$STATE,9862,begin surface coast
$FINISH,0.4,1.020412
$STATE,9884,end surface coast,CONTROL_FINISHED_OK
$STATE,9884,begin surface
$SM_CCo,9909,31.45,0.726,0,0,1679,300.00
$SM_GC,1.51,0.00,0.00,31.45,0.000,0.000,0.726,53,2602,1679,-10.98,0.06,300.00
$IRIDIUM_FIX,6041.65,-923.35,210598,020257
$TT8_MAMPS,0.029146
$HUMID,1745
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,527.1,80.0
$24V_AH,23.4,11.299
$10V_AH,10.1,4.960
$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,27.550,107.400,331.375,31.450,0.000,22.592,31.901,105.611,4.750,0.000,0.000,15.320,963.673,7079.357,428.608,1398.438,405.521,33.336,1141.046,0.000,1357.214,0.000,30.249,0.000
$DEVICE_MAMPS,161.070,92.040,1072.266,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,330.015,337.324,322.177,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22200,468
$CAP_FILE_SIZE,84419,0
$CFSIZE,260165632,257048576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,240209,073024,6108.679,-926.148,38,1.3,38,-9.3