version: 66.04
glider: 103
mission: 11
dive: 20
start: 2 25 109 18 29 10
data:
$ID,103
$MISSION,11
$DIVE,20
$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,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,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,-143357.77
$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,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,10
$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
$GPS1,182338,6119.479,-915.971,55,2.0,55,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-55.8
$GPS2,182819,6119.478,-916.008,20,1.0,31,-9.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,AW
$TGT_LATLONG,6130.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.079,0.250
$KALMAN_X,-7992.2,-30.7,-480.5,20381.4,-1854.6
$KALMAN_Y,-42401.0,487.5,1127.0,56011.3,-13919.8
$MHEAD_RNG_PITCHd_Wd,351.6,23079,-18.2,-10.000
$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,-1.70,-146.6,0.0,0.0,0,72,0.00,0.00,-54.58,0.000,6,0.000,0.000,49,2727,3501
$GC,76,-1.70,-146.6,2.6,-5.7,2,92,11.52,2.58,0.00,0.000,4,0.164,0.062,2062,1332,3501
$GC,126,-1.70,-146.6,19.6,-10.9,5,130,0.00,2.67,0.00,0.000,6,0.000,0.069,2062,2760,3501
$GC,447,-1.70,-146.6,69.6,-15.2,21,450,0.00,1.98,0.00,0.000,4,0.000,0.088,2062,3790,3501
$GC,508,-1.70,-146.6,78.8,-14.6,23,514,0.00,1.90,0.00,0.000,6,0.000,0.049,2062,2743,3501
$GC,824,-1.70,-146.6,124.1,-15.7,39,826,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2743,3501
$GC,1133,-1.70,-146.6,170.4,-14.3,54,1137,0.00,2.03,0.00,0.000,4,0.000,0.085,2062,3793,3501
$GC,1172,-1.70,-146.6,176.4,-15.5,55,1179,0.00,1.90,0.00,0.000,6,0.000,0.052,2062,2748,3501
$GC,1489,-1.70,-146.6,217.4,-12.5,71,1493,0.00,2.60,0.00,0.000,4,0.000,0.068,2062,1335,3500
$GC,1523,-1.70,-146.6,221.7,-12.2,72,1529,0.00,2.70,0.00,0.000,6,0.000,0.074,2062,2763,3501
$GC,1839,-1.70,-146.6,261.9,-12.6,88,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2763,3500
$GC,2148,-1.70,-146.6,304.0,-13.7,103,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2763,3500
$GC,2457,-1.70,-146.6,346.6,-13.6,118,2459,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2763,3500
$GC,2767,-1.70,-146.6,387.7,-13.1,133,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2763,3500
$GC,3077,-1.70,-146.6,427.5,-12.9,148,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2763,3500
$GC,3385,-1.70,-146.6,467.6,-12.8,163,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2763,3500
$STATE,3692,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3692,begin apogee
$GC,3701,-0.42,0.0,509.3,13.9,178,3827,1.45,0.00,121.50,1.036,6,0.104,0.000,2347,1694,2902
$STATE,3827,end apogee,CONTROL_FINISHED_OK
$STATE,3828,begin climb
$GC,3831,1.70,146.6,515.4,0.0,184,3959,2.12,2.65,119.53,1.018,4,0.056,0.061,2809,291,2304
$GC,4150,1.78,218.0,507.5,6.7,198,4218,0.00,2.50,59.05,1.027,6,0.000,0.033,2809,1740,2012
$GC,4532,1.81,240.6,474.5,9.0,217,4557,0.10,2.45,19.90,0.972,4,0.051,0.050,2842,3087,1921
$GC,4591,1.81,240.6,467.9,10.1,219,4597,0.00,2.47,0.00,0.000,6,0.000,0.038,2842,1697,1921
$GC,4907,1.81,240.6,432.1,11.1,235,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1697,1921
$GC,5216,1.81,240.6,394.9,11.6,250,5220,0.00,2.55,0.00,0.000,4,0.000,0.061,2842,297,1921
$GC,5278,1.81,240.6,387.6,12.1,253,5282,0.00,2.42,0.00,0.000,6,0.000,0.033,2842,1700,1921
$GC,5604,1.81,240.6,352.1,11.3,269,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1700,1921
$GC,5913,1.81,240.6,314.9,11.8,284,5917,0.00,2.50,0.00,0.000,4,0.000,0.053,2842,3099,1921
$GC,5952,1.81,240.6,310.2,12.2,285,5959,0.00,2.50,0.00,0.000,6,0.000,0.044,2842,1695,1921
$GC,6269,1.81,240.6,272.5,12.1,301,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1694,1921
$GC,6578,1.81,240.6,232.2,13.5,316,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1695,1921
$GC,6887,1.81,240.6,195.0,10.9,331,6891,0.00,2.53,0.00,0.000,4,0.000,0.052,2842,3097,1921
$GC,6927,1.81,240.6,190.6,10.7,333,6931,0.00,2.47,0.00,0.000,6,0.000,0.044,2842,1701,1921
$GC,7254,1.81,240.6,152.8,12.2,349,7258,0.00,2.58,0.00,0.000,4,0.000,0.061,2842,290,1921
$GC,7294,1.81,240.6,148.0,12.4,351,7298,0.00,2.45,0.00,0.000,6,0.000,0.035,2841,1703,1921
$GC,7621,1.81,240.6,113.7,10.1,367,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1703,1921
$GC,7930,1.81,240.6,77.4,11.9,382,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1705,1921
$GC,8239,1.81,240.6,41.4,11.3,397,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1706,1921
$GC,8548,1.81,240.6,9.6,10.7,412,8553,0.00,2.58,0.00,0.000,4,0.000,0.057,2842,289,1921
$STATE,8618,end climb,SURFACE_DEPTH_REACHED
$STATE,8618,begin surface coast
$FINISH,0.5,1.027438
$STATE,8625,end surface coast,CONTROL_FINISHED_OK
$STATE,8625,begin surface
$SM_CCo,8653,38.92,0.729,0,0,1679,300.00
$SM_GC,1.24,0.00,0.00,38.92,0.000,0.000,0.729,52,2741,1679,-10.98,-0.25,300.00
$IRIDIUM_FIX,6054.92,-927.00,220598,161657
$TT8_MAMPS,0.029146
$HUMID,1758
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,451.9,65.7
$24V_AH,23.4,12.891
$10V_AH,10.1,5.643
$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,27.525,57.550,319.975,38.925,0.000,24.656,32.529,106.370,3.500,0.000,0.000,31.747,766.509,6549.253,417.129,920.370,331.216,33.346,892.398,0.000,882.720,0.000,25.344,0.000
$DEVICE_MAMPS,164.138,88.205,1036.217,728.650,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,293.160,299.466,294.882,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19158,415
$CAP_FILE_SIZE,60357,0
$CFSIZE,260165632,256581632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250209,205527,6121.516,-917.198,24,5.0,43,-9.3