version: 66.04
glider: 103
mission: 11
dive: 18
start: 2 25 109 13 33 0
data:
$ID,103
$MISSION,11
$DIVE,18
$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,-143311.38
$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,14
$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
$GPS1,132707,6117.096,-914.864,69,0.9,69,-9.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-54.7
$GPS2,133208,6117.081,-914.757,13,0.9,13,-9.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,AW
$TGT_LATLONG,6130.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.045,0.258
$KALMAN_X,-3566.5,-616.0,-142.9,17307.8,4952.9
$KALMAN_Y,-38983.2,483.7,102.6,49207.6,-12258.2
$MHEAD_RNG_PITCHd_Wd,359.4,27457,-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,16,-1.70,-146.6,0.0,0.0,0,73,0.00,0.00,-53.50,0.000,6,0.000,0.000,51,2741,3500
$GC,77,-1.70,-146.6,6.0,-9.4,3,98,11.50,2.65,0.00,0.000,4,0.163,0.062,2066,1332,3500
$GC,324,-1.70,-146.6,55.8,-13.7,14,329,0.00,2.70,0.00,0.000,6,0.000,0.074,2067,2753,3500
$GC,651,-1.70,-146.6,96.4,-13.4,30,655,0.00,2.67,0.00,0.000,4,0.000,0.071,2066,1324,3500
$GC,691,-1.70,-146.6,102.0,-14.6,32,695,0.00,2.70,0.00,0.000,6,0.000,0.074,2066,2749,3500
$GC,1018,-1.70,-146.6,148.0,-13.8,48,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2749,3500
$GC,1326,-1.70,-146.6,187.7,-12.7,63,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2749,3500
$GC,1636,-1.70,-146.6,227.9,-13.1,78,1639,0.00,2.00,0.00,0.000,4,0.000,0.094,2066,3783,3500
$GC,1669,-1.70,-146.6,232.5,-13.5,79,1673,0.00,1.90,0.00,0.000,6,0.000,0.059,2067,2737,3500
$GC,1990,-1.70,-146.6,274.5,-12.8,95,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2737,3500
$GC,2300,-1.70,-146.6,313.5,-12.7,110,2304,0.00,2.58,0.00,0.000,4,0.000,0.066,2067,1329,3500
$GC,2339,-1.70,-146.6,318.5,-12.8,112,2344,0.00,2.70,0.00,0.000,6,0.000,0.074,2066,2759,3499
$GC,2666,-1.70,-146.6,357.4,-11.5,128,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2759,3500
$GC,2976,-1.70,-146.6,393.3,-12.0,143,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2758,3500
$GC,3285,-1.70,-146.6,430.1,-12.1,158,3286,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2759,3499
$STATE,3592,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3592,begin apogee
$GC,3601,-0.42,0.0,469.0,13.1,173,3726,1.42,0.00,120.72,1.018,6,0.101,0.000,2347,1703,2902
$STATE,3726,end apogee,CONTROL_FINISHED_OK
$STATE,3727,begin climb
$GC,3730,1.70,146.6,475.1,0.0,179,3858,2.12,2.67,119.50,0.998,4,0.056,0.061,2810,290,2304
$GC,4113,1.76,195.0,463.6,7.8,196,4160,0.00,2.50,41.10,0.972,6,0.000,0.035,2810,1731,2106
$GC,4473,1.80,233.9,434.4,8.2,213,4515,0.10,2.75,33.10,0.957,4,0.051,0.058,2842,296,1948
$GC,4764,1.80,233.9,402.1,10.6,226,4768,0.00,2.42,0.00,0.000,6,0.000,0.034,2842,1701,1948
$GC,5096,1.80,233.9,368.5,10.6,242,5101,0.00,2.60,0.00,0.000,4,0.000,0.058,2842,289,1948
$GC,5165,1.80,233.9,360.7,11.8,245,5169,0.00,2.45,0.00,0.000,6,0.000,0.035,2842,1696,1948
$GC,5487,1.80,235.3,327.2,9.9,261,5491,0.00,2.53,0.00,0.000,4,0.000,0.052,2842,3107,1948
$GC,5520,1.81,236.7,323.5,9.9,262,5530,0.00,2.53,4.30,0.676,6,0.000,0.044,2842,1692,1935
$GC,5858,1.81,236.7,287.9,11.0,279,5863,0.00,2.55,0.00,0.000,4,0.000,0.060,2842,295,1935
$GC,5966,1.81,236.7,275.0,11.7,284,5970,0.00,2.45,0.00,0.000,6,0.000,0.035,2842,1708,1936
$GC,6292,1.81,236.7,238.8,11.2,300,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1708,1935
$GC,6602,1.81,236.7,203.1,11.4,315,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1708,1935
$GC,6911,1.81,236.7,164.9,12.7,330,6915,0.00,2.60,0.00,0.000,4,0.000,0.058,2842,289,1936
$GC,6966,1.81,236.7,157.0,14.6,332,6972,0.00,2.45,0.00,0.000,6,0.000,0.035,2842,1699,1936
$GC,7284,1.81,236.7,118.0,12.3,348,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1699,1935
$GC,7592,1.81,236.7,85.2,10.5,363,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1699,1936
$GC,7901,1.81,236.7,50.2,13.7,378,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1701,1935
$GC,8211,1.83,258.8,18.3,9.0,393,8236,0.00,2.67,18.12,0.733,4,0.000,0.055,2842,289,1847
$GC,8293,1.85,270.4,9.2,9.5,396,8309,0.00,2.45,10.88,0.698,6,0.000,0.035,2842,1713,1799
$STATE,8356,end climb,SURFACE_DEPTH_REACHED
$STATE,8356,begin surface coast
$FINISH,0.3,1.022328
$STATE,8377,end surface coast,CONTROL_FINISHED_OK
$STATE,8377,begin surface
$SM_CCo,8403,19.25,0.716,0,0,1678,300.00
$SM_GC,0.90,0.00,0.00,19.25,0.000,0.000,0.716,55,2733,1678,-10.97,-0.48,300.00
$IRIDIUM_FIX,6054.92,-917.44,220598,111143
$TT8_MAMPS,0.029146
$HUMID,1757
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.1,53.2
$24V_AH,23.5,12.671
$10V_AH,10.1,5.554
$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,27.650,59.500,347.725,19.250,0.000,27.993,42.152,131.567,3.250,0.000,0.000,13.207,769.917,6182.290,408.874,1003.840,370.509,33.350,934.398,0.000,981.020,0.000,23.694,0.000
$DEVICE_MAMPS,163.371,93.574,1017.809,715.611,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,283.585,290.166,293.201,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19086,401
$CAP_FILE_SIZE,63469,0
$CFSIZE,260165632,256647168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250209,155434,6117.966,-916.197,11,2.6,30,-9.3