version: 66.04
glider: 103
mission: 11
dive: 19
start: 2 25 109 15 59 54
data:
$ID,103
$MISSION,11
$DIVE,19
$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,-143325.39
$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,22
$R_STBD_OVSHOOT,16
$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
$GPS1,155434,6117.966,-916.197,11,2.6,30,-9.3
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-55.4
$GPS2,155902,6117.934,-916.252,13,1.6,13,-9.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,AW
$TGT_LATLONG,6130.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.130,0.227
$KALMAN_X,-4681.2,-347.2,-415.3,17103.4,3040.0
$KALMAN_Y,-41864.6,479.8,553.9,53209.3,-14727.9
$MHEAD_RNG_PITCHd_Wd,39.1,25436,-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,-146.6,0.0,0.0,0,72,0.00,0.00,-54.03,0.000,6,0.000,0.000,55,2735,3500
$GC,75,-1.70,-146.6,2.7,-4.9,2,96,11.55,2.58,0.00,0.000,4,0.166,0.061,2064,1339,3501
$GC,332,-1.70,-146.6,49.9,-15.2,13,336,0.00,2.70,0.00,0.000,6,0.000,0.077,2064,2753,3501
$GC,649,-1.70,-146.6,88.2,-11.8,28,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2753,3501
$GC,957,-1.70,-146.6,129.3,-13.3,43,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2753,3500
$GC,1266,-1.70,-146.6,168.7,-12.5,58,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2753,3500
$GC,1575,-1.70,-146.6,208.1,-13.1,73,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2753,3500
$GC,1884,-1.70,-146.6,248.9,-13.1,88,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2753,3500
$GC,2194,-1.70,-146.6,288.7,-12.5,103,2198,0.00,1.98,0.00,0.000,4,0.000,0.091,2064,3789,3501
$GC,2227,-1.70,-146.6,293.1,-12.8,104,2231,0.00,1.88,0.00,0.000,6,0.000,0.055,2064,2745,3501
$GC,2548,-1.70,-146.6,332.4,-12.1,120,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2745,3500
$GC,2858,-1.70,-146.6,368.5,-12.2,135,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2745,3500
$GC,3167,-1.70,-146.6,408.9,-12.3,150,3168,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2745,3500
$GC,3476,-1.70,-146.6,447.7,-12.8,165,3481,0.00,2.58,0.00,0.000,4,0.000,0.065,2064,1331,3500
$GC,3499,-1.70,-146.6,450.9,-13.5,166,3503,0.00,2.67,0.00,0.000,6,0.000,0.072,2064,2755,3500
$STATE,3817,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3817,begin apogee
$GC,3827,-0.42,0.0,491.3,12.4,182,3951,1.45,0.00,120.65,1.027,6,0.110,0.000,2345,1697,2902
$STATE,3952,end apogee,CONTROL_FINISHED_OK
$STATE,3952,begin climb
$GC,3955,1.70,146.6,497.2,0.0,188,4084,2.15,2.65,120.07,1.006,4,0.060,0.061,2812,290,2303
$GC,4109,1.82,247.1,497.6,5.4,195,4203,0.10,2.53,83.00,0.984,6,0.054,0.033,2841,1749,1894
$GC,4511,1.82,247.1,454.4,12.0,215,4515,0.00,2.38,0.00,0.000,4,0.000,0.050,2841,3084,1894
$GC,4557,1.82,247.1,448.6,12.6,217,4562,0.00,2.50,0.00,0.000,6,0.000,0.042,2841,1682,1894
$GC,4883,1.82,247.1,408.5,12.4,233,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1682,1894
$GC,5193,1.82,247.1,371.5,12.0,248,5197,0.00,2.53,0.00,0.000,4,0.000,0.051,2841,3090,1894
$GC,5232,1.82,247.1,366.8,11.4,250,5237,0.00,2.47,0.00,0.000,6,0.000,0.044,2841,1703,1894
$GC,5560,1.82,247.1,331.8,10.8,266,5564,0.00,2.60,0.00,0.000,4,0.000,0.062,2841,289,1894
$GC,5622,1.82,247.1,324.7,11.5,269,5626,0.00,2.42,0.00,0.000,6,0.000,0.035,2841,1681,1894
$GC,5955,1.83,255.7,295.7,9.6,285,5965,0.00,0.00,8.77,0.823,6,0.000,0.000,2841,1682,1859
$GC,6264,1.83,255.7,263.9,10.6,300,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1682,1859
$GC,6573,1.83,255.7,227.2,12.4,315,6574,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1682,1859
$GC,6882,1.83,255.7,191.4,11.8,330,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1682,1859
$GC,7191,1.83,255.7,155.4,11.8,345,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1682,1859
$GC,7501,1.83,255.7,117.5,12.0,360,7506,0.00,2.55,0.00,0.000,4,0.000,0.059,2841,292,1859
$GC,7547,1.83,255.7,112.0,11.1,362,7552,0.00,2.45,0.00,0.000,6,0.000,0.036,2841,1701,1858
$GC,7869,1.83,255.7,74.2,10.8,378,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1703,1859
$GC,8180,1.83,255.7,34.6,12.6,393,8184,0.00,2.58,0.00,0.000,4,0.000,0.059,2841,295,1859
$GC,8320,1.84,262.2,17.4,9.7,399,8332,0.00,2.42,6.80,0.668,6,0.000,0.033,2841,1724,1832
$STATE,8454,end climb,SURFACE_DEPTH_REACHED
$STATE,8454,begin surface coast
$FINISH,0.2,1.027443
$STATE,8474,end surface coast,CONTROL_FINISHED_OK
$STATE,8474,begin surface
$SM_CCo,8501,27.27,0.723,0,0,1679,300.00
$SM_GC,0.66,0.00,0.00,27.27,0.000,0.000,0.723,48,2725,1679,-11.00,-0.71,300.00
$IRIDIUM_FIX,6059.36,-641.28,220598,131340
$TT8_MAMPS,0.029146
$HUMID,1764
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.2,49.6
$24V_AH,23.4,12.782
$10V_AH,10.1,5.598
$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,27.775,48.375,339.300,27.275,0.000,28.217,31.736,107.425,3.500,0.000,0.000,13.390,752.144,6423.915,410.469,892.337,328.934,33.344,880.411,0.000,872.228,0.000,25.305,0.000
$DEVICE_MAMPS,165.672,90.506,1027.013,722.514,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,283.473,297.968,288.078,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19133,407
$CAP_FILE_SIZE,58749,0
$CFSIZE,260165632,256618496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250209,182338,6119.479,-915.971,55,2.0,55,-9.3