version: 66.04
glider: 103
mission: 11
dive: 21
start: 2 25 109 21 0 41
data:
$ID,103
$MISSION,11
$DIVE,21
$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,-143374.25
$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,21
$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
$GPS1,205527,6121.516,-917.198,24,5.0,43,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-55.8
$GPS2,205949,6121.501,-917.181,10,1.7,15,-9.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,AW
$TGT_LATLONG,6130.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.087,0.247
$KALMAN_X,-7764.1,-235.8,323.4,18483.5,-1789.5
$KALMAN_Y,-42072.9,937.7,903.4,59204.4,-11761.8
$MHEAD_RNG_PITCHd_Wd,350.0,19393,-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,-146.6,0.0,0.0,0,64,0.00,0.00,-46.03,0.000,2,0.000,0.000,52,2743,3204
$GC,67,-1.70,-146.6,3.8,-6.5,3,90,11.52,2.62,-5.03,0.000,4,0.166,0.081,2064,1339,3501
$GC,152,-1.70,-146.6,19.1,-10.6,6,159,0.00,2.70,0.00,0.000,6,0.000,0.077,2064,2756,3501
$GC,470,-1.70,-146.6,57.9,-12.7,22,473,0.00,1.98,0.00,0.000,4,0.000,0.091,2064,3781,3500
$GC,543,-1.70,-146.6,67.6,-13.5,25,546,0.00,1.88,0.00,0.000,6,0.000,0.059,2064,2748,3500
$GC,871,-1.70,-146.6,110.0,-13.4,41,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2748,3500
$GC,1180,-1.70,-146.6,150.0,-13.8,56,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2748,3500
$GC,1489,-1.70,-146.6,190.5,-12.9,71,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2748,3500
$GC,1798,-1.70,-146.6,229.0,-12.5,86,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2748,3500
$GC,2107,-1.70,-146.6,268.3,-12.2,101,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2748,3500
$GC,2417,-1.70,-146.6,305.7,-12.4,116,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2748,3500
$GC,2726,-1.70,-146.6,341.5,-11.1,131,2729,0.00,2.00,0.00,0.000,4,0.000,0.087,2064,3789,3500
$GC,2765,-1.70,-146.6,346.2,-11.5,132,2771,0.00,1.85,0.00,0.000,6,0.000,0.053,2064,2749,3500
$GC,3080,-1.70,-146.6,382.6,-11.5,148,3085,0.00,2.58,0.00,0.000,4,0.000,0.066,2064,1335,3500
$GC,3120,-1.70,-146.6,387.4,-12.0,150,3125,0.00,2.67,0.00,0.000,6,0.000,0.074,2064,2759,3500
$GC,3448,-1.70,-146.6,427.1,-12.3,166,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2759,3500
$GC,3757,-1.70,-146.6,463.5,-11.5,181,3761,0.00,2.60,0.00,0.000,4,0.000,0.064,2064,1338,3500
$GC,3791,-1.70,-146.6,467.6,-11.6,182,3798,0.00,2.65,0.00,0.000,6,0.000,0.072,2064,2753,3500
$GC,4107,-1.70,-146.6,505.1,-12.2,198,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2753,3500
$STATE,4373,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4373,begin apogee
$GC,4383,-0.42,0.0,539.0,12.8,211,4508,1.42,0.00,121.65,1.061,6,0.105,0.000,2343,1703,2902
$STATE,4509,end apogee,CONTROL_FINISHED_OK
$STATE,4509,begin climb
$GC,4512,1.70,146.6,545.5,0.0,217,4641,2.15,2.65,120.40,1.031,4,0.058,0.061,2809,292,2304
$GC,4899,1.79,222.7,531.1,6.5,234,4970,0.00,2.47,63.90,1.014,6,0.000,0.033,2809,1732,1993
$GC,5299,1.80,234.1,492.2,9.5,254,5320,0.10,2.70,11.05,0.920,4,0.052,0.058,2841,290,1947
$GC,5452,1.80,234.1,475.6,11.3,260,5458,0.00,2.42,0.00,0.000,6,0.000,0.034,2841,1705,1947
$GC,5768,1.80,234.1,442.5,10.4,276,5772,0.00,2.58,0.00,0.000,4,0.000,0.058,2841,290,1947
$GC,5823,1.80,234.1,436.2,12.1,278,5829,0.00,2.42,0.00,0.000,6,0.000,0.034,2841,1696,1947
$GC,6139,1.80,234.1,401.5,10.9,294,6143,0.00,2.58,0.00,0.000,4,0.000,0.058,2841,291,1947
$GC,6206,1.80,234.1,393.7,11.5,297,6210,0.00,2.45,0.00,0.000,6,0.000,0.034,2841,1706,1947
$GC,6526,1.80,234.1,358.3,11.3,313,6531,0.00,2.60,0.00,0.000,4,0.000,0.059,2841,290,1947
$GC,6571,1.80,234.1,353.0,11.8,315,6575,0.00,2.45,0.00,0.000,6,0.000,0.035,2841,1704,1947
$GC,6892,1.80,234.1,317.1,11.0,331,6897,0.00,2.60,0.00,0.000,4,0.000,0.058,2841,286,1947
$GC,6937,1.80,234.1,311.5,11.8,333,6941,0.00,2.45,0.00,0.000,6,0.000,0.034,2841,1705,1947
$GC,7258,1.80,234.1,273.0,12.2,349,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1705,1947
$GC,7567,1.80,234.1,234.7,12.4,364,7571,0.00,2.60,0.00,0.000,4,0.000,0.058,2841,285,1947
$GC,7639,1.80,234.1,225.1,12.7,367,7643,0.00,2.45,0.00,0.000,6,0.000,0.035,2841,1701,1947
$GC,7955,1.80,234.1,188.6,11.6,382,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1701,1947
$GC,8264,1.80,234.1,151.4,12.4,397,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1700,1947
$GC,8574,1.80,234.1,113.7,11.0,412,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1701,1947
$GC,8885,1.80,234.1,78.4,11.8,427,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1702,1947
$GC,9192,1.80,234.1,41.1,11.7,442,9197,0.00,2.60,0.00,0.000,4,0.000,0.064,2841,289,1947
$GC,9255,1.80,234.1,32.7,12.9,445,9260,0.00,2.45,0.00,0.000,6,0.000,0.036,2841,1702,1947
$STATE,9497,end climb,SURFACE_DEPTH_REACHED
$STATE,9497,begin surface coast
$FINISH,0.4,1.027436
$STATE,9519,end surface coast,CONTROL_FINISHED_OK
$STATE,9519,begin surface
$SM_CCo,9545,41.22,0.728,0,0,1679,300.00
$SM_GC,1.49,0.00,0.00,41.22,0.000,0.000,0.728,47,2739,1679,-11.00,-0.31,300.00
$IRIDIUM_FIX,6054.92,-913.02,220598,181856
$TT8_MAMPS,0.029913
$HUMID,1767
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,525.9,21.8
$24V_AH,23.4,13.002
$10V_AH,10.1,5.692
$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,27.500,67.975,317.000,41.225,0.000,25.009,27.968,105.438,4.750,0.000,0.000,15.862,853.367,7194.878,419.160,1049.515,343.408,33.343,961.512,0.000,1021.191,0.000,35.899,0.000
$DEVICE_MAMPS,165.672,91.273,1060.761,727.883,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.957,331.864,313.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22243,458
$CAP_FILE_SIZE,68220,0
$CFSIZE,260165632,256536576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250209,234137,6122.788,-918.219,29,1.2,29,-9.3