version: 66.04
glider: 103
mission: 11
dive: 126
start: 3 19 109 18 44 36
data:
$ID,103
$MISSION,11
$DIVE,126
$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,412.5
$T_MISSION,440
$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,225
$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,-145498.3
$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,2650
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,13
$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
$GPS1,183501,6233.498,-1124.664,42,1.0,42,-10.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.4
$GPS2,184349,6233.486,-1124.842,10,1.2,21,-10.9
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.049,-0.130
$KALMAN_X,-16567.5,1065.3,424.6,-20331.0,-13856.1
$KALMAN_Y,-4927.5,637.5,84.5,-7488.6,-3912.0
$MHEAD_RNG_PITCHd_Wd,170.2,14482,-27.6,-8.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-2.36,-44.7,0.0,0.0,0,58,0.00,0.00,-35.92,0.000,6,0.000,0.000,52,2649,3087
$GC,61,-2.36,-44.7,4.2,-10.5,2,77,10.77,0.00,0.00,0.000,6,0.164,0.000,1917,2649,3087
$GC,389,-2.36,-44.7,62.8,-16.9,18,392,0.00,2.17,0.00,0.000,4,0.000,0.084,1917,3786,3087
$GC,451,-2.36,-44.7,74.0,-18.3,20,457,0.00,2.08,0.00,0.000,6,0.000,0.052,1917,2650,3087
$GC,767,-2.36,-44.7,128.3,-16.6,36,771,0.00,2.58,0.00,0.000,4,0.000,0.065,1917,1236,3087
$GC,845,-2.36,-44.7,142.0,-16.7,39,851,0.00,2.62,0.00,0.000,6,0.000,0.065,1917,2658,3087
$GC,1161,-2.36,-44.7,195.1,-16.7,55,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,2658,3087
$GC,1470,-2.36,-44.7,247.5,-16.9,70,1474,0.00,2.62,0.00,0.000,4,0.000,0.067,1918,1235,3087
$GC,1503,-2.36,-44.7,253.3,-17.9,71,1509,0.00,2.62,0.00,0.000,6,0.000,0.065,1917,2650,3087
$GC,1819,-2.36,-44.7,303.8,-15.6,87,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,2651,3088
$GC,2129,-2.36,-44.7,351.1,-15.4,102,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,2651,3088
$GC,2437,-2.36,-44.7,398.5,-15.0,117,2438,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,2651,3088
$GC,2747,-2.36,-44.7,444.3,-14.8,132,2751,0.00,2.60,0.00,0.000,4,0.000,0.066,1917,1236,3088
$GC,2802,-2.36,-44.7,452.9,-14.8,134,2808,0.00,2.60,0.00,0.000,6,0.000,0.062,1917,2653,3088
$GC,3118,-2.36,-44.7,498.0,-14.4,150,3122,0.00,2.62,0.00,0.000,4,0.000,0.067,1917,1224,3088
$GC,3151,-2.36,-44.7,503.0,-15.2,151,3157,0.00,2.62,0.00,0.000,6,0.000,0.061,1917,2655,3088
$GC,3469,-2.36,-44.7,550.1,-14.5,167,3473,0.00,2.60,0.00,0.000,4,0.000,0.065,1917,1235,3088
$GC,3555,-2.36,-44.7,562.7,-14.7,171,3559,0.00,2.60,0.00,0.000,6,0.000,0.062,1917,2653,3088
$GC,3881,-2.36,-44.7,607.2,-13.7,187,3885,0.00,2.15,0.00,0.000,4,0.000,0.084,1917,3790,3088
$GC,4073,-2.36,-44.7,636.0,-15.9,195,4076,0.00,2.05,0.00,0.000,6,0.000,0.054,1917,2652,3088
$GC,4394,-2.36,-44.7,683.8,-14.0,211,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,2653,3088
$STATE,4701,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4701,begin apogee
$GC,4710,-0.42,0.0,730.1,14.8,226,4754,2.28,0.00,40.17,1.140,6,0.131,0.000,2343,1995,2902
$STATE,4755,end apogee,CONTROL_FINISHED_OK
$STATE,4755,begin climb
$GC,4758,2.36,44.7,732.5,0.0,228,4802,2.83,0.00,38.62,1.120,6,0.056,0.000,2958,1995,2719
$GC,5110,2.44,110.8,739.2,0.1,245,5173,0.00,2.83,56.08,1.141,4,0.000,0.093,2958,581,2450
$GC,5426,2.53,180.1,739.3,-0.3,259,5493,0.15,2.67,59.20,1.148,6,0.054,0.071,2990,2001,2167
$GC,5815,2.61,247.2,739.3,-0.0,278,5878,0.00,2.80,56.65,1.170,4,0.000,0.087,2991,589,1894
$GC,6131,2.69,311.0,739.1,0.4,292,6192,0.15,2.58,53.92,1.204,6,0.043,0.052,3039,2007,1634
$GC,6520,2.69,311.0,675.3,21.0,311,6524,0.00,2.60,0.00,0.000,4,0.000,0.067,3038,3413,1633
$GC,6627,2.69,311.0,653.6,20.6,316,6632,0.00,2.55,0.00,0.000,6,0.000,0.046,3038,1989,1633
$GC,6954,2.69,311.0,586.4,20.5,332,6958,0.00,2.62,0.00,0.000,4,0.000,0.062,3038,3414,1632
$GC,7110,2.69,311.0,551.2,23.3,339,7115,0.00,2.53,0.00,0.000,6,0.000,0.041,3038,1988,1632
$GC,7432,2.69,311.0,479.0,23.3,355,7436,0.00,2.53,0.00,0.000,4,0.000,0.061,3038,594,1632
$GC,7689,2.69,311.0,418.5,22.8,366,7695,0.00,2.47,0.00,0.000,6,0.000,0.035,3038,2023,1632
$GC,8005,2.69,311.0,348.0,22.6,382,8009,0.00,2.47,0.00,0.000,4,0.000,0.054,3038,3409,1632
$GC,8077,2.69,311.0,331.1,23.2,385,8082,0.00,2.47,0.00,0.000,6,0.000,0.035,3038,1987,1632
$GC,8399,2.69,311.0,257.5,22.7,401,8403,0.00,2.50,0.00,0.000,4,0.000,0.057,3038,590,1632
$GC,8657,2.69,311.0,195.9,24.0,412,8661,0.00,2.45,0.00,0.000,6,0.000,0.035,3038,2010,1633
$GC,8981,2.69,311.0,122.2,23.4,428,8985,0.00,2.50,0.00,0.000,4,0.000,0.055,3038,3408,1633
$GC,9075,2.69,311.0,98.3,25.3,432,9079,0.00,2.45,0.00,0.000,6,0.000,0.036,3038,2000,1634
$GC,9393,2.69,311.0,24.1,23.1,447,9397,0.00,2.50,0.00,0.000,4,0.000,0.057,3039,598,1634
$STATE,9479,end climb,SURFACE_DEPTH_REACHED
$STATE,9479,begin surface coast
$FINISH,0.6,1.027446
$STATE,9486,end surface coast,CONTROL_FINISHED_OK
$STATE,9486,begin surface
$SM_CCo,9575,0.00,0.000,0,0,1634,311.04
$SM_GC,1.38,13.12,0.00,0.00,0.028,0.000,0.000,52,2640,1634,-10.92,-0.28,311.04
$IRIDIUM_FIX,6207.28,-1139.63,130698,181842
$TT8_MAMPS,0.028379
$HUMID,1800
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,727.2,10.9
$24V_AH,23.3,26.875
$10V_AH,10.1,14.209
$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,29.300,83.175,304.650,0.000,0.000,49.181,69.753,212.750,6.750,0.000,0.000,21.550,900.246,7033.032,354.237,1270.366,540.246,32.345,998.162,0.000,1219.202,0.000,50.352,0.000
$DEVICE_MAMPS,164.138,92.807,1204.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,323.042,325.691,248.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22219,451
$CAP_FILE_SIZE,80328,0
$CFSIZE,260165632,250314752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190309,212530,6232.525,-1128.869,36,1.5,42,-11.0