version: 66.04
glider: 103
mission: 11
dive: 237
start: 4 15 109 2 19 52
data:
$ID,103
$MISSION,11
$DIVE,237
$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,550
$T_MISSION,580
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,315
$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,-147490
$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,13
$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
$GPS1,021516,6403.310,-1310.914,12,2.3,32,-12.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-55.7
$GPS2,021932,6403.347,-1310.718,11,2.0,11,-12.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6410.983,-1328.252
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.030,0.216
$KALMAN_X,-78076.3,999.8,7411.5,4319.0,-13087.8
$KALMAN_Y,-42360.0,-323.2,-2812.1,144833.7,-2623.9
$MHEAD_RNG_PITCHd_Wd,327.6,20000,-11.1,-6.000
$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,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-59.67,0.000,6,0.000,0.000,45,2658,3501
$GC,80,-1.10,-146.6,5.9,-11.2,3,102,12.20,2.20,0.00,0.000,4,0.159,0.081,2196,3789,3502
$GC,355,-1.10,-146.6,42.1,-11.0,15,359,0.00,2.12,0.00,0.000,6,0.000,0.066,2196,2650,3502
$GC,683,-1.10,-146.6,70.4,-9.1,31,687,0.00,2.25,0.00,0.000,4,0.000,0.094,2196,3790,3502
$GC,936,-1.10,-146.6,95.3,-9.5,42,939,0.00,2.12,0.00,0.000,6,0.000,0.064,2196,2642,3502
$GC,1257,-1.10,-146.6,127.6,-10.3,58,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2643,3502
$GC,1566,-1.10,-146.6,160.4,-11.1,73,1570,0.00,2.25,0.00,0.000,4,0.000,0.094,2196,3786,3502
$GC,1652,-1.10,-146.6,170.0,-11.8,77,1655,0.00,2.10,0.00,0.000,6,0.000,0.063,2196,2647,3502
$GC,1984,-1.10,-146.6,207.2,-10.0,93,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3502
$STATE,2147,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2147,begin apogee
$GC,2155,-0.42,0.0,222.5,8.1,101,2279,0.77,0.00,119.97,0.813,6,0.097,0.000,2349,1997,2902
$STATE,2279,end apogee,CONTROL_FINISHED_OK
$STATE,2279,begin climb
$GC,2283,1.10,146.6,228.6,0.0,107,2408,1.52,2.70,117.03,0.783,4,0.054,0.061,2679,587,2304
$GC,2667,1.31,312.4,216.8,1.4,124,2808,0.20,2.53,132.48,0.776,6,0.039,0.042,2734,2015,1628
$GC,3116,1.31,312.4,190.7,6.8,146,3120,0.00,2.65,0.00,0.000,4,0.000,0.064,2734,588,1628
$GC,3357,1.31,312.4,173.7,7.7,157,3362,0.00,2.53,0.00,0.000,6,0.000,0.044,2734,2002,1627
$GC,3684,1.31,312.4,150.8,6.9,173,3688,0.00,2.62,0.00,0.000,4,0.000,0.070,2734,3410,1627
$GC,3739,1.31,312.4,146.6,7.6,175,3746,0.00,2.58,0.00,0.000,6,0.000,0.054,2734,1990,1627
$GC,4057,1.31,312.4,123.0,7.3,191,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1990,1627
$GC,4365,1.31,312.4,100.4,6.7,206,4369,0.00,2.67,0.00,0.000,4,0.000,0.070,2734,3413,1627
$GC,4405,1.31,312.4,97.6,7.0,208,4409,0.00,2.58,0.00,0.000,6,0.000,0.055,2734,2002,1627
$GC,4732,1.31,312.4,71.5,6.6,224,4736,0.00,2.60,0.00,0.000,4,0.000,0.064,2734,585,1627
$GC,4787,1.31,312.4,67.3,7.4,226,4794,0.00,2.53,0.00,0.000,6,0.000,0.043,2734,2013,1627
$GC,5104,1.31,312.4,44.2,7.5,242,5108,0.00,2.60,0.00,0.000,4,0.000,0.071,2735,3410,1627
$GC,5150,1.31,312.4,39.8,9.7,244,5154,0.00,2.58,0.00,0.000,6,0.000,0.055,2734,1997,1627
$GC,5477,1.31,312.4,7.4,8.9,260,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1997,1627
$STATE,5556,end climb,SURFACE_DEPTH_REACHED
$STATE,5556,begin surface coast
$FINISH,0.7,1.026829
$STATE,5579,end surface coast,CONTROL_FINISHED_OK
$STATE,5580,begin surface
$SM_CCo,5664,0.00,0.000,0,0,1625,313.25
$SM_GC,1.52,11.90,0.00,0.00,0.032,0.000,0.000,50,2648,1625,-10.93,-0.06,313.25
$IRIDIUM_FIX,6337.14,-1312.18,100798,000019
$TT8_MAMPS,0.028379
$HUMID,1788
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,175.4,56.7
$24V_AH,23.6,42.452
$10V_AH,10.1,24.099
$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,26.600,46.750,369.475,0.000,0.000,31.450,29.762,95.349,0.750,0.000,0.000,13.387,539.032,3863.346,397.986,821.421,308.954,0.000,831.132,0.000,812.490,0.000,8.148,0.000
$DEVICE_MAMPS,158.769,94.341,813.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,184.903,191.562,308.455,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12834,265
$CAP_FILE_SIZE,47009,0
$CFSIZE,260165632,243224576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150409,035531,6404.025,-1307.197,38,1.4,39,-12.5