version: 66.04
glider: 103
mission: 11
dive: 239
start: 4 15 109 6 6 40
data:
$ID,103
$MISSION,11
$DIVE,239
$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,-147526.39
$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,2650
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,18
$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
$GPS1,060137,6404.200,-1304.671,30,0.9,30,-12.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-58.3
$GPS2,060620,6404.167,-1304.564,14,1.4,14,-12.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6411.803,-1322.107
$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,327.5,20000,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.53,0.000,2,0.000,0.000,46,2655,3417
$GC,81,-1.10,-146.6,5.1,-9.1,3,103,12.20,2.20,-1.30,0.000,4,0.160,0.100,2193,3773,3503
$GC,357,-1.10,-146.6,42.7,-8.5,15,361,0.00,2.10,0.00,0.000,6,0.000,0.069,2193,2653,3503
$GC,684,-1.10,-146.6,69.0,-8.3,31,688,0.00,2.20,0.00,0.000,4,0.000,0.092,2194,3778,3503
$GC,866,-1.10,-146.6,85.3,-9.7,39,870,0.00,2.10,0.00,0.000,6,0.000,0.065,2193,2644,3503
$GC,1201,-1.10,-146.6,119.4,-10.4,55,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3503
$GC,1509,-1.10,-146.6,152.1,-10.8,70,1513,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3777,3503
$GC,1536,-1.10,-146.6,155.2,-9.8,71,1540,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2651,3503
$GC,1864,-1.10,-146.6,188.9,-11.9,87,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3503
$GC,2172,-1.10,-146.6,222.9,-10.8,102,2176,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3778,3503
$GC,2212,-1.10,-146.6,227.6,-11.7,103,2217,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2650,3503
$GC,2528,-1.10,-146.6,263.3,-11.6,119,2529,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,2837,-1.10,-146.6,299.1,-11.9,134,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3503
$GC,3146,-1.10,-146.6,335.0,-9.8,149,3150,0.00,2.17,0.00,0.000,4,0.000,0.087,2194,3785,3503
$GC,3230,-1.10,-146.6,346.0,-12.1,152,3236,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2648,3503
$STATE,3420,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3420,begin apogee
$GC,3428,-0.42,0.0,364.7,8.8,162,3553,0.80,0.00,122.03,0.904,6,0.104,0.000,2349,1989,2902
$STATE,3554,end apogee,CONTROL_FINISHED_OK
$STATE,3554,begin climb
$GC,3558,1.10,146.6,370.8,0.0,168,3687,1.52,2.75,118.00,0.880,4,0.048,0.074,2682,586,2304
$GC,3941,1.36,352.7,371.0,0.3,186,4118,0.25,2.53,167.50,0.876,6,0.045,0.043,2741,2004,1464
$GC,4426,1.37,363.2,345.5,5.7,209,4441,0.00,2.67,10.27,0.776,4,0.000,0.063,2741,581,1421
$GC,4622,1.37,363.2,327.0,9.3,217,4626,0.00,2.55,0.00,0.000,6,0.000,0.043,2741,2009,1421
$GC,4949,1.37,363.2,303.7,8.6,233,4950,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2010,1420
$GC,5258,1.37,363.2,274.9,9.9,248,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2011,1420
$GC,5567,1.38,369.5,252.7,5.8,263,5581,0.00,2.70,6.68,0.710,4,0.000,0.070,2741,3414,1395
$GC,5634,1.38,369.5,248.5,6.4,266,5639,0.00,2.60,0.00,0.000,6,0.000,0.051,2741,1985,1395
$GC,5961,1.40,385.8,224.1,5.5,282,5980,0.00,0.00,14.70,0.785,6,0.000,0.000,2741,1982,1329
$GC,6290,1.50,467.5,199.4,3.7,298,6359,0.12,0.00,66.12,0.798,6,0.044,0.000,2778,1978,996
$GC,6662,1.50,467.5,163.4,9.2,316,6666,0.00,2.67,0.00,0.000,4,0.000,0.070,2778,3406,996
$GC,6702,1.50,467.5,159.7,10.3,318,6706,0.00,2.58,0.00,0.000,6,0.000,0.053,2778,1989,995
$GC,7031,1.50,467.5,123.8,11.3,334,7035,0.00,2.67,0.00,0.000,4,0.000,0.069,2778,3413,995
$GC,7058,1.50,467.5,120.2,11.9,335,7062,0.00,2.60,0.00,0.000,6,0.000,0.054,2778,1989,995
$GC,7375,1.50,467.5,83.0,11.6,350,7379,0.00,2.60,0.00,0.000,4,0.000,0.069,2778,586,995
$GC,7407,1.50,467.5,79.0,11.6,351,7414,0.00,2.53,0.00,0.000,6,0.000,0.046,2778,2010,995
$GC,7725,1.50,467.5,41.5,12.0,367,7730,0.00,2.60,0.00,0.000,4,0.000,0.071,2778,3406,995
$GC,7749,1.50,467.5,38.4,12.4,368,7754,0.00,2.58,0.00,0.000,6,0.000,0.054,2778,1994,995
$STATE,8047,end climb,SURFACE_DEPTH_REACHED
$STATE,8048,begin surface coast
$FINISH,0.6,1.027474
$STATE,8069,end surface coast,CONTROL_FINISHED_OK
$STATE,8069,begin surface
$SM_CCo,8155,0.00,0.000,0,0,994,468.03
$SM_GC,1.46,12.00,0.00,0.00,0.028,0.000,0.000,50,2638,994,-10.93,-0.34,468.03
$IRIDIUM_FIX,6342.00,-1309.64,100798,040453
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,301.6,71.8
$24V_AH,23.5,42.694
$10V_AH,10.1,24.188
$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,26.900,60.625,505.300,0.000,0.000,30.238,30.816,115.662,2.000,0.000,0.000,16.623,731.510,5826.766,527.887,1006.034,354.593,0.000,1069.299,0.000,985.546,0.000,16.284,0.000
$DEVICE_MAMPS,160.303,99.710,903.526,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,272.042,276.128,310.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19042,384
$CAP_FILE_SIZE,61051,0
$CFSIZE,260165632,243150848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150409,082339,6404.321,-1303.633,14,2.0,27,-12.5