version: 66.04
glider: 103
mission: 11
dive: 12
start: 2 24 109 20 39 53
data:
$ID,103
$MISSION,11
$DIVE,12
$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,-143179.33
$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,2700
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,11
$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
$GPS1,203406,6109.979,-925.811,35,1.4,35,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-51.8
$GPS2,203902,6109.977,-925.797,13,1.9,31,-9.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.017,0.261
$KALMAN_X,-12021.2,948.1,657.7,13520.4,-8277.7
$KALMAN_Y,-31626.6,765.9,881.0,27608.7,-11584.0
$MHEAD_RNG_PITCHd_Wd,13.1,29493,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.38,0.000,2,0.000,0.000,47,2696,3033
$GC,63,-1.70,-146.6,3.2,-7.6,2,88,11.60,2.17,-8.73,0.000,4,0.166,0.111,2066,3790,3501
$GC,341,-1.70,-146.6,43.1,-12.5,14,345,0.00,1.98,0.00,0.000,6,0.000,0.056,2066,2702,3501
$GC,663,-1.70,-146.6,82.5,-12.3,30,667,0.00,2.10,0.00,0.000,4,0.000,0.086,2066,3786,3501
$GC,786,-1.70,-146.6,98.4,-13.1,35,790,0.00,1.98,0.00,0.000,6,0.000,0.056,2066,2693,3501
$GC,1108,-1.70,-146.6,136.6,-11.7,51,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2693,3501
$GC,1417,-1.70,-146.6,174.2,-12.3,66,1421,0.00,2.12,0.00,0.000,4,0.000,0.089,2066,3788,3501
$GC,1475,-1.70,-146.6,181.4,-12.5,68,1478,0.00,1.98,0.00,0.000,6,0.000,0.052,2066,2687,3501
$GC,1796,-1.70,-146.6,222.6,-12.9,84,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2687,3501
$GC,2105,-1.70,-146.6,262.5,-13.0,99,2109,0.00,2.12,0.00,0.000,4,0.000,0.088,2066,3783,3500
$GC,2167,-1.70,-146.6,270.9,-13.4,101,2172,0.00,1.95,0.00,0.000,6,0.000,0.053,2066,2696,3501
$GC,2482,-1.70,-146.6,312.4,-13.3,117,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2695,3501
$GC,2792,-1.70,-146.6,352.7,-12.9,132,2796,0.00,2.10,0.00,0.000,4,0.000,0.086,2066,3783,3500
$GC,2843,-1.70,-146.6,359.3,-12.8,134,2846,0.00,1.95,0.00,0.000,6,0.000,0.051,2066,2692,3500
$GC,3170,-1.70,-146.6,400.3,-12.6,150,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2692,3500
$GC,3479,-1.70,-146.6,438.1,-12.4,165,3482,0.00,2.10,0.00,0.000,4,0.000,0.085,2066,3786,3500
$GC,3518,-1.70,-146.6,443.2,-12.6,166,3524,0.00,1.95,0.00,0.000,6,0.000,0.048,2066,2686,3500
$GC,3834,-1.70,-146.6,481.6,-12.1,182,3835,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2686,3500
$GC,4143,-1.70,-146.6,519.6,-12.4,197,4146,0.00,2.10,0.00,0.000,4,0.000,0.086,2066,3783,3500
$GC,4189,-1.70,-146.6,525.4,-12.9,199,4193,0.00,1.95,0.00,0.000,6,0.000,0.048,2066,2677,3500
$GC,4522,-1.70,-146.6,566.7,-12.2,215,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2677,3498
$GC,4831,-1.70,-146.6,604.0,-12.2,230,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2677,3498
$GC,5141,-1.70,-146.6,642.1,-12.8,245,5142,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,2677,3498
$STATE,5159,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5159,begin apogee
$GC,5168,-0.42,0.0,644.8,13.0,246,5293,1.42,0.00,121.70,1.139,6,0.100,0.000,2349,1797,2902
$STATE,5294,end apogee,CONTROL_FINISHED_OK
$STATE,5294,begin climb
$GC,5297,1.70,146.6,650.5,0.0,252,5427,2.12,2.65,120.60,1.121,4,0.056,0.060,2811,389,2303
$GC,5622,1.78,215.9,640.9,6.8,267,5687,0.00,2.50,58.30,1.094,6,0.000,0.031,2811,1840,2021
$GC,6016,1.78,215.9,602.4,10.4,286,6021,0.00,2.67,0.00,0.000,4,0.000,0.057,2811,388,2021
$GC,6134,1.78,215.9,589.4,10.8,291,6139,0.00,2.45,0.00,0.000,6,0.000,0.032,2811,1806,2021
$GC,6450,1.78,215.9,556.8,10.5,306,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1808,2021
$GC,6760,1.78,215.9,522.8,11.4,321,6764,0.00,2.60,0.00,0.000,4,0.000,0.058,2811,390,2021
$GC,6927,1.78,215.9,503.3,11.9,328,6934,0.00,2.42,0.00,0.000,6,0.000,0.032,2811,1797,2021
$GC,7243,1.78,215.9,469.2,11.2,344,7248,0.00,2.58,0.00,0.000,4,0.000,0.057,2811,389,2021
$GC,7284,1.78,215.9,464.5,12.0,346,7288,0.00,2.45,0.00,0.000,6,0.000,0.032,2811,1810,2021
$GC,7610,1.78,215.9,427.9,10.7,362,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1812,2021
$GC,7920,1.78,215.9,395.6,10.4,377,7924,0.00,2.60,0.00,0.000,4,0.000,0.058,2811,389,2021
$GC,7997,1.78,215.9,386.7,11.8,380,8004,0.00,2.42,0.00,0.000,6,0.000,0.034,2811,1800,2021
$GC,8314,1.78,215.9,353.3,10.9,396,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1800,2021
$GC,8623,1.78,215.9,319.9,11.0,411,8627,0.00,2.58,0.00,0.000,4,0.000,0.058,2811,385,2021
$GC,8701,1.78,215.9,310.8,11.4,414,8707,0.00,2.45,0.00,0.000,6,0.000,0.033,2811,1804,2021
$GC,9016,1.78,215.9,275.4,11.4,430,9021,0.00,2.60,0.00,0.000,4,0.000,0.058,2811,382,2021
$GC,9067,1.78,215.9,269.2,12.1,432,9071,0.00,2.45,0.00,0.000,6,0.000,0.033,2812,1803,2021
$GC,9388,1.78,215.9,233.8,10.8,448,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1803,2021
$GC,9698,1.78,218.3,202.1,9.9,463,9707,0.00,2.62,3.80,0.601,4,0.000,0.058,2811,379,2011
$GC,9792,1.78,218.3,191.7,11.1,467,9797,0.00,2.47,0.00,0.000,6,0.000,0.034,2811,1804,2011
$GC,10114,1.78,218.3,158.1,10.6,483,10118,0.00,2.60,0.00,0.000,4,0.000,0.058,2811,381,2011
$GC,10169,1.78,218.3,152.1,11.3,485,10175,0.00,2.45,0.00,0.000,6,0.000,0.034,2811,1802,2011
$GC,10485,1.78,218.3,120.1,10.0,501,10490,0.00,2.58,0.00,0.000,4,0.000,0.058,2811,389,2011
$GC,10571,1.78,218.3,111.0,10.9,505,10575,0.00,2.45,0.00,0.000,6,0.000,0.035,2811,1802,2011
$GC,10898,1.78,218.3,77.8,10.4,521,10899,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1802,2011
$GC,11209,1.82,247.5,47.8,8.7,536,11240,0.10,2.70,24.20,0.750,4,0.050,0.060,2844,386,1892
$GC,11355,1.82,247.5,29.1,14.8,542,11359,0.00,2.47,0.00,0.000,6,0.000,0.036,2844,1799,1891
$STATE,11565,end climb,SURFACE_DEPTH_REACHED
$STATE,11565,begin surface coast
$FINISH,0.3,1.015500
$STATE,11588,end surface coast,CONTROL_FINISHED_OK
$STATE,11588,begin surface
$SM_CCo,11614,36.85,0.726,0,0,1678,300.00
$SM_GC,0.90,0.00,0.00,36.85,0.000,0.000,0.726,51,2707,1678,-10.98,0.20,300.00
$IRIDIUM_FIX,6046.07,-928.47,210598,171720
$TT8_MAMPS,0.029146
$HUMID,1755
$INTERNAL_PRESSURE,8.58431
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,551.6,101.3
$24V_AH,23.4,11.904
$10V_AH,10.1,5.258
$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,27.850,87.675,328.600,36.850,0.000,30.092,28.863,113.928,4.500,0.000,0.000,31.240,1043.838,8719.717,428.318,1377.414,386.208,33.349,1118.143,0.000,1326.721,0.000,31.922,0.000
$DEVICE_MAMPS,165.672,111.215,1138.995,725.582,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,388.277,396.448,356.252,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25326,553
$CAP_FILE_SIZE,84344,0
$CFSIZE,260165632,256831488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240209,235654,6111.275,-924.741,113,1.4,129,-9.3