version: 66.04
glider: 103
mission: 11
dive: 106
start: 3 17 109 0 46 49
data:
$ID,103
$MISSION,11
$DIVE,106
$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,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,-145107.34
$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,12
$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
$GPS1,003607,6238.090,-1104.232,32,1.1,32,-10.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-58.9
$GPS2,004555,6238.311,-1103.798,11,1.3,16,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.185,-0.117
$KALMAN_X,113147.7,-3521.4,1569.2,-180084.1,32826.1
$KALMAN_Y,26291.4,-782.9,-258.2,47911.7,25414.2
$MHEAD_RNG_PITCHd_Wd,248.4,34573,-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,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.42,0.000,2,0.000,0.000,50,2659,2925
$GC,62,-1.10,-146.6,3.4,-7.6,2,93,12.15,2.28,-11.25,0.000,4,0.159,0.110,2195,3783,3501
$GC,258,-1.10,-146.6,26.3,-10.9,10,264,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2650,3501
$GC,574,-1.10,-146.6,54.8,-8.6,26,578,0.00,2.60,0.00,0.000,4,0.000,0.071,2195,1236,3501
$GC,595,-1.10,-146.6,56.2,-6.2,27,600,0.00,2.62,0.00,0.000,6,0.000,0.064,2195,2651,3501
$GC,917,-1.10,-146.6,83.4,-10.0,43,920,0.00,2.20,0.00,0.000,4,0.000,0.091,2195,3792,3501
$GC,1008,-1.10,-146.6,90.1,-7.7,47,1012,0.00,2.08,0.00,0.000,6,0.000,0.055,2195,2648,3501
$GC,1341,-1.10,-146.6,116.1,-8.9,63,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,1651,-1.10,-146.6,140.9,-8.0,78,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3501
$GC,1960,-1.10,-146.6,160.0,-5.6,93,1964,0.00,2.20,0.00,0.000,4,0.000,0.088,2195,3786,3501
$GC,2028,-1.10,-146.6,165.1,-6.9,96,2032,0.00,2.08,0.00,0.000,6,0.000,0.055,2195,2638,3501
$GC,2361,-1.10,-146.6,192.5,-8.3,112,2364,0.00,2.22,0.00,0.000,4,0.000,0.089,2195,3786,3501
$GC,2422,-1.10,-146.6,198.2,-8.9,114,2428,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2642,3501
$GC,2738,-1.10,-146.6,224.5,-8.4,130,2739,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3501
$GC,3047,-1.10,-146.6,247.9,-7.8,145,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2640,3501
$GC,3358,-1.10,-146.6,275.8,-8.9,160,3362,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3790,3501
$GC,3426,-1.10,-146.6,282.3,-9.1,163,3430,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2643,3501
$GC,3759,-1.10,-146.6,308.8,-7.6,179,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3501
$GC,4068,-1.10,-146.6,332.0,-7.1,194,4072,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3784,3501
$GC,4107,-1.10,-146.6,335.0,-7.5,195,4113,0.00,2.05,0.00,0.000,6,0.000,0.057,2195,2641,3501
$GC,4424,-1.10,-146.6,358.2,-7.6,211,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,4733,-1.10,-146.6,381.4,-7.6,226,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2641,3501
$GC,5042,-1.10,-146.6,405.2,-7.7,241,5045,0.00,2.20,0.00,0.000,4,0.000,0.084,2195,3791,3501
$GC,5110,-1.10,-146.6,410.5,-8.0,244,5114,0.00,2.05,0.00,0.000,6,0.000,0.053,2195,2643,3501
$GC,5443,-1.10,-146.6,433.7,-6.9,260,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3501
$GC,5752,-1.10,-146.6,453.6,-6.3,275,5757,0.00,2.58,0.00,0.000,4,0.000,0.069,2195,1232,3501
$GC,5786,-1.10,-146.6,456.0,-6.7,276,5792,0.00,2.60,0.00,0.000,6,0.000,0.062,2195,2650,3501
$GC,6102,-1.10,-146.6,477.0,-6.7,292,6106,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3787,3501
$GC,6180,-1.10,-146.6,483.2,-8.1,295,6184,0.00,2.03,0.00,0.000,6,0.000,0.050,2195,2646,3501
$GC,6502,-1.10,-146.6,510.5,-8.8,311,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3501
$GC,6811,-1.10,-146.6,536.2,-8.4,326,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2646,3501
$GC,7121,-1.10,-146.6,557.4,-5.5,341,7124,0.00,2.20,0.00,0.000,4,0.000,0.089,2195,3786,3501
$GC,7144,-1.10,-146.6,558.8,-6.0,342,7147,0.00,2.03,0.00,0.000,6,0.000,0.051,2195,2647,3501
$GC,7477,-1.10,-146.6,580.3,-6.7,358,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3500
$GC,7786,-1.10,-146.6,603.6,-8.5,373,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3500
$STATE,7886,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7886,begin apogee
$GC,7895,-0.42,0.0,611.5,7.3,378,8022,0.77,0.00,123.88,1.062,6,0.098,0.000,2348,1996,2902
$STATE,8023,end apogee,CONTROL_FINISHED_OK
$STATE,8023,begin climb
$GC,8026,1.10,146.6,617.1,0.0,384,8158,1.55,2.72,121.82,1.035,4,0.056,0.067,2680,589,2304
$GC,8373,1.18,206.7,610.0,4.3,400,8430,0.00,2.53,51.15,1.025,6,0.000,0.039,2680,2022,2059
$GC,8745,1.21,235.9,592.0,5.2,417,8776,0.12,2.62,25.42,1.012,4,0.042,0.064,2720,3409,1940
$GC,8794,1.21,235.9,588.3,7.0,418,8800,0.00,2.60,0.00,0.000,6,0.000,0.048,2720,1985,1939
$GC,9109,1.21,235.9,565.6,7.2,434,9114,0.00,2.65,0.00,0.000,4,0.000,0.065,2721,3406,1939
$GC,9131,1.21,235.9,563.8,8.0,435,9136,0.00,2.55,0.00,0.000,6,0.000,0.048,2721,1995,1939
$GC,9454,1.21,235.9,539.2,7.8,451,9457,0.00,2.58,0.00,0.000,4,0.000,0.064,2720,593,1938
$GC,9504,1.21,235.9,534.8,8.3,453,9508,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,2003,1938
$GC,9826,1.21,235.9,508.0,8.8,469,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2003,1938
$GC,10135,1.21,235.9,481.3,8.5,484,10139,0.00,2.60,0.00,0.000,4,0.000,0.063,2720,593,1937
$GC,10185,1.21,235.9,476.8,8.5,486,10189,0.00,2.47,0.00,0.000,6,0.000,0.038,2721,2004,1937
$GC,10506,1.21,235.9,450.6,8.2,502,10510,0.00,2.58,0.00,0.000,4,0.000,0.065,2721,3409,1938
$GC,10561,1.21,235.9,445.9,8.5,504,10567,0.00,2.55,0.00,0.000,6,0.000,0.050,2721,1993,1937
$GC,10877,1.21,235.9,421.9,7.6,520,10881,0.00,2.55,0.00,0.000,4,0.000,0.063,2720,591,1937
$GC,10961,1.21,235.9,415.4,8.0,523,10967,0.00,2.47,0.00,0.000,6,0.000,0.038,2721,2009,1937
$GC,11277,1.21,235.9,394.4,6.4,539,11278,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2009,1937
$GC,11586,1.22,242.6,376.2,5.8,554,11599,0.00,2.65,6.62,0.779,4,0.000,0.064,2721,3415,1913
$GC,11623,1.22,242.6,373.7,6.4,555,11630,0.00,2.55,0.00,0.000,6,0.000,0.051,2721,1998,1913
$GC,11940,1.22,242.6,351.5,7.4,571,11944,0.00,2.58,0.00,0.000,4,0.000,0.063,2721,583,1913
$GC,11973,1.22,242.6,348.6,8.5,572,11977,0.00,2.50,0.00,0.000,6,0.000,0.037,2721,2013,1914
$GC,12288,1.22,242.6,323.6,7.8,587,12289,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2013,1914
$GC,12598,1.22,242.6,299.5,8.0,602,12599,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2013,1913
$GC,12907,1.22,242.6,274.4,8.1,617,12911,0.00,2.58,0.00,0.000,4,0.000,0.067,2721,3413,1914
$GC,12945,1.22,242.6,271.0,8.8,618,12951,0.00,2.55,0.00,0.000,6,0.000,0.051,2721,1995,1915
$GC,13261,1.22,242.6,244.5,8.4,634,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1995,1914
$GC,13571,1.22,242.6,220.4,7.2,649,13575,0.00,2.62,0.00,0.000,4,0.000,0.066,2721,3414,1914
$GC,13592,1.22,242.6,218.7,6.9,650,13597,0.00,2.55,0.00,0.000,6,0.000,0.051,2721,1996,1915
$GC,13913,1.22,242.6,197.5,6.9,666,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1996,1915
$GC,14223,1.22,242.6,176.2,6.7,681,14227,0.00,2.55,0.00,0.000,4,0.000,0.064,2720,586,1915
$GC,14262,1.24,260.1,173.5,5.5,682,14283,0.00,2.47,15.90,0.755,6,0.000,0.038,2721,2004,1841
$GC,14593,1.24,260.1,150.9,7.3,698,14594,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2004,1841
$GC,14903,1.24,260.1,128.0,7.7,713,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2004,1841
$GC,15214,1.24,260.1,103.8,8.2,728,15215,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2004,1841
$GC,15521,1.24,260.1,77.9,8.8,743,15522,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2004,1841
$GC,15831,1.24,260.1,48.4,9.1,758,15832,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2004,1841
$GC,16140,1.24,260.1,22.9,8.7,773,16141,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2004,1841
$STATE,16364,end climb,SURFACE_DEPTH_REACHED
$STATE,16364,begin surface coast
$FINISH,0.6,1.011972
$STATE,16386,end surface coast,CONTROL_FINISHED_OK
$STATE,16386,begin surface
$SM_CCo,16470,0.00,0.000,0,0,1841,260.26
$SM_GC,1.89,11.70,0.00,0.00,0.028,0.000,0.000,49,2651,1841,-10.93,0.03,260.26
$IRIDIUM_FIX,6216.53,-1040.05,110698,000009
$TT8_MAMPS,0.029146
$HUMID,1784
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,576.2,44.5
$24V_AH,23.4,24.628
$10V_AH,10.1,13.072
$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,26.300,112.825,344.800,0.000,0.000,59.619,79.468,246.872,4.750,0.000,0.000,16.596,1415.567,12827.975,428.246,1681.514,702.298,33.384,1277.410,0.000,1655.571,0.000,33.689,0.000
$DEVICE_MAMPS,158.769,109.681,1062.295,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,552.832,575.492,501.230,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38081,785
$CAP_FILE_SIZE,111512,0
$CFSIZE,260165632,251125760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170309,052257,6242.363,-1102.005,41,2.6,60,-10.8