version: 66.04
glider: 103
mission: 11
dive: 108
start: 3 17 109 10 3 6
data:
$ID,103
$MISSION,11
$DIVE,108
$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,-145137.44
$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,18
$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
$GPS1,095701,6246.902,-1102.774,54,1.0,54,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-60.5
$GPS2,100214,6247.069,-1102.619,13,1.0,13,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.142,-0.166
$KALMAN_X,119112.9,-1422.5,-1464.1,-184056.0,32098.6
$KALMAN_Y,47445.9,-2049.1,-510.4,44600.3,44353.1
$MHEAD_RNG_PITCHd_Wd,231.2,44958,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.55,0.000,2,0.000,0.000,47,2658,3305
$GC,62,-1.10,-146.6,4.4,-11.1,2,85,12.20,2.20,-3.15,0.000,4,0.160,0.103,2197,3789,3500
$GC,181,-1.10,-146.6,21.2,-8.1,7,184,0.00,2.10,0.00,0.000,6,0.000,0.063,2197,2654,3501
$GC,510,-1.10,-146.6,45.8,-7.4,23,513,0.00,2.20,0.00,0.000,4,0.000,0.090,2197,3788,3501
$GC,560,-1.10,-146.6,49.9,-7.3,25,564,0.00,2.10,0.00,0.000,6,0.000,0.058,2197,2639,3501
$GC,887,-1.10,-146.6,75.2,-8.0,41,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2639,3501
$GC,1196,-1.10,-146.6,102.8,-8.8,56,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2639,3501
$GC,1506,-1.10,-146.6,127.6,-7.7,71,1509,0.00,2.22,0.00,0.000,4,0.000,0.091,2197,3784,3501
$GC,1584,-1.10,-146.6,133.7,-7.3,74,1588,0.00,2.08,0.00,0.000,6,0.000,0.058,2197,2642,3501
$GC,1906,-1.10,-146.6,155.1,-6.0,90,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2642,3501
$GC,2215,-1.10,-146.6,174.6,-6.6,105,2220,0.00,2.22,0.00,0.000,4,0.000,0.090,2197,3787,3501
$GC,2248,-1.10,-146.6,177.0,-7.1,106,2252,0.00,2.08,0.00,0.000,6,0.000,0.058,2197,2646,3501
$GC,2570,-1.10,-146.6,200.3,-7.4,122,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2646,3501
$GC,2879,-1.10,-146.6,222.9,-7.5,137,2883,0.00,2.20,0.00,0.000,4,0.000,0.090,2197,3783,3500
$GC,2924,-1.10,-146.6,226.5,-7.9,139,2928,0.00,2.05,0.00,0.000,6,0.000,0.057,2197,2650,3501
$GC,3257,-1.10,-146.6,251.7,-7.7,155,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3500
$GC,3569,-1.10,-146.6,275.9,-8.2,170,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3501
$GC,3876,-1.10,-146.6,302.3,-8.6,185,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3500
$GC,4185,-1.10,-146.6,331.3,-9.6,200,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2649,3500
$GC,4494,-1.10,-146.6,360.0,-9.1,215,4498,0.00,2.17,0.00,0.000,4,0.000,0.086,2197,3785,3501
$GC,4567,-1.10,-146.6,366.9,-9.8,218,4571,0.00,2.05,0.00,0.000,6,0.000,0.055,2197,2645,3500
$GC,4894,-1.10,-146.6,395.3,-8.4,234,4898,0.00,2.60,0.00,0.000,4,0.000,0.073,2197,1230,3500
$GC,4921,-1.10,-146.6,397.7,-8.5,235,4925,0.00,2.62,0.00,0.000,6,0.000,0.063,2197,2660,3500
$GC,5237,-1.10,-146.6,420.2,-6.4,250,5241,0.00,2.15,0.00,0.000,4,0.000,0.090,2197,3786,3500
$GC,5305,-1.10,-146.6,424.7,-6.8,253,5315,0.00,2.05,0.00,0.000,6,0.000,0.054,2197,2644,3500
$GC,5642,-1.10,-146.6,444.8,-6.2,269,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2644,3500
$GC,5952,-1.10,-146.6,463.5,-6.0,284,5955,0.00,2.22,0.00,0.000,4,0.000,0.091,2197,3790,3500
$GC,6025,-1.10,-146.6,468.6,-6.4,287,6028,0.00,2.05,0.00,0.000,6,0.000,0.056,2197,2653,3500
$GC,6352,-1.10,-146.6,490.0,-7.0,303,6356,0.00,2.62,0.00,0.000,4,0.000,0.074,2197,1225,3500
$GC,6373,-1.10,-146.6,491.6,-6.7,304,6378,0.00,2.62,0.00,0.000,6,0.000,0.065,2197,2651,3500
$STATE,6651,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6651,begin apogee
$GC,6659,-0.42,0.0,512.1,8.2,318,6785,0.77,0.00,122.53,1.001,6,0.105,0.000,2347,1995,2901
$STATE,6786,end apogee,CONTROL_FINISHED_OK
$STATE,6786,begin climb
$GC,6789,1.10,146.6,516.5,0.0,324,6920,1.58,2.75,119.95,0.970,4,0.064,0.071,2679,585,2304
$GC,7004,1.37,367.1,517.4,-0.1,334,7198,0.28,2.55,181.27,0.960,6,0.033,0.040,2758,2025,1404
$GC,7505,1.37,367.1,481.6,8.0,359,7509,0.00,2.65,0.00,0.000,4,0.000,0.064,2759,586,1404
$GC,7764,1.37,367.1,451.2,10.2,370,7770,0.00,2.50,0.00,0.000,6,0.000,0.043,2759,1996,1404
$GC,8080,1.37,367.1,419.2,10.4,386,8084,0.00,2.62,0.00,0.000,4,0.000,0.065,2758,586,1403
$GC,8152,1.37,367.1,411.2,11.4,389,8157,0.00,2.53,0.00,0.000,6,0.000,0.043,2758,2003,1403
$GC,8468,1.37,367.1,377.4,10.9,404,8473,0.00,2.62,0.00,0.000,4,0.000,0.070,2758,3416,1402
$GC,8509,1.37,367.1,372.7,11.3,406,8513,0.00,2.58,0.00,0.000,6,0.000,0.051,2759,1995,1403
$GC,8835,1.37,367.1,337.3,10.3,422,8840,0.00,2.58,0.00,0.000,4,0.000,0.066,2758,589,1403
$GC,8869,1.37,367.1,333.8,10.1,423,8875,0.00,2.53,0.00,0.000,6,0.000,0.042,2759,2014,1403
$GC,9185,1.37,367.1,299.9,11.0,439,9189,0.00,2.58,0.00,0.000,4,0.000,0.069,2758,3406,1403
$GC,9207,1.37,367.1,297.2,12.4,440,9211,0.00,2.55,0.00,0.000,6,0.000,0.051,2758,1996,1403
$GC,9528,1.37,367.1,259.8,12.0,456,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1996,1403
$GC,9838,1.37,367.1,220.1,13.1,471,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1996,1403
$GC,10147,1.37,367.1,180.7,12.5,486,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1996,1403
$GC,10456,1.37,367.1,143.3,11.9,501,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1996,1403
$GC,10766,1.37,367.1,107.0,11.3,516,10770,0.00,2.65,0.00,0.000,4,0.000,0.069,2758,3419,1403
$GC,10793,1.37,367.1,103.6,11.7,517,10797,0.00,2.58,0.00,0.000,6,0.000,0.053,2759,1995,1403
$GC,11109,1.37,367.1,69.0,11.0,532,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,1995,1403
$GC,11419,1.37,367.1,34.6,11.6,547,11423,0.00,2.62,0.00,0.000,4,0.000,0.067,2758,3410,1404
$GC,11451,1.37,367.1,30.2,14.1,548,11458,0.00,2.55,0.00,0.000,6,0.000,0.054,2759,1994,1404
$STATE,11682,end climb,SURFACE_DEPTH_REACHED
$STATE,11682,begin surface coast
$FINISH,0.7,1.027439
$STATE,11706,end surface coast,CONTROL_FINISHED_OK
$STATE,11706,begin surface
$SM_CCo,11790,0.00,0.000,0,0,1404,367.46
$SM_GC,1.51,11.80,0.00,0.00,0.024,0.000,0.000,49,2652,1404,-10.93,0.06,367.46
$IRIDIUM_FIX,6216.53,-1110.32,110698,050554
$TT8_MAMPS,0.028379
$HUMID,1769
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.2,96.2
$24V_AH,23.5,24.870
$10V_AH,10.1,13.208
$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,26.625,88.600,423.750,0.000,0.000,24.147,28.030,137.398,3.250,0.000,0.000,13.131,1031.528,8909.022,454.421,1285.751,420.186,33.374,1136.436,0.000,1262.577,0.000,23.833,0.000
$DEVICE_MAMPS,160.303,102.778,1000.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.519,405.237,392.188,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28654,561
$CAP_FILE_SIZE,82487,0
$CFSIZE,260165632,251056128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170309,132054,6251.440,-1059.795,41,1.1,41,-10.8