version: 66.04
glider: 103
mission: 11
dive: 109
start: 3 17 109 13 26 49
data:
$ID,103
$MISSION,11
$DIVE,109
$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,-145153.88
$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,10
$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
$GPS1,132054,6251.440,-1059.795,41,1.1,41,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-55.0
$GPS2,132557,6251.607,-1059.542,14,1.3,15,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.127,-0.178
$KALMAN_X,123520.7,-2706.1,-1098.4,-184919.9,41394.0
$KALMAN_Y,58389.0,-2176.9,-2109.6,43789.3,67800.3
$MHEAD_RNG_PITCHd_Wd,226.2,52899,-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,-60.55,0.000,6,0.000,0.000,49,2652,3503
$GC,81,-1.10,-146.6,5.9,-10.3,3,99,12.23,2.25,0.00,0.000,4,0.159,0.087,2194,3793,3503
$GC,110,-1.10,-146.6,17.4,-29.9,4,114,0.00,2.10,0.00,0.000,6,0.000,0.059,2194,2652,3503
$GC,432,-1.10,-146.6,45.5,-5.5,20,436,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3793,3503
$GC,499,-1.10,-146.6,50.5,-7.6,23,503,0.00,2.10,0.00,0.000,6,0.000,0.059,2194,2646,3503
$GC,827,-1.10,-146.6,74.5,-8.0,39,831,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3789,3503
$GC,867,-1.10,-146.6,78.0,-8.5,41,871,0.00,2.08,0.00,0.000,6,0.000,0.057,2194,2650,3503
$GC,1200,-1.10,-146.6,104.5,-6.8,57,1204,0.00,2.22,0.00,0.000,4,0.000,0.090,2194,3793,3504
$GC,1269,-1.10,-146.6,109.5,-7.3,60,1273,0.00,2.10,0.00,0.000,6,0.000,0.058,2194,2639,3503
$GC,1602,-1.10,-146.6,133.4,-7.1,76,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2639,3503
$GC,1911,-1.10,-146.6,155.1,-7.1,91,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2639,3503
$GC,2221,-1.10,-146.6,175.3,-6.3,106,2225,0.00,2.22,0.00,0.000,4,0.000,0.088,2194,3787,3503
$GC,2272,-1.10,-146.6,178.6,-6.1,108,2276,0.00,2.08,0.00,0.000,6,0.000,0.057,2194,2644,3504
$GC,2599,-1.10,-146.6,197.7,-6.1,124,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3503
$GC,2908,-1.10,-146.6,218.3,-7.3,139,2912,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3794,3503
$GC,2936,-1.10,-146.6,220.7,-7.9,140,2940,0.00,2.08,0.00,0.000,6,0.000,0.055,2194,2646,3503
$GC,3264,-1.10,-146.6,247.4,-8.0,156,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3503
$GC,3573,-1.10,-146.6,273.1,-8.3,171,3574,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3503
$GC,3882,-1.10,-146.6,298.1,-8.0,186,3886,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3785,3503
$GC,3927,-1.10,-146.6,301.8,-7.9,188,3931,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2640,3504
$GC,4260,-1.10,-146.6,327.1,-7.2,204,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3503
$GC,4569,-1.10,-146.6,348.8,-7.0,219,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3503
$GC,4878,-1.10,-146.6,370.7,-7.0,234,4882,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3786,3503
$GC,4912,-1.10,-146.6,373.5,-7.6,235,4916,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2656,3503
$GC,5234,-1.10,-146.6,395.7,-6.4,251,5238,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3794,3503
$GC,5331,-1.10,-146.6,401.4,-6.0,255,5335,0.00,2.08,0.00,0.000,6,0.000,0.057,2194,2645,3503
$GC,5659,-1.10,-146.6,418.8,-5.9,271,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3503
$GC,5968,-1.10,-146.6,436.4,-7.4,286,5972,0.00,2.20,0.00,0.000,4,0.000,0.090,2194,3785,3503
$GC,6063,-1.10,-146.6,444.8,-10.3,290,6067,0.00,2.05,0.00,0.000,6,0.000,0.058,2194,2653,3503
$GC,6391,-1.10,-146.6,467.1,-6.2,306,6394,0.00,2.20,0.00,0.000,4,0.000,0.092,2194,3785,3503
$GC,6453,-1.10,-146.6,472.3,-7.6,308,6459,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2648,3503
$GC,6769,-1.10,-146.6,476.2,-0.3,324,6772,0.00,2.15,0.00,0.000,4,0.000,0.076,2194,3792,3502
$STATE,6783,end dive,NO_VERTICAL_VELOCITY
$STATE,6783,begin apogee
$GC,6793,-0.42,0.0,476.2,0.0,324,6920,0.70,0.00,122.22,0.982,6,0.069,0.000,2346,1985,2902
$STATE,6921,end apogee,CONTROL_FINISHED_OK
$STATE,6921,begin climb
$GC,6924,1.10,146.6,476.4,0.0,331,7052,1.55,2.70,118.38,0.966,4,0.057,0.071,2679,598,2304
$GC,7306,1.37,366.3,476.5,-0.1,348,7493,0.28,2.53,177.05,0.983,6,0.038,0.044,2751,2012,1408
$GC,7809,1.37,366.3,443.1,9.7,373,7813,0.00,2.65,0.00,0.000,4,0.000,0.064,2751,588,1407
$GC,8050,1.37,366.3,414.2,12.4,384,8055,0.00,2.53,0.00,0.000,6,0.000,0.044,2751,2002,1407
$GC,8377,1.37,366.3,379.6,9.4,400,8382,0.00,2.65,0.00,0.000,4,0.000,0.073,2751,3419,1407
$GC,8427,1.37,366.3,375.0,8.9,402,8432,0.00,2.60,0.00,0.000,6,0.000,0.054,2751,1993,1406
$GC,8743,1.37,366.3,347.5,8.7,417,8747,0.00,2.67,0.00,0.000,4,0.000,0.070,2751,3419,1406
$GC,8771,1.37,366.3,344.7,10.1,418,8775,0.00,2.60,0.00,0.000,6,0.000,0.053,2751,1989,1406
$GC,9086,1.37,366.3,313.2,10.9,433,9091,0.00,2.67,0.00,0.000,4,0.000,0.071,2751,3415,1406
$GC,9126,1.37,366.3,308.5,12.2,435,9131,0.00,2.58,0.00,0.000,6,0.000,0.054,2752,2000,1406
$GC,9454,1.37,366.3,271.6,11.5,451,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2000,1406
$GC,9763,1.37,366.3,237.3,11.0,466,9767,0.00,2.65,0.00,0.000,4,0.000,0.071,2751,3417,1406
$GC,9807,1.37,366.3,232.0,12.0,468,9812,0.00,2.60,0.00,0.000,6,0.000,0.054,2751,1990,1406
$GC,10129,1.37,366.3,195.1,11.1,484,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1990,1406
$GC,10438,1.37,366.3,162.5,10.0,499,10442,0.00,2.67,0.00,0.000,4,0.000,0.070,2751,3421,1406
$GC,10478,1.37,366.3,158.4,10.1,501,10483,0.00,2.60,0.00,0.000,6,0.000,0.057,2751,1996,1406
$GC,10805,1.37,366.3,125.0,10.2,517,10809,0.00,2.65,0.00,0.000,4,0.000,0.069,2751,3416,1406
$GC,10832,1.37,366.3,121.7,11.2,518,10837,0.00,2.60,0.00,0.000,6,0.000,0.057,2751,1990,1406
$GC,11150,1.37,366.3,87.1,11.2,533,11151,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1990,1407
$GC,11458,1.37,366.3,54.0,11.1,548,11462,0.00,2.67,0.00,0.000,4,0.000,0.071,2751,3420,1407
$GC,11513,1.37,366.3,47.9,10.4,550,11520,0.00,2.58,0.00,0.000,6,0.000,0.057,2751,2000,1407
$GC,11829,1.37,366.3,14.3,10.3,566,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1999,1407
$STATE,11950,end climb,SURFACE_DEPTH_REACHED
$STATE,11950,begin surface coast
$FINISH,0.6,1.009502
$STATE,11972,end surface coast,CONTROL_FINISHED_OK
$STATE,11972,begin surface
$SM_CCo,12057,0.00,0.000,0,0,1407,366.72
$SM_GC,1.48,11.77,0.00,0.00,0.025,0.000,0.000,48,2649,1407,-10.92,-0.03,366.72
$IRIDIUM_FIX,6221.17,-1106.62,110698,101039
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,8.52572
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.5,24.996
$10V_AH,10.1,13.269
$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,26.525,101.175,417.650,0.000,0.000,31.118,34.711,121.140,3.500,0.000,0.000,15.813,1067.634,9046.467,465.011,1366.418,417.784,33.375,1177.333,0.000,1336.572,0.000,23.977,0.000
$DEVICE_MAMPS,158.769,92.040,982.527,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,408.843,413.108,407.536,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28476,573
$CAP_FILE_SIZE,86793,0
$CFSIZE,260165632,251006976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170309,164906,6254.501,-1055.034,38,2.0,43,-10.8