version: 66.04
glider: 103
mission: 11
dive: 110
start: 3 17 109 16 55 5
data:
$ID,103
$MISSION,11
$DIVE,110
$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,-145186.3
$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,8
$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
$GPS1,164906,6254.501,-1055.034,38,2.0,43,-10.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-57.0
$GPS2,165415,6254.613,-1054.821,11,2.4,30,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.133,-0.173
$KALMAN_X,128160.9,-2574.0,-2283.0,-184405.6,49284.2
$KALMAN_Y,62605.2,-3266.0,-1731.8,45888.5,69388.0
$MHEAD_RNG_PITCHd_Wd,228.4,59754,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.88,0.000,6,0.000,0.000,48,2654,3501
$GC,82,-1.10,-146.6,5.8,-10.6,3,98,12.25,0.00,0.00,0.000,6,0.160,0.000,2192,2654,3501
$GC,409,-1.10,-146.6,42.7,-7.3,19,412,0.00,2.20,0.00,0.000,4,0.000,0.094,2193,3786,3502
$GC,478,-1.10,-146.6,48.6,-8.8,22,482,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2650,3502
$GC,812,-1.10,-146.6,75.2,-8.0,38,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3502
$GC,1120,-1.10,-146.6,99.6,-8.0,53,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,1430,-1.10,-146.6,124.1,-7.6,68,1433,0.00,2.22,0.00,0.000,4,0.000,0.089,2193,3793,3502
$GC,1486,-1.10,-146.6,128.6,-7.6,70,1489,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2647,3502
$GC,1807,-1.10,-146.6,153.8,-7.8,86,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,2117,-1.10,-146.6,177.6,-7.5,101,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,2427,-1.10,-146.6,201.5,-7.8,116,2430,0.00,2.22,0.00,0.000,4,0.000,0.089,2193,3792,3502
$GC,2472,-1.10,-146.6,205.2,-8.8,118,2476,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2643,3502
$GC,2805,-1.10,-146.6,232.7,-8.4,134,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,3114,-1.10,-146.6,259.7,-8.9,149,3118,0.00,2.22,0.00,0.000,4,0.000,0.088,2193,3792,3502
$GC,3182,-1.10,-146.6,265.9,-9.1,152,3186,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2643,3502
$GC,3515,-1.10,-146.6,296.1,-9.1,168,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3502
$GC,3824,-1.10,-146.6,323.5,-8.8,183,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2642,3502
$GC,4134,-1.10,-146.6,351.8,-9.9,198,4138,0.00,2.22,0.00,0.000,4,0.000,0.088,2193,3794,3502
$GC,4207,-1.10,-146.6,359.6,-10.9,201,4211,0.00,2.10,0.00,0.000,6,0.000,0.058,2193,2640,3502
$GC,4534,-1.10,-146.6,391.2,-8.9,217,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3502
$GC,4844,-1.10,-146.6,416.9,-8.0,232,4847,0.00,2.22,0.00,0.000,4,0.000,0.090,2193,3787,3502
$GC,4890,-1.10,-146.6,420.4,-8.6,234,4893,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2644,3502
$GC,5222,-1.10,-146.6,441.8,-6.7,250,5226,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3792,3502
$GC,5290,-1.10,-146.6,446.8,-7.5,253,5294,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2646,3502
$STATE,5496,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5497,begin apogee
$GC,5505,-0.42,0.0,461.4,7.3,263,5630,0.77,0.00,121.65,0.974,6,0.101,0.000,2345,2001,2901
$STATE,5631,end apogee,CONTROL_FINISHED_OK
$STATE,5631,begin climb
$GC,5634,1.10,146.6,465.5,0.0,269,5764,1.58,2.70,119.03,0.941,4,0.064,0.066,2678,590,2303
$GC,6017,1.17,201.8,452.0,4.5,286,6070,0.00,2.53,46.00,0.927,6,0.000,0.038,2678,2024,2079
$GC,6382,1.19,219.5,431.0,5.5,304,6404,0.00,2.72,16.17,0.892,4,0.000,0.065,2678,588,2005
$GC,6489,1.20,227.5,424.5,5.8,308,6505,0.12,2.53,8.02,0.804,6,0.046,0.041,2718,2007,1974
$GC,6827,1.20,227.5,399.9,7.7,325,6831,0.00,2.60,0.00,0.000,4,0.000,0.069,2718,3406,1973
$GC,6854,1.20,227.5,397.8,8.0,326,6858,0.00,2.58,0.00,0.000,6,0.000,0.051,2719,1985,1973
$GC,7170,1.20,227.5,375.7,6.5,341,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1985,1973
$GC,7480,1.21,236.1,356.8,5.8,356,7494,0.00,2.62,8.35,0.817,4,0.000,0.064,2719,593,1939
$GC,7562,1.21,236.1,351.4,6.4,359,7569,0.00,2.50,0.00,0.000,6,0.000,0.040,2718,2005,1939
$GC,7878,1.21,236.1,332.1,6.4,375,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2006,1939
$GC,8188,1.21,236.1,310.8,6.9,390,8192,0.00,2.60,0.00,0.000,4,0.000,0.070,2718,3408,1939
$GC,8215,1.21,236.1,308.9,7.7,391,8219,0.00,2.55,0.00,0.000,6,0.000,0.053,2718,2000,1939
$GC,8531,1.21,236.1,288.1,6.7,406,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2000,1939
$GC,8840,1.21,236.1,267.0,7.3,421,8844,0.00,2.58,0.00,0.000,4,0.000,0.063,2718,582,1939
$GC,8886,1.21,236.1,263.5,7.9,423,8890,0.00,2.50,0.00,0.000,6,0.000,0.040,2719,2007,1939
$GC,9212,1.21,236.1,241.3,6.6,439,9217,0.00,2.60,0.00,0.000,4,0.000,0.070,2718,3414,1939
$GC,9246,1.21,236.1,239.0,6.8,440,9252,0.00,2.55,0.00,0.000,6,0.000,0.052,2718,1995,1939
$GC,9562,1.21,236.1,218.0,6.8,456,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1994,1939
$GC,9871,1.21,236.1,195.9,7.5,471,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1995,1939
$GC,10181,1.21,236.1,171.7,7.9,486,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1995,1939
$GC,10490,1.21,236.1,145.8,8.2,501,10495,0.00,2.65,0.00,0.000,4,0.000,0.070,2718,3415,1940
$GC,10540,1.21,236.1,141.3,9.0,503,10545,0.00,2.58,0.00,0.000,6,0.000,0.054,2719,1990,1940
$GC,10858,1.21,236.1,115.6,8.1,518,10862,0.00,2.55,0.00,0.000,4,0.000,0.064,2718,590,1940
$GC,10882,1.21,236.1,113.5,8.4,519,10886,0.00,2.47,0.00,0.000,6,0.000,0.040,2718,2001,1940
$GC,11203,1.21,236.1,88.5,7.7,535,11208,0.00,2.60,0.00,0.000,4,0.000,0.069,2719,3415,1940
$GC,11226,1.21,236.1,86.7,7.6,536,11230,0.00,2.58,0.00,0.000,6,0.000,0.054,2719,1989,1940
$GC,11548,1.21,236.1,64.0,7.2,552,11549,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1989,1940
$GC,11857,1.21,236.1,40.6,7.4,567,11861,0.00,2.55,0.00,0.000,4,0.000,0.065,2718,590,1941
$GC,11901,1.21,236.1,36.0,10.7,569,11905,0.00,2.47,0.00,0.000,6,0.000,0.038,2718,2011,1940
$GC,12222,1.21,236.1,10.0,7.4,585,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2012,1941
$STATE,12322,end climb,SURFACE_DEPTH_REACHED
$STATE,12322,begin surface coast
$FINISH,0.6,1.002889
$STATE,12344,end surface coast,CONTROL_FINISHED_OK
$STATE,12344,begin surface
$SM_CCo,12429,0.00,0.000,0,0,1941,235.73
$SM_GC,2.08,11.75,0.00,0.00,0.030,0.000,0.000,47,2644,1941,-10.93,-0.17,235.73
$IRIDIUM_FIX,6225.82,-1103.81,110698,131335
$TT8_MAMPS,0.028379
$HUMID,1771
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.3,44.1
$24V_AH,23.5,25.092
$10V_AH,10.1,13.330
$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,26.475,89.250,319.225,0.000,0.000,30.277,30.839,115.381,3.500,0.000,0.000,31.792,1086.547,9515.632,394.177,1335.923,406.342,33.367,1059.831,0.000,1291.927,0.000,26.572,0.000
$DEVICE_MAMPS,159.536,94.341,974.090,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,416.638,431.455,441.586,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28578,591
$CAP_FILE_SIZE,84998,0
$CFSIZE,260165632,250966016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170309,202336,6256.470,-1051.649,39,1.3,45,-10.8