version: 66.04
glider: 103
mission: 11
dive: 123
start: 3 19 109 7 2 57
data:
$ID,103
$MISSION,11
$DIVE,123
$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,412.5
$T_MISSION,440
$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,-145443.56
$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,14
$R_STBD_OVSHOOT,14
$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
$GPS1,065337,6239.934,-1042.714,32,1.3,32,-10.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-59.5
$GPS2,070213,6239.797,-1043.202,16,2.0,21,-10.6
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.228,-0.085
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,260.0,51849,-14.9,-8.000
$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,-1.42,-146.6,0.0,0.0,0,78,0.00,0.00,-60.50,0.000,6,0.000,0.000,51,2652,3503
$GC,82,-1.42,-146.6,5.5,-9.8,3,103,11.75,2.67,0.00,0.000,4,0.160,0.066,2123,1233,3503
$GC,210,-1.42,-146.6,28.7,-10.2,8,216,0.00,2.62,0.00,0.000,6,0.000,0.065,2123,2652,3503
$GC,527,-1.42,-146.6,62.4,-10.7,24,531,0.00,2.15,0.00,0.000,4,0.000,0.083,2123,3787,3503
$GC,628,-1.42,-146.6,73.6,-11.2,28,633,0.00,2.05,0.00,0.000,6,0.000,0.051,2123,2636,3503
$GC,950,-1.42,-146.6,107.2,-10.5,44,954,0.00,2.22,0.00,0.000,4,0.000,0.084,2123,3793,3503
$GC,989,-1.42,-146.6,111.4,-10.3,45,996,0.00,2.03,0.00,0.000,6,0.000,0.049,2123,2650,3503
$GC,1307,-1.42,-146.6,144.3,-10.4,61,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2650,3503
$GC,1615,-1.42,-146.6,174.9,-10.0,76,1620,0.00,2.17,0.00,0.000,4,0.000,0.084,2123,3786,3503
$GC,1648,-1.42,-146.6,178.6,-10.9,77,1652,0.00,2.03,0.00,0.000,6,0.000,0.047,2123,2645,3502
$GC,1969,-1.42,-146.6,212.3,-10.7,93,1973,0.00,2.20,0.00,0.000,4,0.000,0.086,2123,3787,3503
$GC,2015,-1.42,-146.6,217.4,-11.2,95,2019,0.00,2.05,0.00,0.000,6,0.000,0.053,2124,2641,3503
$GC,2349,-1.42,-146.6,251.4,-9.9,111,2353,0.00,2.20,0.00,0.000,4,0.000,0.084,2123,3787,3503
$GC,2388,-1.42,-146.6,255.8,-10.9,112,2394,0.00,2.03,0.00,0.000,6,0.000,0.051,2123,2654,3503
$GC,2704,-1.42,-146.6,288.1,-10.5,128,2705,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2653,3503
$GC,3013,-1.42,-146.6,321.0,-10.3,143,3017,0.00,2.17,0.00,0.000,4,0.000,0.084,2123,3790,3503
$GC,3077,-1.42,-146.6,327.0,-9.2,145,3083,0.00,2.03,0.00,0.000,6,0.000,0.049,2123,2643,3503
$GC,3393,-1.42,-146.6,355.6,-9.1,161,3397,0.00,2.17,0.00,0.000,4,0.000,0.081,2123,3789,3503
$GC,3439,-1.42,-146.6,360.4,-10.9,163,3442,0.00,2.00,0.00,0.000,6,0.000,0.047,2123,2650,3503
$GC,3771,-1.42,-146.6,397.7,-11.9,179,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2650,3503
$GC,4080,-1.42,-146.6,433.1,-10.5,194,4082,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2650,3503
$GC,4390,-1.42,-146.6,456.3,-5.8,209,4394,0.00,2.17,0.00,0.000,4,0.000,0.082,2123,3790,3504
$GC,4469,-1.42,-146.6,460.9,-5.9,212,4473,0.00,2.03,0.00,0.000,6,0.000,0.044,2123,2640,3503
$GC,4790,-1.42,-146.6,488.5,-11.9,228,4794,0.00,2.20,0.00,0.000,4,0.000,0.082,2123,3796,3503
$GC,4930,-1.42,-146.6,506.1,-12.2,234,4934,0.00,2.03,0.00,0.000,6,0.000,0.047,2123,2649,3503
$GC,5257,-1.42,-146.6,538.0,-9.6,250,5258,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2649,3503
$GC,5567,-1.42,-146.6,572.4,-12.3,265,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2649,3503
$STATE,5811,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5811,begin apogee
$GC,5820,-0.42,0.0,599.2,9.3,277,5946,1.12,0.00,122.38,1.111,6,0.098,0.000,2346,1997,2902
$STATE,5947,end apogee,CONTROL_FINISHED_OK
$STATE,5947,begin climb
$GC,5950,1.42,146.6,606.7,0.0,283,6079,1.90,2.70,120.43,1.054,4,0.062,0.070,2745,588,2304
$GC,6331,1.46,178.1,599.3,6.8,300,6364,0.00,2.53,27.65,1.029,6,0.000,0.040,2745,2017,2175
$GC,6673,1.47,188.6,573.4,7.6,317,6689,0.00,2.75,9.88,0.950,4,0.000,0.069,2745,580,2133
$GC,6807,1.56,257.1,563.9,5.5,322,6872,0.15,2.53,57.25,1.054,6,0.043,0.041,2791,2000,1853
$GC,7194,1.56,257.1,528.7,10.0,341,7199,0.00,2.65,0.00,0.000,4,0.000,0.069,2791,587,1852
$GC,7267,1.56,257.1,521.3,10.1,344,7272,0.00,2.53,0.00,0.000,6,0.000,0.042,2791,2002,1852
$GC,7583,1.56,257.1,495.0,9.0,359,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2002,1851
$GC,7893,1.56,257.1,461.7,10.7,374,7897,0.00,2.60,0.00,0.000,4,0.000,0.066,2791,3412,1850
$GC,7933,1.56,257.1,457.4,11.1,376,7937,0.00,2.55,0.00,0.000,6,0.000,0.046,2791,1990,1850
$GC,8259,1.56,257.1,426.7,8.4,392,8263,0.00,2.55,0.00,0.000,4,0.000,0.062,2791,592,1850
$GC,8376,1.56,257.1,416.0,9.4,397,8381,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2003,1850
$GC,8692,1.56,257.1,387.2,9.2,412,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2003,1850
$GC,9002,1.56,257.1,358.8,9.2,427,9006,0.00,2.60,0.00,0.000,4,0.000,0.060,2791,583,1850
$GC,9079,1.56,257.1,350.8,10.7,430,9086,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2004,1850
$GC,9396,1.56,257.1,316.5,11.2,446,9400,0.00,2.58,0.00,0.000,4,0.000,0.060,2791,591,1851
$GC,9440,1.56,257.1,311.1,11.6,448,9444,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2009,1851
$GC,9766,1.56,257.1,273.3,11.4,464,9771,0.00,2.60,0.00,0.000,4,0.000,0.060,2791,588,1851
$GC,9833,1.56,257.1,265.4,12.1,467,9838,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2002,1851
$GC,10155,1.56,257.1,232.1,10.0,483,10159,0.00,2.58,0.00,0.000,4,0.000,0.060,2791,590,1851
$GC,10239,1.56,257.1,223.1,10.9,487,10244,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2006,1851
$GC,10567,1.56,257.1,190.2,10.1,503,10571,0.00,2.60,0.00,0.000,4,0.000,0.060,2791,584,1852
$GC,10611,1.56,257.1,185.4,11.0,505,10615,0.00,2.50,0.00,0.000,6,0.000,0.038,2792,2010,1852
$GC,10932,1.56,257.1,154.6,9.4,521,10936,0.00,2.60,0.00,0.000,4,0.000,0.060,2791,586,1853
$GC,11049,1.56,257.1,142.8,9.6,526,11054,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2000,1853
$GC,11372,1.56,257.1,113.6,9.1,542,11376,0.00,2.58,0.00,0.000,4,0.000,0.061,2792,588,1853
$GC,11416,1.56,257.1,109.1,9.7,544,11420,0.00,2.47,0.00,0.000,6,0.000,0.038,2792,2003,1853
$GC,11737,1.56,257.1,78.4,9.7,560,11741,0.00,2.60,0.00,0.000,4,0.000,0.062,2792,586,1853
$GC,11815,1.56,257.1,70.1,10.7,563,11821,0.00,2.47,0.00,0.000,6,0.000,0.038,2792,2008,1853
$GC,12133,1.56,257.1,39.2,9.7,579,12137,0.00,2.60,0.00,0.000,4,0.000,0.062,2792,590,1854
$GC,12218,1.56,257.1,30.1,10.5,583,12222,0.00,2.47,0.00,0.000,6,0.000,0.038,2791,2005,1854
$STATE,12501,end climb,SURFACE_DEPTH_REACHED
$STATE,12501,begin surface coast
$FINISH,0.6,1.011588
$STATE,12524,end surface coast,CONTROL_FINISHED_OK
$STATE,12524,begin surface
$SM_CCo,12609,0.00,0.000,0,0,1854,257.07
$SM_GC,1.59,12.12,0.00,0.00,0.033,0.000,0.000,50,2653,1854,-10.93,0.08,257.07
$IRIDIUM_FIX,6216.53,-1040.05,130698,070704
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.7,58.3
$24V_AH,23.4,26.518
$10V_AH,10.1,14.019
$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,27.050,117.200,337.575,0.000,0.000,59.144,56.855,220.349,5.000,0.000,0.000,21.380,1142.793,9477.931,422.696,1505.311,575.845,29.244,1191.215,0.000,1457.523,0.000,39.285,0.000
$DEVICE_MAMPS,160.303,88.972,1110.616,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.785,430.416,392.197,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28625,598
$CAP_FILE_SIZE,97347,0
$CFSIZE,260165632,250449920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190309,103436,6236.977,-1058.241,41,1.6,53,-10.7