version: 66.04
glider: 103
mission: 11
dive: 176
start: 3 31 109 19 43 8
data:
$ID,103
$MISSION,11
$DIVE,176
$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,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,9.9999997e-06
$HEADING,225
$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,-146449.86
$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,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
$GPS1,193750,6300.574,-1157.465,37,2.1,56,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-55.4
$GPS2,194250,6300.621,-1157.542,12,2.0,12,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6252.985,-1214.295
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.084,-0.202
$KALMAN_X,16764.5,-645.8,-1543.6,-15384.9,24287.3
$KALMAN_Y,48969.3,-3585.5,-3249.7,-16818.6,69273.9
$MHEAD_RNG_PITCHd_Wd,236.4,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-54.58,0.000,6,0.000,0.000,52,2641,3501
$GC,80,-1.10,-146.6,7.3,-15.8,3,102,12.12,2.67,0.00,0.000,4,0.160,0.072,2193,1242,3501
$GC,321,-1.10,-146.6,34.7,-5.3,13,328,0.00,2.65,0.00,0.000,6,0.000,0.071,2193,2661,3501
$GC,638,-1.10,-146.6,60.8,-10.9,29,641,0.00,2.20,0.00,0.000,4,0.000,0.097,2193,3787,3502
$GC,706,-1.10,-146.6,68.1,-9.4,32,710,0.00,2.10,0.00,0.000,6,0.000,0.066,2193,2655,3501
$GC,1040,-1.10,-146.6,90.0,-6.2,48,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2654,3501
$GC,1349,-1.10,-146.6,113.2,-7.5,63,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2654,3502
$GC,1658,-1.10,-146.6,136.0,-8.1,78,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2654,3502
$GC,1967,-1.10,-146.6,163.4,-9.2,93,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2654,3501
$GC,2276,-1.10,-146.6,194.9,-10.1,108,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2654,3502
$GC,2585,-1.10,-146.6,222.2,-8.4,123,2589,0.00,2.20,0.00,0.000,4,0.000,0.091,2193,3785,3501
$GC,2654,-1.10,-146.6,228.4,-9.4,126,2658,0.00,2.10,0.00,0.000,6,0.000,0.063,2193,2643,3502
$GC,2987,-1.10,-146.6,254.1,-6.8,142,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,3296,-1.10,-146.6,272.4,-6.7,157,3300,0.00,2.22,0.00,0.000,4,0.000,0.092,2193,3783,3502
$GC,3360,-1.10,-146.6,276.9,-7.4,159,3366,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2637,3502
$GC,3676,-1.10,-146.6,300.3,-7.4,175,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2636,3502
$GC,3987,-1.10,-146.6,325.5,-8.9,190,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2636,3502
$GC,4294,-1.10,-146.6,345.8,-5.7,205,4298,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3784,3502
$GC,4373,-1.10,-146.6,351.9,-8.1,208,4376,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2648,3502
$GC,4694,-1.10,-146.6,383.1,-10.6,224,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3502
$GC,5004,-1.10,-146.6,411.1,-7.2,239,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2648,3502
$GC,5315,-1.10,-146.6,427.4,-5.5,254,5319,0.00,2.62,0.00,0.000,4,0.000,0.074,2193,1225,3502
$GC,5349,-1.10,-146.6,429.4,-5.4,255,5356,0.00,2.62,0.00,0.000,6,0.000,0.065,2193,2655,3502
$GC,5666,-1.10,-146.6,454.4,-8.6,271,5669,0.00,2.17,0.00,0.000,4,0.000,0.095,2192,3785,3502
$STATE,5702,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5702,begin apogee
$GC,5713,-0.42,0.0,457.6,8.4,272,5840,0.75,0.00,122.78,0.975,6,0.103,0.000,2344,1993,2902
$STATE,5840,end apogee,CONTROL_FINISHED_OK
$STATE,5840,begin climb
$GC,5844,1.10,146.6,463.5,0.0,279,5972,1.60,2.67,120.05,0.946,4,0.067,0.064,2679,580,2304
$GC,6230,1.10,146.6,451.5,6.3,296,6236,0.00,2.55,0.00,0.000,6,0.000,0.040,2679,2021,2304
$GC,6546,1.21,231.8,436.8,3.6,312,6623,0.12,2.65,70.78,0.955,4,0.046,0.070,2721,3412,1956
$GC,6760,1.21,231.8,423.0,8.4,321,6765,0.00,2.60,0.00,0.000,6,0.000,0.052,2721,1988,1955
$GC,7087,1.21,231.8,399.6,7.4,337,7092,0.00,2.58,0.00,0.000,4,0.000,0.066,2721,592,1954
$GC,7177,1.21,231.8,391.8,8.3,341,7181,0.00,2.50,0.00,0.000,6,0.000,0.041,2721,1999,1954
$GC,7498,1.21,231.8,366.8,7.6,357,7502,0.00,2.65,0.00,0.000,4,0.000,0.071,2721,3419,1954
$GC,7583,1.21,231.8,360.1,8.3,361,7587,0.00,2.58,0.00,0.000,6,0.000,0.052,2721,2000,1954
$GC,7910,1.21,231.8,338.2,6.7,377,7914,0.00,2.65,0.00,0.000,4,0.000,0.070,2721,3414,1953
$GC,7954,1.21,231.8,334.8,7.9,379,7958,0.00,2.58,0.00,0.000,6,0.000,0.053,2721,1998,1953
$GC,8275,1.21,231.8,309.8,8.4,395,8279,0.00,2.65,0.00,0.000,4,0.000,0.070,2721,3415,1953
$GC,8307,1.21,231.8,307.0,8.4,396,8314,0.00,2.58,0.00,0.000,6,0.000,0.051,2721,1993,1953
$GC,8624,1.21,231.8,281.6,7.9,412,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1993,1953
$GC,8933,1.21,231.8,257.9,7.7,427,8937,0.00,2.65,0.00,0.000,4,0.000,0.068,2721,3416,1953
$GC,8978,1.21,231.8,254.4,7.6,429,8983,0.00,2.58,0.00,0.000,6,0.000,0.052,2721,1995,1953
$GC,9300,1.21,231.8,230.1,7.4,445,9304,0.00,2.65,0.00,0.000,4,0.000,0.069,2721,3413,1954
$GC,9339,1.21,231.8,227.2,7.9,447,9344,0.00,2.58,0.00,0.000,6,0.000,0.053,2721,1989,1954
$GC,9666,1.21,231.8,203.6,7.4,463,9671,0.00,2.55,0.00,0.000,4,0.000,0.062,2721,586,1954
$GC,9695,1.21,231.8,201.6,7.5,464,9699,0.00,2.50,0.00,0.000,6,0.000,0.038,2721,2011,1954
$GC,10010,1.21,231.8,180.6,6.4,479,10015,0.00,2.60,0.00,0.000,4,0.000,0.069,2721,3420,1954
$GC,10044,1.21,231.8,178.3,6.8,480,10050,0.00,2.55,0.00,0.000,6,0.000,0.052,2721,1998,1954
$GC,10360,1.21,231.8,158.5,6.2,496,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1998,1954
$GC,10671,1.21,231.8,139.1,6.7,511,10672,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1998,1955
$GC,10979,1.21,231.8,117.8,6.8,526,10983,0.00,2.58,0.00,0.000,4,0.000,0.064,2721,585,1955
$GC,11019,1.21,231.8,114.9,7.3,528,11023,0.00,2.50,0.00,0.000,6,0.000,0.040,2721,2007,1955
$GC,11346,1.21,231.8,91.8,7.2,544,11350,0.00,2.60,0.00,0.000,4,0.000,0.070,2721,3415,1956
$GC,11401,1.21,231.8,87.7,7.4,546,11408,0.00,2.55,0.00,0.000,6,0.000,0.054,2721,2000,1956
$GC,11718,1.21,231.8,64.8,7.4,562,11722,0.00,2.58,0.00,0.000,4,0.000,0.064,2721,583,1956
$GC,11768,1.21,231.8,61.4,7.2,564,11772,0.00,2.50,0.00,0.000,6,0.000,0.038,2721,2009,1956
$GC,12084,1.21,231.8,38.4,7.8,579,12088,0.00,2.62,0.00,0.000,4,0.000,0.066,2721,588,1956
$GC,12151,1.21,231.8,32.9,9.1,582,12155,0.00,2.47,0.00,0.000,6,0.000,0.039,2721,2000,1956
$GC,12472,1.21,231.8,12.0,6.1,598,12476,0.00,2.58,0.00,0.000,4,0.000,0.058,2721,579,1956
$GC,12522,1.21,231.8,8.3,7.9,600,12526,0.00,2.53,0.00,0.000,6,0.000,0.045,2721,2005,1956
$STATE,12613,end climb,SURFACE_DEPTH_REACHED
$STATE,12614,begin surface coast
$FINISH,0.3,1.026453
$STATE,12635,end surface coast,CONTROL_FINISHED_OK
$STATE,12636,begin surface
$SM_CCo,12721,0.00,0.000,0,0,1956,232.05
$SM_GC,1.74,11.68,0.00,0.00,0.027,0.000,0.000,47,2652,1956,-10.92,0.06,232.05
$IRIDIUM_FIX,6239.86,-1152.10,250698,161634
$TT8_MAMPS,0.028379
$HUMID,1763
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.1,41.2
$24V_AH,23.5,33.925
$10V_AH,10.1,18.745
$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,26.275,111.975,313.600,0.000,0.000,30.831,33.448,123.762,3.250,0.000,0.000,12.336,1136.074,9597.556,407.031,1442.046,439.238,0.000,1133.608,0.000,1417.292,0.000,24.298,0.000
$DEVICE_MAMPS,159.536,97.409,974.857,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,427.525,440.391,463.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31758,606
$CAP_FILE_SIZE,91552,0
$CFSIZE,260165632,247033856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310309,231636,6302.260,-1158.363,50,1.5,50,-11.4