version: 66.04
glider: 103
mission: 11
dive: 178
start: 4 1 109 2 50 57
data:
$ID,103
$MISSION,11
$DIVE,178
$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,0
$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,-146497.34
$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,15
$R_STBD_OVSHOOT,12
$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
$GPS1,024206,6302.606,-1152.477,33,1.3,33,-11.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-59.4
$GPS2,025010,6302.645,-1152.269,10,2.1,29,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6130.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.152,-0.157
$KALMAN_X,184.7,184.7,184.7,4425.9,-204.2
$KALMAN_Y,1548.2,1548.2,1548.2,-4281.3,-1712.1
$MHEAD_RNG_PITCHd_Wd,147.4,212710,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.33,0.000,2,0.000,0.000,46,2651,3094
$GC,62,-1.10,-146.6,3.4,-9.3,2,88,12.18,2.25,-7.43,0.000,4,0.160,0.106,2194,3780,3501
$GC,197,-1.10,-146.6,19.8,-6.4,8,201,0.00,2.10,0.00,0.000,6,0.000,0.067,2194,2653,3501
$GC,530,-1.10,-146.6,43.7,-7.2,24,533,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3789,3501
$GC,586,-1.10,-146.6,48.4,-8.5,26,590,0.00,2.12,0.00,0.000,6,0.000,0.064,2194,2641,3501
$GC,908,-1.10,-146.6,73.4,-7.7,42,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,1219,-1.10,-146.6,97.8,-8.0,57,1223,0.00,2.22,0.00,0.000,4,0.000,0.087,2194,3787,3501
$GC,1269,-1.10,-146.6,102.0,-7.9,59,1273,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2650,3501
$GC,1591,-1.10,-146.6,125.2,-7.1,75,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,1900,-1.10,-146.6,146.8,-7.3,90,1904,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3789,3501
$GC,1928,-1.10,-146.6,149.0,-7.5,91,1932,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2647,3501
$GC,2255,-1.10,-146.6,172.8,-7.3,107,2259,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3788,3502
$GC,2289,-1.10,-146.6,175.7,-8.1,108,2292,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2645,3501
$GC,2610,-1.10,-146.6,199.0,-7.1,124,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3501
$GC,2920,-1.10,-146.6,219.4,-6.2,139,2923,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3786,3501
$GC,2959,-1.10,-146.6,221.7,-5.9,140,2965,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2649,3501
$GC,3276,-1.10,-146.6,236.6,-4.5,156,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,3585,-1.10,-146.6,252.1,-5.7,171,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2648,3501
$GC,3894,-1.10,-146.6,271.0,-6.3,186,3897,0.00,2.20,0.00,0.000,4,0.000,0.086,2194,3790,3501
$GC,3944,-1.10,-146.6,274.6,-7.4,188,3948,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2643,3501
$GC,4271,-1.10,-146.6,295.8,-6.7,204,4273,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,4580,-1.10,-146.6,315.3,-6.2,219,4581,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,4890,-1.10,-146.6,334.5,-6.0,234,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,5202,-1.10,-146.6,351.0,-5.2,249,5206,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3785,3502
$GC,5258,-1.10,-146.6,354.7,-6.1,251,5261,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2649,3502
$GC,5579,-1.10,-146.6,379.8,-8.7,267,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3502
$GC,5889,-1.10,-146.6,402.3,-6.3,282,5893,0.00,2.17,0.00,0.000,4,0.000,0.086,2194,3783,3502
$GC,5962,-1.10,-146.6,407.0,-6.1,285,5965,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2645,3502
$GC,6293,-1.10,-146.6,426.1,-8.7,301,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3502
$GC,6599,-1.10,-146.6,447.4,-5.6,316,6602,0.00,2.20,0.00,0.000,4,0.000,0.089,2194,3783,3502
$GC,6745,-1.10,-146.6,457.6,-6.5,322,6748,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2646,3501
$STATE,6754,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6754,begin apogee
$GC,6763,-0.42,0.0,458.5,6.7,323,6888,0.77,0.00,122.18,0.980,6,0.097,0.000,2348,1990,2902
$STATE,6889,end apogee,CONTROL_FINISHED_OK
$STATE,6889,begin climb
$GC,6892,1.10,146.6,464.9,0.0,329,7020,1.55,2.67,119.40,0.950,4,0.061,0.068,2679,588,2304
$GC,7277,1.16,190.9,461.4,4.8,346,7321,0.00,2.53,37.50,0.946,6,0.000,0.039,2679,2019,2123
$GC,7642,1.20,228.2,442.8,5.0,364,7679,0.10,2.65,31.58,0.953,4,0.051,0.071,2717,3402,1971
$GC,7741,1.20,228.2,436.1,7.0,367,7748,0.00,2.58,0.00,0.000,6,0.000,0.053,2717,1989,1971
$GC,8057,1.20,228.2,414.3,8.5,383,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1989,1970
$GC,8366,1.20,228.2,388.2,6.5,398,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1989,1969
$GC,8676,1.31,317.9,375.8,3.5,413,8759,0.00,2.80,73.28,0.950,4,0.000,0.073,2717,3403,1606
$GC,8776,1.31,317.9,370.9,6.2,417,8782,0.00,2.60,0.00,0.000,6,0.000,0.056,2717,2002,1606
$GC,9092,1.31,317.9,347.6,7.6,433,9096,0.00,2.65,0.00,0.000,4,0.000,0.072,2717,3402,1605
$GC,9131,1.31,317.9,344.6,7.5,435,9136,0.00,2.58,0.00,0.000,6,0.000,0.057,2717,1997,1605
$GC,9459,1.31,317.9,319.9,7.7,451,9463,0.00,2.65,0.00,0.000,4,0.000,0.072,2717,3400,1605
$GC,9492,1.31,317.9,317.3,7.3,452,9498,0.00,2.58,0.00,0.000,6,0.000,0.056,2717,1993,1605
$GC,9808,1.31,317.9,296.1,6.6,468,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1993,1606
$GC,10117,1.31,317.9,271.7,8.0,483,10121,0.00,2.65,0.00,0.000,4,0.000,0.071,2717,3406,1606
$GC,10168,1.31,317.9,267.4,7.8,485,10172,0.00,2.58,0.00,0.000,6,0.000,0.057,2717,1998,1606
$GC,10483,1.31,317.9,244.3,7.3,500,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1998,1606
$GC,10793,1.31,317.9,221.7,7.4,515,10797,0.00,2.65,0.00,0.000,4,0.000,0.071,2717,3409,1606
$GC,10850,1.31,317.9,217.4,7.5,517,10856,0.00,2.58,0.00,0.000,6,0.000,0.057,2717,1998,1606
$GC,11166,1.31,317.9,194.9,6.9,533,11170,0.00,2.62,0.00,0.000,4,0.000,0.070,2717,3402,1606
$GC,11193,1.31,317.9,192.7,8.0,534,11197,0.00,2.55,0.00,0.000,6,0.000,0.055,2717,2000,1606
$GC,11509,1.31,317.9,171.5,6.8,549,11514,0.00,2.62,0.00,0.000,4,0.000,0.070,2717,3406,1607
$GC,11531,1.31,317.9,169.8,7.3,550,11536,0.00,2.58,0.00,0.000,6,0.000,0.056,2717,1993,1607
$GC,11853,1.31,317.9,147.9,6.7,566,11857,0.00,2.62,0.00,0.000,4,0.000,0.069,2717,3399,1607
$GC,11887,1.31,317.9,145.4,6.9,567,11891,0.00,2.55,0.00,0.000,6,0.000,0.057,2717,1998,1607
$GC,12208,1.31,317.9,123.9,6.8,583,12213,0.00,2.62,0.00,0.000,4,0.000,0.071,2717,3402,1608
$GC,12242,1.31,317.9,121.2,7.4,584,12248,0.00,2.55,0.00,0.000,6,0.000,0.057,2717,1993,1607
$GC,12558,1.31,317.9,98.3,7.5,600,12563,0.00,2.62,0.00,0.000,4,0.000,0.069,2717,3400,1608
$GC,12603,1.31,317.9,94.7,7.3,602,12607,0.00,2.55,0.00,0.000,6,0.000,0.057,2717,2000,1608
$GC,12924,1.31,317.9,68.6,8.8,618,12928,0.00,2.62,0.00,0.000,4,0.000,0.070,2717,3408,1608
$GC,12968,1.31,317.9,64.4,9.0,620,12973,0.00,2.58,0.00,0.000,6,0.000,0.057,2717,1995,1608
$GC,13290,1.31,317.9,36.7,8.7,636,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1995,1608
$GC,13599,1.31,317.9,8.1,9.4,651,13604,0.00,2.65,0.00,0.000,4,0.000,0.074,2717,3403,1608
$GC,13655,1.34,341.5,3.9,5.3,653,13676,0.00,2.60,15.60,0.667,2,0.000,0.065,2717,1989,1536
$STATE,13677,end climb,SURFACE_DEPTH_REACHED
$STATE,13677,begin surface coast
$FINISH,1.0,1.027489
$STATE,13682,end surface coast,CONTROL_FINISHED_OK
$STATE,13682,begin surface
$SM_CCo,13767,0.00,0.000,0,0,1535,335.33
$SM_GC,1.14,11.80,0.00,0.00,0.028,0.000,0.000,54,2641,1535,-10.92,-0.25,335.33
$IRIDIUM_FIX,6239.86,-1156.74,260698,020234
$TT8_MAMPS,0.028379
$HUMID,1766
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,426.1,42.0
$24V_AH,23.5,34.157
$10V_AH,10.1,18.874
$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,26.400,118.600,399.525,0.000,0.000,47.146,54.544,186.778,3.500,0.000,0.000,30.809,1212.423,10496.002,456.002,1519.467,568.071,30.193,1240.223,0.000,1476.271,0.000,27.809,0.000
$DEVICE_MAMPS,160.303,105.846,980.226,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,469.405,475.310,470.644,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31678,655
$CAP_FILE_SIZE,100634,0
$CFSIZE,260165632,246935552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010409,064137,6259.807,-1150.374,36,1.3,36,-11.4