version: 66.04
glider: 103
mission: 11
dive: 181
start: 4 1 109 14 12 39
data:
$ID,103
$MISSION,11
$DIVE,181
$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,-146565.09
$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,33
$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
$GPS1,140600,6254.719,-1149.810,74,1.2,74,-11.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-61.0
$GPS2,141145,6254.679,-1149.747,17,1.4,17,-11.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,AW
$TGT_LATLONG,6130.000,-930.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.218,-0.012
$KALMAN_X,-9574.8,404.2,-2.3,16272.1,-13959.6
$KALMAN_Y,6612.1,-653.2,-558.6,-19608.3,9424.8
$MHEAD_RNG_PITCHd_Wd,104.4,199612,-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,-41.28,0.000,2,0.000,0.000,50,2669,3265
$GC,62,-1.10,-146.6,3.7,-10.9,2,85,12.05,2.12,-3.97,0.000,4,0.156,0.102,2195,3770,3503
$GC,321,-1.10,-146.6,32.0,-5.6,13,325,0.00,2.08,0.00,0.000,6,0.000,0.067,2195,2655,3503
$GC,643,-1.10,-146.6,57.6,-8.0,29,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2656,3503
$GC,952,-1.10,-146.6,80.3,-6.5,44,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2655,3502
$GC,1261,-1.10,-146.6,101.9,-7.2,59,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2656,3502
$GC,1571,-1.10,-146.6,121.8,-6.7,74,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2656,3502
$GC,1882,-1.10,-146.6,142.0,-6.6,89,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2655,3503
$GC,2189,-1.10,-146.6,162.6,-6.4,104,2192,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3768,3503
$GC,2222,-1.10,-146.6,164.9,-6.7,105,2226,0.00,2.08,0.00,0.000,6,0.000,0.062,2195,2637,3503
$GC,2544,-1.10,-146.6,184.4,-6.1,121,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2637,3503
$GC,2853,-1.10,-146.6,203.7,-6.8,136,2857,0.00,2.17,0.00,0.000,4,0.000,0.088,2196,3765,3503
$GC,2921,-1.10,-146.6,209.2,-8.8,139,2925,0.00,2.05,0.00,0.000,6,0.000,0.062,2196,2645,3503
$GC,3254,-1.10,-146.6,240.5,-10.2,155,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3502
$GC,3563,-1.10,-146.6,273.8,-10.3,170,3567,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3764,3503
$GC,3614,-1.10,-146.6,278.8,-9.6,172,3617,0.00,2.05,0.00,0.000,6,0.000,0.061,2195,2643,3503
$GC,3942,-1.10,-146.6,306.4,-7.9,188,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2642,3503
$GC,4250,-1.10,-146.6,329.4,-7.0,203,4254,0.00,2.17,0.00,0.000,4,0.000,0.089,2195,3770,3503
$GC,4289,-1.10,-146.6,332.3,-7.4,204,4295,0.00,2.05,0.00,0.000,6,0.000,0.061,2195,2647,3503
$GC,4605,-1.10,-146.6,358.9,-8.9,220,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3503
$GC,4914,-1.10,-146.6,384.5,-7.7,235,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,5223,-1.10,-146.6,406.9,-6.6,250,5227,0.00,2.15,0.00,0.000,4,0.000,0.085,2196,3772,3503
$GC,5262,-1.10,-146.6,409.6,-7.1,251,5268,0.00,2.05,0.00,0.000,6,0.000,0.058,2195,2643,3503
$GC,5581,-1.10,-146.6,425.3,-4.6,267,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3503
$GC,5887,-1.10,-146.6,448.1,-9.1,282,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2643,3503
$GC,6197,-1.10,-146.6,469.9,-4.9,297,6201,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3765,3503
$GC,6231,-1.10,-146.6,471.6,-4.7,298,6235,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2648,3503
$GC,6553,-1.10,-146.6,493.7,-8.9,314,6556,0.00,2.15,0.00,0.000,4,0.000,0.087,2195,3768,3503
$GC,6626,-1.10,-146.6,501.4,-11.0,317,6630,0.00,2.03,0.00,0.000,6,0.000,0.058,2195,2650,3503
$GC,6953,-1.10,-146.6,533.7,-8.7,333,6957,0.00,2.58,0.00,0.000,4,0.000,0.068,2195,1235,3502
$GC,6981,-1.10,-146.6,536.1,-8.5,334,6986,0.00,2.55,0.00,0.000,6,0.000,0.060,2195,2630,3502
$STATE,7073,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7073,begin apogee
$GC,7082,-0.42,0.0,544.3,8.5,339,7208,0.77,0.00,122.95,1.035,6,0.106,0.000,2346,1987,2902
$STATE,7208,end apogee,CONTROL_FINISHED_OK
$STATE,7209,begin climb
$GC,7212,1.10,146.6,548.8,0.0,345,7341,1.55,2.65,120.85,1.006,4,0.055,0.063,2679,580,2304
$GC,7594,1.12,159.2,539.8,5.7,362,7613,0.00,2.53,12.23,0.928,6,0.000,0.038,2679,2015,2252
$GC,7930,1.23,252.7,526.6,3.4,379,8014,0.12,2.72,76.43,1.022,4,0.045,0.066,2720,588,1872
$GC,8057,1.26,273.5,521.4,5.4,384,8084,0.00,2.53,18.90,0.954,6,0.000,0.039,2720,2007,1787
$GC,8394,1.26,273.5,503.9,6.3,401,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2007,1786
$GC,8703,1.26,273.5,472.9,11.6,416,8708,0.00,2.62,0.00,0.000,4,0.000,0.073,2720,3410,1785
$GC,8759,1.26,273.5,465.8,13.1,418,8765,0.00,2.60,0.00,0.000,6,0.000,0.054,2720,1986,1785
$GC,9075,1.26,273.5,429.1,9.9,434,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1986,1785
$GC,9385,1.31,318.5,410.1,4.8,449,9428,0.00,2.78,37.60,0.966,4,0.000,0.067,2720,3403,1603
$GC,9497,1.35,343.8,404.6,5.3,454,9526,0.00,2.58,22.08,0.928,6,0.000,0.054,2720,1994,1500
$GC,9849,1.35,350.1,386.8,5.8,471,9863,0.00,2.75,7.12,0.806,4,0.000,0.069,2720,3410,1474
$GC,9887,1.35,350.1,384.1,6.7,472,9893,0.00,2.60,0.00,0.000,6,0.000,0.053,2720,1992,1474
$GC,10203,1.36,354.7,364.5,5.9,488,10214,0.00,2.67,5.45,0.729,4,0.000,0.069,2720,3405,1455
$GC,10243,1.36,359.0,362.2,5.9,490,10254,0.00,2.58,5.40,0.722,6,0.000,0.054,2720,1994,1438
$GC,10571,1.36,359.6,343.3,6.0,506,10575,0.00,2.65,0.00,0.000,4,0.000,0.070,2720,3410,1438
$GC,10610,1.36,359.6,340.3,7.5,508,10614,0.00,2.58,0.00,0.000,6,0.000,0.054,2720,1998,1438
$GC,10937,1.36,359.6,312.6,9.2,524,10941,0.00,2.62,0.00,0.000,4,0.000,0.071,2720,3403,1438
$GC,10981,1.36,359.6,308.0,10.2,526,10985,0.00,2.58,0.00,0.000,6,0.000,0.056,2720,1994,1439
$GC,11302,1.36,359.6,275.9,10.5,542,11306,0.00,2.65,0.00,0.000,4,0.000,0.071,2720,3403,1438
$GC,11329,1.36,359.6,272.7,11.5,543,11334,0.00,2.58,0.00,0.000,6,0.000,0.057,2720,1994,1438
$GC,11645,1.36,359.6,238.3,11.0,558,11649,0.00,2.65,0.00,0.000,4,0.000,0.071,2720,3408,1438
$GC,11689,1.36,359.6,233.5,10.8,560,11693,0.00,2.58,0.00,0.000,6,0.000,0.056,2720,1998,1438
$GC,12011,1.36,359.6,200.9,10.2,576,12015,0.00,2.65,0.00,0.000,4,0.000,0.071,2720,3410,1438
$GC,12055,1.36,359.6,196.1,10.3,578,12059,0.00,2.58,0.00,0.000,6,0.000,0.056,2720,1997,1438
$GC,12376,1.36,359.6,162.7,10.5,594,12380,0.00,2.65,0.00,0.000,4,0.000,0.071,2720,3410,1439
$GC,12431,1.36,359.6,156.7,10.2,596,12437,0.00,2.58,0.00,0.000,6,0.000,0.057,2720,2000,1439
$GC,12747,1.36,359.6,124.0,9.8,612,12752,0.00,2.62,0.00,0.000,4,0.000,0.071,2720,3403,1439
$GC,12775,1.36,359.6,121.3,9.8,613,12780,0.00,2.58,0.00,0.000,6,0.000,0.057,2720,1990,1439
$GC,13092,1.36,359.6,91.5,9.7,628,13096,0.00,2.65,0.00,0.000,4,0.000,0.071,2720,3406,1439
$GC,13119,1.36,359.6,88.6,10.5,629,13123,0.00,2.58,0.00,0.000,6,0.000,0.056,2720,1994,1439
$GC,13437,1.36,359.6,62.5,7.5,644,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1994,1439
$GC,13745,1.36,359.6,35.5,9.6,659,13749,0.00,2.65,0.00,0.000,4,0.000,0.073,2720,3403,1439
$GC,13800,1.36,359.6,29.0,11.6,661,13806,0.00,2.55,0.00,0.000,6,0.000,0.058,2720,1998,1439
$STATE,14113,end climb,SURFACE_DEPTH_REACHED
$STATE,14113,begin surface coast
$FINISH,0.5,1.027480
$STATE,14137,end surface coast,CONTROL_FINISHED_OK
$STATE,14137,begin surface
$SM_CCo,14221,0.00,0.000,0,0,1439,358.87
$SM_GC,1.12,11.70,0.00,0.00,0.028,0.000,0.000,45,2635,1439,-10.92,-0.42,358.87
$IRIDIUM_FIX,6230.49,-1153.81,260698,101011
$TT8_MAMPS,0.029146
$HUMID,1786
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,500.1,52.4
$24V_AH,23.4,34.520
$10V_AH,10.1,19.072
$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,26.200,119.825,429.000,0.000,0.000,26.392,27.690,173.597,4.500,0.000,0.000,17.779,1256.145,10786.775,486.995,1542.772,498.267,33.366,1288.217,0.000,1509.128,0.000,32.111,0.000
$DEVICE_MAMPS,155.701,102.011,1035.450,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,486.994,491.666,467.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34927,678
$CAP_FILE_SIZE,102725,0
$CFSIZE,260165632,246792192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010409,181106,6250.613,-1148.265,43,1.7,48,-11.3