version: 66.04
glider: 103
mission: 11
dive: 182
start: 4 1 109 18 17 50
data:
$ID,103
$MISSION,11
$DIVE,182
$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,-146586.47
$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,16
$R_STBD_OVSHOOT,7
$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
$GPS1,181106,6250.613,-1148.265,43,1.7,48,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-60.2
$GPS2,181700,6250.526,-1148.343,10,1.6,20,-11.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HW
$TGT_LATLONG,6250.000,-1305.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.063,0.209
$KALMAN_X,-15653.9,1268.0,163.0,22494.4,-21596.8
$KALMAN_Y,-2741.9,-624.1,-569.0,-17940.9,-7276.3
$MHEAD_RNG_PITCHd_Wd,354.4,64828,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.60,0.000,2,0.000,0.000,45,2639,3457
$GC,82,-1.10,-146.6,4.6,-8.3,3,104,12.27,2.70,-0.73,0.000,4,0.164,0.087,2193,1235,3502
$GC,331,-1.10,-146.6,36.7,-9.7,14,335,0.00,2.67,0.00,0.000,6,0.000,0.071,2193,2659,3502
$GC,658,-1.10,-146.6,62.3,-8.0,30,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2659,3502
$GC,967,-1.10,-146.6,88.0,-8.1,45,971,0.00,2.20,0.00,0.000,4,0.000,0.097,2193,3790,3502
$GC,1059,-1.10,-146.6,95.9,-8.7,49,1062,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2650,3502
$GC,1393,-1.10,-146.6,122.4,-7.2,65,1397,0.00,2.22,0.00,0.000,4,0.000,0.092,2193,3789,3502
$GC,1438,-1.10,-146.6,126.0,-7.4,67,1442,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2647,3502
$GC,1766,-1.10,-146.6,149.8,-7.8,83,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,2075,-1.10,-146.6,171.3,-6.3,98,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,2384,-1.10,-146.6,190.5,-6.1,113,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,2693,-1.10,-146.6,212.1,-7.1,128,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,3002,-1.10,-146.6,233.8,-6.4,143,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,3312,-1.10,-146.6,254.2,-7.3,158,3316,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3785,3502
$GC,3345,-1.10,-146.6,257.0,-8.6,159,3351,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2648,3502
$GC,3661,-1.10,-146.6,281.1,-7.7,175,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,3970,-1.10,-146.6,307.3,-8.8,190,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3503
$GC,4279,-1.10,-146.6,336.7,-9.3,205,4283,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3793,3503
$GC,4324,-1.10,-146.6,341.0,-9.6,207,4328,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2651,3503
$GC,4651,-1.10,-146.6,371.7,-9.7,223,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3503
$GC,4960,-1.10,-146.6,403.9,-10.9,238,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3503
$GC,5270,-1.10,-146.6,439.2,-11.8,253,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3503
$GC,5580,-1.10,-146.6,476.0,-12.0,268,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,5888,-1.10,-146.6,510.7,-10.8,283,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,6197,-1.10,-146.6,546.7,-12.4,298,6202,0.00,2.60,0.00,0.000,4,0.000,0.069,2193,1225,3503
$GC,6271,-1.10,-146.6,556.2,-13.0,301,6275,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2654,3503
$STATE,6506,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6506,begin apogee
$GC,6515,-0.42,0.0,582.6,9.5,313,6642,0.77,0.00,123.82,1.047,6,0.097,0.000,2346,1986,2902
$STATE,6642,end apogee,CONTROL_FINISHED_OK
$STATE,6643,begin climb
$GC,6646,1.10,146.6,586.8,0.0,319,6775,1.55,2.62,121.03,1.013,4,0.058,0.060,2678,584,2304
$GC,6930,1.10,146.6,561.1,15.2,332,6934,0.00,2.50,0.00,0.000,6,0.000,0.035,2679,2019,2304
$GC,7251,1.10,146.6,507.3,16.1,348,7255,0.00,2.55,0.00,0.000,4,0.000,0.063,2679,3408,2304
$GC,7374,1.10,146.6,490.7,12.0,353,7380,0.00,2.53,0.00,0.000,6,0.000,0.044,2679,1994,2303
$GC,7690,1.11,156.6,465.9,5.7,369,7705,0.00,2.62,9.90,0.878,4,0.000,0.064,2678,588,2263
$GC,7867,1.33,331.2,461.4,1.2,376,8019,0.22,2.50,142.35,0.966,6,0.032,0.039,2744,2006,1552
$GC,8336,1.35,349.2,442.1,5.5,399,8358,0.00,2.65,16.30,0.900,4,0.000,0.068,2744,3406,1478
$GC,8415,1.35,349.2,436.8,7.2,402,8419,0.00,2.55,0.00,0.000,6,0.000,0.049,2744,2003,1478
$GC,8731,1.35,349.2,414.2,7.4,417,8735,0.00,2.60,0.00,0.000,4,0.000,0.063,2744,585,1477
$GC,8775,1.35,349.2,410.5,8.8,419,8779,0.00,2.53,0.00,0.000,6,0.000,0.041,2744,2006,1478
$GC,9096,1.35,349.2,380.5,10.6,435,9100,0.00,2.60,0.00,0.000,4,0.000,0.067,2744,3413,1478
$GC,9146,1.35,349.2,374.7,11.9,437,9150,0.00,2.58,0.00,0.000,6,0.000,0.051,2744,1989,1477
$GC,9461,1.35,349.2,340.6,10.7,452,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1989,1478
$GC,9771,1.35,349.2,309.0,9.5,467,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1989,1477
$GC,10080,1.35,349.2,281.4,8.6,482,10085,0.00,2.67,0.00,0.000,4,0.000,0.069,2744,3419,1477
$GC,10127,1.35,349.2,277.2,9.0,484,10131,0.00,2.58,0.00,0.000,6,0.000,0.052,2744,1998,1477
$GC,10448,1.35,349.2,251.1,7.7,500,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1998,1478
$GC,10758,1.35,349.2,227.8,7.5,515,10762,0.00,2.65,0.00,0.000,4,0.000,0.069,2744,3417,1478
$GC,10797,1.35,349.2,224.7,8.1,517,10801,0.00,2.58,0.00,0.000,6,0.000,0.053,2744,1996,1478
$GC,11124,1.35,349.2,197.3,8.8,533,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1996,1478
$GC,11433,1.35,349.2,168.6,9.7,548,11437,0.00,2.65,0.00,0.000,4,0.000,0.068,2744,3419,1478
$GC,11473,1.35,349.2,164.4,10.0,550,11477,0.00,2.58,0.00,0.000,6,0.000,0.054,2744,1998,1478
$GC,11800,1.35,349.2,131.2,10.2,566,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1998,1478
$GC,12110,1.35,349.2,98.2,11.5,581,12114,0.00,2.65,0.00,0.000,4,0.000,0.069,2744,3419,1478
$GC,12154,1.35,349.2,92.7,11.8,583,12158,0.00,2.60,0.00,0.000,6,0.000,0.057,2744,1993,1478
$GC,12475,1.35,349.2,60.5,9.7,599,12479,0.00,2.65,0.00,0.000,4,0.000,0.071,2744,3407,1478
$GC,12515,1.35,349.2,56.5,10.6,601,12519,0.00,2.58,0.00,0.000,6,0.000,0.055,2744,1989,1478
$GC,12842,1.35,349.2,27.5,8.4,617,12843,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1989,1478
$STATE,13127,end climb,SURFACE_DEPTH_REACHED
$STATE,13127,begin surface coast
$FINISH,0.3,1.027471
$STATE,13149,end surface coast,CONTROL_FINISHED_OK
$STATE,13149,begin surface
$SM_CCo,13234,0.00,0.000,0,0,1477,349.55
$SM_GC,1.28,11.77,0.00,0.00,0.027,0.000,0.000,50,2647,1477,-10.93,-0.08,349.55
$IRIDIUM_FIX,6230.49,-1148.21,260698,141431
$TT8_MAMPS,0.029146
$HUMID,1769
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,501.8,89.2
$24V_AH,23.4,34.649
$10V_AH,10.1,19.137
$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,26.600,87.425,413.400,0.000,0.000,28.744,26.314,169.778,4.000,0.000,0.000,20.744,1149.935,10065.422,462.971,1433.786,474.336,33.363,1192.360,0.000,1400.956,0.000,28.950,0.000
$DEVICE_MAMPS,164.138,98.943,1046.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,453.333,455.031,431.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31684,632
$CAP_FILE_SIZE,90407,0
$CFSIZE,260165632,246751232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010409,220031,6248.935,-1155.375,90,1.4,90,-11.3