version: 66.04
glider: 103
mission: 11
dive: 241
start: 4 15 109 13 4 44
data:
$ID,103
$MISSION,11
$DIVE,241
$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,135
$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,-147576.19
$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,21
$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
$GPS1,125554,6403.442,-1254.422,25,1.4,42,-12.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-62.6
$GPS2,130426,6403.485,-1254.195,15,1.2,15,-12.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6355.849,-1236.818
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.030,0.216
$KALMAN_X,-78076.3,999.8,7411.5,4319.0,-13087.8
$KALMAN_Y,-42360.0,-323.2,-2812.1,144833.7,-2623.9
$MHEAD_RNG_PITCHd_Wd,147.4,20000,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.10,-146.6,0.0,0.0,0,62,0.00,0.00,-41.42,0.000,2,0.000,0.000,51,2649,3265
$GC,65,-1.10,-146.6,4.1,-11.6,2,88,12.12,2.70,-3.85,0.000,4,0.157,0.093,2196,1240,3500
$GC,315,-1.10,-146.6,31.8,-8.7,13,319,0.00,2.65,0.00,0.000,6,0.000,0.068,2196,2657,3501
$GC,642,-1.10,-146.6,56.3,-7.5,29,645,0.00,2.20,0.00,0.000,4,0.000,0.097,2196,3787,3501
$GC,720,-1.10,-146.6,62.8,-8.3,32,724,0.00,2.08,0.00,0.000,6,0.000,0.061,2196,2660,3501
$GC,1042,-1.10,-146.6,89.7,-8.0,48,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2660,3501
$GC,1352,-1.10,-146.6,113.7,-7.4,63,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2660,3501
$GC,1661,-1.10,-146.6,137.5,-7.4,78,1664,0.00,2.20,0.00,0.000,4,0.000,0.092,2196,3784,3500
$GC,1708,-1.10,-146.6,141.4,-8.7,80,1712,0.00,2.10,0.00,0.000,6,0.000,0.061,2196,2636,3501
$GC,2042,-1.10,-146.6,166.7,-7.2,96,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2636,3501
$GC,2351,-1.10,-146.6,187.8,-6.7,111,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2636,3501
$GC,2661,-1.10,-146.6,207.5,-6.5,126,2665,0.00,2.25,0.00,0.000,4,0.000,0.092,2196,3789,3501
$GC,2701,-1.10,-146.6,210.4,-7.3,128,2705,0.00,2.08,0.00,0.000,6,0.000,0.060,2196,2652,3501
$GC,3034,-1.10,-146.6,236.5,-8.5,144,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3501
$GC,3343,-1.10,-146.6,261.5,-7.9,159,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3501
$GC,3653,-1.10,-146.6,284.9,-7.2,174,3656,0.00,2.20,0.00,0.000,4,0.000,0.090,2196,3786,3500
$GC,3703,-1.10,-146.6,288.9,-7.8,176,3707,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2649,3501
$GC,4030,-1.10,-146.6,313.2,-7.5,192,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3500
$GC,4340,-1.10,-146.6,339.1,-8.8,207,4343,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3794,3500
$GC,4373,-1.10,-146.6,342.4,-10.0,208,4377,0.00,2.10,0.00,0.000,6,0.000,0.059,2196,2642,3500
$GC,4695,-1.10,-146.6,371.6,-8.6,224,4698,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3792,3500
$GC,4729,-1.10,-146.6,374.7,-9.2,225,4733,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2651,3500
$GC,5052,-1.10,-146.6,400.8,-8.0,241,5056,0.00,2.20,0.00,0.000,4,0.000,0.090,2196,3789,3500
$GC,5103,-1.10,-146.6,405.4,-8.8,243,5106,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2648,3500
$GC,5430,-1.10,-146.6,430.6,-7.7,259,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3500
$GC,5739,-1.10,-146.6,454.4,-7.2,274,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2648,3500
$GC,6049,-1.10,-146.6,475.2,-6.0,289,6053,0.00,2.20,0.00,0.000,4,0.000,0.088,2196,3789,3500
$GC,6173,-1.10,-146.6,482.8,-6.4,294,6177,0.00,2.08,0.00,0.000,6,0.000,0.056,2196,2641,3500
$GC,6496,-1.10,-146.6,502.2,-6.2,310,6500,0.00,2.22,0.00,0.000,4,0.000,0.089,2196,3790,3500
$GC,6587,-1.10,-146.6,508.9,-8.3,314,6591,0.00,2.08,0.00,0.000,6,0.000,0.055,2196,2640,3500
$GC,6920,-1.10,-146.6,534.1,-7.9,330,6923,0.00,2.22,0.00,0.000,4,0.000,0.093,2196,3785,3500
$GC,6959,-1.10,-146.6,537.1,-7.3,331,6965,0.00,2.05,0.00,0.000,6,0.000,0.058,2196,2652,3500
$GC,7275,-1.10,-146.6,558.0,-6.6,347,7279,0.00,2.20,0.00,0.000,4,0.000,0.090,2196,3789,3500
$GC,7381,-1.10,-146.6,565.5,-7.2,351,7387,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2645,3499
$GC,7697,-1.10,-146.6,587.0,-6.8,367,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3499
$STATE,7921,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7921,begin apogee
$GC,7930,-0.42,0.0,602.9,7.0,378,8057,0.75,0.00,123.45,1.092,6,0.097,0.000,2344,1992,2902
$STATE,8057,end apogee,CONTROL_FINISHED_OK
$STATE,8058,begin climb
$GC,8061,1.10,146.6,608.6,0.0,384,8195,1.58,2.65,121.53,1.058,4,0.061,0.064,2678,585,2304
$GC,8443,1.15,186.9,599.2,4.9,401,8483,0.00,2.53,35.00,1.030,6,0.000,0.037,2678,2024,2140
$GC,8802,1.17,197.5,579.0,5.7,419,8818,0.00,2.60,10.48,0.947,4,0.000,0.067,2678,3402,2096
$GC,8842,1.17,197.5,576.3,6.4,420,8846,0.00,2.55,0.00,0.000,6,0.000,0.046,2678,1988,2096
$GC,9169,1.17,197.5,555.8,6.2,436,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1988,2095
$GC,9478,1.33,334.5,543.0,2.2,451,9597,0.22,0.00,114.10,1.050,6,0.035,0.000,2742,1988,1538
$GC,9907,1.33,334.5,502.4,11.2,472,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1988,1538
$GC,10216,1.33,334.5,475.5,7.7,487,10220,0.00,2.65,0.00,0.000,4,0.000,0.070,2742,3399,1537
$GC,10328,1.33,334.5,464.2,12.4,492,10332,0.00,2.55,0.00,0.000,6,0.000,0.051,2742,1990,1537
$GC,10649,1.33,334.5,422.9,8.3,508,10653,0.00,2.58,0.00,0.000,4,0.000,0.064,2742,588,1536
$GC,10689,1.33,334.5,419.4,9.5,510,10693,0.00,2.50,0.00,0.000,6,0.000,0.041,2742,2001,1537
$GC,11016,1.33,334.5,391.1,9.4,526,11020,0.00,2.60,0.00,0.000,4,0.000,0.068,2742,3407,1536
$GC,11037,1.33,334.5,388.7,10.7,527,11042,0.00,2.55,0.00,0.000,6,0.000,0.050,2742,1993,1537
$GC,11359,1.33,334.5,358.2,9.0,543,11363,0.00,2.65,0.00,0.000,4,0.000,0.068,2742,3409,1537
$GC,11392,1.33,334.5,355.1,8.9,544,11398,0.00,2.55,0.00,0.000,6,0.000,0.051,2742,1997,1537
$GC,11707,1.33,334.5,326.6,8.7,560,11712,0.00,2.58,0.00,0.000,4,0.000,0.064,2742,585,1537
$GC,11735,1.33,334.5,323.8,9.5,561,11739,0.00,2.50,0.00,0.000,6,0.000,0.040,2742,2005,1537
$GC,12057,1.33,334.5,294.2,9.5,577,12061,0.00,2.60,0.00,0.000,4,0.000,0.070,2742,3410,1537
$GC,12090,1.33,334.5,290.7,9.9,578,12096,0.00,2.55,0.00,0.000,6,0.000,0.051,2742,1996,1537
$GC,12406,1.33,334.5,261.4,9.2,594,12410,0.00,2.62,0.00,0.000,4,0.000,0.069,2742,3405,1538
$GC,12427,1.33,334.5,259.3,9.7,595,12432,0.00,2.55,0.00,0.000,6,0.000,0.051,2742,1990,1538
$GC,12749,1.33,334.5,228.4,10.0,611,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1990,1538
$GC,13059,1.33,334.5,196.7,10.6,626,13063,0.00,2.65,0.00,0.000,4,0.000,0.070,2742,3409,1538
$GC,13092,1.33,334.5,193.1,10.9,627,13098,0.00,2.55,0.00,0.000,6,0.000,0.052,2742,1997,1538
$GC,13408,1.33,334.5,161.9,9.6,643,13409,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1997,1539
$GC,13717,1.33,334.5,130.8,10.0,658,13722,0.00,2.65,0.00,0.000,4,0.000,0.070,2742,3415,1538
$GC,13751,1.33,334.5,127.2,10.2,659,13757,0.00,2.55,0.00,0.000,6,0.000,0.053,2742,1996,1538
$GC,14068,1.33,334.5,95.6,9.9,675,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1996,1539
$GC,14376,1.33,334.5,66.3,8.9,690,14381,0.00,2.65,0.00,0.000,4,0.000,0.071,2742,3416,1538
$GC,14404,1.33,334.5,63.6,10.0,691,14409,0.00,2.58,0.00,0.000,6,0.000,0.054,2742,1996,1538
$GC,14721,1.33,334.5,35.8,8.9,706,14722,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1996,1539
$GC,15029,1.33,334.5,7.2,9.7,721,15031,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1996,1539
$STATE,15090,end climb,SURFACE_DEPTH_REACHED
$STATE,15090,begin surface coast
$FINISH,0.5,1.020590
$STATE,15111,end surface coast,CONTROL_FINISHED_OK
$STATE,15111,begin surface
$SM_CCo,15196,0.00,0.000,0,0,1539,334.34
$SM_GC,1.47,11.80,0.00,0.00,0.027,0.000,0.000,45,2644,1539,-10.93,-0.17,334.34
$IRIDIUM_FIX,6337.14,-1257.84,100798,131340
$TT8_MAMPS,0.028379
$HUMID,1783
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,575.4,37.3
$24V_AH,23.4,42.946
$10V_AH,10.1,24.334
$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,26.475,117.025,404.550,0.000,0.000,52.858,55.712,212.872,5.250,0.000,0.000,15.082,1331.261,11653.083,484.390,1622.113,614.767,0.000,1300.471,0.000,1584.600,0.000,40.508,0.000
$DEVICE_MAMPS,157.235,96.642,1092.208,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,517.291,525.956,467.338,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37913,725
$CAP_FILE_SIZE,107596,0
$CFSIZE,260165632,242987008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150409,171907,6401.640,-1249.075,30,2.0,30,-12.3