version: 66.04
glider: 103
mission: 11
dive: 8
start: 2 24 109 7 35 48
data:
$ID,103
$MISSION,11
$DIVE,8
$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,330
$T_MISSION,350
$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,1
$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,300
$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,-143102
$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,2600
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$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
$GPS1,073024,6108.679,-926.148,38,1.3,38,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-61.6
$GPS2,073456,6108.660,-926.162,12,1.1,12,-9.3
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.158,0.209
$KALMAN_X,-997.5,-1053.9,-165.5,5015.6,226.3
$KALMAN_Y,-20032.9,1484.2,872.4,12888.4,-9495.2
$MHEAD_RNG_PITCHd_Wd,46.5,31326,-18.2,-10.000
$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,-1.70,-146.6,0.0,0.0,0,59,0.00,0.00,-41.45,0.000,2,0.000,0.000,53,2602,3027
$GC,63,-1.70,-146.6,3.2,-8.3,2,88,11.43,2.67,-8.77,0.000,4,0.159,0.086,2064,1181,3502
$GC,336,-1.70,-146.6,41.3,-12.0,14,341,0.00,2.67,0.00,0.000,6,0.000,0.077,2064,2593,3502
$GC,657,-1.70,-146.6,81.2,-12.5,30,661,0.00,2.33,0.00,0.000,4,0.000,0.096,2064,3783,3502
$GC,746,-1.70,-146.6,93.2,-12.3,34,750,0.00,2.15,0.00,0.000,6,0.000,0.058,2064,2594,3502
$GC,1068,-1.70,-146.6,134.2,-12.7,50,1072,0.00,2.33,0.00,0.000,4,0.000,0.092,2064,3784,3502
$GC,1135,-1.70,-146.6,143.2,-13.0,53,1139,0.00,2.15,0.00,0.000,6,0.000,0.058,2064,2596,3502
$GC,1456,-1.70,-146.6,183.8,-12.7,69,1460,0.00,2.30,0.00,0.000,4,0.000,0.088,2064,3789,3502
$GC,1517,-1.70,-146.6,192.1,-13.2,71,1523,0.00,2.15,0.00,0.000,6,0.000,0.058,2064,2596,3502
$GC,1832,-1.70,-146.6,231.9,-12.5,87,1836,0.00,2.30,0.00,0.000,4,0.000,0.087,2064,3786,3502
$GC,1899,-1.70,-146.6,240.6,-12.6,90,1903,0.00,2.12,0.00,0.000,6,0.000,0.055,2064,2600,3502
$GC,2227,-1.70,-146.6,281.6,-12.5,106,2231,0.00,2.30,0.00,0.000,4,0.000,0.089,2064,3786,3502
$GC,2294,-1.70,-146.6,290.5,-13.2,109,2297,0.00,2.12,0.00,0.000,6,0.000,0.053,2064,2599,3502
$GC,2621,-1.70,-146.6,330.4,-12.4,125,2625,0.00,2.28,0.00,0.000,4,0.000,0.087,2064,3790,3502
$GC,2670,-1.70,-146.6,337.0,-12.8,127,2674,0.00,2.12,0.00,0.000,6,0.000,0.052,2064,2598,3502
$GC,2997,-1.70,-146.6,378.6,-12.4,143,3001,0.00,2.30,0.00,0.000,4,0.000,0.089,2064,3790,3502
$GC,3042,-1.70,-146.6,384.7,-13.2,145,3046,0.00,2.12,0.00,0.000,6,0.000,0.050,2064,2594,3502
$GC,3371,-1.70,-146.6,425.2,-12.6,161,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2594,3502
$GC,3679,-1.70,-146.6,463.1,-12.1,176,3683,0.00,2.28,0.00,0.000,4,0.000,0.086,2064,3785,3502
$GC,3774,-1.70,-146.6,475.0,-12.1,180,3778,0.00,2.10,0.00,0.000,6,0.000,0.049,2064,2598,3502
$GC,4096,-1.70,-146.6,512.8,-11.8,196,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2598,3502
$GC,4406,-1.70,-146.6,549.6,-11.6,211,4412,0.00,2.28,0.00,0.000,4,0.000,0.087,2064,3785,3502
$GC,4463,-1.70,-146.6,556.6,-12.2,213,4467,0.00,2.08,0.00,0.000,6,0.000,0.048,2064,2600,3502
$GC,4784,-1.70,-146.6,594.6,-11.9,229,4788,0.00,2.28,0.00,0.000,4,0.000,0.084,2064,3785,3502
$GC,4840,-1.70,-146.6,601.6,-12.8,231,4846,0.00,2.10,0.00,0.000,6,0.000,0.051,2064,2598,3501
$STATE,5008,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5009,begin apogee
$GC,5017,-0.42,0.0,622.5,12.2,240,5143,1.45,0.00,122.28,1.117,6,0.108,0.000,2346,1947,2902
$STATE,5144,end apogee,CONTROL_FINISHED_OK
$STATE,5144,begin climb
$GC,5147,1.70,146.6,628.0,0.0,246,5275,2.12,2.62,119.47,1.120,4,0.057,0.049,2810,3375,2304
$GC,5473,1.79,223.5,616.6,6.5,261,5544,0.00,2.50,63.67,1.120,6,0.000,0.034,2810,1932,1990
$GC,5867,1.80,234.7,581.1,9.5,280,5883,0.10,2.58,10.85,0.965,4,0.052,0.058,2841,543,1945
$GC,5935,1.80,234.7,573.7,11.2,282,5940,0.00,2.47,0.00,0.000,6,0.000,0.033,2841,1972,1945
$GC,6256,1.80,234.7,538.3,10.8,298,6260,0.00,2.62,0.00,0.000,4,0.000,0.057,2841,543,1945
$GC,6463,1.80,234.7,514.6,10.7,307,6467,0.00,2.45,0.00,0.000,6,0.000,0.034,2841,1954,1945
$GC,6779,1.80,234.7,481.6,10.7,322,6783,0.00,2.53,0.00,0.000,4,0.000,0.056,2841,547,1945
$GC,6946,1.80,234.7,462.9,11.6,329,6952,0.00,2.42,0.00,0.000,6,0.000,0.034,2841,1950,1944
$GC,7262,1.80,234.7,429.4,10.8,345,7266,0.00,2.55,0.00,0.000,4,0.000,0.057,2841,547,1945
$GC,7430,1.80,234.7,409.8,12.3,352,7436,0.00,2.45,0.00,0.000,6,0.000,0.036,2841,1946,1945
$GC,7746,1.80,234.7,373.9,11.5,368,7750,0.00,2.55,0.00,0.000,4,0.000,0.057,2841,541,1945
$GC,7914,1.80,234.7,354.0,11.8,375,7920,0.00,2.45,0.00,0.000,6,0.000,0.036,2841,1957,1944
$GC,8230,1.80,234.7,319.4,10.9,391,8234,0.00,2.55,0.00,0.000,4,0.000,0.058,2841,547,1944
$GC,8406,1.80,234.7,299.7,11.4,399,8410,0.00,2.42,0.00,0.000,6,0.000,0.037,2841,1952,1944
$GC,8739,1.80,234.7,263.6,10.9,415,8743,0.00,2.55,0.00,0.000,4,0.000,0.060,2841,547,1944
$GC,8873,1.80,234.7,248.0,11.8,421,8877,0.00,2.45,0.00,0.000,6,0.000,0.038,2841,1954,1944
$GC,9194,1.80,234.7,212.9,11.0,437,9198,0.00,2.55,0.00,0.000,4,0.000,0.059,2841,547,1944
$GC,9323,1.80,234.7,198.1,10.8,443,9327,0.00,2.45,0.00,0.000,6,0.000,0.038,2841,1955,1944
$GC,9649,1.80,234.7,162.9,10.8,459,9654,0.00,2.55,0.00,0.000,4,0.000,0.058,2841,547,1944
$GC,9785,1.80,234.7,147.6,11.2,465,9790,0.00,2.45,0.00,0.000,6,0.000,0.038,2841,1952,1944
$GC,10107,1.80,234.7,112.9,11.3,481,10111,0.00,2.55,0.00,0.000,4,0.000,0.059,2841,544,1944
$GC,10224,1.80,234.7,99.2,11.5,486,10228,0.00,2.47,0.00,0.000,6,0.000,0.038,2841,1956,1944
$GC,10542,1.80,234.7,65.3,10.9,501,10546,0.00,2.58,0.00,0.000,4,0.000,0.061,2841,540,1944
$GC,10676,1.80,234.7,49.6,11.2,507,10680,0.00,2.45,0.00,0.000,6,0.000,0.038,2841,1951,1944
$GC,10997,1.80,234.7,14.4,11.1,523,11001,0.00,2.55,0.00,0.000,4,0.000,0.062,2841,547,1944
$STATE,11102,end climb,SURFACE_DEPTH_REACHED
$STATE,11102,begin surface coast
$FINISH,1.0,1.027429
$STATE,11107,end surface coast,CONTROL_FINISHED_OK
$STATE,11107,begin surface
$SM_CCo,11134,43.95,0.737,0,0,1679,300.00
$SM_GC,1.83,0.00,0.00,43.95,0.000,0.000,0.737,51,2592,1679,-10.99,-0.23,300.00
$IRIDIUM_FIX,6041.65,-923.35,210598,040427
$TT8_MAMPS,0.029146
$HUMID,1759
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,19.10
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,600.2,31.2
$24V_AH,23.4,11.418
$10V_AH,10.1,5.020
$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,27.500,117.350,316.275,43.950,0.000,29.808,34.172,103.161,8.500,0.000,0.000,12.886,1068.779,8025.177,436.112,1553.008,376.685,33.338,1214.296,0.000,1504.608,0.000,40.864,0.000
$DEVICE_MAMPS,158.769,95.875,1119.820,737.087,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,370.098,379.186,342.633,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25363,528
$CAP_FILE_SIZE,92193,0
$CFSIZE,260165632,256995328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,41,0,0
$GPS,240209,104330,6109.139,-924.515,38,0.9,43,-9.3