version: 66.04
glider: 103
mission: 11
dive: 40
start: 3 1 109 13 22 29
data:
$ID,103
$MISSION,11
$DIVE,40
$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,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,-143717.84
$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,2750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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
$GPS1,131537,6158.526,-913.847,38,1.1,38,-9.5
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.6
$GPS2,132138,6158.542,-913.708,11,1.2,11,-9.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,CW
$TGT_LATLONG,6205.000,-950.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,0.002
$KALMAN_X,6433.1,-1209.7,-696.5,9425.0,23324.6
$KALMAN_Y,-48043.8,240.0,-412.2,135808.1,11384.9
$MHEAD_RNG_PITCHd_Wd,280.1,33664,-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,-146.6,0.0,0.0,0,60,0.00,0.00,-41.58,0.000,2,0.000,0.000,47,2746,3005
$GC,63,-1.10,-146.6,3.1,-8.7,2,90,12.30,2.00,-9.35,0.000,4,0.163,0.100,2193,3782,3500
$GC,264,-1.10,-146.6,23.9,-8.6,11,268,0.00,1.85,0.00,0.000,6,0.000,0.046,2193,2742,3500
$GC,592,-1.10,-146.6,48.5,-8.2,27,596,0.00,2.62,0.00,0.000,4,0.000,0.072,2193,1330,3500
$GC,670,-1.10,-146.6,55.5,-8.2,30,676,0.00,2.65,0.00,0.000,6,0.000,0.067,2193,2757,3500
$GC,987,-1.10,-146.6,81.2,-8.0,46,992,0.00,2.65,0.00,0.000,4,0.000,0.069,2193,1336,3500
$GC,1032,-1.10,-146.6,84.9,-7.8,48,1036,0.00,2.62,0.00,0.000,6,0.000,0.065,2193,2747,3500
$GC,1353,-1.10,-146.6,108.8,-6.9,64,1358,0.00,2.65,0.00,0.000,4,0.000,0.070,2193,1330,3500
$GC,1380,-1.10,-146.6,110.9,-6.7,65,1385,0.00,2.65,0.00,0.000,6,0.000,0.062,2193,2763,3500
$GC,1696,-1.10,-146.6,133.2,-7.2,80,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2763,3500
$GC,2006,-1.10,-146.6,152.8,-6.1,95,2010,0.00,2.65,0.00,0.000,4,0.000,0.068,2193,1336,3500
$GC,2084,-1.10,-146.6,157.6,-5.9,98,2090,0.00,2.62,0.00,0.000,6,0.000,0.062,2193,2759,3500
$GC,2399,-1.10,-146.6,176.5,-6.5,114,2404,0.00,2.65,0.00,0.000,4,0.000,0.067,2193,1331,3500
$GC,2440,-1.10,-146.6,179.0,-7.1,116,2444,0.00,2.62,0.00,0.000,6,0.000,0.060,2193,2760,3500
$GC,2767,-1.10,-146.6,199.2,-6.2,132,2771,0.00,2.62,0.00,0.000,4,0.000,0.068,2193,1335,3500
$GC,2806,-1.10,-146.6,202.0,-7.1,134,2811,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2756,3500
$GC,3134,-1.10,-146.6,228.5,-8.4,150,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2756,3500
$GC,3443,-1.10,-146.6,252.6,-7.6,165,3447,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1336,3500
$GC,3505,-1.10,-146.6,257.4,-8.4,168,3509,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2753,3500
$GC,3831,-1.10,-146.6,280.0,-6.6,184,3836,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1333,3500
$GC,3859,-1.10,-146.6,282.1,-7.4,185,3863,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2756,3500
$GC,4175,-1.10,-146.6,304.7,-7.2,200,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2756,3500
$GC,4486,-1.10,-146.6,325.1,-6.2,215,4491,0.00,2.62,0.00,0.000,4,0.000,0.066,2193,1333,3500
$GC,4514,-1.10,-146.6,327.0,-6.2,216,4518,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2751,3500
$GC,4831,-1.10,-146.6,350.5,-8.3,231,4835,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1332,3500
$GC,4887,-1.10,-146.6,355.5,-8.7,233,4893,0.00,2.60,0.00,0.000,6,0.000,0.058,2193,2756,3500
$GC,5202,-1.10,-146.6,381.7,-7.7,249,5207,0.00,2.62,0.00,0.000,4,0.000,0.067,2193,1333,3500
$GC,5264,-1.10,-146.6,386.6,-8.3,252,5269,0.00,2.60,0.00,0.000,6,0.000,0.060,2193,2753,3500
$GC,5592,-1.10,-146.6,414.8,-9.3,268,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2753,3500
$GC,5901,-1.10,-146.6,441.0,-7.6,283,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2753,3500
$GC,6211,-1.10,-146.6,459.7,-5.7,298,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2753,3500
$GC,6519,-1.10,-146.6,479.5,-7.3,313,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2753,3500
$GC,6829,-1.10,-146.6,505.0,-8.4,328,6833,0.00,2.62,0.00,0.000,4,0.000,0.071,2193,1332,3499
$GC,6862,-1.10,-146.6,508.0,-9.0,329,6866,0.00,2.62,0.00,0.000,6,0.000,0.064,2193,2749,3499
$STATE,7154,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7154,begin apogee
$GC,7164,-0.42,0.0,528.4,6.8,343,7287,0.77,0.00,120.30,1.066,6,0.095,0.000,2348,1704,2902
$STATE,7288,end apogee,CONTROL_FINISHED_OK
$STATE,7288,begin climb
$GC,7291,1.10,146.6,529.2,0.0,349,7419,1.48,2.75,119.85,0.983,4,0.034,0.075,2681,290,2304
$GC,7548,1.28,293.7,524.6,1.9,361,7677,0.17,2.53,120.57,0.992,6,0.038,0.037,2733,1730,1703
$GC,7999,1.28,293.7,489.7,9.1,383,8003,0.00,2.53,0.00,0.000,4,0.000,0.064,2733,3091,1703
$GC,8177,1.28,293.7,474.9,8.9,391,8182,0.00,2.60,0.00,0.000,6,0.000,0.059,2734,1685,1703
$GC,8504,1.28,293.7,448.4,7.5,407,8508,0.00,2.62,0.00,0.000,4,0.000,0.064,2733,3093,1702
$GC,8694,1.28,293.7,435.5,7.1,415,8700,0.00,2.58,0.00,0.000,6,0.000,0.061,2733,1694,1702
$GC,9011,1.28,293.7,412.1,7.4,431,9015,0.00,2.60,0.00,0.000,4,0.000,0.064,2734,3093,1701
$GC,9134,1.28,293.7,402.2,7.7,436,9138,0.00,2.58,0.00,0.000,6,0.000,0.059,2734,1696,1701
$GC,9450,1.28,293.7,377.5,8.1,451,9454,0.00,2.58,0.00,0.000,4,0.000,0.061,2734,3094,1700
$GC,9518,1.28,293.7,372.0,8.5,454,9522,0.00,2.58,0.00,0.000,6,0.000,0.059,2734,1690,1701
$GC,9844,1.28,293.7,341.9,9.7,470,9848,0.00,2.58,0.00,0.000,4,0.000,0.060,2734,3101,1701
$GC,9912,1.28,293.7,335.5,9.5,473,9917,0.00,2.58,0.00,0.000,6,0.000,0.057,2734,1691,1701
$GC,10240,1.28,293.7,303.7,9.8,489,10244,0.00,2.58,0.00,0.000,4,0.000,0.059,2734,3095,1701
$GC,10357,1.28,293.7,292.5,9.3,494,10361,0.00,2.55,0.00,0.000,6,0.000,0.058,2733,1700,1701
$GC,10673,1.28,293.7,263.2,9.3,509,10676,0.00,2.55,0.00,0.000,4,0.000,0.058,2734,3097,1701
$GC,10768,1.28,293.7,254.2,9.5,513,10772,0.00,2.55,0.00,0.000,6,0.000,0.057,2734,1700,1702
$GC,11095,1.28,293.7,223.4,9.0,529,11099,0.00,2.55,0.00,0.000,4,0.000,0.059,2734,3097,1702
$GC,11179,1.28,293.7,215.8,9.0,533,11184,0.00,2.55,0.00,0.000,6,0.000,0.057,2734,1696,1702
$GC,11506,1.28,293.7,185.6,9.0,549,11511,0.00,2.55,0.00,0.000,4,0.000,0.059,2734,3090,1703
$GC,11618,1.28,293.7,175.4,9.2,554,11623,0.00,2.55,0.00,0.000,6,0.000,0.057,2734,1690,1703
$GC,11940,1.28,293.7,150.2,8.1,570,11944,0.00,2.58,0.00,0.000,4,0.000,0.059,2733,3096,1703
$GC,12057,1.28,293.7,140.5,8.7,575,12061,0.00,2.55,0.00,0.000,6,0.000,0.058,2734,1700,1703
$GC,12374,1.28,293.7,111.8,8.7,590,12378,0.00,2.55,0.00,0.000,4,0.000,0.060,2733,3097,1704
$GC,12459,1.28,293.7,103.9,9.1,594,12464,0.00,2.55,0.00,0.000,6,0.000,0.057,2734,1694,1704
$GC,12788,1.28,293.7,74.6,9.0,610,12793,0.00,2.58,0.00,0.000,4,0.000,0.061,2734,3100,1704
$GC,12889,1.28,293.7,64.8,9.5,614,12896,0.00,2.55,0.00,0.000,6,0.000,0.055,2734,1692,1704
$GC,13206,1.28,293.7,34.8,9.7,630,13210,0.00,2.58,0.00,0.000,4,0.000,0.061,2734,3097,1704
$GC,13313,1.28,293.7,25.1,9.9,635,13317,0.00,2.55,0.00,0.000,6,0.000,0.058,2734,1697,1704
$STATE,13556,end climb,SURFACE_DEPTH_REACHED
$STATE,13556,begin surface coast
$FINISH,0.2,1.027452
$STATE,13576,end surface coast,CONTROL_FINISHED_OK
$STATE,13577,begin surface
$SM_CCo,13602,4.12,0.547,0,0,1679,300.00
$SM_GC,1.84,0.00,0.00,4.12,0.000,0.000,0.547,48,2727,1679,-11.00,-0.65,300.00
$IRIDIUM_FIX,6130.75,-919.48,260598,080852
$TT8_MAMPS,0.027612
$HUMID,1777
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.1,63.1
$24V_AH,23.4,15.639
$10V_AH,10.1,7.166
$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,26.500,142.825,360.725,4.125,0.000,23.161,31.293,185.668,3.750,0.000,0.000,11.160,1246.786,10102.619,448.588,1650.784,519.291,33.360,1293.875,0.000,1626.762,0.000,26.961,0.000
$DEVICE_MAMPS,163.371,100.477,1066.130,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,468.386,471.588,453.547,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31751,648
$CAP_FILE_SIZE,105964,0
$CFSIZE,260165632,255422464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010309,171041,6157.529,-914.668,41,1.5,45,-9.5