version: 66.04
glider: 103
mission: 11
dive: 134
start: 3 21 109 14 31 53
data:
$ID,103
$MISSION,11
$DIVE,134
$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,-145653
$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,20
$R_STBD_OVSHOOT,6
$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
$GPS1,142507,6236.795,-1119.167,32,1.9,32,-10.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-61.7
$GPS2,143102,6236.847,-1119.389,11,1.2,11,-10.9
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,-0.012
$KALMAN_X,12095.6,-1386.9,-12084.5,-3617.8,12594.3
$KALMAN_Y,5766.5,-693.9,10382.3,4085.1,4269.4
$MHEAD_RNG_PITCHd_Wd,277.8,21713,-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,15,-1.10,-146.6,0.0,0.0,0,58,0.00,0.00,-40.75,0.000,2,0.000,0.000,49,2646,3320
$GC,61,-1.10,-146.6,4.2,-10.5,2,79,12.18,0.00,-2.97,0.000,6,0.157,0.000,2196,2646,3503
$GC,388,-1.10,-146.6,35.4,-6.7,18,392,0.00,2.22,0.00,0.000,4,0.000,0.091,2196,3792,3503
$GC,451,-1.10,-146.6,40.1,-8.4,21,455,0.00,2.10,0.00,0.000,6,0.000,0.061,2196,2647,3503
$GC,786,-1.10,-146.6,65.1,-7.3,37,790,0.00,2.22,0.00,0.000,4,0.000,0.086,2196,3796,3503
$GC,841,-1.10,-146.6,69.6,-7.6,39,848,0.00,2.12,0.00,0.000,6,0.000,0.057,2196,2646,3503
$GC,1158,-1.10,-146.6,90.6,-6.5,55,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2646,3503
$GC,1467,-1.10,-146.6,110.1,-6.6,70,1471,0.00,2.20,0.00,0.000,4,0.000,0.084,2196,3790,3503
$GC,1506,-1.10,-146.6,112.9,-7.2,71,1513,0.00,2.10,0.00,0.000,6,0.000,0.056,2196,2652,3503
$GC,1822,-1.10,-146.6,135.2,-7.2,87,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3503
$GC,2131,-1.10,-146.6,159.1,-8.0,102,2135,0.00,2.17,0.00,0.000,4,0.000,0.084,2196,3789,3503
$GC,2210,-1.10,-146.6,165.6,-8.6,105,2214,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2650,3503
$GC,2532,-1.10,-146.6,191.7,-8.5,121,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3503
$GC,2841,-1.10,-146.6,219.3,-9.0,136,2842,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3503
$GC,3151,-1.10,-146.6,246.2,-8.3,151,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2650,3503
$GC,3460,-1.10,-146.6,271.5,-7.9,166,3463,0.00,2.20,0.00,0.000,4,0.000,0.084,2196,3794,3504
$GC,3516,-1.10,-146.6,276.3,-8.3,168,3520,0.00,2.08,0.00,0.000,6,0.000,0.054,2196,2645,3504
$GC,3840,-1.10,-146.6,301.1,-7.4,184,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2645,3504
$GC,4146,-1.10,-146.6,324.5,-7.9,199,4151,0.00,2.20,0.00,0.000,4,0.000,0.085,2196,3789,3504
$GC,4185,-1.10,-146.6,327.9,-8.7,200,4191,0.00,2.05,0.00,0.000,6,0.000,0.058,2196,2651,3504
$GC,4502,-1.10,-146.6,356.5,-9.0,216,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3504
$GC,4810,-1.10,-146.6,381.0,-7.2,231,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3504
$GC,5120,-1.10,-146.6,402.6,-7.0,246,5121,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2652,3504
$GC,5432,-1.10,-146.6,426.0,-8.0,261,5435,0.00,2.20,0.00,0.000,4,0.000,0.086,2196,3795,3504
$GC,5487,-1.10,-146.6,431.0,-9.0,263,5491,0.00,2.10,0.00,0.000,6,0.000,0.058,2196,2641,3504
$GC,5809,-1.10,-146.6,460.1,-9.8,279,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3504
$GC,6118,-1.10,-146.6,485.5,-7.4,294,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2641,3504
$GC,6428,-1.10,-146.6,503.2,-4.6,309,6431,0.00,2.22,0.00,0.000,4,0.000,0.086,2196,3796,3504
$GC,6456,-1.10,-146.6,504.5,-3.8,310,6460,0.00,2.08,0.00,0.000,6,0.000,0.056,2196,2647,3504
$GC,6784,-1.10,-146.6,522.7,-7.4,326,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2647,3503
$GC,7093,-1.10,-146.6,550.8,-9.2,341,7097,0.00,2.22,0.00,0.000,4,0.000,0.090,2196,3794,3503
$GC,7139,-1.10,-146.6,555.3,-10.2,343,7143,0.00,2.08,0.00,0.000,6,0.000,0.059,2196,2649,3503
$GC,7472,-1.10,-146.6,579.9,-6.0,359,7476,0.00,2.22,0.00,0.000,4,0.000,0.092,2196,3793,3502
$GC,7519,-1.10,-146.6,582.9,-6.7,361,7522,0.00,2.08,0.00,0.000,6,0.000,0.061,2196,2650,3502
$GC,7851,-1.10,-146.6,603.4,-6.4,377,7856,0.00,2.60,0.00,0.000,4,0.000,0.072,2196,1235,3501
$GC,7914,-1.10,-146.6,607.5,-6.4,380,7919,0.00,2.62,0.00,0.000,6,0.000,0.066,2196,2655,3501
$GC,8241,-1.10,-146.6,631.0,-6.8,396,8245,0.00,2.15,0.00,0.000,4,0.000,0.093,2196,3786,3500
$GC,8296,-1.10,-146.6,635.7,-8.5,398,8300,0.00,2.08,0.00,0.000,6,0.000,0.058,2196,2642,3500
$GC,8618,-1.10,-146.6,660.9,-7.9,414,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2642,3500
$STATE,8844,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8844,begin apogee
$GC,8853,-0.42,0.0,675.1,6.0,425,8985,0.75,0.00,124.80,1.153,6,0.098,0.000,2345,1998,2902
$STATE,8986,end apogee,CONTROL_FINISHED_OK
$STATE,8986,begin climb
$GC,8989,1.10,146.6,681.8,0.0,432,9122,1.55,2.80,123.10,1.114,4,0.055,0.081,2679,588,2304
$GC,9378,1.37,362.5,683.7,0.0,449,9573,0.28,2.58,181.43,1.124,6,0.038,0.047,2747,2025,1424
$GC,9879,1.37,362.5,650.7,10.1,474,9883,0.00,2.70,0.00,0.000,4,0.000,0.071,2748,588,1423
$GC,9923,1.37,362.5,646.2,10.2,476,9928,0.00,2.53,0.00,0.000,6,0.000,0.044,2748,1996,1423
$GC,10245,1.37,362.5,616.7,9.4,492,10249,0.00,2.67,0.00,0.000,4,0.000,0.075,2748,3416,1422
$GC,10312,1.37,362.5,610.9,8.5,495,10316,0.00,2.60,0.00,0.000,6,0.000,0.051,2748,1986,1422
$GC,10633,1.37,362.5,582.4,9.3,511,10637,0.00,2.60,0.00,0.000,4,0.000,0.070,2748,588,1422
$GC,10683,1.37,362.5,577.6,9.3,513,10687,0.00,2.53,0.00,0.000,6,0.000,0.043,2748,2005,1422
$GC,10999,1.37,362.5,549.4,9.3,528,11003,0.00,2.65,0.00,0.000,4,0.000,0.074,2748,3416,1421
$GC,11020,1.37,362.5,547.3,8.9,529,11025,0.00,2.58,0.00,0.000,6,0.000,0.052,2748,2001,1421
$GC,11341,1.37,362.5,519.4,8.3,545,11346,0.00,2.67,0.00,0.000,4,0.000,0.073,2748,3419,1421
$GC,11369,1.37,362.5,516.8,9.6,546,11373,0.00,2.58,0.00,0.000,6,0.000,0.052,2748,2002,1421
$GC,11685,1.37,362.5,486.5,9.4,561,11690,0.00,2.65,0.00,0.000,4,0.000,0.071,2748,3408,1421
$GC,11726,1.37,362.5,482.5,10.5,563,11730,0.00,2.58,0.00,0.000,6,0.000,0.053,2748,1990,1421
$GC,12052,1.37,362.5,450.2,9.9,579,12056,0.00,2.60,0.00,0.000,4,0.000,0.068,2748,585,1421
$GC,12092,1.37,362.5,446.3,10.0,581,12097,0.00,2.53,0.00,0.000,6,0.000,0.043,2748,2005,1421
$GC,12419,1.37,362.5,412.9,10.6,597,12424,0.00,2.60,0.00,0.000,4,0.000,0.074,2748,3406,1421
$GC,12482,1.37,362.5,406.0,10.4,600,12486,0.00,2.58,0.00,0.000,6,0.000,0.055,2748,1990,1421
$GC,12809,1.37,362.5,367.9,12.5,616,12811,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1989,1421
$GC,13118,1.37,362.5,332.5,10.9,631,13122,0.00,2.65,0.00,0.000,4,0.000,0.068,2748,3410,1422
$GC,13151,1.37,362.5,328.6,10.8,632,13157,0.00,2.58,0.00,0.000,6,0.000,0.054,2748,1995,1422
$GC,13467,1.37,362.5,298.9,8.7,648,13468,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1995,1422
$GC,13776,1.37,362.5,272.7,8.4,663,13780,0.00,2.65,0.00,0.000,4,0.000,0.070,2748,3414,1423
$GC,13820,1.37,362.5,268.5,9.8,665,13824,0.00,2.60,0.00,0.000,6,0.000,0.056,2748,1989,1423
$GC,14141,1.37,362.5,237.2,10.3,681,14146,0.00,2.65,0.00,0.000,4,0.000,0.069,2748,3407,1424
$GC,14169,1.37,362.5,234.3,10.4,682,14173,0.00,2.58,0.00,0.000,6,0.000,0.056,2748,1996,1424
$GC,14484,1.37,362.5,202.4,10.3,697,14486,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1996,1424
$GC,14794,1.37,362.5,170.5,10.1,712,14798,0.00,2.65,0.00,0.000,4,0.000,0.070,2748,3414,1425
$GC,14838,1.37,362.5,165.8,10.7,714,14842,0.00,2.60,0.00,0.000,6,0.000,0.058,2748,1990,1425
$GC,15159,1.37,362.5,132.1,10.3,730,15160,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1990,1425
$GC,15469,1.37,362.5,101.8,9.9,745,15473,0.00,2.65,0.00,0.000,4,0.000,0.070,2748,3409,1425
$GC,15509,1.37,362.5,97.7,9.9,747,15513,0.00,2.58,0.00,0.000,6,0.000,0.059,2748,1997,1425
$GC,15836,1.37,362.5,63.3,10.3,763,15840,0.00,2.62,0.00,0.000,4,0.000,0.069,2748,3406,1426
$GC,15869,1.37,362.5,59.6,10.8,764,15875,0.00,2.58,0.00,0.000,6,0.000,0.059,2748,1994,1425
$GC,16185,1.37,362.5,26.8,9.9,780,16186,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1994,1426
$STATE,16388,end climb,SURFACE_DEPTH_REACHED
$STATE,16388,begin surface coast
$FINISH,0.5,1.027488
$STATE,16410,end surface coast,CONTROL_FINISHED_OK
$STATE,16410,begin surface
$SM_CCo,16495,0.00,0.000,0,0,1425,362.06
$SM_GC,1.12,11.80,0.00,0.00,0.027,0.000,0.000,53,2654,1425,-10.93,0.08,362.06
$IRIDIUM_FIX,6207.28,-1106.70,150698,090954
$TT8_MAMPS,0.028379
$HUMID,1781
$INTERNAL_PRESSURE,8.51595
$TCM_TEMP,15.60
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,675.1,9.0
$24V_AH,23.3,27.993
$10V_AH,10.1,14.918
$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,26.550,133.325,429.325,0.000,0.000,23.742,27.061,173.998,8.500,0.000,0.000,13.519,1432.678,12664.750,487.641,1731.388,529.902,32.362,1384.278,0.000,1691.948,0.000,46.151,0.000
$DEVICE_MAMPS,157.235,92.807,1152.801,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,577.550,561.067,496.417,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41170,791
$CAP_FILE_SIZE,115134,0
$CFSIZE,260165632,249761792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210309,190807,6237.349,-1134.505,40,1.6,41,-11.1