version: 66.04
glider: 103
mission: 11
dive: 235
start: 4 14 109 20 44 58
data:
$ID,103
$MISSION,11
$DIVE,235
$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,315
$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,-147460.19
$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,18
$R_STBD_OVSHOOT,10
$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
$GPS1,203831,6358.929,-1317.122,38,1.7,38,-12.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-57.3
$GPS2,204439,6358.961,-1317.082,11,1.5,12,-12.6
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,HEADING
$TGT_LATLONG,6406.597,-1334.570
$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,327.6,20000,-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,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,-41.67,0.000,2,0.000,0.000,44,2644,2920
$GC,63,-1.10,-146.6,3.0,-7.4,2,94,12.10,2.30,-12.05,0.000,4,0.156,0.110,2195,3787,3502
$GC,347,-1.10,-146.6,29.5,-9.0,14,353,0.00,2.10,0.00,0.000,6,0.000,0.064,2195,2647,3503
$GC,663,-1.10,-146.6,56.3,-7.2,30,667,0.00,2.22,0.00,0.000,4,0.000,0.091,2195,3785,3502
$GC,873,-1.10,-146.6,73.6,-8.1,39,877,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2643,3503
$GC,1195,-1.10,-146.6,99.3,-7.9,55,1199,0.00,2.22,0.00,0.000,4,0.000,0.090,2195,3785,3502
$GC,1242,-1.10,-146.6,103.2,-8.4,57,1246,0.00,2.08,0.00,0.000,6,0.000,0.061,2195,2648,3502
$GC,1574,-1.10,-146.6,134.1,-9.7,73,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3502
$GC,1883,-1.10,-146.6,162.0,-8.9,88,1887,0.00,2.22,0.00,0.000,4,0.000,0.090,2195,3790,3503
$GC,1923,-1.10,-146.6,165.9,-9.8,89,1928,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2648,3502
$GC,2238,-1.10,-146.6,194.7,-9.0,105,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3502
$GC,2548,-1.10,-146.6,221.1,-8.2,120,2551,0.00,2.22,0.00,0.000,4,0.000,0.090,2195,3792,3502
$GC,2604,-1.10,-146.6,225.9,-7.9,122,2608,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2647,3502
$GC,2925,-1.10,-146.6,249.0,-7.5,138,2929,0.00,2.22,0.00,0.000,4,0.000,0.089,2195,3793,3502
$GC,2959,-1.10,-146.6,251.8,-8.1,139,2962,0.00,2.10,0.00,0.000,6,0.000,0.061,2195,2647,3501
$GC,3281,-1.10,-146.6,279.2,-9.0,155,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2647,3502
$GC,3589,-1.10,-146.6,303.4,-7.3,170,3593,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3784,3502
$GC,3651,-1.10,-146.6,308.1,-7.7,172,3657,0.00,2.08,0.00,0.000,6,0.000,0.059,2195,2648,3502
$GC,3967,-1.10,-146.6,329.9,-6.6,188,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3502
$GC,4277,-1.10,-146.6,350.0,-7.2,203,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3502
$GC,4585,-1.10,-146.6,371.4,-6.7,218,4589,0.00,2.20,0.00,0.000,4,0.000,0.087,2195,3789,3502
$GC,4613,-1.10,-146.6,373.5,-7.1,219,4617,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2652,3502
$GC,4940,-1.10,-146.6,396.8,-7.3,235,4944,0.00,2.58,0.00,0.000,4,0.000,0.064,2195,1227,3502
$GC,4967,-1.10,-146.6,399.0,-7.8,236,4972,0.00,2.62,0.00,0.000,6,0.000,0.064,2195,2652,3502
$GC,5284,-1.10,-146.6,421.0,-6.1,251,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2652,3502
$GC,5594,-1.10,-146.6,437.6,-5.2,266,5597,0.00,2.17,0.00,0.000,4,0.000,0.089,2195,3793,3502
$GC,5667,-1.10,-146.6,442.4,-7.4,269,5670,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2648,3502
$GC,5994,-1.10,-146.6,473.6,-9.7,285,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2648,3502
$GC,6303,-1.10,-146.6,470.4,5.2,300,6308,0.00,2.58,0.00,0.000,4,0.000,0.066,2195,1231,3502
$GC,6354,-1.10,-146.6,470.7,-4.0,302,6358,0.00,2.60,0.00,0.000,6,0.000,0.062,2195,2652,3502
$GC,6670,-1.10,-146.6,491.3,-6.7,317,6674,0.00,2.20,0.00,0.000,4,0.000,0.093,2195,3794,3501
$GC,6716,-1.10,-146.6,495.6,-8.3,319,6720,0.00,2.10,0.00,0.000,6,0.000,0.058,2195,2641,3502
$GC,7049,-1.10,-146.6,522.9,-8.7,335,7053,0.00,2.25,0.00,0.000,4,0.000,0.094,2195,3790,3502
$GC,7099,-1.10,-146.6,527.4,-7.6,337,7103,0.00,2.08,0.00,0.000,6,0.000,0.056,2195,2644,3502
$STATE,7335,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7335,begin apogee
$GC,7344,-0.42,0.0,551.0,12.2,349,7471,0.77,0.00,124.12,1.027,6,0.098,0.000,2348,1995,2902
$STATE,7472,end apogee,CONTROL_FINISHED_OK
$STATE,7472,begin climb
$GC,7475,1.10,146.6,552.1,0.0,355,7606,1.50,2.65,121.70,0.996,4,0.044,0.061,2681,581,2304
$GC,7859,1.17,198.3,543.8,4.6,373,7909,0.00,2.53,44.03,0.984,6,0.000,0.038,2681,2019,2093
$GC,8230,1.23,252.0,524.4,4.5,391,8282,0.12,2.72,45.28,0.999,4,0.044,0.061,2725,577,1874
$GC,8473,1.25,263.1,508.8,5.7,402,8490,0.00,2.50,11.02,0.894,6,0.000,0.036,2725,2001,1829
$GC,8799,1.25,263.1,486.3,7.7,418,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2005,1828
$GC,9108,1.25,263.1,468.0,7.6,433,9113,0.00,2.60,0.00,0.000,4,0.000,0.063,2725,587,1829
$GC,9206,1.25,263.1,458.9,12.7,437,9210,0.00,2.50,0.00,0.000,6,0.000,0.039,2725,2004,1828
$GC,9521,1.25,263.1,422.3,10.5,452,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2007,1828
$GC,9831,1.25,263.1,396.4,7.6,467,9835,0.00,2.62,0.00,0.000,4,0.000,0.061,2725,580,1828
$GC,9983,1.25,263.1,385.9,6.6,474,9987,0.00,2.50,0.00,0.000,6,0.000,0.039,2725,2002,1828
$GC,10309,1.25,263.1,357.9,9.3,490,10311,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2002,1828
$GC,10619,1.25,263.1,329.6,9.2,505,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2002,1828
$GC,10928,1.25,263.1,301.3,9.0,520,10932,0.00,2.60,0.00,0.000,4,0.000,0.067,2725,3410,1828
$GC,10961,1.25,263.1,298.2,9.4,521,10967,0.00,2.58,0.00,0.000,6,0.000,0.052,2725,1989,1828
$GC,11277,1.25,263.1,268.0,9.8,537,11281,0.00,2.55,0.00,0.000,4,0.000,0.063,2725,585,1828
$GC,11349,1.25,263.1,260.7,10.3,540,11353,0.00,2.50,0.00,0.000,6,0.000,0.039,2725,2006,1828
$GC,11671,1.25,263.1,230.5,9.4,556,11672,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2006,1828
$GC,11980,1.25,263.1,201.8,9.2,571,11984,0.00,2.62,0.00,0.000,4,0.000,0.064,2725,584,1827
$GC,12052,1.25,263.1,194.7,10.1,574,12057,0.00,2.50,0.00,0.000,6,0.000,0.040,2725,2002,1828
$GC,12374,1.25,263.1,165.2,9.1,590,12378,0.00,2.60,0.00,0.000,4,0.000,0.067,2725,3413,1828
$GC,12418,1.25,263.1,160.9,9.2,592,12423,0.00,2.58,0.00,0.000,6,0.000,0.053,2725,1989,1828
$GC,12740,1.25,263.1,133.0,8.5,608,12741,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1989,1828
$GC,13049,1.25,263.1,107.0,8.6,623,13054,0.00,2.62,0.00,0.000,4,0.000,0.066,2725,3406,1828
$GC,13100,1.25,263.1,102.3,9.1,625,13105,0.00,2.55,0.00,0.000,6,0.000,0.054,2725,1998,1828
$GC,13417,1.25,263.1,74.7,9.0,640,13418,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1998,1829
$GC,13726,1.25,263.1,47.4,8.0,655,13730,0.00,2.62,0.00,0.000,4,0.000,0.065,2725,3415,1829
$GC,13759,1.25,263.1,44.6,7.9,656,13765,0.00,2.55,0.00,0.000,6,0.000,0.054,2725,1999,1829
$GC,14077,1.25,263.1,16.4,8.8,672,14081,0.00,2.60,0.00,0.000,4,0.000,0.067,2725,584,1829
$GC,14126,1.25,263.1,11.8,8.7,674,14131,0.00,2.50,0.00,0.000,6,0.000,0.040,2725,2007,1829
$STATE,14255,end climb,SURFACE_DEPTH_REACHED
$STATE,14256,begin surface coast
$FINISH,0.6,1.014197
$STATE,14276,end surface coast,CONTROL_FINISHED_OK
$STATE,14276,begin surface
$SM_CCo,14361,0.00,0.000,0,0,1828,263.45
$SM_GC,1.69,11.75,0.00,0.00,0.028,0.000,0.000,48,2647,1828,-10.94,-0.08,263.45
$IRIDIUM_FIX,6332.30,-1315.83,090798,151529
$TT8_MAMPS,0.028379
$HUMID,1785
$INTERNAL_PRESSURE,8.56478
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,500.6,59.2
$24V_AH,23.4,42.263
$10V_AH,10.1,24.025
$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,26.250,116.875,346.150,0.000,0.000,29.836,28.772,175.986,4.000,0.000,0.000,12.351,1277.655,10858.514,418.653,1645.582,522.720,0.000,1248.742,0.000,1614.685,0.000,29.205,0.000
$DEVICE_MAMPS,155.701,110.448,1027.013,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,476.523,500.608,455.168,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34847,681
$CAP_FILE_SIZE,103660,0
$CFSIZE,260165632,243224576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150409,004537,6401.999,-1314.432,41,1.5,41,-12.6