version: 66.04
glider: 103
mission: 11
dive: 165
start: 3 29 109 17 36 55
data:
$ID,103
$MISSION,11
$DIVE,165
$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,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,-146252.09
$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,27
$R_STBD_OVSHOOT,13
$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
$GPS1,172957,6237.213,-1142.352,42,3.5,61,-11.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-52.9
$GPS2,173601,6237.326,-1142.210,10,1.4,10,-11.1
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.218,-0.017
$KALMAN_X,77218.8,80.4,1516.2,-103419.0,13401.6
$KALMAN_Y,-90951.4,-72.5,3220.5,108176.4,-400.2
$MHEAD_RNG_PITCHd_Wd,276.7,32515,-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,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,50,2662,3125
$GC,62,-1.10,-146.6,3.3,-9.2,2,88,12.12,2.70,-6.85,0.000,4,0.159,0.087,2195,1255,3502
$GC,111,-1.10,-146.6,13.5,-14.1,4,116,0.00,2.62,0.00,0.000,6,0.000,0.067,2195,2657,3501
$GC,432,-1.10,-146.6,48.3,-12.4,20,436,0.00,2.20,0.00,0.000,4,0.000,0.094,2195,3792,3501
$GC,478,-1.10,-146.6,54.6,-15.2,22,482,0.00,2.08,0.00,0.000,6,0.000,0.062,2195,2663,3501
$GC,812,-1.10,-146.6,82.4,-10.1,38,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2662,3501
$GC,1121,-1.10,-146.6,111.7,-9.4,53,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2661,3501
$GC,1432,-1.10,-146.6,141.8,-10.4,68,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2661,3502
$GC,1739,-1.10,-146.6,173.2,-9.2,83,1743,0.00,2.17,0.00,0.000,4,0.000,0.090,2195,3785,3501
$GC,1840,-1.10,-146.6,180.3,-8.4,87,1844,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2644,3502
$GC,2161,-1.10,-146.6,203.0,-7.7,103,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,2471,-1.10,-146.6,227.5,-8.1,118,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,2780,-1.10,-146.6,252.3,-8.0,133,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,3090,-1.10,-146.6,276.0,-7.2,148,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2644,3501
$GC,3399,-1.10,-146.6,298.2,-7.4,163,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2644,3502
$GC,3708,-1.10,-146.6,321.2,-6.9,178,3712,0.00,2.60,0.00,0.000,4,0.000,0.071,2195,1230,3502
$GC,3741,-1.10,-146.6,323.5,-7.1,179,3747,0.00,2.65,0.00,0.000,6,0.000,0.067,2195,2658,3502
$GC,4057,-1.10,-146.6,346.5,-7.5,195,4060,0.00,2.17,0.00,0.000,4,0.000,0.091,2195,3792,3502
$GC,4096,-1.10,-146.6,349.6,-7.6,196,4106,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2651,3502
$GC,4412,-1.10,-146.6,371.7,-6.2,212,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2651,3502
$GC,4721,-1.10,-146.6,391.5,-7.5,227,4726,0.00,2.62,0.00,0.000,4,0.000,0.073,2195,1224,3502
$GC,4766,-1.10,-146.6,395.1,-7.7,229,4770,0.00,2.62,0.00,0.000,6,0.000,0.062,2196,2655,3502
$GC,5087,-1.10,-146.6,419.4,-9.3,245,5090,0.00,2.17,0.00,0.000,4,0.000,0.093,2195,3789,3502
$GC,5114,-1.10,-146.6,422.3,-10.2,246,5118,0.00,2.08,0.00,0.000,6,0.000,0.054,2195,2637,3502
$GC,5441,-1.10,-146.6,449.2,-7.6,262,5443,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2637,3502
$GC,5751,-1.10,-146.6,469.4,-6.4,277,5752,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2637,3502
$GC,6060,-1.10,-146.6,493.8,-8.2,292,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2637,3501
$GC,6370,-1.10,-146.6,519.5,-7.6,307,6374,0.00,2.25,0.00,0.000,4,0.000,0.093,2195,3792,3501
$GC,6437,-1.10,-146.6,524.7,-8.0,310,6442,0.00,2.08,0.00,0.000,6,0.000,0.058,2195,2650,3501
$GC,6764,-1.10,-146.6,546.1,-7.3,326,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2650,3501
$GC,7074,-1.10,-146.6,569.8,-7.3,341,7078,0.00,2.60,0.00,0.000,4,0.000,0.072,2196,1235,3500
$GC,7118,-1.10,-146.6,573.0,-7.2,343,7122,0.00,2.62,0.00,0.000,6,0.000,0.064,2195,2658,3500
$GC,7439,-1.10,-146.6,593.0,-6.0,359,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2658,3499
$GC,7748,-1.10,-146.6,613.3,-6.4,374,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3499
$GC,8057,-1.10,-146.6,633.6,-6.9,389,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2658,3498
$GC,8367,-1.10,-146.6,654.4,-6.3,404,8371,0.00,2.65,0.00,0.000,4,0.000,0.072,2196,1235,3498
$GC,8439,-1.10,-146.6,659.2,-6.3,407,8443,0.00,2.65,0.00,0.000,6,0.000,0.068,2195,2661,3498
$GC,8755,-1.10,-146.6,679.8,-6.6,422,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2661,3497
$STATE,8896,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8896,begin apogee
$GC,8904,-0.42,0.0,690.0,7.5,429,9032,0.75,0.00,124.65,1.180,6,0.084,0.000,2348,1999,2902
$STATE,9033,end apogee,CONTROL_FINISHED_OK
$STATE,9033,begin climb
$GC,9036,1.10,146.6,695.9,0.0,435,9170,1.55,2.83,123.05,1.129,4,0.058,0.080,2679,585,2304
$GC,9428,1.40,388.1,697.9,-0.7,452,9643,0.30,2.58,203.30,1.137,6,0.041,0.050,2749,2011,1319
$GC,9950,1.40,388.1,662.8,10.2,478,9954,0.00,2.67,0.00,0.000,4,0.000,0.072,2749,577,1318
$GC,10016,1.40,388.1,655.5,10.7,481,10021,0.00,2.55,0.00,0.000,6,0.000,0.046,2749,1996,1318
$GC,10337,1.40,388.1,622.0,10.8,497,10338,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1996,1317
$GC,10646,1.40,388.1,589.2,10.5,512,10651,0.00,2.67,0.00,0.000,4,0.000,0.077,2749,3415,1317
$GC,10686,1.40,388.1,584.9,10.8,514,10691,0.00,2.60,0.00,0.000,6,0.000,0.057,2749,1995,1317
$GC,11013,1.40,388.1,550.5,10.9,530,11018,0.00,2.67,0.00,0.000,4,0.000,0.074,2749,3409,1316
$GC,11031,1.40,388.1,548.6,10.7,531,11035,0.00,2.58,0.00,0.000,6,0.000,0.053,2749,1990,1316
$GC,11357,1.40,388.1,509.4,12.2,547,11362,0.00,2.58,0.00,0.000,4,0.000,0.068,2749,594,1316
$GC,11408,1.40,388.1,502.8,13.4,549,11412,0.00,2.53,0.00,0.000,6,0.000,0.044,2749,2010,1316
$GC,11724,1.40,388.1,466.5,10.7,564,11728,0.00,2.62,0.00,0.000,4,0.000,0.075,2749,3412,1316
$GC,11786,1.40,388.1,460.2,9.7,567,11790,0.00,2.58,0.00,0.000,6,0.000,0.054,2749,1997,1316
$GC,12112,1.40,388.1,428.5,9.2,583,12117,0.00,2.67,0.00,0.000,4,0.000,0.072,2749,3419,1316
$GC,12140,1.40,388.1,425.9,9.8,584,12145,0.00,2.58,0.00,0.000,6,0.000,0.053,2749,2003,1316
$GC,12456,1.40,388.1,398.8,7.4,599,12460,0.00,2.65,0.00,0.000,4,0.000,0.071,2749,3413,1316
$GC,12478,1.40,388.1,396.6,9.8,600,12482,0.00,2.60,0.00,0.000,6,0.000,0.057,2749,1994,1316
$GC,12799,1.40,388.1,361.5,11.4,616,12803,0.00,2.58,0.00,0.000,4,0.000,0.068,2749,589,1316
$GC,12827,1.40,388.1,358.0,12.7,617,12831,0.00,2.53,0.00,0.000,6,0.000,0.044,2749,2007,1317
$GC,13148,1.40,388.1,323.3,9.6,633,13153,0.00,2.62,0.00,0.000,4,0.000,0.074,2749,3415,1316
$GC,13193,1.40,388.1,318.7,9.5,635,13197,0.00,2.60,0.00,0.000,6,0.000,0.057,2749,1993,1317
$GC,13514,1.40,388.1,286.0,10.5,651,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1993,1317
$GC,13824,1.40,388.1,255.6,9.8,666,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1993,1318
$GC,14133,1.40,388.1,226.4,9.0,681,14137,0.00,2.65,0.00,0.000,4,0.000,0.072,2749,3412,1318
$GC,14178,1.40,388.1,222.2,9.2,683,14183,0.00,2.60,0.00,0.000,6,0.000,0.057,2749,1988,1318
$GC,14500,1.40,388.1,192.6,9.1,699,14504,0.00,2.58,0.00,0.000,4,0.000,0.069,2749,589,1319
$GC,14527,1.40,388.1,189.9,9.4,700,14532,0.00,2.53,0.00,0.000,6,0.000,0.046,2749,2006,1318
$GC,14843,1.40,388.1,159.5,10.0,715,14844,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2007,1319
$GC,15153,1.40,388.1,125.8,11.1,730,15157,0.00,2.62,0.00,0.000,4,0.000,0.073,2749,3420,1320
$GC,15175,1.40,388.1,122.9,12.7,731,15179,0.00,2.60,0.00,0.000,6,0.000,0.056,2749,1993,1320
$GC,15497,1.40,388.1,87.7,11.3,747,15502,0.00,2.60,0.00,0.000,4,0.000,0.070,2749,586,1320
$GC,15526,1.40,388.1,84.1,11.8,748,15530,0.00,2.53,0.00,0.000,6,0.000,0.044,2749,2008,1321
$GC,15842,1.40,388.1,51.3,7.1,763,15846,0.00,2.60,0.00,0.000,4,0.000,0.071,2749,3411,1320
$GC,15875,1.40,388.1,47.8,9.5,764,15881,0.00,2.58,0.00,0.000,6,0.000,0.059,2749,1996,1320
$GC,16193,1.40,388.1,24.1,7.1,780,16197,0.00,2.62,0.00,0.000,4,0.000,0.073,2749,581,1321
$GC,16257,1.40,388.1,18.8,8.2,783,16261,0.00,2.53,0.00,0.000,6,0.000,0.046,2749,2000,1321
$STATE,16416,end climb,SURFACE_DEPTH_REACHED
$STATE,16416,begin surface coast
$FINISH,-0.0,1.017097
$STATE,16438,end surface coast,CONTROL_FINISHED_OK
$STATE,16438,begin surface
$SM_CCo,16522,0.00,0.000,0,0,1321,387.82
$SM_GC,0.77,11.85,0.00,0.00,0.028,0.000,0.000,46,2653,1321,-10.93,0.08,387.82
$IRIDIUM_FIX,6207.28,-1144.20,230698,121246
$TT8_MAMPS,0.029146
$HUMID,1782
$INTERNAL_PRESSURE,8.48665
$TCM_TEMP,16.40
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,675.8,22.7
$24V_AH,23.3,32.574
$10V_AH,10.1,17.915
$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,26.575,133.525,451.000,0.000,0.000,31.469,38.580,165.813,10.500,0.000,0.000,10.944,1432.822,12702.161,505.180,1703.755,540.141,33.356,1395.994,0.000,1666.030,0.000,43.334,0.000
$DEVICE_MAMPS,158.769,93.574,1179.646,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,584.469,555.087,466.151,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41184,792
$CAP_FILE_SIZE,114237,0
$CFSIZE,260165632,247619584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290309,221355,6242.132,-1147.626,60,1.7,60,-11.2