version: 66.04
glider: 103
mission: 11
dive: 166
start: 3 29 109 22 21 2
data:
$ID,103
$MISSION,11
$DIVE,166
$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,-146267.48
$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,11
$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
$GPS1,221355,6242.132,-1147.626,60,1.7,60,-11.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-54.5
$GPS2,222008,6242.283,-1147.550,14,1.7,14,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.212,-0.052
$KALMAN_X,80870.1,-2695.3,2139.5,-109416.4,18078.8
$KALMAN_Y,-83296.7,868.6,5451.3,106498.2,3374.1
$MHEAD_RNG_PITCHd_Wd,267.4,27917,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-61.15,0.000,2,0.000,0.000,46,2655,3245
$GC,82,-1.10,-146.6,3.8,-7.5,3,104,12.25,0.00,-4.18,0.000,6,0.163,0.000,2193,2655,3503
$GC,415,-1.10,-146.6,37.0,-7.2,19,419,0.00,2.22,0.00,0.000,4,0.000,0.094,2193,3792,3503
$GC,482,-1.10,-146.6,43.5,-11.4,22,486,0.00,2.12,0.00,0.000,6,0.000,0.066,2193,2650,3503
$GC,811,-1.10,-146.6,71.2,-7.9,38,815,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3785,3503
$GC,862,-1.10,-146.6,76.2,-9.7,40,865,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2650,3503
$GC,1184,-1.10,-146.6,106.0,-9.3,56,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,1493,-1.10,-146.6,136.0,-9.7,71,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,1802,-1.10,-146.6,165.7,-9.3,86,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,2112,-1.10,-146.6,193.1,-8.2,101,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,2421,-1.10,-146.6,219.6,-8.8,116,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,2730,-1.10,-146.6,246.2,-8.8,131,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3502
$GC,3039,-1.10,-146.6,274.4,-9.2,146,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,3348,-1.10,-146.6,302.8,-8.0,161,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2648,3503
$GC,3658,-1.10,-146.6,326.7,-8.3,176,3662,0.00,2.22,0.00,0.000,4,0.000,0.094,2193,3786,3502
$GC,3753,-1.10,-146.6,334.5,-8.7,180,3757,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2644,3503
$GC,4080,-1.10,-146.6,355.8,-6.3,196,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3503
$GC,4390,-1.10,-146.6,377.0,-7.8,211,4394,0.00,2.60,0.00,0.000,4,0.000,0.074,2193,1235,3503
$GC,4490,-1.10,-146.6,384.5,-7.0,215,4496,0.00,2.60,0.00,0.000,6,0.000,0.064,2193,2652,3502
$GC,4807,-1.10,-146.6,408.6,-8.8,231,4810,0.00,2.17,0.00,0.000,4,0.000,0.091,2193,3785,3502
$GC,4852,-1.10,-146.6,412.8,-9.6,233,4856,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2644,3503
$GC,5185,-1.10,-146.6,440.3,-7.8,249,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3503
$GC,5494,-1.10,-146.6,460.4,-6.2,264,5498,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3783,3502
$GC,5545,-1.10,-146.6,464.0,-7.0,266,5549,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2642,3502
$GC,5872,-1.10,-146.6,486.5,-6.6,282,5875,0.00,2.25,0.00,0.000,4,0.000,0.094,2193,3790,3502
$GC,5922,-1.10,-146.6,489.8,-7.1,284,5926,0.00,2.10,0.00,0.000,6,0.000,0.060,2193,2640,3503
$GC,6249,-1.10,-146.6,513.6,-8.1,300,6254,0.00,2.58,0.00,0.000,4,0.000,0.071,2193,1236,3501
$GC,6277,-1.10,-146.6,516.2,-8.8,301,6281,0.00,2.62,0.00,0.000,6,0.000,0.067,2193,2650,3502
$GC,6593,-1.10,-146.6,541.0,-6.6,316,6597,0.00,2.20,0.00,0.000,4,0.000,0.096,2193,3789,3501
$GC,6649,-1.10,-146.6,544.6,-6.1,318,6653,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2648,3501
$GC,6971,-1.10,-146.6,561.5,-6.5,334,6975,0.00,2.60,0.00,0.000,4,0.000,0.074,2193,1236,3501
$GC,7043,-1.10,-146.6,567.1,-7.5,337,7048,0.00,2.65,0.00,0.000,6,0.000,0.068,2193,2659,3500
$GC,7359,-1.10,-146.6,590.4,-7.5,352,7363,0.00,2.20,0.00,0.000,4,0.000,0.099,2193,3789,3500
$GC,7406,-1.10,-146.6,593.9,-7.8,354,7410,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2638,3499
$GC,7738,-1.10,-146.6,616.4,-6.5,370,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2638,3498
$GC,8047,-1.10,-146.6,637.9,-6.8,385,8052,0.00,2.28,0.00,0.000,4,0.000,0.101,2193,3783,3497
$GC,8110,-1.10,-146.6,642.0,-7.2,388,8114,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2640,3497
$GC,8443,-1.10,-146.6,661.2,-5.6,404,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2639,3496
$GC,8752,-1.10,-146.6,675.3,0.1,419,8757,0.00,2.58,0.00,0.000,4,0.000,0.071,2193,1233,3495
$STATE,8915,end dive,NO_VERTICAL_VELOCITY
$STATE,8915,begin apogee
$GC,8924,-0.42,0.0,675.0,0.0,426,9055,0.68,0.00,124.05,1.183,6,0.053,0.000,2347,2022,2902
$STATE,9056,end apogee,CONTROL_FINISHED_OK
$STATE,9056,begin climb
$GC,9059,1.10,146.6,674.6,0.0,433,9192,1.60,2.88,122.62,1.139,4,0.071,0.082,2678,594,2304
$GC,9447,1.12,162.3,672.3,5.6,450,9467,0.00,2.53,15.00,1.079,6,0.000,0.044,2678,2009,2240
$GC,9785,1.13,172.4,658.2,5.7,467,9800,0.00,2.72,9.88,1.046,4,0.000,0.070,2678,591,2199
$GC,9907,1.13,172.4,652.1,6.6,471,9913,0.00,2.53,0.00,0.000,6,0.000,0.045,2678,1997,2199
$GC,10223,1.20,225.9,636.8,4.5,487,10275,0.10,2.72,45.95,1.151,4,0.047,0.072,2713,3414,1980
$GC,10360,1.20,225.9,627.2,6.7,493,10364,0.00,2.60,0.00,0.000,6,0.000,0.052,2713,1995,1980
$GC,10675,1.20,225.9,605.7,6.6,508,10680,0.00,2.67,0.00,0.000,4,0.000,0.074,2713,3405,1979
$GC,10732,1.20,225.9,601.6,7.9,510,10738,0.00,2.58,0.00,0.000,6,0.000,0.053,2713,1993,1979
$GC,11048,1.20,225.9,578.6,7.3,526,11052,0.00,2.67,0.00,0.000,4,0.000,0.073,2713,3405,1978
$GC,11087,1.20,225.9,575.6,8.1,528,11092,0.00,2.58,0.00,0.000,6,0.000,0.053,2713,1989,1978
$GC,11414,1.20,225.9,553.6,6.1,544,11418,0.00,2.60,0.00,0.000,4,0.000,0.072,2713,594,1978
$GC,11469,1.20,225.9,549.8,6.8,546,11475,0.00,2.50,0.00,0.000,6,0.000,0.041,2713,2003,1978
$GC,11785,1.20,225.9,529.1,6.9,562,11789,0.00,2.65,0.00,0.000,4,0.000,0.074,2713,3411,1978
$GC,11887,1.20,225.9,522.2,7.2,566,11891,0.00,2.58,0.00,0.000,6,0.000,0.054,2713,2000,1977
$GC,12203,1.24,257.6,505.4,5.1,581,12237,0.00,2.72,27.10,1.076,4,0.000,0.068,2713,594,1851
$GC,12262,1.31,313.7,502.8,4.4,583,12317,0.00,2.53,47.95,1.066,6,0.000,0.042,2713,1999,1623
$GC,12643,1.31,317.3,481.9,5.9,602,12653,0.00,2.67,4.90,0.795,4,0.000,0.073,2713,3407,1608
$GC,12715,1.31,317.3,476.6,7.6,605,12719,0.00,2.58,0.00,0.000,6,0.000,0.054,2713,2001,1608
$GC,13031,1.31,317.3,452.4,8.3,620,13035,0.00,2.67,0.00,0.000,4,0.000,0.074,2713,3412,1608
$GC,13064,1.31,317.3,449.0,9.6,621,13070,0.00,2.58,0.00,0.000,6,0.000,0.054,2713,2002,1608
$GC,13379,1.31,317.3,418.2,9.6,637,13384,0.00,2.65,0.00,0.000,4,0.000,0.072,2713,3410,1608
$GC,13419,1.31,317.3,414.4,9.2,639,13424,0.00,2.58,0.00,0.000,6,0.000,0.054,2713,1998,1608
$GC,13746,1.31,317.3,388.9,7.0,655,13751,0.00,2.67,0.00,0.000,4,0.000,0.073,2713,3410,1609
$GC,13836,1.31,317.3,382.6,7.2,659,13840,0.00,2.60,0.00,0.000,6,0.000,0.055,2713,1989,1609
$GC,14157,1.31,317.3,359.0,7.9,675,14161,0.00,2.67,0.00,0.000,4,0.000,0.072,2713,3407,1609
$GC,14184,1.31,317.3,356.6,8.6,676,14189,0.00,2.58,0.00,0.000,6,0.000,0.055,2713,1998,1609
$GC,14500,1.31,317.3,327.3,9.8,691,14505,0.00,2.67,0.00,0.000,4,0.000,0.073,2713,3415,1610
$GC,14545,1.31,317.3,322.9,9.7,693,14549,0.00,2.60,0.00,0.000,6,0.000,0.054,2713,1989,1610
$GC,14866,1.31,317.3,297.1,7.3,709,14871,0.00,2.70,0.00,0.000,4,0.000,0.073,2713,3419,1610
$GC,14896,1.31,317.3,294.9,7.6,710,14900,0.00,2.60,0.00,0.000,6,0.000,0.055,2713,1993,1610
$GC,15212,1.31,317.3,271.5,7.7,725,15216,0.00,2.67,0.00,0.000,4,0.000,0.073,2713,3410,1611
$GC,15261,1.31,317.3,267.5,7.6,727,15266,0.00,2.58,0.00,0.000,6,0.000,0.057,2713,1993,1611
$GC,15577,1.31,317.3,243.0,7.0,742,15582,0.00,2.67,0.00,0.000,4,0.000,0.074,2713,3410,1611
$GC,15600,1.31,317.3,241.5,6.6,743,15604,0.00,2.58,0.00,0.000,6,0.000,0.056,2713,1999,1611
$GC,15921,1.31,317.3,215.8,7.6,759,15925,0.00,2.67,0.00,0.000,4,0.000,0.074,2713,3416,1612
$GC,15971,1.31,317.3,211.9,7.5,761,15975,0.00,2.58,0.00,0.000,6,0.000,0.057,2713,1998,1612
$GC,16287,1.31,317.3,191.1,6.5,776,16291,0.00,2.65,0.00,0.000,4,0.000,0.072,2713,3406,1612
$GC,16342,1.31,317.3,186.9,7.4,778,16349,0.00,2.58,0.00,0.000,6,0.000,0.056,2713,1995,1612
$GC,16658,1.31,317.3,160.0,9.6,794,16663,0.00,2.65,0.00,0.000,4,0.000,0.072,2713,3410,1613
$GC,16692,1.31,317.3,156.6,10.3,795,16699,0.00,2.60,0.00,0.000,6,0.000,0.057,2713,1988,1613
$GC,17008,1.31,317.3,125.7,8.7,811,17009,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1988,1613
$GC,17319,1.31,317.3,99.5,9.9,826,17324,0.00,2.70,0.00,0.000,4,0.000,0.076,2713,3412,1614
$GC,17364,1.31,317.3,94.9,9.2,828,17369,0.00,2.60,0.00,0.000,6,0.000,0.058,2713,1991,1614
$GC,17686,1.31,317.3,63.4,10.0,844,17691,0.00,2.67,0.00,0.000,4,0.000,0.073,2713,3415,1614
$GC,17736,1.31,317.3,59.8,7.6,846,17740,0.00,2.58,0.00,0.000,6,0.000,0.058,2713,1998,1614
$GC,18052,1.31,317.3,35.3,8.2,861,18053,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1998,1615
$GC,18361,1.31,317.3,10.5,10.3,876,18366,0.00,2.62,0.00,0.000,4,0.000,0.067,2713,3409,1615
$GC,18424,1.31,317.3,4.5,9.1,879,18429,0.00,2.55,0.00,0.000,6,0.000,0.053,2713,2001,1614
$STATE,18460,end climb,SURFACE_DEPTH_REACHED
$STATE,18460,begin surface coast
$FINISH,-0.0,1.027564
$STATE,18484,end surface coast,CONTROL_FINISHED_OK
$STATE,18484,begin surface
$SM_CCo,18569,0.00,0.000,0,0,1614,316.19
$SM_GC,1.01,11.65,0.00,0.00,0.026,0.000,0.000,38,2642,1614,-10.93,-0.23,316.19
$IRIDIUM_FIX,6211.90,-1126.84,230698,171702
$TT8_MAMPS,0.028379
$HUMID,1792
$INTERNAL_PRESSURE,8.50619
$TCM_TEMP,16.50
$XPDR_PINGS,43
$24V_AH,23.3,32.718
$10V_AH,10.1,18.002
$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,26.275,180.625,397.450,0.000,0.000,33.000,39.471,168.461,16.500,0.000,0.000,14.758,1650.085,14129.632,509.395,2062.251,590.365,33.357,1573.226,0.000,2015.185,0.000,40.306,0.000
$DEVICE_MAMPS,162.604,101.244,1183.481,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,651.275,622.303,520.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44237,882
$CAP_FILE_SIZE,136729,0
$CFSIZE,260165632,247529472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300309,033156,6242.389,-1155.989,27,2.1,46,-11.3