version: 66.04
glider: 103
mission: 11
dive: 169
start: 3 30 109 14 52 2
data:
$ID,103
$MISSION,11
$DIVE,169
$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,-146326.59
$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,21
$R_STBD_OVSHOOT,15
$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
$GPS1,144155,6244.974,-1149.863,39,1.7,39,-11.2
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-58.1
$GPS2,145108,6245.071,-1149.668,11,1.6,11,-11.2
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.170,-0.137
$KALMAN_X,88397.9,-229.9,1011.1,-120157.9,20825.5
$KALMAN_Y,-58943.1,-804.1,-635.3,95146.1,28385.0
$MHEAD_RNG_PITCHd_Wd,242.3,27450,-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,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,59,0.00,0.00,-41.15,0.000,2,0.000,0.000,46,2662,3193
$GC,62,-1.10,-146.6,3.3,-8.6,2,86,12.18,2.30,-5.43,0.000,4,0.160,0.117,2194,3780,3502
$GC,283,-1.10,-146.6,26.5,-7.3,11,289,0.00,2.08,0.00,0.000,6,0.000,0.064,2194,2650,3503
$GC,601,-1.10,-146.6,52.7,-8.4,27,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,908,-1.10,-146.6,77.1,-7.4,42,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,1218,-1.10,-146.6,99.7,-7.1,57,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,1527,-1.10,-146.6,122.3,-7.0,72,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,1836,-1.10,-146.6,144.7,-6.9,87,1840,0.00,2.20,0.00,0.000,4,0.000,0.092,2194,3780,3503
$GC,1905,-1.10,-146.6,149.5,-6.8,90,1908,0.00,2.08,0.00,0.000,6,0.000,0.063,2194,2649,3503
$GC,2239,-1.10,-146.6,170.5,-5.8,106,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3502
$GC,2547,-1.10,-146.6,188.2,-5.5,121,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3503
$GC,2857,-1.10,-146.6,204.7,-5.7,136,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3502
$GC,3166,-1.10,-146.6,223.1,-5.6,151,3170,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3787,3502
$GC,3222,-1.10,-146.6,226.9,-6.5,153,3226,0.00,2.08,0.00,0.000,6,0.000,0.064,2194,2650,3503
$GC,3544,-1.10,-146.6,248.8,-7.0,169,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3503
$GC,3853,-1.10,-146.6,271.0,-7.4,184,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,4162,-1.10,-146.6,295.7,-8.0,199,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3502
$GC,4471,-1.10,-146.6,319.3,-7.3,214,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3502
$GC,4781,-1.10,-146.6,342.4,-7.5,229,4785,0.00,2.62,0.00,0.000,4,0.000,0.072,2194,1222,3502
$GC,4808,-1.10,-146.6,344.7,-7.7,230,4813,0.00,2.65,0.00,0.000,6,0.000,0.066,2194,2654,3502
$GC,5124,-1.10,-146.6,366.9,-6.2,245,5128,0.00,2.20,0.00,0.000,4,0.000,0.095,2194,3794,3502
$GC,5208,-1.10,-146.6,372.1,-6.1,248,5214,0.00,2.10,0.00,0.000,6,0.000,0.060,2194,2643,3502
$GC,5524,-1.10,-146.6,393.0,-7.4,264,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,5833,-1.10,-146.6,417.9,-8.1,279,5834,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3502
$GC,6142,-1.10,-146.6,442.5,-7.7,294,6146,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3784,3502
$GC,6181,-1.10,-146.6,445.5,-7.6,295,6187,0.00,2.05,0.00,0.000,6,0.000,0.059,2194,2646,3502
$GC,6498,-1.10,-146.6,466.3,-5.5,311,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3502
$GC,6807,-1.10,-146.6,484.6,-6.2,326,6812,0.00,2.60,0.00,0.000,4,0.000,0.073,2194,1230,3502
$GC,6852,-1.10,-146.6,487.8,-7.1,328,6856,0.00,2.62,0.00,0.000,6,0.000,0.067,2194,2651,3502
$GC,7173,-1.10,-146.6,509.9,-6.9,344,7177,0.00,2.20,0.00,0.000,4,0.000,0.095,2194,3793,3501
$GC,7235,-1.10,-146.6,514.0,-6.3,346,7241,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2650,3501
$GC,7550,-1.10,-146.6,531.1,-6.4,362,7554,0.00,2.22,0.00,0.000,4,0.000,0.095,2194,3793,3501
$GC,7664,-1.10,-146.6,538.4,-6.6,367,7667,0.00,2.08,0.00,0.000,6,0.000,0.059,2194,2651,3501
$GC,7997,-1.10,-146.6,564.2,-8.3,383,8001,0.00,2.60,0.00,0.000,4,0.000,0.073,2194,1235,3500
$GC,8047,-1.10,-146.6,568.4,-8.4,385,8051,0.00,2.62,0.00,0.000,6,0.000,0.067,2194,2652,3500
$GC,8363,-1.10,-146.6,593.0,-7.5,400,8366,0.00,2.20,0.00,0.000,4,0.000,0.096,2194,3790,3499
$GC,8431,-1.10,-146.6,598.3,-7.5,403,8435,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2647,3499
$GC,8764,-1.10,-146.6,621.1,-7.1,419,8768,0.00,2.62,0.00,0.000,4,0.000,0.075,2194,1226,3499
$GC,8804,-1.10,-146.6,623.6,-6.9,421,8809,0.00,2.65,0.00,0.000,6,0.000,0.069,2194,2650,3499
$GC,9131,-1.10,-146.6,645.6,-6.9,437,9135,0.00,2.62,0.00,0.000,4,0.000,0.070,2194,1230,3499
$STATE,9145,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9145,begin apogee
$GC,9154,-0.42,0.0,646.9,7.0,438,9281,0.77,0.00,123.90,1.124,6,0.106,0.000,2345,2015,2902
$STATE,9282,end apogee,CONTROL_FINISHED_OK
$STATE,9282,begin climb
$GC,9285,1.10,146.6,653.3,0.0,444,9417,1.58,2.72,121.78,1.095,4,0.061,0.067,2678,588,2304
$GC,9584,1.19,218.1,649.0,4.0,457,9652,0.00,2.53,60.95,1.076,6,0.000,0.038,2678,2021,2012
$GC,9966,1.22,241.0,628.5,5.4,476,9992,0.12,2.75,20.25,1.045,4,0.048,0.067,2723,586,1919
$GC,10072,1.22,241.0,620.4,7.6,481,10077,0.00,2.53,0.00,0.000,6,0.000,0.041,2723,2004,1919
$GC,10399,1.22,241.0,594.7,8.4,497,10404,0.00,2.62,0.00,0.000,4,0.000,0.072,2723,3405,1918
$GC,10433,1.22,241.0,592.0,8.0,498,10439,0.00,2.55,0.00,0.000,6,0.000,0.049,2723,1995,1918
$GC,10749,1.22,241.0,565.8,8.5,514,10754,0.00,2.60,0.00,0.000,4,0.000,0.067,2723,588,1918
$GC,10777,1.22,241.0,563.1,10.4,515,10781,0.00,2.50,0.00,0.000,6,0.000,0.040,2723,2005,1918
$GC,11093,1.22,241.0,538.7,8.5,530,11097,0.00,2.62,0.00,0.000,4,0.000,0.072,2723,3407,1917
$GC,11211,1.22,241.0,528.0,8.7,535,11215,0.00,2.58,0.00,0.000,6,0.000,0.052,2722,1989,1917
$GC,11526,1.22,241.0,500.6,8.3,550,11531,0.00,2.58,0.00,0.000,4,0.000,0.066,2723,587,1917
$GC,11549,1.22,241.0,498.5,8.7,551,11553,0.00,2.50,0.00,0.000,6,0.000,0.040,2723,2005,1917
$GC,11870,1.22,241.0,474.8,7.1,567,11874,0.00,2.62,0.00,0.000,4,0.000,0.064,2723,587,1916
$GC,11920,1.22,241.0,470.8,7.9,569,11924,0.00,2.50,0.00,0.000,6,0.000,0.039,2723,2006,1916
$GC,12236,1.22,241.0,446.9,7.6,584,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2006,1916
$GC,12545,1.22,241.0,423.7,7.8,599,12549,0.00,2.62,0.00,0.000,4,0.000,0.064,2723,585,1917
$GC,12586,1.22,241.0,420.5,7.9,601,12590,0.00,2.50,0.00,0.000,6,0.000,0.040,2723,2004,1917
$GC,12912,1.22,241.0,394.5,8.1,617,12916,0.00,2.60,0.00,0.000,4,0.000,0.063,2723,590,1917
$GC,12957,1.22,241.0,390.6,9.4,619,12961,0.00,2.47,0.00,0.000,6,0.000,0.039,2723,2000,1917
$GC,13278,1.22,241.0,365.5,7.6,635,13282,0.00,2.60,0.00,0.000,4,0.000,0.067,2723,3410,1917
$GC,13356,1.22,241.0,359.4,7.9,638,13362,0.00,2.55,0.00,0.000,6,0.000,0.051,2723,1996,1917
$GC,13672,1.22,241.0,336.4,7.1,654,13673,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1996,1918
$GC,13981,1.22,241.0,313.4,7.4,669,13982,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1996,1918
$GC,14290,1.22,241.0,289.3,7.8,684,14291,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1996,1918
$GC,14600,1.22,241.0,264.4,7.5,699,14604,0.00,2.62,0.00,0.000,4,0.000,0.068,2723,3405,1919
$GC,14640,1.22,241.0,261.3,7.6,701,14645,0.00,2.53,0.00,0.000,6,0.000,0.051,2723,2003,1919
$GC,14967,1.22,241.0,235.9,8.2,717,14971,0.00,2.62,0.00,0.000,4,0.000,0.070,2723,3408,1919
$GC,15000,1.22,241.0,232.9,8.8,718,15006,0.00,2.53,0.00,0.000,6,0.000,0.051,2723,1998,1919
$GC,15316,1.22,241.0,207.3,8.0,734,15317,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1920
$GC,15625,1.22,241.0,184.6,7.2,749,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1920
$GC,15934,1.22,241.0,163.3,7.2,764,15939,0.00,2.65,0.00,0.000,4,0.000,0.071,2723,3414,1921
$GC,15975,1.22,241.0,160.3,7.3,766,15979,0.00,2.55,0.00,0.000,6,0.000,0.052,2723,1998,1921
$GC,16302,1.22,241.0,137.6,7.1,782,16303,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1921
$GC,16613,1.22,241.0,115.7,7.2,797,16614,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1922
$GC,16920,1.22,241.0,93.2,7.4,812,16921,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1998,1922
$GC,17229,1.22,241.0,72.1,7.5,827,17234,0.00,2.62,0.00,0.000,4,0.000,0.068,2723,3409,1922
$GC,17252,1.22,241.0,70.2,7.6,828,17256,0.00,2.58,0.00,0.000,6,0.000,0.057,2723,1993,1922
$GC,17573,1.22,241.0,44.6,6.9,844,17575,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1993,1922
$GC,17882,1.22,241.0,22.2,8.0,859,17883,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1993,1923
$STATE,18168,end climb,SURFACE_DEPTH_REACHED
$STATE,18168,begin surface coast
$FINISH,0.3,1.027553
$STATE,18190,end surface coast,CONTROL_FINISHED_OK
$STATE,18190,begin surface
$SM_CCo,18275,0.00,0.000,0,0,1921,240.64
$SM_GC,1.54,11.73,0.00,0.00,0.029,0.000,0.000,41,2652,1921,-10.93,0.06,240.64
$IRIDIUM_FIX,6221.17,-1149.93,240698,141451
$TT8_MAMPS,0.028379
$HUMID,1765
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.50
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,575.5,81.3
$24V_AH,23.3,33.130
$10V_AH,10.1,18.268
$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,26.375,132.975,326.875,0.000,0.000,53.267,80.836,227.163,5.500,0.000,0.000,11.867,1582.387,14252.259,423.704,1874.521,690.036,33.366,1360.800,0.000,1846.556,0.000,34.125,0.000
$DEVICE_MAMPS,159.536,116.584,1123.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,641.327,619.836,557.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44306,874
$CAP_FILE_SIZE,124800,0
$CFSIZE,260165632,247345152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300309,195903,6247.210,-1154.474,100,1.1,108,-11.3