version: 66.04
glider: 103
mission: 11
dive: 170
start: 3 30 109 20 5 46
data:
$ID,103
$MISSION,11
$DIVE,170
$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,-146344.39
$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,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
$GPS1,195903,6247.210,-1154.474,100,1.1,108,-11.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-62.7
$GPS2,200456,6247.317,-1154.464,17,1.6,17,-11.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.185,-0.116
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,249.2,25596,-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,-40.83,0.000,2,0.000,0.000,41,2657,3297
$GC,61,-1.10,-146.6,4.3,-13.3,2,84,12.20,2.20,-3.28,0.000,4,0.160,0.105,2194,3787,3502
$GC,337,-1.10,-146.6,35.2,-7.7,14,340,0.00,2.12,0.00,0.000,6,0.000,0.067,2194,2645,3502
$GC,664,-1.10,-146.6,58.4,-6.1,30,668,0.00,2.22,0.00,0.000,4,0.000,0.094,2194,3782,3502
$GC,736,-1.10,-146.6,63.3,-7.0,33,740,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2640,3502
$GC,1058,-1.10,-146.6,88.4,-7.5,49,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,1368,-1.10,-146.6,110.0,-6.0,64,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,1677,-1.10,-146.6,133.9,-8.6,79,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2640,3502
$GC,1986,-1.10,-146.6,157.4,-6.5,94,1990,0.00,2.25,0.00,0.000,4,0.000,0.097,2194,3781,3502
$GC,2054,-1.10,-146.6,161.9,-6.9,97,2058,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2641,3502
$GC,2381,-1.10,-146.6,182.1,-6.3,113,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,2691,-1.10,-146.6,199.6,-5.3,128,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,3000,-1.10,-146.6,214.2,-5.1,143,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,3309,-1.10,-146.6,231.8,-6.2,158,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3501
$GC,3619,-1.10,-146.6,249.5,-5.5,173,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2641,3502
$GC,3928,-1.10,-146.6,266.6,-5.4,188,3932,0.00,2.25,0.00,0.000,4,0.000,0.095,2194,3789,3502
$GC,3978,-1.10,-146.6,269.7,-5.9,190,3982,0.00,2.10,0.00,0.000,6,0.000,0.062,2194,2644,3502
$GC,4306,-1.10,-146.6,291.9,-6.7,206,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,4616,-1.10,-146.6,314.6,-7.8,221,4620,0.00,2.25,0.00,0.000,4,0.000,0.096,2194,3790,3502
$GC,4683,-1.10,-146.6,320.4,-8.9,224,4686,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2644,3502
$GC,5010,-1.10,-146.6,348.0,-9.4,240,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,5320,-1.10,-146.6,375.5,-8.2,255,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2644,3502
$GC,5631,-1.10,-146.6,401.3,-8.8,270,5634,0.00,2.22,0.00,0.000,4,0.000,0.093,2194,3783,3502
$GC,5716,-1.10,-146.6,408.8,-9.0,273,5722,0.00,2.08,0.00,0.000,6,0.000,0.060,2194,2643,3502
$GC,6032,-1.10,-146.6,436.0,-8.4,289,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3502
$GC,6341,-1.10,-146.6,463.6,-9.2,304,6346,0.00,2.60,0.00,0.000,4,0.000,0.074,2194,1225,3502
$GC,6369,-1.10,-146.6,466.5,-10.6,305,6374,0.00,2.62,0.00,0.000,6,0.000,0.065,2194,2647,3502
$GC,6685,-1.10,-146.6,496.6,-9.4,320,6689,0.00,2.20,0.00,0.000,4,0.000,0.095,2194,3786,3502
$GC,6713,-1.10,-146.6,499.6,-10.1,321,6718,0.00,2.08,0.00,0.000,6,0.000,0.058,2194,2642,3502
$GC,7039,-1.10,-146.6,521.8,-6.1,337,7043,0.00,2.25,0.00,0.000,4,0.000,0.094,2194,3792,3501
$GC,7157,-1.10,-146.6,531.2,-8.8,342,7161,0.00,2.10,0.00,0.000,6,0.000,0.059,2194,2639,3501
$GC,7484,-1.10,-146.6,558.0,-8.1,358,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2639,3500
$GC,7793,-1.10,-146.6,587.6,-9.1,373,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2636,3500
$GC,8103,-1.10,-146.6,606.0,-6.2,388,8107,0.00,2.60,0.00,0.000,4,0.000,0.075,2194,1231,3499
$GC,8159,-1.10,-146.6,608.7,-5.0,390,8165,0.00,2.65,0.00,0.000,6,0.000,0.070,2194,2653,3499
$STATE,8224,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8224,begin apogee
$GC,8233,-0.42,0.0,613.6,7.0,394,8360,0.77,0.00,124.10,1.095,6,0.100,0.000,2347,1989,2901
$STATE,8361,end apogee,CONTROL_FINISHED_OK
$STATE,8361,begin climb
$GC,8364,1.10,146.6,615.7,0.0,400,8494,1.55,2.67,121.40,1.064,4,0.054,0.068,2681,587,2304
$GC,8752,1.10,146.6,602.2,7.3,417,8758,0.00,2.53,0.00,0.000,6,0.000,0.038,2681,2023,2303
$GC,9068,1.14,180.2,587.4,5.1,433,9102,0.00,2.75,29.15,1.049,4,0.000,0.068,2681,586,2167
$GC,9155,1.14,180.2,581.7,7.4,437,9159,0.00,2.53,0.00,0.000,6,0.000,0.043,2681,1996,2166
$GC,9481,1.22,241.7,565.8,4.3,453,9544,0.12,2.70,51.60,1.098,4,0.044,0.069,2723,3411,1915
$GC,9583,1.22,241.7,557.8,8.6,457,9590,0.00,2.60,0.00,0.000,6,0.000,0.051,2724,1990,1915
$GC,9899,1.22,241.7,527.2,9.0,473,9904,0.00,2.60,0.00,0.000,4,0.000,0.069,2724,590,1914
$GC,10057,1.22,241.7,513.3,9.3,480,10061,0.00,2.53,0.00,0.000,6,0.000,0.042,2724,2009,1914
$GC,10378,1.22,241.7,484.6,8.8,496,10382,0.00,2.62,0.00,0.000,4,0.000,0.072,2724,3414,1913
$GC,10428,1.22,241.7,479.5,9.9,498,10432,0.00,2.58,0.00,0.000,6,0.000,0.053,2724,2000,1914
$GC,10744,1.22,241.7,449.8,9.4,513,10748,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3410,1913
$GC,10810,1.22,241.7,443.8,8.8,516,10815,0.00,2.58,0.00,0.000,6,0.000,0.052,2724,1995,1913
$GC,11131,1.22,241.7,419.9,7.0,532,11136,0.00,2.60,0.00,0.000,4,0.000,0.067,2724,586,1913
$GC,11217,1.22,241.7,413.6,7.3,536,11222,0.00,2.50,0.00,0.000,6,0.000,0.040,2724,2003,1913
$GC,11544,1.22,241.7,388.1,8.2,552,11548,0.00,2.62,0.00,0.000,4,0.000,0.071,2724,3415,1912
$GC,11657,1.22,241.7,378.3,8.7,557,11661,0.00,2.58,0.00,0.000,6,0.000,0.054,2724,1998,1912
$GC,11978,1.22,241.7,353.7,6.4,573,11982,0.00,2.58,0.00,0.000,4,0.000,0.066,2724,590,1913
$GC,12107,1.22,241.7,345.1,6.8,579,12112,0.00,2.47,0.00,0.000,6,0.000,0.040,2724,2000,1913
$GC,12435,1.22,241.7,321.9,7.4,595,12439,0.00,2.60,0.00,0.000,4,0.000,0.070,2724,3408,1913
$GC,12490,1.22,241.7,317.5,8.1,597,12496,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,1998,1913
$GC,12806,1.22,241.7,293.9,7.2,613,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1998,1914
$GC,13116,1.22,241.7,271.6,7.6,628,13120,0.00,2.65,0.00,0.000,4,0.000,0.069,2724,3415,1914
$GC,13143,1.22,241.7,269.4,8.4,629,13147,0.00,2.58,0.00,0.000,6,0.000,0.052,2724,1991,1914
$GC,13459,1.22,241.7,243.0,8.0,644,13463,0.00,2.58,0.00,0.000,4,0.000,0.065,2724,582,1915
$GC,13486,1.22,241.7,240.6,8.5,645,13490,0.00,2.50,0.00,0.000,6,0.000,0.039,2724,2008,1915
$GC,13802,1.22,241.7,218.7,6.7,660,13806,0.00,2.58,0.00,0.000,4,0.000,0.070,2724,3404,1915
$GC,13859,1.22,241.7,215.2,6.2,662,13865,0.00,2.55,0.00,0.000,6,0.000,0.052,2724,1990,1915
$GC,14174,1.22,241.7,192.7,7.2,678,14179,0.00,2.55,0.00,0.000,4,0.000,0.064,2724,586,1916
$GC,14208,1.22,241.7,190.3,7.2,679,14214,0.00,2.47,0.00,0.000,6,0.000,0.039,2724,2001,1916
$GC,14524,1.22,241.7,167.8,6.8,695,14528,0.00,2.58,0.00,0.000,4,0.000,0.068,2724,3405,1916
$GC,14568,1.22,241.7,164.7,7.2,697,14572,0.00,2.55,0.00,0.000,6,0.000,0.053,2724,1995,1916
$GC,14889,1.22,241.7,141.5,8.3,713,14894,0.00,2.62,0.00,0.000,4,0.000,0.069,2724,3405,1916
$GC,14923,1.22,241.7,138.4,8.4,714,14930,0.00,2.53,0.00,0.000,6,0.000,0.052,2724,1996,1916
$GC,15241,1.22,241.7,108.0,11.0,730,15242,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1996,1917
$GC,15549,1.22,241.7,80.1,7.6,745,15553,0.00,2.62,0.00,0.000,4,0.000,0.069,2724,3406,1917
$GC,15589,1.22,241.7,76.9,7.9,747,15593,0.00,2.58,0.00,0.000,6,0.000,0.057,2724,1990,1917
$GC,15916,1.22,241.7,50.8,8.6,763,15917,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1990,1918
$GC,16225,1.22,241.7,28.2,6.5,778,16229,0.00,2.60,0.00,0.000,4,0.000,0.062,2724,3407,1918
$GC,16252,1.22,241.7,26.1,8.4,779,16257,0.00,2.58,0.00,0.000,6,0.000,0.055,2724,1987,1918
$GC,16570,1.24,258.0,5.2,5.6,794,16592,0.00,2.62,14.65,0.691,4,0.000,0.071,2724,581,1849
$STATE,16607,end climb,SURFACE_DEPTH_REACHED
$STATE,16607,begin surface coast
$FINISH,1.4,1.027521
$STATE,16615,end surface coast,CONTROL_FINISHED_OK
$STATE,16615,begin surface
$SM_CCo,16703,0.00,0.000,0,0,1849,258.30
$SM_GC,1.18,11.95,0.00,0.00,0.034,0.000,0.000,52,2644,1849,-10.93,-0.17,258.30
$IRIDIUM_FIX,6221.17,-1154.53,240698,141403
$TT8_MAMPS,0.028379
$HUMID,1782
$INTERNAL_PRESSURE,8.55502
$TCM_TEMP,16.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,600.9,22.6
$24V_AH,23.4,33.247
$10V_AH,10.1,18.348
$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,26.600,145.800,340.900,0.000,0.000,24.028,25.888,169.025,6.250,0.000,0.000,17.170,1487.943,12728.847,439.808,1871.770,525.207,29.245,1374.798,0.000,1820.991,0.000,41.381,0.000
$DEVICE_MAMPS,159.536,105.079,1098.344,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,579.756,559.965,511.765,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41087,796
$CAP_FILE_SIZE,120560,0
$CFSIZE,260165632,247291904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310309,004525,6252.088,-1155.860,39,1.4,39,-11.4