version: 66.04
glider: 103
mission: 11
dive: 171
start: 3 31 109 0 52 50
data:
$ID,103
$MISSION,11
$DIVE,171
$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,-146360.16
$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,19
$R_STBD_OVSHOOT,9
$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
$GPS1,004525,6252.088,-1155.860,39,1.4,39,-11.4
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-59.9
$GPS2,005202,6252.171,-1155.604,15,1.2,15,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.161,-0.148
$KALMAN_X,1254.6,1254.6,1254.6,-4854.1,-604.5
$KALMAN_Y,3126.2,3126.2,3126.2,-701.9,-1506.4
$MHEAD_RNG_PITCHd_Wd,238.7,30635,-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,-41.00,0.000,2,0.000,0.000,52,2648,3214
$GC,63,-1.10,-146.6,3.8,-10.8,2,86,12.15,2.67,-4.75,0.000,4,0.160,0.088,2194,1243,3500
$GC,339,-1.10,-146.6,32.5,-9.2,14,343,0.00,2.67,0.00,0.000,6,0.000,0.072,2194,2663,3500
$GC,662,-1.10,-146.6,60.2,-8.8,30,665,0.00,2.17,0.00,0.000,4,0.000,0.094,2194,3783,3500
$GC,695,-1.10,-146.6,63.7,-9.2,31,699,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2654,3500
$GC,1017,-1.10,-146.6,89.2,-7.2,47,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3500
$GC,1328,-1.10,-146.6,111.4,-7.2,62,1332,0.00,2.22,0.00,0.000,4,0.000,0.096,2194,3783,3500
$GC,1390,-1.10,-146.6,116.8,-8.2,64,1396,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2654,3500
$GC,1706,-1.10,-146.6,144.4,-9.1,80,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2654,3500
$GC,2015,-1.10,-146.6,172.0,-8.6,95,2019,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3785,3500
$GC,2094,-1.10,-146.6,178.8,-8.6,98,2097,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2650,3500
$GC,2415,-1.10,-146.6,205.4,-8.3,114,2419,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3782,3500
$GC,2454,-1.10,-146.6,209.0,-9.3,115,2461,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2642,3500
$GC,2771,-1.10,-146.6,236.6,-8.5,131,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2642,3500
$GC,3080,-1.10,-146.6,259.8,-7.1,146,3083,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3782,3500
$GC,3119,-1.10,-146.6,262.9,-7.3,147,3125,0.00,2.08,0.00,0.000,6,0.000,0.062,2194,2651,3500
$GC,3435,-1.10,-146.6,284.4,-6.7,163,3436,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2651,3500
$GC,3744,-1.10,-146.6,306.0,-6.9,178,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,4053,-1.10,-146.6,326.4,-6.4,193,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3501
$GC,4363,-1.10,-146.6,344.4,-5.4,208,4367,0.00,2.20,0.00,0.000,4,0.000,0.090,2194,3786,3501
$GC,4419,-1.10,-146.6,347.5,-5.5,210,4423,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2640,3501
$GC,4741,-1.10,-146.6,364.5,-5.7,226,4745,0.00,2.22,0.00,0.000,4,0.000,0.089,2194,3790,3501
$GC,4792,-1.10,-146.6,367.8,-6.1,228,4796,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2642,3501
$GC,5119,-1.10,-146.6,391.9,-8.4,244,5123,0.00,2.22,0.00,0.000,4,0.000,0.092,2194,3785,3501
$GC,5158,-1.10,-146.6,395.3,-9.0,245,5164,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2641,3501
$GC,5475,-1.10,-146.6,424.6,-9.8,261,5480,0.00,2.22,0.00,0.000,4,0.000,0.091,2194,3786,3501
$GC,5570,-1.10,-146.6,434.7,-10.2,265,5573,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2650,3501
$GC,5898,-1.10,-146.6,467.0,-9.1,281,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2650,3500
$GC,6207,-1.10,-146.6,492.3,-7.8,296,6210,0.00,2.20,0.00,0.000,4,0.000,0.091,2194,3782,3500
$GC,6302,-1.10,-146.6,499.5,-7.7,300,6310,0.00,2.08,0.00,0.000,6,0.000,0.061,2194,2646,3500
$GC,6632,-1.10,-146.6,523.1,-8.6,316,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2646,3499
$GC,6941,-1.10,-146.6,545.6,-9.0,331,6945,0.00,2.20,0.00,0.000,4,0.000,0.094,2194,3782,3498
$GC,6980,-1.10,-146.6,549.0,-8.4,332,6986,0.00,2.08,0.00,0.000,6,0.000,0.064,2194,2651,3498
$GC,7297,-1.10,-146.6,558.3,0.2,348,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3497
$STATE,7417,end dive,NO_VERTICAL_VELOCITY
$STATE,7417,begin apogee
$GC,7425,-0.42,0.0,558.8,0.0,354,7550,0.73,0.00,121.28,1.098,6,0.053,0.000,2354,1978,2902
$STATE,7550,end apogee,CONTROL_FINISHED_OK
$STATE,7551,begin climb
$GC,7554,1.10,146.6,558.6,0.0,360,7683,1.48,2.67,120.85,1.025,4,0.043,0.074,2680,596,2304
$GC,7804,1.28,288.9,558.1,2.1,371,7933,0.17,2.53,118.45,1.014,6,0.050,0.043,2723,2014,1724
$GC,8242,1.28,288.9,521.4,8.0,393,8246,0.00,2.65,0.00,0.000,4,0.000,0.065,2723,586,1724
$GC,8499,1.28,288.9,494.6,9.2,404,8505,0.00,2.50,0.00,0.000,6,0.000,0.041,2723,1995,1723
$GC,8815,1.28,288.9,467.9,8.2,420,8819,0.00,2.65,0.00,0.000,4,0.000,0.073,2723,3411,1722
$GC,8922,1.28,288.9,459.0,7.6,425,8926,0.00,2.58,0.00,0.000,6,0.000,0.054,2723,1991,1722
$GC,9249,1.28,288.9,433.6,8.0,441,9254,0.00,2.67,0.00,0.000,4,0.000,0.071,2724,3416,1722
$GC,9300,1.28,288.9,429.3,8.4,443,9304,0.00,2.58,0.00,0.000,6,0.000,0.054,2723,2001,1722
$GC,9615,1.28,288.9,405.1,8.1,458,9620,0.00,2.62,0.00,0.000,4,0.000,0.073,2723,3406,1722
$GC,9678,1.28,288.9,399.9,9.3,461,9683,0.00,2.55,0.00,0.000,6,0.000,0.053,2723,1998,1722
$GC,10005,1.28,288.9,370.4,9.5,477,10010,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3408,1722
$GC,10035,1.28,288.9,367.6,10.4,478,10039,0.00,2.58,0.00,0.000,6,0.000,0.054,2723,1991,1722
$GC,10351,1.28,288.9,335.9,10.1,493,10355,0.00,2.67,0.00,0.000,4,0.000,0.071,2723,3417,1721
$GC,10400,1.28,288.9,330.4,10.7,495,10405,0.00,2.60,0.00,0.000,6,0.000,0.054,2723,1989,1722
$GC,10716,1.28,288.9,298.4,10.4,510,10720,0.00,2.67,0.00,0.000,4,0.000,0.071,2724,3416,1722
$GC,10767,1.28,288.9,292.7,11.5,512,10771,0.00,2.60,0.00,0.000,6,0.000,0.056,2723,1990,1722
$GC,11088,1.28,288.9,257.0,11.4,528,11092,0.00,2.67,0.00,0.000,4,0.000,0.071,2723,3419,1722
$GC,11132,1.28,288.9,251.7,11.4,530,11136,0.00,2.60,0.00,0.000,6,0.000,0.055,2723,1991,1722
$GC,11454,1.28,288.9,220.1,9.1,546,11458,0.00,2.65,0.00,0.000,4,0.000,0.071,2724,3406,1723
$GC,11475,1.28,288.9,218.0,9.1,547,11480,0.00,2.58,0.00,0.000,6,0.000,0.054,2723,1990,1723
$GC,11797,1.28,288.9,190.4,8.3,563,11801,0.00,2.67,0.00,0.000,4,0.000,0.071,2723,3419,1723
$GC,11830,1.28,288.9,187.4,8.4,564,11836,0.00,2.60,0.00,0.000,6,0.000,0.056,2724,1989,1723
$GC,12146,1.28,288.9,161.2,8.2,580,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1989,1724
$GC,12456,1.28,288.9,135.3,8.4,595,12460,0.00,2.65,0.00,0.000,4,0.000,0.070,2723,3409,1724
$GC,12505,1.28,288.9,131.1,8.5,597,12510,0.00,2.58,0.00,0.000,6,0.000,0.056,2723,1995,1725
$GC,12824,1.28,288.9,104.3,8.7,612,12825,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1995,1725
$GC,13131,1.28,288.9,77.2,8.5,627,13135,0.00,2.65,0.00,0.000,4,0.000,0.069,2723,3416,1725
$GC,13175,1.28,288.9,72.8,9.7,629,13179,0.00,2.60,0.00,0.000,6,0.000,0.058,2724,1991,1725
$GC,13497,1.28,288.9,42.6,10.3,645,13501,0.00,2.58,0.00,0.000,4,0.000,0.069,2724,588,1725
$GC,13546,1.28,288.9,36.8,10.6,647,13550,0.00,2.50,0.00,0.000,6,0.000,0.041,2723,2012,1725
$GC,13868,1.28,288.9,5.8,9.1,663,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2013,1725
$STATE,13906,end climb,SURFACE_DEPTH_REACHED
$STATE,13906,begin surface coast
$FINISH,0.6,1.027511
$STATE,13928,end surface coast,CONTROL_FINISHED_OK
$STATE,13928,begin surface
$SM_CCo,14014,0.00,0.000,0,0,1725,288.72
$SM_GC,1.05,11.82,0.00,0.00,0.034,0.000,0.000,54,2642,1725,-10.92,-0.23,288.72
$IRIDIUM_FIX,6221.17,-1155.50,240698,202050
$TT8_MAMPS,0.029146
$HUMID,1776
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,23.4,33.371
$10V_AH,10.1,18.418
$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,26.350,128.125,360.575,0.000,0.000,24.210,29.401,212.621,4.500,0.000,0.000,15.135,1251.106,10575.864,436.501,1587.451,556.328,30.195,1255.039,0.000,1558.051,0.000,32.180,0.000
$DEVICE_MAMPS,159.536,95.875,1098.344,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,483.912,477.639,448.607,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34904,666
$CAP_FILE_SIZE,104554,0
$CFSIZE,260165632,247255040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310309,044736,6253.966,-1156.430,35,1.2,35,-11.4