version: 66.04
glider: 103
mission: 11
dive: 172
start: 3 31 109 4 53 46
data:
$ID,103
$MISSION,11
$DIVE,172
$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,-146376.34
$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,17
$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
$GPS1,044736,6253.966,-1156.430,35,1.2,35,-11.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-55.5
$GPS2,045256,6254.002,-1156.453,15,1.2,15,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.072,-0.206
$KALMAN_X,4856.2,574.6,2153.0,-9338.8,3907.9
$KALMAN_Y,10713.1,705.6,4862.8,-4036.8,8786.6
$MHEAD_RNG_PITCHd_Wd,210.7,32764,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,61,0.00,0.00,-41.62,0.000,2,0.000,0.000,54,2645,3085
$GC,64,-1.10,-146.6,3.2,-8.2,2,90,12.02,2.72,-7.70,0.000,4,0.156,0.094,2193,1243,3502
$GC,344,-1.10,-146.6,27.4,-5.0,14,348,0.00,2.62,0.00,0.000,6,0.000,0.067,2193,2650,3502
$GC,660,-1.10,-146.6,50.4,-7.4,29,664,0.00,2.20,0.00,0.000,4,0.000,0.094,2193,3789,3502
$GC,723,-1.10,-146.6,55.7,-8.6,32,727,0.00,2.12,0.00,0.000,6,0.000,0.067,2193,2646,3502
$GC,1056,-1.10,-146.6,83.6,-8.6,48,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3502
$GC,1365,-1.10,-146.6,106.0,-7.6,63,1368,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3785,3502
$GC,1438,-1.10,-146.6,111.5,-7.3,66,1442,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2649,3502
$GC,1765,-1.10,-146.6,134.9,-6.7,82,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3502
$GC,2074,-1.10,-146.6,156.6,-7.2,97,2078,0.00,2.22,0.00,0.000,4,0.000,0.093,2193,3786,3502
$GC,2108,-1.10,-146.6,159.4,-8.1,98,2111,0.00,2.08,0.00,0.000,6,0.000,0.058,2193,2647,3502
$GC,2430,-1.10,-146.6,181.0,-5.9,114,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2647,3502
$GC,2738,-1.10,-146.6,199.3,-6.6,129,2742,0.00,2.20,0.00,0.000,4,0.000,0.093,2193,3784,3503
$GC,2779,-1.10,-146.6,201.4,-6.0,130,2786,0.00,2.05,0.00,0.000,6,0.000,0.058,2193,2650,3502
$GC,3096,-1.10,-146.6,224.0,-8.2,146,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2650,3503
$GC,3405,-1.10,-146.6,249.8,-8.6,161,3410,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3787,3503
$GC,3455,-1.10,-146.6,254.4,-9.6,163,3459,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2651,3503
$GC,3782,-1.10,-146.6,283.4,-8.5,179,3786,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3789,3503
$GC,3852,-1.10,-146.6,289.6,-9.0,182,3856,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2652,3503
$GC,4185,-1.10,-146.6,314.2,-7.1,198,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3503
$GC,4493,-1.10,-146.6,334.9,-6.4,213,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3503
$GC,4803,-1.10,-146.6,354.0,-5.9,228,4807,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3792,3503
$GC,4843,-1.10,-146.6,356.4,-6.5,229,4849,0.00,2.10,0.00,0.000,6,0.000,0.059,2193,2641,3503
$GC,5161,-1.10,-146.6,375.5,-6.3,245,5164,0.00,2.22,0.00,0.000,4,0.000,0.087,2193,3792,3503
$GC,5234,-1.10,-146.6,380.7,-6.7,248,5237,0.00,2.08,0.00,0.000,6,0.000,0.060,2193,2651,3503
$GC,5561,-1.10,-146.6,404.1,-7.7,264,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3503
$GC,5870,-1.10,-146.6,428.4,-8.0,279,5874,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3789,3503
$GC,5948,-1.10,-146.6,435.0,-8.3,282,5952,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2651,3503
$GC,6270,-1.10,-146.6,458.7,-7.1,298,6271,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3503
$GC,6579,-1.10,-146.6,480.0,-6.6,313,6583,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3783,3503
$GC,6737,-1.10,-146.6,490.4,-6.4,320,6741,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2646,3503
$GC,7071,-1.10,-146.6,513.4,-7.2,336,7075,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1226,3502
$GC,7137,-1.10,-146.6,517.7,-6.9,339,7142,0.00,2.62,0.00,0.000,6,0.000,0.061,2193,2655,3502
$STATE,7353,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7353,begin apogee
$GC,7361,-0.42,0.0,531.6,7.0,350,7488,0.77,0.00,123.75,1.030,6,0.098,0.000,2345,1987,2902
$STATE,7489,end apogee,CONTROL_FINISHED_OK
$STATE,7489,begin climb
$GC,7492,1.10,146.6,536.6,0.0,356,7622,1.58,2.72,121.18,0.995,4,0.059,0.077,2679,585,2303
$GC,7795,1.21,233.0,530.9,3.6,370,7873,0.10,2.53,72.18,0.986,6,0.049,0.036,2717,2034,1952
$GC,8183,1.21,233.0,501.2,7.2,388,8187,0.00,2.67,0.00,0.000,4,0.000,0.063,2717,586,1950
$GC,8216,1.21,233.0,498.6,8.0,389,8222,0.00,2.47,0.00,0.000,6,0.000,0.038,2717,1992,1950
$GC,8532,1.21,233.0,473.0,7.4,405,8536,0.00,2.60,0.00,0.000,4,0.000,0.066,2717,3402,1950
$GC,8565,1.21,233.0,470.4,7.7,406,8571,0.00,2.55,0.00,0.000,6,0.000,0.048,2717,1985,1950
$GC,8881,1.21,233.0,447.1,7.6,422,8885,0.00,2.67,0.00,0.000,4,0.000,0.069,2717,3408,1949
$GC,9010,1.21,233.0,437.4,7.1,428,9015,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,1999,1949
$GC,9338,1.21,233.0,412.6,8.0,444,9342,0.00,2.65,0.00,0.000,4,0.000,0.069,2717,3413,1949
$GC,9382,1.21,233.0,408.6,8.9,446,9386,0.00,2.58,0.00,0.000,6,0.000,0.051,2717,1991,1949
$GC,9703,1.21,233.0,385.3,7.4,462,9707,0.00,2.62,0.00,0.000,4,0.000,0.069,2717,3406,1948
$GC,9810,1.21,233.0,376.7,8.6,467,9814,0.00,2.55,0.00,0.000,6,0.000,0.052,2717,1996,1948
$GC,10136,1.21,233.0,350.8,7.8,483,10141,0.00,2.62,0.00,0.000,4,0.000,0.070,2717,3400,1949
$GC,10192,1.21,233.0,346.4,8.0,485,10199,0.00,2.53,0.00,0.000,6,0.000,0.052,2717,1997,1949
$GC,10509,1.21,233.0,322.8,7.7,501,10513,0.00,2.58,0.00,0.000,4,0.000,0.064,2717,587,1949
$GC,10548,1.21,233.0,319.7,7.8,503,10553,0.00,2.47,0.00,0.000,6,0.000,0.039,2717,1996,1949
$GC,10875,1.21,233.0,294.0,8.3,519,10876,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1996,1949
$GC,11184,1.21,233.0,269.0,8.0,534,11189,0.00,2.60,0.00,0.000,4,0.000,0.068,2717,3407,1949
$GC,11253,1.21,233.0,263.4,8.9,537,11257,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,1995,1950
$GC,11574,1.21,233.0,235.8,9.0,553,11578,0.00,2.58,0.00,0.000,4,0.000,0.065,2717,586,1950
$GC,11596,1.21,233.0,233.7,9.2,554,11600,0.00,2.50,0.00,0.000,6,0.000,0.038,2717,2010,1950
$GC,11917,1.21,233.0,205.6,8.8,570,11921,0.00,2.58,0.00,0.000,4,0.000,0.068,2717,3406,1950
$GC,11984,1.21,233.0,199.6,7.7,573,11988,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,1992,1950
$GC,12305,1.21,233.0,172.4,8.4,589,12309,0.00,2.55,0.00,0.000,4,0.000,0.064,2717,590,1950
$GC,12367,1.21,233.0,166.9,8.7,592,12371,0.00,2.47,0.00,0.000,6,0.000,0.039,2717,2005,1950
$GC,12694,1.21,233.0,141.3,7.4,608,12698,0.00,2.60,0.00,0.000,4,0.000,0.068,2717,3415,1951
$GC,12721,1.21,233.0,139.0,8.0,609,12725,0.00,2.55,0.00,0.000,6,0.000,0.051,2717,2001,1951
$GC,13037,1.21,233.0,115.2,8.1,624,13038,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2001,1951
$GC,13346,1.21,233.0,91.7,7.0,639,13351,0.00,2.58,0.00,0.000,4,0.000,0.067,2717,591,1952
$GC,13392,1.21,233.0,88.6,7.0,641,13396,0.00,2.47,0.00,0.000,6,0.000,0.041,2717,1998,1952
$GC,13713,1.21,233.0,62.6,8.7,657,13717,0.00,2.60,0.00,0.000,4,0.000,0.069,2717,3408,1952
$GC,13746,1.21,233.0,60.1,6.8,658,13752,0.00,2.53,0.00,0.000,6,0.000,0.052,2717,1998,1952
$GC,14064,1.22,238.4,40.7,5.8,674,14075,0.00,2.60,6.18,0.611,4,0.000,0.069,2717,594,1930
$GC,14120,1.22,238.4,36.6,7.0,676,14127,0.00,2.45,0.00,0.000,6,0.000,0.036,2717,2004,1930
$GC,14437,1.31,313.1,20.1,3.9,692,14504,0.00,2.67,59.58,0.689,4,0.000,0.058,2717,598,1624
$GC,14533,1.31,313.1,14.7,6.1,696,14538,0.00,2.53,0.00,0.000,6,0.000,0.044,2717,2003,1624
$STATE,14743,end climb,SURFACE_DEPTH_REACHED
$STATE,14743,begin surface coast
$FINISH,0.2,1.027504
$STATE,14765,end surface coast,CONTROL_FINISHED_OK
$STATE,14765,begin surface
$SM_CCo,14850,0.00,0.000,0,0,1622,313.74
$SM_GC,1.28,11.77,0.00,0.00,0.028,0.000,0.000,50,2655,1622,-10.94,0.14,313.74
$IRIDIUM_FIX,6225.82,-1156.47,250698,000011
$TT8_MAMPS,0.028379
$HUMID,1765
$INTERNAL_PRESSURE,8.53548
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,476.0,64.3
$24V_AH,23.4,33.486
$10V_AH,10.1,18.492
$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,26.250,143.300,382.850,0.000,0.000,31.048,25.082,145.761,3.750,0.000,0.000,15.565,1337.959,11168.677,456.360,1718.753,488.170,31.429,1337.262,0.000,1682.608,0.000,27.614,0.000
$DEVICE_MAMPS,156.468,93.574,1030.081,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,504.143,512.493,509.892,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34946,707
$CAP_FILE_SIZE,110629,0
$CFSIZE,260165632,247197696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310309,090339,6256.297,-1159.655,91,1.1,105,-11.4