version: 66.04
glider: 103
mission: 11
dive: 173
start: 3 31 109 9 9 35
data:
$ID,103
$MISSION,11
$DIVE,173
$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,-146388.23
$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,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
$GPS1,090339,6256.297,-1159.655,91,1.1,105,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-57.4
$GPS2,090844,6256.399,-1159.648,11,1.4,11,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.086,-0.201
$KALMAN_X,7702.0,-902.2,611.5,-11775.9,9578.7
$KALMAN_Y,26682.6,-912.8,1840.1,-10806.5,32424.0
$MHEAD_RNG_PITCHd_Wd,214.5,34956,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-54.70,0.000,6,0.000,0.000,50,2660,3500
$GC,81,-1.10,-146.6,6.9,-14.4,3,102,12.10,2.70,0.00,0.000,4,0.158,0.071,2192,1243,3501
$GC,355,-1.10,-146.6,41.0,-10.3,15,360,0.00,2.62,0.00,0.000,6,0.000,0.067,2192,2651,3501
$GC,677,-1.10,-146.6,70.2,-7.1,31,681,0.00,2.20,0.00,0.000,4,0.000,0.092,2192,3788,3501
$GC,716,-1.10,-146.6,73.1,-7.9,32,723,0.00,2.12,0.00,0.000,6,0.000,0.065,2193,2660,3501
$GC,1033,-1.10,-146.6,96.1,-7.0,48,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2660,3501
$GC,1342,-1.10,-146.6,116.2,-5.6,63,1346,0.00,2.20,0.00,0.000,4,0.000,0.091,2193,3787,3501
$GC,1397,-1.10,-146.6,119.8,-8.1,65,1401,0.00,2.12,0.00,0.000,6,0.000,0.064,2192,2638,3501
$GC,1719,-1.10,-146.6,144.2,-8.5,81,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2638,3501
$GC,2029,-1.10,-146.6,174.6,-10.2,96,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2638,3501
$GC,2338,-1.10,-146.6,205.0,-9.6,111,2341,0.00,2.22,0.00,0.000,4,0.000,0.090,2193,3783,3501
$GC,2388,-1.10,-146.6,210.1,-9.9,113,2392,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2642,3501
$GC,2715,-1.10,-146.6,241.6,-9.9,129,2719,0.00,2.22,0.00,0.000,4,0.000,0.089,2193,3787,3501
$GC,2766,-1.10,-146.6,246.8,-9.6,131,2769,0.00,2.10,0.00,0.000,6,0.000,0.061,2192,2644,3501
$GC,3093,-1.10,-146.6,271.1,-6.6,147,3094,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3501
$GC,3402,-1.10,-146.6,292.4,-6.9,162,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2643,3501
$GC,3711,-1.10,-146.6,314.0,-7.3,177,3715,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3790,3501
$GC,3761,-1.10,-146.6,317.9,-7.7,179,3765,0.00,2.10,0.00,0.000,6,0.000,0.060,2193,2639,3502
$GC,4088,-1.10,-146.6,346.1,-8.7,195,4092,0.00,2.22,0.00,0.000,4,0.000,0.089,2193,3788,3502
$GC,4166,-1.10,-146.6,353.1,-8.7,198,4170,0.00,2.08,0.00,0.000,6,0.000,0.059,2193,2649,3501
$GC,4488,-1.10,-146.6,378.2,-7.6,214,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2649,3502
$GC,4797,-1.10,-146.6,399.6,-6.6,229,4801,0.00,2.20,0.00,0.000,4,0.000,0.088,2192,3787,3501
$GC,4910,-1.10,-146.6,407.3,-6.8,234,4914,0.00,2.08,0.00,0.000,6,0.000,0.059,2192,2640,3502
$GC,5243,-1.10,-146.6,428.1,-6.4,250,5247,0.00,2.22,0.00,0.000,4,0.000,0.092,2192,3783,3502
$GC,5338,-1.10,-146.6,434.9,-6.6,254,5342,0.00,2.05,0.00,0.000,6,0.000,0.058,2193,2653,3502
$GC,5666,-1.10,-146.6,456.8,-7.0,270,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3502
$GC,5975,-1.10,-146.6,475.6,-4.5,285,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2651,3501
$STATE,6054,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6054,begin apogee
$GC,6063,-0.42,0.0,480.5,5.9,289,6189,0.77,0.00,122.93,0.988,6,0.087,0.000,2349,1992,2902
$STATE,6190,end apogee,CONTROL_FINISHED_OK
$STATE,6190,begin climb
$GC,6193,1.10,146.6,485.7,0.0,295,6321,1.55,2.67,119.95,0.963,4,0.058,0.064,2679,578,2304
$GC,6577,1.15,184.5,473.3,5.0,312,6617,0.00,2.58,32.58,0.943,6,0.000,0.044,2679,2024,2149
$GC,6940,1.15,184.5,451.9,6.3,330,6944,0.00,2.67,0.00,0.000,4,0.000,0.064,2679,581,2149
$GC,7197,1.15,184.5,432.2,7.7,341,7203,0.00,2.53,0.00,0.000,6,0.000,0.041,2679,2006,2147
$GC,7513,1.26,273.5,417.5,3.5,357,7597,0.15,2.75,73.07,0.957,4,0.039,0.064,2727,584,1786
$GC,7634,1.31,311.5,412.1,4.9,362,7673,0.00,2.55,32.35,0.923,6,0.000,0.042,2728,2007,1632
$GC,7996,1.31,311.5,391.3,6.7,380,8001,0.00,2.62,0.00,0.000,4,0.000,0.071,2728,3416,1631
$GC,8069,1.31,311.5,385.4,8.1,383,8074,0.00,2.60,0.00,0.000,6,0.000,0.053,2728,1990,1630
$GC,8385,1.31,311.5,359.1,8.7,398,8390,0.00,2.67,0.00,0.000,4,0.000,0.069,2727,3415,1630
$GC,8408,1.31,311.5,356.9,9.6,399,8412,0.00,2.60,0.00,0.000,6,0.000,0.054,2728,1989,1630
$GC,8729,1.31,311.5,327.5,9.4,415,8733,0.00,2.65,0.00,0.000,4,0.000,0.068,2728,3406,1630
$GC,8773,1.31,311.5,323.2,9.3,417,8777,0.00,2.58,0.00,0.000,6,0.000,0.054,2728,1989,1630
$GC,9094,1.31,311.5,292.9,10.0,433,9098,0.00,2.67,0.00,0.000,4,0.000,0.070,2728,3417,1630
$GC,9138,1.31,311.5,288.3,10.6,435,9142,0.00,2.60,0.00,0.000,6,0.000,0.054,2728,1989,1630
$GC,9459,1.31,311.5,256.2,10.0,451,9464,0.00,2.65,0.00,0.000,4,0.000,0.069,2728,3406,1630
$GC,9500,1.31,311.5,252.1,10.4,453,9504,0.00,2.58,0.00,0.000,6,0.000,0.054,2728,1991,1630
$GC,9826,1.31,311.5,218.6,10.1,469,9831,0.00,2.65,0.00,0.000,4,0.000,0.067,2728,3414,1630
$GC,9871,1.31,311.5,213.8,10.3,471,9875,0.00,2.58,0.00,0.000,6,0.000,0.054,2727,1996,1630
$GC,10192,1.31,311.5,181.2,9.9,487,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1996,1630
$GC,10501,1.31,311.5,152.2,9.2,502,10506,0.00,2.65,0.00,0.000,4,0.000,0.068,2728,3416,1631
$GC,10565,1.31,311.5,146.1,10.0,505,10569,0.00,2.58,0.00,0.000,6,0.000,0.054,2728,1998,1631
$GC,10893,1.31,311.5,117.9,8.2,521,10894,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1997,1631
$GC,11201,1.31,311.5,90.1,9.8,536,11205,0.00,2.65,0.00,0.000,4,0.000,0.070,2727,3416,1631
$GC,11241,1.31,311.5,86.8,7.9,538,11245,0.00,2.58,0.00,0.000,6,0.000,0.055,2727,1998,1631
$GC,11568,1.31,311.5,60.7,8.4,554,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1998,1632
$GC,11877,1.31,311.5,33.8,9.7,569,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1998,1632
$GC,12186,1.31,311.5,8.1,10.1,584,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1997,1632
$STATE,12266,end climb,SURFACE_DEPTH_REACHED
$STATE,12266,begin surface coast
$FINISH,0.3,1.025926
$STATE,12288,end surface coast,CONTROL_FINISHED_OK
$STATE,12288,begin surface
$SM_CCo,12372,0.00,0.000,0,0,1631,311.78
$SM_GC,1.37,11.77,0.00,0.00,0.029,0.000,0.000,47,2650,1631,-10.94,0.00,311.78
$IRIDIUM_FIX,6230.49,-1153.81,250698,040415
$TT8_MAMPS,0.028379
$HUMID,1774
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.9,38.9
$24V_AH,23.5,33.602
$10V_AH,10.1,18.557
$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,26.350,100.000,380.875,0.000,0.000,27.759,25.980,131.165,3.500,0.000,0.000,11.269,1112.290,9242.207,440.003,1455.194,425.607,32.361,1180.926,0.000,1423.219,0.000,25.572,0.000
$DEVICE_MAMPS,158.002,92.040,987.896,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,413.945,424.287,433.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28487,589
$CAP_FILE_SIZE,89970,0
$CFSIZE,260165632,247177216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310309,123706,6259.722,-1157.681,42,1.5,42,-11.4