version: 66.04
glider: 103
mission: 11
dive: 107
start: 3 17 109 5 32 23
data:
$ID,103
$MISSION,11
$DIVE,107
$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,-145123.69
$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,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
$GPS1,052257,6242.363,-1102.005,41,2.6,60,-10.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-59.4
$GPS2,053131,6242.559,-1101.819,10,1.6,15,-10.8
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,FW
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.164,-0.145
$KALMAN_X,118829.9,-2054.3,-456.2,-183497.1,37550.7
$KALMAN_Y,38288.3,-2335.2,-394.7,45513.5,39360.4
$MHEAD_RNG_PITCHd_Wd,239.3,40088,-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,17,-1.10,-146.6,0.0,0.0,0,61,0.00,0.00,-41.62,0.000,2,0.000,0.000,49,2652,3255
$GC,64,-1.10,-146.6,4.3,-12.2,2,87,12.18,2.20,-3.95,0.000,4,0.160,0.104,2193,3786,3503
$GC,171,-1.10,-146.6,24.2,-13.3,6,178,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2650,3503
$GC,487,-1.10,-146.6,49.1,-8.3,22,491,0.00,2.20,0.00,0.000,4,0.000,0.088,2193,3786,3502
$GC,560,-1.10,-146.6,55.5,-9.6,25,564,0.00,2.08,0.00,0.000,6,0.000,0.056,2193,2641,3502
$GC,888,-1.10,-146.6,85.8,-8.5,41,892,0.00,2.22,0.00,0.000,4,0.000,0.090,2193,3786,3502
$GC,943,-1.10,-146.6,89.6,-6.5,43,950,0.00,2.05,0.00,0.000,6,0.000,0.059,2193,2656,3503
$GC,1260,-1.10,-146.6,115.5,-7.4,59,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2656,3502
$GC,1569,-1.10,-146.6,139.7,-7.5,74,1572,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3793,3502
$GC,1608,-1.10,-146.6,143.0,-8.0,75,1615,0.00,2.12,0.00,0.000,6,0.000,0.060,2193,2642,3502
$GC,1925,-1.10,-146.6,169.2,-8.3,91,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,2233,-1.10,-146.6,193.8,-8.1,106,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,2543,-1.10,-146.6,217.5,-7.4,121,2544,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,2852,-1.10,-146.6,240.0,-7.4,136,2854,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2643,3502
$GC,3161,-1.10,-146.6,263.1,-7.5,151,3165,0.00,2.20,0.00,0.000,4,0.000,0.086,2193,3786,3503
$GC,3200,-1.10,-146.6,266.1,-8.2,152,3206,0.00,2.05,0.00,0.000,6,0.000,0.056,2193,2653,3502
$GC,3516,-1.10,-146.6,288.9,-7.6,168,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3502
$GC,3825,-1.10,-146.6,313.4,-8.1,183,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2653,3502
$GC,4134,-1.10,-146.6,340.3,-8.4,198,4138,0.00,2.20,0.00,0.000,4,0.000,0.087,2193,3793,3502
$GC,4191,-1.10,-146.6,345.3,-8.6,200,4195,0.00,2.08,0.00,0.000,6,0.000,0.056,2193,2640,3502
$GC,4512,-1.10,-146.6,371.4,-8.0,216,4513,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2640,3502
$GC,4822,-1.10,-146.6,395.4,-7.6,231,4826,0.00,2.58,0.00,0.000,4,0.000,0.071,2193,1233,3502
$GC,4855,-1.10,-146.6,398.0,-8.0,232,4860,0.00,2.62,0.00,0.000,6,0.000,0.063,2193,2663,3502
$GC,5171,-1.10,-146.6,420.8,-7.1,247,5175,0.00,2.15,0.00,0.000,4,0.000,0.089,2193,3792,3502
$GC,5221,-1.10,-146.6,424.8,-7.7,249,5226,0.00,2.05,0.00,0.000,6,0.000,0.052,2193,2645,3502
$GC,5548,-1.10,-146.6,447.9,-7.1,265,5552,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3785,3502
$GC,5598,-1.10,-146.6,452.0,-8.2,267,5602,0.00,2.03,0.00,0.000,6,0.000,0.052,2193,2646,3502
$GC,5926,-1.10,-146.6,475.4,-6.7,283,5930,0.00,2.20,0.00,0.000,4,0.000,0.090,2193,3786,3502
$GC,5960,-1.10,-146.6,477.9,-7.8,284,5964,0.00,2.03,0.00,0.000,6,0.000,0.050,2193,2647,3502
$GC,6281,-1.10,-146.6,499.7,-7.8,300,6289,0.00,2.58,0.00,0.000,4,0.000,0.067,2193,1229,3502
$GC,6319,-1.10,-146.6,502.5,-8.4,301,6323,0.00,2.60,0.00,0.000,6,0.000,0.061,2193,2652,3502
$GC,6636,-1.10,-146.6,525.6,-7.3,316,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2652,3502
$GC,6944,-1.10,-146.6,549.3,-8.0,331,6948,0.00,2.17,0.00,0.000,4,0.000,0.091,2193,3792,3502
$GC,7061,-1.10,-146.6,558.2,-7.3,336,7065,0.00,2.05,0.00,0.000,6,0.000,0.054,2193,2651,3502
$GC,7388,-1.10,-146.6,577.8,-6.1,352,7392,0.00,2.60,0.00,0.000,4,0.000,0.071,2193,1229,3501
$STATE,7402,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7402,begin apogee
$GC,7411,-0.42,0.0,578.6,5.5,353,7538,0.80,0.00,123.57,1.042,6,0.108,0.000,2347,2017,2902
$STATE,7539,end apogee,CONTROL_FINISHED_OK
$STATE,7539,begin climb
$GC,7542,1.10,146.6,583.7,0.0,359,7671,1.58,2.72,120.85,1.012,4,0.064,0.065,2679,587,2304
$GC,7764,1.11,155.5,578.4,5.8,369,7779,0.00,2.53,9.12,0.871,6,0.000,0.036,2678,2022,2269
$GC,8108,1.21,237.4,561.8,3.7,386,8184,0.12,2.75,68.32,1.007,4,0.043,0.063,2720,594,1934
$GC,8286,1.21,237.4,550.8,7.0,394,8290,0.00,2.50,0.00,0.000,6,0.000,0.038,2720,2009,1934
$GC,8607,1.21,237.4,528.0,6.7,410,8611,0.00,2.60,0.00,0.000,4,0.000,0.067,2720,3411,1933
$GC,8701,1.21,237.4,521.9,6.7,414,8706,0.00,2.55,0.00,0.000,6,0.000,0.048,2720,1995,1933
$GC,9017,1.21,237.4,501.7,6.6,429,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1995,1932
$GC,9327,1.21,237.4,480.9,6.6,444,9331,0.00,2.58,0.00,0.000,4,0.000,0.064,2720,589,1932
$GC,9405,1.21,237.4,475.3,6.7,447,9409,0.00,2.50,0.00,0.000,6,0.000,0.039,2720,2006,1932
$GC,9721,1.21,237.4,454.5,7.1,462,9725,0.00,2.58,0.00,0.000,4,0.000,0.067,2720,3412,1932
$GC,9748,1.21,237.4,452.3,8.3,463,9752,0.00,2.55,0.00,0.000,6,0.000,0.048,2720,1994,1932
$GC,10064,1.21,237.4,430.1,7.3,478,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1994,1932
$GC,10373,1.21,237.4,405.4,8.2,493,10377,0.00,2.62,0.00,0.000,4,0.000,0.066,2720,3407,1931
$GC,10424,1.21,237.4,400.8,9.3,495,10429,0.00,2.53,0.00,0.000,6,0.000,0.048,2720,2002,1932
$GC,10745,1.21,237.4,373.6,8.5,511,10750,0.00,2.58,0.00,0.000,4,0.000,0.064,2720,587,1931
$GC,10786,1.21,237.4,369.8,9.4,513,10790,0.00,2.50,0.00,0.000,6,0.000,0.038,2720,2011,1931
$GC,11112,1.21,237.4,342.2,8.1,529,11117,0.00,2.62,0.00,0.000,4,0.000,0.064,2720,586,1932
$GC,11179,1.21,237.4,336.3,8.8,532,11184,0.00,2.47,0.00,0.000,6,0.000,0.039,2720,1997,1932
$GC,11506,1.21,237.4,311.0,7.1,548,11511,0.00,2.60,0.00,0.000,4,0.000,0.063,2720,584,1932
$GC,11540,1.21,237.4,308.3,7.0,549,11546,0.00,2.50,0.00,0.000,6,0.000,0.039,2720,2009,1932
$GC,11856,1.21,237.4,286.3,6.7,565,11860,0.00,2.58,0.00,0.000,4,0.000,0.067,2720,3413,1932
$GC,11889,1.21,237.4,284.0,6.3,566,11895,0.00,2.55,0.00,0.000,6,0.000,0.049,2720,1989,1932
$GC,12205,1.21,237.4,261.7,7.3,582,12209,0.00,2.55,0.00,0.000,4,0.000,0.064,2720,587,1933
$GC,12232,1.21,237.4,259.5,7.5,583,12237,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,2003,1933
$GC,12554,1.21,237.4,234.9,7.4,599,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2003,1933
$GC,12863,1.21,237.4,211.8,7.4,614,12867,0.00,2.58,0.00,0.000,4,0.000,0.067,2720,3408,1934
$GC,12886,1.21,237.4,210.0,7.6,615,12890,0.00,2.53,0.00,0.000,6,0.000,0.050,2720,2000,1934
$GC,13207,1.21,237.4,186.6,7.1,631,13211,0.00,2.55,0.00,0.000,4,0.000,0.063,2720,589,1934
$GC,13240,1.21,237.4,184.0,6.7,632,13246,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,2008,1934
$GC,13556,1.21,237.4,162.6,6.6,648,13560,0.00,2.58,0.00,0.000,4,0.000,0.067,2720,3415,1934
$GC,13583,1.21,237.4,160.6,7.5,649,13587,0.00,2.55,0.00,0.000,6,0.000,0.050,2720,1990,1934
$GC,13905,1.21,237.4,139.4,6.9,665,13909,0.00,2.55,0.00,0.000,4,0.000,0.064,2720,585,1934
$GC,13950,1.21,237.4,136.1,7.4,667,13954,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,2000,1935
$GC,14271,1.22,240.8,113.3,5.9,683,14278,0.00,0.00,4.95,0.588,6,0.000,0.000,2720,2000,1919
$GC,14582,1.22,240.8,90.7,8.4,698,14586,0.00,2.58,0.00,0.000,4,0.000,0.067,2720,3406,1920
$GC,14605,1.22,240.8,88.5,8.6,699,14609,0.00,2.55,0.00,0.000,6,0.000,0.052,2720,1993,1919
$GC,14927,1.23,249.1,68.0,5.8,715,14941,0.00,2.62,8.12,0.651,4,0.000,0.065,2720,589,1885
$GC,15004,1.23,249.1,61.5,10.7,718,15008,0.00,2.47,0.00,0.000,6,0.000,0.038,2720,2000,1885
$GC,15322,1.23,249.1,33.4,9.3,733,15323,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2000,1885
$GC,15629,1.23,249.1,7.2,7.7,748,15633,0.00,2.58,0.00,0.000,4,0.000,0.059,2720,586,1886
$GC,15651,1.23,249.1,5.0,9.6,749,15655,0.00,2.50,0.00,0.000,6,0.000,0.044,2720,1998,1886
$STATE,15681,end climb,SURFACE_DEPTH_REACHED
$STATE,15681,begin surface coast
$FINISH,0.8,1.027463
$STATE,15702,end surface coast,CONTROL_FINISHED_OK
$STATE,15702,begin surface
$SM_CCo,15787,0.00,0.000,0,0,1885,249.47
$SM_GC,2.30,11.70,0.00,0.00,0.027,0.000,0.000,47,2653,1885,-10.94,0.08,249.47
$IRIDIUM_FIX,6216.53,-1100.21,110698,050535
$TT8_MAMPS,0.029146
$HUMID,1777
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,550.1,38.2
$24V_AH,23.5,24.742
$10V_AH,10.1,13.149
$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,26.375,150.200,334.950,0.000,0.000,55.561,61.292,208.961,4.500,0.000,0.000,15.722,1396.568,12157.818,431.872,1675.038,637.565,33.367,1300.929,0.000,1645.790,0.000,32.069,0.000
$DEVICE_MAMPS,160.303,103.545,1042.353,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,530.303,557.699,493.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38023,752
$CAP_FILE_SIZE,116909,0
$CFSIZE,260165632,251072512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170309,095701,6246.902,-1102.774,54,1.0,54,-10.8