version: 66.04
glider: 103
mission: 11
dive: 174
start: 3 31 109 12 43 6
data:
$ID,103
$MISSION,11
$DIVE,174
$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,-146419.92
$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
$GPS1,123706,6259.722,-1157.681,42,1.5,42,-11.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-58.1
$GPS2,124216,6259.809,-1157.525,11,2.7,30,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.075,-0.205
$KALMAN_X,11804.8,-631.3,447.4,-14192.4,14548.0
$KALMAN_Y,40866.3,-1545.7,-304.7,-15801.1,55770.0
$MHEAD_RNG_PITCHd_Wd,211.4,41366,-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,16,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-54.92,0.000,6,0.000,0.000,47,2651,3501
$GC,80,-1.10,-146.6,7.1,-14.5,3,102,12.12,2.22,0.00,0.000,4,0.160,0.085,2193,3785,3502
$GC,355,-1.10,-146.6,40.8,-7.6,15,359,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2651,3503
$GC,682,-1.10,-146.6,66.1,-7.8,31,686,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3787,3503
$GC,940,-1.10,-146.6,88.7,-8.4,42,946,0.00,2.10,0.00,0.000,6,0.000,0.067,2193,2648,3502
$GC,1256,-1.10,-146.6,115.4,-8.3,58,1260,0.00,2.25,0.00,0.000,4,0.000,0.097,2193,3787,3503
$GC,1306,-1.10,-146.6,120.1,-8.9,60,1310,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2648,3503
$GC,1628,-1.10,-146.6,148.4,-9.0,76,1632,0.00,2.22,0.00,0.000,4,0.000,0.095,2193,3780,3503
$GC,1661,-1.10,-146.6,151.6,-9.3,77,1665,0.00,2.10,0.00,0.000,6,0.000,0.065,2193,2644,3503
$GC,1983,-1.10,-146.6,177.8,-7.9,93,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2644,3503
$GC,2292,-1.10,-146.6,201.9,-7.3,108,2296,0.00,2.22,0.00,0.000,4,0.000,0.090,2193,3789,3503
$GC,2354,-1.10,-146.6,207.0,-7.7,110,2360,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2643,3503
$GC,2670,-1.10,-146.6,231.2,-7.2,126,2674,0.00,2.22,0.00,0.000,4,0.000,0.090,2193,3787,3503
$GC,2716,-1.10,-146.6,234.4,-7.0,128,2720,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2646,3503
$GC,3049,-1.10,-146.6,255.7,-6.5,144,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2646,3503
$GC,3358,-1.10,-146.6,274.5,-6.3,159,3361,0.00,2.20,0.00,0.000,4,0.000,0.089,2193,3782,3503
$GC,3431,-1.10,-146.6,279.1,-6.1,162,3435,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2639,3503
$GC,3758,-1.10,-146.6,302.7,-7.7,178,3762,0.00,2.22,0.00,0.000,4,0.000,0.089,2193,3786,3502
$GC,3849,-1.10,-146.6,310.6,-8.2,182,3852,0.00,2.10,0.00,0.000,6,0.000,0.062,2193,2642,3502
$GC,4182,-1.10,-146.6,343.4,-10.1,198,4185,0.00,2.22,0.00,0.000,4,0.000,0.090,2193,3789,3502
$GC,4211,-1.10,-146.6,346.5,-11.1,199,4215,0.00,2.10,0.00,0.000,6,0.000,0.061,2193,2643,3503
$GC,4539,-1.10,-146.6,375.6,-8.3,215,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2192,2643,3503
$GC,4848,-1.10,-146.6,399.7,-8.0,230,4853,0.00,2.22,0.00,0.000,4,0.000,0.091,2193,3786,3503
$GC,4926,-1.10,-146.6,406.1,-8.5,233,4930,0.00,2.08,0.00,0.000,6,0.000,0.061,2193,2643,3502
$GC,5247,-1.10,-146.6,428.8,-6.5,249,5251,0.00,2.22,0.00,0.000,4,0.000,0.092,2193,3785,3502
$GC,5320,-1.10,-146.6,433.4,-6.3,252,5324,0.00,2.08,0.00,0.000,6,0.000,0.062,2193,2651,3502
$GC,5647,-1.10,-146.6,453.7,-6.3,268,5651,0.00,2.20,0.00,0.000,4,0.000,0.093,2193,3782,3502
$GC,5738,-1.10,-146.6,461.2,-8.2,272,5742,0.00,2.10,0.00,0.000,6,0.000,0.064,2193,2641,3502
$STATE,5748,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5748,begin apogee
$GC,5756,-0.42,0.0,462.1,8.1,272,5882,0.75,0.00,121.97,0.991,6,0.100,0.000,2343,1989,2902
$STATE,5882,end apogee,CONTROL_FINISHED_OK
$STATE,5882,begin climb
$GC,5886,1.10,146.6,468.0,0.0,278,6014,1.60,2.67,119.35,0.956,4,0.065,0.063,2679,590,2304
$GC,6269,1.10,146.6,457.7,6.3,295,6274,0.00,2.53,0.00,0.000,6,0.000,0.038,2679,2026,2303
$GC,6585,1.11,153.2,440.1,5.8,310,6594,0.00,0.00,7.00,0.812,6,0.000,0.000,2679,2027,2277
$GC,6894,1.15,184.9,425.2,5.1,325,6929,0.00,2.60,27.38,0.953,4,0.000,0.067,2679,3404,2147
$GC,7038,1.15,184.9,417.2,6.4,331,7042,0.00,2.55,0.00,0.000,6,0.000,0.048,2679,1991,2147
$GC,7355,1.16,192.3,399.6,5.8,346,7369,0.00,2.70,7.32,0.830,4,0.000,0.067,2679,3398,2118
$GC,7409,1.16,192.3,395.9,6.5,348,7413,0.00,2.55,0.00,0.000,6,0.000,0.049,2679,1992,2118
$GC,7725,1.16,192.3,375.8,6.1,363,7729,0.00,2.62,0.00,0.000,4,0.000,0.067,2679,3399,2117
$GC,7815,1.20,222.6,370.9,5.2,367,7846,0.00,2.53,25.90,0.934,6,0.000,0.050,2679,1998,1994
$GC,8163,1.30,308.8,356.9,3.6,384,8237,0.20,0.00,71.10,0.931,6,0.035,0.000,2738,1998,1643
$GC,8532,1.30,308.8,332.9,7.1,402,8537,0.00,2.62,0.00,0.000,4,0.000,0.070,2738,3397,1642
$GC,8578,1.30,308.8,329.4,7.7,404,8583,0.00,2.55,0.00,0.000,6,0.000,0.053,2738,1998,1642
$GC,8900,1.30,308.8,305.2,8.2,420,8904,0.00,2.65,0.00,0.000,4,0.000,0.069,2738,3410,1642
$GC,8927,1.30,308.8,302.8,8.6,421,8932,0.00,2.58,0.00,0.000,6,0.000,0.052,2738,1993,1642
$GC,9243,1.30,308.8,277.3,8.1,436,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1993,1642
$GC,9553,1.30,308.8,251.3,9.2,451,9557,0.00,2.62,0.00,0.000,4,0.000,0.069,2738,3400,1643
$GC,9580,1.30,308.8,248.6,10.0,452,9584,0.00,2.55,0.00,0.000,6,0.000,0.052,2738,1994,1643
$GC,9896,1.30,308.8,218.7,9.8,467,9900,0.00,2.62,0.00,0.000,4,0.000,0.068,2738,3399,1643
$GC,9940,1.30,308.8,214.3,10.6,469,9944,0.00,2.55,0.00,0.000,6,0.000,0.052,2738,1989,1643
$GC,10261,1.30,308.8,182.7,9.9,485,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1989,1643
$GC,10570,1.30,308.8,153.1,9.6,500,10574,0.00,2.65,0.00,0.000,4,0.000,0.069,2738,3408,1643
$GC,10610,1.30,308.8,149.3,9.3,502,10614,0.00,2.55,0.00,0.000,6,0.000,0.054,2738,2002,1643
$GC,10937,1.30,308.8,119.6,8.8,518,10938,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2002,1643
$GC,11246,1.30,308.8,92.5,8.6,533,11250,0.00,2.62,0.00,0.000,4,0.000,0.071,2738,3401,1644
$GC,11286,1.30,308.8,88.9,9.1,535,11290,0.00,2.55,0.00,0.000,6,0.000,0.053,2738,1988,1644
$GC,11613,1.30,308.8,60.1,9.9,551,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1988,1644
$GC,11922,1.30,308.8,31.6,9.6,566,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,1987,1644
$STATE,12230,end climb,SURFACE_DEPTH_REACHED
$STATE,12230,begin surface coast
$FINISH,0.4,1.027498
$STATE,12250,end surface coast,CONTROL_FINISHED_OK
$STATE,12250,begin surface
$SM_CCo,12335,0.00,0.000,0,0,1644,308.59
$SM_GC,1.02,11.85,0.00,0.00,0.031,0.000,0.000,53,2647,1644,-10.92,-0.08,308.59
$IRIDIUM_FIX,6230.49,-1159.41,250698,090921
$TT8_MAMPS,0.028379
$HUMID,1773
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,425.0,46.9
$24V_AH,23.5,33.715
$10V_AH,10.1,18.620
$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,26.525,106.225,380.025,0.000,0.000,24.132,32.821,121.977,3.250,0.000,0.000,31.070,1118.968,9180.985,452.977,1475.173,416.912,33.361,1193.476,0.000,1423.525,0.000,24.322,0.000
$DEVICE_MAMPS,159.536,97.409,990.964,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,411.644,420.913,412.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28510,582
$CAP_FILE_SIZE,90957,0
$CFSIZE,260165632,247128064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310309,161000,6300.887,-1155.464,42,1.5,42,-11.4