version: 66.04
glider: 103
mission: 11
dive: 175
start: 3 31 109 16 16 6
data:
$ID,103
$MISSION,11
$DIVE,175
$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,-146436.89
$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,12
$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
$GPS1,161000,6300.887,-1155.464,42,1.5,42,-11.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-57.1
$GPS2,161514,6300.908,-1155.459,16,1.8,16,-11.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,GW
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.084,-0.202
$KALMAN_X,16764.5,-645.8,-1543.6,-15384.9,24287.3
$KALMAN_Y,48969.3,-3585.5,-3249.7,-16818.6,69273.9
$MHEAD_RNG_PITCHd_Wd,214.0,43987,-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,15,begin dive
$GC,18,-1.10,-146.6,0.0,0.0,0,77,0.00,0.00,-54.60,0.000,6,0.000,0.000,53,2648,3501
$GC,81,-1.10,-146.6,6.3,-12.6,3,102,12.12,2.65,0.00,0.000,4,0.160,0.066,2194,1242,3501
$GC,306,-1.10,-146.6,35.3,-8.9,13,311,0.00,2.65,0.00,0.000,6,0.000,0.071,2194,2654,3501
$GC,633,-1.10,-146.6,62.1,-8.4,29,637,0.00,2.22,0.00,0.000,4,0.000,0.097,2194,3792,3501
$GC,688,-1.10,-146.6,66.9,-8.1,31,695,0.00,2.10,0.00,0.000,6,0.000,0.065,2194,2653,3501
$GC,1005,-1.10,-146.6,91.3,-9.1,47,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,1315,-1.10,-146.6,113.9,-7.1,62,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2653,3501
$GC,1623,-1.10,-146.6,137.3,-8.2,77,1627,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3787,3501
$GC,1685,-1.10,-146.6,142.3,-8.7,79,1691,0.00,2.10,0.00,0.000,6,0.000,0.065,2194,2643,3501
$GC,2000,-1.10,-146.6,164.4,-6.9,95,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2643,3501
$GC,2310,-1.10,-146.6,184.7,-6.2,110,2314,0.00,2.20,0.00,0.000,4,0.000,0.088,2194,3787,3501
$GC,2372,-1.10,-146.6,188.9,-7.5,112,2378,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2649,3501
$GC,2687,-1.10,-146.6,209.8,-7.0,128,2691,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3788,3501
$GC,2721,-1.10,-146.6,212.3,-7.3,129,2725,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2650,3501
$GC,3043,-1.10,-146.6,237.1,-7.9,145,3044,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2649,3501
$GC,3352,-1.10,-146.6,263.1,-8.9,160,3355,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3790,3501
$GC,3391,-1.10,-146.6,266.7,-9.0,161,3397,0.00,2.10,0.00,0.000,6,0.000,0.064,2194,2648,3501
$GC,3707,-1.10,-146.6,295.5,-9.2,177,3710,0.00,2.20,0.00,0.000,4,0.000,0.087,2194,3789,3501
$GC,3740,-1.10,-146.6,298.8,-9.3,178,3744,0.00,2.10,0.00,0.000,6,0.000,0.063,2194,2645,3501
$GC,4062,-1.10,-146.6,328.7,-9.4,194,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2645,3501
$GC,4371,-1.10,-146.6,356.5,-8.8,209,4376,0.00,2.60,0.00,0.000,4,0.000,0.070,2194,1225,3502
$GC,4399,-1.10,-146.6,359.3,-10.0,210,4403,0.00,2.62,0.00,0.000,6,0.000,0.063,2194,2651,3501
$GC,4715,-1.10,-146.6,387.0,-8.8,225,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3502
$GC,5024,-1.10,-146.6,418.4,-10.1,240,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2652,3501
$GC,5333,-1.10,-146.6,445.9,-8.8,255,5337,0.00,2.17,0.00,0.000,4,0.000,0.095,2194,3790,3501
$GC,5514,-1.10,-146.6,461.6,-7.8,263,5518,0.00,2.10,0.00,0.000,6,0.000,0.061,2194,2643,3501
$STATE,5522,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5522,begin apogee
$GC,5531,-0.42,0.0,462.6,8.1,263,5657,0.73,0.00,122.90,0.973,6,0.095,0.000,2344,1996,2902
$STATE,5658,end apogee,CONTROL_FINISHED_OK
$STATE,5658,begin climb
$GC,5661,1.10,146.6,467.7,0.0,269,5789,1.58,2.70,119.78,0.947,4,0.059,0.063,2679,3419,2304
$GC,5892,1.17,200.5,465.2,4.5,280,5943,0.00,2.58,45.70,0.923,6,0.000,0.043,2679,1983,2084
$GC,6268,1.17,200.5,440.0,6.9,298,6272,0.00,2.70,0.00,0.000,4,0.000,0.068,2679,3418,2084
$GC,6331,1.17,200.5,435.2,7.6,301,6335,0.00,2.58,0.00,0.000,6,0.000,0.048,2679,1992,2083
$GC,6657,1.17,200.5,414.3,6.5,317,6662,0.00,2.67,0.00,0.000,4,0.000,0.069,2679,3418,2082
$GC,6736,1.17,200.5,409.3,6.9,320,6742,0.00,2.55,0.00,0.000,6,0.000,0.050,2679,2000,2082
$GC,7052,1.22,244.8,390.6,4.8,336,7096,0.12,2.80,36.58,0.941,4,0.044,0.071,2722,3422,1905
$GC,7159,1.22,244.8,384.2,6.8,340,7166,0.00,2.60,0.00,0.000,6,0.000,0.055,2722,1996,1904
$GC,7476,1.22,244.8,362.9,7.1,356,7480,0.00,2.58,0.00,0.000,4,0.000,0.065,2722,593,1904
$GC,7615,1.22,244.8,353.4,6.2,362,7620,0.00,2.53,0.00,0.000,6,0.000,0.041,2723,2020,1904
$GC,7931,1.30,303.9,340.1,4.4,377,7986,0.00,2.67,49.20,0.917,4,0.000,0.071,2722,3415,1662
$GC,8028,1.30,308.1,334.9,5.9,381,8039,0.00,2.60,5.38,0.703,6,0.000,0.055,2723,2004,1645
$GC,8348,1.30,308.1,310.7,9.0,397,8350,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2004,1645
$GC,8658,1.30,308.1,279.8,9.7,412,8662,0.00,2.62,0.00,0.000,4,0.000,0.070,2723,3407,1645
$GC,8713,1.30,308.1,274.3,10.3,414,8718,0.00,2.60,0.00,0.000,6,0.000,0.056,2722,1989,1645
$GC,9029,1.30,308.1,247.9,8.1,429,9033,0.00,2.67,0.00,0.000,4,0.000,0.070,2722,3411,1645
$GC,9069,1.30,308.1,244.7,8.3,431,9073,0.00,2.60,0.00,0.000,6,0.000,0.056,2722,1989,1645
$GC,9396,1.30,308.1,220.0,7.6,447,9400,0.00,2.65,0.00,0.000,4,0.000,0.068,2722,3406,1645
$GC,9435,1.30,308.1,216.9,7.7,449,9440,0.00,2.58,0.00,0.000,6,0.000,0.055,2722,1995,1645
$GC,9763,1.30,308.1,192.7,7.4,465,9767,0.00,2.65,0.00,0.000,4,0.000,0.069,2723,3409,1646
$GC,9780,1.30,308.1,191.2,8.0,466,9784,0.00,2.58,0.00,0.000,6,0.000,0.054,2723,1994,1646
$GC,10107,1.30,308.1,165.4,8.5,482,10111,0.00,2.65,0.00,0.000,4,0.000,0.069,2722,3408,1646
$GC,10128,1.30,308.1,163.2,9.6,483,10132,0.00,2.58,0.00,0.000,6,0.000,0.056,2722,1997,1646
$GC,10450,1.30,308.1,133.9,8.9,499,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1997,1647
$GC,10759,1.30,308.1,107.2,7.8,514,10763,0.00,2.65,0.00,0.000,4,0.000,0.070,2723,3415,1647
$GC,10799,1.30,308.1,104.2,8.0,516,10803,0.00,2.58,0.00,0.000,6,0.000,0.057,2722,1992,1647
$GC,11126,1.30,308.1,72.3,10.4,532,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1992,1647
$GC,11435,1.30,308.1,41.4,8.4,547,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1990,1647
$GC,11746,1.30,308.1,15.8,9.9,562,11750,0.00,2.60,0.00,0.000,4,0.000,0.071,2723,586,1648
$GC,11786,1.30,308.1,11.8,10.2,564,11790,0.00,2.47,0.00,0.000,6,0.000,0.035,2723,2015,1648
$STATE,11905,end climb,SURFACE_DEPTH_REACHED
$STATE,11905,begin surface coast
$FINISH,0.2,1.021668
$STATE,11926,end surface coast,CONTROL_FINISHED_OK
$STATE,11926,begin surface
$SM_CCo,12010,0.00,0.000,0,0,1647,307.85
$SM_GC,1.24,11.77,0.00,0.00,0.031,0.000,0.000,52,2640,1647,-10.92,-0.28,307.85
$IRIDIUM_FIX,6235.17,-1146.48,250698,121241
$TT8_MAMPS,0.028379
$HUMID,1770
$INTERNAL_PRESSURE,8.54525
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.0,21.9
$24V_AH,23.5,33.829
$10V_AH,10.1,18.681
$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,26.325,111.100,379.525,0.000,0.000,27.988,28.225,140.791,3.750,0.000,0.000,16.347,1077.359,8988.715,451.496,1364.085,444.361,33.363,1161.315,0.000,1331.291,0.000,28.811,0.000
$DEVICE_MAMPS,159.536,97.409,973.323,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,398.559,420.876,421.153,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28448,571
$CAP_FILE_SIZE,89353,0
$CFSIZE,260165632,247087104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310309,193750,6300.574,-1157.465,37,2.1,56,-11.4