version: 66.04
glider: 103
mission: 11
dive: 417
start: 5 18 109 10 9 21
data:
$ID,103
$MISSION,11
$DIVE,417
$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,412.5
$T_MISSION,440
$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,-151898.55
$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,2750
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,7
$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
$GPS1,100006,6325.213,-813.052,50,1.3,50,-9.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-59.8
$GPS2,100831,6325.122,-813.261,10,1.6,15,-9.5
$SPEED_LIMITS,0.139,0.243
$TGT_NAME,P4
$TGT_LATLONG,6345.000,-800.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.192,0.149
$KALMAN_X,-20981.3,-340.6,-811.0,132253.7,1518.5
$KALMAN_Y,-33362.1,1321.5,530.1,108203.5,-14308.8
$MHEAD_RNG_PITCHd_Wd,317.2,38384,-14.9,-8.000
$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,15,-1.42,-146.6,0.0,0.0,0,76,0.00,0.00,-54.92,0.000,6,0.000,0.000,50,2753,3501
$GC,80,-1.42,-146.6,7.2,-16.1,3,101,11.98,2.05,0.00,0.000,4,0.166,0.084,2124,3794,3501
$GC,327,-1.42,-146.6,49.4,-13.3,14,331,0.00,1.88,0.00,0.000,6,0.000,0.043,2125,2740,3501
$GC,661,-1.42,-146.6,91.5,-12.6,30,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2740,3501
$GC,970,-1.42,-146.6,130.1,-11.4,45,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2740,3502
$GC,1278,-1.42,-146.6,168.0,-11.5,60,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2740,3502
$GC,1588,-1.42,-146.6,203.4,-11.7,75,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2740,3502
$GC,1897,-1.42,-146.6,236.6,-11.3,90,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2740,3502
$GC,2206,-1.42,-146.6,278.0,-13.7,105,2211,0.00,2.65,0.00,0.000,4,0.000,0.077,2125,1333,3502
$GC,2270,-1.42,-146.6,285.4,-11.2,108,2274,0.00,2.75,0.00,0.000,6,0.000,0.080,2124,2761,3502
$GC,2596,-1.42,-146.6,317.3,-9.7,124,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2761,3502
$GC,2906,-1.42,-146.6,350.5,-11.5,139,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2761,3502
$GC,3215,-1.42,-146.6,387.5,-12.1,154,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2761,3502
$GC,3524,-1.42,-146.6,422.0,-10.6,169,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2761,3501
$GC,3834,-1.42,-146.6,449.3,-7.9,184,3838,0.00,2.72,0.00,0.000,4,0.000,0.077,2124,1332,3500
$GC,3879,-1.42,-146.6,452.7,-7.2,186,3883,0.00,2.75,0.00,0.000,6,0.000,0.081,2124,2754,3500
$GC,4200,-1.42,-146.6,477.0,-7.6,202,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3499
$GC,4509,-1.42,-146.6,502.7,-8.7,217,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,2124,2754,3498
$GC,4818,-1.42,-146.6,532.4,-9.7,232,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3498
$GC,5127,-1.42,-146.6,562.2,-9.6,247,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3497
$GC,5437,-1.42,-146.6,591.1,-9.2,262,5438,0.00,0.00,0.00,0.000,6,0.000,0.000,2125,2754,3496
$GC,5746,-1.42,-146.6,619.4,-9.4,277,5750,0.00,2.70,0.00,0.000,4,0.000,0.077,2125,1340,3495
$GC,5779,-1.42,-146.6,622.7,-9.9,278,5785,0.00,2.72,0.00,0.000,6,0.000,0.081,2124,2752,3495
$STATE,6010,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6010,begin apogee
$GC,6019,-0.42,0.0,645.6,9.5,290,6153,1.12,0.00,127.68,1.202,6,0.102,0.000,2344,2003,2902
$STATE,6153,end apogee,CONTROL_FINISHED_OK
$STATE,6153,begin climb
$GC,6157,1.42,146.6,651.9,0.0,297,6294,1.92,2.80,126.50,1.155,4,0.064,0.075,2748,3417,2304
$GC,6553,1.55,248.5,646.2,4.3,315,6650,0.12,2.62,88.15,1.151,6,0.049,0.051,2783,1984,1888
$GC,6966,1.55,248.5,611.8,8.5,335,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1984,1887
$GC,7276,1.55,248.5,585.5,8.4,350,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1984,1886
$GC,7585,1.55,248.5,558.0,9.2,365,7586,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1984,1886
$GC,7895,1.55,248.5,528.7,9.7,380,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1984,1886
$GC,8203,1.55,248.5,499.1,9.4,395,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1984,1886
$GC,8513,1.55,248.5,470.5,9.3,410,8517,0.00,2.75,0.00,0.000,4,0.000,0.076,2783,3423,1885
$GC,8557,1.55,248.5,466.3,9.6,412,8562,0.00,2.62,0.00,0.000,6,0.000,0.054,2783,1997,1886
$GC,8879,1.55,248.5,439.1,8.1,428,8883,0.00,2.65,0.00,0.000,4,0.000,0.075,2783,588,1886
$GC,8919,1.55,248.5,435.7,9.0,430,8923,0.00,2.58,0.00,0.000,6,0.000,0.048,2783,2013,1886
$GC,9246,1.55,248.5,409.3,8.1,446,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2013,1885
$GC,9555,1.55,248.5,383.1,8.7,461,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2013,1885
$GC,9864,1.56,261.2,358.0,7.5,476,9882,0.00,0.00,11.93,0.993,6,0.000,0.000,2783,2013,1837
$GC,10193,1.60,293.1,335.0,6.8,492,10228,0.00,2.80,28.08,1.016,4,0.000,0.074,2783,594,1707
$GC,10268,1.62,304.4,329.2,7.6,495,10285,0.00,2.58,11.35,0.936,6,0.000,0.049,2783,1996,1661
$GC,10606,1.62,304.4,303.1,8.7,512,10611,0.00,2.72,0.00,0.000,4,0.000,0.081,2783,3417,1661
$GC,10640,1.62,304.4,299.6,10.3,513,10646,0.00,2.62,0.00,0.000,6,0.000,0.058,2783,2000,1661
$GC,10956,1.62,304.4,265.3,10.8,529,10961,0.00,2.65,0.00,0.000,4,0.000,0.074,2783,590,1661
$GC,11023,1.62,304.4,257.8,10.7,532,11027,0.00,2.58,0.00,0.000,6,0.000,0.049,2783,2007,1661
$GC,11344,1.62,304.4,226.0,9.6,548,11345,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2007,1661
$GC,11653,1.62,304.4,194.5,10.4,563,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2007,1661
$GC,11962,1.62,304.4,165.4,8.3,578,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2007,1661
$GC,12272,1.62,304.4,138.5,8.6,593,12274,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2007,1661
$GC,12583,1.62,304.4,110.5,9.4,608,12587,0.00,2.67,0.00,0.000,4,0.000,0.071,2783,586,1662
$GC,12706,1.62,304.4,98.1,9.7,613,12712,0.00,2.55,0.00,0.000,6,0.000,0.047,2783,2004,1662
$GC,13024,1.62,304.4,68.8,9.5,629,13025,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2005,1663
$GC,13331,1.62,304.4,39.1,9.4,644,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2005,1663
$GC,13640,1.62,304.4,8.2,10.3,659,13645,0.00,2.62,0.00,0.000,4,0.000,0.065,2783,588,1664
$STATE,13693,end climb,SURFACE_DEPTH_REACHED
$STATE,13693,begin surface coast
$FINISH,1.4,1.027495
$STATE,13701,end surface coast,CONTROL_FINISHED_OK
$STATE,13701,begin surface
$SM_CCo,13790,0.00,0.000,0,0,1664,303.68
$SM_GC,0.40,12.27,0.00,0.00,0.038,0.000,0.000,53,2752,1664,-10.93,0.06,303.68
$IRIDIUM_FIX,6258.74,-811.88,120898,101049
$TT8_MAMPS,0.029146
$HUMID,1839
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,15.60
$XPDR_PINGS,57
$ALTIM_BOTTOM_PING,625.5,29.8
$24V_AH,22.8,66.637
$10V_AH,10.0,37.519
$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,27.425,65.550,393.675,0.000,0.000,57.694,56.075,202.086,19.750,0.000,0.000,15.470,1176.315,10703.259,451.698,1391.554,569.997,33.352,1152.632,0.000,1359.837,0.000,43.736,0.000
$DEVICE_MAMPS,165.672,83.603,1201.889,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,498.023,461.973,401.810,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34905,662
$CAP_FILE_SIZE,88739,0
$CFSIZE,260165632,233418752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180509,140030,6324.867,-819.736,41,1.3,41,-9.5