version: 66.04
glider: 103
mission: 11
dive: 470
start: 6 1 109 13 22 29
data:
$ID,103
$MISSION,11
$DIVE,470
$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,63
$TGT_DEFAULT_LON,-6
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$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,-152795.5
$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,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,10
$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
$GPS1,131507,6354.711,-559.620,31,1.2,31,-8.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-62.0
$GPS2,132137,6354.678,-559.651,10,1.3,10,-8.4
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,N09
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.057,-0.211
$KALMAN_X,-32461.2,-68.2,79.9,255889.7,-39.9
$KALMAN_Y,-91380.2,1148.3,788.4,221153.6,-4653.1
$MHEAD_RNG_PITCHd_Wd,203.4,27537,-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,-146.6,0.0,0.0,0,59,0.00,0.00,-41.42,0.000,2,0.000,0.000,51,2750,2969
$GC,63,-1.10,-146.6,3.1,-9.3,2,90,12.30,2.15,-9.90,0.000,4,0.163,0.120,2195,3786,3502
$GC,222,-1.10,-146.6,22.0,-9.1,9,226,0.00,1.95,0.00,0.000,6,0.000,0.066,2195,2748,3501
$GC,550,-1.10,-146.6,53.7,-9.7,25,554,0.00,2.70,0.00,0.000,4,0.000,0.080,2195,1331,3501
$GC,667,-1.10,-146.6,63.7,-7.4,30,672,0.00,2.72,0.00,0.000,6,0.000,0.074,2196,2758,3502
$GC,984,-1.10,-146.6,85.9,-6.8,45,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3503
$GC,1294,-1.10,-146.6,108.1,-7.3,60,1299,0.00,2.75,0.00,0.000,4,0.000,0.078,2195,1325,3503
$GC,1335,-1.10,-146.6,111.2,-7.6,62,1340,0.00,2.75,0.00,0.000,6,0.000,0.076,2196,2761,3503
$GC,1662,-1.10,-146.6,135.7,-7.6,78,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2761,3503
$GC,1971,-1.10,-146.6,161.7,-8.8,93,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2761,3503
$GC,2281,-1.10,-146.6,191.3,-9.8,108,2285,0.00,2.75,0.00,0.000,4,0.000,0.080,2195,1332,3503
$GC,2314,-1.10,-146.6,194.8,-9.7,109,2320,0.00,2.75,0.00,0.000,6,0.000,0.078,2195,2758,3503
$GC,2631,-1.10,-146.6,225.6,-9.6,125,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3502
$GC,2940,-1.10,-146.6,253.4,-8.7,140,2944,0.00,2.75,0.00,0.000,4,0.000,0.081,2196,1330,3502
$GC,2967,-1.10,-146.6,255.9,-9.0,141,2971,0.00,2.72,0.00,0.000,6,0.000,0.074,2195,2756,3502
$GC,3283,-1.10,-146.6,282.9,-8.8,156,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2756,3501
$GC,3593,-1.10,-146.6,308.3,-8.0,171,3598,0.00,2.75,0.00,0.000,4,0.000,0.081,2195,1328,3501
$GC,3623,-1.10,-146.6,310.8,-8.3,172,3627,0.00,2.72,0.00,0.000,6,0.000,0.077,2195,2748,3501
$GC,3939,-1.10,-146.6,335.5,-7.4,187,3942,0.00,2.08,0.00,0.000,4,0.000,0.109,2196,3785,3501
$GC,3973,-1.10,-146.6,338.4,-8.4,188,3976,0.00,1.95,0.00,0.000,6,0.000,0.064,2195,2740,3501
$GC,4294,-1.10,-146.6,361.8,-7.5,204,4299,0.00,2.70,0.00,0.000,4,0.000,0.084,2196,1328,3501
$GC,4323,-1.10,-146.6,364.2,-7.5,205,4328,0.00,2.75,0.00,0.000,6,0.000,0.077,2195,2758,3501
$GC,4639,-1.10,-146.6,388.6,-7.8,220,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3500
$GC,4948,-1.10,-146.6,413.1,-7.9,235,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2758,3500
$GC,5257,-1.10,-146.6,437.9,-8.0,250,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3499
$GC,5567,-1.10,-146.6,462.9,-7.9,265,5568,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3499
$GC,5876,-1.10,-146.6,487.0,-7.7,280,5877,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3498
$GC,6185,-1.10,-146.6,510.2,-7.6,295,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2758,3498
$GC,6495,-1.10,-146.6,533.7,-7.7,310,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2758,3497
$GC,6804,-1.10,-146.6,556.6,-7.2,325,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3496
$GC,7113,-1.10,-146.6,578.7,-7.1,340,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2758,3496
$GC,7424,-1.10,-146.6,601.0,-7.3,355,7425,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2758,3496
$GC,7732,-1.10,-146.6,623.1,-7.1,370,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3496
$GC,8041,-1.10,-146.6,645.4,-7.1,385,8045,0.00,2.72,0.00,0.000,4,0.000,0.077,2196,1332,3496
$GC,8081,-1.10,-146.6,648.3,-7.7,387,8086,0.00,2.72,0.00,0.000,6,0.000,0.077,2196,2752,3495
$GC,8408,-1.10,-146.6,671.3,-7.0,403,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2752,3495
$GC,8718,-1.10,-146.6,693.5,-7.4,418,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2752,3495
$GC,9027,-1.10,-146.6,716.0,-7.2,433,9032,0.00,2.70,0.00,0.000,4,0.000,0.077,2196,1332,3495
$GC,9060,-1.10,-146.6,718.5,-7.6,434,9067,0.00,2.70,0.00,0.000,6,0.000,0.077,2196,2749,3495
$GC,9376,-1.10,-146.6,740.7,-7.0,450,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2749,3494
$GC,9686,-1.10,-146.6,761.3,-6.7,465,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2749,3494
$GC,9995,-1.10,-146.6,781.5,-6.5,480,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2749,3494
$GC,10304,-1.10,-146.6,801.9,-6.6,495,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3493
$GC,10614,-1.10,-146.6,821.9,-6.4,510,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2749,3493
$GC,10923,-1.10,-146.6,840.8,-6.0,525,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2749,3493
$GC,11232,-1.10,-146.6,860.4,-6.5,540,11236,0.00,2.70,0.00,0.000,4,0.000,0.077,2195,1332,3493
$GC,11265,-1.10,-146.6,862.6,-6.7,541,11272,0.00,2.72,0.00,0.000,6,0.000,0.077,2195,2751,3492
$GC,11581,-1.10,-146.6,883.4,-6.7,557,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2751,3492
$GC,11891,-1.10,-146.6,904.1,-6.7,572,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3492
$GC,12200,-1.10,-146.6,924.5,-6.6,587,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2751,3492
$GC,12509,-1.10,-146.6,945.4,-6.8,602,12510,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3492
$GC,12818,-1.10,-146.6,966.9,-7.1,617,12823,0.00,2.70,0.00,0.000,4,0.000,0.076,2196,1332,3492
$GC,12852,-1.10,-146.6,969.3,-7.0,618,12858,0.00,2.72,0.00,0.000,6,0.000,0.077,2195,2752,3492
$STATE,13144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13144,begin apogee
$GC,13152,-0.42,0.0,990.1,7.1,633,13289,0.77,0.00,133.52,1.424,6,0.098,0.000,2348,2068,2902
$STATE,13290,end apogee,CONTROL_FINISHED_OK
$STATE,13290,begin climb
$GC,13293,1.10,146.6,997.1,0.0,640,13439,1.58,2.80,132.93,1.378,4,0.063,0.070,2677,658,2304
$GC,13611,1.19,221.6,993.1,3.9,654,13688,0.10,2.60,69.32,1.357,6,0.055,0.045,2708,2094,1998
$GC,14016,1.19,221.6,968.6,6.2,674,14020,0.00,2.65,0.00,0.000,4,0.000,0.077,2708,3481,1998
$GC,14056,1.19,221.6,966.1,6.7,676,14060,0.00,2.60,0.00,0.000,6,0.000,0.051,2708,2066,1998
$GC,14383,1.19,221.6,945.8,6.1,692,14388,0.00,2.72,0.00,0.000,4,0.000,0.075,2708,3482,1997
$GC,14405,1.19,221.6,944.3,6.1,693,14409,0.00,2.60,0.00,0.000,6,0.000,0.051,2708,2064,1997
$GC,14726,1.19,221.6,923.9,6.5,709,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2063,1998
$GC,15035,1.19,221.6,904.2,6.1,724,15040,0.00,2.72,0.00,0.000,4,0.000,0.076,2708,3480,1997
$GC,15063,1.19,221.6,902.3,7.1,725,15067,0.00,2.58,0.00,0.000,6,0.000,0.050,2708,2071,1997
$GC,15379,1.20,226.2,883.3,5.9,740,15387,0.00,0.00,6.00,1.095,6,0.000,0.000,2708,2071,1979
$GC,15688,1.20,226.2,865.2,6.1,755,15690,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2071,1979
$GC,15997,1.20,226.2,845.8,6.3,770,16002,0.00,2.70,0.00,0.000,4,0.000,0.077,2708,3478,1979
$GC,16030,1.20,226.2,843.5,6.3,771,16036,0.00,2.58,0.00,0.000,6,0.000,0.051,2708,2072,1978
$GC,16346,1.20,226.2,823.7,6.4,787,16348,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2072,1978
$GC,16655,1.20,226.2,804.6,6.1,802,16660,0.00,2.72,0.00,0.000,4,0.000,0.077,2708,3488,1978
$GC,16678,1.20,226.2,803.0,6.3,803,16682,0.00,2.60,0.00,0.000,6,0.000,0.051,2708,2067,1978
$GC,16998,1.20,226.2,783.1,6.3,819,17003,0.00,2.72,0.00,0.000,4,0.000,0.077,2708,3482,1978
$GC,17016,1.20,226.2,782.0,6.4,820,17021,0.00,2.58,0.00,0.000,6,0.000,0.051,2708,2071,1978
$GC,17344,1.20,226.2,761.4,6.5,836,17345,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2071,1978
$GC,17653,1.20,226.2,741.3,6.6,851,17657,0.00,2.70,0.00,0.000,4,0.000,0.077,2708,3484,1978
$GC,17675,1.20,226.2,739.8,6.9,852,17680,0.00,2.58,0.00,0.000,6,0.000,0.051,2708,2074,1978
$GC,17997,1.20,226.2,719.3,6.1,868,17998,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2074,1978
$GC,18306,1.22,244.9,701.5,5.5,883,18326,0.00,0.00,18.10,1.220,6,0.000,0.000,2708,2074,1903
$GC,18636,1.23,253.8,682.7,5.8,899,18651,0.00,2.75,9.50,1.126,4,0.000,0.078,2708,3484,1867
$GC,18668,1.23,253.8,680.5,6.5,899,18674,0.00,2.62,0.00,0.000,6,0.000,0.052,2708,2072,1867
$GC,18984,1.23,253.8,660.6,6.4,915,18989,0.00,2.72,0.00,0.000,4,0.000,0.078,2708,3482,1867
$GC,19006,1.23,253.8,659.0,7.0,916,19011,0.00,2.60,0.00,0.000,6,0.000,0.052,2708,2069,1867
$GC,19329,1.23,253.8,638.2,6.5,932,19331,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2068,1867
$GC,19637,1.23,253.8,618.1,6.4,947,19642,0.00,2.72,0.00,0.000,4,0.000,0.078,2708,3478,1866
$GC,19666,1.23,253.8,616.3,6.3,948,19671,0.00,2.58,0.00,0.000,6,0.000,0.053,2708,2075,1866
$GC,19982,1.23,253.8,596.1,6.6,963,19984,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2075,1866
$GC,20292,1.23,253.8,576.5,6.2,978,20296,0.00,2.72,0.00,0.000,4,0.000,0.078,2708,3490,1866
$GC,20319,1.23,253.8,574.6,6.5,979,20324,0.00,2.60,0.00,0.000,6,0.000,0.053,2708,2074,1866
$GC,20635,1.23,253.8,553.8,6.7,994,20637,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2074,1866
$GC,20945,1.23,253.8,534.3,6.3,1009,20949,0.00,2.70,0.00,0.000,4,0.000,0.080,2708,3478,1866
$GC,20986,1.24,258.4,531.7,5.9,1011,20997,0.00,2.58,5.68,0.938,6,0.000,0.054,2708,2075,1848
$GC,21313,1.24,258.4,511.7,6.1,1027,21314,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2075,1848
$GC,21622,1.24,258.4,492.8,6.0,1042,21626,0.00,2.72,0.00,0.000,4,0.000,0.080,2708,3488,1848
$GC,21645,1.24,258.4,491.3,6.3,1043,21649,0.00,2.60,0.00,0.000,6,0.000,0.055,2708,2077,1848
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$STATE,29067,end climb,SURFACE_DEPTH_REACHED
$STATE,29067,begin surface coast
$FINISH,0.1,1.027343
$STATE,29089,end surface coast,CONTROL_FINISHED_OK
$STATE,29089,begin surface
$SM_CCo,29174,0.00,0.000,0,0,1716,290.93
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$IRIDIUM_FIX,6332.30,-603.62,260898,050529
$TT8_MAMPS,0.029146
$HUMID,1859
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$TCM_TEMP,14.70
$XPDR_PINGS,101
$24V_AH,22.4,75.694
$10V_AH,10.0,42.677
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$DEVICE_SECS,26.575,204.050,406.025,0.000,0.000,22.949,29.047,179.809,33.750,0.000,0.000,10.990,2454.428,23104.406,553.179,2696.287,741.000,33.370,1900.016,0.000,2649.597,0.000,56.952,0.000
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$SENSOR_SECS,1044.232,995.612,749.024,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72555,1401
$CAP_FILE_SIZE,183841,0
$CFSIZE,260165632,229707776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,010609,213001,6350.475,-559.706,39,1.8,39,-8.4