version: 66.04
glider: 103
mission: 11
dive: 474
start: 6 2 109 21 23 4
data:
$ID,103
$MISSION,11
$DIVE,474
$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,-152856.09
$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,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
$GPS1,211536,6342.573,-600.836,37,1.0,42,-8.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-62.8
$GPS2,212213,6342.542,-600.856,11,1.1,16,-8.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,N09
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.211,-0.057
$KALMAN_X,-22044.4,-694.3,-209.8,245418.9,5040.9
$KALMAN_Y,-92701.5,1074.8,-2271.1,202882.0,-649.5
$MHEAD_RNG_PITCHd_Wd,263.1,5809,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.10,-146.6,0.0,0.0,0,60,0.00,0.00,-41.62,0.000,2,0.000,0.000,47,2755,3031
$GC,64,-1.10,-146.6,3.3,-9.6,2,90,12.43,2.10,-8.40,0.000,4,0.166,0.121,2195,3790,3500
$GC,309,-1.10,-146.6,31.0,-8.6,13,313,0.00,1.95,0.00,0.000,6,0.000,0.067,2195,2752,3500
$GC,637,-1.10,-146.6,60.1,-9.6,29,641,0.00,2.72,0.00,0.000,4,0.000,0.081,2195,1322,3500
$GC,677,-1.10,-146.6,63.8,-9.3,31,681,0.00,2.72,0.00,0.000,6,0.000,0.072,2195,2761,3500
$GC,1004,-1.10,-146.6,94.7,-9.1,47,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2761,3501
$GC,1314,-1.10,-146.6,122.0,-9.1,62,1318,0.00,2.75,0.00,0.000,4,0.000,0.078,2195,1328,3501
$GC,1341,-1.10,-146.6,124.7,-9.1,63,1346,0.00,2.72,0.00,0.000,6,0.000,0.075,2195,2749,3501
$GC,1657,-1.10,-146.6,153.5,-8.8,78,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2749,3501
$GC,1967,-1.10,-146.6,179.0,-8.0,93,1971,0.00,2.72,0.00,0.000,4,0.000,0.079,2196,1331,3501
$GC,2000,-1.10,-146.6,181.8,-8.3,94,2006,0.00,2.75,0.00,0.000,6,0.000,0.079,2195,2757,3501
$GC,2316,-1.10,-146.6,205.1,-7.2,110,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2757,3501
$GC,2625,-1.10,-146.6,228.1,-7.9,125,2630,0.00,2.75,0.00,0.000,4,0.000,0.080,2195,1328,3501
$GC,2653,-1.10,-146.6,230.4,-8.0,126,2657,0.00,2.75,0.00,0.000,6,0.000,0.077,2196,2758,3501
$GC,2969,-1.10,-146.6,253.6,-7.2,141,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3500
$GC,3279,-1.10,-146.6,274.9,-6.5,156,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2759,3500
$GC,3589,-1.10,-146.6,295.7,-6.7,171,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2759,3501
$GC,3897,-1.10,-146.6,317.6,-7.5,186,3902,0.00,2.75,0.00,0.000,4,0.000,0.081,2196,1331,3500
$GC,3937,-1.10,-146.6,320.3,-6.9,188,3941,0.00,2.72,0.00,0.000,6,0.000,0.077,2195,2751,3500
$GC,4264,-1.10,-146.6,345.5,-7.8,204,4268,0.00,2.08,0.00,0.000,4,0.000,0.106,2196,3792,3500
$GC,4292,-1.10,-146.6,347.9,-7.9,205,4295,0.00,1.95,0.00,0.000,6,0.000,0.064,2196,2746,3500
$GC,4620,-1.10,-146.6,376.0,-8.6,221,4621,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2746,3499
$GC,4929,-1.10,-146.6,402.4,-8.5,236,4934,0.00,2.70,0.00,0.000,4,0.000,0.081,2196,1322,3499
$GC,4957,-1.10,-146.6,405.1,-8.9,237,4962,0.00,2.75,0.00,0.000,6,0.000,0.079,2195,2751,3499
$GC,5273,-1.10,-146.6,430.8,-8.0,252,5274,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2751,3498
$GC,5583,-1.10,-146.6,456.2,-8.6,267,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3498
$GC,5892,-1.10,-146.6,481.7,-8.1,282,5893,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3497
$GC,6201,-1.10,-146.6,507.7,-8.5,297,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2751,3497
$GC,6511,-1.10,-146.6,533.5,-8.2,312,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3496
$GC,6819,-1.10,-146.6,559.7,-8.5,327,6824,0.00,2.72,0.00,0.000,4,0.000,0.077,2195,1326,3496
$GC,6847,-1.10,-146.6,562.2,-9.2,328,6851,0.00,2.75,0.00,0.000,6,0.000,0.077,2196,2758,3496
$GC,7163,-1.10,-146.6,588.1,-8.0,343,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2758,3496
$GC,7472,-1.10,-146.6,611.6,-7.5,358,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2758,3495
$GC,7781,-1.10,-146.6,634.1,-7.0,373,7786,0.00,2.72,0.00,0.000,4,0.000,0.077,2195,1330,3495
$GC,7822,-1.10,-146.6,636.9,-7.1,375,7826,0.00,2.72,0.00,0.000,6,0.000,0.077,2196,2751,3495
$GC,8148,-1.10,-146.6,658.2,-6.3,391,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2751,3495
$GC,8458,-1.10,-146.6,677.3,-6.0,406,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3494
$GC,8768,-1.10,-146.6,695.4,-5.9,421,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2751,3494
$GC,9077,-1.10,-146.6,714.0,-6.3,436,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3494
$GC,9386,-1.10,-146.6,732.2,-5.4,451,9390,0.00,2.70,0.00,0.000,4,0.000,0.075,2196,1332,3493
$GC,9426,-1.10,-146.6,734.6,-6.5,453,9431,0.00,2.72,0.00,0.000,6,0.000,0.077,2195,2752,3493
$GC,9754,-1.10,-146.6,752.7,-5.6,469,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2752,3493
$GC,10063,-1.10,-146.6,770.4,-5.7,484,10064,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2752,3493
$GC,10373,-1.10,-146.6,788.3,-5.9,499,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2752,3492
$GC,10682,-1.10,-146.6,806.5,-5.8,514,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2752,3492
$GC,10992,-1.10,-146.6,824.8,-6.0,529,10996,0.00,2.70,0.00,0.000,4,0.000,0.076,2195,1332,3492
$GC,11025,-1.10,-146.6,826.9,-6.0,530,11029,0.00,2.72,0.00,0.000,6,0.000,0.078,2195,2751,3492
$GC,11341,-1.10,-146.6,845.8,-6.3,545,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2750,3492
$GC,11651,-1.10,-146.6,864.9,-6.1,560,11652,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3491
$GC,11959,-1.10,-146.6,884.4,-6.2,575,11960,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3491
$GC,12268,-1.10,-146.6,903.0,-6.0,590,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,2196,2751,3491
$GC,12579,-1.10,-146.6,921.1,-5.9,605,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3491
$GC,12887,-1.10,-146.6,937.9,-5.4,620,12889,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2751,3491
$GC,13197,-1.10,-146.6,955.1,-5.6,635,13201,0.00,2.70,0.00,0.000,4,0.000,0.076,2195,1333,3491
$GC,13225,-1.10,-146.6,956.7,-5.2,636,13229,0.00,2.72,0.00,0.000,6,0.000,0.077,2195,2752,3491
$GC,13542,-1.10,-146.6,974.6,-6.0,651,13543,0.00,0.00,0.00,0.000,6,0.000,0.000,2195,2752,3490
$STATE,13806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13806,begin apogee
$GC,13814,-0.42,0.0,990.3,5.9,664,13951,0.77,0.00,134.05,1.430,6,0.100,0.000,2347,2069,2902
$STATE,13952,end apogee,CONTROL_FINISHED_OK
$STATE,13952,begin climb
$GC,13956,1.10,146.6,996.1,0.0,671,14105,1.58,2.78,133.48,1.384,4,0.064,0.070,2676,665,2304
$GC,14246,1.19,215.3,990.4,4.1,684,14318,0.10,2.58,63.40,1.354,6,0.054,0.043,2708,2091,2024
$GC,14634,1.19,215.3,964.8,7.0,703,14638,0.00,2.65,0.00,0.000,4,0.000,0.074,2708,3482,2023
$GC,14668,1.19,215.3,962.2,7.5,704,14674,0.00,2.60,0.00,0.000,6,0.000,0.049,2708,2061,2023
$GC,14984,1.19,215.3,940.3,6.8,720,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2061,2024
$GC,15293,1.19,215.3,919.6,6.6,735,15294,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2061,2024
$GC,15602,1.19,215.3,899.6,6.6,750,15607,0.00,2.72,0.00,0.000,4,0.000,0.075,2708,3478,2024
$GC,15635,1.19,215.3,897.3,7.0,751,15641,0.00,2.58,0.00,0.000,6,0.000,0.049,2708,2065,2023
$GC,15951,1.19,215.3,877.7,6.1,767,15952,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2065,2023
$GC,16260,1.19,215.3,858.9,6.2,782,16265,0.00,2.72,0.00,0.000,4,0.000,0.074,2708,3490,2023
$GC,16301,1.19,215.3,856.4,6.7,784,16306,0.00,2.58,0.00,0.000,6,0.000,0.049,2708,2075,2023
$GC,16629,1.19,219.9,836.8,5.9,800,16636,0.00,0.00,5.78,1.071,6,0.000,0.000,2708,2075,2005
$GC,16938,1.20,223.1,818.5,5.9,815,16948,0.00,2.67,4.60,0.959,4,0.000,0.071,2708,669,1992
$GC,16971,1.20,223.1,816.4,6.1,816,16977,0.00,2.55,0.00,0.000,6,0.000,0.045,2708,2077,1992
$GC,17287,1.20,225.8,797.7,5.9,832,17293,0.00,0.00,4.45,0.940,6,0.000,0.000,2708,2077,1981
$GC,17597,1.21,230.7,779.5,5.9,847,17605,0.00,0.00,6.35,1.081,6,0.000,0.000,2708,2077,1961
$GC,17905,1.21,230.7,759.9,6.3,862,17910,0.00,2.70,0.00,0.000,4,0.000,0.077,2708,3493,1960
$GC,17933,1.21,230.7,757.9,7.2,863,17938,0.00,2.60,0.00,0.000,6,0.000,0.051,2708,2071,1960
$GC,18250,1.21,230.7,737.9,6.4,878,18251,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2071,1961
$GC,18558,1.21,230.7,718.6,6.2,893,18560,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2071,1960
$GC,18868,1.21,230.7,699.4,6.1,908,18872,0.00,2.72,0.00,0.000,4,0.000,0.078,2708,3488,1960
$GC,18901,1.21,231.7,697.1,6.0,909,18908,0.00,2.58,0.00,0.000,6,0.000,0.051,2708,2075,1960
$GC,19218,1.22,239.6,678.7,5.8,925,19229,0.00,0.00,9.35,1.137,6,0.000,0.000,2708,2075,1925
$GC,19527,1.22,239.6,659.9,6.2,940,19528,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2075,1925
$GC,19836,1.22,239.6,641.1,6.0,955,19841,0.00,2.70,0.00,0.000,4,0.000,0.077,2708,3492,1925
$GC,19864,1.22,239.6,639.2,7.1,956,19868,0.00,2.58,0.00,0.000,6,0.000,0.051,2708,2075,1925
$GC,20180,1.22,239.6,620.2,6.1,971,20181,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2075,1925
$GC,20490,1.22,239.6,601.5,6.0,986,20491,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2075,1925
$GC,20798,1.22,239.6,582.3,6.1,1001,20800,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2075,1925
$GC,21108,1.22,239.6,563.0,6.4,1016,21112,0.00,2.72,0.00,0.000,4,0.000,0.079,2708,3491,1925
$GC,21141,1.22,241.3,560.6,6.0,1017,21147,0.00,2.60,0.00,0.000,6,0.000,0.052,2708,2072,1925
$GC,21458,1.22,241.3,539.7,6.7,1033,21462,0.00,2.62,0.00,0.000,4,0.000,0.074,2708,668,1925
$GC,21485,1.22,241.3,537.6,8.0,1034,21490,0.00,2.55,0.00,0.000,6,0.000,0.048,2708,2078,1925
$GC,21806,1.22,241.3,514.6,7.5,1050,21811,0.00,2.70,0.00,0.000,4,0.000,0.080,2708,3490,1925
$GC,21840,1.22,241.3,511.9,7.2,1051,21847,0.00,2.58,0.00,0.000,6,0.000,0.054,2708,2076,1925
$GC,22156,1.22,241.3,488.3,7.3,1067,22160,0.00,2.65,0.00,0.000,4,0.000,0.074,2708,667,1926
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$GC,23226,1.24,260.4,415.5,5.5,1117,23253,0.00,2.60,19.60,1.059,6,0.000,0.056,2708,2075,1840
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$GC,28503,1.27,284.5,59.7,5.6,1373,28525,0.00,2.65,12.70,0.800,6,0.000,0.064,2708,2067,1742
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$STATE,29418,end climb,SURFACE_DEPTH_REACHED
$STATE,29418,begin surface coast
$FINISH,0.4,1.027371
$STATE,29440,end surface coast,CONTROL_FINISHED_OK
$STATE,29440,begin surface
$SM_CCo,29526,0.00,0.000,0,0,1683,299.02
$SM_GC,0.78,12.00,0.00,0.00,0.038,0.000,0.000,52,2748,1683,-10.93,-0.06,299.02
$IRIDIUM_FIX,6317.84,-555.20,270898,131354
$TT8_MAMPS,0.029146
$HUMID,1851
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,14.70
$XPDR_PINGS,102
$24V_AH,22.4,76.402
$10V_AH,10.0,43.142
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$DEVICE_SECS,26.875,192.500,420.200,0.000,0.000,26.113,31.890,180.921,34.000,0.000,0.000,16.477,2478.542,23387.375,567.295,2707.115,769.148,33.372,1925.999,0.000,2671.445,0.000,56.960,0.000
$DEVICE_MAMPS,165.672,121.186,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1069.495,1010.508,733.601,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72572,1418
$CAP_FILE_SIZE,185301,0
$CFSIZE,260165632,229380096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030609,053631,6339.717,-605.221,41,1.4,41,-8.3