version: 66.04
glider: 103
mission: 11
dive: 467
start: 5 31 109 13 11 55
data:
$ID,103
$MISSION,11
$DIVE,467
$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,-152737.83
$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,22
$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
$GPS1,130507,6407.409,-606.854,29,1.3,29,-8.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-54.4
$GPS2,131101,6407.405,-606.810,12,1.4,12,-8.5
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,N09
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.096,-0.200
$KALMAN_X,-32657.8,-221.2,-392.6,250686.1,-3104.6
$KALMAN_Y,-91697.7,3767.9,4781.1,237965.6,4646.1
$MHEAD_RNG_PITCHd_Wd,162.9,50775,-10.8,-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,-1.08,-146.6,0.0,0.0,0,112,0.00,0.00,-90.85,0.000,6,0.000,0.000,55,2759,3501
$GC,116,-1.08,-146.6,7.7,-8.0,5,137,12.43,2.05,0.00,0.000,4,0.167,0.091,2200,3785,3502
$GC,292,-1.08,-146.6,35.1,-8.6,12,298,0.00,1.98,0.00,0.000,6,0.000,0.073,2200,2762,3502
$GC,610,-1.08,-146.6,59.4,-6.9,28,614,0.00,2.75,0.00,0.000,4,0.000,0.081,2200,1322,3502
$GC,660,-1.08,-146.6,63.5,-8.1,30,665,0.00,2.78,0.00,0.000,6,0.000,0.078,2200,2761,3502
$GC,978,-1.08,-146.6,89.6,-8.1,45,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2761,3502
$GC,1286,-1.08,-146.6,113.5,-7.8,60,1290,0.00,2.78,0.00,0.000,4,0.000,0.081,2200,1321,3503
$GC,1319,-1.08,-146.6,116.1,-8.3,61,1326,0.00,2.75,0.00,0.000,6,0.000,0.078,2200,2755,3503
$GC,1638,-1.08,-146.6,139.5,-7.5,77,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2755,3503
$GC,1944,-1.08,-146.6,163.6,-7.6,92,1949,0.00,2.75,0.00,0.000,4,0.000,0.080,2200,1325,3503
$GC,1985,-1.08,-146.6,166.7,-8.1,94,1989,0.00,2.78,0.00,0.000,6,0.000,0.080,2200,2760,3503
$GC,2312,-1.08,-146.6,190.9,-7.2,110,2316,0.00,2.78,0.00,0.000,4,0.000,0.081,2200,1320,3503
$GC,2345,-1.08,-146.6,193.4,-7.1,111,2351,0.00,2.80,0.00,0.000,6,0.000,0.082,2200,2760,3503
$GC,2661,-1.08,-146.6,215.2,-6.9,127,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2760,3503
$GC,2970,-1.08,-146.6,238.8,-8.1,142,2975,0.00,2.78,0.00,0.000,4,0.000,0.081,2200,1323,3503
$GC,2998,-1.08,-146.6,241.4,-8.7,143,3002,0.00,2.78,0.00,0.000,6,0.000,0.080,2200,2758,3503
$GC,3314,-1.08,-146.6,267.0,-8.1,158,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2758,3503
$GC,3624,-1.08,-146.6,290.7,-7.3,173,3628,0.00,2.78,0.00,0.000,4,0.000,0.082,2200,1321,3503
$GC,3663,-1.08,-146.6,293.7,-7.8,175,3668,0.00,2.75,0.00,0.000,6,0.000,0.078,2200,2750,3503
$GC,3991,-1.08,-146.6,317.1,-6.8,191,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2750,3503
$GC,4301,-1.08,-146.6,337.9,-6.9,206,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2750,3503
$GC,4609,-1.08,-146.6,361.2,-7.8,221,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2750,3502
$GC,4919,-1.08,-146.6,385.2,-7.8,236,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2750,3502
$GC,5229,-1.08,-146.6,408.8,-7.7,251,5233,0.00,2.75,0.00,0.000,4,0.000,0.082,2200,1324,3502
$GC,5256,-1.08,-146.6,411.0,-6.8,252,5261,0.00,2.78,0.00,0.000,6,0.000,0.082,2200,2753,3502
$GC,5572,-1.08,-146.6,433.5,-7.0,267,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2753,3502
$GC,5882,-1.08,-146.6,455.6,-7.1,282,5883,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2753,3502
$GC,6191,-1.08,-146.6,477.5,-7.1,297,6195,0.00,2.75,0.00,0.000,4,0.000,0.081,2200,1328,3501
$GC,6230,-1.08,-146.6,480.5,-7.3,299,6235,0.00,2.75,0.00,0.000,6,0.000,0.079,2200,2751,3501
$GC,6558,-1.08,-146.6,504.2,-7.3,315,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2751,3500
$GC,6868,-1.08,-146.6,525.3,-6.8,330,6869,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2751,3500
$GC,7176,-1.08,-146.6,546.7,-7.0,345,7181,0.00,2.75,0.00,0.000,4,0.000,0.081,2200,1322,3500
$GC,7210,-1.08,-146.6,549.2,-7.6,346,7216,0.00,2.78,0.00,0.000,6,0.000,0.081,2200,2756,3499
$GC,7526,-1.08,-146.6,572.2,-7.3,362,7527,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2756,3499
$GC,7835,-1.08,-146.6,595.4,-7.5,377,7836,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2755,3499
$GC,8145,-1.08,-146.6,618.3,-7.5,392,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2756,3499
$GC,8453,-1.08,-146.6,641.5,-7.4,407,8458,0.00,2.75,0.00,0.000,4,0.000,0.079,2200,1320,3499
$GC,8493,-1.08,-146.6,644.5,-7.3,409,8498,0.00,2.78,0.00,0.000,6,0.000,0.077,2200,2760,3498
$GC,8821,-1.08,-146.6,666.9,-6.6,425,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2760,3498
$GC,9130,-1.08,-146.6,687.5,-6.7,440,9134,0.00,2.75,0.00,0.000,4,0.000,0.078,2200,1324,3498
$GC,9157,-1.08,-146.6,689.4,-7.2,441,9162,0.00,2.75,0.00,0.000,6,0.000,0.077,2200,2751,3498
$GC,9474,-1.08,-146.6,710.6,-6.7,456,9478,0.00,2.05,0.00,0.000,4,0.000,0.104,2200,3783,3498
$GC,9513,-1.08,-146.6,713.4,-6.5,457,9520,0.00,1.92,0.00,0.000,6,0.000,0.061,2200,2745,3498
$GC,9829,-1.08,-146.6,734.1,-6.6,473,9834,0.00,2.67,0.00,0.000,4,0.000,0.080,2200,1335,3498
$GC,9863,-1.08,-146.6,736.3,-6.7,474,9869,0.00,2.75,0.00,0.000,6,0.000,0.080,2200,2758,3498
$GC,10179,-1.08,-146.6,757.6,-7.0,490,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2758,3497
$GC,10488,-1.08,-146.6,779.5,-7.1,505,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2758,3497
$GC,10798,-1.08,-146.6,801.9,-7.4,520,10803,0.00,2.72,0.00,0.000,4,0.000,0.079,2200,1334,3497
$GC,10825,-1.08,-146.6,804.1,-7.6,521,10830,0.00,2.72,0.00,0.000,6,0.000,0.077,2200,2751,3497
$GC,11142,-1.08,-146.6,826.8,-7.1,536,11143,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2751,3497
$GC,11452,-1.08,-146.6,848.7,-7.0,551,11453,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2751,3497
$GC,11760,-1.08,-146.6,870.1,-7.0,566,11761,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2751,3497
$GC,12070,-1.08,-146.6,891.2,-6.9,581,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2751,3496
$GC,12380,-1.08,-146.6,912.3,-6.7,596,12384,0.00,2.72,0.00,0.000,4,0.000,0.080,2200,1332,3496
$GC,12413,-1.08,-146.6,914.8,-6.6,597,12419,0.00,2.75,0.00,0.000,6,0.000,0.078,2200,2760,3496
$GC,12729,-1.08,-146.6,935.5,-6.5,613,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2760,3496
$GC,13039,-1.08,-146.6,955.5,-6.4,628,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2760,3496
$GC,13348,-1.08,-146.6,975.3,-6.2,643,13350,0.00,0.00,0.00,0.000,6,0.000,0.000,2200,2760,3496
$STATE,13592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13592,begin apogee
$GC,13601,-0.42,0.0,991.0,6.3,655,13738,0.75,0.00,133.35,1.449,6,0.097,0.000,2347,2067,2902
$STATE,13738,end apogee,CONTROL_FINISHED_OK
$STATE,13739,begin climb
$GC,13742,1.08,146.6,997.2,0.0,662,13882,1.58,2.75,130.98,1.417,4,0.064,0.071,2676,659,2304
$GC,14076,1.13,188.2,990.1,4.9,676,14121,0.00,2.60,38.95,1.358,6,0.000,0.046,2676,2090,2134
$GC,14442,1.15,200.3,969.8,5.7,694,14463,0.00,2.78,12.35,1.261,4,0.000,0.078,2676,3478,2085
$GC,14520,1.15,200.3,964.9,6.5,697,14525,0.00,2.62,0.00,0.000,6,0.000,0.054,2676,2069,2085
$GC,14836,1.15,200.3,945.6,6.2,712,14841,0.00,2.75,0.00,0.000,4,0.000,0.078,2676,3489,2084
$GC,14869,1.15,200.3,943.7,6.5,713,14875,0.00,2.62,0.00,0.000,6,0.000,0.054,2676,2068,2084
$GC,15186,1.16,207.9,924.8,5.8,729,15200,0.00,2.80,8.57,1.210,4,0.000,0.078,2676,3478,2054
$GC,15230,1.16,207.9,921.8,7.0,731,15235,0.00,2.62,0.00,0.000,6,0.000,0.054,2676,2068,2054
$GC,15558,1.16,207.9,902.3,6.0,747,15563,0.00,2.75,0.00,0.000,4,0.000,0.078,2676,3486,2054
$GC,15599,1.16,207.9,899.8,6.5,749,15603,0.00,2.60,0.00,0.000,6,0.000,0.054,2676,2074,2053
$GC,15925,1.16,210.6,880.6,5.9,765,15935,0.00,2.75,4.35,0.946,4,0.000,0.077,2676,3488,2043
$GC,15975,1.16,212.5,877.5,6.0,767,15979,0.00,2.60,0.00,0.000,6,0.000,0.054,2676,2074,2043
$GC,16292,1.17,216.5,858.5,5.9,782,16306,0.00,2.80,7.05,1.147,4,0.000,0.077,2676,3478,2019
$GC,16336,1.17,221.4,855.7,5.9,784,16347,0.00,2.62,6.03,1.081,6,0.000,0.054,2676,2065,1999
$GC,16664,1.17,221.4,834.4,6.6,800,16669,0.00,2.75,0.00,0.000,4,0.000,0.079,2676,3483,1999
$GC,16708,1.17,221.4,831.4,6.3,802,16713,0.00,2.60,0.00,0.000,6,0.000,0.053,2676,2072,1998
$GC,17030,1.17,221.4,810.7,6.4,818,17034,0.00,2.75,0.00,0.000,4,0.000,0.081,2676,3490,1998
$GC,17063,1.17,221.4,808.5,6.4,819,17069,0.00,2.60,0.00,0.000,6,0.000,0.054,2676,2071,1998
$GC,17379,1.17,221.4,788.6,6.4,835,17384,0.00,2.72,0.00,0.000,4,0.000,0.079,2676,3478,1999
$GC,17420,1.17,221.4,785.8,7.4,837,17424,0.00,2.58,0.00,0.000,6,0.000,0.054,2676,2077,1998
$GC,17747,1.17,221.4,764.8,6.5,853,17751,0.00,2.72,0.00,0.000,4,0.000,0.079,2676,3486,1998
$GC,17780,1.17,221.4,762.7,6.1,854,17786,0.00,2.60,0.00,0.000,6,0.000,0.054,2676,2074,1998
$GC,18096,1.17,221.4,743.2,6.1,870,18100,0.00,2.72,0.00,0.000,4,0.000,0.080,2676,3482,1998
$GC,18135,1.17,221.4,740.7,6.3,872,18140,0.00,2.60,0.00,0.000,6,0.000,0.054,2676,2068,1998
$GC,18463,1.17,221.4,720.3,6.3,888,18468,0.00,2.72,0.00,0.000,4,0.000,0.079,2676,3479,1998
$GC,18496,1.17,221.4,718.1,6.6,889,18502,0.00,2.60,0.00,0.000,6,0.000,0.054,2676,2066,1998
$GC,18812,1.17,221.4,698.3,6.2,905,18816,0.00,2.75,0.00,0.000,4,0.000,0.080,2676,3489,1998
$GC,18862,1.17,221.4,695.0,6.6,907,18867,0.00,2.60,0.00,0.000,6,0.000,0.054,2676,2075,1998
$GC,19179,1.17,222.5,675.5,6.0,922,19183,0.00,2.72,0.00,0.000,4,0.000,0.081,2676,3484,1999
$GC,19212,1.17,222.5,673.5,6.3,923,19218,0.00,2.60,0.00,0.000,6,0.000,0.054,2676,2072,1999
$GC,19528,1.17,222.8,654.4,6.0,939,19533,0.00,2.75,0.00,0.000,4,0.000,0.082,2676,3490,1998
$GC,19573,1.17,222.8,651.6,6.3,941,19577,0.00,2.62,0.00,0.000,6,0.000,0.055,2676,2065,1998
$GC,19894,1.19,238.1,633.3,5.6,957,19916,0.12,2.80,16.17,1.177,4,0.048,0.076,2714,3480,1931
$GC,19941,1.19,238.1,630.4,7.6,959,19945,0.00,2.62,0.00,0.000,6,0.000,0.053,2714,2066,1930
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$STATE,29660,end climb,SURFACE_DEPTH_REACHED
$STATE,29661,begin surface coast
$FINISH,0.0,1.015819
$STATE,29681,end surface coast,CONTROL_FINISHED_OK
$STATE,29681,begin surface
$SM_CCo,29766,0.00,0.000,0,0,1795,271.79
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$IRIDIUM_FIX,6342.00,-605.70,250898,080812
$TT8_MAMPS,0.029146
$HUMID,1858
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$TCM_TEMP,14.80
$XPDR_PINGS,132
$24V_AH,22.4,75.170
$10V_AH,10.0,42.328
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$DEVICE_SECS,26.825,248.600,393.975,0.000,0.000,30.509,31.178,150.430,41.500,0.000,0.000,12.988,2529.813,23383.777,625.479,2809.537,765.167,33.371,2056.573,0.000,2775.481,0.000,56.955,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1081.064,1020.637,759.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72554,1430
$CAP_FILE_SIZE,195413,0
$CFSIZE,260165632,229941248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,310509,212907,6403.223,-603.399,26,1.3,26,-8.5