version: 66.04
glider: 103
mission: 11
dive: 472
start: 6 2 109 5 42 12
data:
$ID,103
$MISSION,11
$DIVE,472
$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,-152826.08
$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,18
$R_STBD_OVSHOOT,8
$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
$GPS1,053437,6346.294,-556.803,39,1.0,39,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.6
$GPS2,054120,6346.287,-556.593,13,1.1,13,-8.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,N09
$TGT_LATLONG,6340.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.003,-0.218
$KALMAN_X,-27500.1,1258.7,320.8,251955.7,-258.1
$KALMAN_Y,-88726.6,-4024.8,1617.4,207069.9,6965.0
$MHEAD_RNG_PITCHd_Wd,187.4,13538,-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,-146.6,0.0,0.0,0,77,0.00,0.00,-54.62,0.000,6,0.000,0.000,48,2752,3502
$GC,81,-1.10,-146.6,7.9,-17.0,3,102,12.43,2.08,0.00,0.000,4,0.166,0.092,2193,3787,3502
$GC,310,-1.10,-146.6,40.4,-8.2,13,314,0.00,1.95,0.00,0.000,6,0.000,0.069,2193,2754,3502
$GC,640,-1.10,-146.6,65.1,-7.3,29,644,0.00,2.72,0.00,0.000,4,0.000,0.083,2193,1332,3502
$GC,673,-1.10,-146.6,67.8,-7.3,30,679,0.00,2.72,0.00,0.000,6,0.000,0.076,2193,2761,3502
$GC,991,-1.10,-146.6,91.0,-7.4,46,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2761,3503
$GC,1298,-1.10,-146.6,115.0,-7.9,61,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2761,3503
$GC,1608,-1.10,-146.6,140.9,-8.6,76,1613,0.00,2.75,0.00,0.000,4,0.000,0.081,2193,1334,3503
$GC,1636,-1.10,-146.6,143.7,-9.0,77,1641,0.00,2.72,0.00,0.000,6,0.000,0.077,2193,2752,3503
$GC,1952,-1.10,-146.6,168.4,-7.6,92,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2752,3503
$GC,2262,-1.10,-146.6,191.7,-7.6,107,2266,0.00,2.72,0.00,0.000,4,0.000,0.081,2194,1333,3503
$GC,2289,-1.10,-146.6,193.9,-7.4,108,2294,0.00,2.72,0.00,0.000,6,0.000,0.077,2193,2750,3503
$GC,2605,-1.10,-146.6,215.9,-7.1,123,2606,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2750,3503
$GC,2915,-1.10,-146.6,238.3,-7.4,138,2919,0.00,2.72,0.00,0.000,4,0.000,0.081,2193,1333,3503
$GC,2948,-1.10,-146.6,240.9,-7.4,139,2954,0.00,2.75,0.00,0.000,6,0.000,0.079,2193,2759,3503
$GC,3264,-1.10,-146.6,263.6,-7.1,155,3267,0.00,2.05,0.00,0.000,4,0.000,0.107,2193,3785,3503
$GC,3304,-1.10,-146.6,266.4,-7.0,156,3309,0.00,1.95,0.00,0.000,6,0.000,0.065,2193,2740,3503
$GC,3619,-1.10,-146.6,286.9,-6.4,172,3624,0.00,2.70,0.00,0.000,4,0.000,0.084,2193,1332,3502
$GC,3652,-1.10,-146.6,289.1,-6.2,173,3659,0.00,2.72,0.00,0.000,6,0.000,0.077,2193,2753,3502
$GC,3969,-1.10,-146.6,309.0,-7.0,189,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2753,3502
$GC,4278,-1.10,-146.6,333.8,-8.4,204,4282,0.00,2.75,0.00,0.000,4,0.000,0.082,2193,1332,3502
$GC,4305,-1.10,-146.6,336.3,-8.4,205,4310,0.00,2.75,0.00,0.000,6,0.000,0.077,2193,2757,3502
$GC,4621,-1.10,-146.6,363.9,-8.6,220,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2757,3501
$GC,4930,-1.10,-146.6,389.9,-8.3,235,4934,0.00,2.05,0.00,0.000,4,0.000,0.106,2193,3789,3501
$GC,4969,-1.10,-146.6,393.4,-8.8,236,4975,0.00,1.95,0.00,0.000,6,0.000,0.064,2193,2740,3501
$GC,5285,-1.10,-146.6,419.5,-8.0,252,5290,0.00,2.70,0.00,0.000,4,0.000,0.084,2194,1330,3501
$GC,5313,-1.10,-146.6,421.8,-7.8,253,5317,0.00,2.75,0.00,0.000,6,0.000,0.077,2193,2757,3501
$GC,5629,-1.10,-146.6,446.8,-7.9,268,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2757,3500
$GC,5938,-1.10,-146.6,471.5,-7.8,283,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2757,3500
$GC,6248,-1.10,-146.6,495.1,-7.6,298,6252,0.00,2.75,0.00,0.000,4,0.000,0.080,2193,1324,3499
$GC,6275,-1.10,-146.6,497.4,-7.7,299,6280,0.00,2.75,0.00,0.000,6,0.000,0.078,2194,2751,3499
$GC,6591,-1.10,-146.6,520.4,-6.9,314,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2751,3499
$GC,6901,-1.10,-146.6,541.1,-6.6,329,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2751,3498
$GC,7210,-1.10,-146.6,561.8,-6.7,344,7211,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2751,3498
$GC,7519,-1.10,-146.6,582.1,-6.6,359,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2751,3498
$GC,7828,-1.10,-146.6,603.8,-7.1,374,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2751,3497
$GC,8138,-1.10,-146.6,625.8,-7.2,389,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2751,3497
$GC,8447,-1.10,-146.6,649.0,-7.6,404,8451,0.00,2.70,0.00,0.000,4,0.000,0.078,2194,1333,3496
$GC,8475,-1.10,-146.6,651.3,-7.8,405,8479,0.00,2.72,0.00,0.000,6,0.000,0.078,2193,2752,3496
$GC,8791,-1.10,-146.6,674.9,-7.2,420,8792,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2752,3496
$GC,9100,-1.10,-146.6,697.2,-7.2,435,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2752,3495
$GC,9410,-1.10,-146.6,719.1,-7.1,450,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2752,3496
$GC,9718,-1.10,-146.6,741.0,-7.1,465,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2752,3495
$GC,10028,-1.10,-146.6,761.7,-6.7,480,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,2194,2752,3495
$GC,10338,-1.10,-146.6,782.3,-6.7,495,10342,0.00,2.72,0.00,0.000,4,0.000,0.078,2193,1330,3495
$GC,10371,-1.10,-146.6,784.6,-6.6,496,10377,0.00,2.75,0.00,0.000,6,0.000,0.079,2193,2756,3495
$GC,10687,-1.10,-146.6,805.6,-6.5,512,10688,0.00,0.00,0.00,0.000,6,0.000,0.000,2193,2755,3495
$GC,10997,-1.10,-146.6,825.8,-6.6,527,11002,0.00,2.72,0.00,0.000,4,0.000,0.078,2193,1333,3495
$GC,11025,-1.10,-146.6,828.0,-7.4,528,11030,0.00,2.72,0.00,0.000,6,0.000,0.077,2194,2751,3495
$GC,11342,-1.10,-146.6,850.5,-7.6,543,11346,0.00,2.70,0.00,0.000,4,0.000,0.076,2193,1327,3495
$GC,11353,-1.10,-146.6,851.5,-7.7,543,11359,0.00,2.72,0.00,0.000,6,0.000,0.075,2193,2751,3495
$GC,11671,-1.10,-146.6,875.7,-7.7,559,11675,0.00,2.05,0.00,0.000,4,0.000,0.105,2193,3784,3494
$GC,11722,-1.10,-146.6,879.9,-8.1,561,11725,0.00,1.92,0.00,0.000,6,0.000,0.059,2193,2739,3494
$GC,12049,-1.10,-146.6,904.9,-7.6,577,12054,0.00,2.65,0.00,0.000,4,0.000,0.078,2193,1338,3494
$GC,12167,-1.10,-146.6,914.3,-8.6,582,12172,0.00,2.72,0.00,0.000,6,0.000,0.077,2193,2753,3494
$GC,12483,-1.10,-146.6,938.3,-7.5,597,12488,0.00,2.70,0.00,0.000,4,0.000,0.076,2193,1335,3494
$GC,12523,-1.10,-146.6,941.4,-7.8,599,12528,0.00,2.72,0.00,0.000,6,0.000,0.077,2193,2756,3494
$GC,12851,-1.10,-146.6,966.8,-7.7,615,12855,0.00,2.70,0.00,0.000,4,0.000,0.076,2193,1339,3494
$GC,12906,-1.10,-146.6,971.2,-7.9,617,12912,0.00,2.72,0.00,0.000,6,0.000,0.077,2193,2756,3494
$STATE,13157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13157,begin apogee
$GC,13167,-0.42,0.0,990.9,7.9,630,13305,0.80,0.00,134.75,1.424,6,0.110,0.000,2347,2073,2902
$STATE,13305,end apogee,CONTROL_FINISHED_OK
$STATE,13306,begin climb
$GC,13309,1.10,146.6,999.3,0.0,637,13454,1.60,2.85,133.77,1.382,4,0.066,0.072,2678,3494,2304
$GC,13710,1.21,230.7,993.5,3.7,655,13794,0.12,2.62,77.12,1.367,6,0.050,0.051,2713,2065,1961
$GC,14116,1.21,230.7,969.5,6.2,675,14120,0.00,2.75,0.00,0.000,4,0.000,0.075,2714,3491,1961
$GC,14182,1.21,230.7,965.1,6.6,678,14187,0.00,2.62,0.00,0.000,6,0.000,0.052,2713,2068,1961
$GC,14504,1.21,230.7,944.8,6.2,694,14506,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2068,1961
$GC,14813,1.21,230.7,925.3,6.4,709,14818,0.00,2.75,0.00,0.000,4,0.000,0.076,2714,3498,1961
$GC,14846,1.21,230.7,923.2,6.2,710,14853,0.00,2.60,0.00,0.000,6,0.000,0.052,2714,2074,1961
$GC,15163,1.21,230.7,903.9,6.0,726,15167,0.00,2.72,0.00,0.000,4,0.000,0.076,2714,3494,1961
$GC,15191,1.21,232.0,902.0,6.0,727,15195,0.00,2.60,0.00,0.000,6,0.000,0.051,2714,2075,1961
$GC,15507,1.21,233.5,883.3,6.0,742,15516,0.00,2.78,4.20,0.928,4,0.000,0.076,2714,3501,1950
$GC,15539,1.21,233.5,881.3,6.5,743,15544,0.00,2.62,0.00,0.000,6,0.000,0.051,2713,2077,1950
$GC,15855,1.22,242.3,863.0,5.8,758,15867,0.00,0.00,9.90,1.223,6,0.000,0.000,2714,2077,1915
$GC,16165,1.24,254.3,845.5,5.7,773,16186,0.00,2.83,12.30,1.246,4,0.000,0.077,2714,3491,1865
$GC,16215,1.24,254.3,842.2,6.9,775,16220,0.00,2.65,0.00,0.000,6,0.000,0.052,2713,2065,1865
$GC,16537,1.24,254.3,823.0,6.1,791,16538,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2064,1865
$GC,16846,1.24,254.3,802.6,6.8,806,16850,0.00,2.78,0.00,0.000,4,0.000,0.077,2713,3504,1865
$GC,16896,1.24,254.3,798.9,6.7,808,16900,0.00,2.62,0.00,0.000,6,0.000,0.052,2714,2074,1865
$GC,17212,1.24,254.3,776.0,7.4,823,17213,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2074,1865
$GC,17521,1.24,254.3,754.1,7.0,838,17526,0.00,2.72,0.00,0.000,4,0.000,0.079,2714,3494,1864
$GC,17568,1.24,254.3,750.7,7.3,840,17573,0.00,2.60,0.00,0.000,6,0.000,0.052,2714,2075,1864
$GC,17890,1.24,254.3,726.0,7.9,856,17895,0.00,2.75,0.00,0.000,4,0.000,0.077,2713,3504,1865
$GC,17913,1.24,254.3,724.1,8.5,857,17917,0.00,2.62,0.00,0.000,6,0.000,0.052,2713,2071,1864
$GC,18234,1.24,254.3,698.4,8.2,873,18238,0.00,2.75,0.00,0.000,4,0.000,0.077,2713,3502,1864
$GC,18256,1.24,254.3,696.3,8.6,874,18260,0.00,2.62,0.00,0.000,6,0.000,0.051,2714,2068,1864
$GC,18577,1.24,254.3,670.1,8.3,890,18581,0.00,2.75,0.00,0.000,4,0.000,0.077,2714,3496,1864
$GC,18599,1.24,254.3,668.1,8.6,891,18604,0.00,2.62,0.00,0.000,6,0.000,0.052,2714,2066,1864
$GC,18920,1.24,254.3,641.4,8.3,907,18921,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2066,1864
$GC,19229,1.24,254.3,616.2,8.2,922,19234,0.00,2.75,0.00,0.000,4,0.000,0.077,2713,3496,1865
$GC,19263,1.24,254.3,613.3,8.2,923,19269,0.00,2.62,0.00,0.000,6,0.000,0.053,2714,2065,1864
$GC,19578,1.24,254.3,586.8,8.3,939,19583,0.00,2.75,0.00,0.000,4,0.000,0.077,2714,3500,1864
$GC,19606,1.24,254.3,584.3,8.0,940,19610,0.00,2.62,0.00,0.000,6,0.000,0.053,2714,2069,1864
$GC,19922,1.24,254.3,559.2,7.6,955,19923,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2069,1865
$GC,20231,1.24,254.3,534.9,7.7,970,20235,0.00,2.75,0.00,0.000,4,0.000,0.079,2714,3498,1865
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$STATE,27980,end climb,SURFACE_DEPTH_REACHED
$STATE,27980,begin surface coast
$FINISH,0.5,1.027350
$STATE,28002,end surface coast,CONTROL_FINISHED_OK
$STATE,28002,begin surface
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$TT8_MAMPS,0.029146
$HUMID,1867
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$TCM_TEMP,14.70
$XPDR_PINGS,115
$24V_AH,22.4,76.054
$10V_AH,10.0,42.911
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$DEVICE_SECS,26.900,235.750,430.250,0.000,0.000,24.592,27.063,191.800,37.250,0.000,0.000,13.214,2387.317,22017.230,611.289,2695.979,763.453,33.372,1984.525,0.000,2645.774,0.000,56.958,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69529,1343
$CAP_FILE_SIZE,186264,0
$CFSIZE,260165632,229543936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,020609,133137,6342.883,-554.664,37,1.1,37,-8.3