version: 66.04
glider: 103
mission: 11
dive: 475
start: 6 3 109 5 44 30
data:
$ID,103
$MISSION,11
$DIVE,475
$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,-152872.36
$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,17
$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
$GPS1,053631,6339.717,-605.221,41,1.4,41,-8.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-62.9
$GPS2,054338,6339.677,-605.116,15,1.1,15,-8.3
$SPEED_LIMITS,0.104,0.218
$TGT_NAME,N05
$TGT_LATLONG,6300.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.059,-1.919
$KALMAN_X,-20209.0,541.0,-23.0,238545.0,2010.0
$KALMAN_Y,-95879.6,-2873.4,1349.5,201116.7,2157.9
$MHEAD_RNG_PITCHd_Wd,190.1,73482,-5.7,-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,-0.66,-146.6,0.0,0.0,0,59,0.00,0.00,-41.05,0.000,2,0.000,0.000,52,2751,2999
$GC,63,-0.66,-146.6,3.3,-10.4,2,90,12.85,2.08,-9.10,0.000,4,0.162,0.116,2292,3783,3501
$GC,242,-0.66,-146.6,20.7,-7.3,10,245,0.00,1.95,0.00,0.000,6,0.000,0.067,2292,2749,3500
$GC,569,-0.66,-146.6,45.1,-7.5,26,570,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2749,3501
$GC,880,-0.66,-146.6,66.4,-6.9,41,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2749,3502
$GC,1188,-0.66,-146.6,88.5,-7.4,56,1191,0.00,2.05,0.00,0.000,4,0.000,0.094,2292,3783,3502
$GC,1212,-0.66,-146.6,90.3,-7.5,57,1215,0.00,1.92,0.00,0.000,6,0.000,0.062,2292,2746,3502
$GC,1546,-0.66,-146.6,115.8,-7.8,73,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2746,3502
$GC,1854,-0.66,-146.6,140.1,-8.0,88,1858,0.00,2.08,0.00,0.000,4,0.000,0.096,2292,3790,3503
$GC,1910,-0.66,-146.6,144.5,-7.3,90,1914,0.00,1.95,0.00,0.000,6,0.000,0.064,2292,2743,3504
$GC,2233,-0.66,-146.6,169.5,-7.8,106,2236,0.00,2.08,0.00,0.000,4,0.000,0.100,2292,3785,3503
$GC,2266,-0.66,-146.6,172.5,-8.4,107,2270,0.00,1.92,0.00,0.000,6,0.000,0.063,2292,2751,3503
$GC,2588,-0.66,-146.6,197.7,-7.7,123,2592,0.00,2.08,0.00,0.000,4,0.000,0.102,2292,3785,3502
$GC,2623,-0.66,-146.6,200.3,-7.9,124,2627,0.00,1.95,0.00,0.000,6,0.000,0.065,2292,2742,3502
$GC,2945,-0.66,-146.6,223.2,-7.0,140,2948,0.00,2.10,0.00,0.000,4,0.000,0.104,2292,3783,3502
$GC,2978,-0.66,-146.6,225.6,-7.1,141,2982,0.00,1.95,0.00,0.000,6,0.000,0.066,2292,2741,3501
$GC,3300,-0.66,-146.6,246.6,-6.7,157,3303,0.00,2.10,0.00,0.000,4,0.000,0.103,2292,3783,3501
$GC,3346,-0.66,-146.6,249.5,-6.3,159,3351,0.00,1.95,0.00,0.000,6,0.000,0.066,2292,2743,3501
$GC,3679,-0.66,-146.6,270.1,-6.1,175,3683,0.00,2.10,0.00,0.000,4,0.000,0.103,2292,3786,3501
$GC,3730,-0.66,-146.6,273.1,-5.8,177,3734,0.00,1.95,0.00,0.000,6,0.000,0.067,2292,2747,3501
$GC,4058,-0.66,-146.6,293.6,-6.2,193,4061,0.00,2.10,0.00,0.000,4,0.000,0.104,2292,3787,3500
$GC,4104,-0.66,-146.6,296.5,-6.6,195,4107,0.00,1.95,0.00,0.000,6,0.000,0.067,2292,2748,3500
$GC,4437,-0.66,-146.6,318.3,-7.0,211,4441,0.00,2.10,0.00,0.000,4,0.000,0.104,2292,3789,3500
$GC,4488,-0.66,-146.6,321.8,-6.9,213,4492,0.00,1.95,0.00,0.000,6,0.000,0.066,2292,2747,3500
$GC,4815,-0.66,-146.6,344.4,-7.0,229,4819,0.00,2.10,0.00,0.000,4,0.000,0.105,2292,3785,3500
$GC,4883,-0.66,-146.6,349.0,-7.0,232,4887,0.00,1.95,0.00,0.000,6,0.000,0.064,2292,2738,3500
$GC,5217,-0.66,-146.6,371.5,-6.7,248,5221,0.00,2.12,0.00,0.000,4,0.000,0.104,2292,3789,3499
$GC,5267,-0.66,-146.6,374.9,-6.2,250,5272,0.00,1.95,0.00,0.000,6,0.000,0.065,2292,2746,3499
$GC,5595,-0.66,-146.6,396.5,-6.6,266,5599,0.00,2.10,0.00,0.000,4,0.000,0.107,2292,3785,3499
$GC,5663,-0.66,-146.6,400.9,-6.1,269,5667,0.00,1.92,0.00,0.000,6,0.000,0.064,2292,2750,3499
$GC,5996,-0.66,-146.6,422.4,-6.4,285,6000,0.00,2.10,0.00,0.000,4,0.000,0.107,2292,3786,3498
$GC,6066,-0.66,-146.6,426.8,-6.8,288,6070,0.00,1.92,0.00,0.000,6,0.000,0.064,2292,2750,3498
$GC,6399,-0.66,-146.6,448.8,-6.5,304,6403,0.00,2.10,0.00,0.000,4,0.000,0.107,2292,3787,3497
$GC,6468,-0.66,-146.6,453.4,-6.5,307,6471,0.00,1.92,0.00,0.000,6,0.000,0.064,2292,2750,3497
$GC,6802,-0.66,-146.6,476.4,-7.0,323,6805,0.00,2.10,0.00,0.000,4,0.000,0.108,2292,3785,3497
$GC,6875,-0.66,-146.6,481.6,-6.6,326,6878,0.00,1.92,0.00,0.000,6,0.000,0.064,2292,2751,3497
$GC,7202,-0.66,-146.6,505.6,-7.5,342,7206,0.00,2.08,0.00,0.000,4,0.000,0.106,2292,3783,3496
$GC,7281,-0.66,-146.6,511.7,-7.7,345,7285,0.00,1.92,0.00,0.000,6,0.000,0.062,2292,2744,3496
$GC,7603,-0.66,-146.6,537.1,-8.2,361,7607,0.00,2.12,0.00,0.000,4,0.000,0.107,2292,3792,3495
$GC,7694,-0.66,-146.6,544.6,-7.9,365,7697,0.00,1.92,0.00,0.000,6,0.000,0.062,2292,2749,3495
$GC,8028,-0.66,-146.6,571.9,-8.4,381,8031,0.00,2.10,0.00,0.000,4,0.000,0.105,2292,3790,3495
$GC,8119,-0.66,-146.6,579.3,-8.3,385,8122,0.00,1.92,0.00,0.000,6,0.000,0.060,2292,2744,3495
$GC,8452,-0.66,-146.6,606.3,-8.2,401,8456,0.00,2.10,0.00,0.000,4,0.000,0.106,2292,3785,3495
$GC,8536,-0.66,-146.6,613.4,-8.1,404,8542,0.00,1.90,0.00,0.000,6,0.000,0.059,2292,2750,3495
$GC,8852,-0.66,-146.6,639.1,-8.4,420,8856,0.00,2.10,0.00,0.000,4,0.000,0.107,2292,3789,3495
$GC,8976,-0.66,-146.6,649.2,-7.6,425,8980,0.00,1.90,0.00,0.000,6,0.000,0.056,2292,2749,3494
$GC,9298,-0.66,-146.6,673.9,-7.6,441,9302,0.00,2.10,0.00,0.000,4,0.000,0.104,2292,3790,3494
$GC,9412,-0.66,-146.6,682.5,-7.7,446,9416,0.00,1.90,0.00,0.000,6,0.000,0.056,2292,2749,3494
$GC,9746,-0.66,-146.6,707.5,-7.5,462,9750,0.00,2.08,0.00,0.000,4,0.000,0.104,2292,3783,3494
$GC,9852,-0.66,-146.6,715.6,-7.0,466,9858,0.00,1.90,0.00,0.000,6,0.000,0.057,2292,2744,3493
$GC,10168,-0.66,-146.6,739.1,-7.3,482,10172,0.00,2.10,0.00,0.000,4,0.000,0.104,2292,3789,3494
$GC,10291,-0.66,-146.6,748.3,-7.4,487,10295,0.00,1.90,0.00,0.000,6,0.000,0.055,2292,2747,3493
$GC,10613,-0.66,-146.6,771.0,-7.1,503,10617,0.00,2.10,0.00,0.000,4,0.000,0.104,2292,3790,3493
$GC,10744,-0.66,-146.6,780.3,-6.8,508,10750,0.00,1.90,0.00,0.000,6,0.000,0.054,2292,2747,3493
$GC,11060,-0.66,-146.6,802.7,-6.9,524,11064,0.00,2.10,0.00,0.000,4,0.000,0.103,2292,3790,3492
$GC,11197,-0.66,-146.6,812.3,-7.0,530,11201,0.00,1.90,0.00,0.000,6,0.000,0.055,2292,2747,3492
$GC,11530,-0.66,-146.6,835.5,-7.0,546,11534,0.00,2.10,0.00,0.000,4,0.000,0.103,2292,3792,3492
$GC,11660,-0.66,-146.6,844.5,-6.8,551,11666,0.00,1.90,0.00,0.000,6,0.000,0.055,2292,2749,3492
$GC,11976,-0.66,-146.6,866.0,-6.9,567,11979,0.00,2.10,0.00,0.000,4,0.000,0.103,2292,3792,3491
$GC,12127,-0.66,-146.6,876.2,-6.4,573,12133,0.00,1.90,0.00,0.000,6,0.000,0.054,2292,2747,3491
$GC,12444,-0.66,-146.6,897.2,-6.6,589,12448,0.00,2.10,0.00,0.000,4,0.000,0.104,2292,3790,3491
$GC,12629,-0.66,-146.6,910.0,-7.1,597,12633,0.00,1.92,0.00,0.000,6,0.000,0.054,2292,2749,3491
$GC,12956,-0.66,-146.6,932.0,-6.7,613,12960,0.00,2.08,0.00,0.000,4,0.000,0.103,2292,3783,3491
$GC,13164,-0.66,-146.6,946.1,-6.5,622,13167,0.00,1.88,0.00,0.000,6,0.000,0.054,2292,2750,3491
$GC,13492,-0.66,-146.6,967.5,-6.5,638,13495,0.00,2.08,0.00,0.000,4,0.000,0.103,2292,3783,3490
$GC,13682,-0.66,-146.6,980.0,-6.7,646,13686,0.00,1.88,0.00,0.000,6,0.000,0.054,2292,2750,3491
$STATE,13856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13856,begin apogee
$GC,13865,-0.42,0.0,991.0,6.3,655,14002,0.28,0.00,133.80,1.426,6,0.074,0.000,2350,2075,2902
$STATE,14003,end apogee,CONTROL_FINISHED_OK
$STATE,14003,begin climb
$GC,14006,0.66,146.6,998.2,0.0,662,14151,1.10,2.97,133.40,1.378,4,0.064,0.097,2581,3493,2304
$GC,14315,2.47,1618.8,992.4,3.5,676,14713,1.80,2.70,384.60,1.341,6,0.036,0.068,2985,2071,572
$GC,15019,2.47,1618.8,821.1,30.1,710,15028,0.00,2.80,2.78,0.538,4,0.000,0.076,2985,3494,572
$GC,15125,2.47,1618.8,786.8,34.5,714,15131,0.00,2.60,0.00,0.000,6,0.000,0.046,2985,2063,572
$GC,15441,2.47,1618.8,691.1,29.6,730,15445,0.00,2.60,0.00,0.000,4,0.000,0.067,2985,664,572
$GC,15660,2.47,1618.8,626.6,29.1,740,15664,0.00,2.60,0.00,0.000,6,0.000,0.051,2985,2090,572
$GC,15987,2.47,1618.8,532.0,28.6,756,15991,0.00,2.67,0.00,0.000,4,0.000,0.066,2985,667,571
$GC,16188,2.47,1618.8,474.1,28.5,765,16192,0.00,2.58,0.00,0.000,6,0.000,0.050,2985,2080,571
$GC,16509,2.47,1618.8,385.1,27.6,781,16514,0.00,2.65,0.00,0.000,4,0.000,0.066,2985,667,571
$GC,16711,2.47,1618.8,329.8,26.5,790,16715,0.00,2.58,0.00,0.000,6,0.000,0.051,2985,2075,571
$GC,17032,2.47,1618.8,242.7,28.2,806,17037,0.00,2.65,0.00,0.000,4,0.000,0.066,2985,659,571
$GC,17222,2.47,1618.8,188.3,25.8,814,17229,0.00,2.60,0.00,0.000,6,0.000,0.053,2985,2079,571
$GC,17539,2.47,1618.8,98.6,27.9,830,17543,0.00,2.65,0.00,0.000,4,0.000,0.065,2985,660,572
$GC,17702,2.47,1618.8,53.3,28.4,837,17706,0.00,2.58,0.00,0.000,6,0.000,0.051,2985,2073,571
$STATE,17891,end climb,SURFACE_DEPTH_REACHED
$STATE,17891,begin surface coast
$FINISH,-0.1,1.027172
$STATE,17915,end surface coast,CONTROL_FINISHED_OK
$STATE,17915,begin surface
$SM_CCo,18002,0.00,0.000,0,0,572,571.55
$SM_GC,0.78,13.15,0.00,0.00,0.035,0.000,0.000,49,2746,572,-10.93,-0.11,571.55
$IRIDIUM_FIX,6317.84,-600.03,270898,212151
$TT8_MAMPS,0.029913
$HUMID,1927
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,13.60
$XPDR_PINGS,91
$24V_AH,22.4,76.672
$10V_AH,10.0,43.233
$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,29.175,164.450,654.575,0.000,0.000,26.007,32.975,188.669,31.250,0.000,0.000,15.641,1656.743,13006.176,647.912,2433.085,668.791,33.379,1908.289,0.000,2364.310,0.000,56.974,0.000
$DEVICE_MAMPS,161.837,115.817,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,620.231,610.091,452.346,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44324,847
$CAP_FILE_SIZE,142401,0
$CFSIZE,260165632,229376000
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,030609,104537,6338.830,-604.873,27,1.1,27,-8.3