version: 66.04
glider: 114
mission: 4
dive: 19
start: 7 4 109 6 54 14
data:
$ID,114
$MISSION,4
$DIVE,19
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$D_NO_BLEED,80
$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,271
$T_MISSION,300
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52290
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2110
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,-609985.62
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,410
$PITCH_MAX,3699
$C_PITCH,2535
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,15
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1970
$C_ROLL_CLIMB,1930
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-20
$R_STBD_OVSHOOT,-20
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,1
$VBD_MIN,435
$VBD_MAX,3961
$C_VBD,2777
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0017500001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.062535
$PRESSURE_SLOPE,0.000116376
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2
$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,0.0044139405
$SEABIRD_T_H,0.0006546143
$SEABIRD_T_I,2.8137214e-05
$SEABIRD_T_J,3.1112556e-06
$SEABIRD_C_G,-10.003699
$SEABIRD_C_H,1.1230496
$SEABIRD_C_I,-0.0013255846
$SEABIRD_C_J,0.00018004949
$GPS1,064505,2107.607,-15803.536,8,1.7,23,9.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-61.1
$GPS2,065319,2107.572,-15803.511,13,1.6,13,9.8
$SPEED_LIMITS,0.072,0.245
$TGT_NAME,SOUTH1
$TGT_LATLONG,2057.000,-15839.515
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.211,-0.124
$KALMAN_X,5511.2,310.3,158.5,-25071.5,-149.8
$KALMAN_Y,7009.6,-254.3,-80.7,-20315.9,883.7
$MHEAD_RNG_PITCHd_Wd,229.8,65277,-15.8,-8.610
$D_GRID,700
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.31,-146.0,0.0,0.0,0,90,0.00,0.00,-69.38,0.000,2,0.000,0.000,406,2011,3045
$GC,94,-1.31,-146.0,3.1,-4.7,12,120,10.95,2.62,-5.62,0.000,4,0.176,0.052,2247,555,3377
$GC,329,-1.21,-146.0,50.0,-17.3,43,336,0.15,2.45,0.00,0.000,6,0.112,0.026,2275,1992,3378
$GC,591,-1.16,-146.0,83.4,-12.8,68,595,0.00,2.40,0.00,0.000,4,0.000,0.035,2274,3385,3379
$GC,633,-1.16,-146.0,88.6,-12.2,71,637,0.00,2.42,0.00,0.000,6,0.000,0.027,2274,1957,3379
$GC,895,-1.12,-146.0,122.1,-11.9,95,899,0.00,2.47,0.00,0.000,4,0.000,0.035,2274,3387,3380
$GC,913,-1.08,-146.0,124.3,-11.0,96,918,0.15,2.42,0.00,0.000,6,0.115,0.027,2302,1955,3380
$GC,1178,-1.13,-146.0,148.0,-9.7,120,1183,0.00,2.47,0.00,0.000,4,0.000,0.047,2302,555,3380
$GC,1197,-1.17,-146.0,150.0,-9.7,121,1202,0.00,2.42,0.00,0.000,6,0.000,0.025,2302,1988,3380
$GC,1463,-1.24,-146.0,173.3,-8.2,145,1467,0.20,2.40,0.00,0.000,4,0.061,0.037,2252,3384,3381
$GC,1479,-1.24,-146.0,175.3,-8.9,146,1486,0.00,2.42,0.00,0.000,6,0.000,0.026,2252,1950,3381
$GC,1751,-1.24,-146.0,202.9,-11.2,171,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,1948,3381
$GC,2060,-1.24,-146.0,234.7,-9.4,186,2061,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,1948,3381
$GC,2370,-1.24,-146.0,263.6,-9.4,201,2375,0.00,2.47,0.00,0.000,4,0.000,0.051,2252,559,3381
$GC,2511,-1.24,-146.0,277.4,-9.2,207,2515,0.00,2.42,0.00,0.000,6,0.000,0.027,2252,1982,3381
$GC,2826,-1.24,-146.0,303.8,-8.5,221,2831,0.00,2.58,0.00,0.000,4,0.000,0.053,2252,554,3380
$GC,2867,-1.24,-146.0,307.5,-9.5,222,2872,0.00,2.45,0.00,0.000,6,0.000,0.029,2252,1985,3380
$GC,3192,-1.24,-146.0,333.5,-7.8,230,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,1986,3377
$GC,3518,-1.27,-146.0,358.7,-8.0,238,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,1986,3376
$GC,3843,-1.31,-146.0,387.4,-8.8,246,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2252,1986,3375
$GC,4168,-1.35,-146.0,414.3,-8.1,254,4172,0.00,2.47,0.00,0.000,4,0.000,0.050,2251,3379,3373
$GC,4191,-1.39,-146.0,416.3,-8.5,254,4195,0.00,2.45,0.00,0.000,6,0.000,0.034,2252,1964,3373
$GC,4529,-1.44,-146.0,440.4,-6.8,263,4534,0.17,2.55,0.00,0.000,4,0.084,0.060,2216,559,3371
$GC,4546,-1.44,-146.0,442.0,-6.9,263,4550,0.00,2.45,0.00,0.000,6,0.000,0.031,2216,1979,3370
$GC,4889,-1.44,-146.0,470.3,-8.4,272,4893,0.00,2.60,0.00,0.000,4,0.000,0.058,2216,554,3367
$GC,4950,-1.44,-146.0,476.2,-9.3,273,4954,0.00,2.47,0.00,0.000,6,0.000,0.032,2217,1981,3367
$GC,5299,-1.44,-146.0,504.5,-8.0,282,5304,0.00,2.60,0.00,0.000,4,0.000,0.059,2216,559,3365
$GC,5384,-1.44,-146.0,512.0,-9.0,284,5388,0.00,2.45,0.00,0.000,6,0.000,0.033,2216,1978,3364
$GC,5716,-1.44,-146.0,539.2,-8.3,292,5720,0.00,2.53,0.00,0.000,4,0.000,0.054,2216,3389,3362
$GC,5732,-1.44,-146.0,540.9,-8.3,292,5736,0.00,2.47,0.00,0.000,6,0.000,0.033,2216,1960,3362
$GC,6074,-1.44,-146.0,571.2,-9.0,301,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1960,3359
$GC,6399,-1.44,-146.0,601.6,-9.3,309,6404,0.00,2.55,0.00,0.000,4,0.000,0.061,2216,559,3358
$GC,6462,-1.44,-146.0,608.3,-11.0,310,6466,0.00,2.47,0.00,0.000,6,0.000,0.033,2216,1985,3357
$GC,6804,-1.44,-146.0,642.1,-9.4,319,6809,0.00,2.62,0.00,0.000,4,0.000,0.060,2216,552,3356
$GC,6849,-1.44,-146.0,646.1,-8.9,320,6853,0.00,2.47,0.00,0.000,6,0.000,0.033,2216,1977,3356
$GC,7169,-1.44,-146.0,668.9,-6.8,328,7170,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1977,3354
$GC,7493,-1.44,-146.0,692.2,-7.3,336,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,1979,3352
$STATE,7611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7611,begin apogee
$GC,7619,-0.33,0.0,701.1,7.4,339,7739,1.33,0.00,116.82,1.120,6,0.161,0.000,2462,1917,2777
$STATE,7740,end apogee,CONTROL_FINISHED_OK
$STATE,7740,begin climb
$GC,7743,1.31,146.0,702.7,0.0,342,7875,1.77,2.67,123.05,1.065,4,0.098,0.064,2813,516,2180
$GC,7988,0.98,146.0,677.4,14.7,347,7993,0.40,2.53,0.00,0.000,6,0.186,0.034,2748,1938,2174
$GC,8320,0.83,146.0,644.1,9.1,355,8322,0.20,0.00,0.00,0.000,6,0.153,0.000,2716,1938,2170
$GC,8645,0.86,204.9,623.2,6.2,363,8700,0.00,2.72,49.80,1.036,4,0.000,0.063,2716,522,1939
$GC,8763,0.77,204.9,613.4,10.0,365,8769,0.00,2.53,0.00,0.000,6,0.000,0.035,2716,1937,1934
$GC,9095,0.71,204.9,581.8,10.1,374,9100,0.17,2.65,0.00,0.000,4,0.149,0.061,2684,513,1931
$GC,9135,0.71,204.9,577.5,10.6,375,9140,0.00,2.53,0.00,0.000,6,0.000,0.035,2684,1945,1930
$GC,9460,0.71,204.9,546.3,9.6,383,9464,0.00,2.67,0.00,0.000,4,0.000,0.063,2684,518,1929
$GC,9488,0.71,204.9,543.6,9.4,383,9492,0.00,2.50,0.00,0.000,6,0.000,0.034,2684,1940,1929
$GC,9820,0.75,230.8,517.3,7.6,391,9843,0.00,0.00,21.92,0.964,6,0.000,0.000,2684,1940,1836
$GC,10145,0.76,232.7,490.5,8.5,399,10149,0.00,2.65,0.00,0.000,4,0.000,0.063,2683,522,1830
$GC,10172,0.76,232.7,487.6,10.3,399,10176,0.00,2.50,0.00,0.000,6,0.000,0.034,2684,1939,1829
$GC,10504,0.76,235.2,457.8,8.5,407,10514,0.00,2.55,4.22,0.617,4,0.000,0.052,2684,3337,1818
$GC,10543,0.79,251.4,454.4,7.9,407,10565,0.12,2.50,16.23,0.904,6,0.103,0.036,2707,1926,1752
$GC,10873,0.79,251.4,424.8,9.1,416,10878,0.00,2.60,0.00,0.000,4,0.000,0.063,2707,522,1746
$GC,10915,0.74,251.4,421.1,9.2,417,10919,0.00,2.50,0.00,0.000,6,0.000,0.034,2707,1943,1745
$GC,11239,0.74,251.4,393.5,8.9,425,11243,0.00,2.53,0.00,0.000,4,0.000,0.051,2707,3341,1745
$GC,11278,0.74,251.4,389.9,9.0,426,11283,0.00,2.50,0.00,0.000,6,0.000,0.038,2707,1928,1744
$GC,11604,0.74,251.4,359.1,9.3,434,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1928,1744
$GC,11928,0.74,251.4,328.0,9.6,442,11932,0.00,2.55,0.00,0.000,4,0.000,0.047,2707,3345,1744
$GC,11961,0.74,251.4,324.7,8.9,442,11967,0.00,2.50,0.00,0.000,6,0.000,0.036,2707,1924,1744
$GC,12293,0.78,270.4,297.8,7.8,451,12323,0.00,2.62,19.15,0.731,4,0.000,0.061,2707,522,1673
$GC,12341,0.78,270.4,293.8,8.9,453,12345,0.00,2.50,0.00,0.000,6,0.000,0.032,2707,1936,1672
$GC,12662,0.80,283.2,268.5,8.1,469,12687,0.00,2.58,14.00,0.653,4,0.000,0.048,2707,3337,1621
$GC,12734,0.86,283.2,262.2,8.6,472,12738,0.00,2.47,0.00,0.000,6,0.000,0.035,2707,1926,1620
$GC,13060,0.86,283.2,234.0,9.3,488,13062,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1926,1618
$GC,13371,0.91,283.2,203.7,9.8,503,13372,0.12,0.00,0.00,0.000,6,0.090,0.000,2731,1926,1618
$GC,13691,0.94,298.1,174.5,8.0,531,13713,0.00,2.58,14.18,0.672,4,0.000,0.041,2731,3339,1560
$GC,13771,1.03,314.0,168.1,8.0,538,13794,0.15,2.47,14.77,0.658,6,0.084,0.032,2762,1923,1495
$GC,14049,0.99,314.0,140.2,11.6,564,14053,0.00,2.55,0.00,0.000,4,0.000,0.054,2762,517,1492
$GC,14078,0.93,314.0,136.6,13.5,566,14083,0.15,2.47,0.00,0.000,6,0.127,0.028,2737,1954,1491
$GC,14343,0.97,334.8,112.6,7.8,590,14371,0.00,0.00,20.88,0.564,6,0.000,0.000,2737,1962,1412
$GC,14628,1.00,335.4,88.1,8.6,617,14632,0.00,2.42,0.00,0.000,4,0.000,0.038,2737,3350,1408
$GC,14658,1.06,335.4,85.3,9.3,619,14663,0.15,2.47,0.00,0.000,6,0.073,0.029,2768,1915,1407
$GC,14922,1.06,335.4,58.4,9.5,643,14927,0.00,2.50,0.00,0.000,4,0.000,0.051,2768,520,1407
$GC,14945,1.06,335.4,55.5,10.6,644,14951,0.00,2.42,0.00,0.000,6,0.000,0.035,2768,1947,1407
$GC,15210,1.12,340.7,32.2,8.4,669,15219,0.00,0.00,6.30,0.435,6,0.000,0.000,2768,1953,1388
$GC,15488,1.19,358.8,9.3,7.9,716,15513,0.12,2.62,17.15,0.495,4,0.071,0.051,2796,513,1312
$STATE,15534,end climb,SURFACE_DEPTH_REACHED
$STATE,15534,begin surface coast
$FINISH,1.7,1.022957
$STATE,15552,end surface coast,CONTROL_FINISHED_OK
$STATE,15552,begin surface
$SM_CCo,15577,33.10,0.502,0,0,1063,420.20
$SM_GC,1.58,0.00,0.00,33.10,0.000,0.000,0.502,407,2010,1063,-9.78,1.16,420.20
$IRIDIUM_FIX,2059.45,-15801.19,280998,060637
$TT8_MAMPS,0.027612
$HUMID,1573
$INTERNAL_PRESSURE,9.56865
$TCM_TEMP,24.20
$XPDR_PINGS,19
$24V_AH,23.5,4.779
$10V_AH,10.1,2.725
$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,27.325,151.150,438.475,33.100,0.000,48.179,65.861,194.561,4.750,0.000,0.000,14.928,1352.668,11849.926,572.121,1659.113,673.691,33.351,1460.959,0.000,1645.471,0.000,0.540,0.000
$DEVICE_MAMPS,185.614,63.661,1119.820,501.618,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.070,408.322,570.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38012,727
$CAP_FILE_SIZE,122964,0
$CFSIZE,260165632,222617600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040709,111537,2106.293,-15805.677,36,1.6,36,9.8