version: 66.04
glider: 114
mission: 4
dive: 20
start: 7 4 109 11 22 3
data:
$ID,114
$MISSION,4
$DIVE,20
$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,-610001.44
$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
$GPS1,111537,2106.293,-15805.677,36,1.6,36,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.3
$GPS2,112108,2106.311,-15805.686,13,1.5,13,9.8
$SPEED_LIMITS,0.072,0.245
$TGT_NAME,SOUTH1
$TGT_LATLONG,2057.000,-15839.515
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.229,-0.086
$KALMAN_X,6235.5,-510.7,-70.0,-28498.8,572.9
$KALMAN_Y,6666.0,-211.5,-132.9,-22296.3,470.7
$MHEAD_RNG_PITCHd_Wd,239.6,60999,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-1.31,-146.0,0.0,0.0,0,87,0.00,0.00,-68.90,0.000,2,0.000,0.000,408,2011,3058
$GC,91,-1.31,-146.0,3.3,-4.9,12,117,10.88,2.65,-5.38,0.000,4,0.173,0.056,2248,555,3375
$GC,322,-1.21,-146.0,51.5,-18.3,42,326,0.12,2.45,0.00,0.000,6,0.121,0.025,2270,1990,3376
$GC,586,-1.15,-146.0,83.5,-10.4,66,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,1991,3378
$GC,849,-1.11,-146.0,113.3,-12.1,91,850,0.12,0.00,0.00,0.000,6,0.118,0.000,2292,1992,3379
$GC,1102,-1.11,-146.0,141.0,-10.9,115,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,1992,3379
$GC,1358,-1.11,-146.0,164.9,-7.9,139,1362,0.00,2.58,0.00,0.000,4,0.000,0.048,2292,548,3380
$GC,1455,-1.20,-146.0,172.5,-7.7,147,1459,0.00,2.45,0.00,0.000,6,0.000,0.025,2292,1991,3380
$GC,1719,-1.25,-146.0,193.9,-9.0,171,1720,0.15,0.00,0.00,0.000,6,0.069,0.000,2258,1992,3380
$GC,1966,-1.25,-146.0,218.5,-9.5,186,1970,0.00,2.42,0.00,0.000,4,0.000,0.038,2258,3396,3380
$GC,1976,-1.25,-146.0,219.5,-9.1,186,1981,0.00,2.45,0.00,0.000,6,0.000,0.027,2258,1955,3380
$GC,2293,-1.25,-146.0,248.1,-8.6,201,2298,0.00,2.50,0.00,0.000,4,0.000,0.052,2258,555,3380
$GC,2335,-1.28,-146.0,251.8,-8.7,203,2339,0.00,2.45,0.00,0.000,6,0.000,0.027,2258,1990,3380
$GC,2662,-1.28,-146.0,280.3,-8.8,219,2666,0.00,2.42,0.00,0.000,4,0.000,0.042,2258,3384,3380
$GC,2709,-1.34,-146.0,284.4,-9.0,221,2713,0.00,2.45,0.00,0.000,6,0.000,0.031,2258,1960,3380
$GC,3035,-1.38,-146.0,310.5,-7.8,234,3040,0.12,2.53,0.00,0.000,4,0.081,0.041,2232,3391,3379
$GC,3063,-1.38,-146.0,313.1,-9.5,234,3067,0.00,2.47,0.00,0.000,6,0.000,0.031,2232,1954,3378
$GC,3395,-1.38,-146.0,342.1,-9.0,242,3399,0.00,2.53,0.00,0.000,4,0.000,0.057,2231,554,3377
$GC,3467,-1.38,-146.0,349.2,-9.7,243,3472,0.00,2.45,0.00,0.000,6,0.000,0.029,2231,1980,3377
$GC,3799,-1.38,-146.0,377.8,-8.6,251,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1981,3375
$GC,4124,-1.38,-146.0,407.8,-8.8,259,4128,0.00,2.60,0.00,0.000,4,0.000,0.057,2231,554,3374
$GC,4146,-1.38,-146.0,409.9,-9.8,259,4150,0.00,2.47,0.00,0.000,6,0.000,0.031,2231,1987,3374
$GC,4483,-1.38,-146.0,437.0,-7.7,268,4487,0.00,2.60,0.00,0.000,4,0.000,0.058,2231,562,3371
$GC,4511,-1.38,-146.0,439.3,-7.8,268,4515,0.00,2.45,0.00,0.000,6,0.000,0.031,2232,1980,3371
$GC,4843,-1.38,-146.0,462.3,-7.1,276,4848,0.00,2.60,0.00,0.000,4,0.000,0.058,2231,555,3369
$GC,4895,-1.41,-146.0,466.6,-8.2,277,4899,0.00,2.47,0.00,0.000,6,0.000,0.032,2231,1981,3369
$GC,5208,-1.41,-146.0,493.3,-8.8,285,5212,0.00,2.50,0.00,0.000,4,0.000,0.051,2232,3385,3367
$GC,5224,-1.41,-146.0,495.0,-9.3,285,5229,0.00,2.47,0.00,0.000,6,0.000,0.032,2232,1954,3367
$GC,5568,-1.41,-146.0,525.1,-8.6,294,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1954,3365
$GC,5893,-1.41,-146.0,550.3,-7.6,302,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1954,3362
$GC,6218,-1.41,-146.0,575.9,-8.1,310,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,1954,3361
$GC,6543,-1.41,-146.0,603.5,-8.5,318,6547,0.00,2.53,0.00,0.000,4,0.000,0.062,2231,564,3359
$GC,6588,-1.45,-146.0,607.9,-9.6,319,6592,0.00,2.45,0.00,0.000,6,0.000,0.032,2231,1981,3359
$GC,6907,-1.45,-146.0,633.7,-7.9,327,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2231,1981,3357
$GC,7233,-1.48,-146.0,657.7,-7.1,335,7238,0.00,2.50,0.00,0.000,4,0.000,0.053,2232,3383,3356
$GC,7275,-1.52,-146.0,660.7,-7.4,336,7280,0.15,2.45,0.00,0.000,6,0.095,0.034,2203,1966,3356
$GC,7600,-1.52,-146.0,688.1,-8.4,344,7604,0.00,2.55,0.00,0.000,4,0.000,0.061,2203,562,3355
$GC,7621,-1.52,-146.0,690.2,-8.8,344,7626,0.00,2.45,0.00,0.000,6,0.000,0.032,2203,1979,3354
$STATE,7752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7752,begin apogee
$GC,7761,-0.33,0.0,701.8,8.7,348,7883,1.40,0.00,118.03,1.106,6,0.143,0.000,2462,1915,2777
$STATE,7883,end apogee,CONTROL_FINISHED_OK
$STATE,7883,begin climb
$GC,7887,1.31,146.0,704.9,0.0,351,8019,1.77,2.65,123.78,1.062,4,0.097,0.062,2813,516,2180
$GC,8084,0.97,146.0,689.8,13.4,355,8090,0.40,2.53,0.00,0.000,6,0.163,0.034,2748,1934,2175
$GC,8416,0.83,146.0,655.7,10.0,363,8421,0.17,2.62,0.00,0.000,4,0.153,0.061,2716,523,2172
$GC,8461,0.71,146.0,651.1,9.9,364,8466,0.17,2.50,0.00,0.000,6,0.151,0.033,2688,1944,2171
$GC,8781,0.79,190.4,627.9,6.8,372,8821,0.00,0.00,38.30,1.023,6,0.000,0.000,2688,1944,2000
$GC,9145,0.83,214.8,600.5,7.6,381,9175,0.15,2.78,21.38,0.982,4,0.100,0.062,2716,519,1900
$GC,9244,0.74,214.8,590.4,10.9,383,9248,0.00,2.53,0.00,0.000,6,0.000,0.033,2716,1944,1896
$GC,9557,0.69,214.8,559.0,9.9,391,9562,0.17,2.67,0.00,0.000,4,0.149,0.061,2684,513,1895
$GC,9585,0.69,214.8,556.1,9.8,391,9589,0.00,2.50,0.00,0.000,6,0.000,0.034,2684,1938,1894
$GC,9922,0.69,214.8,526.0,9.0,400,9926,0.00,2.53,0.00,0.000,4,0.000,0.051,2684,3348,1894
$GC,9955,0.69,214.8,522.6,10.1,400,9959,0.00,2.53,0.00,0.000,6,0.000,0.036,2684,1919,1892
$GC,10287,0.69,214.8,491.1,9.3,408,10291,0.00,2.60,0.00,0.000,4,0.000,0.064,2684,512,1892
$GC,10326,0.69,214.8,487.3,10.6,409,10331,0.00,2.50,0.00,0.000,6,0.000,0.033,2684,1939,1891
$GC,10652,0.70,221.0,459.7,8.4,417,10662,0.00,2.53,5.45,0.710,4,0.000,0.049,2684,3345,1875
$GC,10720,0.78,236.1,453.8,8.0,418,10739,0.00,2.50,14.98,0.891,6,0.000,0.037,2684,1925,1814
$GC,11060,0.78,236.1,424.0,8.6,427,11064,0.00,2.58,0.00,0.000,4,0.000,0.062,2684,520,1809
$GC,11087,0.78,236.1,421.3,9.8,427,11092,0.00,2.50,0.00,0.000,6,0.000,0.032,2684,1951,1808
$GC,11425,0.83,247.3,393.4,8.2,436,11442,0.17,2.53,10.85,0.818,4,0.094,0.048,2721,3344,1767
$GC,11477,0.83,247.3,388.5,10.2,437,11481,0.00,2.53,0.00,0.000,6,0.000,0.036,2721,1919,1765
$GC,11790,0.79,247.3,357.3,10.0,445,11794,0.00,2.58,0.00,0.000,4,0.000,0.062,2721,517,1763
$GC,11818,0.74,247.3,354.1,10.9,445,11823,0.15,2.50,0.00,0.000,6,0.146,0.032,2698,1948,1762
$GC,12150,0.74,247.3,323.0,9.5,453,12154,0.00,2.65,0.00,0.000,4,0.000,0.061,2697,513,1762
$GC,12200,0.74,248.1,318.1,8.6,454,12204,0.00,2.47,0.00,0.000,6,0.000,0.031,2698,1937,1762
$GC,12514,0.77,266.8,293.9,7.8,463,12539,0.00,2.58,18.02,0.798,4,0.000,0.047,2697,3336,1687
$GC,12569,0.87,289.2,289.6,7.7,465,12595,0.15,2.50,20.48,0.789,6,0.091,0.035,2726,1922,1598
$GC,12908,0.87,289.2,255.0,10.1,481,12913,0.00,2.53,0.00,0.000,4,0.000,0.043,2726,3340,1593
$GC,12936,0.87,289.2,251.8,10.5,482,12941,0.00,2.50,0.00,0.000,6,0.000,0.034,2726,1916,1592
$GC,13259,0.87,289.2,219.0,10.1,498,13263,0.00,2.53,0.00,0.000,4,0.000,0.058,2726,521,1591
$GC,13354,0.88,297.3,210.2,8.3,502,13371,0.00,2.45,7.50,0.626,6,0.000,0.028,2726,1939,1564
$GC,13689,0.88,297.3,181.8,9.6,527,13693,0.00,2.45,0.00,0.000,4,0.000,0.042,2726,3341,1562
$GC,13736,0.95,297.3,176.9,9.8,531,13741,0.00,2.47,0.00,0.000,6,0.000,0.032,2726,1916,1562
$GC,14002,0.99,303.0,153.3,8.4,555,14015,0.12,2.60,6.40,0.548,4,0.084,0.054,2751,513,1540
$GC,14040,0.96,303.0,149.2,10.1,558,14044,0.00,2.47,0.00,0.000,6,0.000,0.028,2751,1952,1540
$GC,14301,0.96,303.0,121.9,9.9,582,14305,0.00,2.42,0.00,0.000,4,0.000,0.039,2751,3348,1539
$GC,14330,0.96,303.0,119.1,9.6,584,14334,0.00,2.45,0.00,0.000,6,0.000,0.029,2751,1924,1538
$GC,14592,0.96,303.1,93.8,8.6,608,14593,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1924,1539
$GC,14847,0.98,314.4,72.0,8.1,632,14864,0.00,2.50,11.75,0.537,4,0.000,0.036,2751,3344,1494
$GC,14904,1.04,314.4,66.7,9.2,636,14911,0.00,2.45,0.00,0.000,6,0.000,0.029,2751,1922,1491
$GC,15170,1.13,321.2,45.0,8.3,661,15183,0.15,2.58,7.35,0.463,4,0.071,0.051,2784,519,1466
$GC,15223,1.13,321.2,39.2,11.2,665,15230,0.00,2.42,0.00,0.000,6,0.000,0.024,2784,1952,1464
$GC,15495,1.13,321.2,12.7,10.5,705,15500,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1955,1464
$STATE,15572,end climb,SURFACE_DEPTH_REACHED
$STATE,15572,begin surface coast
$FINISH,1.2,1.023001
$STATE,15612,end surface coast,CONTROL_FINISHED_OK
$STATE,15613,begin surface
$SM_CCo,15636,52.00,0.503,0,0,1063,420.20
$SM_GC,1.73,0.00,0.00,52.00,0.000,0.000,0.503,405,1954,1063,-9.79,-0.45,420.20
$IRIDIUM_FIX,2057.14,-15804.20,280998,060643
$TT8_MAMPS,0.028379
$HUMID,1565
$INTERNAL_PRESSURE,9.56865
$TCM_TEMP,24.30
$XPDR_PINGS,15
$24V_AH,23.5,4.911
$10V_AH,10.1,2.802
$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,27.400,166.150,404.250,52.000,0.000,22.915,39.644,140.701,3.750,0.000,0.000,15.180,1381.593,11810.037,565.146,1688.059,570.256,33.347,1468.285,0.000,1675.416,0.000,0.539,0.000
$DEVICE_MAMPS,173.342,63.661,1106.014,503.152,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,487.545,408.804,569.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38005,726
$CAP_FILE_SIZE,125632,0
$CFSIZE,260165632,222556160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040709,154437,2105.596,-15808.441,30,1.0,30,9.8