version: 66.04
glider: 114
mission: 4
dive: 21
start: 7 4 109 15 58 21
data:
$ID,114
$MISSION,4
$DIVE,21
$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,-610017.31
$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
$GPS1,154437,2105.596,-15808.441,30,1.0,30,9.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-65.3
$GPS2,155726,2105.572,-15808.435,13,1.0,13,9.8
$SPEED_LIMITS,0.072,0.245
$TGT_NAME,SOUTH1
$TGT_LATLONG,2057.000,-15839.515
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.236,-0.066
$KALMAN_X,5820.0,-896.0,-350.4,-32157.1,1424.5
$KALMAN_Y,6521.8,-152.1,-37.3,-23679.5,362.5
$MHEAD_RNG_PITCHd_Wd,244.5,56050,-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,17,-1.31,-146.0,0.0,0.0,0,94,0.00,0.00,-74.57,0.000,2,0.000,0.000,406,1955,3293
$GC,98,-1.31,-146.0,4.0,-6.7,13,118,10.90,2.47,-1.27,0.000,4,0.175,0.058,2247,547,3376
$GC,321,-1.15,-146.0,52.0,-15.5,40,328,0.20,2.45,0.00,0.000,6,0.113,0.025,2284,1989,3378
$GC,584,-1.10,-146.0,84.7,-11.6,65,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1989,3379
$GC,837,-1.10,-146.0,113.2,-10.4,89,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1989,3379
$GC,1092,-1.10,-146.0,138.4,-10.5,113,1097,0.00,2.42,0.00,0.000,4,0.000,0.037,2284,3393,3380
$GC,1111,-1.10,-146.0,140.5,-11.0,114,1115,0.00,2.45,0.00,0.000,6,0.000,0.026,2283,1949,3380
$GC,1372,-1.10,-146.0,167.2,-9.9,138,1376,0.00,2.45,0.00,0.000,4,0.000,0.048,2284,559,3380
$GC,1396,-1.10,-146.0,169.6,-10.6,139,1402,0.00,2.42,0.00,0.000,6,0.000,0.025,2283,1989,3380
$GC,1659,-1.15,-146.0,193.6,-9.0,164,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2284,1989,3380
$GC,1918,-1.20,-146.0,217.4,-8.3,180,1923,0.00,2.58,0.00,0.000,4,0.000,0.050,2284,548,3380
$GC,1937,-1.24,-146.0,219.0,-7.9,181,1941,0.00,2.42,0.00,0.000,6,0.000,0.025,2284,1986,3380
$GC,2271,-1.30,-146.0,243.3,-7.3,197,2273,0.17,0.00,0.00,0.000,6,0.067,0.000,2245,1986,3380
$GC,2580,-1.30,-146.0,273.9,-10.1,212,2584,0.00,2.58,0.00,0.000,4,0.000,0.052,2244,556,3380
$GC,2681,-1.33,-146.0,285.2,-12.1,216,2687,0.00,2.45,0.00,0.000,6,0.000,0.029,2244,1986,3380
$GC,2994,-1.33,-146.0,316.1,-9.8,228,2999,0.00,2.58,0.00,0.000,4,0.000,0.054,2245,559,3378
$GC,3040,-1.33,-146.0,321.0,-11.1,229,3044,0.00,2.45,0.00,0.000,6,0.000,0.030,2244,1983,3378
$GC,3359,-1.33,-146.0,346.0,-6.8,237,3363,0.00,2.58,0.00,0.000,4,0.000,0.054,2244,562,3375
$GC,3375,-1.33,-146.0,347.3,-6.6,237,3380,0.00,2.45,0.00,0.000,6,0.000,0.030,2244,1987,3375
$GC,3719,-1.33,-146.0,369.4,-6.8,246,3724,0.00,2.60,0.00,0.000,4,0.000,0.057,2245,556,3374
$GC,3799,-1.37,-146.0,376.1,-8.0,247,3805,0.00,2.45,0.00,0.000,6,0.000,0.031,2244,1979,3374
$GC,4131,-1.40,-146.0,403.1,-8.4,256,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,1979,3372
$GC,4456,-1.40,-146.0,428.3,-7.5,264,4461,0.00,2.60,0.00,0.000,4,0.000,0.058,2245,552,3371
$GC,4497,-1.44,-146.0,431.6,-8.0,265,4502,0.15,2.47,0.00,0.000,6,0.084,0.032,2214,1981,3370
$GC,4822,-1.44,-146.0,460.9,-9.5,273,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1982,3368
$GC,5147,-1.44,-146.0,493.7,-10.0,281,5151,0.00,2.60,0.00,0.000,4,0.000,0.059,2214,560,3365
$GC,5214,-1.44,-146.0,500.8,-10.4,282,5218,0.00,2.47,0.00,0.000,6,0.000,0.033,2214,1985,3364
$GC,5551,-1.44,-146.0,529.2,-7.9,291,5555,0.00,2.60,0.00,0.000,4,0.000,0.059,2214,562,3363
$GC,5618,-1.44,-146.0,535.1,-8.6,292,5622,0.00,2.45,0.00,0.000,6,0.000,0.033,2214,1977,3362
$GC,5961,-1.44,-146.0,562.9,-8.1,301,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1979,3360
$GC,6286,-1.44,-146.0,587.0,-7.2,309,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,1980,3358
$GC,6611,-1.44,-146.0,611.9,-7.8,317,6615,0.00,2.60,0.00,0.000,4,0.000,0.061,2214,559,3356
$GC,6656,-1.44,-146.0,615.7,-9.0,318,6660,0.00,2.47,0.00,0.000,6,0.000,0.035,2214,1980,3356
$GC,6975,-1.44,-146.0,641.4,-7.9,326,6979,0.00,2.53,0.00,0.000,4,0.000,0.055,2214,3386,3354
$GC,7015,-1.44,-146.0,644.9,-8.8,327,7019,0.00,2.47,0.00,0.000,6,0.000,0.035,2214,1960,3354
$GC,7339,-1.44,-146.0,672.0,-8.3,335,7344,0.00,2.55,0.00,0.000,4,0.000,0.062,2214,562,3352
$GC,7390,-1.44,-146.0,676.6,-9.0,336,7395,0.00,2.47,0.00,0.000,6,0.000,0.033,2214,1986,3352
$STATE,7660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7660,begin apogee
$GC,7668,-0.33,0.0,700.3,8.6,343,7789,1.33,0.00,117.85,1.109,6,0.136,0.000,2463,1910,2777
$STATE,7790,end apogee,CONTROL_FINISHED_OK
$STATE,7790,begin climb
$GC,7793,1.31,146.0,703.8,0.0,346,7926,1.77,2.65,123.78,1.065,4,0.110,0.061,2814,512,2180
$GC,8049,0.97,146.0,680.3,13.9,352,8054,0.40,2.53,0.00,0.000,6,0.164,0.034,2748,1941,2174
$GC,8374,0.82,146.0,648.6,9.2,360,8379,0.17,2.67,0.00,0.000,4,0.154,0.061,2717,513,2170
$GC,8442,0.69,146.0,642.1,9.9,361,8447,0.20,2.53,0.00,0.000,6,0.152,0.033,2685,1945,2170
$GC,8779,0.77,190.4,619.1,6.8,370,8829,0.00,2.60,39.83,0.985,4,0.000,0.051,2685,3346,1999
$GC,8853,0.79,201.2,613.7,8.2,371,8869,0.00,2.55,10.60,0.900,6,0.000,0.036,2685,1921,1956
$GC,9182,0.79,201.2,585.0,8.9,380,9187,0.00,2.60,0.00,0.000,4,0.000,0.063,2684,519,1949
$GC,9239,0.79,201.2,579.6,10.2,381,9244,0.12,2.50,0.00,0.000,6,0.099,0.033,2708,1938,1949
$GC,9588,0.74,201.2,546.0,9.5,390,9592,0.00,2.55,0.00,0.000,4,0.000,0.051,2708,3345,1948
$GC,9621,0.71,201.2,542.8,8.7,390,9627,0.00,2.53,0.00,0.000,6,0.000,0.036,2708,1918,1947
$GC,9954,0.66,201.2,512.9,9.2,399,9959,0.17,2.58,0.00,0.000,4,0.147,0.061,2675,522,1947
$GC,10015,0.66,201.2,507.2,9.1,400,10019,0.00,2.50,0.00,0.000,6,0.000,0.032,2675,1951,1946
$GC,10358,0.77,243.8,482.9,6.9,409,10405,0.15,0.00,38.72,0.929,6,0.097,0.000,2704,1953,1782
$GC,10723,0.77,243.8,448.4,10.0,418,10728,0.00,2.67,0.00,0.000,4,0.000,0.060,2704,513,1776
$GC,10752,0.72,243.8,445.3,11.2,418,10756,0.00,2.53,0.00,0.000,6,0.000,0.033,2704,1948,1775
$GC,11083,0.72,243.8,414.3,8.9,426,11088,0.00,2.53,0.00,0.000,4,0.000,0.052,2704,3341,1774
$GC,11112,0.72,243.8,412.0,8.9,426,11116,0.00,2.50,0.00,0.000,6,0.000,0.036,2704,1926,1773
$GC,11444,0.73,249.1,385.0,8.4,434,11454,0.00,2.60,4.70,0.630,4,0.000,0.061,2704,522,1761
$GC,11471,0.73,249.1,382.1,9.7,434,11475,0.00,2.50,0.00,0.000,6,0.000,0.033,2704,1943,1760
$GC,11802,0.73,249.1,347.9,10.3,442,11807,0.00,2.65,0.00,0.000,4,0.000,0.060,2703,513,1760
$GC,11838,0.73,249.1,344.4,10.0,442,11844,0.00,2.50,0.00,0.000,6,0.000,0.032,2704,1939,1759
$GC,12169,0.73,249.1,313.5,9.3,451,12174,0.00,2.50,0.00,0.000,4,0.000,0.048,2704,3340,1759
$GC,12220,0.77,249.1,308.7,9.0,452,12224,0.00,2.50,0.00,0.000,6,0.000,0.035,2704,1917,1758
$GC,12537,0.82,274.8,282.4,7.6,465,12565,0.00,0.00,24.05,0.810,6,0.000,0.000,2704,1917,1655
$GC,12889,0.82,274.8,253.6,8.9,482,12893,0.00,2.55,0.00,0.000,4,0.000,0.044,2704,3345,1650
$GC,12923,0.87,274.8,250.3,9.2,483,12929,0.00,2.50,0.00,0.000,6,0.000,0.034,2704,1920,1650
$GC,13240,0.92,274.8,223.5,8.7,499,13245,0.17,2.55,0.00,0.000,4,0.084,0.057,2743,520,1649
$GC,13373,0.87,274.8,210.4,9.3,505,13377,0.00,2.47,0.00,0.000,6,0.000,0.029,2743,1948,1648
$GC,13697,0.87,274.8,182.3,9.0,530,13701,0.00,2.45,0.00,0.000,4,0.000,0.044,2743,3346,1648
$GC,13732,0.87,275.2,179.2,8.6,533,13736,0.00,2.47,0.00,0.000,6,0.000,0.031,2743,1917,1648
$GC,13996,0.87,275.2,155.2,8.9,557,14000,0.00,2.53,0.00,0.000,4,0.000,0.054,2743,514,1648
$GC,14036,0.87,275.2,151.3,10.1,560,14040,0.00,2.45,0.00,0.000,6,0.000,0.028,2743,1944,1648
$GC,14299,0.91,295.1,128.1,7.8,584,14322,0.00,2.53,18.23,0.623,4,0.000,0.038,2743,3343,1571
$GC,14352,0.94,297.1,123.5,8.5,588,14359,0.00,2.47,0.00,0.000,6,0.000,0.030,2743,1913,1569
$GC,14614,0.98,297.1,101.4,8.7,613,14615,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,1913,1568
$GC,14870,1.02,297.1,78.4,9.0,637,14874,0.00,2.50,0.00,0.000,4,0.000,0.036,2743,3347,1568
$GC,14921,1.11,297.1,73.7,9.2,641,14926,0.17,2.45,0.00,0.000,6,0.069,0.028,2781,1916,1568
$GC,15186,1.11,298.2,50.2,8.6,665,15190,0.00,2.50,0.00,0.000,4,0.000,0.051,2781,509,1569
$GC,15249,1.11,298.2,44.0,8.6,670,15255,0.00,2.45,0.00,0.000,6,0.000,0.025,2781,1959,1569
$GC,15518,1.12,302.0,22.0,8.5,703,15530,0.00,0.00,7.40,0.444,6,0.000,0.000,2781,1966,1544
$STATE,15726,end climb,SURFACE_DEPTH_REACHED
$STATE,15726,begin surface coast
$FINISH,0.9,1.008655
$STATE,15778,end surface coast,CONTROL_FINISHED_OK
$STATE,15778,begin surface
$SM_CCo,15801,59.90,0.505,0,0,1063,420.20
$SM_GC,1.47,0.00,0.00,59.90,0.000,0.000,0.505,405,1962,1063,-9.79,-0.23,420.20
$IRIDIUM_FIX,2059.45,-15808.48,280998,161633
$TT8_MAMPS,0.027612
$HUMID,1538
$INTERNAL_PRESSURE,9.57842
$TCM_TEMP,24.60
$XPDR_PINGS,12
$24V_AH,23.5,5.057
$10V_AH,10.1,2.886
$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,26.925,161.325,385.150,59.900,0.000,80.434,117.634,312.175,3.000,0.000,0.000,15.222,1411.233,11998.914,569.313,1756.961,888.147,33.351,1491.039,0.000,1747.189,0.000,0.541,0.000
$DEVICE_MAMPS,174.876,62.894,1109.082,504.686,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,502.375,428.175,594.916,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37969,749
$CAP_FILE_SIZE,130716,0
$CFSIZE,260165632,222498816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040709,202355,2105.308,-15810.322,38,1.2,38,9.8