version: 66.04
glider: 114
mission: 4
dive: 23
start: 7 5 109 3 11 17
data:
$ID,114
$MISSION,4
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$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,412
$T_MISSION,430
$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,410
$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,-610044.62
$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
$GPS1,030036,2104.228,-15813.878,38,1.4,39,9.8
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-60.8
$GPS2,031020,2104.251,-15814.010,11,1.5,11,9.8
$SPEED_LIMITS,0.067,0.238
$TGT_NAME,SOUTH1
$TGT_LATLONG,2057.000,-15839.515
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.227,-0.071
$KALMAN_X,4388.5,331.8,-395.7,-41531.4,112.1
$KALMAN_Y,6525.0,102.2,-184.3,-26234.9,81.5
$MHEAD_RNG_PITCHd_Wd,242.8,46113,-14.7,-8.010
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.24,-146.0,0.0,0.0,0,88,0.00,0.00,-69.28,0.000,2,0.000,0.000,407,1952,3145
$GC,92,-1.24,-146.0,3.7,-4.9,12,113,11.02,2.58,-3.67,0.000,4,0.175,0.049,2264,3389,3376
$GC,268,-1.10,-146.0,40.5,-14.1,36,273,0.17,2.45,0.00,0.000,6,0.113,0.028,2296,1954,3377
$GC,532,-1.03,-146.0,74.4,-11.2,60,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1954,3378
$GC,795,-0.99,-146.0,104.9,-10.8,85,800,0.12,2.50,0.00,0.000,4,0.112,0.035,2318,3392,3378
$GC,818,-0.99,-146.0,107.4,-10.7,86,824,0.00,2.45,0.00,0.000,6,0.000,0.027,2318,1949,3379
$GC,1081,-0.99,-146.0,130.2,-8.8,111,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1949,3380
$GC,1336,-1.04,-146.0,151.0,-7.6,135,1337,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,1950,3380
$GC,1589,-1.09,-146.0,170.3,-7.4,159,1594,0.00,2.50,0.00,0.000,4,0.000,0.037,2318,3391,3380
$GC,1623,-1.17,-146.0,173.1,-8.1,161,1630,0.20,2.45,0.00,0.000,6,0.055,0.028,2271,1953,3380
$GC,1886,-1.17,-146.0,197.9,-9.0,186,1890,0.00,2.50,0.00,0.000,4,0.000,0.038,2272,3390,3380
$GC,1936,-1.17,-146.0,202.8,-9.0,189,1941,0.00,2.45,0.00,0.000,6,0.000,0.028,2272,1954,3379
$GC,2253,-1.17,-146.0,233.2,-9.5,204,2257,0.00,2.47,0.00,0.000,4,0.000,0.050,2272,559,3380
$GC,2308,-1.17,-146.0,239.1,-10.0,206,2315,0.00,2.42,0.00,0.000,6,0.000,0.025,2272,1993,3380
$GC,2625,-1.17,-146.0,266.3,-8.0,222,2629,0.00,2.58,0.00,0.000,4,0.000,0.051,2272,561,3380
$GC,2643,-1.17,-146.0,267.5,-7.0,223,2647,0.00,2.42,0.00,0.000,6,0.000,0.038,2271,1981,3380
$GC,2971,-1.17,-146.0,291.7,-7.9,239,2975,0.00,2.55,0.00,0.000,4,0.000,0.053,2271,561,3379
$GC,3033,-1.23,-146.0,297.1,-8.6,241,3039,0.00,2.45,0.00,0.000,6,0.000,0.028,2272,1990,3379
$GC,3367,-1.26,-146.0,320.8,-6.5,251,3371,0.00,2.60,0.00,0.000,4,0.000,0.054,2272,554,3377
$GC,3407,-1.31,-146.0,323.6,-7.1,252,3412,0.00,2.45,0.00,0.000,6,0.000,0.029,2271,1981,3377
$GC,3733,-1.34,-146.0,342.5,-6.0,260,3735,0.15,0.00,0.00,0.000,6,0.072,0.000,2239,1981,3376
$GC,4058,-1.34,-146.0,368.8,-8.1,268,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1982,3373
$GC,4382,-1.34,-146.0,396.0,-8.4,276,4386,0.00,2.60,0.00,0.000,4,0.000,0.058,2239,555,3372
$GC,4422,-1.34,-146.0,399.3,-8.3,277,4426,0.00,2.47,0.00,0.000,6,0.000,0.031,2239,1986,3372
$GC,4747,-1.34,-146.0,423.1,-7.2,285,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1990,3370
$GC,5072,-1.34,-146.0,449.1,-7.9,293,5077,0.00,2.62,0.00,0.000,4,0.000,0.060,2239,552,3367
$GC,5107,-1.34,-146.0,452.0,-8.1,293,5113,0.00,2.47,0.00,0.000,6,0.000,0.033,2239,1979,3367
$GC,5439,-1.34,-146.0,480.2,-8.8,302,5440,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1980,3365
$GC,5764,-1.34,-146.0,507.9,-8.1,310,5768,0.00,2.60,0.00,0.000,4,0.000,0.060,2239,563,3362
$GC,5804,-1.34,-146.0,511.2,-8.5,311,5808,0.00,2.47,0.00,0.000,6,0.000,0.034,2239,1987,3361
$GC,6129,-1.34,-146.0,534.7,-7.1,319,6133,0.00,2.50,0.00,0.000,4,0.000,0.053,2239,3384,3360
$GC,6151,-1.34,-146.0,536.5,-7.8,319,6155,0.00,2.47,0.00,0.000,6,0.000,0.034,2239,1957,3359
$GC,6489,-1.34,-146.0,562.6,-7.9,328,6494,0.00,2.55,0.00,0.000,4,0.000,0.049,2239,3383,3358
$GC,6514,-1.34,-146.0,564.6,-7.7,328,6518,0.00,2.47,0.00,0.000,6,0.000,0.034,2239,1957,3357
$GC,6851,-1.34,-146.0,590.0,-7.2,337,6856,0.00,2.55,0.00,0.000,4,0.000,0.062,2239,562,3356
$GC,6879,-1.34,-146.0,592.4,-8.7,337,6883,0.00,2.45,0.00,0.000,6,0.000,0.032,2238,1985,3355
$GC,7217,-1.34,-146.0,616.4,-7.2,346,7221,0.00,2.60,0.00,0.000,4,0.000,0.061,2239,564,3354
$GC,7234,-1.34,-146.0,617.7,-7.2,346,7238,0.00,2.47,0.00,0.000,6,0.000,0.033,2239,1990,3353
$GC,7582,-1.34,-146.0,640.4,-6.5,355,7586,0.00,2.62,0.00,0.000,4,0.000,0.061,2239,563,3351
$GC,7616,-1.34,-146.0,642.9,-7.8,355,7622,0.00,2.47,0.00,0.000,6,0.000,0.033,2239,1986,3351
$GC,7948,-1.34,-146.0,668.4,-7.9,364,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1986,3349
$GC,8272,-1.34,-146.0,695.3,-8.5,372,8277,0.00,2.62,0.00,0.000,4,0.000,0.061,2239,559,3348
$GC,8307,-1.34,-146.0,698.4,-8.8,372,8313,0.00,2.47,0.00,0.000,6,0.000,0.035,2239,1979,3348
$GC,8640,-1.34,-146.0,725.0,-7.9,381,8644,0.00,2.60,0.00,0.000,4,0.000,0.061,2239,564,3347
$GC,8662,-1.34,-146.0,726.9,-8.0,381,8666,0.00,2.45,0.00,0.000,6,0.000,0.035,2239,1975,3346
$GC,9005,-1.34,-146.0,751.6,-6.9,390,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1975,3346
$GC,9330,-1.34,-146.0,773.3,-6.5,398,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1975,3344
$GC,9656,-1.37,-146.0,793.9,-6.3,406,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1976,3343
$GC,9980,-1.37,-146.0,815.0,-6.5,414,9981,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1977,3342
$GC,10305,-1.41,-146.0,838.4,-7.4,422,10309,0.00,2.53,0.00,0.000,4,0.000,0.054,2239,3386,3341
$GC,10328,-1.44,-146.0,840.3,-8.2,422,10332,0.00,2.47,0.00,0.000,6,0.000,0.035,2239,1966,3341
$GC,10666,-1.47,-146.0,865.9,-7.6,431,10671,0.15,2.58,0.00,0.000,4,0.089,0.063,2209,560,3341
$GC,10710,-1.47,-146.0,870.2,-9.9,432,10714,0.00,2.47,0.00,0.000,6,0.000,0.034,2209,1982,3341
$GC,11029,-1.47,-146.0,898.1,-8.7,440,11034,0.00,2.62,0.00,0.000,4,0.000,0.062,2209,559,3340
$GC,11063,-1.44,-146.0,901.2,-9.0,440,11069,0.00,2.47,0.00,0.000,6,0.000,0.035,2209,1981,3340
$GC,11395,-1.44,-146.0,928.0,-8.0,449,11400,0.00,2.62,0.00,0.000,4,0.000,0.063,2209,562,3339
$GC,11436,-1.44,-146.0,931.6,-8.9,450,11440,0.00,2.47,0.00,0.000,6,0.000,0.034,2209,1984,3339
$GC,11761,-1.44,-146.0,953.7,-6.5,458,11766,0.00,2.62,0.00,0.000,4,0.000,0.061,2209,560,3339
$GC,11818,-1.44,-146.0,958.0,-7.0,459,11822,0.00,2.47,0.00,0.000,6,0.000,0.034,2209,1982,3338
$GC,12166,-1.44,-146.0,981.9,-7.2,468,12167,0.00,0.00,0.00,0.000,6,0.000,0.000,2209,1982,3338
$STATE,12284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12284,begin apogee
$GC,12293,-0.33,0.0,990.8,7.3,471,12416,1.35,0.00,119.65,1.343,6,0.135,0.000,2463,1910,2777
$STATE,12417,end apogee,CONTROL_FINISHED_OK
$STATE,12417,begin climb
$GC,12420,1.24,146.0,993.4,0.0,474,12557,1.70,2.67,128.48,1.300,4,0.092,0.064,2802,515,2180
$GC,12612,0.87,146.0,978.0,14.3,478,12617,0.47,2.55,0.00,0.000,6,0.161,0.034,2724,1939,2174
$GC,12949,0.71,146.0,944.2,9.9,487,12954,0.20,2.67,0.00,0.000,4,0.150,0.062,2688,522,2169
$GC,12972,0.57,146.0,941.8,10.1,487,12977,0.17,2.53,0.00,0.000,6,0.178,0.034,2659,1945,2169
$GC,13310,0.63,176.5,917.8,6.8,496,13352,0.00,2.75,29.05,1.151,4,0.000,0.064,2659,522,2056
$GC,13386,0.58,176.5,912.3,8.6,497,13390,0.00,2.53,0.00,0.000,6,0.000,0.034,2659,1937,2053
$GC,13718,0.65,215.5,889.6,6.5,505,13763,0.00,0.00,37.47,1.177,6,0.000,0.000,2659,1938,1898
$GC,14083,0.68,236.4,863.6,7.2,514,14105,0.12,0.00,19.52,1.170,6,0.100,0.000,2682,1939,1813
$GC,14408,0.62,236.4,833.2,9.7,522,14412,0.00,2.67,0.00,0.000,4,0.000,0.063,2683,519,1806
$GC,14430,0.53,236.4,830.7,10.6,522,14435,0.20,2.53,0.00,0.000,6,0.176,0.035,2649,1939,1804
$GC,14768,0.53,236.4,802.1,8.7,531,14772,0.00,2.55,0.00,0.000,4,0.000,0.054,2649,3337,1804
$GC,14829,0.58,236.4,796.7,8.4,532,14834,0.00,2.53,0.00,0.000,6,0.000,0.041,2649,1920,1803
$GC,15172,0.58,236.4,767.0,8.7,541,15176,0.00,2.60,0.00,0.000,4,0.000,0.050,2649,3347,1803
$GC,15194,0.58,236.4,765.0,8.6,541,15199,0.00,2.53,0.00,0.000,6,0.000,0.037,2649,1922,1803
$GC,15532,0.58,236.4,737.2,8.2,550,15533,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,1922,1803
$GC,15857,0.60,247.4,712.1,7.6,558,15869,0.00,0.00,10.02,1.012,6,0.000,0.000,2649,1922,1768
$GC,16182,0.62,260.3,687.5,7.5,566,16209,0.12,2.62,15.30,0.927,4,0.100,0.050,2673,3339,1714
$GC,16243,0.62,260.3,681.9,9.4,567,16247,0.00,2.53,0.00,0.000,6,0.000,0.038,2673,1928,1713
$GC,16585,0.59,260.3,650.4,9.2,576,16586,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1928,1711
$GC,16910,0.59,260.3,621.8,8.9,584,16915,0.00,2.58,0.00,0.000,4,0.000,0.051,2673,3344,1711
$GC,16961,0.61,271.5,617.2,7.6,585,16982,0.00,2.53,11.20,0.962,6,0.000,0.038,2673,1917,1671
$GC,17314,0.61,271.5,585.4,9.0,594,17319,0.00,2.60,0.00,0.000,4,0.000,0.051,2673,3346,1667
$GC,17349,0.61,271.5,582.3,9.1,594,17355,0.00,2.53,0.00,0.000,6,0.000,0.038,2673,1918,1667
$GC,17680,0.61,271.5,553.7,8.7,603,17681,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1918,1666
$GC,18005,0.61,271.5,525.8,8.5,611,18009,0.00,2.58,0.00,0.000,4,0.000,0.051,2673,3339,1666
$GC,18061,0.66,274.9,521.0,7.9,612,18070,0.00,2.50,4.15,0.652,6,0.000,0.038,2673,1922,1656
$GC,18415,0.66,274.9,491.2,8.6,621,18419,0.00,2.58,0.00,0.000,4,0.000,0.064,2673,519,1655
$GC,18443,0.66,274.9,488.7,8.2,621,18447,0.00,2.50,0.00,0.000,6,0.000,0.034,2673,1948,1655
$GC,18781,0.68,291.0,463.2,7.4,630,18810,0.00,2.55,18.88,0.854,4,0.000,0.051,2673,3337,1589
$GC,18852,0.73,291.9,457.7,8.0,631,18856,0.00,2.53,0.00,0.000,6,0.000,0.038,2673,1918,1586
$GC,19189,0.73,291.9,426.9,9.6,640,19193,0.00,2.58,0.00,0.000,4,0.000,0.048,2673,3346,1585
$GC,19229,0.78,291.9,423.0,9.6,641,19234,0.17,2.53,0.00,0.000,6,0.087,0.038,2707,1919,1585
$GC,19554,0.72,291.9,388.4,10.2,649,19558,0.00,2.55,0.00,0.000,4,0.000,0.062,2707,523,1584
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$STATE,24019,end climb,SURFACE_DEPTH_REACHED
$STATE,24019,begin surface coast
$FINISH,1.0,1.008921
$STATE,24183,end surface coast,CONTROL_FINISHED_OK
$STATE,24183,begin surface
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$HUMID,1536
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$TCM_TEMP,24.80
$XPDR_PINGS,21
$24V_AH,23.3,5.391
$10V_AH,10.1,3.081
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$DEVICE_SECS,27.450,247.700,448.350,32.925,0.000,51.552,62.978,266.975,5.250,0.000,0.000,12.710,1888.089,19136.863,678.662,2214.241,898.130,33.355,1882.226,0.000,2199.107,0.000,0.540,0.000
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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,50655,996
$CAP_FILE_SIZE,176718,0
$CFSIZE,260165632,222294016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,050709,095655,2103.710,-15817.218,62,2.0,63,9.8