version: 66.04
glider: 114
mission: 4
dive: 27
start: 7 6 109 6 10 55
data:
$ID,114
$MISSION,4
$DIVE,27
$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,430
$T_MISSION,450
$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,-610110.06
$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,1950
$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
$GPS1,060406,2101.509,-15827.363,38,1.2,49,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.5
$GPS2,061002,2101.545,-15827.388,13,1.4,13,9.8
$SPEED_LIMITS,0.064,0.233
$TGT_NAME,SOUTH1
$TGT_LATLONG,2057.000,-15839.515
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.207,-0.107
$KALMAN_X,3197.2,230.2,-29.3,-63702.6,-859.0
$KALMAN_Y,9057.8,140.8,5.3,-34015.2,266.8
$MHEAD_RNG_PITCHd_Wd,232.9,22600,-14.1,-7.674
$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,15,begin dive
$GC,18,-1.20,-146.0,0.0,0.0,0,83,0.00,0.00,-62.97,0.000,2,0.000,0.000,404,2013,2934
$GC,87,-1.20,-146.0,3.0,-3.7,11,113,11.02,2.62,-7.70,0.000,4,0.173,0.054,2273,530,3374
$GC,255,-1.05,-146.0,37.3,-15.6,36,262,0.17,2.42,0.00,0.000,6,0.114,0.023,2304,1967,3375
$GC,518,-0.97,-146.0,68.2,-11.3,61,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,1972,3375
$GC,773,-0.92,-146.0,94.1,-8.8,85,778,0.17,2.55,0.00,0.000,4,0.106,0.045,2341,532,3377
$GC,790,-0.92,-146.0,95.8,-9.2,86,794,0.00,2.42,0.00,0.000,6,0.000,0.023,2340,1970,3377
$GC,1053,-0.97,-146.0,117.3,-8.1,110,1057,0.00,2.55,0.00,0.000,4,0.000,0.048,2340,533,3378
$GC,1076,-1.04,-146.0,119.2,-8.0,112,1081,0.17,2.42,0.00,0.000,6,0.055,0.024,2298,1970,3378
$GC,1340,-1.04,-146.0,143.8,-10.4,136,1344,0.00,2.40,0.00,0.000,4,0.000,0.037,2299,3371,3378
$GC,1369,-1.04,-146.0,146.8,-10.2,138,1373,0.00,2.42,0.00,0.000,6,0.000,0.027,2298,1939,3379
$GC,1630,-1.04,-146.0,172.8,-10.6,162,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,1939,3378
$GC,1885,-1.04,-146.0,196.3,-7.7,186,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,1939,3379
$GC,2146,-1.04,-146.0,215.6,-8.1,201,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,1938,3380
$GC,2454,-1.08,-146.0,238.9,-7.9,216,2458,0.00,2.47,0.00,0.000,4,0.000,0.051,2298,541,3379
$GC,2482,-1.14,-146.0,241.3,-8.5,217,2486,0.00,2.42,0.00,0.000,6,0.000,0.026,2299,1969,3379
$GC,2806,-1.18,-146.0,262.4,-5.8,233,2810,0.00,2.42,0.00,0.000,4,0.000,0.041,2298,3371,3379
$GC,2829,-1.23,-146.0,264.0,-6.2,234,2834,0.17,2.45,0.00,0.000,6,0.060,0.030,2258,1937,3379
$GC,3151,-1.20,-146.0,293.2,-9.8,250,3155,0.00,2.50,0.00,0.000,4,0.000,0.055,2258,534,3378
$GC,3202,-1.17,-146.0,298.4,-9.7,252,3207,0.12,2.45,0.00,0.000,6,0.113,0.028,2280,1974,3378
$GC,3519,-1.17,-146.0,321.9,-7.3,261,3523,0.00,2.42,0.00,0.000,4,0.000,0.044,2280,3366,3376
$GC,3575,-1.22,-146.0,326.2,-7.7,262,3579,0.00,2.45,0.00,0.000,6,0.000,0.032,2280,1943,3376
$GC,3924,-1.25,-146.0,348.2,-5.9,271,3928,0.00,2.53,0.00,0.000,4,0.000,0.058,2280,540,3375
$GC,3981,-1.31,-146.0,352.1,-6.9,272,3986,0.15,2.45,0.00,0.000,6,0.071,0.030,2247,1970,3375
$GC,4330,-1.31,-146.0,380.9,-8.6,281,4334,0.00,2.45,0.00,0.000,4,0.000,0.048,2247,3364,3373
$GC,4341,-1.28,-146.0,381.9,-8.6,281,4345,0.00,2.45,0.00,0.000,6,0.000,0.031,2247,1938,3373
$GC,4689,-1.28,-146.0,410.7,-8.2,290,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1936,3372
$GC,5015,-1.28,-146.0,438.9,-8.6,298,5020,0.00,2.55,0.00,0.000,4,0.000,0.061,2246,530,3369
$GC,5056,-1.28,-146.0,442.6,-9.1,299,5061,0.00,2.47,0.00,0.000,6,0.000,0.031,2246,1969,3369
$GC,5381,-1.28,-146.0,469.3,-8.0,307,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1970,3366
$GC,5706,-1.28,-146.0,492.2,-7.1,315,5710,0.00,2.47,0.00,0.000,4,0.000,0.052,2246,3370,3364
$GC,5724,-1.28,-146.0,493.3,-7.0,315,5728,0.00,2.47,0.00,0.000,6,0.000,0.034,2246,1939,3364
$GC,6073,-1.28,-146.0,517.6,-7.1,324,6074,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1939,3362
$GC,6397,-1.28,-146.0,542.6,-7.8,332,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1939,3360
$GC,6722,-1.28,-146.0,566.1,-7.1,340,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1938,3358
$GC,7048,-1.28,-146.0,588.6,-7.0,348,7052,0.00,2.53,0.00,0.000,4,0.000,0.048,2247,3367,3356
$GC,7087,-1.28,-146.0,591.8,-7.5,348,7093,0.00,2.47,0.00,0.000,6,0.000,0.035,2247,1941,3356
$GC,7420,-1.28,-146.0,615.4,-7.0,357,7421,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1940,3354
$GC,7744,-1.28,-146.0,638.0,-6.8,365,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1940,3352
$GC,8071,-1.28,-146.0,660.6,-7.0,373,8076,0.00,2.53,0.00,0.000,4,0.000,0.048,2247,3361,3351
$GC,8094,-1.28,-146.0,662.5,-7.5,373,8098,0.00,2.45,0.00,0.000,6,0.000,0.034,2247,1948,3350
$GC,8431,-1.28,-146.0,686.6,-7.0,382,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1948,3349
$GC,8756,-1.28,-146.0,708.3,-6.7,390,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1948,3347
$GC,9083,-1.28,-146.0,727.5,-5.8,398,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1947,3346
$GC,9406,-1.28,-146.0,747.9,-6.4,406,9410,0.00,2.58,0.00,0.000,4,0.000,0.064,2247,536,3345
$GC,9434,-1.28,-146.0,749.9,-7.5,406,9438,0.00,2.47,0.00,0.000,6,0.000,0.033,2247,1969,3345
$GC,9766,-1.28,-146.0,772.3,-6.7,414,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1969,3344
$GC,10091,-1.28,-146.0,793.1,-6.2,422,10095,0.00,2.47,0.00,0.000,4,0.000,0.052,2247,3360,3343
$GC,10108,-1.28,-146.0,794.2,-6.0,422,10112,0.00,2.45,0.00,0.000,6,0.000,0.034,2246,1947,3343
$GC,10451,-1.28,-146.0,814.7,-6.0,431,10455,0.00,2.58,0.00,0.000,4,0.000,0.064,2246,536,3342
$GC,10491,-1.28,-146.0,817.4,-7.0,432,10496,0.00,2.47,0.00,0.000,6,0.000,0.033,2246,1968,3342
$GC,10817,-1.28,-146.0,836.6,-6.0,440,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1968,3342
$GC,11141,-1.28,-146.0,856.5,-6.0,448,11146,0.00,2.47,0.00,0.000,4,0.000,0.053,2247,3359,3341
$GC,11160,-1.28,-146.0,857.6,-5.8,448,11164,0.00,2.45,0.00,0.000,6,0.000,0.034,2247,1945,3341
$GC,11503,-1.28,-146.0,878.7,-6.2,457,11507,0.00,2.53,0.00,0.000,4,0.000,0.048,2246,3364,3341
$GC,11519,-1.28,-146.0,880.0,-6.4,457,11523,0.00,2.47,0.00,0.000,6,0.000,0.034,2246,1938,3341
$GC,11867,-1.28,-146.0,901.7,-6.1,466,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1938,3340
$GC,12193,-1.28,-146.0,920.0,-5.5,474,12197,0.00,2.55,0.00,0.000,4,0.000,0.048,2246,3369,3339
$GC,12209,-1.28,-146.0,921.1,-5.4,474,12214,0.00,2.47,0.00,0.000,6,0.000,0.034,2246,1943,3339
$GC,12553,-1.31,-146.0,938.1,-4.6,483,12554,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,1943,3338
$GC,12880,-1.35,-146.0,954.5,-5.1,491,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,1943,3338
$GC,13203,-1.38,-146.0,974.0,-6.4,499,13207,0.00,2.58,0.00,0.000,4,0.000,0.065,2247,534,3337
$GC,13242,-1.43,-146.0,976.9,-8.1,499,13248,0.00,2.47,0.00,0.000,6,0.000,0.033,2246,1964,3337
$STATE,13448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13449,begin apogee
$GC,13457,-0.33,0.0,991.3,6.9,505,13581,1.12,0.00,120.72,1.331,6,0.131,0.000,2459,1907,2777
$STATE,13582,end apogee,CONTROL_FINISHED_OK
$STATE,13582,begin climb
$GC,13585,1.20,146.0,994.5,0.0,508,13724,1.67,2.65,129.90,1.298,4,0.108,0.063,2790,516,2179
$GC,13784,0.83,146.0,979.5,13.6,512,13789,0.45,2.53,0.00,0.000,6,0.173,0.033,2717,1944,2172
$GC,14116,0.67,146.0,948.5,9.1,520,14121,0.20,2.67,0.00,0.000,4,0.152,0.064,2681,522,2169
$GC,14183,0.54,146.0,942.6,8.7,521,14188,0.17,2.50,0.00,0.000,6,0.148,0.033,2653,1938,2168
$GC,14521,0.57,162.2,919.0,7.1,530,14547,0.00,2.60,15.88,1.028,4,0.000,0.053,2652,3345,2114
$GC,14570,0.61,182.2,915.4,6.9,531,14602,0.00,2.53,21.67,1.097,6,0.000,0.035,2653,1928,2034
$GC,14927,0.61,182.2,886.5,8.3,540,14931,0.00,2.62,0.00,0.000,4,0.000,0.065,2653,519,2027
$GC,14972,0.57,182.2,882.4,8.7,541,14977,0.00,2.50,0.00,0.000,6,0.000,0.033,2652,1938,2026
$GC,15291,0.57,182.2,856.7,8.0,549,15296,0.00,2.55,0.00,0.000,4,0.000,0.051,2652,3348,2026
$GC,15314,0.59,196.6,854.9,7.1,549,15340,0.00,2.53,15.35,0.999,6,0.000,0.035,2652,1919,1975
$GC,15654,0.60,202.1,829.2,7.5,558,15662,0.00,0.00,6.30,0.943,6,0.000,0.000,2652,1919,1953
$GC,15978,0.63,219.8,805.6,7.0,566,16008,0.00,2.67,19.62,1.046,4,0.000,0.065,2652,516,1879
$GC,16032,0.60,219.8,801.5,8.1,567,16037,0.00,2.53,0.00,0.000,6,0.000,0.032,2652,1943,1876
$GC,16381,0.61,224.4,775.3,7.5,576,16391,0.00,2.55,4.88,0.816,4,0.000,0.052,2653,3342,1862
$GC,16420,0.61,224.4,772.4,8.3,577,16425,0.00,2.53,0.00,0.000,6,0.000,0.036,2652,1920,1860
$GC,16746,0.63,237.9,748.9,7.2,585,16772,0.00,2.65,16.02,0.970,4,0.000,0.064,2652,517,1806
$GC,16812,0.66,258.4,743.7,6.9,586,16852,0.15,2.53,22.12,1.016,6,0.127,0.033,2681,1948,1724
$GC,17198,0.60,258.4,709.3,9.0,596,17202,0.00,2.53,0.00,0.000,4,0.000,0.054,2681,3341,1719
$GC,17243,0.56,258.4,704.9,8.8,597,17248,0.15,2.53,0.00,0.000,6,0.150,0.040,2657,1920,1718
$GC,17563,0.56,259.6,680.7,7.6,605,17567,0.00,2.58,0.00,0.000,4,0.000,0.049,2658,3340,1717
$GC,17584,0.56,259.6,678.8,7.9,605,17589,0.00,2.50,0.00,0.000,6,0.000,0.035,2658,1922,1717
$GC,17922,0.56,259.6,651.5,8.3,614,17926,0.00,2.58,0.00,0.000,4,0.000,0.049,2657,3344,1717
$GC,17950,0.56,259.6,649.0,9.2,614,17954,0.00,2.50,0.00,0.000,6,0.000,0.036,2657,1927,1716
$GC,18281,0.56,259.6,620.5,8.5,622,18282,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1928,1716
$GC,18606,0.56,259.6,593.1,8.5,630,18610,0.00,2.55,0.00,0.000,4,0.000,0.049,2657,3339,1716
$GC,18647,0.58,271.4,589.9,7.2,631,18671,0.00,2.50,14.52,0.864,6,0.000,0.036,2657,1919,1670
$GC,19009,0.58,271.4,561.5,8.0,640,19013,0.00,2.58,0.00,0.000,4,0.000,0.049,2657,3340,1666
$GC,19054,0.62,271.4,557.6,7.9,641,19059,0.00,2.50,0.00,0.000,6,0.000,0.036,2657,1926,1666
$GC,19374,0.62,271.4,529.0,9.4,649,19375,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1925,1666
$GC,19698,0.62,271.4,499.1,9.1,657,19703,0.00,2.55,0.00,0.000,4,0.000,0.048,2657,3338,1666
$GC,19721,0.62,271.4,497.1,9.1,657,19725,0.00,2.47,0.00,0.000,6,0.000,0.035,2658,1927,1666
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$GC,25059,1.00,348.7,46.8,7.3,936,25074,0.12,2.45,10.30,0.505,4,0.069,0.038,2756,3346,1354
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$STATE,25608,end climb,SURFACE_DEPTH_REACHED
$STATE,25608,begin surface coast
$FINISH,1.0,1.022793
$STATE,25660,end surface coast,CONTROL_FINISHED_OK
$STATE,25660,begin surface
$SM_CCo,25683,29.42,0.505,0,0,1104,410.14
$SM_GC,1.71,0.00,0.00,29.42,0.000,0.000,0.505,404,1964,1104,-9.80,0.40,410.14
$IRIDIUM_FIX,2054.83,-15823.92,290998,232329
$TT8_MAMPS,0.027612
$HUMID,1530
$INTERNAL_PRESSURE,9.56865
$TCM_TEMP,24.50
$XPDR_PINGS,19
$24V_AH,23.3,6.066
$10V_AH,10.1,3.473
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$DEVICE_SECS,27.075,235.875,472.225,29.425,0.000,31.334,29.660,155.548,4.750,0.000,0.000,14.551,1938.075,20455.928,659.189,2268.581,734.675,33.350,1897.062,0.000,2242.221,0.000,0.539,0.000
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$SENSOR_SECS,691.674,497.886,656.771,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53682,1025
$CAP_FILE_SIZE,178716,0
$CFSIZE,260165632,221995008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,060709,132037,2100.651,-15830.919,32,1.5,32,9.8