version: 66.04
glider: 144
mission: 15
dive: 4
start: 6 14 109 20 4 42
data:
$ID,144
$MISSION,15
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51458
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-60879.426
$T_RSLEEP,7
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3950
$C_VBD,2931
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$PRESSURE_SLOPE,0.00011159377
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$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,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,195956,4959.767,-14501.548,8,1.9,8,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.3
$GPS2,200350,4959.757,-14501.591,10,1.6,10,18.4
$SPEED_LIMITS,0.100,0.234
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.213,0.098
$KALMAN_X,-1265.4,-232.2,-109.8,728.4,-1735.7
$KALMAN_Y,-327.8,-497.8,-347.4,1277.7,866.0
$MHEAD_RNG_PITCHd_Wd,47.0,19173,-19.7,-10.000
$D_GRID,1001
$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,15,-1.04,-146.6,0.0,0.0,0,60,0.00,0.00,-42.35,0.000,2,0.000,0.000,121,2300,2693
$GC,63,-1.04,-146.6,3.0,-4.4,4,97,6.65,2.28,-20.38,0.000,4,0.256,0.073,1766,885,3530
$GC,165,-1.04,-146.6,19.4,-16.9,13,169,0.00,2.28,0.00,0.000,6,0.000,0.053,1757,2306,3530
$GC,490,-1.04,-146.6,74.3,-16.7,43,494,0.00,2.28,0.00,0.000,4,0.000,0.057,1757,885,3530
$GC,568,-1.04,-146.6,87.6,-16.0,47,575,0.08,2.30,0.00,0.000,6,0.156,0.051,1772,2307,3531
$GC,884,-1.11,-146.6,134.4,-14.7,63,888,0.00,2.25,0.00,0.000,4,0.000,0.058,1772,892,3530
$GC,979,-1.24,-146.6,148.3,-13.8,67,984,0.12,2.25,0.00,0.000,6,0.077,0.057,1714,2309,3531
$GC,1318,-1.16,-146.6,202.8,-15.9,79,1323,0.12,2.28,0.00,0.000,4,0.166,0.061,1745,887,3531
$GC,1575,-1.22,-146.6,237.5,-13.2,86,1582,0.00,2.28,0.00,0.000,6,0.000,0.054,1738,2303,3530
$GC,1888,-1.22,-146.6,279.7,-13.5,97,1892,0.00,2.25,0.00,0.000,4,0.000,0.066,1738,892,3530
$GC,2018,-1.27,-146.6,297.7,-13.9,101,2022,0.00,2.25,0.00,0.000,6,0.000,0.061,1728,2305,3530
$GC,2349,-1.27,-146.6,345.6,-14.5,107,2353,0.00,2.28,0.00,0.000,4,0.000,0.069,1728,885,3529
$GC,2517,-1.27,-146.6,370.2,-14.4,109,2521,0.00,2.28,0.00,0.000,6,0.000,0.058,1718,2312,3529
$GC,2844,-1.27,-146.6,420.1,-15.3,115,2848,0.00,2.30,0.00,0.000,4,0.000,0.065,1718,888,3528
$GC,2934,-1.27,-146.6,433.8,-15.1,116,2938,0.00,2.28,0.00,0.000,6,0.000,0.058,1710,2311,3528
$GC,3271,-1.20,-146.6,485.2,-15.1,122,3276,0.12,2.30,0.00,0.000,4,0.191,0.065,1738,889,3527
$GC,3393,-1.25,-146.6,501.7,-12.7,123,3400,0.00,2.30,0.00,0.000,6,0.000,0.059,1731,2308,3527
$GC,3703,-1.25,-146.6,542.4,-13.2,129,3707,0.00,2.30,0.00,0.000,4,0.000,0.071,1732,889,3527
$GC,3832,-1.25,-146.6,559.2,-12.5,131,3837,0.00,2.28,0.00,0.000,6,0.000,0.064,1725,2308,3527
$GC,4198,-1.25,-146.6,607.5,-13.1,137,4202,0.00,2.30,0.00,0.000,4,0.000,0.073,1725,893,3526
$GC,4304,-1.25,-146.6,621.3,-12.9,138,4308,0.00,2.28,0.00,0.000,6,0.000,0.063,1714,2309,3526
$GC,4631,-1.20,-146.6,664.4,-13.2,144,4636,0.10,2.30,0.00,0.000,4,0.209,0.070,1735,896,3526
$GC,4725,-1.25,-146.6,676.2,-11.7,145,4730,0.00,2.28,0.00,0.000,6,0.000,0.063,1727,2310,3525
$GC,5057,-1.25,-146.6,717.6,-12.5,151,5061,0.00,2.30,0.00,0.000,4,0.000,0.071,1734,896,3525
$GC,5152,-1.31,-146.6,729.8,-13.1,152,5156,0.00,2.28,0.00,0.000,6,0.000,0.064,1726,2308,3524
$GC,5483,-1.31,-146.6,773.5,-13.4,158,5487,0.00,2.30,0.00,0.000,4,0.000,0.072,1734,896,3524
$GC,5528,-1.35,-146.6,779.4,-12.4,158,5532,0.00,2.28,0.00,0.000,6,0.000,0.067,1726,2307,3524
$GC,5843,-1.35,-146.6,820.8,-13.2,164,5847,0.00,2.30,0.00,0.000,4,0.000,0.077,1734,897,3524
$GC,5966,-1.41,-146.6,837.2,-13.2,165,5973,0.12,2.28,0.00,0.000,6,0.130,0.065,1687,2303,3524
$GC,6277,-1.29,-146.6,885.0,-15.6,171,6282,0.12,2.30,0.00,0.000,4,0.217,0.076,1723,897,3523
$GC,6339,-1.29,-146.6,893.9,-13.6,172,6343,0.00,2.28,0.00,0.000,6,0.000,0.070,1715,2304,3523
$GC,6704,-1.29,-146.6,943.2,-13.5,178,6708,0.00,2.33,0.00,0.000,4,0.000,0.082,1723,889,3523
$GC,6809,-1.29,-146.6,957.2,-13.0,179,6813,0.00,2.30,0.00,0.000,6,0.000,0.068,1714,2307,3523
$STATE,7073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7073,begin apogee
$GC,7078,-0.22,0.0,992.2,13.3,184,7198,0.88,0.00,116.82,1.344,6,0.222,0.000,1946,2307,2931
$STATE,7199,end apogee,CONTROL_FINISHED_OK
$STATE,7199,begin climb
$GC,7202,1.04,146.6,996.6,0.0,186,7334,0.98,2.60,122.85,1.307,4,0.162,0.079,2218,3712,2332
$GC,7418,0.68,146.6,980.7,13.9,189,7423,0.35,2.35,0.00,0.000,6,0.234,0.058,2149,2307,2326
$GC,7756,0.82,209.9,955.5,7.0,195,7816,0.12,0.00,52.95,1.275,6,0.116,0.000,2184,2307,2073
$GC,8119,0.82,209.9,918.7,10.4,201,8123,0.00,2.40,0.00,0.000,4,0.000,0.074,2176,3717,2065
$GC,8157,0.75,209.9,914.1,12.3,201,8162,0.10,2.33,0.00,0.000,6,0.213,0.057,2165,2301,2064
$GC,8479,0.83,216.6,882.7,9.7,207,8486,0.00,0.00,5.45,0.937,6,0.000,0.000,2166,2301,2047
$GC,8781,0.90,216.6,852.1,10.1,212,8786,0.12,2.38,0.00,0.000,4,0.110,0.077,2204,3724,2045
$GC,8825,0.74,216.6,845.6,15.5,212,8830,0.22,2.30,0.00,0.000,6,0.212,0.061,2160,2304,2045
$GC,9140,0.83,217.9,813.6,9.9,218,9142,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2304,2044
$GC,9443,0.94,220.4,783.6,9.9,223,9453,0.15,2.35,4.38,0.818,4,0.097,0.074,2205,3714,2032
$GC,9498,0.78,220.4,775.9,15.0,223,9502,0.17,2.28,0.00,0.000,6,0.208,0.061,2173,2301,2032
$GC,9808,0.83,220.4,741.6,10.9,228,9812,0.00,2.33,0.00,0.000,4,0.000,0.071,2163,3713,2031
$GC,9840,0.83,220.4,737.6,12.5,228,9845,0.00,2.28,0.00,0.000,6,0.000,0.061,2172,2310,2031
$GC,10173,0.89,220.4,701.8,10.8,234,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2310,2031
$GC,10476,0.94,220.4,669.4,10.6,239,10481,0.12,2.30,0.00,0.000,4,0.097,0.071,2217,3713,2030
$GC,10531,0.74,220.4,661.2,15.4,239,10538,0.25,2.25,0.00,0.000,6,0.207,0.054,2165,2302,2030
$GC,10841,0.83,220.4,628.6,10.3,245,10842,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2301,2030
$GC,11145,0.94,225.2,598.7,9.8,250,11155,0.12,2.33,5.55,0.848,4,0.094,0.072,2209,3715,2012
$GC,11209,0.78,225.2,590.1,15.0,251,11214,0.20,2.28,0.00,0.000,6,0.200,0.061,2171,2293,2011
$GC,11574,0.87,225.2,551.2,10.4,257,11578,0.00,2.33,0.00,0.000,4,0.000,0.074,2169,3718,2011
$GC,11612,0.87,225.2,546.5,11.4,257,11616,0.00,2.25,0.00,0.000,6,0.000,0.052,2178,2301,2011
$GC,11939,0.92,225.2,511.8,10.5,263,11944,0.08,2.30,0.00,0.000,4,0.107,0.073,2210,3715,2011
$GC,11966,0.83,225.2,508.3,13.6,263,11971,0.17,2.25,0.00,0.000,6,0.195,0.057,2177,2298,2010
$GC,12298,0.89,225.2,474.5,10.0,269,12302,0.00,2.30,0.00,0.000,4,0.000,0.074,2177,3714,2010
$GC,12360,0.89,225.2,467.5,12.1,270,12364,0.00,2.25,0.00,0.000,6,0.000,0.053,2186,2294,2010
$GC,12725,0.89,225.2,430.4,10.0,276,12729,0.00,2.33,0.00,0.000,4,0.000,0.074,2186,3726,2011
$GC,12757,0.84,225.2,426.5,11.4,276,12761,0.00,2.25,0.00,0.000,6,0.000,0.051,2197,2301,2011
$GC,13089,0.84,225.2,389.8,11.0,282,13093,0.00,2.30,0.00,0.000,4,0.000,0.067,2197,3721,2010
$GC,13144,0.75,225.2,382.8,12.7,282,13151,0.15,2.25,0.00,0.000,6,0.178,0.051,2163,2311,2010
$GC,13454,0.92,249.3,354.7,8.9,288,13480,0.12,2.33,20.60,0.904,4,0.082,0.067,2213,3717,1913
$GC,13502,0.82,249.3,348.5,13.9,288,13507,0.20,2.28,0.00,0.000,6,0.187,0.050,2174,2298,1911
$GC,13813,0.96,257.8,318.3,9.6,293,13823,0.12,0.00,7.65,0.784,6,0.081,0.000,2225,2298,1880
$GC,14117,0.90,257.8,280.2,12.4,300,14121,0.12,2.33,0.00,0.000,4,0.179,0.066,2195,3716,1877
$GC,14184,0.90,257.8,272.2,11.3,302,14188,0.00,2.25,0.00,0.000,6,0.000,0.052,2204,2303,1877
$GC,14519,0.95,257.8,235.0,10.9,313,14523,0.00,2.30,0.00,0.000,4,0.000,0.067,2203,3716,1875
$GC,14552,0.90,257.8,230.7,12.6,314,14556,0.00,2.25,0.00,0.000,6,0.000,0.049,2214,2293,1875
$GC,14881,0.90,257.8,191.4,11.8,325,14885,0.00,2.33,0.00,0.000,4,0.000,0.066,2214,3724,1876
$GC,14969,0.83,257.8,179.4,13.4,327,14977,0.17,2.25,0.00,0.000,6,0.186,0.051,2181,2302,1876
$GC,15283,0.99,275.8,150.5,9.2,338,15304,0.12,2.33,15.57,0.761,4,0.081,0.066,2232,3714,1805
$GC,15322,0.91,275.8,145.8,13.2,340,15327,0.20,2.25,0.00,0.000,6,0.196,0.051,2193,2304,1804
$GC,15649,1.09,303.5,114.9,8.7,356,15679,0.15,2.40,22.67,0.743,4,0.072,0.067,2253,3725,1692
$GC,15764,1.00,303.5,99.8,14.5,361,15769,0.20,2.30,0.00,0.000,6,0.187,0.050,2215,2295,1689
$GC,16090,1.19,342.6,72.1,8.2,381,16128,0.15,0.00,31.17,0.714,6,0.074,0.000,2276,2294,1533
$GC,16446,1.19,342.6,25.8,13.8,415,16450,0.00,2.35,0.00,0.000,4,0.000,0.065,2276,3717,1526
$GC,16565,1.12,342.6,7.8,16.2,425,16570,0.17,2.28,0.00,0.000,6,0.183,0.053,2243,2295,1526
$STATE,16611,end climb,SURFACE_DEPTH_REACHED
$STATE,16612,begin surface coast
$FINISH,1.1,1.025115
$STATE,16623,end surface coast,CONTROL_FINISHED_OK
$STATE,16624,begin surface
$SM_CCo,16699,0.00,0.000,0,0,1523,345.38
$SM_GC,1.61,5.80,0.00,0.00,0.062,0.000,0.000,103,2296,1523,-8.63,-0.23,345.38
$IRIDIUM_FIX,4943.02,-14459.66,080998,202003
$TT8_MAMPS,0.028379
$HUMID,1651
$INTERNAL_PRESSURE,7.36356
$TCM_TEMP,15.50
$XPDR_PINGS,65
$24V_AH,23.4,4.073
$10V_AH,10.7,1.542
$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,19.200,160.775,405.675,0.000,0.000,0.000,0.000,0.000,16.250,0.000,0.000,12.331,1083.796,13278.681,517.943,1706.037,180.438,32.354,1386.367,0.000,1684.083,0.000,0.529,0.000
$DEVICE_MAMPS,256.178,82.069,1343.784,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,305.710,339.729,439.855,738.392,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25412,430
$CAP_FILE_SIZE,139084,0
$CFSIZE,260165632,258527232
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,150609,004407,5001.774,-14458.224,30,1.6,30,18.5