version: 66.04
glider: 144
mission: 15
dive: 6
start: 6 15 109 5 31 21
data:
$ID,144
$MISSION,15
$DIVE,6
$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,-60924.973
$T_RSLEEP,57
$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
$GPS1,052436,5003.422,-14456.114,37,1.6,49,18.5
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-60.8
$GPS2,053026,5003.397,-14456.111,10,1.2,10,18.5
$SPEED_LIMITS,0.100,0.234
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.209,0.107
$KALMAN_X,-3159.6,309.8,-188.2,8677.3,-1237.7
$KALMAN_Y,960.8,506.2,-520.4,5907.2,1430.7
$MHEAD_RNG_PITCHd_Wd,44.4,9822,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.04,-146.6,0.0,0.0,0,69,0.00,0.00,-52.05,0.000,2,0.000,0.000,103,2307,2810
$GC,72,-1.04,-146.6,3.4,-4.5,5,100,6.85,2.35,-15.75,0.000,4,0.257,0.074,1765,883,3530
$GC,226,-1.04,-146.6,33.6,-19.4,18,230,0.00,2.30,0.00,0.000,6,0.000,0.052,1757,2306,3532
$GC,549,-0.99,-146.6,91.1,-16.9,45,554,0.12,2.30,0.00,0.000,4,0.171,0.058,1788,891,3533
$GC,679,-1.09,-146.6,109.6,-13.9,51,683,0.00,2.28,0.00,0.000,6,0.000,0.052,1781,2308,3533
$GC,1001,-1.18,-146.6,153.8,-13.0,66,1006,0.12,2.30,0.00,0.000,4,0.077,0.059,1727,884,3533
$GC,1117,-1.18,-146.6,171.3,-15.5,69,1122,0.10,2.28,0.00,0.000,6,0.169,0.054,1740,2304,3533
$GC,1435,-1.18,-146.6,215.1,-13.8,80,1439,0.00,2.25,0.00,0.000,4,0.000,0.058,1740,889,3533
$GC,1574,-1.18,-146.6,235.0,-13.7,84,1578,0.00,2.28,0.00,0.000,6,0.000,0.059,1736,2309,3533
$GC,1910,-1.18,-146.6,282.2,-14.4,95,1914,0.00,2.28,0.00,0.000,4,0.000,0.067,1736,893,3533
$GC,2084,-1.18,-146.6,308.5,-15.7,99,2088,0.00,2.25,0.00,0.000,6,0.000,0.054,1726,2304,3533
$GC,2405,-1.18,-146.6,359.9,-16.1,105,2409,0.00,2.28,0.00,0.000,4,0.000,0.067,1726,887,3533
$GC,2495,-1.18,-146.6,374.0,-15.7,106,2499,0.10,2.28,0.00,0.000,6,0.171,0.055,1739,2314,3533
$GC,2831,-1.18,-146.6,418.7,-13.0,112,2836,0.00,2.30,0.00,0.000,4,0.000,0.064,1738,885,3532
$GC,2938,-1.25,-146.6,432.2,-12.0,113,2942,0.00,2.28,0.00,0.000,6,0.000,0.062,1732,2313,3532
$GC,3258,-1.25,-146.6,474.1,-13.2,119,3262,0.00,2.30,0.00,0.000,4,0.000,0.067,1731,883,3532
$GC,3358,-1.25,-146.6,488.3,-14.2,120,3362,0.00,2.28,0.00,0.000,6,0.000,0.058,1722,2306,3532
$GC,3691,-1.25,-146.6,535.9,-14.5,126,3695,0.00,2.28,0.00,0.000,4,0.000,0.067,1722,894,3531
$GC,3774,-1.25,-146.6,548.1,-14.0,127,3778,0.00,2.25,0.00,0.000,6,0.000,0.057,1712,2304,3531
$GC,4123,-1.20,-146.6,598.2,-14.4,133,4128,0.12,2.28,0.00,0.000,4,0.183,0.064,1746,894,3531
$GC,4218,-1.30,-146.6,610.3,-12.3,134,4222,0.00,2.25,0.00,0.000,6,0.000,0.061,1739,2303,3531
$GC,4549,-1.30,-146.6,651.4,-12.5,140,4553,0.00,2.28,0.00,0.000,4,0.000,0.069,1739,895,3531
$GC,4673,-1.37,-146.6,666.7,-12.1,141,4680,0.10,2.25,0.00,0.000,6,0.104,0.060,1694,2303,3530
$GC,4983,-1.27,-146.6,711.3,-14.5,147,4987,0.12,2.30,0.00,0.000,4,0.184,0.067,1723,885,3531
$GC,5045,-1.27,-146.6,719.6,-12.4,148,5049,0.00,2.28,0.00,0.000,6,0.000,0.060,1714,2306,3530
$GC,5410,-1.27,-146.6,766.7,-12.9,154,5414,0.00,2.30,0.00,0.000,4,0.000,0.075,1714,889,3530
$GC,5526,-1.27,-146.6,782.3,-13.0,155,5531,0.00,2.30,0.00,0.000,6,0.000,0.065,1704,2324,3530
$GC,5842,-1.21,-146.6,824.4,-13.4,161,5847,0.15,2.33,0.00,0.000,4,0.199,0.074,1739,895,3530
$GC,5948,-1.29,-146.6,837.1,-11.4,162,5952,0.00,2.28,0.00,0.000,6,0.000,0.063,1731,2311,3530
$GC,6268,-1.29,-146.6,873.5,-11.3,168,6272,0.00,2.30,0.00,0.000,4,0.000,0.071,1735,897,3530
$GC,6346,-1.36,-146.6,882.5,-11.5,169,6350,0.10,2.28,0.00,0.000,6,0.122,0.063,1695,2309,3530
$GC,6694,-1.28,-146.6,928.4,-13.3,175,6699,0.10,2.30,0.00,0.000,4,0.202,0.076,1723,897,3530
$GC,6817,-1.28,-146.6,943.4,-12.1,176,6823,0.00,2.28,0.00,0.000,6,0.000,0.065,1715,2306,3530
$GC,7126,-1.28,-146.6,980.7,-12.2,182,7130,0.00,2.30,0.00,0.000,4,0.000,0.072,1722,897,3530
$GC,7189,-1.28,-146.6,988.2,-11.6,183,7193,0.00,2.28,0.00,0.000,6,0.000,0.064,1714,2305,3529
$STATE,7202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7202,begin apogee
$GC,7207,-0.22,0.0,990.1,11.4,183,7329,0.82,0.00,117.93,1.338,6,0.202,0.000,1948,2305,2931
$STATE,7329,end apogee,CONTROL_FINISHED_OK
$STATE,7330,begin climb
$GC,7332,1.04,146.6,992.9,0.0,185,7464,0.90,2.62,122.80,1.303,4,0.140,0.081,2216,3717,2332
$GC,7514,0.68,146.6,981.2,14.1,187,7522,0.32,2.40,0.00,0.000,6,0.227,0.056,2154,2303,2327
$GC,7824,0.73,183.8,954.5,8.3,193,7860,0.00,2.50,31.02,1.249,4,0.000,0.079,2151,3714,2180
$GC,7877,0.74,190.1,949.7,9.7,193,7888,0.00,2.38,6.85,0.999,6,0.000,0.060,2160,2303,2155
$GC,8249,0.81,209.2,915.7,9.1,200,8268,0.00,0.00,16.85,1.188,6,0.000,0.000,2159,2303,2078
$GC,8552,0.90,224.6,887.4,9.3,205,8569,0.12,0.00,14.25,1.161,6,0.110,0.000,2198,2303,2015
$GC,8855,0.85,224.6,851.4,12.0,210,8859,0.00,2.38,0.00,0.000,4,0.000,0.076,2199,3711,2009
$GC,8888,0.72,224.6,846.7,13.3,210,8893,0.22,2.28,0.00,0.000,6,0.204,0.054,2156,2300,2009
$GC,9221,0.84,240.7,815.3,9.2,216,9238,0.10,0.00,14.57,1.137,6,0.107,0.000,2186,2300,1949
$GC,9523,0.84,240.7,781.2,11.4,221,9527,0.00,2.38,0.00,0.000,4,0.000,0.077,2186,3717,1944
$GC,9573,0.80,240.7,774.7,13.2,221,9578,0.10,2.30,0.00,0.000,6,0.200,0.054,2176,2300,1943
$GC,9883,0.85,240.7,742.3,10.3,226,9887,0.00,2.33,0.00,0.000,4,0.000,0.070,2185,890,1943
$GC,9904,0.92,240.7,739.7,11.4,226,9908,0.00,2.30,0.00,0.000,6,0.000,0.058,2185,2304,1942
$GC,10242,0.92,240.7,703.0,10.9,232,10246,0.00,2.33,0.00,0.000,4,0.000,0.071,2183,3720,1942
$GC,10313,0.92,240.7,694.0,12.2,233,10317,0.00,2.28,0.00,0.000,6,0.000,0.059,2192,2301,1942
$GC,10674,0.92,240.7,653.0,11.4,239,10678,0.00,2.33,0.00,0.000,4,0.000,0.070,2192,3713,1941
$GC,10701,0.86,240.7,649.3,13.3,239,10705,0.00,2.25,0.00,0.000,6,0.000,0.055,2201,2302,1941
$GC,11032,0.86,240.7,610.2,11.8,245,11036,0.00,2.33,0.00,0.000,4,0.000,0.076,2202,3714,1941
$GC,11065,0.75,240.7,605.7,13.2,245,11070,0.20,2.25,0.00,0.000,6,0.196,0.058,2163,2303,1941
$GC,11392,0.89,259.4,575.3,9.1,251,11410,0.12,0.00,15.95,1.019,6,0.091,0.000,2208,2302,1872
$GC,11694,0.89,259.4,538.1,12.5,256,11698,0.00,2.33,0.00,0.000,4,0.000,0.071,2208,3716,1868
$GC,11744,0.80,259.4,531.0,13.8,256,11749,0.17,2.28,0.00,0.000,6,0.192,0.053,2175,2297,1867
$GC,12054,0.89,259.4,499.3,10.0,261,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,2297,1867
$GC,12358,0.98,259.6,469.0,10.0,266,12359,0.12,0.00,0.00,0.000,6,0.089,0.000,2223,2297,1867
$GC,12660,0.91,259.6,430.1,13.0,271,12665,0.10,2.33,0.00,0.000,4,0.192,0.067,2201,3722,1867
$GC,12709,0.91,259.6,423.3,13.3,271,12713,0.00,2.28,0.00,0.000,6,0.000,0.052,2210,2293,1866
$GC,13025,0.91,259.6,384.9,12.1,277,13029,0.00,2.33,0.00,0.000,4,0.000,0.066,2210,3727,1866
$GC,13069,0.83,259.6,378.9,13.2,277,13074,0.15,2.25,0.00,0.000,6,0.187,0.051,2184,2300,1866
$GC,13385,0.91,260.7,347.0,9.9,283,13389,0.00,2.30,0.00,0.000,4,0.000,0.065,2184,3720,1866
$GC,13411,0.91,260.7,343.7,12.0,283,13416,0.00,2.28,0.00,0.000,6,0.000,0.051,2192,2300,1866
$GC,13750,0.96,260.7,307.1,10.8,289,13754,0.00,2.30,0.00,0.000,4,0.000,0.065,2193,3724,1866
$GC,13794,0.96,260.7,301.5,12.6,289,13798,0.00,2.25,0.00,0.000,6,0.000,0.051,2203,2296,1866
$GC,14111,0.96,260.7,263.9,12.0,299,14115,0.00,2.30,0.00,0.000,4,0.000,0.065,2203,3719,1866
$GC,14178,0.96,260.7,255.0,13.3,301,14182,0.00,2.22,0.00,0.000,6,0.000,0.050,2214,2303,1866
$GC,14513,0.96,260.7,214.1,12.1,312,14517,0.00,2.28,0.00,0.000,4,0.000,0.066,2214,3714,1866
$GC,14543,0.88,260.7,210.1,14.8,313,14547,0.15,2.22,0.00,0.000,6,0.188,0.050,2188,2300,1866
$GC,14878,0.97,269.9,177.2,9.6,324,14893,0.10,2.30,9.23,0.736,4,0.096,0.066,2238,886,1829
$GC,14910,0.97,269.9,173.7,10.8,325,14915,0.12,2.28,0.00,0.000,6,0.179,0.055,2208,2309,1828
$GC,15236,1.04,269.9,138.9,10.3,337,15240,0.00,2.25,0.00,0.000,4,0.000,0.065,2207,3713,1827
$GC,15349,1.08,269.9,125.7,11.2,342,15353,0.00,2.22,0.00,0.000,6,0.000,0.051,2216,2304,1827
$GC,15676,1.17,277.5,93.3,9.6,358,15686,0.12,0.00,7.47,0.662,6,0.081,0.000,2268,2304,1798
$GC,15992,1.08,277.5,57.4,11.7,382,15997,0.12,2.30,0.00,0.000,4,0.185,0.064,2239,3721,1796
$GC,16055,1.04,277.5,49.8,11.8,387,16059,0.00,2.25,0.00,0.000,6,0.000,0.050,2247,2294,1796
$GC,16382,1.04,279.6,16.0,9.9,417,16383,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2294,1795
$STATE,16526,end climb,SURFACE_DEPTH_REACHED
$STATE,16526,begin surface coast
$FINISH,0.9,1.025113
$STATE,16548,end surface coast,CONTROL_FINISHED_OK
$STATE,16548,begin surface
$SM_CCo,16564,17.05,0.662,0,0,1708,300.00
$SM_GC,2.38,0.00,0.00,17.05,0.000,0.000,0.662,101,2294,1708,-8.74,-0.25,300.00
$IRIDIUM_FIX,4943.02,-14456.92,090998,000048
$TT8_MAMPS,0.028379
$HUMID,1614
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,15.60
$XPDR_PINGS,46
$24V_AH,23.3,4.373
$10V_AH,10.7,1.706
$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,17.825,160.750,356.925,17.050,0.000,25.056,26.850,193.894,11.500,0.000,0.000,12.281,1090.439,13198.178,477.626,1701.111,470.318,33.340,1338.043,0.000,1681.056,0.000,0.527,0.000
$DEVICE_MAMPS,256.945,80.535,1337.648,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,308.681,341.779,443.346,743.767,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25534,433
$CAP_FILE_SIZE,125550,0
$CFSIZE,260165632,258428928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,150609,100920,5005.560,-14453.721,39,3.0,58,18.5