version: 66.04
glider: 144
mission: 15
dive: 8
start: 6 15 109 15 3 4
data:
$ID,144
$MISSION,15
$DIVE,8
$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,440
$T_MISSION,480
$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,-60953.043
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,145607,5007.417,-14450.566,28,1.3,28,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-66.0
$GPS2,150208,5007.426,-14450.632,14,1.4,14,18.5
$SPEED_LIMITS,0.075,0.210
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.089,-0.057
$KALMAN_X,-4935.6,70.1,416.3,16604.7,-2639.1
$KALMAN_Y,4074.9,0.9,202.5,10029.8,1657.8
$MHEAD_RNG_PITCHd_Wd,104.1,343,-32.7,-7.500
$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,-1.47,-34.5,0.0,0.0,0,59,0.00,0.00,-41.47,0.000,2,0.000,0.000,105,2293,2698
$GC,62,-1.48,-46.7,3.4,-5.7,4,85,6.53,2.28,-10.73,0.000,4,0.264,0.076,1669,890,3124
$GC,248,-1.53,-46.7,44.9,-22.3,20,254,0.00,2.28,0.00,0.000,6,0.000,0.052,1661,2308,3125
$GC,578,-1.53,-46.7,115.9,-21.5,44,582,0.00,2.30,0.00,0.000,4,0.000,0.058,1660,885,3125
$GC,836,-1.53,-46.7,166.8,-18.1,54,842,0.00,2.30,0.00,0.000,6,0.000,0.051,1650,2304,3126
$GC,1149,-1.53,-46.7,220.6,-17.6,65,1152,0.00,2.28,0.00,0.000,4,0.000,0.059,1650,889,3126
$GC,1346,-1.57,-46.7,255.6,-17.7,70,1352,0.00,2.25,0.00,0.000,6,0.000,0.059,1639,2303,3127
$GC,1658,-1.57,-46.7,311.6,-17.9,80,1662,0.00,2.28,0.00,0.000,4,0.000,0.059,1639,878,3127
$GC,1724,-1.57,-46.7,323.9,-17.9,81,1729,0.12,2.28,0.00,0.000,6,0.208,0.053,1655,2306,3127
$GC,2084,-1.65,-46.7,382.4,-16.1,87,2088,0.00,2.28,0.00,0.000,4,0.000,0.060,1655,884,3127
$GC,2235,-1.72,-46.7,406.9,-16.5,89,2239,0.00,2.25,0.00,0.000,6,0.000,0.058,1646,2302,3127
$GC,2578,-1.78,-46.7,461.8,-16.0,95,2583,0.12,2.28,0.00,0.000,4,0.087,0.060,1600,882,3126
$GC,2807,-1.70,-46.7,503.6,-17.4,98,2812,0.15,2.28,0.00,0.000,6,0.206,0.054,1626,2313,3126
$GC,3139,-1.70,-46.7,557.1,-16.0,104,3143,0.00,2.30,0.00,0.000,4,0.000,0.069,1626,877,3126
$GC,3201,-1.70,-46.7,567.4,-16.6,105,3205,0.00,2.28,0.00,0.000,6,0.000,0.059,1618,2309,3126
$GC,3566,-1.70,-46.7,625.2,-15.8,111,3570,0.00,2.28,0.00,0.000,4,0.000,0.065,1618,889,3125
$GC,3688,-1.70,-46.7,644.9,-15.8,112,3695,0.00,2.28,0.00,0.000,6,0.000,0.056,1607,2298,3125
$GC,3998,-1.65,-46.7,693.5,-15.7,118,4003,0.15,2.28,0.00,0.000,4,0.215,0.064,1641,886,3125
$GC,4205,-1.70,-46.7,723.2,-14.1,121,4209,0.00,2.28,0.00,0.000,6,0.000,0.060,1632,2311,3125
$GC,4565,-1.70,-46.7,773.3,-13.9,127,4569,0.00,2.30,0.00,0.000,4,0.000,0.066,1637,884,3125
$GC,4727,-1.70,-46.7,796.6,-14.0,129,4731,0.00,2.28,0.00,0.000,6,0.000,0.064,1629,2306,3125
$GC,5065,-1.70,-46.7,843.3,-13.8,135,5069,0.00,2.30,0.00,0.000,4,0.000,0.073,1630,884,3124
$GC,5209,-1.70,-46.7,863.4,-13.2,137,5213,0.00,2.28,0.00,0.000,6,0.000,0.059,1619,2306,3124
$GC,5564,-1.70,-46.7,910.8,-13.4,143,5568,0.00,2.30,0.00,0.000,4,0.000,0.075,1626,887,3124
$GC,5597,-1.70,-46.7,915.4,-13.1,143,5601,0.00,2.30,0.00,0.000,6,0.000,0.060,1619,2303,3124
$GC,5930,-1.70,-46.7,958.1,-12.9,149,5934,0.00,2.30,0.00,0.000,4,0.000,0.070,1625,884,3124
$GC,6052,-1.70,-46.7,974.5,-13.4,150,6059,0.00,2.30,0.00,0.000,6,0.000,0.067,1616,2299,3124
$STATE,6178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6178,begin apogee
$GC,6183,-0.22,0.0,991.2,13.2,153,6225,1.30,0.00,38.22,1.323,6,0.244,0.000,1949,2299,2931
$STATE,6226,end apogee,CONTROL_FINISHED_OK
$STATE,6226,begin climb
$GC,6228,1.48,46.7,991.2,0.0,153,6275,1.17,2.47,39.65,1.287,4,0.146,0.071,2309,3719,2740
$GC,6338,1.18,46.7,986.1,7.9,154,6343,0.28,2.35,0.00,0.000,6,0.252,0.054,2259,2306,2736
$GC,6653,1.18,53.8,965.6,6.5,160,6661,0.00,0.00,6.40,1.030,6,0.000,0.000,2259,2306,2711
$GC,6956,1.19,57.9,944.8,6.9,165,6963,0.00,0.00,5.00,0.925,6,0.000,0.000,2260,2306,2694
$GC,7259,1.19,59.3,922.9,7.3,170,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2259,2306,2692
$GC,7562,1.19,61.5,901.1,7.2,175,7568,0.00,0.00,4.40,0.851,6,0.000,0.000,2259,2306,2680
$GC,7865,1.19,61.6,878.5,7.5,180,7869,0.00,2.33,0.00,0.000,4,0.000,0.073,2256,3713,2679
$GC,8029,1.09,61.6,864.8,8.4,182,8034,0.12,2.28,0.00,0.000,6,0.239,0.058,2241,2300,2679
$GC,8361,1.18,66.6,842.1,6.8,188,8372,0.00,2.33,5.85,0.966,4,0.000,0.074,2233,3713,2658
$GC,8410,1.18,66.6,838.3,8.2,188,8414,0.00,2.28,0.00,0.000,6,0.000,0.054,2242,2301,2657
$GC,8726,1.28,69.4,815.9,7.1,194,8732,0.12,0.00,3.67,0.723,6,0.109,0.000,2282,2301,2648
$GC,9029,1.28,69.4,791.4,8.1,199,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2301,2647
$GC,9332,1.28,69.4,767.4,7.8,204,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2301,2647
$GC,9635,1.28,71.2,745.4,7.2,209,9639,0.00,2.33,0.00,0.000,4,0.000,0.072,2276,3722,2647
$GC,9701,1.14,71.2,740.1,8.1,210,9706,0.17,2.28,0.00,0.000,6,0.236,0.056,2245,2297,2646
$GC,10061,1.25,82.1,718.0,5.9,216,10080,0.10,2.38,11.62,1.069,4,0.108,0.067,2289,886,2596
$GC,10114,1.25,82.8,714.1,7.4,216,10118,0.00,2.30,0.00,0.000,6,0.000,0.059,2289,2304,2594
$GC,10429,1.25,82.8,688.0,8.3,222,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2304,2593
$GC,10732,1.25,82.8,663.2,8.2,227,10736,0.00,2.30,0.00,0.000,4,0.000,0.070,2288,3713,2593
$GC,10794,1.07,82.8,657.6,9.3,228,10799,0.28,2.25,0.00,0.000,6,0.239,0.061,2233,2303,2592
$GC,11160,1.23,85.3,631.5,7.1,234,11170,0.12,2.35,3.85,0.699,4,0.099,0.069,2274,3710,2583
$GC,11366,1.13,85.3,611.3,9.6,237,11371,0.15,2.25,0.00,0.000,6,0.234,0.053,2250,2296,2583
$GC,11726,1.24,85.3,582.6,7.9,243,11730,0.00,2.33,0.00,0.000,4,0.000,0.072,2246,3723,2582
$GC,11815,1.24,85.3,574.6,8.2,244,11819,0.00,2.28,0.00,0.000,6,0.000,0.052,2255,2293,2582
$GC,12159,1.33,87.4,549.2,7.2,250,12161,0.12,0.00,0.00,0.000,6,0.102,0.000,2299,2293,2582
$GC,12462,1.29,88.3,526.7,7.4,255,12472,0.00,2.35,4.12,0.693,4,0.000,0.068,2298,3708,2570
$GC,12608,1.12,88.3,514.4,9.5,257,12613,0.25,2.22,0.00,0.000,6,0.233,0.052,2247,2304,2570
$GC,12963,1.26,101.0,494.0,5.6,263,12982,0.10,2.38,11.73,0.942,4,0.105,0.067,2274,3714,2519
$GC,13107,1.20,101.0,481.6,9.4,265,13112,0.10,2.25,0.00,0.000,6,0.235,0.051,2264,2303,2516
$GC,13461,1.30,101.0,453.1,8.0,271,13465,0.00,2.30,0.00,0.000,4,0.000,0.066,2259,3719,2515
$GC,13500,1.30,101.0,449.3,10.0,271,13504,0.00,2.25,0.00,0.000,6,0.000,0.051,2269,2302,2515
$GC,13827,1.38,101.0,420.8,8.8,277,13831,0.10,2.30,0.00,0.000,4,0.107,0.065,2302,3714,2515
$GC,13962,1.22,101.0,406.0,10.9,279,13967,0.20,2.25,0.00,0.000,6,0.233,0.051,2265,2296,2515
$GC,14322,1.33,101.0,373.7,8.7,285,14327,0.08,2.30,0.00,0.000,4,0.118,0.064,2288,3716,2515
$GC,14366,1.21,101.0,369.2,10.4,285,14371,0.15,2.22,0.00,0.000,6,0.232,0.050,2264,2303,2515
$GC,14682,1.31,101.1,344.8,7.5,291,14684,0.08,0.00,0.00,0.000,6,0.118,0.000,2292,2303,2515
$GC,14984,1.31,101.1,321.4,7.7,296,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2303,2515
$GC,15287,1.31,101.1,298.3,7.6,301,15291,0.00,2.28,0.00,0.000,4,0.000,0.064,2289,3716,2514
$GC,15387,1.19,101.1,289.7,8.7,304,15392,0.17,2.22,0.00,0.000,6,0.228,0.049,2258,2300,2514
$GC,15718,1.32,108.0,267.9,6.5,315,15727,0.10,0.00,6.75,0.739,6,0.106,0.000,2292,2300,2489
$GC,16023,1.32,108.0,243.9,7.8,325,16027,0.00,2.28,0.00,0.000,4,0.000,0.064,2289,3714,2488
$GC,16163,1.23,108.0,231.6,8.3,329,16167,0.12,2.22,0.00,0.000,6,0.234,0.050,2272,2303,2488
$GC,16493,1.34,118.1,210.4,6.0,340,16507,0.00,2.33,9.27,0.753,4,0.000,0.064,2271,3726,2448
$GC,16761,1.34,118.1,185.9,11.0,348,16765,0.00,2.25,0.00,0.000,6,0.000,0.050,2281,2301,2446
$GC,17102,1.43,120.9,159.7,7.1,359,17111,0.10,2.30,3.70,0.522,4,0.103,0.064,2315,3709,2436
$GC,17364,1.29,120.9,137.8,8.0,368,17371,0.17,2.22,0.00,0.000,6,0.230,0.050,2285,2300,2435
$GC,17680,1.45,157.8,129.1,2.1,384,17716,0.10,2.35,29.80,0.753,4,0.104,0.063,2317,3716,2286
$GC,17970,1.38,157.8,106.0,8.8,397,17975,0.12,2.25,0.00,0.000,6,0.226,0.048,2300,2300,2281
$GC,18303,1.54,158.0,80.8,7.5,413,18307,0.12,2.30,0.00,0.000,4,0.089,0.061,2345,3716,2279
$GC,18560,1.42,158.0,57.4,9.1,435,18567,0.20,2.22,0.00,0.000,6,0.226,0.047,2306,2302,2279
$GC,18885,1.58,163.0,34.7,6.8,466,18898,0.12,2.33,4.43,0.525,4,0.086,0.062,2354,3713,2265
$GC,19013,1.44,165.9,24.3,7.1,477,19025,0.20,2.22,3.95,0.489,6,0.225,0.048,2318,2301,2254
$GC,19344,1.60,174.2,2.9,6.3,508,19357,0.10,2.35,7.25,0.594,4,0.094,0.059,2358,3719,2219
$STATE,19360,end climb,SURFACE_DEPTH_REACHED
$STATE,19360,begin surface coast
$FINISH,1.0,1.014781
$STATE,19395,end surface coast,CONTROL_FINISHED_OK
$STATE,19395,begin surface
$SM_CCo,19412,94.50,0.650,0,0,1708,300.00
$SM_GC,1.58,0.00,0.00,94.50,0.000,0.000,0.650,100,2288,1708,-8.74,-0.42,300.00
$IRIDIUM_FIX,4946.36,-14455.81,090998,101036
$TT8_MAMPS,0.029146
$HUMID,1574
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,18.20
$XPDR_PINGS,35
$24V_AH,23.8,4.612
$10V_AH,10.7,1.886
$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,19.800,155.600,199.675,94.500,0.000,27.430,29.904,199.832,8.750,0.000,0.000,15.668,1316.138,15356.657,425.282,2263.630,514.173,33.343,1486.025,0.000,2231.169,0.000,0.527,0.000
$DEVICE_MAMPS,263.848,75.933,1323.075,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,361.700,404.265,525.602,879.228,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31720,512
$CAP_FILE_SIZE,145342,0
$CFSIZE,260165632,258289664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,150609,202932,5007.013,-14449.558,35,1.2,42,18.5