version: 66.04
glider: 144
mission: 15
dive: 10
start: 6 16 109 2 2 3
data:
$ID,144
$MISSION,15
$DIVE,10
$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,-61002.133
$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,27
$R_STBD_OVSHOOT,21
$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
$GPS1,015236,5006.438,-14448.816,30,1.6,30,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-65.7
$GPS2,020107,5006.480,-14448.821,10,1.8,15,18.5
$SPEED_LIMITS,0.075,0.210
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.074
$KALMAN_X,-5329.9,437.1,493.6,18705.1,-2265.5
$KALMAN_Y,6464.8,-244.4,-217.6,6572.2,3042.2
$MHEAD_RNG_PITCHd_Wd,170.5,3108,-42.9,-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,-1.89,-20.7,0.0,0.0,0,59,0.00,0.00,-41.30,0.000,2,0.000,0.000,101,2300,2792
$GC,62,-1.90,-27.6,3.5,-5.8,4,79,6.18,2.33,-5.95,0.000,4,0.262,0.072,1589,885,3045
$GC,332,-2.07,-27.6,73.9,-25.2,27,339,0.12,2.30,0.00,0.000,6,0.088,0.051,1533,2309,3047
$GC,648,-2.13,-27.6,153.7,-21.6,44,652,0.00,2.30,0.00,0.000,4,0.000,0.058,1533,892,3048
$GC,782,-2.20,-27.6,182.4,-21.5,48,787,0.00,2.28,0.00,0.000,6,0.000,0.058,1523,2309,3048
$GC,1112,-2.26,-27.6,254.9,-22.0,59,1116,0.00,2.28,0.00,0.000,4,0.000,0.058,1523,893,3048
$GC,1370,-2.32,-27.6,311.5,-22.1,66,1376,0.00,2.28,0.00,0.000,6,0.000,0.054,1512,2313,3048
$GC,1680,-2.36,-27.6,376.6,-20.9,72,1685,0.10,2.30,0.00,0.000,4,0.097,0.058,1474,882,3048
$GC,1877,-2.32,-27.6,419.3,-21.1,75,1882,0.12,2.28,0.00,0.000,6,0.226,0.053,1491,2311,3048
$GC,2242,-2.32,-27.6,490.7,-19.3,81,2246,0.00,2.28,0.00,0.000,4,0.000,0.062,1492,891,3048
$GC,2500,-2.32,-27.6,538.0,-17.9,84,2507,0.00,2.28,0.00,0.000,6,0.000,0.058,1484,2300,3047
$GC,2810,-2.32,-27.6,592.3,-17.5,90,2814,0.00,2.25,0.00,0.000,4,0.000,0.062,1487,893,3047
$GC,3001,-2.32,-27.6,625.9,-17.8,92,3008,0.00,2.25,0.00,0.000,6,0.000,0.056,1479,2306,3046
$GC,3312,-2.32,-27.6,681.1,-17.9,98,3316,0.00,2.28,0.00,0.000,4,0.000,0.064,1478,886,3047
$GC,3552,-2.32,-27.6,726.2,-18.3,101,3557,0.12,2.28,0.00,0.000,6,0.239,0.058,1495,2312,3046
$GC,3879,-2.32,-27.6,783.8,-17.6,107,3883,0.00,2.30,0.00,0.000,4,0.000,0.064,1502,883,3046
$GC,3923,-2.32,-27.6,791.9,-17.6,107,3927,0.00,2.28,0.00,0.000,6,0.000,0.059,1494,2308,3046
$GC,4244,-2.32,-27.6,847.1,-17.1,113,4248,0.00,2.28,0.00,0.000,4,0.000,0.072,1494,897,3046
$GC,4259,-2.32,-27.6,850.3,-17.0,113,4263,0.00,2.25,0.00,0.000,6,0.000,0.060,1485,2306,3046
$GC,4609,-2.32,-27.6,909.2,-16.9,119,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,1485,2306,3045
$GC,4912,-2.32,-27.6,958.6,-16.2,124,4916,0.00,2.30,0.00,0.000,4,0.000,0.068,1493,885,3045
$GC,4967,-2.32,-27.6,967.5,-15.8,124,4974,0.00,2.30,0.00,0.000,6,0.000,0.061,1484,2300,3046
$STATE,5153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5153,begin apogee
$GC,5158,-0.22,0.0,997.0,15.8,128,5186,1.90,0.00,23.45,1.305,6,0.267,0.000,1949,2300,2931
$STATE,5187,end apogee,CONTROL_FINISHED_OK
$STATE,5187,begin climb
$GC,5189,1.90,27.6,997.0,0.0,128,5216,1.48,0.00,23.45,1.268,6,0.138,0.000,2413,2300,2818
$GC,5519,1.86,46.5,987.9,2.9,134,5540,0.00,2.40,16.35,1.244,4,0.000,0.074,2410,3711,2740
$GC,5592,1.67,46.5,984.1,7.5,135,5597,0.25,2.30,0.00,0.000,6,0.266,0.056,2368,2310,2739
$GC,5947,1.76,46.5,957.3,7.6,141,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2310,2739
$GC,6250,1.84,46.5,934.6,7.5,146,6255,0.12,2.35,0.00,0.000,4,0.127,0.071,2414,881,2738
$GC,6389,1.84,46.5,923.6,8.0,148,6393,0.00,2.33,0.00,0.000,6,0.000,0.059,2410,2308,2738
$GC,6749,1.84,46.5,895.9,7.7,154,6753,0.00,2.30,0.00,0.000,4,0.000,0.070,2399,3716,2738
$GC,7007,1.71,46.5,874.9,8.3,157,7014,0.12,2.30,0.00,0.000,6,0.265,0.056,2379,2307,2738
$GC,7317,1.77,49.6,853.8,6.8,163,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2307,2737
$GC,7620,1.84,54.8,834.9,6.2,168,7634,0.00,2.38,7.47,1.045,4,0.000,0.068,2368,3714,2707
$GC,7720,1.80,54.8,826.9,8.8,169,7724,0.00,2.28,0.00,0.000,6,0.000,0.054,2377,2298,2706
$GC,8051,1.88,54.8,800.6,7.9,175,8056,0.12,2.33,0.00,0.000,4,0.121,0.071,2411,3716,2706
$GC,8073,1.81,54.8,798.6,9.2,175,8078,0.12,2.28,0.00,0.000,6,0.271,0.056,2397,2292,2706
$GC,8410,1.81,54.8,772.8,7.6,181,8414,0.00,2.33,0.00,0.000,4,0.000,0.067,2387,3719,2705
$GC,8667,1.73,54.8,751.5,8.3,184,8674,0.00,2.30,0.00,0.000,6,0.000,0.054,2395,2299,2706
$GC,8977,1.73,57.4,730.0,6.9,190,8986,0.00,2.35,3.50,0.669,4,0.000,0.065,2387,3712,2697
$GC,9105,1.65,57.4,720.1,7.6,191,9112,0.17,2.25,0.00,0.000,6,0.262,0.054,2360,2304,2697
$GC,9417,1.79,61.8,700.0,6.4,197,9424,0.10,0.00,5.30,0.868,6,0.122,0.000,2389,2304,2679
$GC,9718,1.84,61.8,677.3,7.6,202,9722,0.00,2.30,0.00,0.000,4,0.000,0.067,2382,3716,2679
$GC,9813,1.78,61.8,669.4,8.0,203,9817,0.00,2.25,0.00,0.000,6,0.000,0.053,2390,2303,2678
$GC,10151,1.84,63.8,645.4,7.0,209,10155,0.00,2.28,0.00,0.000,4,0.000,0.065,2401,888,2678
$GC,10332,1.89,69.8,633.9,6.0,211,10349,0.00,2.28,7.75,0.950,6,0.000,0.060,2398,2308,2646
$GC,10653,1.96,70.1,610.8,7.4,217,10654,0.10,0.00,0.00,0.000,6,0.120,0.000,2427,2308,2644
$GC,10955,1.96,70.6,588.2,7.4,222,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2308,2644
$GC,11258,1.96,71.0,565.7,7.4,227,11262,0.00,2.28,0.00,0.000,4,0.000,0.067,2424,3717,2644
$GC,11438,1.81,71.0,550.6,8.0,229,11443,0.17,2.25,0.00,0.000,6,0.259,0.053,2396,2296,2645
$GC,11753,1.87,72.9,528.3,7.0,235,11762,0.00,2.30,4.03,0.683,4,0.000,0.065,2405,893,2633
$GC,11809,1.93,74.6,524.2,7.1,235,11814,0.10,2.25,0.00,0.000,6,0.124,0.054,2427,2305,2633
$GC,12119,1.93,74.7,501.2,7.5,240,12123,0.00,2.28,0.00,0.000,4,0.000,0.071,2424,3717,2632
$GC,12209,1.79,74.7,493.8,7.8,241,12214,0.20,2.25,0.00,0.000,6,0.258,0.053,2390,2294,2632
$GC,12547,1.87,78.4,471.3,6.6,247,12558,0.00,2.33,6.00,0.808,4,0.000,0.064,2381,3723,2610
$GC,12731,1.87,78.4,455.7,9.9,249,12735,0.00,2.28,0.00,0.000,6,0.000,0.052,2390,2296,2609
$GC,13048,1.96,78.4,429.0,8.5,255,13052,0.12,2.28,0.00,0.000,4,0.113,0.064,2442,880,2609
$GC,13265,1.96,78.4,409.9,8.2,258,13269,0.00,2.28,0.00,0.000,6,0.000,0.054,2438,2306,2609
$GC,13614,1.96,78.4,383.0,7.6,264,13618,0.00,2.28,0.00,0.000,4,0.000,0.065,2437,3725,2609
$GC,13873,1.80,84.3,364.1,6.1,267,13884,0.22,2.25,6.15,0.760,6,0.260,0.052,2397,2297,2586
$GC,14247,1.88,84.3,337.1,7.5,274,14248,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2298,2586
$GC,14548,1.97,86.3,315.7,7.0,279,14550,0.12,0.00,0.00,0.000,6,0.107,0.000,2437,2297,2586
$GC,14852,1.97,88.1,294.3,7.1,285,14861,0.00,2.30,4.62,0.652,4,0.000,0.064,2431,3716,2571
$GC,15114,1.83,88.1,271.6,9.0,292,15122,0.15,2.25,0.00,0.000,6,0.249,0.051,2403,2311,2570
$GC,15427,1.91,90.8,249.5,6.8,303,15436,0.00,2.30,3.67,0.552,4,0.000,0.064,2393,3710,2561
$GC,15690,1.87,90.8,229.3,7.6,310,15696,0.00,2.25,0.00,0.000,6,0.000,0.052,2402,2308,2560
$GC,16003,1.94,94.3,207.9,6.6,321,16012,0.00,2.30,4.70,0.615,4,0.000,0.064,2397,3721,2546
$GC,16265,1.91,105.6,190.8,4.8,328,16280,0.00,2.28,10.23,0.752,6,0.000,0.051,2405,2303,2500
$GC,16611,2.01,110.5,170.0,6.3,340,16622,0.12,2.30,5.32,0.634,4,0.104,0.063,2444,3715,2479
$GC,16735,1.88,110.5,160.4,8.1,343,16742,0.20,2.25,0.00,0.000,6,0.249,0.052,2410,2299,2477
$GC,17060,2.02,126.2,140.9,3.7,357,17083,0.10,2.35,13.30,0.737,4,0.107,0.068,2436,3710,2414
$GC,17156,1.97,134.3,136.0,5.5,361,17173,0.00,2.25,7.75,0.673,6,0.000,0.051,2445,2301,2382
$GC,17483,2.05,146.2,117.5,4.6,377,17498,0.00,2.30,10.90,0.701,4,0.000,0.061,2456,890,2333
$GC,17661,2.14,146.5,105.9,7.4,384,17666,0.00,2.28,0.00,0.000,6,0.000,0.052,2450,2306,2330
$GC,17983,2.23,146.5,80.8,8.2,400,17988,0.12,2.28,0.00,0.000,4,0.100,0.061,2492,3714,2329
$GC,18202,2.09,146.5,59.4,9.6,419,18207,0.20,2.22,0.00,0.000,6,0.252,0.050,2458,2300,2328
$GC,18534,2.16,148.1,35.4,7.1,450,18538,0.00,2.28,0.00,0.000,4,0.000,0.060,2450,3713,2328
$GC,18792,2.18,161.9,17.5,4.2,472,18810,0.00,2.25,12.80,0.652,6,0.000,0.048,2459,2302,2271
$STATE,19019,end climb,SURFACE_DEPTH_REACHED
$STATE,19019,begin surface coast
$FINISH,0.9,1.014292
$STATE,19042,end surface coast,CONTROL_FINISHED_OK
$STATE,19042,begin surface
$SM_CCo,19058,103.78,0.648,0,0,1708,300.00
$SM_GC,1.69,0.00,0.00,103.78,0.000,0.000,0.648,100,2301,1708,-8.74,-0.03,300.00
$IRIDIUM_FIX,4949.70,-14449.20,100998,020254
$TT8_MAMPS,0.029146
$HUMID,1577
$INTERNAL_PRESSURE,7.39286
$TCM_TEMP,15.90
$XPDR_PINGS,34
$24V_AH,24.4,4.784
$10V_AH,10.7,2.080
$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,19.350,150.875,176.750,103.775,0.000,51.546,52.854,234.931,8.500,0.000,0.000,17.384,1317.205,14978.195,419.946,2362.018,601.051,33.369,1517.145,0.000,2325.687,0.000,0.527,0.000
$DEVICE_MAMPS,270.751,74.399,1305.434,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,349.545,392.293,508.832,852.010,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31730,496
$CAP_FILE_SIZE,148593,0
$CFSIZE,260165632,258162688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160609,072237,5005.354,-14449.620,33,1.2,33,18.5