version: 66.04
glider: 144
mission: 15
dive: 115
start: 7 20 109 6 1 19
data:
$ID,144
$MISSION,15
$DIVE,115
$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,600
$T_MISSION,630
$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,120
$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,-63158.832
$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,39
$R_STBD_OVSHOOT,31
$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
$GPS1,055437,5000.297,-14510.734,23,1.4,23,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-65.1
$GPS2,060025,5000.322,-14510.762,32,1.4,32,18.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.022,-0.166
$KALMAN_X,-56156.3,129.0,-95.3,44323.4,208.9
$KALMAN_Y,58841.6,-155.9,6.3,-57532.8,1148.6
$MHEAD_RNG_PITCHd_Wd,169.1,11773,-12.3,-5.500
$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,-0.68,-117.3,0.0,0.0,0,54,0.00,0.00,-36.47,0.000,2,0.000,0.000,101,2291,2730
$GC,57,-0.68,-117.3,3.6,-5.5,4,84,6.97,2.33,-15.38,0.000,4,0.245,0.068,1843,3716,3411
$GC,181,-0.52,-117.3,22.6,-12.2,14,188,0.15,2.20,0.00,0.000,6,0.127,0.034,1886,2301,3412
$GC,508,-0.52,-117.3,53.0,-8.8,45,512,0.00,2.25,0.00,0.000,4,0.000,0.047,1886,887,3413
$GC,597,-0.60,-117.3,60.4,-7.7,52,604,0.00,2.22,0.00,0.000,6,0.000,0.041,1878,2306,3414
$GC,930,-0.60,-117.3,87.1,-8.2,80,934,0.00,2.22,0.00,0.000,4,0.000,0.045,1879,896,3415
$GC,958,-0.60,-117.3,89.7,-8.9,81,962,0.00,2.22,0.00,0.000,6,0.000,0.044,1877,2308,3415
$GC,1279,-0.60,-117.3,117.6,-8.9,97,1283,0.00,2.22,0.00,0.000,4,0.000,0.046,1877,890,3416
$GC,1329,-0.67,-117.3,122.2,-8.4,99,1333,0.00,2.22,0.00,0.000,6,0.000,0.043,1876,2304,3416
$GC,1657,-0.75,-117.3,147.2,-6.9,115,1661,0.12,2.22,0.00,0.000,4,0.061,0.044,1804,890,3416
$GC,1684,-0.63,-117.3,149.9,-10.1,116,1688,0.22,2.22,0.00,0.000,6,0.130,0.042,1862,2308,3416
$GC,1997,-0.69,-117.3,172.4,-7.0,126,2001,0.00,2.22,0.00,0.000,4,0.000,0.061,1862,3709,3416
$GC,2041,-0.80,-117.3,175.7,-7.3,127,2046,0.12,2.17,0.00,0.000,6,0.058,0.038,1791,2293,3416
$GC,2365,-0.60,-117.3,210.0,-10.3,138,2369,0.22,2.20,0.00,0.000,4,0.129,0.050,1866,891,3415
$GC,2399,-0.67,-117.3,212.6,-6.4,139,2403,0.00,2.22,0.00,0.000,6,0.000,0.048,1863,2308,3415
$GC,2740,-0.76,-117.3,231.3,-5.6,150,2741,0.10,0.00,0.00,0.000,6,0.067,0.000,1797,2307,3415
$GC,3046,-0.61,-117.3,261.1,-10.2,160,3050,0.20,2.22,0.00,0.000,4,0.128,0.054,1864,896,3414
$GC,3101,-0.72,-117.3,265.4,-6.5,161,3105,0.00,2.22,0.00,0.000,6,0.000,0.045,1863,2312,3414
$GC,3414,-0.82,-117.3,285.2,-6.3,171,3416,0.15,0.00,0.00,0.000,6,0.056,0.000,1779,2313,3413
$GC,3748,-0.60,-117.3,321.4,-10.9,179,3753,0.25,2.25,0.00,0.000,4,0.130,0.048,1863,891,3413
$GC,3820,-0.72,-117.3,326.8,-6.3,180,3824,0.00,2.20,0.00,0.000,6,0.000,0.051,1863,2303,3413
$GC,4181,-0.83,-117.3,347.8,-5.9,186,4183,0.15,0.00,0.00,0.000,6,0.057,0.000,1779,2303,3413
$GC,4484,-0.62,-117.3,378.9,-10.5,191,4489,0.25,2.22,0.00,0.000,4,0.130,0.048,1861,893,3412
$GC,4533,-0.76,-117.3,382.6,-6.1,191,4538,0.10,2.22,0.00,0.000,6,0.073,0.044,1796,2309,3412
$GC,4844,-0.62,-117.3,409.9,-9.0,196,4846,0.22,0.00,0.00,0.000,6,0.127,0.000,1864,2309,3412
$GC,5147,-0.75,-117.3,426.5,-5.3,201,5151,0.10,2.22,0.00,0.000,4,0.071,0.050,1802,897,3411
$GC,5190,-0.63,-117.3,430.2,-8.8,201,5195,0.22,2.20,0.00,0.000,6,0.128,0.048,1861,2303,3411
$GC,5506,-0.76,-117.3,447.7,-5.4,207,5508,0.10,0.00,0.00,0.000,6,0.072,0.000,1802,2303,3411
$GC,5808,-0.66,-117.3,472.3,-8.3,212,5813,0.17,2.22,0.00,0.000,4,0.127,0.055,1861,896,3410
$GC,5841,-0.78,-117.3,474.5,-6.4,212,5845,0.12,2.22,0.00,0.000,6,0.062,0.048,1786,2312,3410
$GC,6167,-0.62,-117.3,505.2,-9.7,218,6172,0.25,2.22,0.00,0.000,4,0.128,0.049,1867,898,3409
$GC,6211,-0.80,-117.3,508.4,-6.6,218,6216,0.12,2.20,0.00,0.000,6,0.061,0.044,1792,2306,3410
$GC,6527,-0.66,-117.3,536.2,-9.1,224,6529,0.22,0.00,0.00,0.000,6,0.127,0.000,1860,2306,3409
$GC,6830,-0.81,-117.3,551.5,-4.9,229,6835,0.12,2.22,0.00,0.000,4,0.061,0.054,1788,897,3409
$GC,6851,-0.81,-117.3,553.3,-7.4,229,6856,0.15,2.20,0.00,0.000,6,0.143,0.044,1823,2300,3409
$GC,7194,-0.81,-117.3,575.5,-6.4,235,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2301,3409
$GC,7498,-0.81,-117.3,596.3,-6.9,240,7501,0.00,2.22,0.00,0.000,4,0.000,0.049,1822,891,3408
$GC,7530,-0.81,-117.3,598.9,-7.6,240,7535,0.00,2.25,0.00,0.000,6,0.000,0.048,1822,2300,3409
$GC,7869,-0.81,-117.3,623.2,-7.3,246,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2300,3408
$GC,8171,-0.81,-117.3,645.9,-7.5,251,8175,0.00,2.22,0.00,0.000,4,0.000,0.051,1822,890,3408
$GC,8215,-0.81,-117.3,649.8,-8.9,251,8219,0.00,2.22,0.00,0.000,6,0.000,0.051,1820,2304,3408
$GC,8542,-0.81,-117.3,675.8,-8.0,257,8546,0.00,2.22,0.00,0.000,4,0.000,0.051,1819,892,3408
$GC,8580,-0.81,-117.3,679.2,-8.6,257,8584,0.00,2.22,0.00,0.000,6,0.000,0.049,1810,2309,3408
$GC,8913,-0.77,-117.3,705.6,-7.9,263,8915,0.10,0.00,0.00,0.000,6,0.143,0.000,1838,2310,3408
$GC,9216,-0.85,-117.3,723.9,-5.9,268,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,2310,3408
$GC,9520,-0.92,-117.3,740.4,-5.4,273,9525,0.15,2.25,0.00,0.000,4,0.071,0.053,1773,893,3407
$GC,9564,-0.73,-117.3,744.1,-9.0,273,9569,0.28,2.22,0.00,0.000,6,0.133,0.047,1846,2309,3407
$GC,9880,-0.85,-117.3,758.3,-4.3,279,9882,0.12,0.00,0.00,0.000,6,0.073,0.000,1792,2309,3407
$GC,10182,-0.74,-117.3,778.7,-6.8,284,10187,0.17,2.25,0.00,0.000,4,0.131,0.054,1842,896,3407
$GC,10221,-0.84,-117.3,780.9,-5.1,284,10225,0.00,2.22,0.00,0.000,6,0.000,0.044,1836,2310,3407
$GC,10542,-0.92,-117.3,795.9,-4.6,290,10544,0.12,0.00,0.00,0.000,6,0.073,0.000,1780,2310,3406
$GC,10844,-0.77,-117.3,819.0,-7.8,295,10849,0.17,2.25,0.00,0.000,4,0.139,0.051,1836,894,3406
$GC,10911,-0.85,-117.3,823.4,-5.8,296,10915,0.00,2.20,0.00,0.000,6,0.000,0.050,1836,2305,3406
$GC,11277,-0.93,-117.3,842.7,-5.3,302,11279,0.12,0.00,0.00,0.000,6,0.077,0.000,1781,2304,3406
$GC,11580,-0.78,-117.3,867.2,-8.2,307,11582,0.17,0.00,0.00,0.000,6,0.139,0.000,1830,2305,3406
$GC,11883,-0.85,-117.3,886.0,-6.1,312,11887,0.00,2.25,0.00,0.000,4,0.000,0.057,1830,893,3406
$GC,11911,-0.91,-117.3,887.9,-7.0,312,11915,0.00,2.22,0.00,0.000,6,0.000,0.048,1823,2303,3406
$GC,12243,-0.91,-117.3,910.5,-6.8,318,12244,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2303,3406
$GC,12546,-0.91,-117.3,931.9,-7.1,323,12550,0.08,2.25,0.00,0.000,4,0.101,0.059,1787,891,3406
$GC,12589,-0.80,-117.3,935.7,-9.2,323,12594,0.17,2.25,0.00,0.000,6,0.146,0.046,1827,2316,3405
$GC,12905,-0.86,-117.3,956.3,-6.4,329,12909,0.00,2.25,0.00,0.000,4,0.000,0.056,1827,901,3405
$GC,12934,-0.92,-117.3,958.3,-8.2,329,12938,0.08,2.22,0.00,0.000,6,0.102,0.053,1786,2313,3405
$GC,13265,-0.81,-117.3,984.7,-8.0,335,13270,0.15,2.25,0.00,0.000,4,0.148,0.061,1818,3716,3405
$GC,13292,-0.81,-117.3,986.7,-7.6,335,13297,0.00,2.20,0.00,0.000,6,0.000,0.038,1818,2299,3405
$STATE,13379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13380,begin apogee
$GC,13385,-0.22,0.0,992.3,6.1,337,13481,0.43,0.00,92.75,1.341,6,0.123,0.000,1955,2299,2931
$STATE,13481,end apogee,CONTROL_FINISHED_OK
$STATE,13481,begin climb
$GC,13484,0.68,117.3,993.6,0.0,338,13590,0.55,2.55,97.85,1.313,4,0.081,0.058,2146,3716,2450
$GC,13618,0.26,117.3,989.3,7.9,340,13624,0.40,2.38,0.00,0.000,6,0.182,0.044,2057,2299,2447
$GC,13974,0.38,152.6,973.9,4.3,346,14005,0.10,0.00,29.27,1.263,6,0.081,0.000,2095,2299,2309
$GC,14277,0.34,152.6,955.3,6.2,351,14281,0.00,2.35,0.00,0.000,4,0.000,0.058,2095,3717,2302
$GC,14309,0.22,152.6,952.7,7.1,351,14314,0.22,2.25,0.00,0.000,6,0.163,0.040,2045,2302,2301
$GC,14642,0.54,153.1,935.1,5.5,357,14646,0.20,2.30,0.00,0.000,4,0.074,0.058,2128,888,2301
$GC,14748,0.42,153.1,928.1,6.6,358,14752,0.15,2.28,0.00,0.000,6,0.149,0.045,2088,2304,2300
$GC,15068,0.44,168.5,911.6,5.0,364,15088,0.00,2.33,13.45,1.180,4,0.000,0.057,2088,3704,2243
$GC,15141,0.38,169.2,907.6,5.5,365,15145,0.00,2.25,0.00,0.000,6,0.000,0.040,2096,2291,2242
$GC,15500,0.40,184.1,889.5,5.0,371,15520,0.00,2.35,14.55,1.178,4,0.000,0.062,2096,3712,2180
$GC,15543,0.34,184.1,887.0,5.9,371,15548,0.15,2.25,0.00,0.000,6,0.163,0.038,2068,2302,2178
$GC,15864,0.60,217.0,873.2,4.4,377,15899,0.20,2.35,29.33,1.222,4,0.066,0.059,2160,895,2045
$GC,15974,0.43,217.0,865.3,8.1,378,15978,0.25,2.30,0.00,0.000,6,0.146,0.044,2091,2304,2041
$GC,16295,0.52,229.1,848.4,5.1,384,16311,0.08,2.33,10.93,1.105,4,0.084,0.056,2131,3719,1996
$GC,16350,0.35,229.1,843.7,10.0,384,16357,0.25,2.28,0.00,0.000,6,0.160,0.040,2074,2297,1994
$GC,16660,0.68,229.1,825.3,6.0,390,16665,0.20,2.28,0.00,0.000,4,0.071,0.051,2152,888,1991
$GC,16738,0.58,229.1,819.2,8.2,391,16743,0.10,2.28,0.00,0.000,6,0.148,0.044,2128,2309,1991
$GC,17093,0.50,229.1,791.4,7.8,397,17097,0.00,2.25,0.00,0.000,4,0.000,0.054,2128,3713,1991
$GC,17132,0.37,229.1,787.8,9.7,397,17137,0.20,2.22,0.00,0.000,6,0.153,0.042,2079,2299,1990
$GC,17459,0.64,229.1,768.5,5.9,403,17463,0.17,2.28,0.00,0.000,4,0.069,0.056,2153,880,1990
$GC,17531,0.54,229.1,762.8,7.1,404,17536,0.15,2.28,0.00,0.000,6,0.143,0.044,2113,2313,1989
$GC,17885,0.54,229.1,739.7,6.3,410,17889,0.00,2.22,0.00,0.000,4,0.000,0.054,2114,3710,1990
$GC,17930,0.48,229.1,736.5,6.7,410,17934,0.00,2.20,0.00,0.000,6,0.000,0.044,2121,2301,1989
$GC,18250,0.44,229.1,716.0,6.3,416,18252,0.12,0.00,0.00,0.000,6,0.156,0.000,2088,2301,1989
$GC,18554,0.58,250.6,701.4,4.8,421,18575,0.12,0.00,18.65,1.098,6,0.060,0.000,2153,2301,1909
$GC,18857,0.41,250.6,673.7,9.5,426,18861,0.20,2.30,0.00,0.000,4,0.146,0.054,2092,3717,1904
$GC,18889,0.41,250.6,670.9,7.4,426,18893,0.00,2.25,0.00,0.000,6,0.000,0.037,2100,2307,1904
$GC,19223,0.49,250.6,650.0,6.3,432,19227,0.00,2.28,0.00,0.000,4,0.000,0.053,2111,886,1903
$GC,19251,0.60,250.6,647.8,7.9,432,19255,0.00,2.25,0.00,0.000,6,0.000,0.043,2111,2307,1903
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$STATE,28350,end climb,SURFACE_DEPTH_REACHED
$STATE,28350,begin surface coast
$FINISH,1.3,1.024658
$STATE,28374,end surface coast,CONTROL_FINISHED_OK
$STATE,28374,begin surface
$SM_CCo,28451,0.00,0.000,0,0,1703,301.23
$SM_GC,2.32,5.53,0.00,0.00,0.036,0.000,0.000,100,2299,1703,-8.62,-0.14,301.23
$IRIDIUM_FIX,4946.36,-14428.91,131098,222253
$TT8_MAMPS,0.029146
$HUMID,1616
$INTERNAL_PRESSURE,7.42216
$TCM_TEMP,14.70
$XPDR_PINGS,87
$24V_AH,23.4,19.427
$10V_AH,10.7,14.916
$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,28.175,264.500,347.425,0.000,0.000,30.347,27.596,150.327,21.750,0.000,0.000,33.539,1768.445,23495.174,499.862,2410.143,616.141,33.400,1719.664,0.000,2384.408,0.000,0.529,0.000
$DEVICE_MAMPS,245.440,68.263,1340.716,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,521.830,593.551,764.681,1265.413,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44358,737
$CAP_FILE_SIZE,205876,0
$CFSIZE,260165632,249815040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200709,135636,4957.463,-14511.790,28,1.5,28,18.4