version: 66.04
glider: 144
mission: 15
dive: 710
start: 2 4 110 19 12 2
data:
$ID,144
$MISSION,15
$DIVE,710
$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,-76069.586
$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,0.02
$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,36
$R_STBD_OVSHOOT,34
$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
$GPS1,190354,4942.377,-14030.641,38,1.5,38,19.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-61.8
$GPS2,191108,4942.409,-14030.659,11,2.0,11,19.1
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P20
$TGT_LATLONG,4934.000,-13840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.162,-0.044
$KALMAN_X,-77414.8,-373.7,-66.1,408650.7,1999.1
$KALMAN_Y,37643.6,-100.9,-110.3,-108858.8,657.6
$MHEAD_RNG_PITCHd_Wd,86.2,133826,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,64,0.00,0.00,-45.47,0.000,2,0.000,0.000,99,2292,2869
$GC,69,-0.68,-117.3,4.4,-5.4,3,93,7.30,2.33,-11.20,0.000,4,0.234,0.061,1847,888,3413
$GC,128,-0.64,-117.3,15.3,-10.9,6,133,0.10,2.28,0.00,0.000,6,0.133,0.044,1865,2311,3414
$GC,450,-0.64,-117.3,44.6,-9.6,22,454,0.00,2.25,0.00,0.000,4,0.000,0.041,1866,889,3414
$GC,480,-0.66,-117.3,47.3,-8.8,23,484,0.00,2.22,0.00,0.000,6,0.000,0.036,1863,2302,3414
$GC,809,-0.66,-117.3,77.6,-9.8,39,810,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2302,3414
$GC,1126,-0.66,-117.3,107.1,-8.0,67,1130,0.00,2.28,0.00,0.000,4,0.000,0.041,1863,888,3414
$GC,1161,-0.70,-117.3,110.0,-8.6,69,1168,0.00,2.25,0.00,0.000,6,0.000,0.037,1862,2310,3414
$GC,1491,-0.74,-117.3,132.8,-6.6,100,1496,0.08,2.22,0.00,0.000,4,0.080,0.047,1781,3708,3415
$GC,1520,-0.67,-117.3,135.7,-10.2,102,1527,0.25,2.17,0.00,0.000,6,0.120,0.030,1855,2298,3415
$GC,1846,-0.71,-117.3,158.5,-6.8,125,1850,0.00,2.25,0.00,0.000,4,0.000,0.041,1856,892,3415
$GC,1892,-0.77,-117.3,162.0,-6.5,126,1896,0.00,2.22,0.00,0.000,6,0.000,0.035,1850,2300,3415
$GC,2213,-0.81,-117.3,182.6,-6.6,137,2214,0.10,0.00,0.00,0.000,6,0.065,0.000,1768,2301,3415
$GC,2518,-0.70,-117.3,218.0,-11.9,147,2523,0.22,2.28,0.00,0.000,4,0.119,0.041,1843,894,3415
$GC,2582,-0.75,-117.3,223.7,-8.2,149,2586,0.00,2.28,0.00,0.000,6,0.000,0.042,1837,2310,3415
$GC,2919,-0.77,-117.3,248.9,-7.2,160,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2311,3415
$GC,3224,-0.79,-117.3,270.3,-7.2,170,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2311,3415
$GC,3531,-0.82,-117.3,292.3,-7.1,180,3535,0.00,2.30,0.00,0.000,4,0.000,0.045,1837,899,3414
$GC,3572,-0.86,-117.3,295.3,-7.4,181,3576,0.10,2.25,0.00,0.000,6,0.064,0.042,1764,2310,3414
$GC,3930,-0.76,-117.3,334.2,-11.0,188,3932,0.22,0.00,0.00,0.000,6,0.120,0.000,1833,2310,3414
$GC,4233,-0.79,-117.3,355.9,-7.0,193,4237,0.00,2.33,0.00,0.000,4,0.000,0.048,1833,898,3414
$GC,4285,-0.83,-117.3,359.9,-8.0,193,4289,0.00,2.28,0.00,0.000,6,0.000,0.038,1827,2312,3414
$GC,4595,-0.83,-117.3,382.4,-7.3,198,4599,0.00,2.30,0.00,0.000,4,0.000,0.054,1817,3714,3413
$GC,4623,-0.83,-117.3,384.6,-8.1,198,4627,0.00,2.20,0.00,0.000,6,0.000,0.030,1818,2301,3413
$GC,4956,-0.83,-117.3,409.7,-7.6,204,4960,0.00,2.25,0.00,0.000,4,0.000,0.045,1817,899,3413
$GC,5025,-0.83,-117.3,415.3,-8.3,205,5029,0.00,2.25,0.00,0.000,6,0.000,0.039,1809,2308,3413
$GC,5392,-0.83,-117.3,443.8,-7.8,211,5396,0.00,2.25,0.00,0.000,4,0.000,0.043,1808,889,3413
$GC,5437,-0.83,-117.3,447.7,-8.5,211,5441,0.00,2.25,0.00,0.000,6,0.000,0.042,1799,2303,3413
$GC,5765,-0.80,-117.3,475.3,-8.6,217,5770,0.10,2.28,0.00,0.000,4,0.137,0.049,1827,895,3412
$GC,5800,-0.83,-117.3,478.3,-7.9,217,5804,0.00,2.25,0.00,0.000,6,0.000,0.039,1822,2303,3412
$GC,6127,-0.83,-117.3,503.4,-7.8,223,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2303,3412
$GC,6430,-0.83,-117.3,526.5,-7.6,228,6434,0.00,2.28,0.00,0.000,4,0.000,0.046,1823,893,3412
$GC,6471,-0.86,-117.3,529.7,-8.0,228,6475,0.00,2.28,0.00,0.000,6,0.000,0.038,1815,2306,3412
$GC,6793,-0.86,-117.3,555.3,-7.9,234,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,1815,2307,3412
$GC,7096,-0.86,-117.3,578.9,-7.8,239,7100,0.00,2.28,0.00,0.000,4,0.000,0.044,1815,890,3411
$GC,7135,-0.86,-117.3,582.0,-7.9,239,7139,0.00,2.28,0.00,0.000,6,0.000,0.038,1808,2303,3411
$GC,7464,-0.86,-117.3,607.2,-7.6,245,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2303,3412
$GC,7766,-0.86,-117.3,629.0,-7.0,250,7770,0.00,2.28,0.00,0.000,4,0.000,0.050,1808,895,3411
$GC,7800,-0.86,-117.3,631.5,-7.1,250,7804,0.00,2.28,0.00,0.000,6,0.000,0.045,1806,2303,3411
$GC,8127,-0.86,-117.3,653.2,-6.6,256,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,2303,3411
$GC,8431,-0.86,-117.3,672.0,-6.2,261,8435,0.00,2.28,0.00,0.000,4,0.000,0.049,1806,898,3411
$GC,8482,-0.86,-117.3,675.7,-7.4,261,8486,0.00,2.25,0.00,0.000,6,0.000,0.040,1796,2303,3411
$GC,8793,-0.86,-117.3,697.4,-7.0,266,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,2303,3411
$GC,9097,-0.84,-117.3,718.7,-7.1,271,9099,0.10,0.00,0.00,0.000,6,0.133,0.000,1824,2303,3411
$GC,9401,-0.88,-117.3,737.3,-6.1,276,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2304,3410
$GC,9703,-0.92,-117.3,756.0,-6.2,281,9708,0.10,2.33,0.00,0.000,4,0.069,0.044,1764,893,3410
$GC,9737,-0.85,-117.3,759.0,-9.6,281,9742,0.22,2.30,0.00,0.000,6,0.125,0.039,1820,2312,3410
$GC,10065,-0.89,-117.3,779.6,-6.2,287,10067,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2312,3410
$GC,10368,-0.93,-117.3,799.0,-6.4,292,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2312,3409
$GC,10671,-0.97,-117.3,818.5,-6.4,297,10673,0.12,0.00,0.00,0.000,6,0.061,0.000,1750,2312,3410
$GC,10974,-0.87,-117.3,848.7,-10.2,302,10979,0.17,2.33,0.00,0.000,4,0.126,0.056,1799,3718,3409
$GC,11004,-0.87,-117.3,851.4,-8.1,302,11008,0.00,2.25,0.00,0.000,6,0.000,0.035,1799,2295,3410
$GC,11337,-0.87,-117.3,873.3,-6.5,308,11338,0.00,0.00,0.00,0.000,6,0.000,0.000,1799,2294,3410
$GC,11640,-0.87,-117.3,891.7,-6.0,313,11643,0.00,2.25,0.00,0.000,4,0.000,0.048,1799,900,3409
$GC,11696,-0.87,-117.3,895.6,-6.6,313,11700,0.00,2.28,0.00,0.000,6,0.000,0.044,1794,2305,3409
$GC,12008,-0.87,-117.3,915.8,-6.5,318,12012,0.00,2.30,0.00,0.000,4,0.000,0.047,1795,901,3409
$GC,12036,-0.87,-117.3,917.8,-7.1,318,12040,0.00,2.30,0.00,0.000,6,0.000,0.041,1791,2314,3409
$GC,12368,-0.87,-117.3,940.3,-6.8,324,12370,0.00,0.00,0.00,0.000,6,0.000,0.000,1792,2314,3409
$GC,12671,-0.87,-117.3,960.6,-6.6,329,12675,0.00,2.33,0.00,0.000,4,0.000,0.045,1792,901,3409
$GC,12695,-0.87,-117.3,962.3,-6.9,329,12700,0.12,2.28,0.00,0.000,6,0.124,0.043,1816,2305,3408
$GC,13034,-0.91,-117.3,981.4,-5.6,335,13035,0.00,0.00,0.00,0.000,6,0.000,0.000,1816,2304,3408
$STATE,13211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13211,begin apogee
$GC,13220,-0.22,0.0,991.2,5.4,338,13322,0.43,0.00,98.88,1.280,6,0.108,0.000,1956,2305,2931
$STATE,13322,end apogee,CONTROL_FINISHED_OK
$STATE,13323,begin climb
$GC,13328,0.68,117.3,992.6,0.0,339,13440,0.57,2.55,104.20,1.253,4,0.067,0.057,2159,3704,2451
$GC,13467,0.50,117.3,990.7,6.5,342,13472,0.25,2.38,0.00,0.000,6,0.165,0.033,2111,2304,2447
$GC,13829,0.48,128.4,971.6,5.1,348,13841,0.00,0.00,9.35,1.065,6,0.000,0.000,2111,2305,2407
$GC,14131,0.45,128.4,954.9,5.6,353,14135,0.00,2.30,0.00,0.000,4,0.000,0.051,2110,3711,2404
$GC,14177,0.37,128.4,952.0,6.5,353,14182,0.15,2.25,0.00,0.000,6,0.155,0.035,2081,2290,2403
$GC,14495,0.45,150.6,936.7,4.7,359,14520,0.00,2.35,20.30,1.174,4,0.000,0.055,2081,3714,2315
$GC,14578,0.50,150.6,932.0,5.7,360,14582,0.08,2.25,0.00,0.000,6,0.079,0.039,2132,2291,2313
$GC,14927,0.50,150.6,908.8,6.8,366,14932,0.10,2.25,0.00,0.000,4,0.132,0.048,2115,891,2311
$GC,15002,0.50,150.6,904.1,6.2,367,15006,0.00,2.28,0.00,0.000,6,0.000,0.038,2115,2313,2311
$GC,15358,0.48,150.6,883.3,5.8,373,15362,0.00,2.25,0.00,0.000,4,0.000,0.056,2115,3708,2310
$GC,15392,0.42,150.6,881.0,7.0,373,15397,0.15,2.20,0.00,0.000,6,0.149,0.038,2087,2304,2310
$GC,15727,0.50,190.3,866.7,4.2,379,15767,0.08,2.33,34.83,1.168,4,0.082,0.051,2145,892,2154
$GC,15787,0.47,190.7,863.2,5.5,380,15792,0.17,2.30,0.00,0.000,6,0.134,0.041,2098,2308,2153
$GC,16155,0.54,208.9,845.1,4.9,386,16179,0.00,2.35,17.27,1.104,4,0.000,0.054,2098,3710,2078
$GC,16226,0.56,208.9,840.9,5.8,387,16230,0.00,2.22,0.00,0.000,6,0.000,0.038,2105,2295,2076
$GC,16589,0.60,213.6,821.5,5.3,393,16597,0.10,0.00,5.28,0.838,6,0.067,0.000,2162,2295,2060
$GC,16891,0.51,213.6,796.4,8.5,398,16896,0.20,2.30,0.00,0.000,4,0.138,0.049,2100,3717,2058
$GC,16942,0.54,213.6,792.6,6.0,398,16946,0.00,2.22,0.00,0.000,6,0.000,0.036,2109,2297,2058
$GC,17254,0.59,221.8,776.4,5.2,403,17265,0.00,0.00,8.90,0.972,6,0.000,0.000,2108,2297,2027
$GC,17556,0.63,221.8,759.7,5.5,408,17561,0.10,2.33,0.00,0.000,4,0.067,0.048,2173,3711,2023
$GC,17579,0.58,221.8,757.9,7.2,408,17584,0.22,2.22,0.00,0.000,6,0.146,0.032,2123,2301,2023
$GC,17917,0.58,221.8,736.9,6.0,414,17921,0.00,2.28,0.00,0.000,4,0.000,0.046,2132,891,2023
$GC,17948,0.63,236.2,735.2,5.0,414,17967,0.00,2.25,13.30,1.015,6,0.000,0.038,2132,2305,1970
$GC,18284,0.63,236.2,714.3,6.1,420,18288,0.00,2.28,0.00,0.000,4,0.000,0.054,2132,3715,1967
$GC,18318,0.60,236.2,711.9,7.2,420,18322,0.00,2.22,0.00,0.000,6,0.000,0.040,2141,2298,1967
$GC,18647,0.58,236.2,690.9,6.5,426,18648,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2298,1967
$GC,18948,0.58,236.2,671.9,6.3,431,18949,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2298,1966
$GC,19252,0.56,236.2,651.4,6.8,436,19256,0.00,2.30,0.00,0.000,4,0.000,0.052,2142,3707,1966
$GC,19293,0.51,236.2,648.0,8.6,436,19298,0.15,2.20,0.00,0.000,6,0.131,0.032,2111,2304,1966
$GC,19616,0.57,236.4,630.0,5.5,442,19620,0.00,2.28,0.00,0.000,4,0.000,0.047,2119,894,1966
$GC,19646,0.64,236.4,628.1,5.8,442,19650,0.00,2.25,0.00,0.000,6,0.000,0.042,2119,2308,1966
$GC,19979,0.77,236.4,606.0,6.9,448,19984,0.15,2.30,0.00,0.000,4,0.054,0.043,2211,887,1965
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$GC,26187,0.77,254.3,183.8,5.3,576,26196,0.10,0.00,6.03,0.594,6,0.064,0.000,2212,2301,1893
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$STATE,29029,end climb,SURFACE_DEPTH_REACHED
$STATE,29029,begin surface coast
$FINISH,1.2,1.025131
$STATE,29071,end surface coast,CONTROL_FINISHED_OK
$STATE,29072,begin surface
$SM_CCo,29092,12.88,0.570,0,0,1708,300.00
$SM_GC,2.82,0.00,0.00,12.88,0.000,0.000,0.570,98,2295,1708,-8.75,-0.20,300.00
$IRIDIUM_FIX,4926.39,-14034.67,010599,101033
$TT8_MAMPS,0.029146
$HUMID,1760
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,15.60
$XPDR_PINGS,68
$24V_AH,21.8,102.129
$10V_AH,10.3,87.385
$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,19.800,222.275,361.575,12.875,0.000,22.915,26.246,209.178,17.000,0.000,0.000,13.384,1702.794,24198.617,512.802,2150.678,963.602,33.385,1654.622,0.000,2138.206,0.000,0.527,0.000
$DEVICE_MAMPS,233.935,60.593,1280.123,569.881,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,534.843,620.127,786.907,837.716,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44295,758
$CAP_FILE_SIZE,186343,0
$CFSIZE,260165632,203403264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050210,031854,4941.613,-14025.125,40,1.3,58,19.2