version: 66.04
glider: 144
mission: 15
dive: 185
start: 8 12 109 10 55 56
data:
$ID,144
$MISSION,15
$DIVE,185
$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,-64587.543
$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,37
$R_STBD_OVSHOOT,32
$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
$GPS1,104936,5003.125,-14445.847,39,1.0,44,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-65.9
$GPS2,105502,5003.131,-14445.880,10,1.2,10,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.045,0.162
$KALMAN_X,-84915.7,77.8,194.1,102470.9,-2006.2
$KALMAN_Y,68086.1,16.7,254.3,-62002.4,-883.0
$MHEAD_RNG_PITCHd_Wd,325.9,10057,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.68,-117.3,0.0,0.0,0,51,0.00,0.00,-32.10,0.000,2,0.000,0.000,98,2299,2574
$GC,53,-0.68,-117.3,3.3,-7.2,3,88,7.03,2.28,-19.92,0.000,4,0.239,0.065,1842,890,3411
$GC,203,-0.43,-117.3,26.2,-16.1,16,208,0.25,2.25,0.00,0.000,6,0.133,0.041,1907,2304,3412
$GC,530,-0.56,-117.3,51.3,-6.7,46,534,0.12,2.25,0.00,0.000,4,0.058,0.047,1817,3722,3413
$GC,598,-0.38,-117.3,58.4,-11.4,52,603,0.32,2.20,0.00,0.000,6,0.122,0.030,1916,2296,3413
$GC,924,-0.58,-117.3,76.6,-5.3,82,928,0.15,2.20,0.00,0.000,4,0.054,0.042,1821,899,3415
$GC,973,-0.40,-117.3,81.6,-11.0,85,978,0.32,2.20,0.00,0.000,6,0.161,0.037,1910,2311,3415
$GC,1295,-0.58,-117.3,99.9,-5.3,101,1297,0.12,0.00,0.00,0.000,6,0.058,0.000,1824,2312,3415
$GC,1604,-0.42,-117.3,132.5,-10.5,116,1609,0.25,2.25,0.00,0.000,4,0.120,0.041,1905,895,3415
$GC,1644,-0.64,-117.3,135.9,-7.2,118,1648,0.15,2.20,0.00,0.000,6,0.054,0.038,1825,2302,3415
$GC,1974,-0.56,-117.3,168.2,-9.6,131,1976,0.20,0.00,0.00,0.000,6,0.124,0.000,1885,2302,3415
$GC,2281,-0.74,-117.3,185.1,-5.2,141,2286,0.15,2.25,0.00,0.000,4,0.051,0.049,1782,3715,3415
$GC,2336,-0.53,-117.3,190.3,-10.4,142,2343,0.32,2.17,0.00,0.000,6,0.121,0.038,1884,2303,3414
$GC,2649,-0.71,-117.3,206.5,-5.2,153,2654,0.12,2.22,0.00,0.000,4,0.059,0.044,1801,894,3414
$GC,2693,-0.56,-117.3,210.5,-10.3,154,2698,0.28,2.22,0.00,0.000,6,0.126,0.039,1877,2309,3414
$GC,3011,-0.72,-117.3,230.2,-5.8,165,3016,0.12,2.22,0.00,0.000,4,0.058,0.042,1801,895,3413
$GC,3044,-0.59,-117.3,233.2,-9.8,166,3049,0.25,2.22,0.00,0.000,6,0.123,0.039,1870,2312,3413
$GC,3374,-0.72,-117.3,251.9,-5.3,177,3376,0.10,0.00,0.00,0.000,6,0.068,0.000,1803,2312,3413
$GC,3680,-0.59,-117.3,278.8,-8.9,187,3684,0.20,2.25,0.00,0.000,4,0.121,0.043,1869,890,3412
$GC,3742,-0.76,-117.3,283.0,-6.0,189,3747,0.10,2.22,0.00,0.000,6,0.068,0.044,1798,2307,3412
$GC,4076,-0.62,-117.3,312.8,-9.2,198,4078,0.22,0.00,0.00,0.000,6,0.126,0.000,1866,2307,3412
$GC,4379,-0.76,-117.3,330.0,-5.5,203,4381,0.12,0.00,0.00,0.000,6,0.061,0.000,1791,2307,3411
$GC,4683,-0.59,-117.3,358.6,-9.6,208,4688,0.25,2.25,0.00,0.000,4,0.125,0.047,1873,893,3411
$GC,4755,-0.77,-117.3,363.4,-5.9,209,4759,0.12,2.22,0.00,0.000,6,0.063,0.039,1789,2309,3411
$GC,5109,-0.60,-117.3,397.8,-10.1,215,5111,0.28,0.00,0.00,0.000,6,0.126,0.000,1873,2309,3410
$GC,5412,-0.79,-117.3,416.0,-5.9,220,5414,0.15,0.00,0.00,0.000,6,0.054,0.000,1782,2309,3410
$GC,5715,-0.60,-117.3,447.5,-10.6,225,5717,0.30,0.00,0.00,0.000,6,0.124,0.000,1874,2309,3409
$GC,6019,-0.84,-117.3,464.7,-5.5,230,6024,0.17,2.25,0.00,0.000,4,0.061,0.050,1793,3715,3409
$GC,6069,-0.74,-117.3,468.7,-8.4,230,6074,0.17,2.17,0.00,0.000,6,0.126,0.032,1845,2305,3408
$GC,6379,-0.83,-117.3,487.7,-6.1,235,6383,0.10,2.25,0.00,0.000,4,0.073,0.050,1786,890,3408
$GC,6422,-0.67,-117.3,491.6,-9.5,235,6427,0.25,2.22,0.00,0.000,6,0.125,0.044,1854,2304,3408
$GC,6738,-0.80,-117.3,509.9,-5.7,241,6742,0.10,2.22,0.00,0.000,4,0.071,0.053,1781,3709,3408
$GC,6776,-0.63,-117.3,513.1,-9.0,241,6781,0.28,2.17,0.00,0.000,6,0.123,0.032,1865,2299,3408
$GC,7097,-0.81,-117.3,530.0,-5.1,247,7102,0.15,2.20,0.00,0.000,4,0.058,0.044,1781,897,3407
$GC,7124,-0.72,-117.3,532.2,-8.4,247,7129,0.25,2.22,0.00,0.000,6,0.128,0.041,1845,2315,3407
$GC,7456,-0.82,-117.3,551.8,-5.8,253,7458,0.10,0.00,0.00,0.000,6,0.071,0.000,1785,2314,3406
$GC,7759,-0.66,-117.3,576.7,-8.3,258,7764,0.20,2.28,0.00,0.000,4,0.128,0.048,1849,897,3406
$GC,7793,-0.77,-117.3,578.8,-5.1,258,7797,0.00,2.22,0.00,0.000,6,0.000,0.047,1849,2305,3406
$GC,8120,-0.88,-117.3,593.0,-4.3,264,8121,0.15,0.00,0.00,0.000,6,0.055,0.000,1766,2306,3406
$GC,8422,-0.66,-117.3,619.0,-8.9,269,8427,0.25,2.25,0.00,0.000,4,0.133,0.046,1848,900,3406
$GC,8461,-0.79,-117.3,621.7,-5.4,269,8465,0.00,2.22,0.00,0.000,6,0.000,0.046,1848,2307,3406
$GC,8783,-0.91,-117.3,637.2,-4.9,275,8785,0.15,0.00,0.00,0.000,6,0.054,0.000,1767,2307,3405
$GC,9086,-0.69,-117.3,665.7,-9.7,280,9090,0.25,2.25,0.00,0.000,4,0.131,0.047,1846,894,3405
$GC,9141,-0.82,-117.3,669.9,-6.3,280,9148,0.00,2.25,0.00,0.000,6,0.000,0.046,1838,2304,3406
$GC,9451,-0.91,-117.3,688.3,-5.9,286,9455,0.12,2.25,0.00,0.000,4,0.064,0.053,1757,3713,3405
$GC,9489,-0.67,-117.3,691.7,-9.6,286,9494,0.32,2.17,0.00,0.000,6,0.130,0.034,1855,2305,3405
$GC,9811,-0.83,-117.3,708.4,-5.0,292,9815,0.12,2.25,0.00,0.000,4,0.066,0.049,1787,890,3405
$GC,9843,-0.72,-117.3,711.0,-9.0,292,9848,0.22,2.22,0.00,0.000,6,0.128,0.043,1846,2309,3405
$GC,10176,-0.85,-117.3,727.0,-4.7,298,10177,0.12,0.00,0.00,0.000,6,0.064,0.000,1781,2309,3405
$GC,10478,-0.70,-117.3,748.9,-7.4,303,10480,0.22,0.00,0.00,0.000,6,0.127,0.000,1848,2309,3404
$GC,10781,-0.84,-117.3,761.6,-4.0,308,10783,0.12,0.00,0.00,0.000,6,0.067,0.000,1789,2310,3405
$GC,11084,-0.73,-117.3,782.7,-7.1,313,11089,0.17,2.28,0.00,0.000,4,0.127,0.048,1841,900,3404
$GC,11125,-0.84,-117.3,785.0,-5.6,313,11129,0.00,2.22,0.00,0.000,6,0.000,0.046,1837,2302,3404
$GC,11446,-0.93,-117.3,801.6,-5.2,319,11451,0.12,2.28,0.00,0.000,4,0.070,0.056,1768,3719,3404
$GC,11473,-0.81,-117.3,803.7,-8.4,319,11478,0.20,2.20,0.00,0.000,6,0.133,0.038,1826,2297,3403
$GC,11811,-0.86,-117.3,824.2,-6.0,325,11815,0.00,2.22,0.00,0.000,4,0.000,0.048,1826,898,3403
$GC,11839,-0.92,-117.3,826.1,-6.9,325,11844,0.08,2.22,0.00,0.000,6,0.091,0.048,1783,2306,3403
$GC,12176,-0.79,-117.3,855.1,-8.8,331,12181,0.17,2.28,0.00,0.000,4,0.136,0.057,1824,3717,3403
$GC,12226,-0.88,-117.3,859.1,-7.2,331,12230,0.00,2.20,0.00,0.000,6,0.000,0.040,1824,2306,3403
$GC,12536,-0.94,-117.3,879.5,-6.5,336,12538,0.10,0.00,0.00,0.000,6,0.084,0.000,1777,2306,3403
$GC,12839,-0.79,-117.3,905.7,-8.7,341,12841,0.17,0.00,0.00,0.000,6,0.135,0.000,1827,2306,3403
$GC,13142,-0.86,-117.3,923.9,-5.8,346,13144,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2306,3403
$GC,13446,-0.92,-117.3,941.7,-5.8,351,13447,0.10,0.00,0.00,0.000,6,0.087,0.000,1786,2306,3403
$GC,13748,-0.83,-117.3,964.8,-7.7,356,13750,0.12,0.00,0.00,0.000,6,0.140,0.000,1820,2306,3403
$GC,14051,-0.87,-117.3,984.4,-6.4,361,14053,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2306,3403
$STATE,14170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14170,begin apogee
$GC,14176,-0.22,0.0,991.8,6.3,363,14272,0.43,0.00,93.22,1.331,6,0.126,0.000,1956,2305,2931
$STATE,14272,end apogee,CONTROL_FINISHED_OK
$STATE,14272,begin climb
$GC,14275,0.68,117.3,993.6,0.0,364,14383,0.57,2.55,99.12,1.301,4,0.076,0.060,2151,3706,2450
$GC,14412,0.25,117.3,990.9,6.9,366,14420,0.43,2.38,0.00,0.000,6,0.181,0.036,2057,2310,2447
$GC,14723,0.46,166.5,978.6,3.8,372,14770,0.15,2.42,41.17,1.269,4,0.071,0.058,2117,3713,2252
$GC,14834,0.27,166.5,971.6,6.8,373,14838,0.25,2.33,0.00,0.000,6,0.163,0.041,2062,2299,2248
$GC,15150,0.55,179.5,956.0,5.1,379,15169,0.17,2.40,11.65,1.147,4,0.072,0.051,2145,885,2199
$GC,15271,0.39,179.5,947.4,7.5,380,15276,0.22,2.33,0.00,0.000,6,0.146,0.044,2084,2312,2196
$GC,15582,0.47,185.0,930.8,5.3,385,15593,0.00,2.30,6.05,0.975,4,0.000,0.056,2084,3720,2175
$GC,15631,0.47,185.0,927.5,6.9,385,15636,0.00,2.28,0.00,0.000,6,0.000,0.040,2091,2299,2174
$GC,15947,0.47,185.0,909.3,5.7,391,15948,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2299,2173
$GC,16250,0.47,185.0,891.4,6.0,396,16254,0.00,2.30,0.00,0.000,4,0.000,0.058,2092,3712,2173
$GC,16288,0.47,185.0,888.5,7.8,396,16292,0.00,2.25,0.00,0.000,6,0.000,0.039,2102,2292,2172
$GC,16608,0.47,185.0,868.0,6.4,402,16612,0.00,2.30,0.00,0.000,4,0.000,0.058,2102,3712,2172
$GC,16635,0.41,185.0,865.9,7.4,402,16640,0.10,2.22,0.00,0.000,6,0.173,0.035,2089,2304,2172
$GC,16967,0.47,186.6,847.5,5.4,408,16969,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2303,2171
$GC,17270,0.52,188.7,831.1,5.4,413,17280,0.10,2.30,4.18,0.783,4,0.074,0.057,2134,3707,2161
$GC,17303,0.33,188.7,828.6,7.9,413,17307,0.28,2.22,0.00,0.000,6,0.160,0.039,2068,2293,2161
$GC,17635,0.63,188.7,809.0,6.2,419,17639,0.17,2.25,0.00,0.000,4,0.064,0.052,2147,892,2160
$GC,17735,0.49,188.7,801.1,8.1,420,17739,0.15,2.25,0.00,0.000,6,0.142,0.042,2107,2311,2159
$GC,18060,0.49,188.7,779.1,6.8,426,18064,0.00,2.25,0.00,0.000,4,0.000,0.051,2107,3716,2159
$GC,18111,0.41,188.7,775.2,8.7,426,18116,0.12,2.20,0.00,0.000,6,0.158,0.035,2083,2301,2159
$GC,18421,0.51,194.8,758.4,5.3,431,18430,0.10,0.00,6.88,0.959,6,0.071,0.000,2136,2300,2136
$GC,18724,0.37,194.8,736.1,7.4,436,18729,0.20,2.30,0.00,0.000,4,0.143,0.051,2073,3717,2134
$GC,18751,0.37,194.8,734.4,5.8,436,18755,0.00,2.22,0.00,0.000,6,0.000,0.037,2081,2298,2134
$GC,19089,0.52,233.6,720.2,4.2,442,19126,0.10,0.00,34.50,1.131,6,0.072,0.000,2140,2298,1978
$GC,19392,0.39,233.6,698.0,7.6,447,19397,0.17,2.33,0.00,0.000,4,0.138,0.051,2085,3713,1971
$GC,19442,0.49,233.6,694.5,6.4,447,19446,0.00,2.25,0.00,0.000,6,0.000,0.034,2094,2300,1970
$GC,19752,0.61,246.3,678.8,5.1,452,19765,0.12,0.00,11.20,1.011,6,0.058,0.000,2160,2301,1926
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$STATE,29833,end climb,SURFACE_DEPTH_REACHED
$STATE,29834,begin surface coast
$FINISH,1.1,1.001802
$STATE,29868,end surface coast,CONTROL_FINISHED_OK
$STATE,29868,begin surface
$SM_CCo,29944,0.00,0.000,0,0,1603,325.76
$SM_GC,1.90,5.43,0.00,0.00,0.035,0.000,0.000,99,2307,1603,-8.63,0.11,325.76
$IRIDIUM_FIX,4943.02,-14426.18,061198,030316
$TT8_MAMPS,0.028379
$HUMID,1639
$INTERNAL_PRESSURE,7.44169
$TCM_TEMP,15.20
$XPDR_PINGS,83
$24V_AH,22.9,29.087
$10V_AH,10.7,23.518
$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,31.050,255.900,376.500,0.000,0.000,27.908,25.708,148.945,20.750,0.000,0.000,11.528,1847.314,24823.037,542.572,2409.860,638.071,33.380,1767.283,0.000,2415.496,0.000,0.527,0.000
$DEVICE_MAMPS,239.304,65.195,1330.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,559.325,631.713,817.279,1356.004,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47570,790
$CAP_FILE_SIZE,214141,0
$CFSIZE,260165632,244215808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,120809,191607,5005.900,-14448.244,29,1.0,29,18.5