version: 66.04
glider: 144
mission: 15
dive: 842
start: 3 21 110 11 0 32
data:
$ID,144
$MISSION,15
$DIVE,842
$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,-78801.57
$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,44
$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
$GPS1,105254,4852.711,-12901.707,39,2.0,39,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-59.6
$GPS2,105938,4852.817,-12901.647,10,2.0,10,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.127,-0.110
$KALMAN_X,-24083.9,265.5,48.4,1168811.2,46.5
$KALMAN_Y,80542.4,4.1,148.5,-243985.2,2673.9
$MHEAD_RNG_PITCHd_Wd,111.4,27328,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,21,-0.68,-117.2,0.0,0.0,0,59,0.00,0.00,-35.50,0.000,2,0.000,0.000,98,2294,2558
$GC,64,-0.68,-117.3,3.9,-5.2,2,100,7.15,2.42,-21.42,0.000,4,0.231,0.064,1841,3705,3412
$GC,195,-0.62,-117.3,18.9,-13.3,7,202,0.10,2.22,0.00,0.000,6,0.130,0.035,1867,2295,3413
$GC,513,-0.62,-117.3,49.9,-10.2,23,517,0.00,2.25,0.00,0.000,4,0.000,0.039,1866,901,3413
$GC,589,-0.64,-117.3,56.3,-8.7,26,593,0.00,2.22,0.00,0.000,6,0.000,0.035,1863,2300,3413
$GC,908,-0.64,-117.3,83.6,-8.0,43,909,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2299,3412
$GC,1227,-0.68,-117.3,108.1,-7.5,73,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,2300,3413
$GC,1548,-0.72,-117.3,132.3,-7.8,103,1552,0.00,2.33,0.00,0.000,4,0.000,0.051,1853,3707,3413
$GC,1590,-0.78,-117.3,135.8,-8.1,106,1595,0.08,2.17,0.00,0.000,6,0.075,0.028,1790,2297,3413
$GC,1937,-0.69,-117.3,172.7,-10.2,125,1942,0.17,2.25,0.00,0.000,4,0.113,0.038,1850,900,3413
$GC,1994,-0.75,-117.3,177.5,-7.0,126,2001,0.00,2.22,0.00,0.000,6,0.000,0.036,1850,2304,3413
$GC,2310,-0.79,-117.3,195.6,-5.6,137,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,2304,3413
$GC,2617,-0.83,-117.3,213.2,-5.6,147,2621,0.10,2.30,0.00,0.000,4,0.064,0.049,1759,3710,3413
$GC,2640,-0.78,-117.3,215.2,-7.7,147,2645,0.25,2.20,0.00,0.000,6,0.115,0.031,1831,2305,3413
$GC,2955,-0.78,-117.3,236.0,-6.3,157,2959,0.00,2.25,0.00,0.000,4,0.000,0.045,1831,898,3413
$GC,2998,-0.81,-117.3,238.8,-7.0,158,3002,0.00,2.28,0.00,0.000,6,0.000,0.042,1824,2309,3413
$GC,3330,-0.81,-117.3,262.8,-7.2,169,3334,0.00,2.30,0.00,0.000,4,0.000,0.053,1814,3712,3413
$GC,3364,-0.81,-117.3,265.7,-7.9,170,3368,0.00,2.20,0.00,0.000,6,0.000,0.028,1814,2295,3413
$GC,3698,-0.79,-117.3,289.9,-7.1,181,3702,0.00,2.28,0.00,0.000,4,0.000,0.044,1814,899,3413
$GC,3766,-0.79,-117.3,295.2,-7.2,183,3771,0.10,2.28,0.00,0.000,6,0.123,0.040,1830,2305,3413
$GC,4100,-0.79,-117.3,313.6,-5.4,190,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,1830,2304,3413
$GC,4403,-0.79,-117.3,330.5,-5.7,195,4407,0.00,2.35,0.00,0.000,4,0.000,0.048,1822,3706,3413
$GC,4427,-0.79,-117.3,332.0,-6.4,195,4431,0.00,2.22,0.00,0.000,6,0.000,0.036,1822,2300,3412
$GC,4766,-0.79,-117.3,354.0,-6.6,201,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2299,3412
$GC,5070,-0.79,-117.3,376.0,-7.3,206,5074,0.00,2.30,0.00,0.000,4,0.000,0.046,1821,893,3412
$GC,5105,-0.79,-117.3,378.9,-7.8,206,5109,0.00,2.30,0.00,0.000,6,0.000,0.038,1813,2310,3412
$GC,5433,-0.79,-117.3,404.4,-7.8,212,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2310,3412
$GC,5735,-0.79,-117.3,427.4,-7.6,217,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2310,3411
$GC,6038,-0.79,-117.3,449.9,-7.4,222,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2310,3412
$GC,6342,-0.79,-117.3,472.7,-7.6,227,6346,0.00,2.38,0.00,0.000,4,0.000,0.045,1813,887,3411
$GC,6377,-0.79,-117.3,475.6,-8.4,227,6382,0.00,2.33,0.00,0.000,6,0.000,0.044,1808,2300,3410
$GC,6705,-0.79,-117.3,500.8,-7.7,233,6709,0.00,2.40,0.00,0.000,4,0.000,0.048,1798,3710,3411
$GC,6741,-0.77,-117.3,503.8,-8.7,233,6745,0.12,2.25,0.00,0.000,6,0.108,0.036,1832,2302,3410
$GC,7068,-0.81,-117.3,524.0,-6.0,239,7072,0.00,2.33,0.00,0.000,4,0.000,0.049,1833,891,3410
$GC,7088,-0.85,-117.3,525.2,-5.8,239,7092,0.00,2.33,0.00,0.000,6,0.000,0.044,1828,2305,3410
$GC,7433,-0.89,-117.3,545.2,-5.7,245,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,1828,2305,3409
$GC,7736,-0.92,-117.3,562.6,-5.7,250,7737,0.10,0.00,0.00,0.000,6,0.067,0.000,1751,2306,3409
$GC,8040,-0.81,-117.3,593.3,-10.3,255,8045,0.22,2.38,0.00,0.000,4,0.125,0.044,1826,892,3409
$GC,8080,-0.84,-117.3,596.7,-6.5,255,8085,0.00,2.33,0.00,0.000,6,0.000,0.038,1823,2303,3408
$GC,8404,-0.87,-117.3,614.6,-5.4,261,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2303,3408
$GC,8708,-0.90,-117.3,629.1,-4.6,266,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,1823,2303,3408
$GC,9011,-0.93,-117.3,643.9,-4.9,271,9012,0.10,0.00,0.00,0.000,6,0.066,0.000,1751,2304,3408
$GC,9313,-0.82,-117.3,671.5,-9.5,276,9315,0.25,0.00,0.00,0.000,6,0.117,0.000,1828,2304,3407
$GC,9616,-0.86,-117.3,689.4,-5.7,281,9620,0.00,2.38,0.00,0.000,4,0.000,0.050,1828,896,3407
$GC,9652,-0.92,-117.3,691.6,-6.4,281,9657,0.10,2.38,0.00,0.000,6,0.064,0.043,1755,2309,3407
$GC,9980,-0.81,-117.3,722.4,-9.7,287,9985,0.20,2.40,0.00,0.000,4,0.120,0.051,1813,3716,3407
$GC,10009,-0.81,-117.3,725.0,-8.2,287,10013,0.00,2.28,0.00,0.000,6,0.000,0.032,1813,2302,3406
$GC,10343,-0.84,-117.3,746.7,-6.6,293,10347,0.00,2.33,0.00,0.000,4,0.000,0.044,1813,895,3407
$GC,10384,-0.86,-117.3,749.8,-6.9,293,10388,0.00,2.33,0.00,0.000,6,0.000,0.039,1809,2310,3407
$GC,10707,-0.86,-117.3,772.3,-7.0,299,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2310,3407
$GC,11010,-0.86,-117.3,793.5,-7.0,304,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3406
$GC,11314,-0.86,-117.3,814.6,-6.9,309,11318,0.00,2.35,0.00,0.000,4,0.000,0.047,1809,896,3406
$GC,11348,-0.86,-117.3,817.4,-7.6,309,11353,0.00,2.35,0.00,0.000,6,0.000,0.044,1808,2306,3406
$GC,11676,-0.86,-117.3,839.2,-6.6,315,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3406
$GC,11980,-0.86,-117.3,856.1,-5.3,320,11981,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2306,3405
$GC,12284,-0.86,-117.3,871.4,-5.0,325,12288,0.00,2.40,0.00,0.000,4,0.000,0.051,1798,3710,3405
$GC,12318,-0.86,-117.3,873.5,-5.7,325,12322,0.00,2.30,0.00,0.000,6,0.000,0.031,1798,2292,3405
$GC,12652,-0.86,-117.3,894.4,-6.4,331,12653,0.00,0.00,0.00,0.000,6,0.000,0.000,1798,2292,3405
$GC,12955,-0.86,-117.3,915.5,-7.0,336,12959,0.00,2.28,0.00,0.000,4,0.000,0.046,1798,902,3404
$GC,12991,-0.86,-117.3,918.3,-8.5,336,12995,0.00,2.33,0.00,0.000,6,0.000,0.041,1795,2300,3404
$GC,13324,-0.86,-117.3,943.3,-7.5,342,13325,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2299,3404
$GC,13627,-0.86,-117.3,964.6,-7.0,347,13631,0.00,2.40,0.00,0.000,4,0.000,0.050,1795,890,3404
$GC,13667,-0.86,-117.3,967.6,-7.5,347,13671,0.00,2.38,0.00,0.000,6,0.000,0.040,1794,2303,3404
$GC,13990,-0.86,-117.3,988.4,-6.5,353,13994,0.00,2.35,0.00,0.000,4,0.000,0.050,1794,896,3404
$STATE,14009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14009,begin apogee
$GC,14021,-0.22,0.0,990.3,7.4,353,14121,0.47,0.00,97.22,1.268,6,0.113,0.000,1948,2308,2931
$STATE,14122,end apogee,CONTROL_FINISHED_OK
$STATE,14122,begin climb
$GC,14126,0.68,117.3,993.5,0.0,355,14238,0.57,2.62,103.18,1.243,4,0.072,0.051,2148,3706,2450
$GC,14286,0.50,117.3,989.0,7.5,357,14291,0.20,2.42,0.00,0.000,6,0.153,0.035,2112,2309,2446
$GC,14620,0.49,135.6,972.5,4.9,363,14640,0.00,2.38,15.35,1.143,4,0.000,0.054,2121,886,2377
$GC,14694,0.50,144.2,968.4,5.2,364,14708,0.00,2.33,8.98,1.042,6,0.000,0.041,2121,2314,2342
$GC,15054,0.46,144.2,948.3,5.6,370,15058,0.00,2.30,0.00,0.000,4,0.000,0.049,2121,3710,2338
$GC,15091,0.38,144.2,946.1,6.4,370,15096,0.20,2.25,0.00,0.000,6,0.155,0.034,2078,2296,2337
$GC,15420,0.49,164.1,930.3,4.8,376,15445,0.10,2.42,17.55,1.144,4,0.080,0.051,2129,3713,2262
$GC,15497,0.39,164.1,925.0,7.4,377,15502,0.20,2.25,0.00,0.000,6,0.152,0.038,2087,2300,2260
$GC,15860,0.46,187.0,907.7,4.7,383,15886,0.00,2.35,20.95,1.151,4,0.000,0.048,2096,894,2168
$GC,15916,0.54,192.2,904.7,5.3,383,15928,0.08,2.30,6.15,0.906,6,0.091,0.040,2139,2313,2147
$GC,16295,0.50,192.2,878.7,7.0,390,16300,0.12,2.30,0.00,0.000,4,0.135,0.048,2106,3716,2143
$GC,16347,0.50,192.2,874.9,6.0,390,16351,0.00,2.25,0.00,0.000,6,0.000,0.032,2114,2296,2142
$GC,16658,0.50,192.2,857.8,5.5,395,16659,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2296,2142
$GC,16962,0.51,193.2,841.1,5.5,400,16966,0.00,2.40,0.00,0.000,4,0.000,0.051,2114,3716,2141
$GC,17002,0.48,193.2,838.5,6.4,400,17007,0.00,2.25,0.00,0.000,6,0.000,0.032,2125,2299,2141
$GC,17325,0.48,193.2,819.6,5.9,406,17329,0.00,2.30,0.00,0.000,4,0.000,0.051,2135,898,2141
$GC,17349,0.48,193.2,818.0,6.1,406,17354,0.12,2.30,0.00,0.000,6,0.124,0.037,2101,2305,2141
$GC,17690,0.56,221.8,802.3,4.5,412,17723,0.00,2.38,26.42,1.111,4,0.000,0.051,2102,3707,2026
$GC,17743,0.62,229.6,799.6,5.2,412,17758,0.10,2.22,8.65,0.956,6,0.063,0.031,2168,2302,1993
$GC,18131,0.52,229.6,767.2,8.7,419,18135,0.17,2.28,0.00,0.000,4,0.136,0.050,2123,895,1989
$GC,18159,0.52,229.6,764.7,6.6,419,18163,0.00,2.25,0.00,0.000,6,0.000,0.038,2123,2306,1988
$GC,18494,0.56,233.4,746.7,5.4,425,18503,0.00,2.35,3.85,0.658,4,0.000,0.049,2123,3706,1979
$GC,18545,0.56,233.4,743.3,7.0,425,18550,0.00,2.25,0.00,0.000,6,0.000,0.038,2133,2292,1979
$GC,18862,0.56,233.4,724.7,5.9,431,18864,0.00,0.00,0.00,0.000,6,0.000,0.000,2133,2292,1978
$GC,19166,0.56,233.4,705.6,6.4,436,19170,0.00,2.38,0.00,0.000,4,0.000,0.047,2132,3711,1978
$GC,19212,0.53,233.4,701.9,7.3,436,19217,0.12,2.22,0.00,0.000,6,0.133,0.031,2112,2305,1977
$GC,19530,0.58,233.4,682.6,6.1,442,19534,0.00,2.33,0.00,0.000,4,0.000,0.049,2121,897,1977
$GC,19559,0.64,233.4,680.6,6.6,442,19563,0.00,2.28,0.00,0.000,6,0.000,0.036,2121,2302,1976
$GC,19892,0.69,233.4,658.8,6.6,448,19897,0.10,2.33,0.00,0.000,4,0.067,0.046,2197,3707,1977
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$GC,25714,0.70,242.3,267.1,5.2,552,25726,0.10,0.00,9.27,0.682,6,0.063,0.000,2197,2294,1943
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$GC,26068,0.63,250.4,236.7,5.2,563,26082,0.00,2.22,8.35,0.653,6,0.000,0.030,2133,2304,1909
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$STATE,29189,end climb,SURFACE_DEPTH_REACHED
$STATE,29190,begin surface coast
$FINISH,1.6,1.025087
$STATE,29211,end surface coast,CONTROL_FINISHED_OK
$STATE,29212,begin surface
$SM_CCo,29293,0.00,0.000,0,0,1553,338.02
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$IRIDIUM_FIX,4833.79,-12905.63,150699,020250
$TT8_MAMPS,0.029146
$HUMID,1770
$INTERNAL_PRESSURE,7.43193
$TCM_TEMP,16.80
$XPDR_PINGS,84
$24V_AH,21.8,121.491
$10V_AH,10.3,102.369
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$DEVICE_SECS,19.375,239.500,402.775,0.000,0.000,22.451,24.519,170.106,21.000,0.000,0.000,12.173,1662.047,24352.219,512.774,2129.762,1022.538,33.385,1687.451,0.000,2110.384,0.000,0.530,0.000
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,506.562,609.193,750.410,766.061,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44320,725
$CAP_FILE_SIZE,187353,0
$CFSIZE,260165632,193187840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210310,191006,4850.686,-12858.560,35,1.8,35,19.4