version: 66.04
glider: 144
mission: 15
dive: 844
start: 3 22 110 3 46 14
data:
$ID,144
$MISSION,15
$DIVE,844
$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,-78830.531
$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,33
$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
$GPS1,033826,4850.746,-12851.985,28,2.7,47,19.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-63.0
$GPS2,034520,4850.838,-12851.968,12,1.6,12,19.4
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,P8
$TGT_LATLONG,4849.000,-12840.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.110,-0.127
$KALMAN_X,-22780.0,184.2,181.7,1178884.4,1102.6
$KALMAN_Y,83471.3,-84.1,-84.2,-250252.2,3349.4
$MHEAD_RNG_PITCHd_Wd,119.7,14986,-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,-117.1,0.0,0.0,0,63,0.00,0.00,-40.08,0.000,2,0.000,0.000,99,2305,2840
$GC,68,-0.68,-117.1,4.7,-8.8,2,91,7.07,2.40,-11.35,0.000,4,0.228,0.059,1837,3706,3413
$GC,211,-0.63,-117.1,26.9,-11.7,8,215,0.10,2.20,0.00,0.000,6,0.127,0.035,1861,2300,3413
$GC,545,-0.63,-117.1,60.1,-9.4,24,549,0.00,2.25,0.00,0.000,4,0.000,0.040,1861,887,3414
$GC,615,-0.63,-117.1,67.2,-10.2,27,619,0.00,2.25,0.00,0.000,6,0.000,0.035,1855,2313,3413
$GC,945,-0.63,-117.1,96.5,-8.5,51,949,0.00,2.28,0.00,0.000,4,0.000,0.039,1855,887,3414
$GC,976,-0.66,-117.1,99.2,-8.8,53,980,0.00,2.22,0.00,0.000,6,0.000,0.035,1850,2303,3414
$GC,1314,-0.68,-117.1,125.4,-7.6,84,1318,0.00,2.25,0.00,0.000,4,0.000,0.039,1850,888,3414
$GC,1339,-0.72,-117.1,127.9,-7.8,86,1343,0.00,2.22,0.00,0.000,6,0.000,0.036,1850,2302,3413
$GC,1694,-0.75,-117.1,154.6,-7.4,115,1698,0.00,2.33,0.00,0.000,4,0.000,0.047,1841,3714,3414
$GC,1747,-0.79,-117.1,158.9,-7.4,116,1752,0.00,2.25,0.00,0.000,6,0.000,0.032,1841,2295,3414
$GC,2062,-0.82,-117.1,179.3,-6.2,126,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,1841,2295,3414
$GC,2369,-0.84,-117.1,198.8,-6.4,136,2370,0.10,0.00,0.00,0.000,6,0.064,0.000,1764,2294,3414
$GC,2676,-0.72,-117.1,235.4,-12.4,146,2678,0.28,0.00,0.00,0.000,6,0.119,0.000,1849,2294,3414
$GC,2981,-0.77,-117.1,255.1,-5.9,156,2985,0.00,2.28,0.00,0.000,4,0.000,0.040,1849,891,3414
$GC,3010,-0.83,-117.1,257.2,-6.9,156,3017,0.12,2.30,0.00,0.000,6,0.054,0.035,1766,2311,3414
$GC,3326,-0.71,-117.1,290.6,-10.9,167,3328,0.28,0.00,0.00,0.000,6,0.120,0.000,1849,2311,3414
$GC,3659,-0.77,-117.1,311.5,-6.0,175,3664,0.00,2.33,0.00,0.000,4,0.000,0.039,1849,890,3414
$GC,3689,-0.84,-117.1,313.4,-6.6,175,3694,0.12,2.33,0.00,0.000,6,0.054,0.035,1766,2300,3414
$GC,4024,-0.73,-117.1,348.5,-10.9,181,4029,0.22,2.30,0.00,0.000,4,0.121,0.039,1839,890,3414
$GC,4083,-0.79,-117.1,353.5,-7.0,181,4087,0.00,2.33,0.00,0.000,6,0.000,0.038,1837,2305,3414
$GC,4395,-0.82,-117.1,374.5,-6.7,186,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2305,3414
$GC,4699,-0.86,-117.1,395.3,-6.9,191,4701,0.08,0.00,0.00,0.000,6,0.080,0.000,1761,2305,3413
$GC,5001,-0.74,-117.1,428.0,-11.1,196,5006,0.22,2.35,0.00,0.000,4,0.121,0.044,1837,903,3412
$GC,5053,-0.81,-117.1,432.4,-6.7,196,5057,0.00,2.33,0.00,0.000,6,0.000,0.040,1836,2310,3413
$GC,5365,-0.84,-117.1,453.0,-6.6,201,5369,0.00,2.38,0.00,0.000,4,0.000,0.048,1827,3712,3412
$GC,5390,-0.88,-117.1,454.8,-7.3,201,5394,0.00,2.20,0.00,0.000,6,0.000,0.029,1827,2305,3412
$GC,5735,-0.91,-117.1,478.4,-6.7,207,5737,0.10,0.00,0.00,0.000,6,0.066,0.000,1751,2304,3412
$GC,6038,-0.78,-117.1,510.0,-10.7,212,6043,0.22,2.35,0.00,0.000,4,0.123,0.047,1825,895,3412
$GC,6120,-0.81,-117.1,516.3,-7.3,213,6124,0.00,2.33,0.00,0.000,6,0.000,0.038,1822,2304,3412
$GC,6470,-0.81,-117.1,539.6,-6.5,219,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3411
$GC,6773,-0.81,-117.1,559.4,-6.5,224,6774,0.00,0.00,0.00,0.000,6,0.000,0.000,1822,2305,3411
$GC,7078,-0.83,-117.1,578.1,-6.1,229,7082,0.00,2.33,0.00,0.000,4,0.000,0.049,1822,901,3410
$GC,7118,-0.86,-117.1,580.7,-6.3,229,7123,0.00,2.33,0.00,0.000,6,0.000,0.038,1821,2305,3410
$GC,7441,-0.88,-117.1,600.4,-6.1,235,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,1821,2306,3410
$GC,7744,-0.88,-117.1,618.9,-6.1,240,7748,0.00,2.33,0.00,0.000,4,0.000,0.048,1821,897,3409
$GC,7802,-0.91,-117.1,622.8,-6.7,240,7809,0.00,2.30,0.00,0.000,6,0.000,0.040,1813,2309,3410
$GC,8113,-0.91,-117.1,644.9,-7.2,246,8115,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2309,3409
$GC,8417,-0.91,-117.1,668.1,-7.6,251,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,1813,2309,3409
$GC,8720,-0.91,-117.1,691.9,-7.9,256,8724,0.00,2.30,0.00,0.000,4,0.000,0.042,1813,897,3408
$GC,8790,-0.91,-117.1,697.4,-8.0,257,8794,0.00,2.33,0.00,0.000,6,0.000,0.038,1809,2311,3409
$GC,9157,-0.91,-117.1,724.9,-7.3,263,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3408
$GC,9460,-0.91,-117.1,746.3,-7.0,268,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3408
$GC,9764,-0.91,-117.1,766.5,-6.6,273,9765,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3408
$GC,10068,-0.91,-117.1,787.4,-6.9,278,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2311,3408
$GC,10370,-0.91,-117.1,807.5,-6.6,283,10374,0.00,2.35,0.00,0.000,4,0.000,0.048,1809,892,3408
$GC,10422,-0.93,-117.1,811.1,-7.8,283,10426,0.00,2.35,0.00,0.000,6,0.000,0.039,1808,2309,3407
$GC,10744,-0.93,-117.1,831.3,-6.2,289,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3407
$GC,11049,-0.93,-117.3,847.5,-5.3,294,11050,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,2309,3406
$GC,11351,-0.93,-117.3,862.4,-4.9,299,11355,0.00,2.38,0.00,0.000,4,0.000,0.051,1808,899,3406
$GC,11392,-0.96,-117.3,864.8,-6.4,299,11396,0.00,2.38,0.00,0.000,6,0.000,0.038,1807,2313,3406
$GC,11714,-0.96,-117.3,882.1,-5.4,305,11718,0.00,2.35,0.00,0.000,4,0.000,0.050,1808,894,3406
$GC,11750,-0.96,-117.3,884.3,-6.6,305,11754,0.00,2.33,0.00,0.000,6,0.000,0.041,1806,2306,3406
$GC,12078,-0.96,-117.3,904.9,-6.3,311,12082,0.00,2.33,0.00,0.000,4,0.000,0.048,1806,899,3405
$GC,12118,-0.96,-117.3,907.5,-6.1,311,12122,0.00,2.33,0.00,0.000,6,0.000,0.042,1797,2306,3406
$GC,12447,-0.96,-117.3,929.8,-6.7,317,12451,0.00,2.35,0.00,0.000,4,0.000,0.045,1795,900,3405
$GC,12498,-0.96,-117.3,933.5,-7.1,317,12502,0.00,2.33,0.00,0.000,6,0.000,0.045,1794,2303,3405
$GC,12821,-0.96,-117.3,954.8,-6.7,323,12822,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,2303,3405
$GC,13124,-0.96,-117.3,974.6,-6.5,328,13128,0.00,2.40,0.00,0.000,4,0.000,0.045,1795,893,3405
$GC,13152,-0.96,-117.3,976.7,-7.7,328,13156,0.00,2.33,0.00,0.000,6,0.000,0.041,1794,2302,3405
$STATE,13360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13360,begin apogee
$GC,13371,-0.22,0.0,990.2,6.5,332,13471,0.50,0.00,97.35,1.269,6,0.111,0.000,1952,2301,2931
$STATE,13472,end apogee,CONTROL_FINISHED_OK
$STATE,13472,begin climb
$GC,13477,0.68,117.3,991.8,0.0,333,13588,0.57,2.65,103.15,1.242,4,0.071,0.053,2152,3704,2450
$GC,13630,0.49,117.3,988.8,6.8,335,13636,0.22,2.45,0.00,0.000,6,0.154,0.039,2110,2305,2447
$GC,13971,0.48,137.3,971.9,4.8,341,13989,0.00,0.00,16.80,1.150,6,0.000,0.000,2110,2305,2371
$GC,14274,0.47,142.1,955.7,5.3,346,14281,0.00,0.00,5.40,0.879,6,0.000,0.000,2110,2305,2351
$GC,14578,0.48,152.4,939.9,5.2,351,14593,0.00,2.38,10.55,1.072,4,0.000,0.052,2110,3710,2308
$GC,14634,0.43,152.4,936.5,5.8,351,14641,0.10,2.28,0.00,0.000,6,0.160,0.038,2096,2292,2307
$GC,14946,0.48,179.1,921.9,4.6,357,14972,0.00,0.00,24.27,1.167,6,0.000,0.000,2096,2292,2200
$GC,15251,0.55,202.5,907.5,4.7,362,15275,0.10,0.00,21.48,1.147,6,0.071,0.000,2147,2292,2105
$GC,15552,0.50,202.5,886.8,6.9,367,15557,0.15,2.38,0.00,0.000,4,0.133,0.052,2106,3720,2100
$GC,15581,0.50,202.5,884.9,5.7,367,15585,0.00,2.28,0.00,0.000,6,0.000,0.032,2114,2294,2099
$GC,15916,0.53,225.6,869.0,4.7,373,15938,0.00,0.00,20.90,1.124,6,0.000,0.000,2114,2293,2010
$GC,16218,0.60,263.5,856.0,4.2,378,16258,0.00,2.42,34.72,1.143,4,0.000,0.049,2115,3713,1855
$GC,16294,0.65,268.6,852.4,5.3,379,16305,0.00,2.30,5.93,0.864,6,0.000,0.033,2121,2295,1836
$GC,16648,0.74,306.4,837.6,4.2,385,16688,0.12,2.38,34.53,1.127,4,0.059,0.054,2184,3718,1681
$GC,16713,0.64,306.4,832.1,10.1,386,16718,0.20,2.28,0.00,0.000,6,0.143,0.032,2142,2301,1681
$GC,17076,0.67,306.4,808.5,6.5,392,17080,0.00,2.33,0.00,0.000,4,0.000,0.052,2150,885,1676
$GC,17111,0.71,306.4,805.9,6.5,392,17115,0.00,2.30,0.00,0.000,6,0.000,0.037,2150,2314,1675
$GC,17438,0.71,306.4,781.1,7.7,398,17442,0.00,2.28,0.00,0.000,4,0.000,0.048,2151,3718,1674
$GC,17474,0.69,306.4,778.1,8.9,398,17478,0.00,2.25,0.00,0.000,6,0.000,0.032,2160,2292,1673
$GC,17802,0.66,306.4,750.7,8.4,404,17806,0.00,2.35,0.00,0.000,4,0.000,0.048,2160,3710,1673
$GC,17831,0.62,306.4,747.8,10.2,404,17836,0.15,2.25,0.00,0.000,6,0.131,0.038,2130,2294,1673
$GC,18166,0.68,306.4,726.7,6.1,410,18167,0.00,0.00,0.00,0.000,6,0.000,0.000,2130,2293,1672
$GC,18467,0.74,306.4,708.7,5.9,415,18472,0.12,2.35,0.00,0.000,4,0.058,0.045,2205,3707,1672
$GC,18497,0.67,306.4,705.9,11.5,415,18502,0.25,2.25,0.00,0.000,6,0.144,0.032,2148,2301,1671
$GC,18831,0.67,306.4,681.2,7.1,421,18835,0.00,2.33,0.00,0.000,4,0.000,0.049,2156,889,1671
$GC,18867,0.70,306.4,678.2,8.1,421,18871,0.00,2.30,0.00,0.000,6,0.000,0.042,2157,2308,1671
$GC,19200,0.70,306.4,650.8,8.3,427,19204,0.00,2.30,0.00,0.000,4,0.000,0.054,2156,3708,1671
$GC,19247,0.68,306.4,646.6,9.5,427,19251,0.00,2.22,0.00,0.000,6,0.000,0.031,2166,2296,1671
$GC,19576,0.64,306.4,620.6,7.9,433,19578,0.12,0.00,0.00,0.000,6,0.138,0.000,2133,2296,1671
$GC,19878,0.71,306.4,603.4,5.5,438,19882,0.00,2.35,0.00,0.000,4,0.000,0.049,2133,3712,1670
$GC,19902,0.76,306.4,601.7,6.6,438,19906,0.10,2.28,0.00,0.000,6,0.064,0.035,2204,2298,1670
$GC,20248,0.64,306.4,561.2,12.2,444,20252,0.20,2.35,0.00,0.000,4,0.140,0.050,2142,3706,1670
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$STATE,28108,end climb,SURFACE_DEPTH_REACHED
$STATE,28108,begin surface coast
$FINISH,1.9,1.025026
$STATE,28130,end surface coast,CONTROL_FINISHED_OK
$STATE,28130,begin surface
$SM_CCo,28213,0.00,0.000,0,0,1616,322.57
$SM_GC,2.55,5.72,0.00,0.00,0.036,0.000,0.000,98,2306,1616,-8.61,0.08,322.57
$IRIDIUM_FIX,4833.79,-12856.43,150699,191952
$TT8_MAMPS,0.029146
$HUMID,1756
$INTERNAL_PRESSURE,7.45146
$TCM_TEMP,16.80
$XPDR_PINGS,62
$24V_AH,21.8,121.769
$10V_AH,10.3,102.593
$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,19.725,230.550,389.800,0.000,0.000,22.774,26.424,174.745,15.500,0.000,0.000,13.867,1633.162,23355.682,533.178,2078.625,1008.667,33.381,1650.949,0.000,2058.181,0.000,0.529,0.000
$DEVICE_MAMPS,227.799,59.059,1268.618,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,496.941,591.169,734.737,762.692,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41186,710
$CAP_FILE_SIZE,180775,0
$CFSIZE,260165632,193036288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220310,113804,4848.991,-12849.301,51,1.4,51,19.4