version: 66.04
glider: 144
mission: 15
dive: 277
start: 9 11 109 1 9 45
data:
$ID,144
$MISSION,15
$DIVE,277
$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,-66492.625
$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,37
$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
$GPS1,010157,5005.894,-14445.697,29,4.0,48,18.5
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-53.2
$GPS2,010852,5005.952,-14445.632,14,3.5,33,18.5
$SPEED_LIMITS,0.055,0.168
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.138,0.096
$KALMAN_X,-25520.9,144.0,95.8,54753.6,-1200.6
$KALMAN_Y,13043.1,161.1,180.4,-41228.0,-573.1
$MHEAD_RNG_PITCHd_Wd,286.3,6877,-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,15,-0.68,-117.3,0.0,0.0,0,59,0.00,0.00,-42.05,0.000,2,0.000,0.000,98,2305,2646
$GC,62,-0.68,-117.3,3.2,-4.2,4,96,7.53,2.33,-17.30,0.000,4,0.255,0.064,1850,903,3414
$GC,311,-0.62,-117.3,35.0,-12.5,26,315,0.00,2.25,0.00,0.000,6,0.000,0.044,1849,2301,3416
$GC,638,-0.59,-117.3,68.2,-9.7,56,643,0.10,2.22,0.00,0.000,4,0.147,0.045,1876,897,3417
$GC,700,-0.62,-117.3,74.0,-8.9,61,706,0.00,2.25,0.00,0.000,6,0.000,0.038,1876,2316,3417
$GC,1028,-0.65,-117.3,100.2,-7.4,81,1032,0.00,2.25,0.00,0.000,4,0.000,0.041,1876,896,3418
$GC,1079,-0.69,-117.3,104.2,-7.7,83,1083,0.10,2.25,0.00,0.000,6,0.067,0.038,1813,2309,3418
$GC,1395,-0.62,-117.3,137.8,-11.6,98,1399,0.17,2.25,0.00,0.000,4,0.127,0.042,1870,896,3418
$GC,1467,-0.67,-117.3,143.9,-7.0,101,1471,0.00,2.22,0.00,0.000,6,0.000,0.043,1863,2303,3418
$GC,1791,-0.71,-117.3,166.1,-6.9,113,1795,0.00,2.28,0.00,0.000,4,0.000,0.051,1860,3713,3417
$GC,1835,-0.78,-117.3,169.0,-6.8,114,1840,0.10,2.17,0.00,0.000,6,0.065,0.029,1793,2297,3416
$GC,2153,-0.70,-117.3,197.6,-8.9,125,2158,0.17,2.22,0.00,0.000,4,0.127,0.044,1850,900,3416
$GC,2203,-0.75,-117.3,201.2,-6.2,126,2207,0.00,2.25,0.00,0.000,6,0.000,0.039,1850,2312,3416
$GC,2516,-0.78,-117.3,221.5,-6.7,136,2520,0.00,2.22,0.00,0.000,4,0.000,0.044,1850,904,3416
$GC,2550,-0.82,-117.3,224.0,-7.1,137,2555,0.10,2.22,0.00,0.000,6,0.071,0.040,1788,2310,3416
$GC,2891,-0.74,-117.3,257.7,-10.1,148,2895,0.17,2.25,0.00,0.000,4,0.128,0.048,1845,898,3415
$GC,2941,-0.78,-117.3,261.8,-7.8,149,2945,0.00,2.22,0.00,0.000,6,0.000,0.044,1837,2304,3415
$GC,3259,-0.78,-117.3,284.6,-7.3,160,3263,0.00,2.25,0.00,0.000,4,0.000,0.044,1837,901,3415
$GC,3309,-0.80,-117.3,288.7,-7.5,161,3313,0.00,2.22,0.00,0.000,6,0.000,0.040,1837,2301,3415
$GC,3657,-0.80,-117.3,314.6,-7.6,170,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2301,3414
$GC,3958,-0.80,-117.3,338.0,-7.7,175,3962,0.00,2.25,0.00,0.000,4,0.000,0.044,1836,895,3413
$GC,4014,-0.82,-117.3,342.6,-8.0,175,4018,0.00,2.25,0.00,0.000,6,0.000,0.046,1836,2306,3413
$GC,4324,-0.84,-117.3,365.8,-7.4,180,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,1837,2307,3413
$GC,4628,-0.87,-117.3,387.2,-7.0,185,4630,0.10,0.00,0.00,0.000,6,0.071,0.000,1773,2307,3413
$GC,4930,-0.78,-117.3,416.6,-9.8,190,4935,0.20,2.25,0.00,0.000,4,0.127,0.050,1836,902,3412
$GC,4985,-0.82,-117.3,420.8,-6.5,190,4992,0.00,2.22,0.00,0.000,6,0.000,0.041,1836,2304,3412
$GC,5296,-0.85,-117.3,439.8,-6.1,196,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,1836,2304,3411
$GC,5599,-0.88,-117.3,458.6,-6.2,201,5603,0.10,2.25,0.00,0.000,4,0.070,0.043,1775,896,3411
$GC,5661,-0.80,-117.3,464.6,-10.3,202,5666,0.20,2.25,0.00,0.000,6,0.135,0.042,1824,2311,3411
$GC,6026,-0.80,-117.3,490.0,-6.7,208,6030,0.00,2.25,0.00,0.000,4,0.000,0.051,1824,902,3411
$GC,6059,-0.80,-117.3,492.4,-7.4,208,6063,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2314,3410
$GC,6392,-0.80,-117.3,515.7,-7.0,214,6396,0.00,2.28,0.00,0.000,4,0.000,0.048,1823,896,3410
$GC,6424,-0.80,-117.3,518.3,-7.5,214,6429,0.00,2.28,0.00,0.000,6,0.000,0.043,1821,2298,3410
$GC,6759,-0.80,-117.3,542.5,-7.4,220,6763,0.00,2.25,0.00,0.000,4,0.000,0.048,1821,892,3410
$GC,6797,-0.80,-117.3,545.7,-8.1,220,6801,0.00,2.28,0.00,0.000,6,0.000,0.041,1820,2298,3410
$GC,7124,-0.80,-117.3,569.8,-7.3,226,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,1820,2298,3409
$GC,7427,-0.80,-117.3,591.2,-7.1,231,7431,0.00,2.25,0.00,0.000,4,0.000,0.046,1820,896,3409
$GC,7465,-0.80,-117.3,594.3,-7.9,231,7470,0.00,2.28,0.00,0.000,6,0.000,0.041,1811,2298,3409
$GC,7800,-0.80,-117.3,618.7,-7.4,237,7804,0.00,2.25,0.00,0.000,4,0.000,0.045,1811,894,3409
$GC,7844,-0.80,-117.3,622.5,-7.9,237,7848,0.00,2.25,0.00,0.000,6,0.000,0.045,1809,2304,3409
$GC,8159,-0.80,-117.3,644.2,-6.9,243,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,1809,2305,3409
$GC,8462,-0.80,-117.3,664.9,-6.8,248,8466,0.00,2.25,0.00,0.000,4,0.000,0.044,1809,899,3409
$GC,8525,-0.80,-117.3,669.6,-6.9,249,8529,0.00,2.25,0.00,0.000,6,0.000,0.041,1808,2307,3408
$GC,8890,-0.80,-117.3,694.8,-6.9,255,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,2308,3409
$GC,9193,-0.80,-117.3,716.4,-7.2,260,9197,0.00,2.25,0.00,0.000,4,0.000,0.046,1807,902,3408
$GC,9259,-0.80,-117.3,721.6,-8.3,261,9264,0.00,2.25,0.00,0.000,6,0.000,0.041,1806,2310,3407
$GC,9619,-0.80,-117.3,746.7,-6.9,267,9623,0.00,2.28,0.00,0.000,4,0.000,0.048,1807,896,3408
$GC,9658,-0.80,-117.3,749.6,-7.7,267,9662,0.00,2.28,0.00,0.000,6,0.000,0.041,1805,2313,3407
$GC,9985,-0.80,-117.3,771.6,-6.8,273,9989,0.00,2.28,0.00,0.000,4,0.000,0.050,1805,898,3407
$GC,10011,-0.80,-117.3,773.7,-7.5,273,10016,0.12,2.25,0.00,0.000,6,0.133,0.046,1829,2305,3407
$GC,10350,-0.85,-117.3,790.9,-5.0,279,10354,0.00,2.25,0.00,0.000,4,0.000,0.047,1829,902,3407
$GC,10389,-0.90,-117.3,792.9,-5.3,279,10393,0.00,2.25,0.00,0.000,6,0.000,0.041,1823,2309,3407
$GC,10711,-0.93,-117.3,809.6,-5.2,285,10715,0.10,2.28,0.00,0.000,4,0.077,0.047,1770,904,3407
$GC,10760,-0.85,-117.3,813.7,-9.1,285,10765,0.17,2.25,0.00,0.000,6,0.140,0.042,1816,2305,3407
$GC,11071,-0.87,-117.3,831.6,-5.7,290,11075,0.00,2.25,0.00,0.000,4,0.000,0.046,1816,903,3407
$GC,11110,-0.87,-117.3,834.3,-7.1,290,11115,0.00,2.25,0.00,0.000,6,0.000,0.043,1810,2310,3407
$GC,11432,-0.87,-117.3,855.3,-6.6,296,11436,0.00,2.28,0.00,0.000,4,0.000,0.051,1810,898,3406
$GC,11481,-0.87,-117.3,859.0,-7.2,296,11485,0.00,2.25,0.00,0.000,6,0.000,0.048,1808,2302,3406
$GC,11797,-0.87,-117.3,881.1,-7.0,302,11801,0.00,2.28,0.00,0.000,4,0.000,0.046,1808,894,3406
$GC,11830,-0.87,-117.3,883.7,-7.9,302,11834,0.00,2.30,0.00,0.000,6,0.000,0.046,1806,2304,3406
$GC,12163,-0.87,-117.3,907.5,-7.2,308,12166,0.00,2.25,0.00,0.000,4,0.000,0.048,1806,905,3405
$GC,12218,-0.87,-117.3,911.8,-8.1,308,12222,0.00,2.25,0.00,0.000,6,0.000,0.042,1804,2305,3406
$GC,12534,-0.87,-117.3,933.6,-6.9,314,12538,0.00,2.28,0.00,0.000,4,0.000,0.048,1804,905,3405
$GC,12579,-0.87,-117.3,936.9,-7.7,314,12583,0.00,2.25,0.00,0.000,6,0.000,0.046,1796,2302,3405
$GC,12894,-0.87,-117.3,959.7,-7.3,320,12898,0.00,2.28,0.00,0.000,4,0.000,0.051,1796,898,3405
$GC,12966,-0.84,-117.3,965.4,-7.8,321,12971,0.10,2.28,0.00,0.000,6,0.153,0.049,1819,2303,3405
$GC,13321,-0.88,-117.3,985.5,-5.6,327,13325,0.00,2.28,0.00,0.000,4,0.000,0.051,1819,899,3405
$GC,13359,-0.91,-117.3,987.9,-6.2,327,13363,0.00,2.28,0.00,0.000,6,0.000,0.044,1818,2315,3405
$STATE,13435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13435,begin apogee
$GC,13441,-0.22,0.0,992.4,5.8,329,13540,0.43,0.00,95.68,1.315,6,0.122,0.000,1952,2315,2931
$STATE,13541,end apogee,CONTROL_FINISHED_OK
$STATE,13541,begin climb
$GC,13543,0.68,117.3,993.8,0.0,330,13648,0.60,0.00,101.75,1.285,6,0.076,0.000,2155,2315,2451
$GC,13981,0.54,117.3,968.1,7.6,338,13986,0.15,2.33,0.00,0.000,4,0.158,0.051,2119,3710,2441
$GC,14025,0.44,117.3,964.7,7.8,338,14030,0.15,2.25,0.00,0.000,6,0.166,0.040,2092,2307,2440
$GC,14340,0.47,146.7,950.0,4.5,344,14366,0.00,0.00,24.50,1.222,6,0.000,0.000,2091,2307,2332
$GC,14644,0.52,186.1,937.1,4.2,349,14680,0.00,0.00,34.83,1.233,6,0.000,0.000,2092,2307,2172
$GC,14948,0.59,219.8,923.9,4.4,354,14981,0.12,0.00,30.58,1.215,6,0.071,0.000,2143,2306,2034
$GC,15250,0.53,219.8,901.0,7.7,359,15255,0.12,2.35,0.00,0.000,4,0.143,0.051,2112,3719,2027
$GC,15289,0.53,219.8,898.0,7.3,359,15294,0.00,2.30,0.00,0.000,6,0.000,0.035,2120,2295,2026
$GC,15611,0.53,219.8,876.2,6.9,365,15615,0.00,2.35,0.00,0.000,4,0.000,0.051,2120,3720,2025
$GC,15633,0.50,219.8,874.4,7.5,365,15637,0.00,2.28,0.00,0.000,6,0.000,0.041,2130,2297,2025
$GC,15971,0.47,219.8,849.0,7.6,371,15976,0.12,2.33,0.00,0.000,4,0.155,0.054,2097,3717,2025
$GC,16010,0.49,219.8,846.0,6.7,371,16014,0.00,2.25,0.00,0.000,6,0.000,0.038,2105,2300,2024
$GC,16330,0.49,219.8,825.5,6.4,377,16334,0.00,2.28,0.00,0.000,4,0.000,0.051,2116,895,2024
$GC,16352,0.52,219.8,823.9,6.6,377,16356,0.00,2.25,0.00,0.000,6,0.000,0.041,2116,2305,2023
$GC,16694,0.52,219.8,801.3,6.7,383,16698,0.00,2.28,0.00,0.000,4,0.000,0.053,2116,3710,2023
$GC,16739,0.50,219.8,797.9,8.7,383,16743,0.00,2.22,0.00,0.000,6,0.000,0.037,2126,2295,2022
$GC,17055,0.47,219.8,775.5,7.1,389,17060,0.10,2.30,0.00,0.000,4,0.155,0.052,2101,3712,2022
$GC,17082,0.47,219.8,773.5,6.2,389,17086,0.00,2.22,0.00,0.000,6,0.000,0.035,2109,2295,2022
$GC,17420,0.49,219.8,754.5,5.6,395,17422,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2295,2022
$GC,17723,0.49,219.8,737.5,5.6,400,17724,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2296,2021
$GC,18026,0.52,223.0,721.1,5.4,405,18028,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2295,2022
$GC,18329,0.54,223.0,704.2,5.6,410,18330,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2295,2022
$GC,18633,0.57,223.1,687.5,5.5,415,18637,0.00,2.30,0.00,0.000,4,0.000,0.052,2109,3710,2021
$GC,18655,0.57,223.1,685.9,6.1,415,18659,0.00,2.22,0.00,0.000,6,0.000,0.037,2119,2303,2022
$GC,18998,0.57,223.1,664.7,6.2,421,19000,0.00,0.00,0.00,0.000,6,0.000,0.000,2119,2303,2022
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$GC,21034,0.55,234.1,536.8,9.6,454,21039,0.25,2.20,0.00,0.000,6,0.153,0.033,2113,2303,1975
$GC,21367,0.59,241.3,518.5,5.3,460,21381,0.00,2.30,7.93,0.851,4,0.000,0.047,2123,890,1947
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$STATE,29023,end climb,SURFACE_DEPTH_REACHED
$STATE,29023,begin surface coast
$FINISH,0.9,1.015762
$STATE,29056,end surface coast,CONTROL_FINISHED_OK
$STATE,29056,begin surface
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$HUMID,1712
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$TCM_TEMP,16.40
$XPDR_PINGS,93
$24V_AH,22.4,41.448
$10V_AH,10.6,34.542
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$DEVICE_SECS,19.725,266.275,395.050,0.000,0.000,31.495,30.117,204.325,23.250,0.000,0.000,35.964,1731.046,24148.070,588.579,2372.341,695.887,33.371,1783.294,0.000,2344.360,0.000,0.529,0.000
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$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44394,735
$CAP_FILE_SIZE,197720,0
$CFSIZE,260165632,237084672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110909,091637,5007.694,-14450.949,42,1.7,42,18.5