version: 66.03
glider: 144
mission: 13
dive: 219
start: 8 6 108 2 17 6
data:
$ID,144
$MISSION,13
$DIVE,219
$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,412.5
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,0.0044757999
$HD_B,0.0099689998
$HD_C,1.0513e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-44408.289
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,500
$PITCH_MAX,3812
$C_PITCH,2728
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,45
$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,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-2.1256177
$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
$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
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043142079
$SEABIRD_T_H,0.00062953553
$SEABIRD_T_I,2.3274781e-05
$SEABIRD_T_J,2.4096155e-06
$SEABIRD_C_G,-10.012566
$SEABIRD_C_H,1.1222577
$SEABIRD_C_I,-0.0011971687
$SEABIRD_C_J,0.000188736
$GPS1,020928,5020.392,-14510.974,51,3.6,70,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-58.8
$GPS2,021612,5020.417,-14510.958,60,2.3,79,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.003,-0.243
$KALMAN_X,-2340.8,151.9,-135.0,-12935.6,-198.6
$KALMAN_Y,165952.6,-153.6,98.1,-129034.3,848.3
$MHEAD_RNG_PITCHd_Wd,160.8,48918,-15.3,-8.000
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.20,-146.6,0.0,0.0,0,97,0.00,0.00,-71.68,0.000,2,0.000,0.000,495,1869,2804
$GC,99,-1.20,-146.6,3.4,-4.2,7,134,10.48,2.38,-18.92,0.000,4,0.165,0.061,2462,505,3531
$GC,203,-1.03,-146.6,18.5,-15.2,16,207,0.20,2.25,0.00,0.000,6,0.108,0.030,2501,1903,3533
$GC,527,-1.09,-146.6,52.3,-9.7,46,531,0.00,2.35,0.00,0.000,4,0.000,0.047,2502,506,3535
$GC,573,-1.14,-146.6,56.9,-10.4,50,578,0.10,2.25,0.00,0.000,6,0.075,0.024,2474,1907,3535
$GC,895,-1.14,-146.6,90.9,-10.3,75,899,0.00,2.38,0.00,0.000,4,0.000,0.050,2474,508,3536
$GC,944,-1.14,-146.6,96.5,-10.6,77,948,0.00,2.25,0.00,0.000,6,0.000,0.032,2473,1900,3536
$GC,1266,-1.14,-146.6,126.2,-9.4,93,1270,0.00,2.33,0.00,0.000,4,0.000,0.036,2473,3294,3536
$GC,1321,-1.21,-146.6,131.7,-10.2,95,1327,0.00,2.28,0.00,0.000,6,0.000,0.033,2473,1898,3537
$GC,1656,-1.26,-146.6,161.9,-8.8,110,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1898,3537
$GC,1962,-1.31,-146.6,187.7,-8.3,120,1966,0.15,2.35,0.00,0.000,4,0.069,0.048,2429,504,3536
$GC,1990,-1.26,-146.6,190.3,-10.2,121,1995,0.10,2.25,0.00,0.000,6,0.122,0.032,2449,1901,3536
$GC,2324,-1.26,-146.6,222.1,-9.6,132,2328,0.00,2.38,0.00,0.000,4,0.000,0.047,2449,503,3536
$GC,2356,-1.26,-146.6,225.6,-10.5,133,2360,0.00,2.28,0.00,0.000,6,0.000,0.031,2449,1911,3536
$GC,2691,-1.26,-146.6,257.7,-9.9,144,2695,0.00,2.40,0.00,0.000,4,0.000,0.052,2449,498,3535
$GC,2723,-1.26,-146.6,261.2,-10.6,145,2727,0.00,2.28,0.00,0.000,6,0.000,0.032,2449,1913,3535
$GC,3058,-1.26,-146.6,293.1,-9.5,156,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1915,3534
$GC,3392,-1.26,-146.6,324.0,-9.3,163,3396,0.00,2.40,0.00,0.000,4,0.000,0.048,2449,501,3534
$GC,3430,-1.26,-146.6,327.9,-10.1,163,3434,0.00,2.28,0.00,0.000,6,0.000,0.029,2449,1912,3534
$GC,3756,-1.26,-146.6,358.3,-9.3,169,3760,0.00,2.40,0.00,0.000,4,0.000,0.046,2449,502,3533
$GC,3799,-1.26,-146.6,362.6,-10.4,169,3803,0.00,2.28,0.00,0.000,6,0.000,0.027,2449,1898,3533
$GC,4120,-1.26,-146.6,390.7,-8.7,175,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1901,3532
$GC,4423,-1.26,-146.6,417.2,-8.8,180,4427,0.00,2.38,0.00,0.000,4,0.000,0.050,2449,502,3532
$GC,4450,-1.26,-146.6,419.8,-9.7,180,4454,0.00,2.25,0.00,0.000,6,0.000,0.032,2449,1898,3532
$GC,4787,-1.26,-146.6,450.6,-9.1,186,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1901,3532
$GC,5090,-1.26,-146.6,477.2,-8.7,191,5094,0.00,2.35,0.00,0.000,4,0.000,0.051,2449,505,3531
$GC,5128,-1.26,-146.6,481.0,-9.7,191,5132,0.00,2.28,0.00,0.000,6,0.000,0.028,2449,1900,3531
$GC,5460,-1.26,-146.6,509.2,-8.5,197,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1902,3531
$GC,5763,-1.26,-146.6,534.2,-8.2,202,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1902,3530
$GC,6066,-1.26,-146.6,560.0,-8.5,207,6070,0.00,2.38,0.00,0.000,4,0.000,0.047,2449,505,3530
$GC,6092,-1.26,-146.6,562.5,-9.5,207,6096,0.00,2.28,0.00,0.000,6,0.000,0.026,2449,1899,3530
$GC,6430,-1.26,-146.6,591.2,-8.5,213,6434,0.00,2.38,0.00,0.000,4,0.000,0.051,2449,503,3529
$GC,6509,-1.26,-146.6,598.3,-9.3,214,6513,0.00,2.25,0.00,0.000,6,0.000,0.034,2450,1899,3530
$GC,6857,-1.26,-146.6,626.5,-8.1,220,6861,0.00,2.38,0.00,0.000,4,0.000,0.047,2449,505,3529
$GC,6895,-1.26,-146.6,630.0,-8.6,220,6899,0.00,2.25,0.00,0.000,6,0.000,0.033,2449,1901,3529
$GC,7221,-1.26,-146.6,656.3,-8.1,226,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1903,3529
$GC,7524,-1.26,-146.6,680.0,-7.8,231,7528,0.00,2.38,0.00,0.000,4,0.000,0.049,2449,505,3528
$GC,7567,-1.26,-146.6,683.7,-9.2,231,7571,0.00,2.28,0.00,0.000,6,0.000,0.026,2449,1915,3528
$GC,7889,-1.30,-146.6,707.5,-7.4,237,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1917,3528
$GC,8192,-1.35,-146.6,729.7,-7.3,242,8196,0.00,2.40,0.00,0.000,4,0.000,0.049,2449,506,3528
$GC,8235,-1.35,-146.6,733.4,-8.4,242,8239,0.00,2.28,0.00,0.000,6,0.000,0.031,2449,1912,3528
$GC,8562,-1.40,-146.6,758.0,-7.6,248,8567,0.12,2.40,0.00,0.000,4,0.076,0.051,2416,506,3527
$GC,8617,-1.33,-146.6,763.2,-9.5,248,8624,0.10,2.25,0.00,0.000,6,0.126,0.030,2434,1899,3527
$GC,8926,-1.33,-146.6,789.0,-8.3,254,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1901,3527
$GC,9230,-1.33,-146.6,813.0,-7.9,259,9234,0.00,2.38,0.00,0.000,4,0.000,0.053,2434,506,3527
$GC,9257,-1.33,-146.6,815.5,-9.5,259,9261,0.00,2.25,0.00,0.000,6,0.000,0.026,2435,1898,3527
$GC,9594,-1.33,-146.6,842.6,-8.1,265,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1900,3527
$GC,9897,-1.33,-146.6,866.8,-8.0,270,9901,0.00,2.40,0.00,0.000,4,0.000,0.051,2434,502,3527
$GC,9923,-1.33,-146.6,869.2,-9.3,270,9928,0.00,2.30,0.00,0.000,6,0.000,0.033,2434,1898,3527
$GC,10267,-1.33,-146.6,895.7,-7.7,276,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1898,3526
$GC,10570,-1.33,-146.6,918.9,-7.7,281,10574,0.00,2.42,0.00,0.000,4,0.000,0.059,2434,506,3526
$GC,10631,-1.33,-146.6,924.1,-9.1,282,10635,0.00,2.28,0.00,0.000,6,0.000,0.034,2434,1891,3526
$GC,10995,-1.33,-146.6,953.3,-8.0,288,10999,0.00,2.42,0.00,0.000,4,0.000,0.071,2434,509,3525
$GC,11045,-1.33,-146.6,957.8,-8.6,288,11049,0.00,2.35,0.00,0.000,6,0.000,0.036,2434,1896,3525
$GC,11365,-1.33,-146.6,984.2,-8.3,294,11369,0.00,2.47,0.00,0.000,4,0.000,0.071,2434,3303,3525
$GC,11392,-1.33,-146.6,986.6,-8.6,294,11396,0.00,2.38,0.00,0.000,6,0.000,0.058,2434,1919,3525
$STATE,11485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11485,begin apogee
$GC,11491,-0.33,0.0,994.4,8.3,296,11621,1.02,0.00,126.60,1.385,6,0.100,0.000,2651,2100,2931
$STATE,11621,end apogee,CONTROL_FINISHED_OK
$STATE,11621,begin climb
$GC,11623,1.20,146.6,998.3,0.0,298,11758,1.48,2.58,124.55,1.353,4,0.070,0.071,2985,3503,2332
$GC,11825,1.01,146.6,987.0,8.8,301,11830,0.17,2.45,0.00,0.000,6,0.120,0.051,2953,2099,2328
$GC,12173,0.95,159.7,960.2,7.5,307,12187,0.00,0.00,11.75,1.193,6,0.000,0.000,2953,2099,2280
$GC,12477,0.88,164.4,936.5,7.8,312,12488,0.15,2.50,6.00,1.019,4,0.116,0.057,2920,678,2260
$GC,12516,0.89,170.2,933.3,7.8,312,12527,0.00,2.38,6.65,1.045,6,0.000,0.031,2920,2106,2237
$GC,12836,0.91,189.3,910.1,7.3,318,12860,0.00,2.55,18.20,1.241,4,0.000,0.056,2920,686,2159
$GC,12889,0.91,189.3,905.9,8.2,318,12893,0.00,2.35,0.00,0.000,6,0.000,0.031,2920,2107,2157
$GC,13204,0.94,206.9,882.7,7.4,324,13228,0.00,2.55,17.10,1.226,4,0.000,0.051,2920,681,2087
$GC,13245,0.94,206.9,879.4,8.1,324,13249,0.00,2.35,0.00,0.000,6,0.000,0.027,2919,2105,2086
$GC,13572,1.02,228.5,855.8,7.2,330,13595,0.12,0.00,20.48,1.230,6,0.076,0.000,2951,2106,1999
$GC,13874,1.02,228.5,829.3,8.8,335,13878,0.00,2.45,0.00,0.000,4,0.000,0.046,2951,678,1995
$GC,13906,0.97,228.5,826.3,9.2,335,13910,0.00,2.35,0.00,0.000,6,0.000,0.032,2951,2111,1994
$GC,14239,0.97,228.5,798.8,8.2,341,14243,0.00,2.45,0.00,0.000,4,0.000,0.047,2951,678,1993
$GC,14255,0.97,228.5,797.3,8.0,341,14259,0.00,2.33,0.00,0.000,6,0.000,0.025,2952,2103,1993
$GC,14603,0.97,228.5,769.4,8.1,347,14607,0.00,2.40,0.00,0.000,4,0.000,0.048,2952,680,1993
$GC,14624,0.97,228.5,767.4,8.6,347,14629,0.00,2.33,0.00,0.000,6,0.000,0.030,2951,2109,1993
$GC,14974,0.97,228.5,739.3,8.0,353,14978,0.00,2.45,0.00,0.000,4,0.000,0.050,2951,672,1993
$GC,15012,0.97,228.5,735.8,9.1,353,15016,0.00,2.35,0.00,0.000,6,0.000,0.032,2952,2114,1992
$GC,15338,0.97,228.5,707.6,8.7,359,15342,0.00,2.42,0.00,0.000,4,0.000,0.049,2952,680,1992
$GC,15364,0.97,228.5,705.1,9.4,359,15368,0.00,2.33,0.00,0.000,6,0.000,0.025,2951,2109,1992
$GC,15702,0.97,228.5,675.0,9.0,365,15706,0.00,2.45,0.00,0.000,4,0.000,0.044,2951,674,1992
$GC,15745,0.97,228.5,670.6,9.7,365,15749,0.00,2.35,0.00,0.000,6,0.000,0.030,2951,2120,1991
$GC,16065,0.97,228.5,642.5,8.7,371,16069,0.00,2.45,0.00,0.000,4,0.000,0.044,2952,680,1991
$GC,16092,0.97,228.5,639.9,9.5,371,16096,0.00,2.33,0.00,0.000,6,0.000,0.031,2951,2113,1991
$GC,16436,0.97,228.5,610.8,8.5,377,16440,0.00,2.42,0.00,0.000,4,0.000,0.045,2952,676,1991
$GC,16490,0.97,228.5,605.6,9.4,377,16497,0.00,2.33,0.00,0.000,6,0.000,0.026,2952,2106,1991
$GC,16800,0.97,228.5,579.5,8.4,383,16801,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2109,1991
$GC,17103,0.98,234.5,555.6,7.8,388,17114,0.00,2.42,5.90,0.873,4,0.000,0.043,2951,682,1973
$GC,17136,0.98,234.5,552.8,8.2,388,17140,0.00,2.33,0.00,0.000,6,0.000,0.029,2951,2105,1972
$GC,17468,0.99,238.5,526.7,7.9,394,17478,0.00,2.45,4.90,0.794,4,0.000,0.044,2952,681,1958
$GC,17516,0.99,238.5,522.4,9.0,394,17520,0.00,2.30,0.00,0.000,6,0.000,0.030,2952,2101,1958
$GC,17832,0.99,243.0,497.7,7.8,400,17842,0.00,2.45,5.75,0.834,4,0.000,0.043,2951,674,1939
$GC,17852,0.99,243.0,495.9,8.0,400,17857,0.00,2.35,0.00,0.000,6,0.000,0.027,2951,2109,1939
$GC,18196,0.99,243.0,467.4,8.4,406,18200,0.00,2.42,0.00,0.000,4,0.000,0.050,2951,681,1938
$GC,18228,0.99,243.0,464.3,9.9,406,18233,0.00,2.30,0.00,0.000,6,0.000,0.025,2952,2108,1938
$GC,18560,0.99,243.0,437.3,8.0,412,18564,0.00,2.42,0.00,0.000,4,0.000,0.045,2951,678,1938
$GC,18586,0.99,243.0,434.9,8.6,412,18590,0.00,2.33,0.00,0.000,6,0.000,0.029,2952,2107,1938
$GC,18929,0.99,243.1,407.7,8.0,418,18933,0.00,2.42,0.00,0.000,4,0.000,0.044,2952,678,1938
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$GC,19293,0.99,244.8,378.5,7.9,424,19297,0.00,2.42,0.00,0.000,4,0.000,0.049,2952,681,1938
$GC,19331,0.99,244.8,375.2,8.1,424,19335,0.00,2.30,0.00,0.000,6,0.000,0.027,2952,2100,1937
$GC,19658,1.04,247.4,349.4,7.9,430,19668,0.00,2.42,5.43,0.754,4,0.000,0.043,2952,681,1922
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$GC,20022,1.04,250.7,320.0,7.9,436,20031,0.00,2.47,4.53,0.680,4,0.000,0.048,2951,682,1908
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$GC,23222,1.29,312.8,51.9,8.0,571,23227,0.10,2.42,0.00,0.000,4,0.081,0.050,3011,676,1654
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$STATE,23837,end climb,SURFACE_DEPTH_REACHED
$STATE,23837,begin surface coast
$FINISH,0.9,1.014856
$STATE,23861,end surface coast,CONTROL_FINISHED_OK
$STATE,23861,begin surface
$SM_CCo,23881,52.97,0.603,6,0,1299,400.33
$SM_GC,1.62,0.00,0.00,52.97,0.000,0.000,0.603,493,1864,1299,-10.28,-1.02,400.33
$IRIDIUM_FIX,5003.11,-14503.79,301097,191934
$TT8_MAMPS,0.029146
$HUMID,1808
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,15.70
$XPDR_PINGS,112
$24V_AH,23.3,42.450
$10V_AH,10.2,21.508
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$DEVICE_SECS,25.025,237.300,438.650,52.975,0.000,30.690,29.639,172.587,28.000,0.000,0.000,80.295,1437.243,19813.371,687.726,1902.907,528.341,33.373,1741.427,0.000,1817.409,0.000,0.459
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,449.214,515.093,653.836,384.376,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38109,630
$CAP_FILE_SIZE,160944,0
$CFSIZE,260165632,244137984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,6,0
$GPS,060808,085758,5017.723,-14511.309,31,2.3,50,18.5