version: 66.03
glider: 144
mission: 13
dive: 221
start: 8 6 108 15 35 23
data:
$ID,144
$MISSION,13
$DIVE,221
$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,-44497.957
$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,55
$R_STBD_OVSHOOT,48
$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
$GPS1,152832,5015.177,-14510.654,65,1.7,65,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.9
$GPS2,153429,5015.172,-14510.619,36,1.6,39,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.016,-0.243
$KALMAN_X,-3024.7,27.6,-182.0,-11679.8,188.7
$KALMAN_Y,167935.5,152.1,33.5,-140975.6,582.6
$MHEAD_RNG_PITCHd_Wd,165.4,39222,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.20,-146.6,0.0,0.0,0,95,0.00,0.00,-71.50,0.000,2,0.000,0.000,495,1880,2782
$GC,98,-1.20,-146.6,3.3,-4.2,7,135,10.43,2.35,-19.90,0.000,4,0.161,0.061,2461,522,3531
$GC,142,-1.03,-146.6,9.1,-12.0,11,146,0.20,2.22,0.00,0.000,6,0.107,0.031,2501,1901,3532
$GC,468,-1.08,-146.6,45.7,-9.9,41,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1904,3534
$GC,785,-1.14,-146.6,76.4,-8.8,71,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1904,3536
$GC,1107,-1.23,-146.6,101.7,-7.7,89,1111,0.15,2.35,0.00,0.000,4,0.064,0.051,2455,522,3536
$GC,1139,-1.23,-146.6,105.0,-10.2,90,1145,0.00,2.25,0.00,0.000,6,0.000,0.027,2455,1899,3536
$GC,1456,-1.23,-146.6,135.6,-10.0,106,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1902,3536
$GC,1772,-1.23,-146.6,168.0,-10.5,119,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1902,3536
$GC,2079,-1.23,-146.6,199.8,-10.4,129,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1902,3536
$GC,2384,-1.23,-146.6,230.0,-9.7,139,2388,0.00,2.35,0.00,0.000,4,0.000,0.053,2456,518,3535
$GC,2435,-1.23,-146.6,235.2,-10.3,140,2439,0.00,2.22,0.00,0.000,6,0.000,0.028,2456,1903,3535
$GC,2754,-1.23,-146.6,265.1,-9.2,151,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1906,3535
$GC,3059,-1.23,-146.6,293.3,-9.1,161,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1906,3534
$GC,3393,-1.23,-146.6,324.9,-9.5,168,3397,0.00,2.35,0.00,0.000,4,0.000,0.050,2456,521,3534
$GC,3430,-1.23,-146.6,328.8,-10.7,168,3434,0.00,2.25,0.00,0.000,6,0.000,0.026,2456,1900,3534
$GC,3756,-1.23,-146.6,358.2,-9.0,174,3761,0.00,2.35,0.00,0.000,4,0.000,0.045,2455,517,3533
$GC,3789,-1.23,-146.6,361.3,-9.3,174,3793,0.00,2.22,0.00,0.000,6,0.000,0.028,2455,1900,3533
$GC,4121,-1.23,-146.6,389.9,-8.7,180,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1902,3533
$GC,4424,-1.23,-146.6,417.2,-9.0,185,4428,0.00,2.35,0.00,0.000,4,0.000,0.045,2455,518,3532
$GC,4467,-1.23,-146.6,421.5,-10.3,185,4472,0.00,2.25,0.00,0.000,6,0.000,0.028,2455,1898,3532
$GC,4788,-1.23,-146.6,451.8,-9.4,191,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1901,3532
$GC,5091,-1.23,-146.6,479.6,-9.1,196,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1901,3531
$GC,5394,-1.23,-146.6,506.4,-8.8,201,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1901,3531
$GC,5697,-1.23,-146.6,532.9,-8.7,206,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2455,1901,3531
$GC,6001,-1.27,-146.6,559.3,-8.8,211,6005,0.00,2.35,0.00,0.000,4,0.000,0.054,2456,518,3531
$GC,6039,-1.27,-146.6,562.9,-9.8,211,6043,0.00,2.22,0.00,0.000,6,0.000,0.030,2455,1901,3530
$GC,6365,-1.32,-146.6,590.0,-8.3,217,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1904,3530
$GC,6668,-1.37,-146.6,614.5,-8.1,222,6673,0.12,2.35,0.00,0.000,4,0.073,0.048,2421,522,3530
$GC,6707,-1.30,-146.6,618.3,-10.3,222,6711,0.10,2.22,0.00,0.000,6,0.122,0.026,2441,1904,3530
$GC,7026,-1.30,-146.6,646.1,-8.6,228,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1906,3529
$GC,7329,-1.30,-146.6,671.2,-8.2,233,7333,0.00,2.35,0.00,0.000,4,0.000,0.054,2441,523,3529
$GC,7377,-1.30,-146.6,675.8,-9.4,233,7382,0.00,2.25,0.00,0.000,6,0.000,0.028,2441,1900,3529
$GC,7693,-1.30,-146.6,702.0,-8.3,239,7697,0.00,2.35,0.00,0.000,4,0.000,0.047,2440,520,3529
$GC,7736,-1.30,-146.6,706.1,-9.3,239,7740,0.00,2.25,0.00,0.000,6,0.000,0.031,2441,1899,3529
$GC,8063,-1.30,-146.6,732.0,-8.0,245,8067,0.00,2.35,0.00,0.000,4,0.000,0.047,2441,520,3529
$GC,8095,-1.30,-146.6,734.9,-9.2,245,8099,0.00,2.22,0.00,0.000,6,0.000,0.028,2441,1901,3528
$GC,8427,-1.30,-146.6,759.7,-7.4,251,8431,0.00,2.35,0.00,0.000,4,0.000,0.048,2441,522,3528
$GC,8460,-1.30,-146.6,762.4,-7.6,251,8464,0.00,2.22,0.00,0.000,6,0.000,0.029,2441,1903,3528
$GC,8792,-1.30,-146.6,785.9,-7.0,257,8796,0.00,2.35,0.00,0.000,4,0.000,0.054,2441,524,3528
$GC,8830,-1.30,-146.6,788.8,-7.8,257,8834,0.00,2.22,0.00,0.000,6,0.000,0.029,2441,1905,3528
$GC,9152,-1.30,-146.6,810.9,-6.9,263,9156,0.00,2.38,0.00,0.000,4,0.000,0.051,2441,516,3528
$GC,9201,-1.30,-146.6,815.0,-8.1,263,9205,0.00,2.25,0.00,0.000,6,0.000,0.028,2441,1908,3527
$GC,9516,-1.30,-146.6,837.8,-7.3,269,9520,0.00,2.38,0.00,0.000,4,0.000,0.056,2441,519,3527
$GC,9548,-1.30,-146.6,840.6,-8.5,269,9552,0.00,2.25,0.00,0.000,6,0.000,0.031,2441,1897,3527
$GC,9886,-1.30,-146.6,866.4,-7.8,275,9890,0.00,2.35,0.00,0.000,4,0.000,0.054,2441,525,3527
$GC,9918,-1.30,-146.6,869.3,-9.0,275,9922,0.00,2.25,0.00,0.000,6,0.000,0.028,2441,1901,3527
$GC,10250,-1.30,-146.6,896.1,-8.1,281,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1901,3527
$GC,10553,-1.30,-146.6,920.2,-7.9,286,10557,0.00,2.38,0.00,0.000,4,0.000,0.058,2441,526,3526
$GC,10580,-1.30,-146.6,922.6,-9.4,286,10584,0.00,2.25,0.00,0.000,6,0.000,0.034,2441,1884,3526
$GC,10923,-1.30,-146.6,949.9,-8.0,292,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1884,3526
$GC,11227,-1.30,-146.6,974.1,-7.9,297,11231,0.00,2.42,0.00,0.000,4,0.000,0.079,2441,529,3526
$GC,11259,-1.30,-146.6,977.0,-9.0,297,11263,0.00,2.30,0.00,0.000,6,0.000,0.046,2441,1892,3526
$STATE,11467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11467,begin apogee
$GC,11472,-0.33,0.0,993.5,7.8,301,11602,1.00,0.00,126.40,1.383,6,0.097,0.000,2655,2104,2931
$STATE,11603,end apogee,CONTROL_FINISHED_OK
$STATE,11603,begin climb
$GC,11605,1.20,146.6,996.9,0.0,303,11738,1.45,2.58,124.28,1.357,4,0.065,0.071,2987,3505,2332
$GC,11802,1.01,146.6,985.1,10.2,306,11807,0.20,2.40,0.00,0.000,6,0.116,0.056,2949,2130,2329
$GC,12156,0.94,146.6,956.5,8.0,312,12160,0.00,2.53,0.00,0.000,4,0.000,0.061,2949,689,2326
$GC,12205,0.82,146.6,952.0,8.9,312,12210,0.20,2.38,0.00,0.000,6,0.111,0.034,2910,2104,2326
$GC,12514,0.87,187.2,931.6,6.5,317,12553,0.00,0.00,35.78,1.295,6,0.000,0.000,2910,2105,2167
$GC,12882,0.98,222.1,907.0,6.7,323,12921,0.12,2.55,31.73,1.272,4,0.073,0.055,2943,686,2024
$GC,12926,0.98,222.1,903.2,8.1,323,12931,0.00,2.38,0.00,0.000,6,0.000,0.033,2943,2113,2023
$GC,13241,0.98,222.1,876.6,8.5,329,13242,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2113,2018
$GC,13544,0.98,222.9,852.2,8.0,334,13548,0.00,2.45,0.00,0.000,4,0.000,0.051,2943,685,2017
$GC,13571,0.98,222.9,849.8,9.1,334,13576,0.00,2.35,0.00,0.000,6,0.000,0.032,2944,2103,2017
$GC,13909,0.99,232.6,823.8,7.6,340,13923,0.00,2.50,9.65,1.121,4,0.000,0.048,2943,677,1982
$GC,13951,1.00,237.6,820.2,7.8,340,13962,0.00,2.35,6.12,0.979,6,0.000,0.028,2943,2104,1962
$GC,14265,1.00,240.8,795.4,7.9,345,14274,0.00,2.45,4.25,0.825,4,0.000,0.045,2943,683,1948
$GC,14291,1.00,240.8,793.0,8.6,345,14296,0.00,2.35,0.00,0.000,6,0.000,0.025,2943,2116,1948
$GC,14635,1.00,240.8,764.2,8.5,351,14639,0.00,2.45,0.00,0.000,4,0.000,0.050,2943,682,1947
$GC,14666,1.00,240.8,761.2,8.9,351,14671,0.00,2.33,0.00,0.000,6,0.000,0.032,2943,2109,1947
$GC,14998,1.00,240.8,733.2,8.4,357,15002,0.00,2.45,0.00,0.000,4,0.000,0.050,2943,675,1947
$GC,15019,1.00,240.8,731.1,9.0,357,15024,0.00,2.35,0.00,0.000,6,0.000,0.026,2943,2103,1947
$GC,15363,1.00,240.8,701.2,8.7,363,15367,0.00,2.40,0.00,0.000,4,0.000,0.046,2943,684,1947
$GC,15389,1.00,240.8,698.6,9.5,363,15393,0.00,2.33,0.00,0.000,6,0.000,0.032,2943,2095,1947
$GC,15733,1.00,240.8,668.1,8.9,369,15737,0.00,2.40,0.00,0.000,4,0.000,0.046,2943,683,1946
$GC,15759,1.00,240.8,665.5,9.2,369,15764,0.00,2.30,0.00,0.000,6,0.000,0.033,2943,2101,1946
$GC,16097,1.00,240.8,634.9,9.1,375,16098,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2103,1945
$GC,16400,1.00,240.8,606.9,9.3,380,16404,0.00,2.42,0.00,0.000,4,0.000,0.045,2943,676,1946
$GC,16432,1.00,240.8,603.6,10.5,380,16436,0.00,2.33,0.00,0.000,6,0.000,0.028,2943,2105,1945
$GC,16770,1.00,240.8,572.0,9.3,386,16774,0.00,2.42,0.00,0.000,4,0.000,0.051,2943,680,1946
$GC,16797,1.00,240.8,569.3,10.1,386,16801,0.00,2.33,0.00,0.000,6,0.000,0.028,2943,2111,1946
$GC,17134,1.00,240.8,539.3,8.9,392,17138,0.00,2.40,0.00,0.000,4,0.000,0.047,2943,682,1945
$GC,17160,1.00,240.8,536.8,9.4,392,17164,0.00,2.33,0.00,0.000,6,0.000,0.027,2942,2097,1946
$GC,17498,1.00,240.8,506.8,9.0,398,17499,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2100,1946
$GC,17800,1.00,240.8,479.5,9.0,403,17804,0.00,2.40,0.00,0.000,4,0.000,0.046,2943,683,1945
$GC,17838,1.00,240.8,475.8,9.6,403,17843,0.00,2.30,0.00,0.000,6,0.000,0.027,2944,2102,1945
$GC,18165,1.00,240.8,447.8,8.5,409,18169,0.00,2.40,0.00,0.000,4,0.000,0.044,2942,683,1946
$GC,18192,1.00,240.8,445.3,9.4,409,18196,0.00,2.30,0.00,0.000,6,0.000,0.028,2943,2099,1945
$GC,18529,1.00,245.1,418.6,7.8,415,18539,0.00,2.42,5.15,0.769,4,0.000,0.046,2943,683,1930
$GC,18555,1.00,245.1,416.4,8.3,415,18559,0.00,2.33,0.00,0.000,6,0.000,0.033,2942,2102,1930
$GC,18893,1.06,253.5,390.6,7.7,421,18907,0.00,2.47,8.90,0.874,4,0.000,0.051,2943,686,1896
$GC,18930,1.11,253.5,387.6,8.9,421,18935,0.12,2.33,0.00,0.000,6,0.075,0.028,2975,2099,1896
$GC,19256,1.11,253.5,357.9,9.1,427,19257,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2102,1895
$GC,19559,1.11,253.5,330.9,8.9,432,19563,0.00,2.42,0.00,0.000,4,0.000,0.048,2975,675,1895
$GC,19591,1.06,253.5,327.8,10.1,432,19595,0.00,2.33,0.00,0.000,6,0.000,0.032,2975,2102,1895
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$GC,20274,1.01,253.5,265.3,9.9,449,20279,0.12,2.30,0.00,0.000,6,0.115,0.035,2951,2099,1894
$GC,20592,1.07,262.3,240.3,7.7,460,20602,0.00,0.00,9.05,0.792,6,0.000,0.000,2951,2102,1861
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$GC,22351,1.19,270.8,87.3,8.1,530,22356,0.00,2.40,0.00,0.000,4,0.000,0.051,2978,683,1825
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$GC,22710,1.29,299.0,60.7,7.0,559,22743,0.12,2.47,25.25,0.729,4,0.071,0.050,3011,681,1710
$GC,22778,1.25,299.0,54.8,10.0,565,22782,0.00,2.35,0.00,0.000,6,0.000,0.026,3011,2107,1709
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$STATE,23441,end climb,SURFACE_DEPTH_REACHED
$STATE,23441,begin surface coast
$FINISH,0.9,1.013739
$STATE,23462,end surface coast,CONTROL_FINISHED_OK
$STATE,23462,begin surface
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$IRIDIUM_FIX,4959.75,-14507.65,311097,090925
$TT8_MAMPS,0.029146
$HUMID,1798
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$TCM_TEMP,15.80
$XPDR_PINGS,96
$24V_AH,23.3,42.793
$10V_AH,10.2,21.675
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$DEVICE_SECS,25.050,203.000,409.075,74.725,0.000,23.696,26.759,176.955,24.000,0.000,0.000,39.444,1387.626,19674.232,668.462,1731.206,494.389,33.369,1643.165,0.000,1685.774,0.000,0.460
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$SENSOR_SECS,447.374,508.398,648.723,398.100,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38071,629
$CAP_FILE_SIZE,149421,0
$CFSIZE,260165632,244023296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,8,0
$GPS,060808,221021,5012.809,-14511.149,44,2.4,63,18.5