version: 66.03
glider: 144
mission: 13
dive: 50
start: 6 20 108 13 6 52
data:
$ID,144
$MISSION,13
$DIVE,50
$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,-28899.146
$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,33
$R_STBD_OVSHOOT,30
$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,2
$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
$GPS1,125955,5010.615,-14510.327,133,2.0,133,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-58.3
$GPS2,130558,5010.613,-14510.312,82,2.2,101,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.031,-0.241
$KALMAN_X,-1451.8,9.2,-173.4,-12873.4,443.5
$KALMAN_Y,34380.1,33.5,19.5,-15734.9,839.8
$MHEAD_RNG_PITCHd_Wd,168.8,30808,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.20,-146.6,0.0,0.0,0,104,0.00,0.00,-81.93,0.000,2,0.000,0.000,496,1885,2938
$GC,106,-1.20,-146.6,3.4,-4.6,8,140,10.60,2.42,-16.05,0.000,4,0.171,0.061,2461,3305,3531
$GC,342,-1.20,-146.6,33.1,-11.7,29,346,0.00,2.35,0.00,0.000,6,0.000,0.044,2461,1900,3533
$GC,667,-1.20,-146.6,70.0,-11.6,59,671,0.00,2.42,0.00,0.000,4,0.000,0.062,2461,498,3534
$GC,751,-1.16,-146.6,80.1,-11.8,66,755,0.00,2.35,0.00,0.000,6,0.000,0.038,2461,1911,3534
$GC,1076,-1.16,-146.6,115.4,-10.6,82,1080,0.00,2.45,0.00,0.000,4,0.000,0.062,2461,500,3535
$GC,1171,-1.16,-146.6,125.8,-11.0,86,1175,0.00,2.33,0.00,0.000,6,0.000,0.039,2461,1901,3535
$GC,1484,-1.16,-146.6,156.7,-9.6,100,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1903,3535
$GC,1791,-1.16,-146.6,185.7,-9.5,110,1795,0.00,2.45,0.00,0.000,4,0.000,0.064,2461,493,3535
$GC,1822,-1.16,-146.6,188.9,-9.9,111,1827,0.00,2.38,0.00,0.000,6,0.000,0.041,2461,1898,3535
$GC,2157,-1.16,-146.6,219.7,-9.2,122,2161,0.00,2.45,0.00,0.000,4,0.000,0.061,2461,491,3535
$GC,2212,-1.16,-146.6,225.1,-9.9,123,2219,0.00,2.40,0.00,0.000,6,0.000,0.046,2461,1904,3535
$GC,2524,-1.16,-146.6,251.6,-8.5,134,2528,0.00,2.45,0.00,0.000,4,0.000,0.061,2461,496,3534
$GC,2573,-1.16,-146.6,256.2,-9.6,135,2578,0.00,2.38,0.00,0.000,6,0.000,0.043,2461,1898,3534
$GC,2892,-1.20,-146.6,284.5,-8.9,146,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1900,3534
$GC,3227,-1.24,-146.6,312.4,-8.3,155,3231,0.00,2.45,0.00,0.000,4,0.000,0.061,2461,491,3534
$GC,3264,-1.24,-146.6,315.8,-9.1,155,3269,0.00,2.38,0.00,0.000,6,0.000,0.044,2461,1893,3533
$GC,3590,-1.28,-146.6,341.5,-7.9,161,3594,0.00,2.42,0.00,0.000,4,0.000,0.064,2461,494,3534
$GC,3661,-1.28,-146.6,348.1,-9.6,162,3666,0.00,2.38,0.00,0.000,6,0.000,0.044,2461,1897,3533
$GC,4028,-1.33,-146.6,378.6,-8.5,168,4032,0.12,2.42,0.00,0.000,4,0.079,0.059,2429,499,3533
$GC,4104,-1.28,-146.6,386.8,-11.3,169,4109,0.00,2.35,0.00,0.000,6,0.000,0.041,2429,1909,3533
$GC,4458,-1.28,-146.6,419.8,-9.2,175,4462,0.00,2.45,0.00,0.000,4,0.000,0.061,2429,492,3532
$GC,4569,-1.23,-146.6,430.8,-10.3,176,4574,0.10,2.38,0.00,0.000,6,0.110,0.045,2453,1898,3532
$GC,4895,-1.23,-146.6,455.8,-7.6,182,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1900,3532
$GC,5198,-1.23,-146.6,479.4,-7.8,187,5202,0.00,2.42,0.00,0.000,4,0.000,0.060,2453,499,3532
$GC,5235,-1.23,-146.6,482.7,-8.5,187,5239,0.00,2.35,0.00,0.000,6,0.000,0.043,2453,1907,3531
$GC,5563,-1.27,-146.6,508.9,-8.0,193,5567,0.00,2.45,0.00,0.000,4,0.000,0.063,2453,495,3532
$GC,5611,-1.27,-146.6,513.3,-9.4,193,5616,0.00,2.38,0.00,0.000,6,0.000,0.041,2453,1901,3532
$GC,5927,-1.32,-146.6,538.1,-7.9,199,5931,0.00,2.42,0.00,0.000,4,0.000,0.058,2453,495,3531
$GC,5993,-1.32,-146.6,543.9,-8.7,200,5997,0.00,2.35,0.00,0.000,6,0.000,0.047,2453,1901,3531
$GC,6358,-1.36,-146.6,573.6,-8.1,206,6362,0.00,2.42,0.00,0.000,4,0.000,0.060,2453,500,3532
$GC,6412,-1.36,-146.6,578.6,-9.4,206,6419,0.08,2.38,0.00,0.000,6,0.071,0.041,2428,1904,3531
$GC,6721,-1.36,-146.6,606.5,-9.1,212,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1904,3531
$GC,7024,-1.36,-146.6,634.3,-9.1,217,7028,0.00,2.45,0.00,0.000,4,0.000,0.061,2428,497,3531
$GC,7158,-1.36,-146.6,647.5,-9.9,219,7162,0.00,2.35,0.00,0.000,6,0.000,0.044,2428,1904,3531
$GC,7523,-1.36,-146.6,678.7,-8.4,225,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1906,3530
$GC,7826,-1.36,-146.6,704.1,-8.4,230,7830,0.00,2.45,0.00,0.000,4,0.000,0.065,2428,499,3530
$GC,7857,-1.36,-146.6,707.0,-8.8,230,7863,0.00,2.38,0.00,0.000,6,0.000,0.041,2428,1902,3530
$GC,8191,-1.36,-146.6,735.3,-8.5,236,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1905,3530
$GC,8492,-1.36,-146.6,760.6,-8.3,241,8496,0.00,2.45,0.00,0.000,4,0.000,0.064,2427,497,3530
$GC,8519,-1.36,-146.6,762.9,-9.0,241,8523,0.00,2.38,0.00,0.000,6,0.000,0.041,2428,1901,3530
$GC,8856,-1.36,-146.6,789.7,-7.9,247,8861,0.00,2.45,0.00,0.000,4,0.000,0.063,2428,497,3529
$GC,8900,-1.36,-146.6,793.4,-8.7,247,8904,0.00,2.38,0.00,0.000,6,0.000,0.047,2428,1900,3529
$GC,9220,-1.36,-146.6,818.3,-7.8,253,9224,0.00,2.45,0.00,0.000,4,0.000,0.061,2428,496,3529
$GC,9264,-1.36,-146.6,822.1,-9.1,253,9268,0.00,2.38,0.00,0.000,6,0.000,0.041,2428,1898,3529
$GC,9591,-1.36,-146.6,847.0,-7.6,259,9595,0.00,2.45,0.00,0.000,4,0.000,0.067,2428,498,3529
$GC,9662,-1.36,-146.6,853.2,-8.9,260,9666,0.00,2.35,0.00,0.000,6,0.000,0.041,2427,1900,3529
$GC,10022,-1.36,-146.6,880.4,-7.5,266,10023,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1900,3529
$GC,10325,-1.36,-146.6,902.5,-7.3,271,10329,0.00,2.47,0.00,0.000,4,0.000,0.073,2428,500,3528
$GC,10373,-1.36,-146.6,906.4,-8.0,271,10378,0.00,2.38,0.00,0.000,6,0.000,0.044,2427,1891,3528
$GC,10694,-1.36,-146.6,929.5,-7.2,277,10695,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1891,3528
$GC,10997,-1.36,-146.6,951.8,-7.3,282,11001,0.00,2.50,0.00,0.000,4,0.000,0.085,2428,504,3528
$GC,11046,-1.36,-146.6,955.8,-8.5,282,11051,0.00,2.40,0.00,0.000,6,0.000,0.056,2428,1888,3528
$GC,11362,-1.36,-146.6,979.6,-7.6,288,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,1888,3528
$STATE,11541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11541,begin apogee
$GC,11546,-0.33,0.0,993.7,7.7,291,11678,1.05,0.00,128.57,1.355,6,0.104,0.000,2649,2099,2931
$STATE,11678,end apogee,CONTROL_FINISHED_OK
$STATE,11679,begin climb
$GC,11680,1.20,146.6,996.9,0.0,293,11817,1.50,2.72,127.07,1.325,4,0.074,0.094,2986,3504,2332
$GC,11861,1.01,146.6,985.8,9.9,295,11869,0.20,2.50,0.00,0.000,6,0.123,0.068,2949,2114,2328
$GC,12171,0.96,147.7,960.9,8.0,301,12172,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2113,2324
$GC,12474,0.90,150.5,937.1,7.9,306,12479,0.12,2.55,0.00,0.000,4,0.130,0.071,2926,682,2324
$GC,12500,0.90,151.8,934.9,8.0,306,12510,0.00,2.47,4.62,0.895,6,0.000,0.048,2926,2101,2312
$GC,12837,0.92,169.7,910.5,7.3,312,12857,0.00,0.00,17.95,1.224,6,0.000,0.000,2926,2101,2239
$GC,13140,0.93,176.9,887.2,7.7,317,13154,0.00,2.58,7.68,1.078,4,0.000,0.067,2927,687,2209
$GC,13171,0.93,176.9,884.5,8.4,317,13176,0.00,2.45,0.00,0.000,6,0.000,0.044,2926,2103,2208
$GC,13509,0.96,199.1,860.0,7.2,323,13537,0.00,2.60,21.45,1.216,4,0.000,0.067,2926,681,2117
$GC,13559,0.96,199.1,856.1,8.1,323,13564,0.00,2.45,0.00,0.000,6,0.000,0.047,2926,2099,2116
$GC,13875,0.99,227.7,834.3,7.0,329,13914,0.00,2.58,28.48,1.146,4,0.000,0.062,2927,689,2002
$GC,13937,1.00,228.5,829.7,8.0,330,13941,0.00,2.42,0.00,0.000,6,0.000,0.044,2926,2100,2000
$GC,14302,1.08,248.2,803.3,7.3,336,14326,0.15,2.58,18.77,1.170,4,0.077,0.067,2967,678,1919
$GC,14348,1.02,248.2,799.0,9.3,336,14352,0.00,2.45,0.00,0.000,6,0.000,0.044,2967,2104,1918
$GC,14668,1.02,248.2,770.3,8.9,342,14672,0.00,2.50,0.00,0.000,4,0.000,0.061,2967,681,1915
$GC,14683,1.02,248.2,768.7,9.0,342,14688,0.00,2.42,0.00,0.000,6,0.000,0.048,2967,2092,1914
$GC,15032,1.02,248.2,736.9,9.3,348,15033,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2092,1914
$GC,15335,1.02,248.2,706.6,10.1,353,15336,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2094,1913
$GC,15638,1.02,248.2,675.4,10.3,358,15642,0.00,2.47,0.00,0.000,4,0.000,0.058,2967,676,1912
$GC,15676,0.97,248.2,671.2,10.9,358,15681,0.12,2.42,0.00,0.000,6,0.128,0.048,2943,2109,1913
$GC,16002,1.02,248.2,643.6,8.3,364,16006,0.00,2.50,0.00,0.000,4,0.000,0.061,2943,674,1912
$GC,16039,1.02,248.2,640.4,8.5,364,16044,0.00,2.42,0.00,0.000,6,0.000,0.047,2943,2095,1912
$GC,16366,1.07,254.2,614.8,7.8,370,16377,0.00,2.50,6.10,0.907,4,0.000,0.056,2943,674,1894
$GC,16398,1.09,266.3,612.1,7.6,370,16418,0.10,2.42,12.45,1.020,6,0.090,0.045,2966,2103,1845
$GC,16726,1.09,266.3,583.4,8.7,376,16731,0.00,2.47,0.00,0.000,4,0.000,0.060,2966,677,1842
$GC,16758,1.09,266.3,580.2,10.6,376,16763,0.00,2.42,0.00,0.000,6,0.000,0.048,2966,2094,1842
$GC,17090,1.09,266.3,548.3,9.7,382,17094,0.00,2.47,0.00,0.000,4,0.000,0.059,2966,674,1841
$GC,17111,1.09,266.3,546.0,11.5,382,17116,0.00,2.42,0.00,0.000,6,0.000,0.049,2966,2096,1841
$GC,17454,1.09,266.3,511.8,10.0,388,17458,0.00,2.45,0.00,0.000,4,0.000,0.061,2966,681,1841
$GC,17469,1.09,266.3,510.0,9.9,388,17474,0.00,2.42,0.00,0.000,6,0.000,0.045,2966,2101,1840
$GC,17824,1.09,266.3,477.5,9.1,394,17828,0.00,2.47,0.00,0.000,4,0.000,0.064,2966,678,1840
$GC,17844,1.09,266.3,475.4,8.8,394,17849,0.00,2.42,0.00,0.000,6,0.000,0.044,2966,2099,1840
$GC,18187,1.09,266.3,445.9,8.5,400,18191,0.00,2.47,0.00,0.000,4,0.000,0.058,2966,679,1840
$GC,18219,1.09,266.3,442.8,9.4,400,18224,0.00,2.42,0.00,0.000,6,0.000,0.044,2966,2097,1840
$GC,18551,1.09,266.3,413.4,8.9,406,18555,0.00,2.47,0.00,0.000,4,0.000,0.058,2966,673,1840
$GC,18595,1.09,266.3,408.9,9.6,406,18599,0.00,2.42,0.00,0.000,6,0.000,0.044,2967,2094,1840
$GC,18915,1.09,266.3,377.5,9.9,412,18919,0.00,2.45,0.00,0.000,4,0.000,0.064,2966,681,1840
$GC,18941,1.09,266.3,374.7,10.5,412,18945,0.00,2.40,0.00,0.000,6,0.000,0.041,2966,2093,1840
$GC,19284,1.09,266.3,340.1,10.1,418,19288,0.00,2.45,0.00,0.000,4,0.000,0.058,2966,682,1840
$GC,19304,1.09,266.3,337.7,10.5,418,19309,0.00,2.40,0.00,0.000,6,0.000,0.041,2966,2096,1840
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$GC,22792,1.32,298.5,36.9,7.3,572,22816,0.10,2.47,17.98,0.700,4,0.085,0.063,3018,698,1714
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$STATE,23183,end climb,SURFACE_DEPTH_REACHED
$STATE,23183,begin surface coast
$FINISH,1.0,1.024292
$STATE,23206,end surface coast,CONTROL_FINISHED_OK
$STATE,23206,begin surface
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$SM_GC,1.51,0.00,0.00,82.55,0.000,0.000,0.665,497,1891,1300,-10.26,-0.25,400.08
$IRIDIUM_FIX,4956.40,-14502.96,140997,060638
$TT8_MAMPS,0.029146
$HUMID,1700
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,15.20
$XPDR_PINGS,113
$24V_AH,23.4,14.320
$10V_AH,10.1,7.040
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$DEVICE_SECS,25.250,239.550,402.400,82.550,0.000,28.382,25.498,128.124,28.250,0.000,0.000,102.844,1412.654,19226.252,688.425,1976.054,368.829,33.365,1756.063,0.000,1856.319,0.000,0.458
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$SENSOR_SECS,431.367,492.737,627.734,368.398,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34959,610
$CAP_FILE_SIZE,157064,0
$CFSIZE,260165632,254988288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,200608,193857,5007.895,-14510.682,163,2.8,182,18.5