version: 66.03
glider: 144
mission: 13
dive: 74
start: 6 27 108 5 6 2
data:
$ID,144
$MISSION,13
$DIVE,74
$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,-31335.094
$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,36
$R_STBD_OVSHOOT,34
$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
$GPS1,045926,5001.335,-14430.533,64,1.9,64,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-61.8
$GPS2,050508,5001.386,-14430.562,96,2.0,96,18.6
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.002,-0.243
$KALMAN_X,6976.6,157.3,-125.1,25814.6,400.1
$KALMAN_Y,60035.1,2.6,200.1,-58624.5,442.8
$MHEAD_RNG_PITCHd_Wd,161.8,13685,-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,-146.6,0.0,0.0,0,99,0.00,0.00,-77.15,0.000,2,0.000,0.000,496,1893,2836
$GC,101,-1.20,-146.6,3.2,-4.2,8,137,10.50,2.42,-19.42,0.000,4,0.166,0.064,2461,3296,3532
$GC,178,-1.15,-146.6,12.6,-12.5,15,182,0.00,2.33,0.00,0.000,6,0.000,0.037,2461,1905,3533
$GC,503,-1.09,-146.6,51.5,-11.5,45,507,0.12,2.42,0.00,0.000,4,0.117,0.061,2485,499,3534
$GC,620,-1.09,-146.6,65.1,-10.9,55,624,0.00,2.33,0.00,0.000,6,0.000,0.043,2485,1903,3535
$GC,949,-1.09,-146.6,99.1,-10.2,77,953,0.00,2.45,0.00,0.000,4,0.000,0.056,2486,489,3535
$GC,1014,-1.09,-146.6,106.1,-11.2,80,1019,0.00,2.38,0.00,0.000,6,0.000,0.043,2485,1901,3535
$GC,1341,-1.15,-146.6,135.2,-8.1,96,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1904,3535
$GC,1649,-1.23,-146.6,161.1,-8.4,109,1654,0.12,2.38,0.00,0.000,4,0.073,0.050,2452,3301,3536
$GC,1676,-1.23,-146.6,163.7,-9.8,110,1680,0.00,2.35,0.00,0.000,6,0.000,0.043,2452,1889,3536
$GC,2010,-1.23,-146.6,198.2,-10.5,121,2014,0.00,2.40,0.00,0.000,4,0.000,0.063,2452,495,3536
$GC,2071,-1.23,-146.6,204.9,-11.0,123,2075,0.00,2.35,0.00,0.000,6,0.000,0.046,2452,1905,3536
$GC,2411,-1.23,-146.6,238.6,-9.8,134,2415,0.00,2.45,0.00,0.000,4,0.000,0.058,2452,492,3535
$GC,2487,-1.23,-146.6,246.6,-10.5,136,2492,0.00,2.38,0.00,0.000,6,0.000,0.044,2452,1899,3535
$GC,2811,-1.23,-146.6,275.2,-8.7,147,2815,0.00,2.42,0.00,0.000,4,0.000,0.057,2452,498,3535
$GC,2938,-1.23,-146.6,287.3,-8.9,150,2946,0.00,2.35,0.00,0.000,6,0.000,0.040,2452,1894,3535
$GC,3279,-1.23,-146.6,316.2,-8.4,159,3283,0.00,2.40,0.00,0.000,4,0.000,0.059,2452,497,3535
$GC,3323,-1.23,-146.6,320.2,-9.3,159,3327,0.00,2.35,0.00,0.000,6,0.000,0.039,2452,1895,3534
$GC,3649,-1.23,-146.6,347.8,-8.5,165,3653,0.00,2.38,0.00,0.000,4,0.000,0.055,2452,3299,3534
$GC,3675,-1.23,-146.6,350.1,-8.6,165,3679,0.00,2.35,0.00,0.000,6,0.000,0.039,2452,1903,3534
$GC,4012,-1.23,-146.6,378.0,-8.3,171,4016,0.00,2.42,0.00,0.000,4,0.000,0.062,2452,496,3533
$GC,4117,-1.23,-146.6,387.6,-9.6,172,4121,0.00,2.35,0.00,0.000,6,0.000,0.045,2452,1895,3534
$GC,4443,-1.23,-146.6,414.1,-8.2,178,4447,0.00,2.42,0.00,0.000,4,0.000,0.061,2452,492,3534
$GC,4480,-1.23,-146.6,417.7,-9.7,178,4484,0.00,2.38,0.00,0.000,6,0.000,0.041,2452,1901,3533
$GC,4806,-1.23,-146.6,445.7,-8.6,184,4810,0.00,2.42,0.00,0.000,4,0.000,0.058,2452,498,3533
$GC,4844,-1.23,-146.6,449.2,-9.9,184,4849,0.00,2.33,0.00,0.000,6,0.000,0.039,2452,1902,3533
$GC,5164,-1.23,-146.6,476.1,-8.4,190,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1904,3533
$GC,5467,-1.23,-146.6,500.4,-7.9,195,5471,0.00,2.42,0.00,0.000,4,0.000,0.061,2452,499,3533
$GC,5543,-1.23,-146.6,507.1,-8.3,196,5548,0.00,2.35,0.00,0.000,6,0.000,0.046,2452,1893,3532
$GC,5898,-1.23,-146.6,535.0,-7.8,202,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1896,3532
$GC,6201,-1.23,-146.6,558.2,-7.6,207,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1895,3532
$GC,6504,-1.23,-146.6,581.8,-7.9,212,6508,0.00,2.42,0.00,0.000,4,0.000,0.064,2452,495,3532
$GC,6541,-1.23,-146.6,585.2,-8.9,212,6546,0.00,2.35,0.00,0.000,6,0.000,0.044,2452,1893,3532
$GC,6868,-1.28,-146.6,611.4,-8.0,218,6872,0.00,2.42,0.00,0.000,4,0.000,0.060,2452,494,3530
$GC,6899,-1.28,-146.6,614.4,-9.3,218,6904,0.00,2.38,0.00,0.000,6,0.000,0.043,2452,1904,3531
$GC,7232,-1.33,-146.6,641.1,-8.0,224,7236,0.00,2.45,0.00,0.000,4,0.000,0.058,2452,491,3531
$GC,7257,-1.33,-146.6,643.2,-8.6,224,7262,0.00,2.38,0.00,0.000,6,0.000,0.041,2452,1898,3530
$GC,7596,-1.37,-146.6,669.8,-7.9,230,7600,0.10,2.42,0.00,0.000,4,0.081,0.060,2425,498,3530
$GC,7639,-1.32,-146.6,673.8,-9.5,230,7643,0.00,2.35,0.00,0.000,6,0.000,0.046,2424,1892,3530
$GC,7959,-1.32,-146.6,701.8,-8.8,236,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1894,3531
$GC,8262,-1.32,-146.6,728.1,-8.7,241,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1894,3530
$GC,8565,-1.32,-146.6,754.2,-8.6,246,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1894,3530
$GC,8868,-1.32,-146.6,780.6,-8.8,251,8872,0.00,2.42,0.00,0.000,4,0.000,0.066,2425,496,3529
$GC,8911,-1.32,-146.6,784.8,-9.8,251,8916,0.00,2.38,0.00,0.000,6,0.000,0.041,2425,1902,3530
$GC,9238,-1.32,-146.6,814.0,-8.9,257,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1903,3530
$GC,9541,-1.32,-146.6,841.2,-9.0,262,9545,0.00,2.45,0.00,0.000,4,0.000,0.064,2425,500,3529
$GC,9567,-1.32,-146.6,843.9,-9.7,262,9572,0.00,2.35,0.00,0.000,6,0.000,0.040,2425,1892,3529
$GC,9904,-1.32,-146.6,873.2,-8.6,268,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1892,3529
$GC,10207,-1.32,-146.6,898.2,-8.1,273,10212,0.00,2.45,0.00,0.000,4,0.000,0.072,2425,501,3529
$GC,10234,-1.32,-146.6,900.5,-9.5,273,10239,0.00,2.38,0.00,0.000,6,0.000,0.041,2425,1900,3529
$GC,10571,-1.32,-146.6,927.2,-8.0,279,10575,0.00,2.47,0.00,0.000,4,0.000,0.075,2424,502,3529
$GC,10625,-1.32,-146.6,932.1,-8.4,279,10630,0.00,2.38,0.00,0.000,6,0.000,0.043,2424,1894,3528
$GC,10940,-1.32,-146.6,957.3,-8.1,285,10944,0.00,2.50,0.00,0.000,4,0.000,0.082,2424,495,3528
$GC,11016,-1.32,-146.6,964.1,-8.6,286,11021,0.00,2.42,0.00,0.000,6,0.000,0.056,2425,1894,3528
$STATE,11369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11369,begin apogee
$GC,11374,-0.33,0.0,992.2,8.0,292,11505,1.08,0.00,127.68,1.359,6,0.101,0.000,2653,2097,2931
$STATE,11506,end apogee,CONTROL_FINISHED_OK
$STATE,11506,begin climb
$GC,11508,1.20,146.6,995.7,0.0,294,11643,1.48,2.75,125.35,1.329,4,0.067,0.093,2987,3513,2332
$GC,11688,1.01,146.6,985.1,9.3,296,11695,0.20,2.50,0.00,0.000,6,0.119,0.068,2949,2103,2328
$GC,11997,0.95,148.7,960.5,7.9,302,12002,0.00,2.55,0.00,0.000,4,0.000,0.076,2950,683,2325
$GC,12036,0.85,148.7,957.1,9.4,302,12041,0.17,2.47,0.00,0.000,6,0.117,0.055,2916,2113,2325
$GC,12356,0.89,186.0,935.6,6.6,308,12396,0.00,2.60,34.62,1.272,4,0.000,0.067,2915,680,2171
$GC,12423,0.91,200.0,930.8,7.5,309,12443,0.00,2.45,14.12,1.187,6,0.000,0.045,2915,2104,2114
$GC,12782,1.01,226.4,905.5,7.0,315,12812,0.15,2.58,24.02,1.239,4,0.072,0.069,2957,670,2008
$GC,12834,0.96,226.4,900.7,9.9,315,12838,0.00,2.47,0.00,0.000,6,0.000,0.048,2957,2110,2005
$GC,13148,0.96,226.4,871.8,9.1,321,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2110,2002
$GC,13451,0.96,226.4,843.4,9.4,326,13456,0.00,2.50,0.00,0.000,4,0.000,0.062,2957,684,2001
$GC,13490,0.92,226.4,839.4,10.3,326,13495,0.15,2.40,0.00,0.000,6,0.115,0.048,2929,2106,2001
$GC,13816,0.98,226.4,812.2,8.3,332,13820,0.00,2.50,0.00,0.000,4,0.000,0.059,2928,676,2000
$GC,13837,1.04,238.6,810.4,7.6,332,13854,0.10,2.40,11.18,1.127,6,0.087,0.043,2954,2104,1958
$GC,14173,1.04,238.6,779.9,9.0,338,14178,0.00,2.50,0.00,0.000,4,0.000,0.059,2954,676,1956
$GC,14194,1.04,238.6,778.0,9.0,338,14199,0.00,2.42,0.00,0.000,6,0.000,0.040,2954,2099,1955
$GC,14537,1.04,238.6,747.6,8.8,344,14541,0.00,2.47,0.00,0.000,4,0.000,0.062,2954,676,1955
$GC,14564,1.04,238.6,744.9,9.9,344,14568,0.00,2.42,0.00,0.000,6,0.000,0.041,2954,2100,1954
$GC,14901,1.04,238.6,715.5,8.8,350,14902,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2102,1954
$GC,15204,1.04,238.6,688.8,8.8,355,15208,0.00,2.47,0.00,0.000,4,0.000,0.061,2954,681,1954
$GC,15230,1.04,238.6,686.2,9.4,355,15235,0.00,2.40,0.00,0.000,6,0.000,0.041,2954,2092,1954
$GC,15568,1.04,238.6,655.8,8.9,361,15572,0.00,2.45,0.00,0.000,4,0.000,0.058,2954,684,1953
$GC,15588,1.04,238.6,653.7,9.1,361,15593,0.00,2.40,0.00,0.000,6,0.000,0.047,2954,2112,1953
$GC,15931,1.04,238.6,623.7,8.7,367,15936,0.00,2.47,0.00,0.000,4,0.000,0.055,2954,682,1953
$GC,15963,1.04,238.6,620.6,9.3,367,15968,0.00,2.40,0.00,0.000,6,0.000,0.042,2954,2095,1953
$GC,16295,1.04,238.6,592.8,8.3,373,16299,0.00,2.45,0.00,0.000,4,0.000,0.063,2954,683,1953
$GC,16322,1.04,238.6,590.5,9.4,373,16326,0.00,2.40,0.00,0.000,6,0.000,0.046,2954,2096,1953
$GC,16664,1.04,238.6,561.9,8.4,379,16666,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2099,1953
$GC,16968,1.04,238.6,535.6,8.7,384,16972,0.00,2.45,0.00,0.000,4,0.000,0.057,2954,683,1953
$GC,16994,1.04,238.6,533.0,10.0,384,16999,0.00,2.40,0.00,0.000,6,0.000,0.047,2954,2095,1953
$GC,17332,1.04,238.6,503.3,8.8,390,17336,0.00,2.45,0.00,0.000,4,0.000,0.055,2954,680,1953
$GC,17358,1.04,238.6,500.7,9.7,390,17362,0.00,2.40,0.00,0.000,6,0.000,0.039,2954,2097,1953
$GC,17695,1.04,238.6,471.7,8.6,396,17699,0.00,2.45,0.00,0.000,4,0.000,0.057,2954,681,1953
$GC,17710,1.04,238.6,470.2,8.6,396,17715,0.00,2.40,0.00,0.000,6,0.000,0.044,2954,2099,1953
$GC,18059,1.04,238.6,440.9,8.4,402,18063,0.00,2.45,0.00,0.000,4,0.000,0.062,2955,683,1953
$GC,18074,1.04,238.6,439.6,8.4,402,18078,0.00,2.40,0.00,0.000,6,0.000,0.039,2954,2099,1953
$GC,18423,1.08,238.6,409.6,8.7,408,18424,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2101,1953
$GC,18725,1.08,238.6,383.9,8.3,413,18727,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2101,1953
$GC,19029,1.12,238.6,358.0,8.6,418,19033,0.00,2.45,0.00,0.000,4,0.000,0.058,2954,682,1953
$GC,19071,1.12,238.6,353.8,10.2,418,19076,0.00,2.40,0.00,0.000,6,0.000,0.046,2954,2099,1953
$GC,19392,1.17,238.6,325.8,8.7,424,19394,0.12,0.00,0.00,0.000,6,0.076,0.000,2987,2101,1953
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$GC,20069,1.04,238.6,265.3,8.0,441,20073,0.00,2.47,0.00,0.000,4,0.000,0.055,2957,676,1952
$GC,20112,1.04,239.1,261.5,8.0,442,20116,0.00,2.38,0.00,0.000,6,0.000,0.044,2957,2100,1953
$GC,20436,1.11,255.3,237.0,7.4,453,20456,0.00,2.50,15.18,0.820,4,0.000,0.055,2958,683,1889
$GC,20482,1.11,255.3,233.1,8.4,454,20487,0.00,2.42,0.00,0.000,6,0.000,0.045,2957,2098,1888
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$STATE,23151,end climb,SURFACE_DEPTH_REACHED
$STATE,23151,begin surface coast
$FINISH,1.0,1.025082
$STATE,23174,end surface coast,CONTROL_FINISHED_OK
$STATE,23174,begin surface
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$SM_GC,1.59,0.00,0.00,66.95,0.000,0.000,0.660,494,1898,1300,-10.28,-0.08,400.08
$IRIDIUM_FIX,4946.36,-14428.91,200997,222207
$TT8_MAMPS,0.029146
$HUMID,1741
$INTERNAL_PRESSURE,7.64678
$TCM_TEMP,14.40
$XPDR_PINGS,106
$24V_AH,23.4,18.375
$10V_AH,10.1,9.130
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$DEVICE_SECS,25.500,228.400,407.300,66.950,0.000,23.325,23.904,120.726,26.500,0.000,0.000,96.579,1394.556,19313.096,648.733,1902.306,344.322,33.364,1679.892,0.000,1791.249,0.000,0.459
$DEVICE_MAMPS,166.439,115.817,1359.124,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,433.040,487.380,625.941,368.357,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34935,610
$CAP_FILE_SIZE,153012,0
$CFSIZE,260165632,253448192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,270608,113701,4958.306,-14430.762,165,1.7,165,18.5