version: 66.03
glider: 144
mission: 13
dive: 12
start: 6 10 108 7 43 33
data:
$ID,144
$MISSION,13
$DIVE,12
$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,330
$T_MISSION,360
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-17374.004
$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,20
$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,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
$GPS1,073544,5008.721,-14442.206,294,2.7,301,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-56.1
$GPS2,074240,5008.724,-14442.174,145,2.7,164,18.6
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,NW
$TGT_LATLONG,5020.579,-14459.120
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.244,0.096
$KALMAN_X,-1538.9,-7.2,-273.6,20816.9,307.6
$KALMAN_Y,10435.0,-520.3,-588.6,5888.8,3039.0
$MHEAD_RNG_PITCHd_Wd,272.8,29719,-18.5,-10.000
$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,-1.41,-146.6,0.0,0.0,0,104,0.00,0.00,-82.15,0.000,2,0.000,0.000,491,1907,2935
$GC,106,-1.41,-146.6,3.0,-3.5,8,140,10.27,2.50,-17.45,0.000,4,0.166,0.074,2416,486,3530
$GC,302,-1.37,-146.6,30.8,-15.3,25,309,0.00,2.40,0.00,0.000,6,0.000,0.048,2416,1898,3532
$GC,627,-1.37,-146.6,75.1,-13.4,56,631,0.00,2.47,0.00,0.000,4,0.000,0.062,2416,483,3532
$GC,669,-1.37,-146.6,81.3,-14.2,59,674,0.00,2.40,0.00,0.000,6,0.000,0.045,2416,1900,3532
$GC,996,-1.37,-146.6,124.3,-12.6,75,1000,0.00,2.47,0.00,0.000,4,0.000,0.061,2416,487,3532
$GC,1129,-1.37,-146.6,141.0,-12.4,81,1134,0.00,2.40,0.00,0.000,6,0.000,0.048,2416,1900,3533
$GC,1444,-1.37,-146.6,176.4,-11.3,93,1445,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,1902,3533
$GC,1750,-1.42,-146.6,210.4,-10.7,103,1754,0.00,2.47,0.00,0.000,4,0.000,0.065,2416,488,3533
$GC,1838,-1.42,-146.6,220.9,-11.9,105,1845,0.00,2.40,0.00,0.000,6,0.000,0.043,2416,1900,3533
$GC,2151,-1.47,-146.6,255.7,-11.6,116,2156,0.00,2.47,0.00,0.000,4,0.000,0.062,2417,485,3533
$GC,2296,-1.51,-146.6,274.2,-12.8,120,2301,0.00,2.40,0.00,0.000,6,0.000,0.046,2416,1900,3532
$GC,2649,-1.57,-146.6,314.2,-11.1,130,2654,0.15,2.45,0.00,0.000,4,0.079,0.065,2375,492,3533
$GC,2737,-1.51,-146.6,326.0,-13.0,131,2742,0.12,2.35,0.00,0.000,6,0.127,0.050,2398,1902,3533
$GC,3080,-1.51,-146.6,366.5,-11.9,137,3084,0.00,2.45,0.00,0.000,4,0.000,0.069,2398,492,3532
$GC,3193,-1.51,-146.6,380.7,-12.5,138,3197,0.00,2.35,0.00,0.000,6,0.000,0.048,2398,1900,3532
$GC,3512,-1.51,-146.6,418.3,-11.8,144,3516,0.00,2.47,0.00,0.000,4,0.000,0.065,2398,489,3532
$GC,3572,-1.51,-146.6,426.0,-12.7,144,3579,0.00,2.38,0.00,0.000,6,0.000,0.044,2398,1907,3532
$GC,3881,-1.51,-146.6,461.5,-11.4,150,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1908,3532
$GC,4184,-1.51,-146.6,493.9,-10.6,155,4188,0.00,2.47,0.00,0.000,4,0.000,0.069,2399,492,3532
$GC,4301,-1.51,-146.6,506.7,-11.1,156,4305,0.00,2.40,0.00,0.000,6,0.000,0.046,2398,1902,3532
$GC,4616,-1.51,-146.6,537.0,-9.5,162,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1904,3531
$GC,4919,-1.51,-146.6,566.8,-9.8,167,4923,0.00,2.47,0.00,0.000,4,0.000,0.070,2398,487,3532
$GC,4956,-1.51,-146.6,571.0,-10.9,167,4961,0.00,2.40,0.00,0.000,6,0.000,0.045,2398,1900,3532
$GC,5283,-1.55,-146.6,604.2,-10.2,173,5287,0.00,2.47,0.00,0.000,4,0.000,0.064,2398,485,3531
$GC,5361,-1.55,-146.6,612.7,-11.4,174,5365,0.00,2.38,0.00,0.000,6,0.000,0.046,2398,1909,3531
$GC,5708,-1.60,-146.6,646.4,-9.6,180,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,1910,3531
$GC,6011,-1.64,-146.6,675.0,-9.4,185,6016,0.12,2.47,0.00,0.000,4,0.085,0.069,2367,485,3530
$GC,6088,-1.58,-146.6,684.0,-12.0,186,6093,0.00,2.38,0.00,0.000,6,0.000,0.043,2367,1903,3530
$GC,6442,-1.58,-146.6,721.4,-10.6,192,6446,0.00,2.47,0.00,0.000,4,0.000,0.069,2367,491,3530
$GC,6569,-1.53,-146.6,736.1,-11.4,193,6577,0.12,2.38,0.00,0.000,6,0.127,0.049,2391,1905,3530
$GC,6879,-1.53,-146.6,765.9,-9.6,199,6883,0.00,2.47,0.00,0.000,4,0.000,0.066,2391,485,3530
$GC,6921,-1.53,-146.6,770.3,-10.2,199,6926,0.00,2.40,0.00,0.000,6,0.000,0.048,2391,1900,3530
$GC,7242,-1.53,-146.6,801.7,-9.8,205,7247,0.00,2.47,0.00,0.000,4,0.000,0.071,2391,491,3530
$GC,7291,-1.53,-146.6,806.8,-10.5,205,7296,0.00,2.40,0.00,0.000,6,0.000,0.048,2391,1900,3530
$GC,7606,-1.53,-146.6,837.8,-9.9,211,7610,0.00,2.47,0.00,0.000,4,0.000,0.071,2391,492,3530
$GC,7661,-1.53,-146.6,843.9,-11.4,211,7668,0.00,2.40,0.00,0.000,6,0.000,0.047,2391,1903,3530
$GC,7970,-1.57,-146.6,875.3,-10.2,217,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,1903,3529
$GC,8274,-1.61,-146.6,907.4,-10.6,222,8278,0.00,2.53,0.00,0.000,4,0.000,0.076,2391,486,3529
$GC,8350,-1.61,-146.6,916.3,-11.9,223,8355,0.00,2.40,0.00,0.000,6,0.000,0.048,2391,1891,3529
$GC,8705,-1.66,-146.6,952.3,-10.1,229,8709,0.12,2.53,0.00,0.000,4,0.086,0.088,2361,495,3529
$GC,8772,-1.60,-146.6,960.2,-11.7,230,8776,0.00,2.42,0.00,0.000,6,0.000,0.060,2361,1898,3529
$STATE,9068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9068,begin apogee
$GC,9072,-0.33,0.0,992.4,10.6,235,9205,1.38,0.00,128.80,1.371,6,0.107,0.000,2650,2097,2931
$STATE,9206,end apogee,CONTROL_FINISHED_OK
$STATE,9206,begin climb
$GC,9207,1.41,146.6,995.4,0.0,237,9344,1.70,2.70,128.40,1.335,4,0.071,0.098,3032,3509,2332
$GC,9451,1.24,146.6,975.0,12.4,240,9458,0.17,2.53,0.00,0.000,6,0.136,0.068,3001,2099,2326
$GC,9760,1.17,146.6,943.5,10.1,246,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2099,2324
$GC,10063,1.10,146.6,913.1,10.1,251,10068,0.17,2.53,0.00,0.000,4,0.133,0.069,2967,680,2323
$GC,10095,1.10,146.6,909.7,10.4,251,10099,0.00,2.47,0.00,0.000,6,0.000,0.051,2967,2107,2323
$GC,10427,1.13,174.2,880.7,8.7,257,10453,0.00,0.00,24.85,1.247,6,0.000,0.000,2967,2107,2220
$GC,10730,1.20,193.3,853.1,9.1,262,10760,0.00,2.55,19.98,1.118,4,0.000,0.067,2967,687,2143
$GC,10793,1.20,193.3,846.6,11.0,263,10798,0.00,2.45,0.00,0.000,6,0.000,0.051,2967,2096,2141
$GC,11159,1.26,203.0,811.7,9.6,269,11172,0.15,0.00,10.07,1.121,6,0.080,0.000,3001,2096,2103
$GC,11461,1.26,203.0,778.5,10.9,274,11466,0.00,2.47,0.00,0.000,4,0.000,0.061,3001,684,2101
$GC,11482,1.26,203.0,775.9,12.1,274,11487,0.00,2.42,0.00,0.000,6,0.000,0.050,3001,2099,2101
$GC,11825,1.26,203.0,739.1,10.6,280,11829,0.00,2.47,0.00,0.000,4,0.000,0.063,3002,684,2100
$GC,11846,1.26,203.0,736.7,10.5,280,11851,0.00,2.42,0.00,0.000,6,0.000,0.051,3002,2093,2100
$GC,12195,1.26,203.0,700.1,10.6,286,12199,0.00,2.47,0.00,0.000,4,0.000,0.061,3002,682,2100
$GC,12238,1.19,203.0,695.1,11.5,286,12242,0.00,2.42,0.00,0.000,6,0.000,0.050,3001,2112,2099
$GC,12558,1.19,203.0,660.7,10.8,292,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2112,2099
$GC,12861,1.19,203.0,628.5,10.6,297,12865,0.00,2.50,0.00,0.000,4,0.000,0.060,3001,682,2099
$GC,12910,1.13,203.0,622.8,11.5,297,12915,0.10,2.42,0.00,0.000,6,0.123,0.049,2979,2100,2099
$GC,13231,1.19,216.3,592.4,9.4,303,13250,0.00,2.55,12.80,1.048,4,0.000,0.066,2979,688,2049
$GC,13283,1.19,216.3,586.8,10.9,303,13288,0.00,2.45,0.00,0.000,6,0.000,0.046,2978,2103,2048
$GC,13599,1.27,228.7,557.0,9.4,309,13618,0.10,2.58,12.52,1.019,4,0.090,0.063,3002,684,1997
$GC,13634,1.27,228.7,552.9,11.5,309,13639,0.00,2.45,0.00,0.000,6,0.000,0.051,3002,2097,1997
$GC,13966,1.27,228.7,516.4,11.2,315,13970,0.00,2.42,0.00,0.000,4,0.000,0.058,3003,3501,1995
$GC,13997,1.27,228.7,512.7,11.4,315,14002,0.00,2.40,0.00,0.000,6,0.000,0.040,3003,2091,1994
$GC,14329,1.27,228.7,475.0,11.4,321,14333,0.00,2.40,0.00,0.000,4,0.000,0.067,3003,697,1994
$GC,14360,1.27,228.7,471.0,12.9,321,14365,0.00,2.40,0.00,0.000,6,0.000,0.049,3003,2099,1994
$GC,14698,1.27,228.7,433.7,10.9,327,14699,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2103,1994
$GC,15001,1.27,228.7,401.3,10.7,332,15005,0.00,2.45,0.00,0.000,4,0.000,0.061,3003,694,1994
$GC,15032,1.27,228.7,397.6,11.0,332,15037,0.00,2.40,0.00,0.000,6,0.000,0.048,3003,2096,1994
$GC,15364,1.27,228.7,362.9,10.4,338,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2099,1994
$GC,15667,1.27,231.1,332.6,9.9,343,15672,0.00,2.45,0.00,0.000,4,0.000,0.064,3003,689,1994
$GC,15728,1.27,231.1,326.1,10.1,344,15733,0.00,2.38,0.00,0.000,6,0.000,0.051,3003,2100,1993
$GC,16063,1.28,236.7,293.7,9.7,350,16077,0.00,2.47,8.02,0.824,4,0.000,0.061,3003,3500,1964
$GC,16105,1.28,236.7,289.2,10.2,351,16110,0.00,2.38,0.00,0.000,6,0.000,0.041,3003,2105,1964
$GC,16434,1.28,236.7,255.5,10.4,362,16439,0.00,2.45,0.00,0.000,4,0.000,0.061,3003,688,1963
$GC,16472,1.28,236.7,251.0,10.5,363,16477,0.00,2.40,0.00,0.000,6,0.000,0.050,3002,2094,1963
$GC,16802,1.33,236.7,216.1,10.3,374,16806,0.00,2.42,0.00,0.000,4,0.000,0.066,3003,697,1963
$GC,16829,1.33,236.7,213.2,11.1,375,16833,0.00,2.38,0.00,0.000,6,0.000,0.045,3003,2103,1963
$GC,17164,1.41,255.4,181.0,9.1,386,17184,0.12,0.00,17.40,0.812,6,0.084,0.000,3031,2106,1889
$GC,17469,1.41,255.4,149.2,10.6,396,17473,0.00,2.45,0.00,0.000,4,0.000,0.060,3031,698,1885
$GC,17496,1.41,255.4,146.1,11.1,397,17500,0.00,2.38,0.00,0.000,6,0.000,0.048,3031,2087,1885
$GC,17818,1.43,274.4,113.8,9.1,413,17840,0.00,2.53,17.12,0.766,4,0.000,0.058,3031,698,1812
$GC,17912,1.46,302.0,105.1,8.7,417,17942,0.00,2.42,24.80,0.755,6,0.000,0.051,3031,2107,1698
$GC,18262,1.54,302.0,69.8,11.0,438,18264,0.12,0.00,0.00,0.000,6,0.084,0.000,3062,2107,1692
$GC,18580,1.54,302.0,32.4,11.6,468,18584,0.00,2.42,0.00,0.000,4,0.000,0.061,3062,3501,1691
$GC,18611,1.54,302.0,28.3,12.5,470,18619,0.00,2.38,0.00,0.000,6,0.000,0.040,3062,2105,1690
$STATE,18840,end climb,SURFACE_DEPTH_REACHED
$STATE,18840,begin surface coast
$FINISH,0.9,1.013699
$STATE,18853,end surface coast,CONTROL_FINISHED_OK
$STATE,18853,begin surface
$SM_CCo,18872,85.30,0.611,9,0,1300,400.08
$SM_GC,1.54,0.00,0.00,85.30,0.000,0.000,0.611,495,1900,1300,-10.27,0.00,400.08
$IRIDIUM_FIX,4949.70,-14437.10,040997,020234
$TT8_MAMPS,0.029913
$HUMID,1676
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,13.40
$XPDR_PINGS,89
$24V_AH,23.3,8.261
$10V_AH,10.1,3.601
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.000,181.625,404.775,85.300,0.000,28.864,39.809,111.863,22.250,0.000,0.000,164.909,1166.853,15441.040,711.740,1769.714,335.964,33.357,1613.166,0.000,1596.091,0.000,0.459
$DEVICE_MAMPS,166.439,131.924,1370.629,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,351.110,395.257,508.620,292.386,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28654,493
$CAP_FILE_SIZE,129647,0
$CFSIZE,260165632,257466368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0
$GPS,100608,130227,5009.705,-14445.948,76,2.1,95,18.6