version: 66.03
glider: 144
mission: 13
dive: 19
start: 6 12 108 1 38 5
data:
$ID,144
$MISSION,13
$DIVE,19
$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,300
$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,-20669.857
$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,22
$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
$GPS1,182737,5011.469,-14449.489,69,1.8,69,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-49.6
$GPS2,013716,5018.007,-14459.017,160,2.9,179,18.6
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,NW
$TGT_LATLONG,5020.579,-14459.120
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.032,0.138
$KALMAN_X,-1036.5,291.5,599.1,-904.8,-916.7
$KALMAN_Y,11890.6,-620.7,-978.0,22125.2,1326.3
$MHEAD_RNG_PITCHd_Wd,354.6,4765,-27.4,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.88,-46.6,0.0,0.0,0,137,0.00,0.00,-116.57,0.000,2,0.000,0.000,497,1904,2795
$GC,139,-1.92,-82.2,3.1,-3.9,12,172,9.80,2.50,-14.68,0.000,4,0.172,0.075,2303,500,3270
$GC,424,-1.87,-82.2,55.7,-20.3,37,431,0.00,2.38,0.00,0.000,6,0.000,0.048,2304,1894,3271
$GC,754,-1.87,-82.2,113.9,-17.0,60,758,0.00,2.45,0.00,0.000,4,0.000,0.064,2303,494,3271
$GC,1010,-1.87,-82.2,154.6,-14.5,71,1017,0.00,2.40,0.00,0.000,6,0.000,0.044,2303,1903,3271
$GC,1323,-1.94,-82.2,197.6,-13.8,82,1327,0.00,2.47,0.00,0.000,4,0.000,0.061,2304,488,3271
$GC,1579,-1.94,-82.2,236.9,-15.1,89,1586,0.00,2.40,0.00,0.000,6,0.000,0.044,2303,1897,3272
$GC,1892,-2.02,-82.2,278.2,-13.1,100,1896,0.00,2.45,0.00,0.000,4,0.000,0.063,2304,493,3271
$GC,2054,-2.02,-82.2,301.8,-14.7,105,2058,0.00,2.38,0.00,0.000,6,0.000,0.049,2304,1905,3271
$GC,2385,-2.10,-82.2,343.7,-12.4,111,2390,0.15,2.47,0.00,0.000,4,0.084,0.062,2264,492,3271
$GC,2467,-2.04,-82.2,355.7,-15.4,112,2472,0.00,2.38,0.00,0.000,6,0.000,0.050,2264,1900,3270
$GC,2816,-2.04,-82.2,403.3,-13.6,118,2820,0.00,2.47,0.00,0.000,4,0.000,0.068,2264,487,3270
$GC,2927,-1.99,-82.2,420.2,-15.4,119,2931,0.15,2.38,0.00,0.000,6,0.140,0.049,2291,1899,3270
$GC,3247,-2.05,-82.2,461.9,-13.0,125,3251,0.00,2.47,0.00,0.000,4,0.000,0.066,2291,488,3270
$GC,3319,-2.05,-82.2,471.9,-14.1,126,3323,0.00,2.40,0.00,0.000,6,0.000,0.045,2291,1895,3270
$GC,3679,-2.11,-82.2,518.2,-12.8,132,3684,0.10,2.45,0.00,0.000,4,0.094,0.065,2268,495,3269
$GC,3790,-2.06,-82.2,534.7,-14.5,133,3794,0.00,2.38,0.00,0.000,6,0.000,0.051,2267,1905,3269
$GC,4110,-2.06,-82.2,578.4,-13.7,139,4114,0.00,2.47,0.00,0.000,4,0.000,0.065,2268,494,3269
$GC,4244,-2.00,-82.2,598.1,-14.3,141,4249,0.12,2.38,0.00,0.000,6,0.146,0.052,2289,1902,3269
$GC,4602,-2.06,-82.2,643.7,-12.6,147,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1903,3269
$GC,4906,-2.12,-82.2,680.4,-12.0,152,4910,0.10,2.47,0.00,0.000,4,0.095,0.064,2265,488,3269
$GC,5005,-2.06,-82.2,694.2,-13.3,153,5009,0.00,2.38,0.00,0.000,6,0.000,0.046,2265,1900,3269
$GC,5336,-2.06,-82.2,734.2,-11.9,159,5337,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,1901,3269
$GC,5639,-2.06,-82.2,769.6,-11.6,164,5643,0.00,2.47,0.00,0.000,4,0.000,0.067,2265,491,3268
$GC,5683,-2.00,-82.2,775.0,-13.1,164,5688,0.12,2.38,0.00,0.000,6,0.147,0.048,2287,1897,3268
$GC,6003,-2.07,-82.2,809.7,-10.8,170,6007,0.00,2.47,0.00,0.000,4,0.000,0.067,2287,486,3268
$GC,6070,-2.07,-82.2,817.8,-12.0,171,6074,0.00,2.38,0.00,0.000,6,0.000,0.048,2287,1901,3268
$GC,6429,-2.14,-82.2,857.7,-11.1,177,6433,0.12,2.47,0.00,0.000,4,0.087,0.065,2258,495,3268
$GC,6483,-2.07,-82.2,864.9,-13.0,177,6490,0.00,2.40,0.00,0.000,6,0.000,0.048,2258,1919,3268
$GC,6792,-2.07,-82.2,900.8,-11.6,183,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,1919,3267
$GC,7095,-2.07,-82.2,935.3,-11.3,188,7099,0.00,2.58,0.00,0.000,4,0.000,0.083,2258,491,3267
$GC,7149,-1.99,-82.2,942.1,-13.1,188,7157,0.17,2.42,0.00,0.000,6,0.144,0.060,2289,1899,3267
$GC,7459,-2.07,-82.2,974.4,-10.3,194,7463,0.00,2.58,0.00,0.000,4,0.000,0.087,2289,497,3267
$GC,7507,-2.07,-82.2,980.0,-11.6,194,7512,0.00,2.50,0.00,0.000,6,0.000,0.068,2289,1894,3267
$STATE,7638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7638,begin apogee
$GC,7643,-0.33,0.0,993.7,10.5,197,7721,1.77,0.00,73.60,1.361,6,0.123,0.000,2650,2102,2931
$STATE,7721,end apogee,CONTROL_FINISHED_OK
$STATE,7721,begin climb
$GC,7723,1.92,82.2,995.2,0.0,198,7805,2.22,2.72,72.97,1.326,4,0.066,0.094,3147,3502,2596
$GC,7833,1.75,82.2,987.5,11.4,200,7838,0.20,2.53,0.00,0.000,6,0.141,0.069,3112,2099,2594
$GC,8194,1.75,82.2,949.2,10.6,206,8195,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2099,2591
$GC,8496,1.71,82.2,917.6,10.4,211,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2099,2591
$GC,8798,1.71,82.2,885.2,10.7,216,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2098,2591
$GC,9101,1.71,82.2,853.8,10.3,221,9106,0.00,2.50,0.00,0.000,4,0.000,0.067,3112,3519,2590
$GC,9173,1.64,82.2,846.2,11.1,222,9178,0.15,2.42,0.00,0.000,6,0.150,0.048,3086,2089,2591
$GC,9532,1.64,82.2,811.5,9.7,228,9536,0.00,2.45,0.00,0.000,4,0.000,0.067,3086,690,2590
$GC,9609,1.64,82.2,802.8,11.3,229,9614,0.00,2.45,0.00,0.000,6,0.000,0.053,3086,2111,2590
$GC,9963,1.64,82.2,767.0,10.2,235,9967,0.00,2.40,0.00,0.000,4,0.000,0.065,3086,3504,2589
$GC,10012,1.64,82.2,761.6,10.2,235,10017,0.00,2.40,0.00,0.000,6,0.000,0.049,3086,2101,2590
$GC,10333,1.64,82.2,729.8,9.8,241,10334,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2101,2589
$GC,10636,1.64,82.2,701.3,9.4,246,10640,0.00,2.45,0.00,0.000,4,0.000,0.065,3086,3511,2589
$GC,10735,1.64,82.2,691.5,10.0,247,10739,0.00,2.40,0.00,0.000,6,0.000,0.049,3086,2106,2589
$GC,11066,1.64,82.2,661.9,8.9,253,11071,0.00,2.45,0.00,0.000,4,0.000,0.061,3086,693,2589
$GC,11132,1.64,82.2,655.8,9.4,254,11137,0.00,2.42,0.00,0.000,6,0.000,0.054,3086,2103,2589
$GC,11498,1.64,82.2,624.0,8.7,260,11499,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2104,2589
$GC,11801,1.64,82.2,596.9,9.0,265,11802,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2106,2589
$GC,12104,1.64,82.2,569.6,9.0,270,12108,0.00,2.45,0.00,0.000,4,0.000,0.063,3086,685,2589
$GC,12186,1.64,82.2,561.7,10.0,271,12190,0.00,2.42,0.00,0.000,6,0.000,0.053,3086,2100,2589
$GC,12540,1.64,82.2,530.2,8.8,277,12544,0.00,2.42,0.00,0.000,4,0.000,0.060,3086,3505,2589
$GC,12596,1.64,82.2,525.4,9.1,277,12600,0.00,2.35,0.00,0.000,6,0.000,0.046,3086,2097,2589
$GC,12905,1.68,83.0,500.7,7.9,282,12909,0.00,2.42,0.00,0.000,4,0.000,0.066,3086,695,2589
$GC,12959,1.68,83.6,496.1,7.9,282,12966,0.00,2.40,0.00,0.000,6,0.000,0.048,3086,2098,2589
$GC,13269,1.73,89.2,473.3,7.3,288,13277,0.00,0.00,6.57,0.870,6,0.000,0.000,3086,2098,2567
$GC,13572,1.79,92.0,450.2,7.7,293,13579,0.12,0.00,4.25,0.716,6,0.087,0.000,3114,2098,2555
$GC,13874,1.79,92.0,424.3,8.6,298,13878,0.00,2.42,0.00,0.000,4,0.000,0.060,3114,3498,2555
$GC,13980,1.79,92.0,414.4,9.0,299,13984,0.00,2.35,0.00,0.000,6,0.000,0.048,3114,2099,2555
$GC,14305,1.79,92.0,385.5,8.8,305,14309,0.00,2.42,0.00,0.000,4,0.000,0.066,3115,688,2555
$GC,14361,1.71,92.0,380.3,9.1,305,14365,0.00,2.38,0.00,0.000,6,0.000,0.046,3114,2097,2555
$GC,14676,1.71,92.0,352.6,8.9,311,14678,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2099,2555
$GC,14978,1.71,92.0,324.7,9.3,316,14982,0.00,2.42,0.00,0.000,4,0.000,0.061,3114,695,2555
$GC,15016,1.63,92.0,320.8,9.9,316,15020,0.15,2.38,0.00,0.000,6,0.146,0.047,3088,2099,2555
$GC,15342,1.69,92.0,293.6,8.2,323,15343,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2101,2555
$GC,15649,1.75,95.4,269.7,7.6,333,15658,0.00,2.45,4.78,0.690,4,0.000,0.058,3088,696,2541
$GC,15725,1.75,95.4,263.3,8.7,335,15729,0.00,2.40,0.00,0.000,6,0.000,0.050,3088,2090,2541
$GC,16049,1.82,96.5,237.9,7.9,346,16054,0.17,2.42,0.00,0.000,4,0.080,0.061,3131,3503,2541
$GC,16115,1.76,96.5,231.9,9.1,348,16119,0.00,2.35,0.00,0.000,6,0.000,0.048,3131,2100,2541
$GC,16450,1.76,98.5,204.9,7.8,359,16459,0.00,2.47,4.30,0.626,4,0.000,0.062,3130,3498,2529
$GC,16492,1.70,98.5,201.5,8.3,360,16497,0.17,2.35,0.00,0.000,6,0.143,0.044,3100,2100,2529
$GC,16822,1.75,108.7,179.4,6.8,371,16837,0.00,2.47,9.85,0.768,4,0.000,0.066,3100,691,2488
$GC,16954,1.75,108.7,168.1,8.8,375,16958,0.00,2.40,0.00,0.000,6,0.000,0.052,3100,2104,2487
$GC,17280,1.81,109.3,142.2,7.9,387,17285,0.10,2.45,0.00,0.000,4,0.096,0.059,3123,690,2487
$GC,17386,1.75,109.3,132.5,9.3,392,17391,0.00,2.40,0.00,0.000,6,0.000,0.046,3123,2104,2487
$GC,17713,1.78,136.4,112.5,4.9,408,17743,0.00,2.50,23.88,0.762,4,0.000,0.057,3123,3502,2374
$GC,17794,1.80,148.7,107.5,6.6,411,17810,0.00,2.38,11.43,0.718,6,0.000,0.043,3122,2099,2324
$GC,18125,1.87,152.2,82.2,7.6,428,18134,0.00,2.47,4.12,0.557,4,0.000,0.057,3123,3509,2310
$GC,18182,1.93,162.0,78.0,6.9,431,18197,0.10,2.40,9.70,0.696,6,0.094,0.043,3146,2090,2270
$GC,18521,1.93,162.0,48.7,8.9,463,18525,0.00,2.42,0.00,0.000,4,0.000,0.066,3146,689,2268
$GC,18676,1.93,162.0,34.2,8.6,476,18683,0.00,2.42,0.00,0.000,6,0.000,0.047,3146,2103,2267
$GC,19002,1.93,162.0,5.4,9.0,507,19003,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2106,2267
$STATE,19042,end climb,SURFACE_DEPTH_REACHED
$STATE,19042,begin surface coast
$FINISH,0.9,1.002254
$STATE,19065,end surface coast,CONTROL_FINISHED_OK
$STATE,19065,begin surface
$SM_CCo,19084,109.28,0.673,0,0,1707,300.00
$SM_GC,1.62,0.00,0.00,109.28,0.000,0.000,0.673,498,1899,1707,-10.26,-0.03,300.00
$IRIDIUM_FIX,4959.75,-14458.27,050997,202038
$TT8_MAMPS,0.029146
$HUMID,1681
$INTERNAL_PRESSURE,7.64678
$TCM_TEMP,15.20
$XPDR_PINGS,77
$24V_AH,23.3,9.229
$10V_AH,10.1,4.211
$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,27.475,171.150,225.450,109.275,0.000,28.354,32.158,105.825,19.250,0.000,0.000,181.392,1229.277,15541.003,558.366,1966.540,325.236,33.351,1502.399,0.000,1772.198,0.000,0.459
$DEVICE_MAMPS,171.808,121.186,1361.425,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,365.191,409.537,529.085,318.301,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31852,513
$CAP_FILE_SIZE,133258,0
$CFSIZE,260165632,257019904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120608,013716,5018.007,-14459.017,160,2.9,179,18.6