version: 66.03
glider: 144
mission: 13
dive: 39
start: 6 17 108 13 9 47
data:
$ID,144
$MISSION,13
$DIVE,39
$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,-25462.117
$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,31
$R_STBD_OVSHOOT,32
$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
$GPS1,125359,5006.482,-14448.032,74,3.5,93,18.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-61.9
$GPS2,130853,5006.541,-14447.891,170,3.5,189,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.144,0.031
$KALMAN_X,853.9,261.7,-167.1,11244.5,10.0
$KALMAN_Y,30034.1,-292.0,-115.4,-18457.2,1030.2
$MHEAD_RNG_PITCHd_Wd,263.4,3987,-26.3,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.82,-50.4,0.0,0.0,0,105,0.00,0.00,-82.68,0.000,2,0.000,0.000,494,1897,2989
$GC,107,-1.86,-81.9,3.5,-4.7,8,130,9.90,2.42,-7.47,0.000,4,0.174,0.068,2319,502,3266
$GC,382,-1.81,-81.9,53.3,-17.8,32,389,0.00,2.38,0.00,0.000,6,0.000,0.039,2319,1904,3268
$GC,712,-1.81,-81.9,107.4,-16.3,56,716,0.00,2.45,0.00,0.000,4,0.000,0.061,2318,492,3268
$GC,946,-1.81,-81.9,145.4,-15.3,66,954,0.00,2.38,0.00,0.000,6,0.000,0.042,2319,1898,3269
$GC,1270,-1.86,-81.9,186.9,-12.8,78,1274,0.00,2.42,0.00,0.000,4,0.000,0.057,2318,497,3269
$GC,1470,-1.86,-81.9,214.6,-14.2,84,1474,0.00,2.38,0.00,0.000,6,0.000,0.041,2318,1898,3268
$GC,1805,-1.93,-81.9,258.4,-12.9,95,1809,0.00,2.42,0.00,0.000,4,0.000,0.057,2319,501,3269
$GC,1848,-1.93,-81.9,264.4,-13.5,96,1853,0.00,2.35,0.00,0.000,6,0.000,0.047,2318,1895,3269
$GC,2202,-2.00,-81.9,308.6,-12.3,107,2207,0.12,2.42,0.00,0.000,4,0.082,0.064,2288,499,3269
$GC,2279,-1.95,-81.9,319.7,-14.7,108,2284,0.00,2.35,0.00,0.000,6,0.000,0.042,2288,1895,3269
$GC,2633,-1.95,-81.9,365.9,-13.1,114,2637,0.00,2.42,0.00,0.000,4,0.000,0.058,2288,495,3268
$GC,2845,-1.90,-81.9,396.1,-14.5,117,2850,0.12,2.38,0.00,0.000,6,0.142,0.045,2309,1919,3268
$GC,3199,-1.96,-81.9,438.9,-12.1,123,3203,0.00,2.47,0.00,0.000,4,0.000,0.058,2309,493,3268
$GC,3282,-1.96,-81.9,449.7,-13.0,124,3286,0.00,2.38,0.00,0.000,6,0.000,0.047,2309,1899,3268
$GC,3631,-2.01,-81.9,489.8,-11.3,130,3635,0.00,2.42,0.00,0.000,4,0.000,0.064,2309,502,3267
$GC,3730,-2.01,-81.9,502.0,-12.3,131,3734,0.00,2.35,0.00,0.000,6,0.000,0.048,2309,1892,3267
$GC,4062,-2.08,-81.9,538.3,-10.9,137,4066,0.15,2.42,0.00,0.000,4,0.081,0.059,2269,498,3267
$GC,4161,-1.97,-81.9,551.5,-13.6,138,4166,0.15,2.35,0.00,0.000,6,0.139,0.048,2296,1905,3267
$GC,4492,-1.97,-81.9,590.0,-11.6,144,4494,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1907,3266
$GC,4795,-1.97,-81.9,624.8,-11.5,149,4799,0.00,2.45,0.00,0.000,4,0.000,0.059,2295,498,3266
$GC,4839,-1.97,-81.9,630.5,-13.3,149,4843,0.00,2.38,0.00,0.000,6,0.000,0.041,2296,1902,3266
$GC,5165,-1.97,-81.9,667.3,-11.3,155,5169,0.00,2.42,0.00,0.000,4,0.000,0.060,2295,502,3266
$GC,5253,-1.97,-81.9,678.3,-12.6,156,5257,0.00,2.35,0.00,0.000,6,0.000,0.041,2296,1896,3266
$GC,5596,-1.97,-81.9,716.5,-11.1,162,5600,0.00,2.42,0.00,0.000,4,0.000,0.061,2296,499,3265
$GC,5639,-1.97,-81.9,721.7,-12.7,162,5643,0.00,2.35,0.00,0.000,6,0.000,0.046,2295,1897,3265
$GC,5959,-1.97,-81.9,756.0,-10.7,168,5963,0.00,2.42,0.00,0.000,4,0.000,0.060,2296,503,3265
$GC,6002,-1.97,-81.9,760.9,-11.8,168,6006,0.00,2.35,0.00,0.000,6,0.000,0.041,2296,1897,3265
$GC,6322,-1.97,-81.9,793.9,-10.2,174,6326,0.00,2.42,0.00,0.000,4,0.000,0.061,2296,503,3265
$GC,6444,-1.97,-81.9,807.2,-10.2,175,6451,0.00,2.35,0.00,0.000,6,0.000,0.048,2295,1889,3265
$GC,6753,-1.97,-81.9,836.7,-9.5,181,6758,0.00,2.42,0.00,0.000,4,0.000,0.064,2296,499,3265
$GC,6825,-1.97,-81.9,844.3,-10.3,182,6829,0.00,2.38,0.00,0.000,6,0.000,0.044,2296,1901,3265
$GC,7185,-2.02,-81.9,877.1,-9.1,188,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1901,3265
$GC,7488,-2.06,-81.9,904.6,-9.1,193,7489,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,1901,3264
$GC,7791,-2.11,-81.9,933.7,-9.6,198,7796,0.12,2.50,0.00,0.000,4,0.087,0.074,2266,501,3264
$GC,7840,-2.01,-81.9,939.2,-12.2,198,7845,0.12,2.38,0.00,0.000,6,0.146,0.052,2288,1894,3264
$GC,8154,-2.01,-81.9,970.9,-10.0,204,8158,0.00,2.53,0.00,0.000,4,0.000,0.087,2288,505,3264
$GC,8225,-2.01,-81.9,978.8,-11.1,205,8229,0.00,2.45,0.00,0.000,6,0.000,0.064,2288,1894,3263
$STATE,8341,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8341,begin apogee
$GC,8345,-0.33,0.0,990.9,10.3,207,8421,1.77,0.00,72.35,1.351,6,0.123,0.000,2649,2106,2931
$STATE,8422,end apogee,CONTROL_FINISHED_OK
$STATE,8422,begin climb
$GC,8424,1.86,81.9,992.7,0.0,208,8504,2.12,2.70,71.72,1.320,4,0.068,0.094,3135,3508,2596
$GC,8571,1.71,81.9,980.5,11.1,210,8576,0.17,2.47,0.00,0.000,6,0.140,0.067,3105,2115,2594
$GC,8914,1.66,81.9,945.2,10.1,216,8918,0.00,2.55,0.00,0.000,4,0.000,0.071,3104,683,2593
$GC,8951,1.54,81.9,941.0,11.6,216,8956,0.20,2.47,0.00,0.000,6,0.138,0.054,3068,2113,2592
$GC,9276,1.54,81.9,911.6,9.0,222,9280,0.00,2.53,0.00,0.000,4,0.000,0.064,3068,685,2592
$GC,9319,1.54,81.9,907.4,9.8,222,9324,0.00,2.42,0.00,0.000,6,0.000,0.049,3068,2097,2592
$GC,9640,1.54,81.9,877.3,9.4,228,9644,0.00,2.45,0.00,0.000,4,0.000,0.063,3068,3504,2592
$GC,9706,1.54,81.9,870.6,9.9,229,9710,0.00,2.40,0.00,0.000,6,0.000,0.047,3068,2085,2592
$GC,10071,1.54,81.9,834.9,9.7,235,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2084,2591
$GC,10374,1.54,81.9,805.2,9.8,240,10378,0.00,2.40,0.00,0.000,4,0.000,0.059,3068,694,2591
$GC,10405,1.54,81.9,801.8,10.2,240,10410,0.00,2.40,0.00,0.000,6,0.000,0.044,3068,2097,2591
$GC,10737,1.54,81.9,769.9,9.6,246,10741,0.00,2.42,0.00,0.000,4,0.000,0.064,3068,691,2591
$GC,10768,1.54,81.9,766.6,10.5,246,10773,0.00,2.40,0.00,0.000,6,0.000,0.049,3068,2098,2591
$GC,11106,1.54,81.9,735.2,9.2,252,11107,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2099,2591
$GC,11409,1.54,81.9,709.0,8.5,257,11410,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2099,2591
$GC,11712,1.59,81.9,682.8,8.7,262,11713,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2099,2591
$GC,12015,1.63,81.9,656.4,8.8,267,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2101,2591
$GC,12319,1.67,81.9,628.4,9.3,272,12320,0.10,0.00,0.00,0.000,6,0.093,0.000,3092,2102,2591
$GC,12621,1.67,81.9,598.6,9.8,277,12625,0.00,2.40,0.00,0.000,4,0.000,0.054,3092,3504,2591
$GC,12682,1.67,81.9,592.5,9.4,278,12687,0.00,2.35,0.00,0.000,6,0.000,0.040,3092,2095,2591
$GC,13047,1.67,81.9,559.5,8.9,284,13048,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2094,2590
$GC,13350,1.67,81.9,533.8,8.5,289,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2095,2591
$GC,13653,1.67,81.9,508.8,8.1,294,13657,0.00,2.40,0.00,0.000,4,0.000,0.058,3092,697,2591
$GC,13735,1.61,81.9,501.6,8.7,295,13740,0.00,2.38,0.00,0.000,6,0.000,0.046,3092,2106,2590
$GC,14084,1.61,81.9,472.7,8.3,301,14085,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2109,2591
$GC,14387,1.61,81.9,446.9,8.5,306,14391,0.00,2.45,0.00,0.000,4,0.000,0.057,3092,687,2590
$GC,14425,1.53,81.9,443.5,9.1,306,14430,0.17,2.38,0.00,0.000,6,0.135,0.043,3061,2103,2590
$GC,14757,1.60,83.2,417.4,7.9,312,14761,0.00,2.38,0.00,0.000,4,0.000,0.057,3061,3502,2591
$GC,14794,1.65,83.2,414.2,8.3,312,14799,0.10,2.38,0.00,0.000,6,0.090,0.045,3085,2076,2591
$GC,15119,1.65,83.2,387.0,8.4,318,15123,0.00,2.45,0.00,0.000,4,0.000,0.058,3085,3508,2591
$GC,15185,1.65,83.2,381.4,8.8,319,15190,0.00,2.38,0.00,0.000,6,0.000,0.039,3085,2102,2591
$GC,15551,1.65,83.8,352.3,7.9,325,15555,0.00,2.40,0.00,0.000,4,0.000,0.058,3085,697,2591
$GC,15594,1.60,86.3,348.7,7.7,325,15604,0.00,2.35,4.35,0.683,6,0.000,0.044,3085,2102,2579
$GC,15914,1.60,86.3,322.7,8.1,331,15918,0.00,2.42,0.00,0.000,4,0.000,0.056,3085,691,2579
$GC,15992,1.60,86.3,316.0,8.3,332,15996,0.00,2.38,0.00,0.000,6,0.000,0.050,3085,2104,2579
$GC,16310,1.60,89.9,291.3,7.6,339,16319,0.00,2.42,4.88,0.696,4,0.000,0.053,3085,3508,2564
$GC,16404,1.60,89.9,283.7,8.2,342,16408,0.00,2.38,0.00,0.000,6,0.000,0.045,3085,2088,2564
$GC,16737,1.61,98.8,259.0,7.0,353,16748,0.00,0.00,8.98,0.797,6,0.000,0.000,3085,2088,2528
$GC,17044,1.66,104.6,236.7,7.4,363,17057,0.00,2.47,6.47,0.733,4,0.000,0.056,3085,695,2504
$GC,17147,1.66,104.6,228.0,8.6,366,17151,0.00,2.40,0.00,0.000,6,0.000,0.050,3084,2099,2503
$GC,17482,1.72,110.2,201.9,7.4,377,17494,0.00,2.42,6.35,0.714,4,0.000,0.054,3084,3506,2480
$GC,17613,1.72,110.2,190.9,8.8,381,17617,0.00,2.35,0.00,0.000,6,0.000,0.041,3086,2101,2480
$GC,17947,1.77,110.2,163.8,8.1,392,17949,0.12,0.00,0.00,0.000,6,0.084,0.000,3114,2101,2479
$GC,18254,1.77,110.2,136.2,8.9,404,18255,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2101,2479
$GC,18564,1.80,133.2,115.6,5.6,419,18588,0.00,2.47,19.52,0.754,4,0.000,0.057,3114,694,2387
$GC,18713,1.81,140.2,105.9,7.3,425,18727,0.00,2.38,7.05,0.670,6,0.000,0.051,3114,2103,2358
$GC,19050,1.88,148.5,82.7,7.1,442,19060,0.10,0.00,8.23,0.683,6,0.092,0.000,3138,2104,2325
$GC,19367,1.89,153.4,57.8,7.5,470,19379,0.00,2.45,5.82,0.626,4,0.000,0.054,3138,695,2304
$GC,19407,1.84,155.7,54.5,7.7,473,19413,0.00,2.38,0.00,0.000,6,0.000,0.051,3138,2101,2303
$GC,19732,1.84,161.1,29.4,7.4,504,19744,0.00,2.50,7.47,0.649,4,0.000,0.053,3138,3508,2274
$GC,19996,1.84,161.1,7.2,9.8,527,20003,0.00,2.38,0.00,0.000,6,0.000,0.038,3138,2107,2273
$STATE,20065,end climb,SURFACE_DEPTH_REACHED
$STATE,20065,begin surface coast
$FINISH,0.9,1.025562
$STATE,20087,end surface coast,CONTROL_FINISHED_OK
$STATE,20087,begin surface
$SM_CCo,20106,189.90,0.657,0,0,1299,400.08
$SM_GC,1.50,0.00,0.00,189.90,0.000,0.000,0.657,497,1894,1299,-10.26,-0.17,400.08
$IRIDIUM_FIX,4946.36,-14451.14,110997,131346
$TT8_MAMPS,0.029146
$HUMID,1648
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,15.30
$XPDR_PINGS,81
$24V_AH,23.4,12.502
$10V_AH,10.1,6.031
$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,27.000,174.600,223.200,189.900,0.000,86.058,105.236,301.871,20.250,0.000,0.000,190.282,1283.405,16572.918,601.858,2054.882,680.302,33.357,1584.528,0.000,1853.273,0.000,0.459
$DEVICE_MAMPS,174.109,94.341,1350.687,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,382.419,428.982,554.016,333.908,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31747,536
$CAP_FILE_SIZE,145470,0
$CFSIZE,260165632,255705088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170608,185308,5007.009,-14450.193,268,1.6,269,18.5