version: 66.03
glider: 144
mission: 13
dive: 76
start: 6 27 108 18 37 5
data:
$ID,144
$MISSION,13
$DIVE,76
$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,-32005.576
$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,30
$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
$GPS1,182157,4955.513,-14430.102,96,5.0,115,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-56.5
$GPS2,182157,4955.513,-14430.102,96,5.0,115,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.015,-0.154
$KALMAN_X,7183.9,-139.8,-140.8,26397.3,750.8
$KALMAN_Y,61727.7,19.4,294.6,-70638.7,359.0
$MHEAD_RNG_PITCHd_Wd,166.9,2800,-25.2,-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,17,begin dive
$GC,18,-1.75,-55.1,0.0,0.0,0,102,0.00,0.00,-81.82,0.000,2,0.000,0.000,496,1879,2988
$GC,105,-1.79,-91.5,3.5,-4.5,8,129,9.82,2.47,-8.12,0.000,4,0.168,0.064,2334,3304,3306
$GC,189,-1.79,-91.5,18.9,-18.7,15,196,0.00,2.38,0.00,0.000,6,0.000,0.041,2334,1903,3308
$GC,514,-1.79,-91.5,73.2,-16.4,46,518,0.00,2.42,0.00,0.000,4,0.000,0.060,2334,491,3310
$GC,770,-1.79,-91.5,119.2,-16.8,58,778,0.00,2.38,0.00,0.000,6,0.000,0.037,2334,1906,3309
$GC,1085,-1.84,-91.5,160.6,-13.1,73,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,1909,3310
$GC,1392,-1.89,-91.5,200.8,-13.0,83,1396,0.00,2.45,0.00,0.000,4,0.000,0.056,2334,492,3310
$GC,1490,-1.89,-91.5,214.9,-14.6,86,1495,0.00,2.35,0.00,0.000,6,0.000,0.044,2334,1893,3309
$GC,1826,-1.95,-91.5,256.8,-12.5,97,1831,0.15,2.42,0.00,0.000,4,0.074,0.061,2292,494,3310
$GC,1921,-1.86,-91.5,270.8,-14.7,100,1926,0.15,2.35,0.00,0.000,6,0.132,0.045,2319,1905,3309
$GC,2283,-1.86,-91.5,318.1,-12.6,110,2288,0.00,2.45,0.00,0.000,4,0.000,0.064,2319,491,3309
$GC,2327,-1.86,-91.5,324.0,-13.9,110,2331,0.00,2.38,0.00,0.000,6,0.000,0.040,2319,1899,3309
$GC,2647,-1.90,-91.5,363.3,-12.2,116,2652,0.00,2.42,0.00,0.000,4,0.000,0.059,2320,496,3309
$GC,2854,-1.90,-91.5,390.4,-13.3,119,2858,0.00,2.35,0.00,0.000,6,0.000,0.041,2319,1894,3308
$GC,3214,-1.95,-91.5,432.7,-11.6,125,3218,0.00,2.42,0.00,0.000,4,0.000,0.058,2319,492,3308
$GC,3262,-1.95,-91.5,439.0,-12.5,125,3267,0.00,2.38,0.00,0.000,6,0.000,0.041,2319,1902,3308
$GC,3578,-1.99,-91.5,476.1,-11.8,131,3582,0.12,2.45,0.00,0.000,4,0.081,0.058,2288,489,3308
$GC,3706,-1.92,-91.5,494.3,-14.1,133,3711,0.10,2.35,0.00,0.000,6,0.140,0.039,2305,1902,3307
$GC,4070,-1.92,-91.5,539.0,-12.2,139,4074,0.00,2.45,0.00,0.000,4,0.000,0.060,2306,488,3307
$GC,4124,-1.92,-91.5,546.0,-13.3,139,4131,0.00,2.38,0.00,0.000,6,0.000,0.045,2305,1902,3307
$GC,4433,-1.92,-91.5,583.5,-12.1,145,4437,0.00,2.42,0.00,0.000,4,0.000,0.060,2305,498,3306
$GC,4489,-1.92,-91.5,590.5,-12.4,145,4493,0.00,2.33,0.00,0.000,6,0.000,0.046,2305,1901,3307
$GC,4797,-1.92,-91.5,626.3,-11.5,150,4802,0.00,2.42,0.00,0.000,4,0.000,0.058,2305,497,3306
$GC,4852,-1.92,-91.5,633.4,-13.1,150,4859,0.00,2.35,0.00,0.000,6,0.000,0.039,2305,1893,3306
$GC,5161,-1.92,-91.5,667.6,-11.0,156,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,1893,3305
$GC,5464,-1.92,-91.5,700.0,-10.7,161,5468,0.00,2.42,0.00,0.000,4,0.000,0.065,2305,495,3306
$GC,5525,-1.92,-91.5,707.2,-11.6,162,5529,0.00,2.33,0.00,0.000,6,0.000,0.045,2305,1899,3305
$GC,5896,-1.92,-91.5,748.1,-11.0,168,5900,0.00,2.42,0.00,0.000,4,0.000,0.057,2306,498,3305
$GC,5939,-1.92,-91.5,753.5,-12.5,168,5944,0.00,2.38,0.00,0.000,6,0.000,0.046,2305,1902,3305
$GC,6259,-1.92,-91.5,788.0,-10.7,174,6264,0.00,2.45,0.00,0.000,4,0.000,0.058,2305,492,3304
$GC,6303,-1.88,-91.5,793.1,-12.2,174,6307,0.00,2.35,0.00,0.000,6,0.000,0.044,2305,1901,3304
$GC,6623,-1.88,-91.5,827.1,-10.5,180,6627,0.00,2.45,0.00,0.000,4,0.000,0.065,2305,495,3304
$GC,6700,-1.88,-91.5,836.0,-11.6,181,6705,0.00,2.38,0.00,0.000,6,0.000,0.045,2305,1900,3303
$GC,7054,-1.88,-91.5,872.5,-10.2,187,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,1901,3303
$GC,7357,-1.88,-91.5,903.4,-10.2,192,7362,0.00,2.47,0.00,0.000,4,0.000,0.065,2305,498,3304
$GC,7389,-1.88,-91.5,907.1,-11.9,192,7394,0.00,2.38,0.00,0.000,6,0.000,0.044,2305,1896,3304
$GC,7721,-1.88,-91.5,940.3,-10.1,198,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,1896,3303
$GC,8024,-1.88,-91.5,970.5,-9.9,203,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2305,1896,3303
$STATE,8265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8265,begin apogee
$GC,8270,-0.33,0.0,994.5,9.9,207,8354,1.67,0.00,80.30,1.358,6,0.118,0.000,2649,2093,2931
$STATE,8355,end apogee,CONTROL_FINISHED_OK
$STATE,8355,begin climb
$GC,8356,1.79,91.5,996.1,0.0,208,8446,2.03,2.72,79.72,1.328,4,0.067,0.089,3118,3509,2556
$GC,8486,1.62,91.5,986.2,12.0,210,8491,0.20,2.50,0.00,0.000,6,0.132,0.068,3082,2111,2554
$GC,8844,1.62,91.5,947.9,10.6,216,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2110,2553
$GC,9147,1.62,91.5,916.2,10.5,221,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2110,2551
$GC,9450,1.62,91.5,884.9,10.2,226,9454,0.00,2.45,0.00,0.000,4,0.000,0.058,3082,3519,2551
$GC,9483,1.56,91.5,881.4,10.9,226,9487,0.00,2.42,0.00,0.000,6,0.000,0.045,3081,2083,2551
$GC,9820,1.56,91.5,846.4,10.5,232,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2083,2551
$GC,10123,1.56,91.5,814.7,10.4,237,10127,0.00,2.50,0.00,0.000,4,0.000,0.056,3082,3525,2550
$GC,10149,1.50,91.5,811.8,11.0,237,10154,0.15,2.40,0.00,0.000,6,0.137,0.038,3055,2092,2550
$GC,10486,1.50,91.5,780.3,9.2,243,10490,0.00,2.40,0.00,0.000,4,0.000,0.059,3055,697,2550
$GC,10528,1.50,91.5,775.9,9.6,243,10533,0.00,2.40,0.00,0.000,6,0.000,0.043,3055,2110,2551
$GC,10849,1.50,91.5,748.7,8.4,249,10850,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2110,2550
$GC,11152,1.50,91.5,723.8,8.2,254,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2110,2550
$GC,11455,1.50,91.5,698.6,8.4,259,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2111,2550
$GC,11759,1.54,91.5,670.5,9.3,264,11763,0.00,2.38,0.00,0.000,4,0.000,0.055,3055,3501,2550
$GC,11785,1.54,91.5,667.7,10.3,264,11789,0.00,2.38,0.00,0.000,6,0.000,0.039,3055,2100,2550
$GC,12122,1.54,91.5,634.2,10.1,270,12123,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2100,2550
$GC,12426,1.59,91.5,604.1,9.9,275,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2100,2549
$GC,12729,1.63,91.5,574.6,9.6,280,12733,0.12,2.40,0.00,0.000,4,0.084,0.054,3085,3501,2550
$GC,12743,1.63,91.5,573.0,9.4,280,12748,0.00,2.35,0.00,0.000,6,0.000,0.044,3085,2106,2550
$GC,13092,1.63,91.5,540.1,9.3,286,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2106,2550
$GC,13395,1.63,91.5,512.9,9.0,291,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2106,2549
$GC,13698,1.63,91.5,485.9,8.9,296,13699,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2106,2550
$GC,14001,1.63,91.5,460.2,8.4,301,14005,0.00,2.38,0.00,0.000,4,0.000,0.052,3085,3508,2549
$GC,14079,1.59,91.5,453.3,8.4,302,14083,0.00,2.35,0.00,0.000,6,0.000,0.038,3085,2095,2549
$GC,14438,1.59,91.5,422.4,8.6,308,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2094,2549
$GC,14741,1.59,91.5,396.7,8.5,313,14742,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2095,2550
$GC,15044,1.59,91.5,370.7,8.5,318,15045,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2094,2550
$GC,15347,1.59,91.5,344.4,8.7,323,15351,0.00,2.40,0.00,0.000,4,0.000,0.057,3084,691,2550
$GC,15498,1.52,91.5,330.3,8.7,325,15503,0.12,2.35,0.00,0.000,6,0.137,0.042,3063,2105,2549
$GC,15852,1.57,95.4,302.7,7.6,331,15856,0.00,2.35,0.00,0.000,4,0.000,0.052,3063,3499,2550
$GC,15913,1.57,99.8,298.0,7.6,331,15926,0.00,2.33,7.22,0.787,6,0.000,0.043,3063,2091,2522
$GC,16257,1.63,101.5,271.4,7.8,343,16261,0.00,2.38,0.00,0.000,4,0.000,0.060,3063,700,2523
$GC,16352,1.63,101.5,263.3,8.3,346,16356,0.00,2.35,0.00,0.000,6,0.000,0.040,3063,2108,2522
$GC,16686,1.69,106.6,237.5,7.5,357,16700,0.15,2.45,7.03,0.749,4,0.075,0.048,3104,3509,2496
$GC,16711,1.63,106.6,235.4,9.5,357,16717,0.00,2.35,0.00,0.000,6,0.000,0.038,3104,2102,2496
$GC,17023,1.63,106.6,208.4,8.7,368,17024,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2101,2495
$GC,17329,1.63,106.6,182.1,8.7,378,17333,0.00,2.40,0.00,0.000,4,0.000,0.060,3104,696,2495
$GC,17377,1.54,106.6,177.6,9.1,379,17382,0.20,2.35,0.00,0.000,6,0.126,0.042,3066,2102,2495
$GC,17696,1.61,109.5,152.9,7.7,390,17705,0.00,2.42,4.10,0.581,4,0.000,0.060,3066,696,2484
$GC,17732,1.61,109.5,149.7,8.1,391,17737,0.00,2.38,0.00,0.000,6,0.000,0.041,3066,2095,2484
$GC,18050,1.70,129.2,128.2,6.1,406,18072,0.15,0.00,16.98,0.758,6,0.074,0.000,3103,2099,2403
$GC,18380,1.72,150.3,106.6,6.0,422,18403,0.00,2.50,18.20,0.739,4,0.000,0.055,3102,3502,2317
$GC,18655,1.74,162.3,86.2,6.8,434,18672,0.00,2.35,10.90,0.700,6,0.000,0.040,3103,2094,2269
$GC,18987,1.81,170.9,62.4,7.2,461,19002,0.00,2.50,8.43,0.667,4,0.000,0.053,3103,3508,2233
$GC,19104,1.87,170.9,53.0,8.4,471,19112,0.10,2.38,0.00,0.000,6,0.065,0.043,3133,2106,2232
$GC,19429,1.87,170.9,25.1,8.4,502,19433,0.00,2.40,0.00,0.000,4,0.000,0.055,3133,3507,2231
$GC,19685,1.87,170.9,3.4,8.2,524,19693,0.00,2.38,0.00,0.000,6,0.000,0.036,3133,2096,2231
$STATE,19712,end climb,SURFACE_DEPTH_REACHED
$STATE,19712,begin surface coast
$FINISH,1.0,1.025230
$STATE,19735,end surface coast,CONTROL_FINISHED_OK
$STATE,19735,begin surface
$SM_CCo,19754,181.30,0.653,0,0,1299,400.08
$SM_GC,1.44,0.00,0.00,181.30,0.000,0.000,0.653,492,1887,1299,-10.28,-0.37,400.08
$IRIDIUM_FIX,4939.69,-14430.07,210997,111120
$TT8_MAMPS,0.029146
$HUMID,1682
$INTERNAL_PRESSURE,7.64678
$TCM_TEMP,14.10
$XPDR_PINGS,73
$24V_AH,23.4,18.670
$10V_AH,10.2,9.311
$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,26.575,154.525,232.875,181.300,0.000,26.454,25.501,122.587,18.250,0.000,0.000,602.206,1211.064,16375.081,594.511,2270.779,339.551,33.361,1488.603,0.000,1662.063,0.000,0.459
$DEVICE_MAMPS,167.973,107.380,1357.590,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,374.320,422.180,545.940,331.991,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31856,529
$CAP_FILE_SIZE,128519,0
$CFSIZE,260165632,253341696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270608,182157,4955.513,-14430.102,96,5.0,115,18.5