version: 66.03
glider: 144
mission: 13
dive: 88
start: 7 1 108 1 47 59
data:
$ID,144
$MISSION,13
$DIVE,88
$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,-33567.344
$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,29
$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
$GPS1,014021,5019.206,-14509.685,137,2.2,156,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-55.3
$GPS2,014704,5019.247,-14509.759,78,2.7,97,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.083,0.133
$KALMAN_X,5329.9,146.1,-102.4,-19206.0,-539.9
$KALMAN_Y,61944.4,-55.1,51.5,-27242.4,-40.3
$MHEAD_RNG_PITCHd_Wd,309.5,4161,-24.8,-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,-1.72,-57.0,0.0,0.0,0,93,0.00,0.00,-72.35,0.000,2,0.000,0.000,495,1891,2742
$GC,95,-1.78,-101.1,3.1,-3.9,7,129,9.88,2.47,-18.85,0.000,4,0.169,0.063,2336,3309,3346
$GC,286,-1.78,-101.1,35.1,-19.0,24,290,0.00,2.38,0.00,0.000,6,0.000,0.044,2336,1895,3349
$GC,614,-1.78,-101.1,91.5,-16.7,52,618,0.00,2.40,0.00,0.000,4,0.000,0.061,2336,498,3349
$GC,848,-1.78,-101.1,128.5,-15.2,62,855,0.00,2.35,0.00,0.000,6,0.000,0.042,2336,1902,3350
$GC,1173,-1.82,-101.1,174.2,-14.3,76,1177,0.00,2.42,0.00,0.000,4,0.000,0.057,2336,498,3350
$GC,1262,-1.82,-101.1,187.8,-14.9,78,1268,0.00,2.35,0.00,0.000,6,0.000,0.039,2336,1896,3350
$GC,1574,-1.88,-101.1,230.6,-13.4,89,1578,0.00,2.42,0.00,0.000,4,0.000,0.057,2336,498,3350
$GC,1651,-1.88,-101.1,241.6,-14.0,91,1656,0.00,2.35,0.00,0.000,6,0.000,0.042,2336,1893,3349
$GC,1975,-1.94,-101.1,282.3,-12.5,102,1980,0.12,2.42,0.00,0.000,4,0.077,0.059,2305,496,3350
$GC,2070,-1.87,-101.1,296.3,-14.9,105,2074,0.00,2.35,0.00,0.000,6,0.000,0.044,2305,1906,3349
$GC,2400,-1.87,-101.1,343.3,-14.2,111,2404,0.00,2.45,0.00,0.000,4,0.000,0.056,2305,494,3349
$GC,2438,-1.80,-101.1,349.1,-15.6,111,2443,0.08,2.38,0.00,0.000,6,0.110,0.038,2329,1901,3349
$GC,2764,-1.85,-101.1,390.6,-12.6,117,2768,0.00,2.42,0.00,0.000,4,0.000,0.062,2329,499,3349
$GC,2880,-1.85,-101.1,406.5,-14.0,118,2884,0.00,2.35,0.00,0.000,6,0.000,0.039,2329,1896,3349
$GC,3195,-1.91,-101.1,445.8,-12.4,124,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,1898,3348
$GC,3498,-1.97,-101.1,481.8,-11.7,129,3503,0.15,2.42,0.00,0.000,4,0.074,0.056,2288,499,3348
$GC,3559,-1.87,-101.1,490.3,-14.6,130,3564,0.17,2.35,0.00,0.000,6,0.127,0.041,2320,1908,3348
$GC,3929,-1.87,-101.1,534.7,-11.8,136,3933,0.00,2.45,0.00,0.000,4,0.000,0.064,2320,496,3347
$GC,4005,-1.87,-101.1,544.5,-12.5,137,4010,0.00,2.38,0.00,0.000,6,0.000,0.041,2320,1901,3348
$GC,4360,-1.91,-101.1,585.5,-11.5,143,4364,0.00,2.42,0.00,0.000,4,0.000,0.058,2320,498,3347
$GC,4398,-1.91,-101.1,590.3,-12.5,143,4402,0.00,2.38,0.00,0.000,6,0.000,0.039,2320,1904,3347
$GC,4725,-1.96,-101.1,626.9,-11.2,149,4729,0.00,2.45,0.00,0.000,4,0.000,0.058,2320,494,3346
$GC,4790,-1.96,-101.1,635.4,-12.8,150,4795,0.00,2.38,0.00,0.000,6,0.000,0.042,2320,1902,3346
$GC,5156,-2.00,-101.1,677.1,-11.3,156,5161,0.12,2.45,0.00,0.000,4,0.081,0.060,2289,494,3346
$GC,5233,-1.93,-101.1,687.4,-13.2,157,5237,0.00,2.38,0.00,0.000,6,0.000,0.040,2289,1918,3346
$GC,5587,-1.93,-101.1,730.5,-12.0,163,5591,0.00,2.47,0.00,0.000,4,0.000,0.062,2289,497,3345
$GC,5643,-1.86,-101.1,737.6,-13.2,163,5648,0.17,2.35,0.00,0.000,6,0.130,0.040,2321,1906,3345
$GC,5952,-1.92,-101.1,771.4,-10.8,168,5956,0.00,2.45,0.00,0.000,4,0.000,0.060,2321,499,3344
$GC,5989,-1.92,-101.1,775.8,-12.2,168,5993,0.00,2.38,0.00,0.000,6,0.000,0.040,2321,1902,3345
$GC,6315,-1.97,-101.1,810.8,-10.7,174,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,1904,3345
$GC,6618,-2.03,-101.1,842.8,-10.6,179,6623,0.15,2.45,0.00,0.000,4,0.077,0.063,2280,501,3344
$GC,6673,-1.94,-101.1,849.8,-13.2,179,6680,0.12,2.35,0.00,0.000,6,0.139,0.045,2302,1903,3344
$GC,6982,-1.94,-101.1,884.6,-11.2,185,6986,0.00,2.45,0.00,0.000,4,0.000,0.064,2302,501,3344
$GC,7070,-1.94,-101.1,895.8,-13.0,186,7075,0.00,2.38,0.00,0.000,6,0.000,0.045,2302,1898,3344
$GC,7420,-1.94,-101.1,936.2,-11.5,192,7424,0.00,2.50,0.00,0.000,4,0.000,0.071,2302,496,3344
$GC,7459,-1.90,-101.1,941.2,-12.3,192,7464,0.00,2.38,0.00,0.000,6,0.000,0.046,2302,1895,3344
$GC,7779,-1.90,-101.1,979.5,-11.8,198,7783,0.00,2.55,0.00,0.000,4,0.000,0.087,2301,503,3344
$GC,7811,-1.85,-101.1,983.7,-12.7,198,7816,0.10,2.42,0.00,0.000,6,0.148,0.058,2319,1894,3344
$STATE,7904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7904,begin apogee
$GC,7908,-0.33,0.0,994.3,11.0,200,8001,1.60,0.00,88.60,1.359,6,0.117,0.000,2649,2106,2931
$STATE,8002,end apogee,CONTROL_FINISHED_OK
$STATE,8002,begin climb
$GC,8003,1.78,101.1,996.5,0.0,201,8100,2.08,2.72,87.15,1.332,4,0.065,0.092,3117,3514,2517
$GC,8129,1.61,101.1,988.3,11.4,203,8134,0.20,2.53,0.00,0.000,6,0.131,0.066,3080,2107,2515
$GC,8448,1.61,101.1,953.9,10.8,209,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2107,2513
$GC,8751,1.61,101.1,919.6,11.3,214,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2107,2512
$GC,9054,1.57,101.1,884.6,11.5,219,9059,0.00,2.50,0.00,0.000,4,0.000,0.066,3080,677,2512
$GC,9109,1.47,101.1,877.8,12.4,219,9116,0.15,2.42,0.00,0.000,6,0.136,0.044,3053,2117,2512
$GC,9418,1.47,101.1,845.2,10.5,225,9423,0.00,2.50,0.00,0.000,4,0.000,0.063,3053,683,2512
$GC,9445,1.47,101.1,842.0,11.4,225,9450,0.00,2.40,0.00,0.000,6,0.000,0.046,3053,2099,2512
$GC,9782,1.47,101.1,807.6,10.2,231,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2099,2511
$GC,10085,1.47,101.1,777.3,10.0,236,10089,0.00,2.47,0.00,0.000,4,0.000,0.064,3052,675,2511
$GC,10129,1.47,101.1,772.6,10.7,236,10133,0.00,2.40,0.00,0.000,6,0.000,0.044,3053,2091,2511
$GC,10449,1.47,101.1,740.3,10.1,242,10453,0.00,2.40,0.00,0.000,4,0.000,0.054,3053,3500,2511
$GC,10497,1.47,101.1,735.0,10.2,242,10502,0.00,2.40,0.00,0.000,6,0.000,0.043,3053,2083,2511
$GC,10818,1.47,101.1,703.6,9.8,248,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2083,2511
$GC,11121,1.47,101.1,675.8,9.1,253,11122,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2083,2511
$GC,11424,1.47,101.1,649.3,8.7,258,11425,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2083,2511
$GC,11727,1.47,101.1,622.7,8.9,263,11731,0.00,2.40,0.00,0.000,4,0.000,0.064,3053,695,2510
$GC,11776,1.47,101.1,617.8,9.9,263,11781,0.00,2.38,0.00,0.000,6,0.000,0.043,3053,2096,2510
$GC,12093,1.47,101.1,589.3,9.1,269,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2099,2510
$GC,12394,1.52,101.1,560.6,9.5,274,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2099,2510
$GC,12697,1.52,101.1,531.2,9.8,279,12701,0.00,2.42,0.00,0.000,4,0.000,0.056,3053,691,2510
$GC,12746,1.52,101.1,526.1,10.7,279,12751,0.00,2.38,0.00,0.000,6,0.000,0.048,3053,2096,2510
$GC,13067,1.57,101.1,493.8,10.1,285,13068,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2099,2510
$GC,13370,1.61,101.1,465.0,9.5,290,13372,0.12,0.00,0.00,0.000,6,0.081,0.000,3082,2100,2510
$GC,13673,1.61,101.1,435.2,9.9,295,13677,0.00,2.42,0.00,0.000,4,0.000,0.062,3083,690,2510
$GC,13705,1.52,101.1,432.0,9.9,295,13709,0.12,2.35,0.00,0.000,6,0.136,0.041,3061,2101,2510
$GC,14036,1.52,101.1,402.3,8.9,301,14037,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2104,2510
$GC,14339,1.52,101.1,377.1,8.3,306,14343,0.00,2.42,0.00,0.000,4,0.000,0.054,3061,687,2510
$GC,14427,1.52,101.1,369.0,8.8,307,14432,0.00,2.38,0.00,0.000,6,0.000,0.044,3061,2092,2510
$GC,14778,1.52,101.1,338.1,8.9,313,14779,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2095,2510
$GC,15079,1.52,101.1,311.0,9.0,318,15083,0.00,2.42,0.00,0.000,4,0.000,0.060,3061,689,2510
$GC,15127,1.52,101.1,306.2,9.3,318,15132,0.00,2.38,0.00,0.000,6,0.000,0.044,3061,2092,2510
$GC,15445,1.52,101.1,279.9,8.1,328,15449,0.00,2.40,0.00,0.000,4,0.000,0.056,3061,3506,2511
$GC,15550,1.52,102.0,271.1,7.9,331,15554,0.00,2.38,0.00,0.000,6,0.000,0.038,3061,2096,2510
$GC,15879,1.57,105.6,245.8,7.7,342,15888,0.00,2.42,4.15,0.623,4,0.000,0.055,3061,691,2500
$GC,15946,1.57,105.6,240.3,8.4,344,15950,0.00,2.35,0.00,0.000,6,0.000,0.045,3061,2101,2500
$GC,16285,1.62,111.1,214.0,7.5,355,16293,0.00,0.00,6.10,0.714,6,0.000,0.000,3061,2104,2478
$GC,16592,1.69,124.4,192.4,6.7,365,16606,0.15,0.00,12.25,0.784,6,0.074,0.000,3099,2104,2423
$GC,16897,1.69,124.4,164.8,9.6,375,16898,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2105,2422
$GC,17217,1.69,124.4,133.9,9.0,388,17221,0.00,2.42,0.00,0.000,4,0.000,0.057,3098,698,2422
$GC,17271,1.61,124.4,128.0,12.0,390,17278,0.00,2.38,0.00,0.000,6,0.000,0.043,3098,2097,2422
$GC,17587,1.62,128.9,101.9,7.6,406,17597,0.00,2.40,5.32,0.637,4,0.000,0.048,3098,3506,2404
$GC,17652,1.63,141.1,97.5,6.9,409,17669,0.00,2.38,11.43,0.716,6,0.000,0.040,3098,2102,2354
$GC,17979,1.67,169.4,77.8,5.3,426,18011,0.00,2.50,23.77,0.726,4,0.000,0.061,3098,699,2239
$GC,18129,1.67,172.7,66.2,7.7,439,18139,0.00,2.35,3.80,0.506,6,0.000,0.040,3098,2107,2226
$GC,18465,1.75,175.0,39.3,7.8,471,18469,0.00,2.45,0.00,0.000,4,0.000,0.060,3098,690,2225
$GC,18541,1.75,175.0,31.9,9.6,477,18548,0.00,2.40,0.00,0.000,6,0.000,0.044,3098,2101,2224
$GC,18869,1.83,175.0,10.3,8.4,508,18874,0.12,2.42,0.00,0.000,4,0.079,0.054,3130,692,2224
$GC,18908,1.75,175.0,6.6,8.9,511,18913,0.12,2.35,0.00,0.000,6,0.137,0.038,3108,2102,2223
$STATE,18965,end climb,SURFACE_DEPTH_REACHED
$STATE,18965,begin surface coast
$FINISH,0.9,1.002922
$STATE,18988,end surface coast,CONTROL_FINISHED_OK
$STATE,18988,begin surface
$SM_CCo,19007,180.23,0.659,0,0,1300,400.08
$SM_GC,1.40,0.00,0.00,180.23,0.000,0.000,0.659,491,1894,1300,-10.29,-0.14,400.08
$IRIDIUM_FIX,4959.75,-14510.41,240997,191939
$TT8_MAMPS,0.029913
$HUMID,1698
$INTERNAL_PRESSURE,7.63701
$TCM_TEMP,15.50
$XPDR_PINGS,80
$24V_AH,23.4,20.636
$10V_AH,10.2,10.332
$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,26.875,169.750,242.575,180.225,0.000,30.008,39.721,153.920,20.000,0.000,0.000,98.154,1199.901,15698.069,610.678,1677.440,408.525,33.369,1475.940,0.000,1581.734,0.000,0.459
$DEVICE_MAMPS,168.740,110.448,1359.124,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,370.736,419.758,539.561,335.734,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31725,518
$CAP_FILE_SIZE,129403,0
$CFSIZE,260165632,252579840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010708,071007,5021.286,-14511.847,105,2.0,105,18.5