version: 66.03
glider: 144
mission: 13
dive: 110
start: 7 7 108 4 21 32
data:
$ID,144
$MISSION,13
$DIVE,110
$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,-35319.789
$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,37
$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
$GPS1,041508,5019.876,-14430.410,137,2.0,137,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-58.1
$GPS2,042038,5019.881,-14430.392,72,2.0,72,18.7
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.038,0.070
$KALMAN_X,9447.7,188.2,-26.4,23413.4,176.4
$KALMAN_Y,87302.3,102.0,-214.5,-51318.8,1172.2
$MHEAD_RNG_PITCHd_Wd,9.5,2190,-43.6,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.93,-18.7,0.0,0.0,0,104,0.00,0.00,-81.95,0.000,2,0.000,0.000,493,1882,2992
$GC,106,-2.94,-29.3,3.8,-5.0,8,121,8.48,2.42,-1.60,0.000,4,0.169,0.064,2081,3305,3054
$GC,374,-3.12,-29.3,66.0,-22.7,32,379,0.15,2.33,0.00,0.000,6,0.073,0.043,2044,1906,3056
$GC,691,-3.24,-29.3,136.6,-21.7,50,695,0.00,2.38,0.00,0.000,4,0.000,0.044,2044,3310,3057
$GC,708,-3.37,-29.3,139.6,-19.1,51,713,0.22,2.35,0.00,0.000,6,0.069,0.035,1990,1898,3057
$GC,1031,-3.37,-29.3,193.6,-16.8,63,1035,0.00,2.40,0.00,0.000,4,0.000,0.058,1990,498,3058
$GC,1142,-3.30,-29.3,214.9,-18.5,66,1146,0.00,2.35,0.00,0.000,6,0.000,0.036,1990,1903,3057
$GC,1465,-3.34,-29.3,269.9,-16.3,77,1469,0.00,2.42,0.00,0.000,4,0.000,0.058,1990,493,3058
$GC,1560,-3.29,-29.3,286.8,-17.9,79,1567,0.10,2.35,0.00,0.000,6,0.169,0.041,2005,1910,3058
$GC,1900,-3.36,-29.3,341.1,-15.9,87,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,1912,3058
$GC,2203,-3.44,-29.3,386.3,-14.9,92,2208,0.12,2.45,0.00,0.000,4,0.084,0.061,1977,496,3057
$GC,2269,-3.36,-29.3,396.9,-15.6,93,2273,0.00,2.33,0.00,0.000,6,0.000,0.044,1976,1900,3057
$GC,2634,-3.36,-29.3,450.8,-14.6,99,2638,0.00,2.42,0.00,0.000,4,0.000,0.056,1976,496,3057
$GC,2773,-3.30,-29.3,472.3,-16.3,101,2778,0.17,2.33,0.00,0.000,6,0.160,0.043,2005,1900,3057
$GC,3133,-3.38,-29.3,520.0,-13.1,107,3137,0.00,2.42,0.00,0.000,4,0.000,0.061,2006,500,3056
$GC,3198,-3.38,-29.3,529.3,-14.4,108,3202,0.00,2.35,0.00,0.000,6,0.000,0.044,2006,1898,3056
$GC,3564,-3.46,-29.3,576.8,-13.0,114,3566,0.15,0.00,0.00,0.000,6,0.081,0.000,1972,1900,3056
$GC,3866,-3.46,-29.3,617.6,-13.5,119,3871,0.00,2.42,0.00,0.000,4,0.000,0.062,1971,492,3055
$GC,4063,-3.39,-29.3,645.3,-14.3,122,4067,0.00,2.33,0.00,0.000,6,0.000,0.044,1971,1898,3055
$GC,4427,-3.39,-29.3,690.6,-12.1,128,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,1971,1900,3055
$GC,4730,-3.39,-29.3,725.7,-11.6,133,4734,0.00,2.42,0.00,0.000,4,0.000,0.059,1971,492,3054
$GC,4898,-3.32,-29.3,746.9,-12.2,135,4903,0.17,2.33,0.00,0.000,6,0.163,0.045,2001,1900,3053
$GC,5223,-3.41,-29.3,783.5,-11.2,141,5227,0.00,2.42,0.00,0.000,4,0.000,0.061,2001,499,3054
$GC,5389,-3.41,-29.3,803.9,-12.0,143,5394,0.00,2.35,0.00,0.000,6,0.000,0.044,2001,1894,3053
$GC,5721,-3.50,-29.3,841.9,-11.5,149,5726,0.15,2.42,0.00,0.000,4,0.082,0.058,1962,501,3053
$GC,5850,-3.42,-29.3,858.4,-13.0,151,5855,0.10,2.33,0.00,0.000,6,0.174,0.042,1977,1901,3053
$GC,6214,-3.47,-29.3,900.7,-11.5,157,6219,0.00,2.45,0.00,0.000,4,0.000,0.067,1977,502,3053
$GC,6281,-3.43,-29.3,908.7,-11.9,158,6285,0.00,2.33,0.00,0.000,6,0.000,0.041,1977,1895,3052
$GC,6646,-3.49,-29.3,949.0,-10.9,164,6650,0.00,2.47,0.00,0.000,4,0.000,0.074,1977,505,3052
$GC,6746,-3.44,-29.3,960.4,-11.6,165,6750,0.00,2.40,0.00,0.000,6,0.000,0.052,1977,1897,3052
$STATE,7071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7071,begin apogee
$GC,7076,-0.33,0.0,993.7,10.1,171,7109,3.47,0.00,27.70,1.329,6,0.152,0.000,2649,2098,2931
$STATE,7110,end apogee,CONTROL_FINISHED_OK
$STATE,7110,begin climb
$GC,7111,2.94,29.3,993.7,0.0,171,7147,3.17,2.65,27.08,1.298,4,0.061,0.091,3373,3511,2810
$GC,7180,2.94,29.3,989.6,10.0,172,7184,0.00,2.50,0.00,0.000,6,0.000,0.068,3372,2119,2810
$GC,7495,2.94,29.3,956.5,10.6,178,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2119,2809
$GC,7798,2.94,29.3,926.0,10.0,183,7801,0.00,2.53,0.00,0.000,4,0.000,0.066,3372,674,2809
$GC,7836,2.89,29.3,922.1,10.1,183,7840,0.00,2.45,0.00,0.000,6,0.000,0.048,3372,2117,2808
$GC,8167,2.89,29.3,890.4,9.6,189,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2117,2808
$GC,8470,2.89,29.3,862.4,9.2,194,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2118,2808
$GC,8773,2.89,29.3,835.8,8.8,199,8777,0.00,2.50,0.00,0.000,4,0.000,0.055,3373,673,2808
$GC,8856,2.84,29.3,828.2,9.1,200,8861,0.15,2.40,0.00,0.000,6,0.158,0.046,3348,2106,2808
$GC,9205,2.92,29.3,799.8,8.1,206,9209,0.00,2.47,0.00,0.000,4,0.000,0.057,3348,669,2808
$GC,9366,2.92,30.2,786.8,7.7,208,9370,0.00,2.42,0.00,0.000,6,0.000,0.044,3347,2112,2807
$GC,9704,3.00,33.3,762.4,7.1,214,9714,0.15,2.50,4.50,0.853,4,0.080,0.058,3382,676,2795
$GC,9966,2.94,33.9,741.1,7.8,217,9973,0.00,2.40,0.00,0.000,6,0.000,0.043,3382,2109,2795
$GC,10275,2.95,36.1,718.2,7.4,223,10284,0.00,2.50,4.38,0.819,4,0.000,0.051,3382,669,2783
$GC,10538,2.89,36.1,696.2,8.6,226,10545,0.12,2.40,0.00,0.000,6,0.165,0.045,3362,2105,2783
$GC,10847,2.96,37.3,672.3,7.7,232,10848,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2105,2783
$GC,11150,3.02,38.8,649.3,7.6,237,11157,0.10,0.00,4.18,0.774,6,0.094,0.000,3385,2107,2771
$GC,11453,3.02,38.8,624.3,8.2,242,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2107,2771
$GC,11756,3.02,38.8,599.2,8.3,247,11760,0.00,2.45,0.00,0.000,4,0.000,0.053,3384,677,2771
$GC,11845,2.97,38.8,591.8,8.2,248,11849,0.00,2.38,0.00,0.000,6,0.000,0.044,3384,2103,2771
$GC,12187,2.97,40.5,565.8,7.5,254,12191,0.00,2.45,0.00,0.000,4,0.000,0.057,3384,669,2771
$GC,12287,2.92,43.5,558.5,7.1,255,12297,0.00,2.40,5.45,0.844,6,0.000,0.045,3384,2107,2753
$GC,12611,2.92,44.5,533.5,7.7,261,12615,0.00,2.45,0.00,0.000,4,0.000,0.056,3384,674,2753
$GC,12869,2.87,44.7,513.3,7.9,264,12875,0.17,2.38,0.00,0.000,6,0.158,0.042,3354,2099,2753
$GC,13177,2.96,47.5,491.0,7.2,270,13184,0.00,0.00,5.18,0.802,6,0.000,0.000,3354,2100,2737
$GC,13481,3.06,49.4,468.2,7.5,275,13490,0.17,2.42,3.50,0.615,4,0.079,0.048,3393,3494,2729
$GC,13742,3.06,49.4,446.5,8.8,278,13749,0.00,2.38,0.00,0.000,6,0.000,0.041,3394,2080,2729
$GC,14051,3.06,50.5,422.5,7.7,284,14055,0.00,2.33,0.00,0.000,4,0.000,0.053,3394,695,2729
$GC,14258,3.01,51.0,406.8,7.8,287,14262,0.00,2.33,0.00,0.000,6,0.000,0.041,3394,2100,2729
$GC,14623,3.02,53.6,380.1,7.3,293,14630,0.00,0.00,5.25,0.755,6,0.000,0.000,3394,2100,2712
$GC,14927,3.06,53.9,356.5,7.9,298,14931,0.00,2.38,0.00,0.000,4,0.000,0.050,3394,3499,2711
$GC,15183,3.06,59.1,337.6,6.5,301,15194,0.00,2.35,6.28,0.774,6,0.000,0.040,3393,2098,2689
$GC,15554,3.11,60.4,309.1,7.6,308,15558,0.00,2.38,0.00,0.000,4,0.000,0.052,3393,695,2689
$GC,15813,3.11,61.1,288.8,7.8,313,15819,0.00,2.33,0.00,0.000,6,0.000,0.039,3394,2101,2688
$GC,16125,3.16,66.9,268.6,6.3,324,16135,0.10,0.00,7.82,0.782,6,0.093,0.000,3417,2102,2657
$GC,16430,3.16,66.9,244.3,8.2,334,16431,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2102,2657
$GC,16736,3.16,66.9,219.1,8.0,344,16740,0.00,2.38,0.00,0.000,4,0.000,0.052,3417,3499,2657
$GC,16916,3.17,69.3,204.1,7.3,349,16925,0.00,2.33,3.85,0.577,6,0.000,0.041,3416,2096,2648
$GC,17244,3.17,74.3,181.4,6.6,360,17254,0.00,2.38,5.57,0.681,4,0.000,0.050,3417,697,2628
$GC,17406,3.12,74.3,168.0,8.7,365,17410,0.00,2.35,0.00,0.000,6,0.000,0.041,3417,2102,2627
$GC,17730,3.12,77.1,142.4,7.2,377,17739,0.00,2.40,4.18,0.584,4,0.000,0.048,3417,3507,2616
$GC,17991,3.16,106.4,130.5,-0.4,388,18022,0.00,2.38,24.27,0.766,6,0.000,0.038,3417,2090,2496
$GC,18350,3.24,117.0,112.9,5.0,406,18365,0.00,2.45,9.73,0.711,4,0.000,0.048,3417,3508,2452
$GC,18617,3.28,117.0,92.0,8.7,417,18622,0.10,2.35,0.00,0.000,6,0.094,0.038,3440,2096,2452
$GC,18939,3.33,121.0,68.0,6.9,440,18951,0.00,2.45,4.68,0.576,4,0.000,0.051,3440,3499,2436
$GC,19203,3.33,125.7,46.6,6.7,463,19213,0.00,2.35,5.55,0.607,6,0.000,0.036,3440,2102,2417
$GC,19539,3.43,148.2,22.8,1.6,495,19565,0.15,2.47,18.88,0.683,4,0.081,0.052,3480,695,2325
$STATE,19809,end climb,SURFACE_DEPTH_REACHED
$STATE,19809,begin surface coast
$FINISH,0.9,1.025244
$STATE,19832,end surface coast,CONTROL_FINISHED_OK
$STATE,19832,begin surface
$SM_CCo,19855,198.32,0.653,0,0,1299,400.08
$SM_GC,1.52,0.00,0.00,198.32,0.000,0.000,0.653,493,1902,1299,-10.28,0.08,400.08
$IRIDIUM_FIX,4956.40,-14434.00,300997,212127
$TT8_MAMPS,0.029146
$HUMID,1696
$INTERNAL_PRESSURE,7.64678
$TCM_TEMP,17.80
$XPDR_PINGS,74
$24V_AH,23.4,24.309
$10V_AH,10.2,12.203
$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,31.125,153.775,178.000,198.325,0.000,31.267,25.593,123.095,18.500,0.000,0.000,72.154,1335.545,15834.808,548.671,2300.488,368.111,33.370,1650.416,0.000,2201.407,0.000,0.459
$DEVICE_MAMPS,174.109,125.788,1329.211,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,368.965,414.671,539.814,323.339,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31734,521
$CAP_FILE_SIZE,145178,0
$CFSIZE,260165632,251166720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,070708,095827,5020.943,-14429.887,106,2.9,125,18.7