version: 66.03
glider: 144
mission: 13
dive: 147
start: 7 17 108 12 12 10
data:
$ID,144
$MISSION,13
$DIVE,147
$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,-40947.438
$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,38
$R_STBD_OVSHOOT,38
$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
$GPS1,120457,5006.376,-14452.684,78,2.5,97,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-59.9
$GPS2,121116,5006.381,-14452.588,84,2.2,103,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.080,0.000
$KALMAN_X,5755.5,0.2,-264.5,1114.8,408.6
$KALMAN_Y,121952.9,63.7,-276.9,-110874.3,2084.2
$MHEAD_RNG_PITCHd_Wd,71.3,2906,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-2.93,-18.7,0.0,0.0,0,84,0.00,0.00,-62.45,0.000,2,0.000,0.000,496,1887,2600
$GC,87,-2.95,-35.3,3.1,-3.2,6,120,8.45,2.42,-15.32,0.000,4,0.167,0.058,2079,3298,3077
$GC,372,-3.11,-35.3,61.1,-21.4,31,380,0.10,2.33,0.00,0.000,6,0.061,0.038,2047,1910,3080
$GC,691,-3.22,-35.3,132.7,-22.1,51,695,0.00,2.40,0.00,0.000,4,0.000,0.053,2047,498,3081
$GC,947,-3.22,-35.3,183.1,-18.3,60,954,0.00,2.33,0.00,0.000,6,0.000,0.036,2047,1900,3082
$GC,1261,-3.37,-35.3,237.0,-16.9,71,1266,0.20,2.40,0.00,0.000,4,0.067,0.054,1993,496,3082
$GC,1519,-3.37,-35.3,288.1,-20.0,78,1525,0.00,2.30,0.00,0.000,6,0.000,0.034,1993,1900,3081
$GC,1828,-3.44,-35.3,341.8,-17.0,85,1832,0.00,2.40,0.00,0.000,4,0.000,0.050,1993,499,3081
$GC,2086,-3.40,-35.3,387.9,-18.7,88,2092,0.00,2.30,0.00,0.000,6,0.000,0.037,1993,1900,3081
$GC,2395,-3.46,-35.3,437.1,-15.8,94,2399,0.00,2.35,0.00,0.000,4,0.000,0.049,1993,3298,3081
$GC,2652,-3.53,-35.3,474.7,-15.1,97,2659,0.15,2.33,0.00,0.000,6,0.077,0.041,1957,1893,3080
$GC,2961,-3.53,-35.3,521.7,-15.2,103,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,1893,3079
$GC,3264,-3.53,-35.3,566.3,-14.8,108,3268,0.00,2.38,0.00,0.000,4,0.000,0.053,1957,493,3079
$GC,3521,-3.44,-35.3,608.0,-15.5,111,3528,0.10,2.30,0.00,0.000,6,0.173,0.040,1972,1908,3078
$GC,3830,-3.44,-35.3,654.3,-14.8,117,3834,0.00,2.40,0.00,0.000,4,0.000,0.050,1972,498,3078
$GC,4087,-3.38,-35.3,694.1,-15.0,120,4092,0.10,2.30,0.00,0.000,6,0.172,0.034,1988,1898,3077
$GC,4402,-3.44,-35.3,736.8,-13.4,126,4406,0.00,2.40,0.00,0.000,4,0.000,0.051,1988,499,3077
$GC,4658,-3.44,-35.3,772.4,-13.5,129,4665,0.00,2.33,0.00,0.000,6,0.000,0.038,1988,1894,3077
$GC,4968,-3.51,-35.3,810.1,-12.1,135,4973,0.10,2.40,0.00,0.000,4,0.095,0.051,1964,495,3076
$GC,4977,-3.51,-35.3,811.3,-11.8,135,4982,0.00,2.33,0.00,0.000,6,0.000,0.039,1964,1897,3076
$GC,5332,-3.51,-35.3,853.0,-11.6,141,5335,0.00,2.38,0.00,0.000,4,0.000,0.053,1964,3300,3076
$GC,5487,-3.51,-35.3,871.5,-11.3,143,5492,0.00,2.35,0.00,0.000,6,0.000,0.039,1964,1897,3076
$GC,5837,-3.51,-35.3,910.2,-11.1,149,5842,0.00,2.42,0.00,0.000,4,0.000,0.061,1964,498,3075
$GC,6095,-3.45,-35.3,941.5,-12.7,152,6101,0.00,2.35,0.00,0.000,6,0.000,0.052,1964,1885,3075
$GC,6404,-3.45,-35.3,976.8,-11.5,158,6408,0.00,2.50,0.00,0.000,4,0.000,0.080,1963,494,3074
$STATE,6512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6512,begin apogee
$GC,6520,-0.33,0.0,990.5,12.4,159,6558,3.50,0.00,32.53,1.340,6,0.150,0.000,2651,2095,2931
$STATE,6559,end apogee,CONTROL_FINISHED_OK
$STATE,6559,begin climb
$GC,6561,2.95,35.3,992.0,0.0,160,6601,3.12,2.65,31.55,1.311,4,0.059,0.085,3373,3509,2787
$GC,6645,2.95,35.3,985.4,10.6,161,6650,0.00,2.50,0.00,0.000,6,0.000,0.058,3373,2111,2786
$GC,6988,2.95,35.3,950.6,10.1,167,6992,0.00,2.47,0.00,0.000,4,0.000,0.064,3373,3518,2785
$GC,7020,2.95,35.3,947.3,9.6,167,7025,0.00,2.47,0.00,0.000,6,0.000,0.048,3373,2090,2786
$GC,7358,2.95,35.3,914.4,9.7,173,7362,0.00,2.47,0.00,0.000,4,0.000,0.054,3373,3526,2785
$GC,7479,2.95,35.3,901.7,10.4,174,7486,0.00,2.42,0.00,0.000,6,0.000,0.038,3373,2093,2785
$GC,7789,2.99,35.3,869.3,10.6,180,7793,0.00,2.40,0.00,0.000,4,0.000,0.053,3373,688,2785
$GC,7877,2.95,35.3,859.5,10.9,181,7881,0.00,2.38,0.00,0.000,6,0.000,0.038,3373,2117,2785
$GC,8220,2.99,35.3,824.9,10.0,187,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2117,2785
$GC,8523,2.99,35.3,796.5,9.3,192,8524,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2117,2784
$GC,8826,2.99,35.3,770.8,8.4,197,8830,0.00,2.35,0.00,0.000,4,0.000,0.053,3373,3505,2784
$GC,9082,2.99,35.3,749.7,8.5,200,9089,0.00,2.35,0.00,0.000,6,0.000,0.037,3373,2088,2784
$GC,9392,3.04,37.7,726.7,7.3,206,9396,0.00,2.40,0.00,0.000,4,0.000,0.048,3373,3502,2784
$GC,9463,3.04,40.9,721.3,7.1,207,9474,0.00,2.33,5.88,0.946,6,0.000,0.035,3373,2096,2764
$GC,9817,3.08,40.9,691.8,8.6,213,9819,0.12,0.00,0.00,0.000,6,0.085,0.000,3401,2096,2764
$GC,10119,3.08,40.9,665.6,8.6,218,10123,0.00,2.38,0.00,0.000,4,0.000,0.053,3401,694,2764
$GC,10337,3.00,40.9,646.4,9.1,221,10342,0.00,2.38,0.00,0.000,6,0.000,0.042,3401,2107,2763
$GC,10686,3.00,40.9,618.0,8.1,227,10690,0.00,2.40,0.00,0.000,4,0.000,0.048,3401,692,2763
$GC,10735,2.92,40.9,613.9,8.1,227,10739,0.20,2.35,0.00,0.000,6,0.157,0.041,3367,2110,2763
$GC,11050,2.98,43.0,590.5,7.4,233,11059,0.00,2.45,3.62,0.660,4,0.000,0.050,3367,699,2755
$GC,11076,2.98,43.0,588.2,8.3,233,11080,0.00,2.33,0.00,0.000,6,0.000,0.041,3367,2102,2755
$GC,11419,3.05,44.5,562.4,7.6,239,11421,0.10,0.00,0.00,0.000,6,0.092,0.000,3389,2103,2755
$GC,11723,3.05,46.5,540.0,7.4,244,11733,0.00,2.42,4.85,0.795,4,0.000,0.047,3389,690,2741
$GC,11929,3.00,46.5,523.0,8.5,247,11933,0.00,2.35,0.00,0.000,6,0.000,0.040,3390,2105,2740
$GC,12289,3.00,50.4,497.4,6.9,253,12296,0.00,0.00,4.97,0.790,6,0.000,0.000,3390,2105,2725
$GC,12592,3.00,50.4,473.6,8.0,258,12593,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2106,2725
$GC,12895,3.00,50.8,449.4,7.9,263,12899,0.00,2.40,0.00,0.000,4,0.000,0.050,3390,695,2725
$GC,13152,2.95,52.6,428.6,7.5,266,13159,0.00,2.33,0.00,0.000,6,0.000,0.036,3390,2102,2724
$GC,13461,2.96,56.9,407.2,6.8,272,13470,0.00,0.00,6.90,0.835,6,0.000,0.000,3389,2103,2700
$GC,13765,3.00,59.3,385.3,7.3,277,13770,0.00,0.00,3.85,0.637,6,0.000,0.000,3390,2104,2689
$GC,14068,3.05,60.4,362.2,7.7,282,14072,0.00,2.38,0.00,0.000,4,0.000,0.053,3390,3507,2688
$GC,14246,3.05,60.4,347.4,8.2,284,14251,0.00,2.33,0.00,0.000,6,0.000,0.032,3390,2095,2689
$GC,14561,3.10,60.4,321.6,8.2,290,14565,0.00,2.35,0.00,0.000,4,0.000,0.053,3389,697,2689
$GC,14615,3.10,60.4,316.9,8.6,290,14622,0.00,2.33,0.00,0.000,6,0.000,0.036,3389,2102,2689
$GC,14926,3.15,61.9,292.7,7.6,297,14935,0.10,2.42,4.07,0.634,4,0.094,0.046,3413,687,2678
$GC,14945,3.15,61.9,290.8,8.6,297,14950,0.00,2.38,0.00,0.000,6,0.000,0.038,3412,2098,2678
$GC,15264,3.15,62.2,265.8,7.9,308,15268,0.00,2.38,0.00,0.000,4,0.000,0.051,3413,3509,2678
$GC,15301,3.15,63.8,262.8,7.6,309,15306,0.00,2.33,0.00,0.000,6,0.000,0.033,3413,2093,2678
$GC,15631,3.16,67.9,239.0,6.8,320,15644,0.00,2.45,6.50,0.736,4,0.000,0.044,3413,3499,2654
$GC,15773,3.16,67.9,227.2,8.3,324,15777,0.00,2.33,0.00,0.000,6,0.000,0.038,3413,2093,2654
$GC,16102,3.16,70.6,201.9,7.2,335,16111,0.00,2.42,3.97,0.588,4,0.000,0.045,3413,3497,2643
$GC,16157,3.16,71.8,197.7,7.7,336,16162,0.00,2.33,0.00,0.000,6,0.000,0.039,3413,2109,2642
$GC,16475,3.17,73.3,174.0,7.6,347,16485,0.00,2.42,3.97,0.580,4,0.000,0.047,3412,702,2632
$GC,16738,3.12,75.7,153.6,7.3,354,16747,0.00,2.33,3.83,0.555,6,0.000,0.040,3413,2110,2622
$GC,17075,3.13,90.2,133.4,3.9,370,17097,0.00,2.47,13.02,0.749,4,0.000,0.049,3413,698,2562
$GC,17193,3.15,101.2,128.0,4.8,375,17209,0.00,2.33,10.27,0.722,6,0.000,0.035,3413,2101,2518
$GC,17518,3.23,113.8,107.7,4.4,391,17534,0.00,2.40,11.38,0.723,4,0.000,0.051,3413,3499,2466
$GC,17558,3.29,124.6,106.1,4.9,392,17573,0.12,2.33,9.75,0.691,6,0.086,0.035,3441,2099,2423
$GC,17885,3.34,124.6,77.6,8.5,408,17889,0.00,2.38,0.00,0.000,4,0.000,0.045,3441,3496,2422
$GC,18141,3.34,125.1,56.0,7.9,430,18148,0.00,2.33,0.00,0.000,6,0.000,0.039,3441,2104,2422
$GC,18468,3.39,126.3,31.7,7.7,461,18472,0.10,2.38,0.00,0.000,4,0.091,0.051,3465,3502,2421
$GC,18552,3.40,130.2,25.7,6.9,468,18564,0.00,2.33,5.93,0.608,6,0.000,0.033,3466,2093,2400
$STATE,18838,end climb,NO_VERTICAL_VELOCITY
$STATE,18838,begin surface
$SM_CCo,18841,392.42,0.621,13,0,480,601.23
$SM_GC,1.64,12.75,0.00,0.00,0.048,0.000,0.000,494,1893,474,-10.20,-0.20,602.70
$IRIDIUM_FIX,4946.36,-14453.06,111097,050553
$TT8_MAMPS,0.029146
$HUMID,1717
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,15.30
$XPDR_PINGS,79
$24V_AH,23.4,30.524
$10V_AH,10.2,15.464
$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,29.325,162.600,166.850,392.425,0.000,30.300,25.527,132.943,19.750,0.000,0.000,104.475,1279.079,15053.071,809.750,2254.080,392.969,33.365,1893.399,0.000,2127.521,0.000,0.459
$DEVICE_MAMPS,173.342,85.137,1339.949,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,349.888,395.723,511.873,309.873,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28480,495
$CAP_FILE_SIZE,141466,0
$CFSIZE,260165632,248791040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,13,0
$GPS,170708,173907,5007.103,-14451.245,162,1.7,174,18.5