version: 66.03
glider: 144
mission: 13
dive: 157
start: 7 20 108 4 44 5
data:
$ID,144
$MISSION,13
$DIVE,157
$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,-41617.211
$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,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
$GPS1,043758,5012.559,-14429.880,49,2.5,68,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-55.2
$GPS2,044310,5012.595,-14429.788,15,2.5,34,18.6
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.039,-0.108
$KALMAN_X,6154.2,97.0,403.6,27087.1,-973.6
$KALMAN_Y,127889.3,19.6,-73.0,-105464.7,1027.3
$MHEAD_RNG_PITCHd_Wd,141.5,34416,-33.0,-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,-2.24,-32.0,0.0,0.0,0,99,0.00,0.00,-77.22,0.000,2,0.000,0.000,495,1890,2884
$GC,101,-2.26,-51.8,3.3,-4.7,8,124,9.27,2.38,-7.15,0.000,4,0.170,0.055,2227,3306,3145
$GC,170,-2.26,-51.8,17.5,-22.5,14,174,0.00,2.33,0.00,0.000,6,0.000,0.038,2228,1902,3146
$GC,495,-2.26,-51.8,80.7,-19.2,44,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,1901,3148
$GC,804,-2.32,-51.8,136.3,-15.6,59,808,0.00,2.40,0.00,0.000,4,0.000,0.052,2228,492,3149
$GC,961,-2.32,-51.8,159.9,-16.1,65,967,0.00,2.33,0.00,0.000,6,0.000,0.035,2228,1918,3150
$GC,1273,-2.41,-51.8,203.5,-14.0,76,1278,0.12,2.45,0.00,0.000,4,0.077,0.051,2197,491,3150
$GC,1369,-2.37,-51.8,219.6,-16.7,79,1373,0.00,2.33,0.00,0.000,6,0.000,0.040,2197,1906,3149
$GC,1703,-2.37,-51.8,269.8,-14.5,90,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,1908,3150
$GC,2039,-2.37,-51.8,316.8,-13.8,99,2043,0.00,2.40,0.00,0.000,4,0.000,0.051,2197,498,3149
$GC,2173,-2.37,-51.8,336.7,-15.3,101,2177,0.00,2.30,0.00,0.000,6,0.000,0.031,2197,1901,3149
$GC,2538,-2.37,-51.8,385.5,-13.2,107,2542,0.00,2.38,0.00,0.000,4,0.000,0.057,2196,499,3148
$GC,2621,-2.32,-51.8,397.5,-14.5,108,2626,0.12,2.30,0.00,0.000,6,0.148,0.032,2218,1903,3148
$GC,2969,-2.40,-51.8,439.8,-12.1,114,2973,0.00,2.40,0.00,0.000,4,0.000,0.049,2218,498,3148
$GC,3012,-2.40,-51.8,445.4,-13.6,114,3016,0.00,2.33,0.00,0.000,6,0.000,0.038,2218,1899,3148
$GC,3333,-2.49,-51.8,483.4,-11.8,120,3338,0.15,2.40,0.00,0.000,4,0.079,0.054,2181,498,3148
$GC,3394,-2.40,-51.8,491.8,-13.7,121,3399,0.12,2.30,0.00,0.000,6,0.149,0.040,2202,1899,3147
$GC,3759,-2.45,-51.8,536.9,-12.3,127,3763,0.00,2.40,0.00,0.000,4,0.000,0.058,2202,498,3147
$GC,3898,-2.45,-51.8,555.7,-13.8,129,3902,0.00,2.30,0.00,0.000,6,0.000,0.038,2202,1899,3147
$GC,4258,-2.50,-51.8,599.9,-12.2,135,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,1901,3146
$GC,4561,-2.56,-51.8,636.5,-12.0,140,4566,0.15,2.42,0.00,0.000,4,0.079,0.058,2165,491,3146
$GC,4638,-2.44,-51.8,647.0,-14.2,141,4643,0.15,2.33,0.00,0.000,6,0.143,0.038,2192,1901,3145
$GC,4986,-2.44,-51.8,688.3,-11.7,147,4990,0.00,2.40,0.00,0.000,4,0.000,0.058,2192,499,3145
$GC,5127,-2.39,-51.8,705.7,-12.6,149,5131,0.00,2.30,0.00,0.000,6,0.000,0.033,2192,1900,3145
$GC,5480,-2.39,-51.8,745.3,-11.1,155,5484,0.00,2.40,0.00,0.000,4,0.000,0.059,2192,499,3144
$GC,5563,-2.35,-51.8,754.9,-12.0,156,5568,0.12,2.30,0.00,0.000,6,0.152,0.034,2213,1900,3144
$GC,5906,-2.44,-51.8,789.2,-9.9,162,5910,0.00,2.42,0.00,0.000,4,0.000,0.053,2213,492,3144
$GC,5960,-2.44,-51.8,795.2,-11.2,162,5967,0.00,2.35,0.00,0.000,6,0.000,0.038,2213,1903,3144
$GC,6270,-2.53,-51.8,825.2,-9.7,168,6272,0.15,0.00,0.00,0.000,6,0.078,0.000,2177,1903,3144
$GC,6573,-2.53,-51.8,857.3,-10.6,173,6577,0.00,2.42,0.00,0.000,4,0.000,0.056,2177,499,3143
$GC,6668,-2.45,-51.8,868.3,-12.9,174,6672,0.00,2.30,0.00,0.000,6,0.000,0.035,2176,1898,3143
$GC,6998,-2.45,-51.8,903.8,-10.7,180,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2176,1898,3143
$GC,7302,-2.45,-51.8,935.2,-10.3,185,7306,0.00,2.47,0.00,0.000,4,0.000,0.067,2177,498,3142
$GC,7374,-2.39,-51.8,943.5,-11.9,186,7379,0.15,2.35,0.00,0.000,6,0.144,0.043,2203,1888,3142
$GC,7727,-2.47,-51.8,976.6,-9.2,192,7731,0.00,2.50,0.00,0.000,4,0.000,0.077,2203,503,3142
$GC,7801,-2.47,-51.8,984.0,-10.5,193,7805,0.00,2.40,0.00,0.000,6,0.000,0.053,2203,1898,3142
$STATE,7909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7909,begin apogee
$GC,7914,-0.33,0.0,994.4,9.2,195,7965,2.25,0.00,46.40,1.360,6,0.136,0.000,2650,2103,2931
$STATE,7966,end apogee,CONTROL_FINISHED_OK
$STATE,7966,begin climb
$GC,7968,2.26,51.8,994.4,0.0,195,8019,2.47,0.00,45.88,1.328,6,0.061,0.000,3223,2103,2719
$GC,8334,2.18,51.8,958.1,11.1,202,8338,0.10,2.53,0.00,0.000,4,0.155,0.069,3206,692,2717
$GC,8377,2.05,51.8,953.2,11.5,202,8382,0.17,2.42,0.00,0.000,6,0.144,0.051,3176,2106,2717
$GC,8697,2.05,51.8,922.5,9.4,208,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2106,2717
$GC,9000,2.05,51.8,895.8,8.7,213,9004,0.00,2.45,0.00,0.000,4,0.000,0.057,3176,694,2716
$GC,9084,1.99,51.8,888.5,8.8,214,9088,0.00,2.38,0.00,0.000,6,0.000,0.042,3176,2113,2716
$GC,9438,1.99,52.0,860.0,8.0,220,9442,0.00,2.42,0.00,0.000,4,0.000,0.055,3176,696,2716
$GC,9495,1.94,52.0,855.3,8.1,220,9499,0.12,2.33,0.00,0.000,6,0.152,0.034,3155,2103,2716
$GC,9803,2.01,54.6,831.7,7.6,225,9808,0.00,2.42,0.00,0.000,4,0.000,0.053,3154,693,2716
$GC,9830,2.01,55.2,829.5,7.9,225,9840,0.00,2.35,4.12,0.827,6,0.000,0.041,3154,2106,2704
$GC,10167,2.07,56.1,803.4,7.9,231,10169,0.10,0.00,0.00,0.000,6,0.091,0.000,3178,2107,2704
$GC,10469,2.07,56.1,777.5,8.6,236,10473,0.00,2.42,0.00,0.000,4,0.000,0.050,3178,692,2704
$GC,10509,2.02,56.1,774.0,9.2,236,10513,0.00,2.35,0.00,0.000,6,0.000,0.041,3177,2108,2704
$GC,10829,2.02,56.1,746.5,8.5,242,10833,0.00,2.40,0.00,0.000,4,0.000,0.054,3178,692,2703
$GC,10861,1.95,56.1,743.5,9.0,242,10866,0.12,2.35,0.00,0.000,6,0.149,0.036,3157,2107,2703
$GC,11193,2.02,56.1,715.5,8.4,248,11197,0.00,2.42,0.00,0.000,4,0.000,0.048,3157,687,2704
$GC,11213,2.02,56.1,713.7,8.1,248,11218,0.00,2.38,0.00,0.000,6,0.000,0.035,3157,2100,2703
$GC,11557,2.09,56.1,686.2,8.0,254,11562,0.12,2.40,0.00,0.000,4,0.084,0.054,3186,693,2703
$GC,11612,2.01,56.1,681.2,9.3,254,11618,0.00,2.35,0.00,0.000,6,0.000,0.037,3186,2110,2703
$GC,11921,2.01,56.1,653.8,8.9,260,11925,0.00,2.42,0.00,0.000,4,0.000,0.054,3186,687,2703
$GC,12026,1.94,56.1,643.8,9.6,261,12031,0.17,2.35,0.00,0.000,6,0.143,0.038,3154,2108,2703
$GC,12346,2.01,56.1,617.1,8.3,267,12347,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2108,2703
$GC,12649,2.08,57.6,593.4,7.7,272,12654,0.12,2.42,0.00,0.000,4,0.083,0.050,3183,685,2703
$GC,12688,2.02,57.6,590.1,8.8,272,12692,0.00,2.35,0.00,0.000,6,0.000,0.040,3183,2108,2703
$GC,13007,2.02,57.9,564.5,8.0,278,13008,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2108,2703
$GC,13310,2.02,61.1,541.8,7.5,283,13323,0.00,2.50,6.47,0.888,4,0.000,0.047,3183,686,2681
$GC,13363,1.96,61.1,537.7,8.4,283,13368,0.15,2.35,0.00,0.000,6,0.144,0.041,3158,2101,2681
$GC,13673,2.05,66.1,515.5,7.2,288,13684,0.00,2.42,6.00,0.853,4,0.000,0.047,3158,692,2660
$GC,13716,2.05,71.4,512.2,7.1,288,13727,0.00,2.35,5.82,0.828,6,0.000,0.041,3158,2105,2640
$GC,14031,2.15,74.7,489.0,7.4,293,14039,0.17,0.00,4.55,0.743,6,0.076,0.000,3198,2108,2626
$GC,14333,2.15,74.7,462.5,8.8,298,14338,0.00,2.42,0.00,0.000,4,0.000,0.049,3198,688,2626
$GC,14389,2.08,74.7,457.3,9.5,298,14395,0.00,2.35,0.00,0.000,6,0.000,0.040,3198,2103,2626
$GC,14698,2.08,74.7,428.6,9.3,304,14699,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2104,2626
$GC,15000,2.08,74.7,400.2,9.3,309,15005,0.00,2.35,0.00,0.000,4,0.000,0.045,3198,3499,2626
$GC,15072,2.08,74.7,393.6,8.9,310,15076,0.00,2.35,0.00,0.000,6,0.000,0.035,3199,2095,2626
$GC,15432,2.08,74.7,362.7,8.4,316,15436,0.00,2.38,0.00,0.000,4,0.000,0.048,3198,694,2626
$GC,15453,2.08,74.7,360.8,8.3,316,15457,0.00,2.33,0.00,0.000,6,0.000,0.040,3198,2101,2626
$GC,15802,2.08,75.7,332.8,7.8,322,15806,0.00,2.35,0.00,0.000,4,0.000,0.046,3198,3502,2626
$GC,15879,2.08,77.0,326.5,7.8,323,15889,0.00,2.30,3.35,0.546,6,0.000,0.032,3198,2099,2619
$GC,16233,2.09,78.2,299.0,7.8,329,16237,0.00,2.35,0.00,0.000,4,0.000,0.046,3198,3500,2619
$GC,16490,2.09,81.8,277.6,7.4,336,16502,0.00,2.30,6.00,0.736,6,0.000,0.036,3198,2099,2597
$GC,16807,2.09,82.3,252.1,7.9,347,16811,0.00,2.38,0.00,0.000,4,0.000,0.050,3199,695,2597
$GC,16846,2.04,83.3,248.8,7.8,348,16851,0.15,2.33,0.00,0.000,6,0.143,0.041,3173,2105,2597
$GC,17169,2.13,86.7,225.2,7.4,359,17180,0.00,2.35,5.97,0.715,4,0.000,0.044,3173,3496,2576
$GC,17224,2.18,86.7,220.5,8.9,360,17232,0.10,2.35,0.00,0.000,6,0.067,0.032,3202,2097,2575
$GC,17536,2.18,86.7,194.1,8.3,371,17538,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2097,2576
$GC,17843,2.18,88.2,170.3,7.7,381,17847,0.00,2.38,0.00,0.000,4,0.000,0.051,3202,694,2576
$GC,18100,2.14,88.2,149.7,8.1,388,18107,0.00,2.33,0.00,0.000,6,0.000,0.041,3202,2109,2575
$GC,18418,2.16,110.9,130.2,4.2,404,18443,0.00,2.40,20.08,0.767,4,0.000,0.044,3202,3505,2478
$GC,18494,2.18,121.6,126.2,6.2,407,18509,0.00,2.35,9.73,0.707,6,0.000,0.035,3202,2089,2435
$GC,18838,2.27,135.0,104.9,5.8,424,18859,0.00,2.45,12.05,0.720,4,0.000,0.051,3202,699,2379
$GC,18997,2.28,141.4,94.2,6.9,431,19011,0.10,2.33,6.57,0.647,6,0.088,0.040,3226,2109,2354
$GC,19330,2.35,141.4,68.0,8.6,453,19334,0.00,2.38,0.00,0.000,4,0.000,0.048,3226,700,2352
$GC,19346,2.35,141.4,66.5,8.8,454,19353,0.00,2.33,0.00,0.000,6,0.000,0.032,3226,2096,2352
$GC,19673,2.42,142.8,42.1,7.8,485,19675,0.12,0.00,0.00,0.000,6,0.081,0.000,3256,2097,2352
$GC,19991,2.48,191.1,33.2,-0.1,515,20037,0.00,2.47,40.47,0.696,4,0.000,0.051,3256,699,2150
$GC,20049,2.49,202.6,31.1,6.1,520,20067,0.00,2.35,10.82,0.634,6,0.000,0.038,3256,2102,2103
$STATE,20299,end climb,SURFACE_DEPTH_REACHED
$STATE,20299,begin surface coast
$FINISH,0.8,1.005405
$STATE,20309,end surface coast,CONTROL_FINISHED_OK
$STATE,20310,begin surface
$SM_CCo,20330,154.60,0.647,0,0,1300,400.08
$SM_GC,1.44,0.00,0.00,154.60,0.000,0.000,0.647,494,1901,1300,-10.28,0.03,400.08
$IRIDIUM_FIX,4959.75,-14429.30,131097,222250
$TT8_MAMPS,0.029146
$HUMID,1744
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,15.80
$XPDR_PINGS,86
$24V_AH,23.4,32.111
$10V_AH,10.2,16.301
$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,28.975,185.950,234.300,154.600,0.000,27.794,28.649,134.485,21.500,0.000,0.000,36.658,1318.724,16600.062,563.627,1907.627,410.483,33.376,1570.839,0.000,1859.000,0.000,0.459
$DEVICE_MAMPS,169.507,92.807,1359.891,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,386.166,435.979,564.459,349.672,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31878,545
$CAP_FILE_SIZE,147817,0
$CFSIZE,260165632,248139776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200708,102708,5011.509,-14429.171,61,1.6,62,18.6