version: 66.03
glider: 144
mission: 13
dive: 169
start: 7 23 108 11 59 32
data:
$ID,144
$MISSION,13
$DIVE,169
$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,-42089.895
$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,33
$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,0
$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
$GPS1,115001,5005.590,-14448.998,60,1.7,66,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-58.0
$GPS2,115838,5005.650,-14448.887,16,2.0,33,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.064,0.193
$KALMAN_X,2984.9,-86.9,236.2,7878.6,-804.4
$KALMAN_Y,131250.7,-40.0,517.2,-122213.7,-1323.2
$MHEAD_RNG_PITCHd_Wd,323.2,4185,-18.9,-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,-1.38,-97.5,0.0,0.0,0,94,0.00,0.00,-71.90,0.000,2,0.000,0.000,492,1895,2787
$GC,96,-1.44,-146.6,3.0,-3.7,7,133,10.23,2.42,-20.58,0.000,4,0.166,0.066,2408,508,3531
$GC,376,-1.33,-146.6,47.2,-16.2,32,381,0.15,2.30,0.00,0.000,6,0.117,0.032,2437,1911,3534
$GC,698,-1.33,-146.6,91.0,-13.3,58,702,0.00,2.42,0.00,0.000,4,0.000,0.050,2437,495,3535
$GC,731,-1.33,-146.6,95.9,-13.9,59,737,0.00,2.33,0.00,0.000,6,0.000,0.036,2437,1897,3535
$GC,1047,-1.40,-146.6,133.3,-11.5,75,1051,0.00,2.40,0.00,0.000,4,0.000,0.051,2436,501,3536
$GC,1158,-1.46,-146.6,146.3,-11.5,80,1163,0.12,2.30,0.00,0.000,6,0.071,0.036,2403,1903,3536
$GC,1485,-1.46,-146.6,186.3,-12.2,92,1487,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1906,3536
$GC,1791,-1.46,-146.6,222.8,-11.9,102,1796,0.00,2.40,0.00,0.000,4,0.000,0.056,2403,502,3535
$GC,1857,-1.46,-146.6,231.1,-12.3,104,1862,0.00,2.33,0.00,0.000,6,0.000,0.038,2403,1902,3536
$GC,2193,-1.46,-146.6,270.3,-12.0,115,2197,0.00,2.40,0.00,0.000,4,0.000,0.054,2403,503,3535
$GC,2230,-1.46,-146.6,275.1,-12.4,116,2235,0.00,2.33,0.00,0.000,6,0.000,0.031,2403,1899,3535
$GC,2589,-1.46,-146.6,315.6,-11.3,126,2593,0.00,2.40,0.00,0.000,4,0.000,0.051,2403,500,3534
$GC,2672,-1.46,-146.6,325.6,-12.6,127,2676,0.00,2.30,0.00,0.000,6,0.000,0.031,2403,1900,3534
$GC,3020,-1.46,-146.6,364.5,-11.3,133,3021,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,1903,3534
$GC,3323,-1.46,-146.6,399.0,-11.3,138,3327,0.00,2.40,0.00,0.000,4,0.000,0.050,2403,502,3533
$GC,3390,-1.46,-146.6,407.1,-12.7,139,3394,0.00,2.30,0.00,0.000,6,0.000,0.039,2403,1904,3533
$GC,3749,-1.46,-146.6,447.2,-11.0,145,3753,0.00,2.40,0.00,0.000,4,0.000,0.056,2403,502,3532
$GC,3820,-1.46,-146.6,455.9,-12.0,146,3824,0.00,2.30,0.00,0.000,6,0.000,0.038,2403,1903,3532
$GC,4181,-1.50,-146.6,495.3,-11.0,152,4185,0.00,2.40,0.00,0.000,4,0.000,0.057,2403,502,3532
$GC,4218,-1.50,-146.6,499.9,-11.5,152,4223,0.00,2.33,0.00,0.000,6,0.000,0.034,2403,1905,3532
$GC,4545,-1.50,-146.6,534.0,-10.4,158,4549,0.00,2.40,0.00,0.000,4,0.000,0.054,2403,501,3531
$GC,4605,-1.50,-146.6,540.5,-10.7,159,4610,0.00,2.30,0.00,0.000,6,0.000,0.036,2403,1902,3531
$GC,4971,-1.55,-146.6,578.8,-10.5,165,4975,0.00,2.40,0.00,0.000,4,0.000,0.055,2403,502,3530
$GC,5081,-1.55,-146.6,591.5,-11.0,166,5085,0.00,2.30,0.00,0.000,6,0.000,0.037,2403,1894,3530
$GC,5402,-1.60,-146.6,624.8,-10.4,172,5407,0.12,2.40,0.00,0.000,4,0.078,0.050,2371,495,3530
$GC,5440,-1.54,-146.6,629.5,-12.6,172,5445,0.10,2.30,0.00,0.000,6,0.131,0.038,2388,1897,3530
$GC,5760,-1.54,-146.6,663.0,-10.3,178,5764,0.00,2.40,0.00,0.000,4,0.000,0.054,2388,493,3529
$GC,5854,-1.54,-146.6,673.7,-11.0,179,5858,0.00,2.30,0.00,0.000,6,0.000,0.039,2388,1901,3529
$GC,6198,-1.54,-146.6,707.0,-9.6,185,6199,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1903,3529
$GC,6500,-1.54,-146.6,735.5,-9.4,190,6504,0.00,2.42,0.00,0.000,4,0.000,0.059,2388,494,3528
$GC,6554,-1.54,-146.6,741.1,-10.2,190,6561,0.00,2.35,0.00,0.000,6,0.000,0.036,2389,1904,3528
$GC,6864,-1.54,-146.6,770.2,-9.4,196,6868,0.00,2.42,0.00,0.000,4,0.000,0.059,2388,497,3528
$GC,6925,-1.54,-146.6,776.3,-10.0,197,6929,0.00,2.30,0.00,0.000,6,0.000,0.036,2388,1900,3528
$GC,7292,-1.54,-146.6,811.9,-9.9,203,7296,0.00,2.42,0.00,0.000,4,0.000,0.054,2388,496,3527
$GC,7421,-1.54,-146.6,826.4,-11.0,205,7425,0.00,2.33,0.00,0.000,6,0.000,0.038,2388,1904,3527
$GC,7786,-1.54,-146.6,863.7,-10.1,211,7790,0.00,2.42,0.00,0.000,4,0.000,0.057,2388,504,3527
$GC,7863,-1.54,-146.6,872.4,-11.1,212,7868,0.00,2.33,0.00,0.000,6,0.000,0.035,2388,1899,3527
$GC,8220,-1.54,-146.6,907.7,-10.0,218,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1899,3527
$GC,8521,-1.59,-146.6,937.9,-9.9,223,8525,0.00,2.47,0.00,0.000,4,0.000,0.073,2388,501,3527
$GC,8600,-1.59,-146.6,946.4,-11.1,224,8604,0.00,2.33,0.00,0.000,6,0.000,0.040,2388,1888,3526
$GC,8947,-1.59,-146.6,980.4,-9.7,230,8952,0.00,2.50,0.00,0.000,4,0.000,0.082,2388,507,3525
$GC,9002,-1.59,-146.6,986.2,-10.8,230,9009,0.00,2.40,0.00,0.000,6,0.000,0.056,2388,1888,3525
$STATE,9067,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9067,begin apogee
$GC,9072,-0.33,0.0,992.7,9.9,232,9202,1.25,0.00,126.28,1.372,6,0.104,0.000,2653,2100,2931
$STATE,9203,end apogee,CONTROL_FINISHED_OK
$STATE,9203,begin climb
$GC,9205,1.44,146.6,996.2,0.0,234,9338,1.70,2.62,124.25,1.341,4,0.066,0.078,3039,3512,2332
$GC,9406,1.25,146.6,980.5,12.5,237,9411,0.20,2.47,0.00,0.000,6,0.123,0.060,3002,2110,2328
$GC,9754,1.18,146.6,944.8,10.3,243,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2110,2325
$GC,10057,1.11,146.6,913.9,10.1,248,10059,0.17,0.00,0.00,0.000,6,0.123,0.000,2970,2110,2325
$GC,10359,1.11,146.6,887.0,8.8,253,10360,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2110,2325
$GC,10662,1.11,146.6,860.3,8.8,258,10667,0.00,2.42,0.00,0.000,4,0.000,0.049,2970,3515,2324
$GC,10700,1.11,146.6,856.8,9.6,258,10704,0.00,2.38,0.00,0.000,6,0.000,0.034,2970,2085,2324
$GC,11026,1.11,146.6,827.4,9.1,264,11030,0.00,2.38,0.00,0.000,4,0.000,0.056,2970,699,2324
$GC,11057,1.11,146.6,824.1,10.1,264,11062,0.00,2.38,0.00,0.000,6,0.000,0.041,2970,2110,2324
$GC,11389,1.11,146.6,791.8,9.9,270,11390,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2111,2324
$GC,11692,1.11,146.6,762.6,9.7,275,11697,0.00,2.45,0.00,0.000,4,0.000,0.051,2970,691,2324
$GC,11741,1.11,146.6,757.3,9.8,275,11746,0.00,2.38,0.00,0.000,6,0.000,0.041,2970,2099,2324
$GC,12056,1.11,146.6,727.9,9.3,281,12060,0.00,2.40,0.00,0.000,4,0.000,0.051,2970,3508,2323
$GC,12105,1.11,146.6,723.3,8.8,281,12110,0.00,2.35,0.00,0.000,6,0.000,0.038,2970,2106,2324
$GC,12421,1.11,146.6,697.3,8.2,287,12425,0.00,2.42,0.00,0.000,4,0.000,0.056,2969,691,2323
$GC,12447,1.11,146.6,695.0,8.7,287,12452,0.00,2.38,0.00,0.000,6,0.000,0.040,2970,2102,2323
$GC,12785,1.13,160.7,670.3,7.2,293,12803,0.00,2.47,11.68,1.065,4,0.000,0.048,2969,3500,2275
$GC,12831,1.13,167.3,666.7,7.6,293,12848,0.00,2.35,7.53,0.968,6,0.000,0.031,2970,2089,2249
$GC,13150,1.19,174.2,642.5,7.6,299,13164,0.00,2.45,7.65,0.972,4,0.000,0.050,2969,699,2219
$GC,13187,1.19,174.2,639.3,8.4,299,13191,0.00,2.38,0.00,0.000,6,0.000,0.035,2970,2103,2218
$GC,13520,1.24,174.6,612.7,8.0,305,13521,0.12,0.00,0.00,0.000,6,0.078,0.000,3000,2106,2218
$GC,13824,1.24,174.6,584.0,9.6,310,13828,0.00,2.38,0.00,0.000,4,0.000,0.045,3000,3506,2217
$GC,13855,1.24,174.6,580.5,10.0,310,13860,0.00,2.35,0.00,0.000,6,0.000,0.031,3000,2104,2217
$GC,14187,1.24,174.6,548.8,9.6,316,14188,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2105,2217
$GC,14491,1.24,174.6,520.7,9.3,321,14495,0.00,2.40,0.00,0.000,4,0.000,0.053,3000,693,2217
$GC,14523,1.19,174.6,517.4,10.5,321,14527,0.00,2.38,0.00,0.000,6,0.000,0.038,3000,2105,2217
$GC,14855,1.19,174.6,487.3,9.0,327,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2106,2217
$GC,15158,1.19,174.6,459.7,9.1,332,15159,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2106,2217
$GC,15461,1.19,174.6,431.7,9.3,337,15465,0.00,2.40,0.00,0.000,4,0.000,0.048,3000,698,2217
$GC,15510,1.14,174.6,426.7,10.2,337,15515,0.12,2.33,0.00,0.000,6,0.123,0.041,2977,2102,2217
$GC,15825,1.19,174.6,400.5,8.3,343,15826,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2104,2217
$GC,16128,1.25,180.0,376.9,7.7,348,16140,0.10,2.38,6.30,0.799,4,0.084,0.044,3003,3497,2196
$GC,16167,1.25,180.0,373.4,9.0,348,16172,0.00,2.35,0.00,0.000,6,0.000,0.034,3003,2094,2196
$GC,16493,1.25,180.0,343.8,9.1,354,16497,0.00,2.38,0.00,0.000,4,0.000,0.049,3003,693,2195
$GC,16560,1.21,180.0,336.9,10.0,355,16564,0.00,2.33,0.00,0.000,6,0.000,0.036,3003,2101,2195
$GC,16918,1.21,180.0,303.7,9.1,361,16923,0.00,2.35,0.00,0.000,4,0.000,0.043,3002,3497,2195
$GC,16980,1.21,180.0,297.8,9.5,362,16984,0.00,2.30,0.00,0.000,6,0.000,0.035,3003,2096,2195
$GC,17315,1.21,180.0,268.1,8.9,373,17319,0.00,2.38,0.00,0.000,4,0.000,0.050,3003,696,2195
$GC,17347,1.21,180.0,265.0,8.5,374,17351,0.00,2.35,0.00,0.000,6,0.000,0.041,3003,2099,2195
$GC,17682,1.21,184.7,237.8,7.7,385,17692,0.00,2.38,5.53,0.700,4,0.000,0.044,3003,3497,2177
$GC,17731,1.21,184.7,233.8,8.2,386,17735,0.00,2.30,0.00,0.000,6,0.000,0.034,3003,2100,2177
$GC,18048,1.21,184.7,207.0,9.0,397,18050,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2100,2177
$GC,18355,1.22,195.6,182.7,7.4,407,18367,0.00,0.00,10.82,0.773,6,0.000,0.000,3003,2100,2133
$GC,18661,1.27,195.6,158.1,8.7,417,18665,0.00,2.38,0.00,0.000,4,0.000,0.053,3003,701,2130
$GC,18732,1.27,195.6,150.6,10.6,419,18737,0.00,2.35,0.00,0.000,6,0.000,0.034,3002,2102,2130
$GC,19065,1.35,213.5,123.9,7.0,435,19086,0.00,0.00,16.25,0.758,6,0.000,0.000,3003,2106,2058
$GC,19397,1.49,241.6,101.6,6.5,451,19423,0.20,0.00,24.08,0.743,6,0.067,0.000,3053,2106,1946
$GC,19728,1.49,241.6,70.8,9.6,471,19732,0.00,2.40,0.00,0.000,4,0.000,0.049,3053,701,1940
$GC,19779,1.44,241.6,65.6,10.2,475,19783,0.00,2.33,0.00,0.000,6,0.000,0.037,3053,2102,1940
$GC,20103,1.44,241.8,36.7,8.0,505,20107,0.00,2.35,0.00,0.000,4,0.000,0.046,3053,3499,1939
$GC,20267,1.44,241.8,23.3,8.3,519,20271,0.00,2.30,0.00,0.000,6,0.000,0.032,3053,2100,1938
$STATE,20562,end climb,SURFACE_DEPTH_REACHED
$STATE,20562,begin surface coast
$FINISH,0.8,1.005962
$STATE,20596,end surface coast,CONTROL_FINISHED_OK
$STATE,20596,begin surface
$SM_CCo,20614,129.55,0.643,3,0,1300,400.08
$SM_GC,1.46,0.00,0.00,129.55,0.000,0.000,0.643,497,1892,1300,-10.26,-0.23,400.08
$IRIDIUM_FIX,4946.36,-14448.39,171097,121230
$TT8_MAMPS,0.029146
$HUMID,1761
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,16.00
$XPDR_PINGS,88
$24V_AH,23.4,34.121
$10V_AH,10.2,17.307
$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,25.525,181.125,340.350,129.550,0.000,51.317,69.719,210.872,22.000,0.000,0.000,33.130,1277.571,17026.609,650.137,1777.497,547.220,33.367,1601.854,0.000,1730.124,0.000,0.459
$DEVICE_MAMPS,165.672,102.778,1372.163,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,390.545,438.864,566.642,339.532,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31872,550
$CAP_FILE_SIZE,140096,0
$CFSIZE,260165632,247373824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,230708,174637,5007.926,-14451.472,29,1.8,29,18.5