version: 66.03
glider: 144
mission: 13
dive: 207
start: 8 2 108 20 45 58
data:
$ID,144
$MISSION,13
$DIVE,207
$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,-43854.988
$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,40
$R_STBD_OVSHOOT,48
$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
$GPS1,203528,4956.016,-14429.783,82,4.2,101,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-58.0
$GPS2,204504,4956.125,-14429.954,46,6.9,65,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.056,-0.160
$KALMAN_X,993.3,-29.2,-343.2,32930.8,1513.7
$KALMAN_Y,159994.0,3.5,304.7,-168431.3,49.7
$MHEAD_RNG_PITCHd_Wd,180.6,3916,-22.9,-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,18,begin dive
$GC,20,-1.61,-66.5,0.0,0.0,0,94,0.00,0.00,-71.40,0.000,2,0.000,0.000,491,1888,2840
$GC,96,-1.66,-108.1,3.5,-4.7,7,130,9.90,2.40,-13.57,0.000,4,0.162,0.058,2359,506,3375
$GC,378,-1.59,-108.1,51.3,-16.5,32,382,0.12,2.25,0.00,0.000,6,0.127,0.031,2381,1904,3378
$GC,698,-1.59,-108.1,100.5,-15.7,56,702,0.00,2.38,0.00,0.000,4,0.000,0.048,2382,502,3379
$GC,831,-1.59,-108.1,121.8,-16.0,62,835,0.00,2.25,0.00,0.000,6,0.000,0.031,2382,1898,3379
$GC,1147,-1.66,-108.1,164.0,-13.2,76,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,1901,3378
$GC,1454,-1.77,-108.1,201.5,-11.8,86,1458,0.15,2.38,0.00,0.000,4,0.067,0.050,2339,502,3379
$GC,1606,-1.72,-108.1,223.3,-14.1,90,1610,0.00,2.25,0.00,0.000,6,0.000,0.028,2339,1901,3379
$GC,1917,-1.72,-108.1,265.7,-13.5,100,1921,0.00,2.35,0.00,0.000,4,0.000,0.050,2339,506,3378
$GC,2022,-1.72,-108.1,281.0,-14.6,103,2026,0.00,2.25,0.00,0.000,6,0.000,0.028,2339,1900,3378
$GC,2355,-1.72,-108.1,324.1,-12.7,111,2359,0.00,2.38,0.00,0.000,4,0.000,0.050,2339,501,3378
$GC,2404,-1.72,-108.1,330.9,-13.8,111,2408,0.00,2.28,0.00,0.000,6,0.000,0.033,2339,1907,3378
$GC,2719,-1.72,-108.1,371.0,-12.7,117,2723,0.00,2.38,0.00,0.000,4,0.000,0.044,2339,508,3377
$GC,2874,-1.72,-108.1,391.9,-13.2,119,2879,0.00,2.28,0.00,0.000,6,0.000,0.031,2339,1898,3376
$GC,3217,-1.72,-108.1,433.0,-12.0,125,3221,0.00,2.38,0.00,0.000,4,0.000,0.045,2339,499,3376
$GC,3374,-1.72,-108.1,453.5,-13.3,127,3378,0.00,2.28,0.00,0.000,6,0.000,0.029,2339,1908,3376
$GC,3716,-1.72,-108.1,493.5,-11.5,133,3720,0.00,2.38,0.00,0.000,4,0.000,0.048,2339,508,3375
$GC,3800,-1.72,-108.1,504.0,-12.9,134,3804,0.00,2.25,0.00,0.000,6,0.000,0.032,2339,1903,3374
$GC,4142,-1.72,-108.1,543.9,-11.7,140,4146,0.00,2.38,0.00,0.000,4,0.000,0.048,2339,504,3374
$GC,4316,-1.72,-108.1,566.8,-13.5,142,4320,0.00,2.25,0.00,0.000,6,0.000,0.025,2339,1903,3374
$GC,4639,-1.72,-108.1,606.0,-12.3,148,4643,0.00,2.38,0.00,0.000,4,0.000,0.049,2339,505,3373
$GC,4721,-1.72,-108.1,617.6,-13.9,149,4725,0.00,2.28,0.00,0.000,6,0.000,0.031,2339,1900,3373
$GC,5070,-1.72,-108.1,659.8,-12.1,155,5074,0.00,2.38,0.00,0.000,4,0.000,0.052,2339,502,3372
$GC,5209,-1.72,-108.1,678.3,-12.8,157,5213,0.00,2.25,0.00,0.000,6,0.000,0.028,2339,1897,3372
$GC,5574,-1.72,-108.1,720.6,-11.3,163,5578,0.00,2.35,0.00,0.000,4,0.000,0.051,2339,505,3372
$GC,5662,-1.72,-108.1,731.1,-12.2,164,5666,0.00,2.28,0.00,0.000,6,0.000,0.031,2338,1910,3372
$GC,6011,-1.72,-108.1,767.7,-10.3,170,6015,0.00,2.38,0.00,0.000,4,0.000,0.051,2339,505,3371
$GC,6138,-1.72,-108.1,781.7,-10.9,171,6145,0.00,2.28,0.00,0.000,6,0.000,0.027,2339,1893,3371
$GC,6447,-1.72,-108.1,811.5,-9.5,177,6451,0.00,2.35,0.00,0.000,4,0.000,0.052,2339,509,3371
$GC,6536,-1.72,-108.1,820.8,-11.1,178,6540,0.00,2.25,0.00,0.000,6,0.000,0.033,2339,1900,3370
$GC,6885,-1.72,-108.1,853.7,-9.4,184,6889,0.00,2.38,0.00,0.000,4,0.000,0.056,2339,506,3370
$GC,6945,-1.72,-108.1,860.0,-10.1,184,6952,0.00,2.28,0.00,0.000,6,0.000,0.029,2338,1910,3370
$GC,7255,-1.77,-108.1,890.0,-9.7,190,7259,0.00,2.40,0.00,0.000,4,0.000,0.054,2339,510,3369
$GC,7327,-1.77,-108.1,897.8,-11.0,191,7331,0.00,2.25,0.00,0.000,6,0.000,0.027,2338,1895,3370
$GC,7687,-1.82,-108.1,933.9,-10.0,197,7691,0.00,2.42,0.00,0.000,4,0.000,0.065,2338,509,3369
$GC,7736,-1.82,-108.1,939.4,-11.0,197,7740,0.00,2.30,0.00,0.000,6,0.000,0.035,2339,1897,3369
$GC,8051,-1.87,-108.1,971.8,-10.3,203,8055,0.00,2.47,0.00,0.000,4,0.000,0.072,2339,510,3369
$GC,8094,-1.87,-108.1,977.0,-11.3,203,8099,0.00,2.35,0.00,0.000,6,0.000,0.048,2339,1897,3369
$STATE,8231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8231,begin apogee
$GC,8237,-0.33,0.0,991.8,10.8,206,8334,1.50,0.00,93.72,1.371,6,0.110,0.000,2651,2106,2931
$STATE,8335,end apogee,CONTROL_FINISHED_OK
$STATE,8335,begin climb
$GC,8337,1.66,108.1,994.0,0.0,207,8438,1.92,2.60,92.57,1.343,4,0.064,0.078,3090,3509,2490
$GC,8466,1.47,108.1,986.9,9.9,209,8472,0.22,2.42,0.00,0.000,6,0.127,0.054,3049,2121,2487
$GC,8826,1.47,108.1,953.1,9.3,215,8830,0.00,2.42,0.00,0.000,4,0.000,0.060,3048,3509,2485
$GC,8847,1.41,108.1,951.0,9.7,215,8851,0.00,2.40,0.00,0.000,6,0.000,0.043,3049,2095,2485
$GC,9190,1.36,108.1,920.4,8.9,221,9195,0.12,2.42,0.00,0.000,4,0.131,0.048,3026,3511,2484
$GC,9228,1.36,108.1,917.1,8.7,221,9232,0.00,2.38,0.00,0.000,6,0.000,0.031,3026,2086,2484
$GC,9554,1.36,108.1,890.9,8.0,227,9558,0.00,2.45,0.00,0.000,4,0.000,0.045,3027,3522,2484
$GC,9591,1.36,108.1,887.7,9.2,227,9595,0.00,2.38,0.00,0.000,6,0.000,0.033,3026,2088,2484
$GC,9917,1.36,108.1,860.5,8.3,233,9918,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2088,2484
$GC,10221,1.36,108.1,833.3,9.1,238,10224,0.00,2.42,0.00,0.000,4,0.000,0.044,3026,3522,2483
$GC,10275,1.36,108.1,827.9,9.8,238,10280,0.00,2.38,0.00,0.000,6,0.000,0.028,3026,2096,2483
$GC,10590,1.36,108.1,798.8,9.3,244,10594,0.00,2.35,0.00,0.000,4,0.000,0.045,3026,699,2483
$GC,10610,1.36,108.1,796.6,11.3,244,10615,0.00,2.33,0.00,0.000,6,0.000,0.034,3026,2132,2483
$GC,10954,1.36,108.1,764.6,9.4,250,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2131,2482
$GC,11258,1.36,108.1,735.9,9.5,255,11262,0.00,2.42,0.00,0.000,4,0.000,0.044,3026,698,2483
$GC,11284,1.36,108.1,733.1,10.5,255,11288,0.00,2.30,0.00,0.000,6,0.000,0.026,3026,2103,2482
$GC,11622,1.36,108.1,703.3,8.9,261,11623,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2105,2482
$GC,11924,1.36,108.1,678.6,8.0,266,11928,0.00,2.33,0.00,0.000,4,0.000,0.040,3026,3495,2482
$GC,11946,1.38,119.0,677.0,7.1,266,11960,0.00,2.28,9.57,1.043,6,0.000,0.026,3026,2097,2444
$GC,12288,1.43,122.3,650.5,7.7,272,12294,0.00,0.00,4.25,0.781,6,0.000,0.000,3026,2097,2432
$GC,12592,1.47,122.4,626.6,8.0,277,12593,0.10,0.00,0.00,0.000,6,0.084,0.000,3051,2097,2432
$GC,12893,1.47,122.4,599.0,9.1,282,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2097,2432
$GC,13197,1.47,122.4,569.3,9.9,287,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2097,2432
$GC,13500,1.47,122.4,538.9,10.0,292,13504,0.00,2.35,0.00,0.000,4,0.000,0.044,3051,698,2432
$GC,13527,1.42,122.4,535.9,10.8,292,13531,0.00,2.28,0.00,0.000,6,0.000,0.033,3051,2105,2432
$GC,13858,1.42,122.4,503.6,9.7,298,13862,0.00,2.38,0.00,0.000,4,0.000,0.043,3051,697,2432
$GC,13886,1.36,122.4,500.7,10.3,298,13891,0.12,2.28,0.00,0.000,6,0.129,0.028,3027,2104,2432
$GC,14217,1.41,122.4,471.8,8.7,304,14221,0.00,2.30,0.00,0.000,4,0.000,0.038,3027,3493,2432
$GC,14257,1.41,122.4,468.3,8.1,304,14261,0.00,2.25,0.00,0.000,6,0.000,0.029,3027,2099,2432
$GC,14578,1.46,122.4,440.8,8.7,310,14579,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2099,2432
$GC,14880,1.51,122.4,414.0,8.8,315,14884,0.12,2.35,0.00,0.000,4,0.077,0.044,3058,697,2432
$GC,14935,1.44,122.4,408.1,11.0,315,14941,0.00,2.28,0.00,0.000,6,0.000,0.030,3058,2104,2432
$GC,15243,1.44,122.4,379.3,9.3,321,15247,0.00,2.30,0.00,0.000,4,0.000,0.038,3059,3497,2432
$GC,15309,1.44,122.4,372.7,9.7,322,15313,0.00,2.28,0.00,0.000,6,0.000,0.026,3058,2097,2432
$GC,15675,1.44,122.4,338.9,9.2,328,15676,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2097,2432
$GC,15978,1.44,122.4,311.2,9.1,333,15982,0.00,2.33,0.00,0.000,4,0.000,0.045,3058,700,2432
$GC,16027,1.38,122.4,306.2,10.1,333,16032,0.15,2.28,0.00,0.000,6,0.125,0.027,3031,2109,2432
$GC,16339,1.43,124.2,280.8,7.8,341,16343,0.00,2.38,0.00,0.000,4,0.000,0.044,3031,696,2432
$GC,16371,1.43,124.2,278.0,8.3,342,16375,0.00,2.28,0.00,0.000,6,0.000,0.029,3031,2104,2432
$GC,16706,1.51,138.0,254.4,6.9,353,16723,0.12,0.00,14.38,0.837,6,0.076,0.000,3063,2107,2367
$GC,17012,1.51,138.0,229.2,8.3,363,17013,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2107,2366
$GC,17318,1.51,138.0,202.3,8.8,373,17319,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2107,2366
$GC,17624,1.51,138.0,173.6,9.4,383,17628,0.00,2.33,0.00,0.000,4,0.000,0.038,3063,3501,2366
$GC,17640,1.51,138.0,171.9,9.6,383,17645,0.00,2.30,0.00,0.000,6,0.000,0.026,3063,2102,2366
$GC,17959,1.52,141.7,144.7,7.7,395,17969,0.00,2.38,4.53,0.610,4,0.000,0.050,3062,698,2353
$GC,18004,1.47,141.7,140.9,8.1,397,18009,0.00,2.28,0.00,0.000,6,0.000,0.027,3063,2102,2352
$GC,18331,1.49,157.2,118.1,6.7,413,18353,0.00,2.35,14.02,0.755,4,0.000,0.041,3063,3491,2289
$GC,18369,1.50,164.4,115.4,7.4,414,18383,0.00,2.33,7.40,0.676,6,0.000,0.026,3063,2095,2260
$GC,18706,1.58,175.3,90.5,7.1,431,18718,0.00,0.00,10.05,0.707,6,0.000,0.000,3063,2096,2216
$GC,19021,1.67,177.9,66.4,7.8,454,19023,0.12,0.00,0.00,0.000,6,0.075,0.000,3096,2095,2214
$GC,19339,1.67,179.8,39.9,7.8,484,19351,0.00,0.00,5.07,0.590,6,0.000,0.000,3096,2095,2197
$GC,19672,1.78,238.4,23.9,3.3,515,19726,0.00,2.38,48.55,0.696,4,0.000,0.049,3096,704,1956
$STATE,19927,end climb,SURFACE_DEPTH_REACHED
$STATE,19927,begin surface coast
$FINISH,1.1,1.024734
$STATE,19940,end surface coast,CONTROL_FINISHED_OK
$STATE,19940,begin surface
$SM_CCo,19963,127.62,0.657,0,0,1300,400.08
$SM_GC,1.54,0.00,0.00,127.62,0.000,0.000,0.657,497,1902,1300,-10.26,0.06,400.08
$IRIDIUM_FIX,4939.69,-14430.07,271097,202053
$TT8_MAMPS,0.029146
$HUMID,1765
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,14.30
$XPDR_PINGS,84
$24V_AH,23.3,40.437
$10V_AH,10.1,20.498
$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,25.700,172.950,304.125,127.625,0.000,53.955,66.222,232.768,21.000,0.000,0.000,66.321,1262.254,16364.037,583.558,1859.493,599.311,33.372,1548.854,0.000,1781.175,0.000,0.459
$DEVICE_MAMPS,161.837,115.050,1371.396,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,382.698,429.774,557.424,353.263,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31758,539
$CAP_FILE_SIZE,138593,0
$CFSIZE,260165632,244936704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030808,022327,4954.474,-14430.446,101,5.3,120,18.5