version: 66.03
glider: 144
mission: 13
dive: 213
start: 8 4 108 11 30 59
data:
$ID,144
$MISSION,13
$DIVE,213
$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,-44122.688
$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,56
$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
$GPS1,112421,5005.801,-14449.501,44,3.2,63,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-62.2
$GPS2,113004,5005.786,-14449.460,18,2.1,37,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.009,0.140
$KALMAN_X,380.9,-127.0,519.8,9560.1,-1476.4
$KALMAN_Y,162058.7,53.9,107.9,-152460.6,-263.0
$MHEAD_RNG_PITCHd_Wd,337.7,3615,-27.7,-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,-1.90,-45.6,0.0,0.0,0,94,0.00,0.00,-72.20,0.000,2,0.000,0.000,497,1877,2812
$GC,97,-1.95,-82.9,3.2,-3.6,7,124,9.62,2.35,-12.25,0.000,4,0.165,0.047,2299,3293,3271
$GC,193,-1.88,-82.9,21.7,-21.1,15,197,0.00,2.25,0.00,0.000,6,0.000,0.031,2299,1916,3272
$GC,518,-1.88,-82.9,80.2,-18.5,45,522,0.00,2.38,0.00,0.000,4,0.000,0.051,2298,500,3274
$GC,748,-1.88,-82.9,123.5,-16.7,55,752,0.00,2.28,0.00,0.000,6,0.000,0.030,2299,1896,3275
$GC,1083,-1.94,-82.9,174.0,-15.0,69,1088,0.00,2.35,0.00,0.000,4,0.000,0.045,2299,503,3275
$GC,1251,-1.94,-82.9,200.7,-15.1,74,1255,0.00,2.25,0.00,0.000,6,0.000,0.032,2299,1903,3275
$GC,1586,-2.01,-82.9,248.4,-14.1,85,1590,0.00,2.38,0.00,0.000,4,0.000,0.048,2299,498,3276
$GC,1703,-2.01,-82.9,266.0,-15.1,88,1707,0.00,2.25,0.00,0.000,6,0.000,0.031,2299,1899,3275
$GC,2014,-2.09,-82.9,308.6,-13.9,97,2019,0.12,2.38,0.00,0.000,4,0.077,0.050,2267,499,3275
$GC,2193,-2.03,-82.9,336.8,-16.1,99,2197,0.00,2.25,0.00,0.000,6,0.000,0.028,2268,1898,3275
$GC,2506,-2.03,-82.9,382.5,-14.5,105,2510,0.00,2.38,0.00,0.000,4,0.000,0.051,2268,496,3274
$GC,2670,-1.99,-82.9,406.9,-15.2,107,2674,0.15,2.25,0.00,0.000,6,0.134,0.025,2295,1900,3274
$GC,3001,-2.06,-82.9,450.1,-13.0,113,3005,0.00,2.38,0.00,0.000,4,0.000,0.044,2295,497,3274
$GC,3197,-2.06,-82.9,477.8,-13.6,116,3201,0.00,2.25,0.00,0.000,6,0.000,0.028,2295,1901,3273
$GC,3568,-2.14,-82.9,524.4,-12.5,122,3573,0.15,2.38,0.00,0.000,4,0.074,0.050,2258,502,3273
$GC,3774,-2.08,-82.9,555.0,-14.6,125,3778,0.00,2.25,0.00,0.000,6,0.000,0.029,2259,1900,3273
$GC,4134,-2.08,-82.9,603.1,-13.3,131,4138,0.00,2.38,0.00,0.000,4,0.000,0.048,2258,496,3272
$GC,4161,-2.01,-82.9,607.0,-14.2,131,4165,0.15,2.28,0.00,0.000,6,0.137,0.030,2285,1911,3272
$GC,4492,-2.08,-82.9,648.6,-12.5,137,4496,0.00,2.40,0.00,0.000,4,0.000,0.045,2285,496,3272
$GC,4571,-2.08,-82.9,659.4,-14.0,138,4575,0.00,2.25,0.00,0.000,6,0.000,0.028,2285,1901,3271
$GC,4919,-2.14,-82.9,702.1,-12.1,144,4923,0.00,2.38,0.00,0.000,4,0.000,0.052,2285,502,3271
$GC,5013,-2.14,-82.9,714.4,-12.3,145,5017,0.00,2.25,0.00,0.000,6,0.000,0.028,2284,1900,3270
$GC,5351,-2.21,-82.9,752.1,-10.9,151,5356,0.15,2.38,0.00,0.000,4,0.077,0.047,2245,504,3270
$GC,5406,-2.11,-82.9,759.3,-13.5,151,5412,0.12,2.25,0.00,0.000,6,0.145,0.025,2266,1903,3270
$GC,5715,-2.11,-82.9,793.9,-11.2,157,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,1904,3270
$GC,6018,-2.11,-82.9,827.9,-11.2,162,6022,0.00,2.38,0.00,0.000,4,0.000,0.049,2265,505,3269
$GC,6067,-2.07,-82.9,833.9,-12.3,162,6071,0.00,2.25,0.00,0.000,6,0.000,0.025,2265,1900,3269
$GC,6383,-2.07,-82.9,869.0,-11.1,168,6387,0.00,2.38,0.00,0.000,4,0.000,0.055,2265,505,3269
$GC,6416,-2.02,-82.9,873.0,-12.3,168,6421,0.10,2.25,0.00,0.000,6,0.149,0.025,2282,1901,3269
$GC,6750,-2.09,-82.9,908.1,-10.6,174,6754,0.00,2.40,0.00,0.000,4,0.000,0.054,2282,506,3269
$GC,6832,-2.09,-82.9,918.2,-12.4,175,6837,0.00,2.28,0.00,0.000,6,0.000,0.028,2282,1881,3269
$GC,7183,-2.16,-82.9,955.8,-10.7,181,7185,0.12,0.00,0.00,0.000,6,0.084,0.000,2253,1882,3268
$STATE,7482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7482,begin apogee
$GC,7488,-0.33,0.0,990.1,11.3,186,7565,1.98,0.00,72.90,1.372,6,0.124,0.000,2653,2093,2931
$STATE,7566,end apogee,CONTROL_FINISHED_OK
$STATE,7566,begin climb
$GC,7568,1.95,82.9,991.7,0.0,187,7648,2.17,2.60,71.47,1.342,4,0.065,0.069,3153,3502,2591
$GC,7732,1.81,82.9,976.6,12.6,189,7737,0.17,2.40,0.00,0.000,6,0.136,0.054,3122,2117,2590
$GC,8058,1.76,82.9,938.9,11.6,195,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2117,2589
$GC,8362,1.71,82.9,903.4,11.8,200,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2117,2588
$GC,8664,1.67,82.9,868.3,11.6,205,8669,0.15,2.42,0.00,0.000,4,0.140,0.052,3091,685,2588
$GC,8737,1.67,82.9,860.1,11.7,206,8741,0.00,2.35,0.00,0.000,6,0.000,0.033,3091,2130,2588
$GC,9090,1.67,82.9,824.7,10.0,212,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2130,2587
$GC,9393,1.67,82.9,795.7,9.5,217,9394,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2130,2587
$GC,9696,1.67,82.9,768.3,9.0,222,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2131,2587
$GC,9999,1.67,82.9,742.2,8.6,227,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2133,2587
$GC,10302,1.67,82.9,715.7,8.8,232,10306,0.00,2.45,0.00,0.000,4,0.000,0.047,3091,681,2586
$GC,10351,1.63,82.9,711.0,9.6,232,10355,0.00,2.30,0.00,0.000,6,0.000,0.030,3091,2105,2586
$GC,10666,1.63,82.9,683.5,8.8,238,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2106,2586
$GC,10969,1.67,82.9,655.6,9.2,243,10970,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2108,2586
$GC,11272,1.67,82.9,627.4,9.3,248,11276,0.00,2.40,0.00,0.000,4,0.000,0.043,3091,682,2586
$GC,11343,1.67,82.9,619.9,10.1,249,11347,0.00,2.30,0.00,0.000,6,0.000,0.031,3091,2104,2586
$GC,11704,1.71,82.9,586.2,9.4,255,11708,0.00,2.30,0.00,0.000,4,0.000,0.041,3091,3495,2586
$GC,11771,1.71,82.9,579.7,10.0,256,11775,0.00,2.30,0.00,0.000,6,0.000,0.032,3091,2078,2586
$GC,12131,1.75,82.9,547.9,8.7,262,12132,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2078,2586
$GC,12433,1.80,84.2,523.7,7.9,267,12435,0.12,0.00,0.00,0.000,6,0.083,0.000,3121,2078,2586
$GC,12736,1.80,84.2,498.3,8.4,272,12737,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2078,2586
$GC,13039,1.80,84.2,473.0,8.3,277,13043,0.00,2.30,0.00,0.000,4,0.000,0.048,3121,702,2586
$GC,13083,1.71,84.2,469.1,8.5,277,13087,0.00,2.25,0.00,0.000,6,0.000,0.034,3121,2103,2586
$GC,13397,1.71,84.2,441.8,8.6,283,13402,0.10,2.35,0.00,0.000,4,0.146,0.044,3103,697,2586
$GC,13566,1.66,84.2,427.0,8.5,285,13570,0.00,2.25,0.00,0.000,6,0.000,0.030,3103,2101,2586
$GC,13903,1.67,86.6,400.4,7.7,291,13912,0.00,2.35,3.85,0.648,4,0.000,0.039,3103,3492,2577
$GC,14126,1.67,86.6,381.5,9.0,294,14130,0.00,2.30,0.00,0.000,6,0.000,0.027,3103,2096,2577
$GC,14475,1.67,87.2,353.7,7.9,300,14476,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2097,2577
$GC,14778,1.67,91.4,330.7,7.5,305,14789,0.00,2.35,5.93,0.765,4,0.000,0.046,3104,702,2557
$GC,14844,1.67,91.4,325.2,8.1,306,14848,0.00,2.28,0.00,0.000,6,0.000,0.028,3104,2096,2557
$GC,15210,1.67,92.3,296.3,7.9,312,15214,0.00,2.35,0.00,0.000,4,0.000,0.044,3104,699,2556
$GC,15283,1.67,92.3,290.1,8.5,314,15287,0.00,2.25,0.00,0.000,6,0.000,0.030,3104,2101,2556
$GC,15606,1.68,94.9,264.5,7.7,325,15615,0.00,2.38,4.50,0.655,4,0.000,0.042,3104,704,2543
$GC,15643,1.68,94.9,261.5,8.5,326,15647,0.00,2.28,0.00,0.000,6,0.000,0.026,3104,2110,2544
$GC,15978,1.73,99.3,236.7,7.5,337,15988,0.00,2.40,5.22,0.690,4,0.000,0.041,3103,694,2527
$GC,16055,1.73,99.3,230.2,8.0,339,16059,0.00,2.30,0.00,0.000,6,0.000,0.033,3104,2107,2526
$GC,16380,1.78,102.2,205.7,7.7,350,16389,0.00,2.33,4.35,0.620,4,0.000,0.036,3103,3499,2514
$GC,16451,1.78,102.2,200.0,8.2,352,16455,0.00,2.30,0.00,0.000,6,0.000,0.029,3104,2100,2514
$GC,16787,1.84,105.5,174.8,7.6,363,16793,0.10,0.00,4.32,0.607,6,0.090,0.000,3127,2099,2501
$GC,17092,1.84,109.5,150.3,7.5,373,17102,0.00,2.35,5.05,0.645,4,0.000,0.041,3127,697,2484
$GC,17233,1.80,118.9,139.5,6.9,379,17247,0.00,2.25,9.12,0.731,6,0.000,0.025,3127,2105,2445
$GC,17576,1.87,140.3,116.5,5.5,396,17601,0.00,2.38,18.20,0.757,4,0.000,0.039,3127,3486,2357
$GC,17735,1.93,149.2,106.3,7.0,403,17749,0.00,2.28,8.57,0.695,6,0.000,0.027,3127,2090,2321
$GC,18067,2.02,157.3,84.0,7.0,419,18077,0.17,0.00,7.97,0.678,6,0.074,0.000,3170,2089,2289
$GC,18385,2.02,159.3,57.5,7.8,446,18386,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2089,2287
$GC,18701,2.02,159.3,30.8,8.2,476,18702,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2089,2287
$GC,19020,2.08,208.9,20.6,2.2,506,19064,0.00,0.00,42.30,0.698,6,0.000,0.000,3170,2089,2079
$STATE,19251,end climb,SURFACE_DEPTH_REACHED
$STATE,19252,begin surface coast
$FINISH,1.0,1.012178
$STATE,19275,end surface coast,CONTROL_FINISHED_OK
$STATE,19275,begin surface
$SM_CCo,19296,150.93,0.660,0,0,1300,400.08
$SM_GC,1.51,0.00,0.00,150.93,0.000,0.000,0.660,494,1883,1300,-10.28,-0.48,400.08
$IRIDIUM_FIX,4943.02,-14454.99,291097,040451
$TT8_MAMPS,0.029146
$HUMID,1777
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,16.00
$XPDR_PINGS,68
$24V_AH,23.3,41.407
$10V_AH,10.1,21.000
$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,27.175,140.200,263.775,150.925,0.000,30.813,29.823,155.471,17.000,0.000,0.000,38.296,1261.355,15661.345,542.694,1873.038,455.066,33.390,1492.772,0.000,1826.162,0.000,0.459
$DEVICE_MAMPS,164.905,114.283,1372.163,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,375.610,423.157,548.262,353.344,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31810,530
$CAP_FILE_SIZE,132299,0
$CFSIZE,260165632,244563968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040808,165655,5007.732,-14450.695,55,1.4,72,18.5