version: 66.03
glider: 144
mission: 13
dive: 259
start: 8 17 108 3 33 22
data:
$ID,144
$MISSION,13
$DIVE,259
$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,-48367.785
$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,59
$R_STBD_OVSHOOT,54
$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
$GPS1,032631,5019.393,-14511.222,132,1.7,132,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-62.0
$GPS2,033226,5019.385,-14511.233,56,1.8,56,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.015,0.090
$KALMAN_X,1784.4,152.7,-309.2,-17210.9,-482.6
$KALMAN_Y,192212.6,-81.2,-196.6,-156982.3,785.1
$MHEAD_RNG_PITCHd_Wd,332.1,3122,-39.8,-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,-2.68,-22.1,0.0,0.0,0,83,0.00,0.00,-61.08,0.000,2,0.000,0.000,494,1875,2569
$GC,86,-2.70,-40.1,3.1,-3.7,6,120,8.73,2.33,-16.35,0.000,4,0.165,0.057,2134,519,3097
$GC,211,-2.66,-40.1,31.4,-28.0,17,215,0.00,2.22,0.00,0.000,6,0.000,0.028,2134,1907,3099
$GC,534,-2.77,-40.1,98.2,-21.5,43,538,0.00,2.33,0.00,0.000,4,0.000,0.038,2134,520,3101
$GC,791,-2.84,-40.1,146.2,-17.9,54,798,0.12,2.20,0.00,0.000,6,0.076,0.021,2103,1908,3102
$GC,1125,-2.95,-40.1,201.3,-16.6,66,1129,0.00,2.33,0.00,0.000,4,0.000,0.045,2103,522,3102
$GC,1382,-2.95,-40.1,247.1,-16.8,73,1388,0.00,2.20,0.00,0.000,6,0.000,0.029,2103,1904,3102
$GC,1695,-3.07,-40.1,298.0,-16.4,84,1699,0.15,2.30,0.00,0.000,4,0.074,0.042,2061,523,3102
$GC,1952,-3.00,-40.1,344.0,-17.7,88,1958,0.00,2.20,0.00,0.000,6,0.000,0.028,2061,1905,3101
$GC,2261,-3.04,-40.1,395.1,-16.5,94,2265,0.00,2.33,0.00,0.000,4,0.000,0.048,2061,522,3101
$GC,2519,-3.00,-40.1,437.8,-16.7,97,2525,0.00,2.20,0.00,0.000,6,0.000,0.025,2061,1903,3100
$GC,2828,-3.00,-40.1,484.3,-15.0,103,2832,0.00,2.33,0.00,0.000,4,0.000,0.041,2060,520,3099
$GC,2939,-2.93,-40.1,502.2,-16.1,104,2944,0.15,2.20,0.00,0.000,6,0.155,0.022,2086,1901,3099
$GC,3254,-3.01,-40.1,547.5,-14.2,110,3257,0.00,2.33,0.00,0.000,4,0.000,0.042,2086,515,3099
$GC,3377,-3.01,-40.1,565.7,-14.6,111,3381,0.00,2.20,0.00,0.000,6,0.000,0.022,2086,1899,3099
$GC,3686,-3.10,-40.1,606.6,-13.2,116,3691,0.15,2.33,0.00,0.000,4,0.078,0.042,2045,520,3098
$GC,3832,-3.02,-40.1,627.7,-14.7,118,3837,0.12,2.20,0.00,0.000,6,0.160,0.030,2066,1899,3097
$GC,4180,-3.07,-40.1,670.7,-12.0,124,4184,0.00,2.33,0.00,0.000,4,0.000,0.042,2066,520,3097
$GC,4325,-3.07,-40.1,689.2,-12.9,126,4329,0.00,2.20,0.00,0.000,6,0.000,0.028,2066,1900,3097
$GC,4680,-3.13,-40.1,731.5,-12.0,132,4681,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,1901,3097
$GC,4983,-3.19,-40.1,768.6,-12.4,137,4988,0.15,2.33,0.00,0.000,4,0.080,0.043,2025,525,3096
$GC,5167,-3.08,-40.1,794.6,-13.8,139,5172,0.15,2.20,0.00,0.000,6,0.158,0.031,2051,1898,3096
$GC,5476,-3.08,-40.1,834.8,-12.9,144,5480,0.00,2.33,0.00,0.000,4,0.000,0.051,2052,525,3095
$GC,5621,-3.02,-40.1,855.1,-14.1,146,5625,0.00,2.22,0.00,0.000,6,0.000,0.031,2052,1908,3095
$GC,5970,-3.02,-40.1,899.0,-12.5,152,5975,0.00,2.38,0.00,0.000,4,0.000,0.049,2052,522,3094
$GC,6178,-2.96,-40.1,926.5,-13.8,155,6182,0.15,2.25,0.00,0.000,6,0.160,0.037,2077,1890,3094
$GC,6532,-3.05,-40.1,965.9,-11.0,161,6536,0.00,2.40,0.00,0.000,4,0.000,0.070,2077,523,3094
$GC,6587,-3.05,-40.1,972.5,-11.4,161,6591,0.00,2.33,0.00,0.000,6,0.000,0.042,2077,1898,3094
$STATE,6778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6778,begin apogee
$GC,6784,-0.33,0.0,992.7,10.6,165,6826,2.90,0.00,36.58,1.361,6,0.140,0.000,2648,2100,2931
$STATE,6826,end apogee,CONTROL_FINISHED_OK
$STATE,6826,begin climb
$GC,6829,2.70,40.1,992.7,0.0,165,6875,2.92,2.60,35.95,1.331,4,0.058,0.074,3322,3501,2767
$GC,6938,2.65,40.1,984.3,11.1,167,6942,0.00,2.38,0.00,0.000,6,0.000,0.051,3322,2134,2766
$GC,7268,2.65,40.1,947.3,11.1,173,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2134,2766
$GC,7572,2.65,40.1,915.2,10.6,178,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2133,2765
$GC,7874,2.65,40.1,885.0,9.9,183,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2134,2765
$GC,8178,2.65,40.1,856.9,9.2,188,8182,0.00,2.45,0.00,0.000,4,0.000,0.042,3322,680,2765
$GC,8295,2.55,40.1,845.6,9.1,189,8300,0.20,2.35,0.00,0.000,6,0.152,0.028,3287,2127,2765
$GC,8605,2.60,40.1,819.7,8.4,194,8606,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2127,2765
$GC,8907,2.65,40.1,794.0,8.4,199,8911,0.00,2.45,0.00,0.000,4,0.000,0.040,3287,673,2764
$GC,9165,2.65,40.1,770.4,9.6,202,9172,0.00,2.33,0.00,0.000,6,0.000,0.028,3287,2111,2764
$GC,9474,2.70,40.1,743.3,8.8,208,9479,0.12,2.40,0.00,0.000,4,0.084,0.045,3316,678,2764
$GC,9675,2.62,40.1,723.6,9.7,211,9680,0.00,2.30,0.00,0.000,6,0.000,0.024,3316,2106,2764
$GC,10035,2.62,40.1,692.8,8.4,217,10039,0.00,2.28,0.00,0.000,4,0.000,0.036,3316,3493,2764
$GC,10123,2.62,40.1,685.6,8.2,218,10128,0.00,2.30,0.00,0.000,6,0.000,0.025,3316,2072,2763
$GC,10473,2.62,41.5,658.8,7.7,224,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2072,2764
$GC,10775,2.62,44.5,636.7,7.3,229,10785,0.00,2.33,4.75,0.832,4,0.000,0.043,3316,694,2749
$GC,11040,2.54,44.5,614.3,8.2,233,11045,0.17,2.28,0.00,0.000,6,0.153,0.031,3286,2105,2749
$GC,11405,2.61,47.4,587.3,7.3,239,11411,0.00,0.00,4.43,0.779,6,0.000,0.000,3286,2107,2737
$GC,11708,2.68,49.2,564.5,7.6,244,11710,0.10,0.00,0.00,0.000,6,0.089,0.000,3309,2107,2737
$GC,12011,2.68,52.8,542.8,7.1,249,12022,0.00,2.38,6.40,0.887,4,0.000,0.038,3310,695,2714
$GC,12241,2.63,52.8,523.4,8.4,252,12245,0.00,2.28,0.00,0.000,6,0.000,0.030,3310,2104,2714
$GC,12578,2.64,55.5,498.1,7.4,258,12588,0.00,2.40,3.92,0.684,4,0.000,0.038,3309,703,2704
$GC,12678,2.59,55.5,490.2,8.5,259,12681,0.00,2.25,0.00,0.000,6,0.000,0.031,3310,2101,2704
$GC,13015,2.59,58.1,465.3,7.4,265,13021,0.00,0.00,3.92,0.675,6,0.000,0.000,3310,2101,2694
$GC,13318,2.59,58.1,441.2,8.0,270,13319,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2101,2693
$GC,13621,2.59,58.1,415.9,8.4,275,13622,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2102,2693
$GC,13924,2.63,58.1,391.1,8.2,280,13925,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2102,2693
$GC,14228,2.67,59.8,367.8,7.6,285,14232,0.00,2.35,0.00,0.000,4,0.000,0.044,3309,695,2693
$GC,14363,2.64,65.2,358.2,6.7,287,14377,0.00,2.25,7.45,0.832,6,0.000,0.024,3310,2105,2665
$GC,14727,2.69,65.2,329.8,8.0,293,14731,0.00,2.30,0.00,0.000,4,0.000,0.035,3310,3493,2664
$GC,14776,2.69,65.2,325.7,8.4,293,14780,0.00,2.25,0.00,0.000,6,0.000,0.030,3309,2096,2664
$GC,15097,2.74,65.2,300.0,8.1,299,15101,0.00,2.33,0.00,0.000,4,0.000,0.039,3310,693,2664
$GC,15248,2.74,65.5,287.0,7.9,303,15252,0.00,2.25,0.00,0.000,6,0.000,0.029,3310,2100,2664
$GC,15561,2.80,69.4,264.6,7.1,313,15572,0.12,2.30,5.28,0.708,4,0.085,0.037,3338,3488,2647
$GC,15600,2.76,70.4,261.5,7.8,314,15604,0.00,2.25,0.00,0.000,6,0.000,0.029,3338,2098,2647
$GC,15923,2.76,72.8,237.5,7.4,325,15932,0.00,2.33,4.43,0.644,4,0.000,0.035,3338,3485,2634
$GC,16185,2.76,72.8,215.1,8.6,332,16191,0.00,2.25,0.00,0.000,6,0.000,0.028,3338,2098,2634
$GC,16498,2.76,76.9,191.6,7.0,343,16505,0.00,0.00,5.05,0.664,6,0.000,0.000,3338,2098,2617
$GC,16804,2.77,79.0,168.3,7.5,353,16805,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2098,2617
$GC,17120,2.77,84.4,145.3,6.7,364,17134,0.00,2.40,7.53,0.717,4,0.000,0.041,3338,701,2587
$GC,17182,2.72,85.4,140.8,7.7,366,17189,0.00,2.25,0.00,0.000,6,0.000,0.028,3338,2101,2586
$GC,17499,2.74,101.6,122.6,4.1,382,17522,0.00,2.38,15.18,0.760,4,0.000,0.040,3338,701,2516
$GC,17774,2.75,110.3,104.5,5.9,394,17791,0.00,2.25,8.40,0.700,6,0.000,0.023,3338,2108,2480
$GC,18100,2.83,128.3,92.2,3.6,410,18122,0.00,2.38,15.43,0.739,4,0.000,0.038,3338,704,2406
$GC,18201,2.83,129.8,85.7,7.6,414,18205,0.00,2.25,0.00,0.000,6,0.000,0.028,3338,2097,2406
$GC,18525,2.92,129.8,59.7,8.0,440,18530,0.10,2.35,0.00,0.000,4,0.089,0.044,3363,701,2406
$GC,18781,2.92,132.2,36.6,7.4,462,18791,0.00,2.28,4.88,0.578,6,0.000,0.027,3363,2106,2390
$GC,19118,3.02,165.4,31.3,0.0,494,19134,0.10,0.00,12.73,0.689,2,0.088,0.000,3386,2107,2331
$STATE,19134,end climb,NO_VERTICAL_VELOCITY
$STATE,19135,begin surface
$SM_CCo,19138,388.00,0.621,18,0,479,601.23
$SM_GC,1.59,12.38,0.00,0.00,0.044,0.000,0.000,490,1891,473,-10.22,-0.25,602.70
$IRIDIUM_FIX,4959.75,-14505.72,101197,212157
$TT8_MAMPS,0.029146
$HUMID,1776
$INTERNAL_PRESSURE,7.63701
$TCM_TEMP,17.60
$XPDR_PINGS,79
$24V_AH,23.3,49.233
$10V_AH,10.2,24.965
$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,29.000,138.925,182.275,388.000,0.000,30.994,31.107,141.229,19.750,0.000,0.000,56.579,1271.947,15405.626,816.318,2139.094,453.145,33.372,1865.775,0.000,2057.846,0.000,0.459
$DEVICE_MAMPS,164.905,97.409,1361.425,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,349.707,401.762,509.701,293.052,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28645,495
$CAP_FILE_SIZE,140617,0
$CFSIZE,260165632,241586176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,18,0
$GPS,170808,090601,5020.824,-14511.355,194,1.7,194,18.5