version: 66.03
glider: 144
mission: 13
dive: 269
start: 8 19 108 21 4 31
data:
$ID,144
$MISSION,13
$DIVE,269
$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,-49288.945
$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,53
$R_STBD_OVSHOOT,52
$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
$GPS1,205704,4955.594,-14510.526,322,1.3,324,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-47.9
$GPS2,210335,4955.526,-14510.538,87,1.8,94,18.4
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.097,-0.138
$KALMAN_X,8458.2,118.5,204.4,-23540.1,724.3
$KALMAN_Y,197850.2,9.7,56.3,-207152.3,603.3
$MHEAD_RNG_PITCHd_Wd,196.7,3268,-23.1,-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,-1.62,-65.6,0.0,0.0,0,94,0.00,0.00,-71.20,0.000,2,0.000,0.000,494,1879,2712
$GC,96,-1.66,-100.4,3.2,-5.2,7,130,9.98,2.33,-16.45,0.000,4,0.166,0.049,2361,3292,3343
$GC,326,-1.66,-100.4,47.6,-15.0,27,333,0.00,2.28,0.00,0.000,6,0.000,0.030,2362,1910,3346
$GC,649,-1.66,-100.4,97.6,-15.6,53,653,0.00,2.35,0.00,0.000,4,0.000,0.045,2361,507,3347
$GC,818,-1.60,-100.4,122.7,-13.7,60,824,0.00,2.22,0.00,0.000,6,0.000,0.029,2362,1904,3348
$GC,1142,-1.60,-100.4,161.3,-11.1,75,1146,0.00,2.38,0.00,0.000,4,0.000,0.044,2361,502,3348
$GC,1192,-1.60,-100.4,167.5,-12.6,76,1196,0.00,2.25,0.00,0.000,6,0.000,0.030,2361,1905,3348
$GC,1505,-1.65,-100.4,207.5,-13.5,86,1509,0.00,2.38,0.00,0.000,4,0.000,0.042,2361,504,3348
$GC,1616,-1.65,-100.4,223.6,-14.5,89,1620,0.00,2.25,0.00,0.000,6,0.000,0.030,2361,1907,3348
$GC,1940,-1.70,-100.4,265.8,-12.6,100,1944,0.00,2.38,0.00,0.000,4,0.000,0.048,2361,505,3348
$GC,2052,-1.70,-100.4,280.9,-13.7,103,2056,0.00,2.25,0.00,0.000,6,0.000,0.030,2361,1909,3347
$GC,2399,-1.76,-100.4,323.4,-12.0,112,2403,0.00,2.38,0.00,0.000,4,0.000,0.042,2362,506,3347
$GC,2483,-1.76,-100.4,334.1,-12.5,113,2487,0.00,2.25,0.00,0.000,6,0.000,0.026,2361,1905,3346
$GC,2831,-1.83,-100.4,373.4,-11.1,119,2836,0.15,2.38,0.00,0.000,4,0.073,0.048,2324,506,3345
$GC,2898,-1.75,-100.4,382.0,-13.3,120,2903,0.10,2.25,0.00,0.000,6,0.136,0.023,2341,1910,3345
$GC,3257,-1.75,-100.4,421.5,-10.7,126,3261,0.00,2.38,0.00,0.000,4,0.000,0.044,2341,501,3344
$GC,3345,-1.75,-100.4,432.4,-11.9,127,3349,0.00,2.25,0.00,0.000,6,0.000,0.031,2341,1903,3344
$GC,3694,-1.75,-100.4,470.5,-10.9,133,3698,0.00,2.38,0.00,0.000,4,0.000,0.043,2341,502,3344
$GC,3822,-1.75,-100.4,486.0,-12.2,134,3829,0.00,2.25,0.00,0.000,6,0.000,0.031,2341,1904,3344
$GC,4132,-1.75,-100.4,520.3,-11.0,140,4135,0.00,2.35,0.00,0.000,4,0.000,0.044,2341,506,3343
$GC,4181,-1.75,-100.4,526.5,-12.2,140,4185,0.00,2.22,0.00,0.000,6,0.000,0.028,2341,1903,3343
$GC,4502,-1.75,-100.4,562.6,-11.3,146,4506,0.00,2.38,0.00,0.000,4,0.000,0.047,2341,503,3343
$GC,4545,-1.75,-100.4,567.9,-12.2,146,4549,0.00,2.25,0.00,0.000,6,0.000,0.025,2341,1903,3342
$GC,4866,-1.75,-100.4,603.1,-10.9,152,4870,0.00,2.38,0.00,0.000,4,0.000,0.050,2341,502,3341
$GC,5040,-1.75,-100.4,624.2,-12.3,154,5044,0.00,2.25,0.00,0.000,6,0.000,0.029,2341,1904,3342
$GC,5360,-1.75,-100.4,659.3,-10.9,160,5364,0.00,2.38,0.00,0.000,4,0.000,0.048,2341,504,3341
$GC,5466,-1.75,-100.4,672.0,-12.5,161,5470,0.00,2.25,0.00,0.000,6,0.000,0.030,2341,1902,3341
$GC,5786,-1.75,-100.4,705.7,-10.5,167,5790,0.00,2.38,0.00,0.000,4,0.000,0.044,2341,503,3340
$GC,5852,-1.75,-100.4,713.2,-10.9,168,5856,0.00,2.25,0.00,0.000,6,0.000,0.024,2341,1901,3340
$GC,6218,-1.75,-100.4,751.7,-10.6,174,6222,0.00,2.38,0.00,0.000,4,0.000,0.044,2341,499,3340
$GC,6357,-1.75,-100.4,768.6,-11.6,176,6361,0.00,2.28,0.00,0.000,6,0.000,0.025,2341,1908,3340
$GC,6717,-1.80,-100.4,808.5,-11.2,182,6721,0.00,2.38,0.00,0.000,4,0.000,0.053,2341,509,3340
$GC,6836,-1.80,-100.4,823.0,-12.0,183,6840,0.00,2.25,0.00,0.000,6,0.000,0.025,2341,1903,3339
$GC,7150,-1.85,-100.4,858.2,-11.2,189,7154,0.00,2.38,0.00,0.000,4,0.000,0.054,2341,509,3339
$GC,7211,-1.85,-100.4,865.6,-12.1,189,7217,0.00,2.25,0.00,0.000,6,0.000,0.025,2341,1903,3339
$GC,7521,-1.90,-100.4,898.0,-10.3,195,7526,0.12,2.40,0.00,0.000,4,0.078,0.052,2310,511,3339
$GC,7559,-1.81,-100.4,902.6,-11.7,195,7564,0.12,2.25,0.00,0.000,6,0.134,0.026,2332,1897,3338
$GC,7879,-1.81,-100.4,934.5,-9.9,201,7883,0.00,2.42,0.00,0.000,4,0.000,0.059,2332,506,3338
$GC,7906,-1.81,-100.4,937.5,-11.4,201,7910,0.00,2.28,0.00,0.000,6,0.000,0.031,2332,1891,3338
$GC,8244,-1.81,-100.4,969.8,-9.6,207,8245,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,1891,3338
$STATE,8484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8484,begin apogee
$GC,8490,-0.33,0.0,993.6,9.8,211,8581,1.52,0.00,87.53,1.384,6,0.109,0.000,2651,2090,2931
$STATE,8582,end apogee,CONTROL_FINISHED_OK
$STATE,8582,begin climb
$GC,8584,1.66,100.4,995.2,0.0,212,8680,1.92,2.62,86.35,1.350,4,0.064,0.068,3090,3502,2520
$GC,8737,1.49,100.4,983.7,11.9,214,8742,0.20,2.42,0.00,0.000,6,0.123,0.054,3053,2113,2518
$GC,9075,1.44,100.4,949.7,9.9,220,9076,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2112,2516
$GC,9377,1.44,100.4,921.2,9.3,225,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2112,2516
$GC,9680,1.44,100.4,893.6,9.1,230,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2113,2515
$GC,9983,1.44,100.4,865.9,9.1,235,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2112,2515
$GC,10286,1.44,100.4,838.4,9.1,240,10288,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2112,2515
$GC,10590,1.44,100.4,810.7,9.1,245,10594,0.00,2.42,0.00,0.000,4,0.000,0.044,3053,674,2514
$GC,10640,1.34,100.4,805.7,10.2,245,10645,0.15,2.35,0.00,0.000,6,0.133,0.026,3025,2123,2514
$GC,10948,1.34,100.4,779.9,8.3,250,10953,0.00,2.45,0.00,0.000,4,0.000,0.042,3025,679,2514
$GC,10975,1.34,100.4,777.5,9.3,250,10979,0.00,2.35,0.00,0.000,6,0.000,0.028,3024,2104,2514
$GC,11315,1.34,100.9,750.4,8.0,256,11319,0.00,2.33,0.00,0.000,4,0.000,0.041,3025,3502,2514
$GC,11336,1.34,100.9,748.2,8.7,256,11340,0.00,2.33,0.00,0.000,6,0.000,0.025,3024,2075,2514
$GC,11681,1.35,105.6,721.7,7.6,262,11691,0.00,2.33,4.88,0.880,4,0.000,0.043,3024,704,2500
$GC,11754,1.35,105.6,715.6,8.0,263,11758,0.00,2.28,0.00,0.000,6,0.000,0.032,3025,2103,2500
$GC,12108,1.40,112.4,688.9,7.5,269,12122,0.00,2.40,7.43,0.997,4,0.000,0.043,3024,3492,2472
$GC,12140,1.40,112.4,686.2,8.2,269,12144,0.00,2.30,0.00,0.000,6,0.000,0.026,3025,2094,2471
$GC,12478,1.46,116.4,660.2,7.7,275,12485,0.00,0.00,5.10,0.864,6,0.000,0.000,3025,2094,2456
$GC,12781,1.51,116.4,635.3,8.3,280,12786,0.15,2.35,0.00,0.000,4,0.071,0.044,3066,698,2455
$GC,12819,1.40,116.4,631.4,10.7,280,12824,0.17,2.28,0.00,0.000,6,0.124,0.028,3033,2102,2455
$GC,13139,1.40,116.4,603.4,8.6,286,13143,0.00,2.38,0.00,0.000,4,0.000,0.044,3033,693,2455
$GC,13177,1.40,116.4,599.7,10.0,286,13181,0.00,2.30,0.00,0.000,6,0.000,0.026,3033,2110,2455
$GC,13503,1.40,116.4,571.4,8.7,292,13507,0.00,2.30,0.00,0.000,4,0.000,0.043,3033,3492,2455
$GC,13552,1.40,116.4,566.6,9.7,292,13556,0.00,2.28,0.00,0.000,6,0.000,0.025,3033,2091,2455
$GC,13868,1.44,116.4,537.8,9.2,298,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2091,2455
$GC,14170,1.44,116.4,510.0,9.1,303,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2090,2455
$GC,14474,1.48,116.4,483.6,8.6,308,14475,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2091,2455
$GC,14777,1.53,116.4,457.4,8.7,313,14782,0.12,2.33,0.00,0.000,4,0.077,0.045,3064,704,2455
$GC,14821,1.44,116.4,453.0,10.3,313,14826,0.12,2.25,0.00,0.000,6,0.128,0.029,3042,2101,2455
$GC,15135,1.44,116.4,425.0,8.9,319,15139,0.00,2.35,0.00,0.000,4,0.000,0.041,3042,703,2454
$GC,15167,1.44,116.4,421.9,9.4,319,15171,0.00,2.28,0.00,0.000,6,0.000,0.028,3042,2110,2455
$GC,15499,1.44,116.4,394.0,8.2,325,15503,0.00,2.30,0.00,0.000,4,0.000,0.037,3042,3498,2456
$GC,15587,1.44,116.4,386.8,8.5,326,15591,0.00,2.28,0.00,0.000,6,0.000,0.031,3042,2095,2455
$GC,15931,1.45,122.1,360.9,7.5,332,15942,0.00,2.35,6.43,0.800,4,0.000,0.043,3042,704,2432
$GC,15970,1.45,122.1,357.6,9.0,332,15974,0.00,2.28,0.00,0.000,6,0.000,0.031,3042,2100,2432
$GC,16290,1.45,122.1,330.6,8.5,338,16291,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2104,2432
$GC,16593,1.45,122.1,303.2,9.0,343,16594,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2104,2432
$GC,16899,1.49,122.1,276.5,8.6,352,16900,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2104,2432
$GC,17205,1.53,122.1,250.0,8.7,362,17209,0.00,2.30,0.00,0.000,4,0.000,0.042,3042,3494,2432
$GC,17249,1.53,122.1,245.9,8.7,363,17253,0.00,2.28,0.00,0.000,6,0.000,0.028,3042,2091,2432
$GC,17573,1.57,122.1,218.7,8.2,374,17575,0.12,0.00,0.00,0.000,6,0.076,0.000,3074,2091,2432
$GC,17880,1.58,130.1,194.9,7.3,384,17894,0.00,2.38,8.10,0.754,4,0.000,0.041,3074,711,2399
$GC,17962,1.50,131.0,188.4,7.9,386,17966,0.00,2.25,0.00,0.000,6,0.000,0.025,3074,2101,2398
$GC,18279,1.50,132.0,164.3,7.9,397,18283,0.00,2.33,0.00,0.000,4,0.000,0.037,3074,3502,2398
$GC,18314,1.45,132.0,161.4,9.9,398,18318,0.15,2.28,0.00,0.000,6,0.123,0.024,3046,2098,2399
$GC,18635,1.51,139.4,137.7,7.4,411,18649,0.00,2.40,9.00,0.735,4,0.000,0.041,3046,705,2361
$GC,18781,1.52,143.7,125.8,7.7,417,18792,0.00,2.25,4.88,0.610,6,0.000,0.031,3046,2108,2345
$GC,19102,1.64,169.7,105.8,5.9,433,19127,0.17,0.00,22.65,0.753,6,0.067,0.000,3090,2108,2238
$GC,19431,1.67,191.3,84.1,6.2,449,19455,0.00,2.38,18.27,0.731,4,0.000,0.037,3090,3485,2150
$GC,19479,1.67,193.7,80.7,7.8,451,19483,0.00,2.28,0.00,0.000,6,0.000,0.027,3090,2100,2149
$GC,19811,1.67,193.7,53.8,8.5,482,19815,0.00,2.33,0.00,0.000,4,0.000,0.037,3090,3492,2147
$GC,19835,1.67,193.7,51.4,9.1,483,19841,0.00,2.28,0.00,0.000,6,0.000,0.024,3090,2090,2146
$GC,20161,1.87,281.5,30.6,0.8,514,20241,0.15,2.38,73.62,0.702,4,0.071,0.046,3133,704,1782
$GC,20321,1.87,281.5,16.1,13.0,528,20325,0.00,2.28,0.00,0.000,6,0.000,0.026,3133,2103,1775
$STATE,20452,end climb,SURFACE_DEPTH_REACHED
$STATE,20452,begin surface coast
$FINISH,0.6,1.022156
$STATE,20464,end surface coast,CONTROL_FINISHED_OK
$STATE,20464,begin surface
$SM_CCo,20486,94.88,0.644,2,0,1299,400.08
$SM_GC,1.42,0.00,0.00,94.88,0.000,0.000,0.644,492,1885,1299,-10.29,-0.42,400.08
$IRIDIUM_FIX,4939.69,-14515.54,131197,141431
$TT8_MAMPS,0.029913
$HUMID,1818
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,15.60
$XPDR_PINGS,89
$24V_AH,23.2,50.917
$10V_AH,10.1,25.860
$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,26.650,181.750,334.225,94.875,0.000,29.194,32.606,139.015,22.250,0.000,0.000,94.310,1275.670,16781.969,582.558,1862.322,482.593,33.395,1560.946,0.000,1759.262,0.000,0.459
$DEVICE_MAMPS,165.672,106.613,1383.668,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,384.822,439.219,560.461,330.830,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31666,541
$CAP_FILE_SIZE,140420,0
$CFSIZE,260165632,240922624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,200808,024955,4953.737,-14512.043,95,1.5,95,18.4