version: 66.03
glider: 144
mission: 13
dive: 275
start: 8 21 108 12 16 37
data:
$ID,144
$MISSION,13
$DIVE,275
$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,-50846.25
$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,46
$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
$GPS1,121001,5006.798,-14452.719,76,1.6,76,18.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-58.8
$GPS2,121541,5006.851,-14452.628,35,1.7,49,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.126,-0.006
$KALMAN_X,10083.9,28.3,508.9,-4064.4,-1052.6
$KALMAN_Y,202904.4,-40.3,-43.7,-191084.8,1358.4
$MHEAD_RNG_PITCHd_Wd,74.0,2399,-30.4,-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,21,-2.07,-37.7,0.0,0.0,0,95,0.00,0.00,-71.82,0.000,2,0.000,0.000,493,1881,2752
$GC,97,-2.11,-63.9,3.2,-4.3,7,125,9.45,2.35,-12.45,0.000,4,0.166,0.048,2263,3295,3193
$GC,240,-2.05,-63.9,32.6,-22.9,19,244,0.00,2.25,0.00,0.000,6,0.000,0.029,2263,1902,3195
$GC,572,-2.05,-63.9,96.5,-18.6,46,576,0.00,2.35,0.00,0.000,4,0.000,0.046,2263,502,3197
$GC,784,-2.05,-63.9,136.2,-16.2,55,790,0.00,2.25,0.00,0.000,6,0.000,0.024,2263,1903,3198
$GC,1108,-2.12,-63.9,182.2,-14.1,68,1112,0.00,2.35,0.00,0.000,4,0.000,0.048,2263,509,3198
$GC,1325,-2.12,-63.9,215.6,-14.9,74,1329,0.00,2.25,0.00,0.000,6,0.000,0.029,2263,1908,3198
$GC,1643,-2.21,-63.9,260.4,-14.4,85,1647,0.00,2.38,0.00,0.000,4,0.000,0.048,2262,505,3198
$GC,1800,-2.21,-63.9,285.1,-15.5,89,1806,0.00,2.25,0.00,0.000,6,0.000,0.030,2263,1905,3198
$GC,2111,-2.30,-63.9,329.8,-14.1,97,2115,0.15,2.38,0.00,0.000,4,0.076,0.042,2222,503,3197
$GC,2247,-2.23,-63.9,351.9,-15.9,99,2251,0.00,2.25,0.00,0.000,6,0.000,0.030,2222,1908,3197
$GC,2606,-2.23,-63.9,405.2,-14.6,105,2610,0.00,2.38,0.00,0.000,4,0.000,0.047,2222,503,3197
$GC,2695,-2.17,-63.9,419.0,-15.4,106,2699,0.17,2.25,0.00,0.000,6,0.140,0.025,2254,1906,3196
$GC,3032,-2.24,-63.9,463.5,-13.1,112,3036,0.00,2.38,0.00,0.000,4,0.000,0.048,2254,503,3196
$GC,3266,-2.24,-63.9,497.8,-14.8,115,3270,0.00,2.25,0.00,0.000,6,0.000,0.025,2254,1906,3196
$GC,3599,-2.32,-63.9,538.7,-12.0,121,3604,0.15,2.38,0.00,0.000,4,0.078,0.041,2213,506,3195
$GC,3699,-2.23,-63.9,553.1,-14.3,122,3704,0.15,2.25,0.00,0.000,6,0.144,0.028,2239,1906,3195
$GC,4025,-2.27,-63.9,593.3,-12.1,128,4029,0.00,2.38,0.00,0.000,4,0.000,0.048,2240,503,3194
$GC,4114,-2.27,-63.9,605.5,-13.8,129,4118,0.00,2.25,0.00,0.000,6,0.000,0.026,2240,1906,3194
$GC,4451,-2.32,-63.9,646.1,-12.0,135,4455,0.00,2.38,0.00,0.000,4,0.000,0.046,2239,505,3194
$GC,4624,-2.32,-63.9,668.7,-13.3,137,4628,0.00,2.25,0.00,0.000,6,0.000,0.029,2240,1907,3194
$GC,4944,-2.38,-63.9,705.5,-11.4,143,4948,0.12,2.38,0.00,0.000,4,0.083,0.048,2210,508,3193
$GC,5066,-2.28,-63.9,721.6,-12.8,144,5073,0.10,2.25,0.00,0.000,6,0.154,0.029,2226,1905,3193
$GC,5376,-2.28,-63.9,757.0,-11.4,150,5380,0.00,2.38,0.00,0.000,4,0.000,0.045,2226,506,3192
$GC,5481,-2.22,-63.9,770.0,-12.0,151,5485,0.00,2.25,0.00,0.000,6,0.000,0.028,2226,1902,3192
$GC,5803,-2.22,-63.9,806.4,-11.3,157,5807,0.00,2.38,0.00,0.000,4,0.000,0.044,2226,506,3192
$GC,5850,-2.17,-63.9,812.3,-12.8,157,5854,0.12,2.25,0.00,0.000,6,0.150,0.026,2249,1904,3192
$GC,6164,-2.26,-63.9,846.9,-10.9,163,6168,0.00,2.38,0.00,0.000,4,0.000,0.048,2249,505,3192
$GC,6221,-2.26,-63.9,853.4,-11.5,163,6225,0.00,2.25,0.00,0.000,6,0.000,0.023,2249,1900,3191
$GC,6530,-2.35,-63.9,885.9,-10.5,168,6532,0.15,0.00,0.00,0.000,6,0.078,0.000,2214,1901,3191
$GC,6832,-2.35,-63.9,919.9,-11.3,173,6837,0.00,2.40,0.00,0.000,4,0.000,0.058,2213,514,3191
$GC,6895,-2.28,-63.9,927.2,-11.9,174,6899,0.00,2.25,0.00,0.000,6,0.000,0.027,2213,1889,3191
$GC,7260,-2.28,-63.9,965.9,-10.4,180,7264,0.00,2.42,0.00,0.000,4,0.000,0.069,2213,511,3190
$GC,7298,-2.20,-63.9,970.6,-11.8,180,7303,0.17,2.33,0.00,0.000,6,0.143,0.045,2244,1892,3190
$STATE,7500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7500,begin apogee
$GC,7506,-0.33,0.0,991.9,10.4,184,7567,2.03,0.00,56.92,1.371,6,0.128,0.000,2652,2104,2931
$STATE,7568,end apogee,CONTROL_FINISHED_OK
$STATE,7568,begin climb
$GC,7571,2.11,63.9,993.7,0.0,185,7633,2.33,0.00,55.78,1.343,6,0.064,0.000,3190,2104,2670
$GC,7936,2.01,63.9,956.6,11.6,191,7941,0.12,2.47,0.00,0.000,4,0.144,0.060,3168,3520,2667
$GC,8019,1.92,63.9,946.9,11.6,192,8024,0.12,2.38,0.00,0.000,6,0.144,0.038,3148,2112,2667
$GC,8362,1.92,63.9,912.7,9.8,198,8363,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2112,2666
$GC,8665,1.92,63.9,883.5,9.7,203,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2112,2666
$GC,8967,1.92,63.9,854.3,9.6,208,8971,0.00,2.38,0.00,0.000,4,0.000,0.046,3147,3521,2666
$GC,9022,1.92,63.9,848.7,10.2,208,9029,0.00,2.35,0.00,0.000,6,0.000,0.033,3148,2086,2665
$GC,9332,1.92,63.9,819.6,9.4,214,9333,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2086,2666
$GC,9635,1.92,63.9,791.4,9.2,219,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2087,2665
$GC,9938,1.92,63.9,764.4,9.0,224,9939,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2086,2665
$GC,10241,1.92,63.9,737.7,8.8,229,10245,0.00,2.33,0.00,0.000,4,0.000,0.042,3147,700,2665
$GC,10319,1.85,63.9,730.4,9.6,230,10323,0.00,2.33,0.00,0.000,6,0.000,0.025,3147,2133,2664
$GC,10666,1.85,63.9,699.2,9.0,236,10670,0.00,2.42,0.00,0.000,4,0.000,0.041,3148,695,2665
$GC,10733,1.77,63.9,692.6,10.3,237,10738,0.17,2.30,0.00,0.000,6,0.140,0.032,3116,2110,2665
$GC,11093,1.84,63.9,662.6,8.3,243,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2111,2665
$GC,11396,1.91,63.9,637.5,8.4,248,11397,0.12,0.00,0.00,0.000,6,0.083,0.000,3146,2113,2665
$GC,11698,1.91,63.9,612.1,8.4,253,11702,0.00,2.38,0.00,0.000,4,0.000,0.042,3145,698,2664
$GC,11811,1.84,63.9,602.4,8.2,254,11815,0.00,2.28,0.00,0.000,6,0.000,0.032,3146,2105,2665
$GC,12125,1.84,64.5,577.4,7.9,260,12129,0.00,2.30,0.00,0.000,4,0.000,0.036,3146,3497,2664
$GC,12236,1.85,66.4,568.6,7.7,261,12240,0.00,2.28,0.00,0.000,6,0.000,0.031,3146,2090,2664
$GC,12563,1.85,71.3,544.7,7.3,267,12571,0.00,0.00,6.78,0.905,6,0.000,0.000,3146,2091,2640
$GC,12865,1.85,72.2,520.9,7.9,272,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,3145,2091,2640
$GC,13168,1.85,72.2,495.7,8.3,277,13169,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2091,2640
$GC,13472,1.86,73.2,471.6,7.9,282,13476,0.00,2.33,0.00,0.000,4,0.000,0.038,3146,3494,2640
$GC,13522,1.86,73.9,467.5,7.9,282,13533,0.00,2.28,4.07,0.693,6,0.000,0.030,3146,2090,2629
$GC,13836,1.86,74.2,442.5,8.0,288,13840,0.00,2.33,0.00,0.000,4,0.000,0.041,3146,696,2629
$GC,13919,1.81,74.2,435.4,8.4,289,13924,0.12,2.28,0.00,0.000,6,0.144,0.031,3125,2107,2628
$GC,14263,1.89,80.2,410.5,7.1,295,14271,0.00,0.00,6.65,0.833,6,0.000,0.000,3124,2110,2604
$GC,14565,1.97,80.2,386.0,8.3,300,14567,0.15,0.00,0.00,0.000,6,0.077,0.000,3160,2111,2604
$GC,14868,1.97,80.2,357.4,9.5,305,14872,0.00,2.30,0.00,0.000,4,0.000,0.035,3160,3495,2604
$GC,14912,1.97,80.2,353.1,9.7,305,14916,0.00,2.28,0.00,0.000,6,0.000,0.029,3159,2091,2604
$GC,15226,1.97,80.2,324.4,9.1,311,15230,0.00,2.33,0.00,0.000,4,0.000,0.048,3160,694,2604
$GC,15298,1.89,80.2,317.7,8.7,312,15302,0.00,2.25,0.00,0.000,6,0.000,0.025,3160,2101,2604
$GC,15629,1.89,80.5,290.7,8.0,319,15633,0.00,2.30,0.00,0.000,4,0.000,0.035,3160,3494,2604
$GC,15690,1.89,80.5,285.8,8.1,321,15695,0.00,2.25,0.00,0.000,6,0.000,0.030,3160,2098,2604
$GC,16031,1.90,82.6,259.7,7.7,332,16036,0.00,0.00,3.83,0.595,6,0.000,0.000,3160,2098,2594
$GC,16337,1.90,82.6,234.9,8.1,342,16338,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2098,2593
$GC,16643,1.90,88.9,212.0,7.1,352,16656,0.00,2.40,6.95,0.744,4,0.000,0.040,3160,704,2568
$GC,16676,1.86,88.9,209.6,8.2,353,16680,0.15,2.28,0.00,0.000,6,0.140,0.026,3133,2102,2568
$GC,17010,1.96,99.0,187.3,6.6,364,17022,0.00,0.00,9.73,0.772,6,0.000,0.000,3134,2106,2527
$GC,17316,2.06,101.8,164.6,7.6,374,17323,0.17,0.00,3.95,0.565,6,0.074,0.000,3174,2106,2516
$GC,17623,2.06,107.0,139.7,7.3,386,17631,0.00,0.00,6.07,0.673,6,0.000,0.000,3175,2106,2493
$GC,17933,2.09,131.5,122.3,4.5,401,17958,0.00,2.35,20.30,0.763,4,0.000,0.035,3175,3493,2394
$GC,18065,2.09,131.5,112.2,8.4,407,18069,0.00,2.28,0.00,0.000,6,0.000,0.025,3175,2096,2392
$GC,18393,2.17,147.9,90.6,5.7,423,18415,0.10,2.38,14.18,0.729,4,0.088,0.041,3199,3492,2327
$GC,18462,2.17,150.7,85.8,7.6,426,18471,0.00,2.28,4.00,0.524,6,0.000,0.031,3199,2102,2316
$GC,18791,2.17,150.7,55.7,9.1,453,18792,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2102,2315
$GC,19112,2.29,192.7,30.8,2.0,483,19155,0.10,2.42,34.55,0.705,4,0.086,0.040,3225,703,2144
$GC,19180,2.32,223.9,29.2,3.6,489,19213,0.00,2.28,26.58,0.680,6,0.000,0.025,3225,2110,2017
$STATE,19435,end climb,SURFACE_DEPTH_REACHED
$STATE,19435,begin surface coast
$FINISH,0.7,1.013143
$STATE,19445,end surface coast,CONTROL_FINISHED_OK
$STATE,19445,begin surface
$SM_CCo,19466,139.02,0.660,0,0,1299,400.08
$SM_GC,1.43,0.00,0.00,139.02,0.000,0.000,0.660,497,1881,1299,-10.26,-0.57,400.08
$IRIDIUM_FIX,4946.36,-14455.81,151197,050528
$TT8_MAMPS,0.029913
$HUMID,1801
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,15.40
$XPDR_PINGS,87
$24V_AH,23.2,51.885
$10V_AH,10.1,26.391
$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,28.125,144.500,260.325,139.025,0.000,23.154,31.730,141.367,21.750,0.000,0.000,49.343,1214.832,15953.213,545.306,1772.012,464.603,33.365,1465.084,0.000,1715.755,0.000,0.459
$DEVICE_MAMPS,165.672,111.215,1370.629,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,365.624,420.013,533.410,308.422,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31761,514
$CAP_FILE_SIZE,132153,0
$CFSIZE,260165632,240545792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210808,174501,5007.240,-14450.268,59,1.8,60,18.5