version: 66.03
glider: 144
mission: 13
dive: 10
start: 6 9 108 20 49 59
data:
$ID,144
$MISSION,13
$DIVE,10
$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,330
$T_MISSION,360
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16970.836
$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,2000
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,30
$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,2
$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
$GPS1,204345,5005.340,-14443.244,112,2.3,131,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-61.6
$GPS2,204905,5005.352,-14443.290,79,1.4,79,18.5
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,C_NW
$TGT_LATLONG,5007.080,-14438.068
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.257,0.052
$KALMAN_X,-1434.6,186.6,-363.4,19282.3,819.9
$KALMAN_Y,8131.9,9.3,-210.4,1030.3,2004.6
$MHEAD_RNG_PITCHd_Wd,60.0,6978,-18.5,-10.000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.41,-146.6,0.0,0.0,0,103,0.00,0.00,-82.03,0.000,2,0.000,0.000,496,1993,2905
$GC,105,-1.41,-146.6,3.0,-3.8,8,141,10.32,2.47,-19.10,0.000,4,0.169,0.071,2416,3395,3532
$GC,181,-1.41,-146.6,11.8,-13.6,15,185,0.00,2.35,0.00,0.000,6,0.000,0.045,2416,2002,3533
$GC,505,-1.41,-146.6,57.4,-13.6,45,509,0.00,2.45,0.00,0.000,4,0.000,0.063,2416,598,3534
$GC,626,-1.41,-146.6,75.1,-14.1,55,633,0.00,2.38,0.00,0.000,6,0.000,0.042,2416,1995,3534
$GC,953,-1.41,-146.6,117.4,-12.4,73,957,0.00,2.45,0.00,0.000,4,0.000,0.067,2416,594,3534
$GC,1108,-1.41,-146.6,137.2,-12.7,80,1113,0.00,2.38,0.00,0.000,6,0.000,0.042,2416,1993,3534
$GC,1443,-1.47,-146.6,176.5,-11.8,93,1447,0.00,2.45,0.00,0.000,4,0.000,0.068,2416,592,3535
$GC,1545,-1.47,-146.6,188.9,-11.9,96,1549,0.00,2.38,0.00,0.000,6,0.000,0.050,2416,2000,3535
$GC,1879,-1.52,-146.6,227.7,-11.5,107,1883,0.00,2.47,0.00,0.000,4,0.000,0.065,2417,590,3535
$GC,2000,-1.57,-146.6,242.9,-12.7,110,2008,0.10,2.40,0.00,0.000,6,0.067,0.050,2385,1999,3534
$GC,2313,-1.57,-146.6,281.3,-12.0,121,2317,0.00,2.45,0.00,0.000,4,0.000,0.064,2385,596,3534
$GC,2429,-1.57,-146.6,296.0,-12.9,124,2434,0.00,2.38,0.00,0.000,6,0.000,0.045,2385,1993,3535
$GC,2774,-1.57,-146.6,336.2,-11.7,131,2778,0.00,2.45,0.00,0.000,4,0.000,0.063,2384,597,3535
$GC,2958,-1.57,-146.6,359.3,-12.5,133,2963,0.00,2.38,0.00,0.000,6,0.000,0.048,2385,1994,3535
$GC,3279,-1.57,-146.6,395.9,-11.4,139,3283,0.00,2.45,0.00,0.000,4,0.000,0.066,2384,591,3535
$GC,3396,-1.57,-146.6,410.1,-12.3,140,3401,0.00,2.38,0.00,0.000,6,0.000,0.051,2385,2004,3534
$GC,3710,-1.57,-146.6,446.2,-11.6,146,3714,0.00,2.45,0.00,0.000,4,0.000,0.065,2384,598,3534
$GC,3828,-1.57,-146.6,461.2,-12.7,147,3832,0.00,2.35,0.00,0.000,6,0.000,0.047,2385,2000,3534
$GC,4142,-1.57,-146.6,497.7,-11.6,153,4147,0.00,2.45,0.00,0.000,4,0.000,0.071,2385,598,3534
$GC,4264,-1.57,-146.6,513.3,-12.4,154,4271,0.00,2.38,0.00,0.000,6,0.000,0.048,2385,1996,3534
$GC,4573,-1.57,-146.6,549.9,-11.8,160,4578,0.00,2.45,0.00,0.000,4,0.000,0.069,2385,596,3534
$GC,4684,-1.57,-146.6,564.2,-13.2,161,4689,0.00,2.40,0.00,0.000,6,0.000,0.046,2385,2002,3534
$GC,5005,-1.57,-146.6,602.5,-11.9,167,5009,0.00,2.45,0.00,0.000,4,0.000,0.062,2385,598,3534
$GC,5120,-1.57,-146.6,616.9,-11.9,168,5125,0.00,2.38,0.00,0.000,6,0.000,0.046,2385,1994,3534
$GC,5435,-1.57,-146.6,652.6,-11.3,174,5439,0.00,2.45,0.00,0.000,4,0.000,0.063,2384,595,3534
$GC,5540,-1.57,-146.6,665.4,-11.7,175,5545,0.00,2.38,0.00,0.000,6,0.000,0.048,2385,1996,3533
$GC,5872,-1.57,-146.6,702.6,-11.3,181,5876,0.00,2.45,0.00,0.000,4,0.000,0.069,2385,597,3533
$GC,5988,-1.57,-146.6,716.8,-12.6,182,5993,0.00,2.38,0.00,0.000,6,0.000,0.049,2385,1994,3533
$GC,6303,-1.57,-146.6,752.2,-11.2,188,6307,0.00,2.45,0.00,0.000,4,0.000,0.069,2385,594,3533
$GC,6397,-1.57,-146.6,763.6,-11.9,189,6402,0.00,2.38,0.00,0.000,6,0.000,0.045,2385,1994,3533
$GC,6735,-1.57,-146.6,801.7,-11.2,195,6739,0.00,2.45,0.00,0.000,4,0.000,0.067,2384,593,3533
$GC,6851,-1.57,-146.6,815.5,-12.3,196,6856,0.00,2.40,0.00,0.000,6,0.000,0.047,2385,2002,3532
$GC,7166,-1.57,-146.6,848.5,-10.4,202,7170,0.00,2.47,0.00,0.000,4,0.000,0.067,2384,597,3532
$GC,7227,-1.57,-146.6,855.0,-10.3,203,7231,0.00,2.38,0.00,0.000,6,0.000,0.051,2384,2005,3532
$GC,7591,-1.57,-146.6,891.2,-9.8,209,7595,0.00,2.50,0.00,0.000,4,0.000,0.077,2384,595,3532
$GC,7690,-1.57,-146.6,901.8,-10.8,210,7694,0.00,2.38,0.00,0.000,6,0.000,0.048,2385,2000,3532
$GC,8021,-1.57,-146.6,935.4,-10.1,216,8025,0.00,2.53,0.00,0.000,4,0.000,0.079,2384,597,3532
$GC,8154,-1.57,-146.6,950.1,-10.9,218,8159,0.00,2.45,0.00,0.000,6,0.000,0.060,2385,1993,3532
$GC,8520,-1.57,-146.6,988.2,-10.5,224,8524,0.00,2.60,0.00,0.000,4,0.000,0.097,2384,598,3532
$STATE,8539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8539,begin apogee
$GC,8545,-0.33,0.0,990.6,11.0,224,8679,1.25,0.00,130.18,1.369,6,0.107,0.000,2649,2099,2931
$STATE,8680,end apogee,CONTROL_FINISHED_OK
$STATE,8680,begin climb
$GC,8682,1.41,146.6,994.4,0.0,226,8819,1.73,2.70,128.80,1.334,4,0.071,0.097,3036,3512,2332
$GC,8993,1.22,146.6,971.0,10.9,230,9000,0.22,2.50,0.00,0.000,6,0.128,0.067,2994,2109,2326
$GC,9303,1.20,174.9,943.9,8.7,236,9342,0.00,2.65,27.65,1.197,4,0.000,0.078,2994,692,2216
$GC,9365,1.13,174.9,937.8,10.0,237,9370,0.00,2.47,0.00,0.000,6,0.000,0.054,2994,2116,2215
$GC,9729,1.14,179.4,902.3,9.8,243,9739,0.00,2.55,4.85,0.927,4,0.000,0.072,2994,689,2199
$GC,9760,1.08,179.4,898.9,10.7,243,9765,0.15,2.42,0.00,0.000,6,0.134,0.045,2968,2106,2198
$GC,10091,1.10,193.1,867.9,9.4,249,10107,0.00,0.00,14.20,1.197,6,0.000,0.000,2968,2105,2143
$GC,10395,1.17,206.8,839.3,9.4,254,10418,0.00,0.00,16.00,1.065,6,0.000,0.000,2968,2106,2087
$GC,10698,1.24,219.1,810.7,9.4,259,10713,0.12,0.00,12.40,1.153,6,0.085,0.000,2997,2107,2037
$GC,11000,1.24,219.1,778.8,10.5,264,11005,0.00,2.53,0.00,0.000,4,0.000,0.064,2997,678,2034
$GC,11038,1.24,219.1,774.3,11.0,264,11043,0.00,2.45,0.00,0.000,6,0.000,0.045,2997,2102,2034
$GC,11364,1.24,219.1,740.3,10.5,270,11368,0.00,2.42,0.00,0.000,4,0.000,0.058,2997,3502,2033
$GC,11396,1.24,219.1,736.6,11.6,270,11401,0.00,2.42,0.00,0.000,6,0.000,0.048,2997,2089,2032
$GC,11734,1.24,219.1,701.4,10.5,276,11738,0.00,2.45,0.00,0.000,4,0.000,0.066,2997,693,2032
$GC,11766,1.24,219.1,697.5,12.2,276,11770,0.00,2.42,0.00,0.000,6,0.000,0.051,2997,2100,2032
$GC,12097,1.24,219.1,660.5,11.1,282,12102,0.00,2.47,0.00,0.000,4,0.000,0.069,2997,691,2032
$GC,12118,1.24,219.1,657.9,11.1,282,12123,0.00,2.42,0.00,0.000,6,0.000,0.050,2997,2100,2032
$GC,12461,1.24,219.1,621.0,10.7,288,12462,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2103,2032
$GC,12764,1.24,219.1,590.0,10.1,293,12765,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2103,2032
$GC,13067,1.24,219.1,558.0,10.6,298,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2103,2032
$GC,13370,1.24,219.1,525.2,10.8,303,13374,0.00,2.47,0.00,0.000,4,0.000,0.067,2997,687,2032
$GC,13402,1.24,219.1,521.4,11.1,303,13407,0.00,2.42,0.00,0.000,6,0.000,0.051,2997,2100,2031
$GC,13736,1.24,219.1,486.1,10.7,309,13740,0.00,2.45,0.00,0.000,4,0.000,0.067,2997,695,2031
$GC,13761,1.24,219.1,482.9,11.2,309,13766,0.00,2.40,0.00,0.000,6,0.000,0.044,2997,2098,2031
$GC,14099,1.24,219.1,447.5,10.5,315,14103,0.00,2.45,0.00,0.000,4,0.000,0.061,2997,693,2031
$GC,14125,1.24,219.1,444.5,11.1,315,14130,0.00,2.40,0.00,0.000,6,0.000,0.051,2997,2097,2031
$GC,14463,1.24,219.4,410.3,10.0,321,14464,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2100,2032
$GC,14766,1.25,230.1,381.2,9.5,326,14778,0.00,0.00,10.30,0.904,6,0.000,0.000,2997,2100,1993
$GC,15069,1.31,237.5,351.9,9.7,331,15083,0.00,2.53,8.15,0.854,4,0.000,0.060,2997,694,1962
$GC,15117,1.31,237.5,346.9,10.8,331,15122,0.00,2.42,0.00,0.000,6,0.000,0.048,2997,2102,1961
$GC,15438,1.37,248.8,316.1,9.5,337,15452,0.12,0.00,11.20,0.867,6,0.085,0.000,3026,2104,1916
$GC,15742,1.37,248.8,283.6,10.8,344,15743,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2104,1914
$GC,16048,1.37,248.8,250.5,10.7,354,16052,0.00,2.45,0.00,0.000,4,0.000,0.067,3026,695,1913
$GC,16075,1.37,248.8,247.4,11.4,355,16079,0.00,2.38,0.00,0.000,6,0.000,0.047,3026,2098,1913
$GC,16409,1.37,248.8,211.0,10.9,366,16410,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2101,1913
$GC,16715,1.38,250.6,179.4,9.9,376,16716,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2101,1912
$GC,17021,1.39,257.3,149.5,9.7,386,17031,0.00,0.00,8.43,0.753,6,0.000,0.000,3026,2101,1882
$GC,17331,1.41,277.2,119.5,9.1,401,17355,0.00,2.53,18.58,0.771,4,0.000,0.060,3026,699,1800
$GC,17405,1.41,277.2,112.0,10.3,404,17409,0.00,2.40,0.00,0.000,6,0.000,0.049,3026,2111,1798
$GC,17728,1.51,293.5,82.2,9.3,420,17748,0.12,0.00,14.77,0.738,6,0.083,0.000,3057,2114,1734
$GC,18066,1.51,295.4,47.0,9.9,450,18070,0.00,2.40,0.00,0.000,4,0.000,0.058,3057,3504,1731
$GC,18172,1.51,295.4,35.6,10.7,459,18176,0.00,2.38,0.00,0.000,6,0.000,0.048,3057,2089,1729
$STATE,18485,end climb,SURFACE_DEPTH_REACHED
$STATE,18485,begin surface coast
$FINISH,0.8,1.025372
$STATE,18496,end surface coast,CONTROL_FINISHED_OK
$STATE,18496,begin surface
$SM_CCo,18515,89.90,0.647,5,0,1299,400.08
$SM_GC,1.41,0.00,0.00,89.90,0.000,0.000,0.647,498,1998,1299,-10.26,-0.06,400.08
$IRIDIUM_FIX,4946.36,-14446.46,030997,151521
$TT8_MAMPS,0.029913
$HUMID,1687
$INTERNAL_PRESSURE,7.60771
$TCM_TEMP,13.60
$XPDR_PINGS,82
$24V_AH,23.3,7.924
$10V_AH,10.1,3.443
$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,25.150,166.400,405.500,89.900,0.000,25.101,24.987,117.400,20.500,0.000,0.000,80.619,1158.220,15029.239,687.465,1773.738,308.337,33.355,1607.260,0.000,1680.986,0.000,0.458
$DEVICE_MAMPS,168.740,97.409,1369.095,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,347.612,388.986,502.703,301.254,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28601,489
$CAP_FILE_SIZE,123177,0
$CFSIZE,260165632,257581056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,7,0
$GPS,100608,020230,5006.741,-14438.702,66,3.7,85,18.6