version: 66.03
glider: 144
mission: 13
dive: 45
start: 6 19 108 4 43 54
data:
$ID,144
$MISSION,13
$DIVE,45
$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,-27372.812
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,043551,5018.881,-14509.776,242,2.8,261,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-59.7
$GPS2,044300,5018.907,-14509.875,159,2.5,178,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,NW
$TGT_LATLONG,5021.009,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.095,0.176
$KALMAN_X,-791.3,-20.9,-278.2,-12878.2,-113.4
$KALMAN_Y,30071.9,302.3,-23.9,3713.1,-455.0
$MHEAD_RNG_PITCHd_Wd,313.1,4597,-19.3,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.40,-94.2,0.0,0.0,0,104,0.00,0.00,-82.35,0.000,2,0.000,0.000,494,1900,2972
$GC,106,-1.47,-146.6,3.6,-4.8,8,139,10.25,2.45,-14.55,0.000,4,0.170,0.067,2403,3302,3532
$GC,297,-1.47,-146.6,32.9,-15.0,25,301,0.00,2.35,0.00,0.000,6,0.000,0.038,2403,1898,3533
$GC,626,-1.47,-146.6,79.1,-13.8,56,630,0.00,2.42,0.00,0.000,4,0.000,0.058,2403,498,3534
$GC,722,-1.42,-146.6,93.4,-15.0,60,726,0.00,2.35,0.00,0.000,6,0.000,0.041,2403,1904,3534
$GC,1037,-1.42,-146.6,135.9,-12.8,75,1041,0.00,2.45,0.00,0.000,4,0.000,0.061,2403,496,3535
$GC,1120,-1.42,-146.6,147.4,-14.4,79,1124,0.00,2.35,0.00,0.000,6,0.000,0.044,2403,1900,3535
$GC,1433,-1.42,-146.6,186.6,-12.3,90,1437,0.00,2.45,0.00,0.000,4,0.000,0.063,2403,494,3536
$GC,1537,-1.42,-146.6,200.0,-12.3,93,1542,0.00,2.38,0.00,0.000,6,0.000,0.047,2403,1897,3535
$GC,1867,-1.47,-146.6,238.3,-11.5,104,1871,0.00,2.42,0.00,0.000,4,0.000,0.064,2403,497,3535
$GC,1910,-1.47,-146.6,243.6,-12.0,105,1915,0.00,2.38,0.00,0.000,6,0.000,0.041,2403,1899,3535
$GC,2240,-1.51,-146.6,281.1,-11.4,116,2244,0.00,2.45,0.00,0.000,4,0.000,0.057,2403,489,3535
$GC,2289,-1.51,-146.6,287.3,-12.6,117,2294,0.00,2.40,0.00,0.000,6,0.000,0.047,2403,1901,3535
$GC,2605,-1.56,-146.6,322.5,-11.1,125,2610,0.00,2.45,0.00,0.000,4,0.000,0.061,2403,489,3535
$GC,2673,-1.56,-146.6,330.6,-11.9,126,2677,0.00,2.38,0.00,0.000,6,0.000,0.041,2403,1908,3534
$GC,3031,-1.62,-146.6,370.8,-11.2,132,3036,0.12,2.45,0.00,0.000,4,0.082,0.060,2372,498,3534
$GC,3092,-1.57,-146.6,378.7,-12.9,133,3097,0.00,2.33,0.00,0.000,6,0.000,0.042,2372,1904,3534
$GC,3462,-1.57,-146.6,423.8,-12.0,139,3467,0.00,2.45,0.00,0.000,4,0.000,0.057,2372,492,3533
$GC,3562,-1.52,-146.6,436.6,-13.1,140,3567,0.12,2.35,0.00,0.000,6,0.129,0.041,2394,1900,3533
$GC,3893,-1.57,-146.6,473.2,-11.0,146,3898,0.00,2.45,0.00,0.000,4,0.000,0.059,2395,489,3533
$GC,3948,-1.57,-146.6,479.7,-11.6,146,3955,0.00,2.38,0.00,0.000,6,0.000,0.041,2396,1895,3533
$GC,4258,-1.61,-146.6,512.8,-10.7,152,4262,0.00,2.42,0.00,0.000,4,0.000,0.061,2395,498,3532
$GC,4289,-1.61,-146.6,516.6,-11.7,152,4294,0.00,2.38,0.00,0.000,6,0.000,0.041,2395,1899,3533
$GC,4622,-1.66,-146.6,553.8,-11.3,158,4627,0.12,2.42,0.00,0.000,4,0.084,0.064,2364,496,3532
$GC,4671,-1.60,-146.6,560.3,-13.3,158,4675,0.00,2.38,0.00,0.000,6,0.000,0.042,2364,1900,3533
$GC,4985,-1.60,-146.6,599.2,-12.3,164,4989,0.00,2.45,0.00,0.000,4,0.000,0.059,2364,495,3532
$GC,5101,-1.55,-146.6,614.3,-13.2,165,5106,0.12,2.35,0.00,0.000,6,0.130,0.045,2387,1904,3532
$GC,5415,-1.55,-146.6,648.7,-10.9,171,5419,0.00,2.45,0.00,0.000,4,0.000,0.059,2387,498,3532
$GC,5453,-1.55,-146.6,653.3,-11.7,171,5458,0.00,2.38,0.00,0.000,6,0.000,0.044,2386,1901,3531
$GC,5779,-1.59,-146.6,687.4,-10.4,177,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,1902,3531
$GC,6082,-1.64,-146.6,718.1,-10.1,182,6087,0.00,2.45,0.00,0.000,4,0.000,0.064,2386,499,3531
$GC,6154,-1.64,-146.6,726.1,-10.9,183,6158,0.00,2.35,0.00,0.000,6,0.000,0.048,2386,1902,3531
$GC,6514,-1.68,-146.6,762.8,-10.2,189,6516,0.12,0.00,0.00,0.000,6,0.084,0.000,2356,1906,3530
$GC,6817,-1.68,-146.6,796.4,-11.1,194,6821,0.00,2.45,0.00,0.000,4,0.000,0.066,2356,498,3530
$GC,6928,-1.62,-146.6,809.9,-12.6,195,6932,0.00,2.35,0.00,0.000,6,0.000,0.045,2356,1901,3530
$GC,7248,-1.62,-146.6,845.3,-11.0,201,7252,0.00,2.47,0.00,0.000,4,0.000,0.066,2356,492,3530
$GC,7325,-1.56,-146.6,854.3,-10.8,202,7329,0.15,2.38,0.00,0.000,6,0.127,0.048,2384,1904,3530
$GC,7681,-1.60,-146.6,888.0,-9.4,208,7685,0.00,2.47,0.00,0.000,4,0.000,0.067,2384,499,3529
$GC,7774,-1.60,-146.6,898.0,-10.7,209,7779,0.00,2.38,0.00,0.000,6,0.000,0.042,2384,1893,3529
$GC,8111,-1.66,-146.6,929.1,-9.2,215,8115,0.00,2.47,0.00,0.000,4,0.000,0.077,2384,499,3529
$GC,8148,-1.66,-146.6,932.9,-10.4,215,8153,0.00,2.40,0.00,0.000,6,0.000,0.049,2384,1897,3529
$GC,8480,-1.71,-146.6,961.6,-8.5,221,8485,0.12,2.53,0.00,0.000,4,0.084,0.086,2353,502,3529
$GC,8518,-1.65,-146.6,965.6,-10.2,221,8522,0.00,2.40,0.00,0.000,6,0.000,0.054,2353,1895,3529
$STATE,8781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8782,begin apogee
$GC,8786,-0.33,0.0,990.7,9.4,226,8918,1.42,0.00,128.45,1.351,6,0.112,0.000,2650,2098,2931
$STATE,8919,end apogee,CONTROL_FINISHED_OK
$STATE,8919,begin climb
$GC,8921,1.47,146.6,992.6,0.0,228,9057,1.75,2.70,126.90,1.316,4,0.071,0.091,3044,3505,2332
$GC,9141,1.30,146.6,970.8,13.7,231,9146,0.17,2.47,0.00,0.000,6,0.131,0.061,3013,2109,2328
$GC,9478,1.24,146.6,932.4,11.3,237,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2109,2325
$GC,9783,1.17,146.6,900.4,10.5,242,9785,0.15,0.00,0.00,0.000,6,0.130,0.000,2985,2109,2324
$GC,10084,1.17,146.6,871.7,9.5,247,10085,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2109,2324
$GC,10387,1.17,146.6,842.3,9.7,252,10391,0.00,2.47,0.00,0.000,4,0.000,0.063,2985,679,2324
$GC,10430,1.13,146.6,837.8,10.6,252,10435,0.00,2.45,0.00,0.000,6,0.000,0.045,2986,2106,2324
$GC,10756,1.13,146.6,807.7,9.2,258,10757,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2107,2323
$GC,11059,1.13,146.6,780.4,9.0,263,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2107,2323
$GC,11362,1.13,146.6,753.1,9.0,268,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2107,2323
$GC,11665,1.13,146.6,725.3,9.2,273,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2107,2323
$GC,11968,1.13,146.6,697.6,9.2,278,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2107,2323
$GC,12271,1.13,146.6,670.7,8.9,283,12275,0.00,2.45,0.00,0.000,4,0.000,0.059,2985,685,2323
$GC,12298,1.13,146.6,668.0,10.0,283,12302,0.00,2.40,0.00,0.000,6,0.000,0.041,2985,2094,2323
$GC,12641,1.13,146.6,637.4,9.0,289,12642,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2097,2323
$GC,12944,1.13,146.6,609.5,9.3,294,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2097,2323
$GC,13247,1.13,146.6,580.7,9.6,299,13248,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2097,2323
$GC,13550,1.13,146.6,551.2,9.8,304,13554,0.00,2.45,0.00,0.000,4,0.000,0.061,2985,684,2323
$GC,13581,1.13,146.6,547.8,10.3,304,13586,0.00,2.40,0.00,0.000,6,0.000,0.048,2985,2094,2322
$GC,13919,1.13,146.6,515.2,9.7,310,13923,0.00,2.42,0.00,0.000,4,0.000,0.059,2985,3507,2322
$GC,13956,1.13,146.6,511.3,9.8,310,13960,0.00,2.40,0.00,0.000,6,0.000,0.041,2985,2087,2323
$GC,14283,1.17,146.6,480.1,9.5,316,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2087,2323
$GC,14585,1.17,146.6,451.7,9.3,321,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2087,2322
$GC,14888,1.17,146.6,425.1,8.7,326,14892,0.00,2.40,0.00,0.000,4,0.000,0.062,2985,695,2322
$GC,14943,1.17,146.6,420.2,8.9,326,14950,0.00,2.38,0.00,0.000,6,0.000,0.044,2986,2095,2323
$GC,15253,1.22,146.7,395.4,8.0,332,15257,0.00,2.42,0.00,0.000,4,0.000,0.056,2985,3505,2323
$GC,15290,1.22,146.7,392.2,8.2,332,15294,0.00,2.38,0.00,0.000,6,0.000,0.043,2985,2097,2323
$GC,15617,1.28,157.2,367.9,7.4,338,15627,0.00,0.00,8.68,0.855,6,0.000,0.000,2985,2096,2291
$GC,15920,1.34,164.4,345.0,7.6,343,15930,0.15,0.00,8.02,0.827,6,0.077,0.000,3021,2096,2260
$GC,16222,1.34,164.4,316.8,9.4,348,16226,0.00,2.42,0.00,0.000,4,0.000,0.058,3020,3499,2258
$GC,16262,1.30,164.4,313.0,10.1,348,16266,0.00,2.35,0.00,0.000,6,0.000,0.043,3021,2094,2258
$GC,16583,1.30,164.4,282.1,9.6,357,16587,0.00,2.40,0.00,0.000,4,0.000,0.057,3021,696,2258
$GC,16626,1.22,164.4,277.4,11.1,358,16631,0.15,2.38,0.00,0.000,6,0.130,0.044,2993,2107,2258
$GC,16949,1.27,164.4,250.5,8.0,369,16950,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2110,2258
$GC,17256,1.34,174.0,227.5,7.5,379,17268,0.12,0.00,9.57,0.788,6,0.084,0.000,3023,2111,2221
$GC,17561,1.34,174.0,201.0,8.6,389,17562,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2112,2220
$GC,17867,1.34,174.0,174.5,8.6,399,17869,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2111,2219
$GC,18174,1.34,174.0,147.8,8.9,409,18178,0.00,2.45,0.00,0.000,4,0.000,0.062,3022,694,2219
$GC,18240,1.28,174.0,141.6,8.5,412,18244,0.00,2.38,0.00,0.000,6,0.000,0.043,3022,2104,2219
$GC,18562,1.31,197.1,118.2,6.7,428,18587,0.00,2.42,20.35,0.756,4,0.000,0.052,3022,3502,2127
$GC,18622,1.34,218.5,114.1,6.8,431,18646,0.00,2.38,19.08,0.734,6,0.000,0.038,3022,2096,2039
$GC,18974,1.41,218.5,85.8,8.4,448,18978,0.00,2.42,0.00,0.000,4,0.000,0.059,3023,689,2033
$GC,19091,1.41,218.5,75.2,8.9,455,19095,0.00,2.35,0.00,0.000,6,0.000,0.049,3022,2101,2032
$GC,19421,1.50,218.5,47.5,8.2,486,19426,0.15,2.40,0.00,0.000,4,0.078,0.058,3063,3504,2032
$GC,19464,1.45,218.5,43.2,10.7,489,19471,0.00,2.38,0.00,0.000,6,0.000,0.043,3063,2101,2032
$GC,19791,1.45,218.5,14.9,8.6,520,19792,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2101,2031
$STATE,19947,end climb,SURFACE_DEPTH_REACHED
$STATE,19947,begin surface coast
$FINISH,0.9,1.013068
$STATE,19970,end surface coast,CONTROL_FINISHED_OK
$STATE,19970,begin surface
$SM_CCo,19989,144.30,0.663,0,0,1299,400.08
$SM_GC,1.66,0.00,0.00,144.30,0.000,0.000,0.663,492,1886,1299,-10.29,-0.37,400.08
$IRIDIUM_FIX,4959.75,-14505.72,120997,222246
$TT8_MAMPS,0.029146
$HUMID,1694
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,13.50
$XPDR_PINGS,79
$24V_AH,23.4,13.483
$10V_AH,10.1,6.578
$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,26.275,160.050,321.050,144.300,0.000,29.436,28.406,115.633,19.750,0.000,0.000,179.507,1221.297,16610.211,628.737,1762.078,343.331,33.351,1500.904,0.000,1579.843,0.000,0.459
$DEVICE_MAMPS,170.274,134.225,1350.687,662.688,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,381.571,434.292,556.199,333.911,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31881,537
$CAP_FILE_SIZE,128777,0
$CFSIZE,260165632,255340544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190608,102202,5021.360,-14512.198,113,1.9,120,18.5