version: 66.03
glider: 144
mission: 13
dive: 185
start: 7 27 108 22 8 26
data:
$ID,144
$MISSION,13
$DIVE,185
$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,-42772.203
$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,44
$R_STBD_OVSHOOT,43
$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
$GPS1,215855,4955.419,-14511.272,60,1.3,60,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-57.6
$GPS2,220732,4955.486,-14511.175,32,1.9,32,18.4
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.046,-0.165
$KALMAN_X,108.8,184.4,-170.9,-15640.9,234.3
$KALMAN_Y,146533.0,-31.7,-103.9,-155707.9,1352.0
$MHEAD_RNG_PITCHd_Wd,177.3,2881,-22.7,-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,18,begin dive
$GC,20,-1.60,-68.1,0.0,0.0,0,104,0.00,0.00,-81.55,0.000,2,0.000,0.000,495,1889,2993
$GC,106,-1.66,-120.6,3.3,-3.9,8,132,9.85,2.40,-10.25,0.000,4,0.162,0.054,2360,3297,3426
$GC,207,-1.55,-120.6,23.1,-19.0,17,211,0.15,2.30,0.00,0.000,6,0.121,0.032,2388,1905,3427
$GC,531,-1.55,-120.6,74.2,-16.1,47,535,0.00,2.38,0.00,0.000,4,0.000,0.046,2388,501,3429
$GC,653,-1.55,-120.6,95.0,-17.2,53,659,0.00,2.28,0.00,0.000,6,0.000,0.031,2388,1903,3430
$GC,969,-1.62,-120.6,141.7,-13.7,69,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1906,3430
$GC,1296,-1.72,-120.6,180.7,-11.7,81,1301,0.15,2.40,0.00,0.000,4,0.070,0.047,2345,501,3430
$GC,1413,-1.72,-120.6,197.6,-14.4,84,1417,0.00,2.28,0.00,0.000,6,0.000,0.033,2345,1900,3430
$GC,1731,-1.72,-120.6,241.0,-13.5,95,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1902,3430
$GC,2037,-1.72,-120.6,281.8,-13.0,105,2041,0.00,2.40,0.00,0.000,4,0.000,0.054,2344,495,3430
$GC,2120,-1.72,-120.6,293.7,-14.1,107,2124,0.00,2.30,0.00,0.000,6,0.000,0.031,2345,1908,3430
$GC,2435,-1.72,-120.6,336.5,-13.6,114,2439,0.00,2.40,0.00,0.000,4,0.000,0.052,2345,499,3429
$GC,2512,-1.72,-120.6,348.0,-15.2,115,2516,0.00,2.30,0.00,0.000,6,0.000,0.031,2345,1897,3429
$GC,2872,-1.72,-120.6,398.3,-13.9,121,2876,0.00,2.38,0.00,0.000,4,0.000,0.047,2345,496,3428
$GC,2943,-1.72,-120.6,409.1,-14.4,122,2948,0.00,2.33,0.00,0.000,6,0.000,0.031,2345,1907,3428
$GC,3309,-1.72,-120.6,457.6,-13.2,128,3313,0.00,2.40,0.00,0.000,4,0.000,0.053,2345,501,3427
$GC,3408,-1.72,-120.6,471.6,-14.5,129,3412,0.00,2.28,0.00,0.000,6,0.000,0.028,2345,1900,3427
$GC,3745,-1.72,-120.6,514.5,-12.7,135,3750,0.00,2.40,0.00,0.000,4,0.000,0.054,2345,496,3426
$GC,3783,-1.72,-120.6,519.8,-13.1,135,3788,0.00,2.30,0.00,0.000,6,0.000,0.035,2345,1897,3427
$GC,4109,-1.72,-120.6,559.6,-12.1,141,4114,0.00,2.38,0.00,0.000,4,0.000,0.053,2345,502,3426
$GC,4209,-1.72,-120.6,572.3,-12.7,142,4214,0.00,2.28,0.00,0.000,6,0.000,0.035,2345,1900,3426
$GC,4541,-1.72,-120.6,611.3,-11.6,148,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,1903,3425
$GC,4844,-1.76,-120.6,647.6,-12.0,153,4848,0.00,2.38,0.00,0.000,4,0.000,0.051,2345,502,3425
$GC,5030,-1.76,-120.6,669.9,-11.5,155,5034,0.00,2.28,0.00,0.000,6,0.000,0.036,2345,1900,3424
$GC,5345,-1.81,-120.6,704.9,-11.1,161,5349,0.00,2.38,0.00,0.000,4,0.000,0.048,2345,502,3424
$GC,5433,-1.81,-120.6,715.6,-11.8,162,5437,0.00,2.30,0.00,0.000,6,0.000,0.033,2345,1899,3424
$GC,5783,-1.86,-120.6,753.3,-10.7,168,5787,0.00,2.38,0.00,0.000,4,0.000,0.055,2345,500,3424
$GC,5820,-1.86,-120.6,757.6,-11.0,168,5825,0.00,2.30,0.00,0.000,6,0.000,0.033,2345,1896,3424
$GC,6153,-1.91,-120.6,791.9,-10.3,174,6155,0.15,0.00,0.00,0.000,6,0.075,0.000,2309,1899,3423
$GC,6456,-1.91,-120.6,826.2,-11.4,179,6460,0.00,2.40,0.00,0.000,4,0.000,0.057,2309,497,3423
$GC,6528,-1.83,-120.6,835.0,-12.4,180,6531,0.00,2.30,0.00,0.000,6,0.000,0.033,2309,1906,3423
$GC,6887,-1.83,-120.6,875.7,-11.4,186,6891,0.00,2.42,0.00,0.000,4,0.000,0.060,2309,502,3422
$GC,6965,-1.76,-120.6,885.1,-12.1,187,6969,0.17,2.30,0.00,0.000,6,0.130,0.031,2341,1905,3422
$GC,7314,-1.80,-120.6,920.1,-9.9,193,7318,0.00,2.45,0.00,0.000,4,0.000,0.059,2341,505,3422
$GC,7402,-1.80,-120.6,930.1,-11.2,194,7406,0.00,2.33,0.00,0.000,6,0.000,0.038,2341,1892,3421
$GC,7746,-1.86,-120.6,963.4,-9.7,200,7750,0.00,2.47,0.00,0.000,4,0.000,0.071,2341,499,3421
$GC,7807,-1.86,-120.6,970.1,-10.7,201,7811,0.00,2.38,0.00,0.000,6,0.000,0.043,2341,1899,3422
$STATE,8048,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8048,begin apogee
$GC,8054,-0.33,0.0,993.5,9.5,205,8162,1.50,0.00,104.47,1.374,6,0.110,0.000,2654,2107,2931
$STATE,8163,end apogee,CONTROL_FINISHED_OK
$STATE,8163,begin climb
$GC,8165,1.66,120.6,994.9,0.0,206,8275,1.92,2.60,102.50,1.343,4,0.067,0.080,3091,3507,2438
$GC,8304,1.47,120.6,983.9,12.7,208,8309,0.20,2.45,0.00,0.000,6,0.129,0.052,3054,2115,2436
$GC,8652,1.42,120.6,942.9,11.6,214,8657,0.00,2.50,0.00,0.000,4,0.000,0.061,3054,684,2433
$GC,8674,1.34,120.6,940.0,13.4,214,8679,0.17,2.40,0.00,0.000,6,0.130,0.041,3022,2109,2433
$GC,9011,1.34,120.6,905.0,10.3,220,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2109,2433
$GC,9314,1.34,120.6,876.0,9.5,225,9318,0.00,2.47,0.00,0.000,4,0.000,0.056,3022,680,2432
$GC,9341,1.34,120.6,873.2,9.7,225,9346,0.00,2.40,0.00,0.000,6,0.000,0.036,3022,2113,2432
$GC,9678,1.34,120.6,842.2,9.2,231,9682,0.00,2.47,0.00,0.000,4,0.000,0.054,3021,674,2432
$GC,9705,1.34,120.6,839.5,10.4,231,9709,0.00,2.38,0.00,0.000,6,0.000,0.031,3022,2100,2432
$GC,10048,1.34,120.6,807.6,9.3,237,10049,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2100,2431
$GC,10351,1.34,120.6,779.3,9.3,242,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2100,2432
$GC,10654,1.34,120.6,749.4,10.0,247,10658,0.00,2.38,0.00,0.000,4,0.000,0.044,3022,3505,2431
$GC,10669,1.34,120.6,747.6,10.1,247,10673,0.00,2.38,0.00,0.000,6,0.000,0.028,3022,2076,2431
$GC,11018,1.34,120.6,711.9,10.2,253,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2076,2431
$GC,11323,1.38,120.6,680.5,10.4,258,11327,0.00,2.35,0.00,0.000,4,0.000,0.047,3022,692,2431
$GC,11405,1.38,120.6,670.9,11.6,259,11410,0.00,2.35,0.00,0.000,6,0.000,0.035,3021,2107,2431
$GC,11754,1.38,120.6,637.0,9.7,265,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2108,2431
$GC,12058,1.43,120.6,608.2,9.4,270,12059,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2110,2431
$GC,12361,1.47,120.6,580.3,9.2,275,12365,0.12,2.38,0.00,0.000,4,0.079,0.048,3052,701,2431
$GC,12376,1.47,120.6,578.7,9.1,275,12380,0.00,2.30,0.00,0.000,6,0.000,0.034,3052,2091,2430
$GC,12725,1.47,120.6,545.2,9.5,281,12729,0.00,2.38,0.00,0.000,4,0.000,0.051,3052,699,2431
$GC,12819,1.40,120.6,535.2,10.8,282,12823,0.00,2.30,0.00,0.000,6,0.000,0.029,3053,2104,2430
$GC,13156,1.40,120.6,502.4,9.7,288,13160,0.00,2.40,0.00,0.000,4,0.000,0.048,3052,695,2430
$GC,13189,1.31,120.6,499.1,10.3,288,13193,0.20,2.28,0.00,0.000,6,0.126,0.035,3015,2101,2430
$GC,13520,1.38,120.6,471.4,8.2,294,13521,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2104,2430
$GC,13823,1.45,120.9,447.3,8.0,299,13828,0.12,2.38,0.00,0.000,4,0.078,0.050,3046,700,2430
$GC,13850,1.45,120.9,444.8,9.2,299,13854,0.00,2.33,0.00,0.000,6,0.000,0.028,3046,2104,2430
$GC,14188,1.45,120.9,415.0,8.9,305,14189,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2108,2430
$GC,14490,1.45,120.9,387.8,9.0,310,14494,0.00,2.38,0.00,0.000,4,0.000,0.051,3046,701,2430
$GC,14534,1.40,120.9,383.6,9.5,310,14537,0.00,2.28,0.00,0.000,6,0.000,0.035,3046,2101,2430
$GC,14854,1.40,120.9,355.8,8.8,316,14855,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2105,2430
$GC,15157,1.40,120.9,328.6,8.9,321,15161,0.00,2.40,0.00,0.000,4,0.000,0.051,3046,691,2431
$GC,15229,1.35,120.9,321.7,8.9,322,15234,0.12,2.30,0.00,0.000,6,0.131,0.030,3024,2100,2430
$GC,15553,1.42,131.0,297.5,7.2,328,15564,0.00,0.00,8.65,0.817,6,0.000,0.000,3024,2103,2395
$GC,15887,1.50,137.9,272.8,7.5,339,15897,0.12,0.00,7.38,0.779,6,0.077,0.000,3055,2103,2368
$GC,16193,1.50,137.9,245.6,8.8,349,16194,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2103,2367
$GC,16501,1.50,137.9,217.7,9.0,359,16505,0.00,2.38,0.00,0.000,4,0.000,0.044,3055,699,2366
$GC,16545,1.45,137.9,213.3,9.4,360,16549,0.00,2.30,0.00,0.000,6,0.000,0.035,3055,2106,2366
$GC,16863,1.45,137.9,186.3,8.0,371,16864,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2109,2366
$GC,17169,1.46,146.4,163.7,7.3,381,17179,0.00,0.00,8.27,0.743,6,0.000,0.000,3055,2109,2334
$GC,17478,1.46,146.4,138.5,8.7,393,17479,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2109,2333
$GC,17786,1.54,175.1,117.3,5.7,408,17812,0.00,0.00,24.55,0.764,6,0.000,0.000,3055,2110,2216
$GC,18115,1.63,180.8,94.3,7.6,424,18124,0.12,0.00,5.75,0.640,6,0.078,0.000,3087,2110,2193
$GC,18428,1.63,180.8,69.1,8.0,445,18432,0.00,2.40,0.00,0.000,4,0.000,0.048,3087,701,2191
$GC,18479,1.58,180.8,64.8,8.8,449,18483,0.00,2.30,0.00,0.000,6,0.000,0.034,3087,2102,2191
$GC,18805,1.58,180.8,37.6,9.3,479,18806,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2105,2191
$GC,19124,1.70,230.5,18.1,4.1,509,19167,0.00,0.00,41.10,0.694,6,0.000,0.000,3087,2105,1990
$STATE,19344,end climb,SURFACE_DEPTH_REACHED
$STATE,19345,begin surface coast
$FINISH,0.9,1.024825
$STATE,19368,end surface coast,CONTROL_FINISHED_OK
$STATE,19368,begin surface
$SM_CCo,19388,133.85,0.660,0,0,1299,400.08
$SM_GC,1.37,0.00,0.00,133.85,0.000,0.000,0.660,495,1889,1299,-10.27,-0.37,400.08
$IRIDIUM_FIX,4939.69,-14513.64,211097,222227
$TT8_MAMPS,0.029146
$HUMID,1776
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,15.70
$XPDR_PINGS,72
$24V_AH,23.3,36.838
$10V_AH,10.2,18.657
$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,26.050,142.475,302.675,133.850,0.000,59.967,63.268,204.804,18.000,0.000,0.000,32.328,1209.820,16066.658,577.615,1640.048,545.884,33.377,1441.504,0.000,1605.308,0.000,0.459
$DEVICE_MAMPS,161.837,98.176,1374.464,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,380.126,426.470,549.845,349.988,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31690,532
$CAP_FILE_SIZE,127929,0
$CFSIZE,260165632,246345728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280708,033525,4953.839,-14511.613,43,2.0,60,18.4