version: 66.03
glider: 144
mission: 13
dive: 178
start: 7 25 108 23 13 17
data:
$ID,144
$MISSION,13
$DIVE,178
$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,-42438.832
$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,48
$R_STBD_OVSHOOT,42
$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
$GPS1,230651,5013.656,-14509.205,92,3.8,111,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-56.2
$GPS2,231223,5013.698,-14509.154,18,2.2,37,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.008,-0.243
$KALMAN_X,-867.7,17.9,231.0,-12494.0,-703.7
$KALMAN_Y,137802.2,15.7,391.3,-113797.0,461.0
$MHEAD_RNG_PITCHd_Wd,159.6,36612,-15.3,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.20,-146.6,0.0,0.0,0,94,0.00,0.00,-71.78,0.000,2,0.000,0.000,494,1865,2779
$GC,97,-1.20,-146.6,3.1,-4.0,7,134,10.43,2.40,-21.40,0.000,4,0.163,0.051,2461,3295,3531
$GC,249,-1.11,-146.6,22.4,-14.5,20,253,0.12,2.28,0.00,0.000,6,0.119,0.028,2485,1909,3533
$GC,573,-1.11,-146.6,60.7,-11.4,50,577,0.00,2.40,0.00,0.000,4,0.000,0.048,2484,492,3534
$GC,612,-1.11,-146.6,65.1,-11.9,53,616,0.00,2.30,0.00,0.000,6,0.000,0.030,2484,1910,3535
$GC,941,-1.11,-146.6,100.3,-10.2,75,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1913,3536
$GC,1251,-1.16,-146.6,126.5,-7.6,90,1255,0.00,2.42,0.00,0.000,4,0.000,0.049,2484,494,3536
$GC,1300,-1.22,-146.6,130.9,-8.5,92,1304,0.00,2.30,0.00,0.000,6,0.000,0.028,2484,1907,3536
$GC,1636,-1.30,-146.6,157.7,-8.1,107,1638,0.17,0.00,0.00,0.000,6,0.063,0.000,2438,1910,3536
$GC,1942,-1.30,-146.6,189.4,-10.2,117,1947,0.00,2.40,0.00,0.000,4,0.000,0.048,2437,502,3536
$GC,2026,-1.24,-146.6,198.3,-10.6,119,2031,0.10,2.28,0.00,0.000,6,0.118,0.035,2456,1898,3535
$GC,2338,-1.24,-146.6,224.8,-8.4,129,2342,0.00,2.40,0.00,0.000,4,0.000,0.048,2456,497,3535
$GC,2387,-1.24,-146.6,229.0,-8.5,130,2391,0.00,2.30,0.00,0.000,6,0.000,0.036,2456,1903,3535
$GC,2705,-1.24,-146.6,255.9,-8.7,141,2706,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1906,3535
$GC,3011,-1.24,-146.6,283.8,-9.5,151,3015,0.00,2.40,0.00,0.000,4,0.000,0.055,2456,502,3534
$GC,3043,-1.24,-146.6,287.2,-10.1,152,3048,0.00,2.30,0.00,0.000,6,0.000,0.035,2456,1897,3534
$GC,3377,-1.24,-146.6,319.0,-9.5,160,3381,0.00,2.40,0.00,0.000,4,0.000,0.054,2456,494,3534
$GC,3431,-1.24,-146.6,324.6,-10.1,160,3438,0.00,2.33,0.00,0.000,6,0.000,0.035,2456,1902,3534
$GC,3740,-1.24,-146.6,351.0,-8.4,166,3744,0.00,2.40,0.00,0.000,4,0.000,0.048,2456,498,3533
$GC,3795,-1.24,-146.6,355.9,-9.3,166,3801,0.00,2.30,0.00,0.000,6,0.000,0.029,2456,1892,3533
$GC,4104,-1.24,-146.6,380.6,-8.0,172,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1892,3532
$GC,4407,-1.24,-146.6,405.5,-8.3,177,4411,0.00,2.38,0.00,0.000,4,0.000,0.049,2456,501,3532
$GC,4469,-1.24,-146.6,411.2,-9.5,178,4473,0.00,2.28,0.00,0.000,6,0.000,0.035,2456,1898,3531
$GC,4834,-1.24,-146.6,440.2,-7.9,184,4838,0.00,2.40,0.00,0.000,4,0.000,0.052,2456,496,3531
$GC,4872,-1.24,-146.6,443.3,-8.0,184,4876,0.00,2.30,0.00,0.000,6,0.000,0.031,2456,1906,3531
$GC,5204,-1.28,-146.6,468.0,-7.4,190,5208,0.00,2.40,0.00,0.000,4,0.000,0.055,2456,502,3531
$GC,5231,-1.28,-146.6,470.3,-8.0,190,5235,0.00,2.30,0.00,0.000,6,0.000,0.035,2456,1897,3531
$GC,5569,-1.33,-146.6,494.8,-7.3,196,5573,0.00,2.38,0.00,0.000,4,0.000,0.051,2456,502,3530
$GC,5607,-1.33,-146.6,498.0,-8.2,196,5611,0.00,2.30,0.00,0.000,6,0.000,0.032,2457,1897,3530
$GC,5934,-1.37,-146.6,522.0,-7.4,202,5939,0.12,2.40,0.00,0.000,4,0.075,0.054,2423,496,3530
$GC,5989,-1.31,-146.6,527.2,-10.1,202,5995,0.00,2.30,0.00,0.000,6,0.000,0.030,2423,1907,3530
$GC,6298,-1.31,-146.6,554.4,-8.9,208,6302,0.00,2.42,0.00,0.000,4,0.000,0.051,2423,493,3529
$GC,6354,-1.25,-146.6,560.1,-10.2,208,6359,0.15,2.30,0.00,0.000,6,0.111,0.035,2453,1904,3529
$GC,6663,-1.25,-146.6,584.9,-8.0,213,6668,0.00,2.40,0.00,0.000,4,0.000,0.057,2453,501,3529
$GC,6707,-1.25,-146.6,588.8,-9.1,213,6711,0.00,2.30,0.00,0.000,6,0.000,0.031,2453,1901,3529
$GC,7028,-1.29,-146.6,614.0,-8.0,219,7032,0.00,2.40,0.00,0.000,4,0.000,0.054,2453,499,3529
$GC,7090,-1.29,-146.6,619.6,-9.3,220,7094,0.00,2.30,0.00,0.000,6,0.000,0.031,2453,1908,3528
$GC,7454,-1.34,-146.6,650.0,-8.3,226,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1910,3528
$GC,7757,-1.39,-146.6,676.3,-8.7,231,7762,0.12,2.42,0.00,0.000,4,0.075,0.051,2420,497,3528
$GC,7825,-1.32,-146.6,683.4,-11.6,232,7830,0.00,2.30,0.00,0.000,6,0.000,0.035,2420,1908,3528
$GC,8185,-1.28,-146.6,719.6,-10.0,238,8189,0.12,2.42,0.00,0.000,4,0.117,0.051,2444,496,3527
$GC,8252,-1.28,-146.6,726.4,-10.3,239,8256,0.00,2.30,0.00,0.000,6,0.000,0.029,2444,1908,3527
$GC,8611,-1.28,-146.6,758.5,-8.8,245,8615,0.00,2.42,0.00,0.000,4,0.000,0.055,2445,496,3527
$GC,8642,-1.28,-146.6,761.7,-10.2,245,8647,0.00,2.33,0.00,0.000,6,0.000,0.037,2444,1900,3527
$GC,8974,-1.28,-146.6,788.5,-8.0,251,8978,0.00,2.40,0.00,0.000,4,0.000,0.058,2444,502,3527
$GC,9001,-1.28,-146.6,790.8,-8.6,251,9005,0.00,2.30,0.00,0.000,6,0.000,0.032,2444,1895,3527
$GC,9339,-1.28,-146.6,815.5,-7.3,257,9343,0.00,2.40,0.00,0.000,4,0.000,0.056,2445,499,3527
$GC,9371,-1.28,-146.6,818.0,-8.0,257,9375,0.00,2.33,0.00,0.000,6,0.000,0.036,2445,1901,3527
$GC,9703,-1.28,-146.6,840.3,-6.6,263,9707,0.00,2.40,0.00,0.000,4,0.000,0.059,2444,499,3526
$GC,9736,-1.28,-146.6,842.6,-7.3,263,9739,0.00,2.30,0.00,0.000,6,0.000,0.033,2444,1908,3526
$GC,10073,-1.28,-146.6,864.2,-6.4,269,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1908,3526
$GC,10376,-1.32,-146.6,883.0,-6.2,274,10381,0.00,2.45,0.00,0.000,4,0.000,0.058,2444,497,3525
$GC,10464,-1.32,-146.6,889.5,-8.2,275,10469,0.00,2.33,0.00,0.000,6,0.000,0.034,2444,1892,3525
$GC,10808,-1.37,-146.6,910.9,-6.3,281,10812,0.00,2.42,0.00,0.000,4,0.000,0.065,2445,505,3525
$GC,10846,-1.37,-146.6,913.6,-7.2,281,10850,0.00,2.30,0.00,0.000,6,0.000,0.038,2445,1897,3525
$GC,11167,-1.42,-146.6,934.0,-6.4,287,11172,0.12,2.45,0.00,0.000,4,0.076,0.067,2411,504,3525
$GC,11194,-1.37,-146.6,936.1,-7.2,287,11198,0.00,2.33,0.00,0.000,6,0.000,0.040,2411,1901,3525
$GC,11525,-1.37,-146.6,962.1,-8.0,293,11530,0.00,2.50,0.00,0.000,4,0.000,0.077,2411,504,3525
$GC,11570,-1.31,-146.6,966.0,-9.3,293,11575,0.15,2.35,0.00,0.000,6,0.114,0.050,2441,1897,3525
$GC,11884,-1.31,-146.6,988.5,-7.1,299,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1897,3525
$STATE,11942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11942,begin apogee
$GC,11947,-0.33,0.0,992.7,7.1,300,12077,0.98,0.00,126.60,1.373,6,0.097,0.000,2650,2105,2931
$STATE,12078,end apogee,CONTROL_FINISHED_OK
$STATE,12078,begin climb
$GC,12080,1.20,146.6,996.0,0.0,302,12213,1.50,2.60,124.60,1.344,4,0.070,0.079,2989,3506,2332
$GC,12287,1.01,146.6,982.0,11.2,305,12292,0.20,2.45,0.00,0.000,6,0.119,0.058,2951,2113,2329
$GC,12630,0.94,146.6,953.2,8.4,311,12634,0.00,2.53,0.00,0.000,4,0.000,0.068,2951,684,2326
$GC,12656,0.84,146.6,950.7,9.0,311,12661,0.20,2.42,0.00,0.000,6,0.114,0.045,2912,2109,2326
$GC,12987,0.87,172.9,927.1,7.0,317,13012,0.00,0.00,23.40,1.262,6,0.000,0.000,2912,2109,2226
$GC,13291,0.95,193.1,905.0,7.3,322,13315,0.00,2.55,19.08,1.233,4,0.000,0.058,2912,693,2143
$GC,13338,1.00,197.5,901.2,7.8,322,13349,0.15,2.38,5.53,0.953,6,0.071,0.036,2948,2110,2125
$GC,13651,1.00,197.5,872.8,9.2,327,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2110,2122
$GC,13955,1.00,197.5,845.4,9.0,332,13959,0.00,2.47,0.00,0.000,4,0.000,0.056,2949,682,2121
$GC,13998,0.94,197.5,841.0,10.2,332,14002,0.00,2.38,0.00,0.000,6,0.000,0.035,2949,2114,2121
$GC,14318,0.94,197.5,813.4,8.5,338,14323,0.00,2.47,0.00,0.000,4,0.000,0.055,2949,678,2120
$GC,14345,0.89,197.5,810.9,9.2,338,14350,0.12,2.35,0.00,0.000,6,0.120,0.031,2925,2099,2120
$GC,14683,0.96,214.2,785.7,7.4,344,14703,0.00,2.50,15.75,1.165,4,0.000,0.051,2925,681,2056
$GC,14725,0.98,232.1,782.3,7.3,344,14749,0.00,2.38,17.50,1.155,6,0.000,0.030,2925,2105,1984
$GC,15111,1.06,247.5,753.4,7.4,351,15128,0.15,0.00,14.68,1.128,6,0.071,0.000,2963,2106,1921
$GC,15413,1.06,247.5,726.0,9.1,356,15417,0.00,2.45,0.00,0.000,4,0.000,0.051,2964,684,1917
$GC,15456,1.01,247.5,721.8,9.7,356,15461,0.00,2.35,0.00,0.000,6,0.000,0.030,2963,2108,1917
$GC,15771,1.01,247.5,693.8,8.9,362,15775,0.00,2.45,0.00,0.000,4,0.000,0.051,2963,680,1916
$GC,15803,0.97,247.5,690.7,10.5,362,15808,0.12,2.35,0.00,0.000,6,0.116,0.037,2940,2101,1915
$GC,16141,1.01,248.5,663.8,8.0,368,16144,0.00,2.42,0.00,0.000,4,0.000,0.047,2940,683,1915
$GC,16161,1.01,248.5,662.0,8.3,368,16166,0.00,2.38,0.00,0.000,6,0.000,0.035,2940,2106,1915
$GC,16511,1.05,250.6,634.4,7.9,374,16515,0.00,2.45,0.00,0.000,4,0.000,0.049,2940,680,1915
$GC,16537,1.05,250.6,632.0,9.3,374,16541,0.00,2.38,0.00,0.000,6,0.000,0.031,2940,2101,1915
$GC,16875,1.10,250.6,604.9,8.1,380,16880,0.12,2.45,0.00,0.000,4,0.076,0.051,2972,677,1915
$GC,16907,1.05,250.6,601.7,9.8,380,16911,0.00,2.35,0.00,0.000,6,0.000,0.031,2972,2102,1915
$GC,17233,1.05,250.6,569.5,9.8,386,17237,0.00,2.42,0.00,0.000,4,0.000,0.049,2972,683,1915
$GC,17259,1.00,250.6,566.7,10.4,386,17264,0.15,2.35,0.00,0.000,6,0.114,0.032,2943,2109,1914
$GC,17596,1.04,250.6,537.8,8.5,392,17601,0.00,2.45,0.00,0.000,4,0.000,0.048,2943,679,1914
$GC,17651,1.04,250.6,532.5,10.1,392,17658,0.00,2.38,0.00,0.000,6,0.000,0.037,2943,2102,1914
$GC,17961,1.08,250.6,506.0,8.6,398,17965,0.00,2.42,0.00,0.000,4,0.000,0.049,2943,684,1914
$GC,17981,1.08,250.6,503.9,8.8,398,17986,0.00,2.35,0.00,0.000,6,0.000,0.031,2943,2097,1914
$GC,18325,1.13,250.6,474.6,8.5,404,18330,0.12,2.42,0.00,0.000,4,0.074,0.046,2976,677,1914
$GC,18381,1.07,250.6,468.9,10.0,404,18387,0.00,2.35,0.00,0.000,6,0.000,0.034,2975,2106,1914
$GC,18689,1.07,250.6,438.3,9.9,410,18693,0.00,2.45,0.00,0.000,4,0.000,0.050,2975,674,1914
$GC,18728,1.02,250.6,434.2,11.5,410,18732,0.12,2.35,0.00,0.000,6,0.119,0.035,2952,2101,1914
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$GC,19787,1.04,268.5,348.4,7.5,428,19806,0.00,2.50,14.62,0.890,4,0.000,0.048,2952,680,1836
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$STATE,23593,end climb,SURFACE_DEPTH_REACHED
$STATE,23594,begin surface coast
$FINISH,0.9,1.012662
$STATE,23617,end surface coast,CONTROL_FINISHED_OK
$STATE,23617,begin surface
$SM_CCo,23637,14.43,0.585,1,0,1299,400.08
$SM_GC,1.38,0.00,0.00,14.43,0.000,0.000,0.585,491,1877,1299,-10.29,-0.68,400.08
$IRIDIUM_FIX,4956.40,-14509.57,191097,161636
$TT8_MAMPS,0.029146
$HUMID,1818
$INTERNAL_PRESSURE,7.65654
$TCM_TEMP,15.50
$XPDR_PINGS,120
$24V_AH,23.3,35.639
$10V_AH,10.1,18.057
$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
$DEVICE_SECS,26.975,263.350,469.000,14.425,0.000,29.628,38.632,139.043,30.000,0.000,0.000,38.176,1454.432,19455.504,664.333,1959.318,456.719,33.373,1779.582,0.000,1897.864,0.000,0.459
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,432.869,492.368,627.288,362.007,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34858,610
$CAP_FILE_SIZE,172060,0
$CFSIZE,260165632,246771712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,260708,054927,5010.890,-14509.256,57,3.9,76,18.5