version: 66.03
glider: 144
mission: 13
dive: 198
start: 7 31 108 10 23 52
data:
$ID,144
$MISSION,13
$DIVE,198
$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,-43392.996
$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,43
$R_STBD_OVSHOOT,47
$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
$GPS1,101736,5021.456,-14429.967,48,2.0,48,18.7
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-62.5
$GPS2,102256,5021.451,-14429.935,35,1.6,35,18.7
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SE
$TGT_LATLONG,4954.011,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.012,-0.191
$KALMAN_X,-1865.0,-208.6,-1.2,35644.3,307.1
$KALMAN_Y,155194.5,11.3,301.2,-116735.3,-54.5
$MHEAD_RNG_PITCHd_Wd,164.9,50819,-20.2,-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,-1.45,-86.1,0.0,0.0,0,93,0.00,0.00,-72.03,0.000,2,0.000,0.000,490,1892,2804
$GC,96,-1.52,-146.6,3.3,-4.2,7,131,10.07,2.40,-18.95,0.000,4,0.163,0.054,2390,3292,3532
$GC,323,-1.44,-146.6,40.7,-14.4,27,327,0.10,2.28,0.00,0.000,6,0.127,0.032,2409,1901,3535
$GC,659,-1.44,-146.6,90.5,-15.4,55,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,1901,3536
$GC,964,-1.44,-146.6,136.0,-12.9,70,969,0.00,2.38,0.00,0.000,4,0.000,0.048,2409,504,3536
$GC,1188,-1.44,-146.6,164.3,-12.1,78,1194,0.00,2.28,0.00,0.000,6,0.000,0.033,2409,1894,3536
$GC,1501,-1.50,-146.6,200.9,-11.7,89,1505,0.00,2.38,0.00,0.000,4,0.000,0.046,2409,499,3536
$GC,1566,-1.54,-146.6,209.5,-13.2,91,1571,0.00,2.28,0.00,0.000,6,0.000,0.026,2409,1900,3536
$GC,1902,-1.62,-146.6,250.5,-12.3,102,1906,0.15,2.40,0.00,0.000,4,0.069,0.047,2366,495,3537
$GC,1956,-1.55,-146.6,258.6,-15.4,103,1963,0.12,2.28,0.00,0.000,6,0.122,0.029,2388,1906,3536
$GC,2268,-1.55,-146.6,299.5,-12.9,114,2272,0.00,2.40,0.00,0.000,4,0.000,0.046,2388,497,3536
$GC,2363,-1.55,-146.6,312.2,-13.2,116,2367,0.00,2.28,0.00,0.000,6,0.000,0.032,2388,1900,3536
$GC,2700,-1.55,-146.6,353.6,-12.2,122,2704,0.00,2.38,0.00,0.000,4,0.000,0.047,2388,504,3535
$GC,2732,-1.55,-146.6,357.7,-12.6,122,2736,0.00,2.30,0.00,0.000,6,0.000,0.031,2388,1905,3535
$GC,3064,-1.55,-146.6,396.1,-11.5,128,3068,0.00,2.40,0.00,0.000,4,0.000,0.047,2388,496,3535
$GC,3107,-1.55,-146.6,401.5,-12.1,128,3112,0.00,2.30,0.00,0.000,6,0.000,0.027,2388,1899,3535
$GC,3428,-1.59,-146.6,438.9,-11.7,134,3432,0.00,2.38,0.00,0.000,4,0.000,0.046,2388,503,3534
$GC,3472,-1.59,-146.6,444.3,-12.0,134,3476,0.00,2.28,0.00,0.000,6,0.000,0.032,2388,1910,3534
$GC,3793,-1.64,-146.6,479.6,-11.0,140,3797,0.00,2.40,0.00,0.000,4,0.000,0.049,2388,496,3534
$GC,3859,-1.64,-146.6,487.4,-12.1,141,3864,0.00,2.28,0.00,0.000,6,0.000,0.034,2388,1900,3533
$GC,4224,-1.69,-146.6,525.9,-10.6,147,4229,0.15,2.38,0.00,0.000,4,0.072,0.048,2346,503,3533
$GC,4268,-1.61,-146.6,531.5,-12.8,147,4273,0.15,2.28,0.00,0.000,6,0.124,0.033,2374,1907,3532
$GC,4582,-1.61,-146.6,567.0,-11.3,153,4586,0.00,2.40,0.00,0.000,4,0.000,0.052,2374,499,3532
$GC,4653,-1.61,-146.6,575.8,-13.1,154,4657,0.00,2.30,0.00,0.000,6,0.000,0.031,2374,1901,3532
$GC,5013,-1.61,-146.6,618.9,-12.0,160,5014,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,1903,3532
$GC,5316,-1.61,-146.6,655.7,-12.1,165,5320,0.00,2.38,0.00,0.000,4,0.000,0.048,2374,505,3531
$GC,5377,-1.61,-146.6,663.6,-12.7,166,5381,0.00,2.28,0.00,0.000,6,0.000,0.034,2375,1909,3531
$GC,5747,-1.61,-146.6,707.0,-11.6,172,5751,0.00,2.40,0.00,0.000,4,0.000,0.048,2374,503,3531
$GC,5809,-1.61,-146.6,714.7,-12.8,173,5813,0.00,2.28,0.00,0.000,6,0.000,0.034,2374,1907,3531
$GC,6179,-1.61,-146.6,758.6,-11.8,179,6183,0.00,2.40,0.00,0.000,4,0.000,0.054,2374,502,3530
$GC,6222,-1.61,-146.6,763.8,-12.3,179,6226,0.00,2.30,0.00,0.000,6,0.000,0.032,2375,1898,3530
$GC,6543,-1.65,-146.6,800.8,-11.5,185,6547,0.00,2.40,0.00,0.000,4,0.000,0.051,2374,497,3529
$GC,6598,-1.65,-146.6,808.0,-12.9,185,6605,0.00,2.30,0.00,0.000,6,0.000,0.026,2374,1898,3530
$GC,6908,-1.70,-146.6,843.2,-11.3,191,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,1898,3529
$GC,7211,-1.74,-146.6,875.9,-10.7,196,7216,0.12,2.40,0.00,0.000,4,0.079,0.051,2344,506,3529
$GC,7266,-1.68,-146.6,882.8,-12.4,196,7272,0.00,2.28,0.00,0.000,6,0.000,0.034,2344,1901,3529
$GC,7575,-1.68,-146.6,920.2,-12.1,202,7579,0.00,2.42,0.00,0.000,4,0.000,0.064,2344,508,3528
$GC,7624,-1.62,-146.6,926.5,-13.4,202,7629,0.15,2.28,0.00,0.000,6,0.126,0.036,2372,1891,3528
$GC,7935,-1.66,-146.6,959.7,-10.6,207,7939,0.00,2.45,0.00,0.000,4,0.000,0.068,2372,509,3528
$GC,7974,-1.66,-146.6,964.2,-11.9,207,7978,0.00,2.33,0.00,0.000,6,0.000,0.046,2371,1893,3528
$STATE,8231,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8231,begin apogee
$GC,8236,-0.33,0.0,991.3,10.4,212,8367,1.33,0.00,126.97,1.371,6,0.105,0.000,2651,2105,2931
$STATE,8368,end apogee,CONTROL_FINISHED_OK
$STATE,8368,begin climb
$GC,8370,1.52,146.6,995.0,0.0,214,8502,1.80,2.60,124.15,1.344,4,0.067,0.077,3060,3513,2332
$GC,8576,1.34,146.6,977.8,12.7,217,8581,0.20,2.45,0.00,0.000,6,0.126,0.056,3023,2112,2329
$GC,8919,1.28,146.6,940.9,10.8,223,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2112,2326
$GC,9222,1.22,146.6,909.0,10.5,228,9223,0.15,0.00,0.00,0.000,6,0.125,0.000,2995,2112,2325
$GC,9524,1.22,146.6,879.8,9.7,233,9529,0.00,2.45,0.00,0.000,4,0.000,0.048,2995,682,2325
$GC,9546,1.22,146.6,877.5,10.1,233,9550,0.00,2.35,0.00,0.000,6,0.000,0.032,2995,2120,2325
$GC,9888,1.22,146.6,843.3,10.1,239,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2121,2325
$GC,10191,1.22,146.6,813.6,9.7,244,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2121,2325
$GC,10495,1.22,146.6,785.9,9.1,249,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2121,2324
$GC,10798,1.22,146.6,758.9,8.9,254,10802,0.00,2.47,0.00,0.000,4,0.000,0.050,2995,674,2324
$GC,10824,1.22,146.6,756.2,10.0,254,10829,0.00,2.38,0.00,0.000,6,0.000,0.030,2995,2107,2324
$GC,11163,1.22,146.6,727.1,8.7,260,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2107,2324
$GC,11465,1.22,146.6,700.5,8.8,265,11469,0.00,2.42,0.00,0.000,4,0.000,0.051,2995,682,2324
$GC,11486,1.22,146.6,698.4,9.5,265,11490,0.00,2.33,0.00,0.000,6,0.000,0.031,2995,2110,2323
$GC,11829,1.22,146.6,667.6,8.9,271,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2110,2324
$GC,12132,1.22,146.6,641.7,8.4,276,12136,0.00,2.33,0.00,0.000,4,0.000,0.045,2995,3494,2324
$GC,12153,1.22,146.6,639.9,8.6,276,12157,0.00,2.33,0.00,0.000,6,0.000,0.028,2995,2087,2324
$GC,12496,1.22,146.6,611.5,8.2,282,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2088,2323
$GC,12799,1.22,146.6,586.3,8.4,287,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2088,2324
$GC,13102,1.22,146.6,560.9,8.3,292,13106,0.00,2.35,0.00,0.000,4,0.000,0.046,2995,697,2324
$GC,13141,1.22,146.6,557.4,9.8,292,13145,0.00,2.28,0.00,0.000,6,0.000,0.033,2995,2102,2323
$GC,13460,1.22,146.6,528.6,9.0,298,13461,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2105,2324
$GC,13763,1.26,146.6,501.9,8.8,303,13767,0.00,2.33,0.00,0.000,4,0.000,0.044,2995,3495,2324
$GC,13779,1.26,146.6,500.5,8.4,303,13783,0.00,2.30,0.00,0.000,6,0.000,0.030,2995,2101,2324
$GC,14128,1.27,150.2,473.3,7.8,309,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2101,2324
$GC,14431,1.27,154.4,449.9,7.7,314,14444,0.00,2.45,6.47,0.847,4,0.000,0.044,2995,694,2301
$GC,14467,1.27,154.4,446.8,8.8,314,14471,0.00,2.33,0.00,0.000,6,0.000,0.034,2995,2098,2300
$GC,14799,1.31,154.4,418.9,8.5,320,14803,0.00,2.38,0.00,0.000,4,0.000,0.048,2995,695,2300
$GC,14821,1.31,154.4,416.9,8.8,320,14825,0.00,2.30,0.00,0.000,6,0.000,0.033,2995,2106,2300
$GC,15164,1.36,154.4,388.9,8.2,326,15166,0.12,0.00,0.00,0.000,6,0.077,0.000,3027,2110,2300
$GC,15467,1.32,154.4,360.7,9.3,331,15468,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2110,2300
$GC,15769,1.32,154.4,333.8,8.8,336,15774,0.00,2.38,0.00,0.000,4,0.000,0.051,3026,701,2300
$GC,15791,1.25,154.4,331.7,9.0,336,15796,0.12,2.28,0.00,0.000,6,0.126,0.032,3004,2102,2299
$GC,16127,1.25,154.4,304.3,8.1,342,16128,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2105,2300
$GC,16434,1.25,154.4,279.1,8.3,351,16438,0.00,2.38,0.00,0.000,4,0.000,0.044,3004,697,2300
$GC,16455,1.25,154.4,277.0,10.4,351,16461,0.00,2.30,0.00,0.000,6,0.000,0.027,3004,2096,2300
$GC,16768,1.26,158.4,252.8,7.8,362,16775,0.00,0.00,5.05,0.687,6,0.000,0.000,3003,2100,2285
$GC,17074,1.31,166.5,229.0,7.5,372,17088,0.00,2.40,8.40,0.777,4,0.000,0.040,3004,3490,2252
$GC,17150,1.32,175.9,223.2,7.4,374,17164,0.00,2.28,9.48,0.775,6,0.000,0.031,3003,2098,2213
$GC,17478,1.39,182.6,199.1,7.6,385,17493,0.12,2.42,6.93,0.726,4,0.077,0.044,3035,705,2185
$GC,17503,1.39,182.6,196.8,8.2,385,17510,0.00,2.30,0.00,0.000,6,0.000,0.031,3034,2090,2184
$GC,17817,1.39,182.6,168.0,9.6,396,17818,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2093,2184
$GC,18123,1.39,182.6,137.7,9.7,408,18127,0.00,2.35,0.00,0.000,4,0.000,0.042,3034,3495,2183
$GC,18161,1.39,182.6,134.0,9.7,410,18165,0.00,2.28,0.00,0.000,6,0.000,0.033,3035,2100,2183
$GC,18488,1.39,182.6,105.4,8.4,426,18492,0.00,2.35,0.00,0.000,4,0.000,0.044,3035,699,2183
$GC,18550,1.39,183.5,100.3,7.9,429,18554,0.00,2.28,0.00,0.000,6,0.000,0.033,3035,2104,2183
$GC,18867,1.46,204.8,78.6,6.7,445,18892,0.00,2.45,19.35,0.734,4,0.000,0.049,3035,705,2096
$GC,18945,1.47,212.8,72.7,7.5,452,18959,0.00,2.28,8.00,0.661,6,0.000,0.030,3035,2103,2063
$GC,19285,1.56,225.4,47.9,7.2,484,19299,0.15,0.00,11.55,0.693,6,0.072,0.000,3077,2103,2012
$GC,19615,1.58,246.5,21.7,6.7,515,19638,0.00,2.47,18.23,0.686,4,0.000,0.049,3077,697,1925
$GC,19672,1.58,246.5,16.9,9.9,520,19677,0.00,2.30,0.00,0.000,6,0.000,0.031,3077,2099,1924
$STATE,19846,end climb,SURFACE_DEPTH_REACHED
$STATE,19847,begin surface coast
$FINISH,1.0,1.024927
$STATE,19869,end surface coast,CONTROL_FINISHED_OK
$STATE,19869,begin surface
$SM_CCo,19889,122.72,0.664,0,0,1300,400.08
$SM_GC,1.59,0.00,0.00,122.72,0.000,0.000,0.664,494,1889,1300,-10.27,-0.31,400.08
$IRIDIUM_FIX,4959.75,-14432.05,251097,040437
$TT8_MAMPS,0.029146
$HUMID,1767
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,15.70
$XPDR_PINGS,80
$24V_AH,23.3,38.955
$10V_AH,10.2,19.739
$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,25.950,165.225,344.575,122.725,0.000,24.547,28.382,145.003,20.000,0.000,0.000,35.384,1208.854,16506.031,617.040,1589.080,416.289,33.374,1488.944,0.000,1549.105,0.000,0.459
$DEVICE_MAMPS,162.604,100.477,1371.396,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,382.191,428.316,555.115,341.353,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31820,538
$CAP_FILE_SIZE,130418,0
$CFSIZE,260165632,245522432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310708,155921,5018.529,-14430.240,61,3.6,80,18.7