version: 66.03
glider: 144
mission: 13
dive: 191
start: 7 29 108 13 9 53
data:
$ID,144
$MISSION,13
$DIVE,191
$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,-43055.117
$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,37
$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
$GPS1,130021,5006.417,-14453.656,59,2.2,78,18.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-57.0
$GPS2,130859,5006.427,-14453.538,16,2.5,35,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NE
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.127,0.032
$KALMAN_X,-915.4,-69.5,-132.3,6593.2,21.4
$KALMAN_Y,151857.9,-105.5,36.4,-140841.2,1207.1
$MHEAD_RNG_PITCHd_Wd,57.1,3731,-29.5,-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,20,-2.02,-40.0,0.0,0.0,0,94,0.00,0.00,-71.75,0.000,2,0.000,0.000,495,1894,2815
$GC,96,-2.06,-71.0,3.2,-3.9,7,122,9.43,2.38,-11.10,0.000,4,0.163,0.061,2275,501,3224
$GC,376,-2.01,-71.0,60.8,-18.0,32,380,0.00,2.28,0.00,0.000,6,0.000,0.028,2274,1911,3226
$GC,694,-2.01,-71.0,119.7,-19.2,52,698,0.00,2.40,0.00,0.000,4,0.000,0.045,2275,499,3227
$GC,822,-2.01,-71.0,141.4,-14.6,58,826,0.00,2.28,0.00,0.000,6,0.000,0.031,2275,1906,3228
$GC,1146,-2.09,-71.0,184.2,-13.1,70,1150,0.00,2.38,0.00,0.000,4,0.000,0.051,2274,505,3228
$GC,1290,-2.09,-71.0,206.8,-15.5,74,1294,0.00,2.28,0.00,0.000,6,0.000,0.031,2274,1898,3228
$GC,1614,-2.18,-71.0,254.4,-14.5,85,1618,0.00,2.38,0.00,0.000,4,0.000,0.051,2275,498,3228
$GC,1743,-2.18,-71.0,273.6,-14.8,89,1748,0.00,2.28,0.00,0.000,6,0.000,0.026,2274,1904,3228
$GC,2077,-2.28,-71.0,316.6,-12.8,98,2079,0.20,0.00,0.00,0.000,6,0.068,0.000,2226,1906,3227
$GC,2379,-2.28,-71.0,360.7,-14.7,103,2383,0.00,2.38,0.00,0.000,4,0.000,0.051,2226,505,3226
$GC,2514,-2.20,-71.0,382.1,-15.6,105,2518,0.12,2.25,0.00,0.000,6,0.143,0.033,2248,1902,3226
$GC,2872,-2.20,-71.0,432.0,-13.9,111,2876,0.00,2.38,0.00,0.000,4,0.000,0.048,2248,503,3225
$GC,3064,-2.20,-71.0,461.0,-15.1,113,3070,0.00,2.25,0.00,0.000,6,0.000,0.028,2248,1901,3225
$GC,3373,-2.24,-71.0,504.5,-14.0,119,3377,0.00,2.38,0.00,0.000,4,0.000,0.051,2248,502,3225
$GC,3506,-2.24,-71.0,524.5,-15.0,121,3510,0.00,2.28,0.00,0.000,6,0.000,0.027,2248,1909,3225
$GC,3872,-2.29,-71.0,572.0,-12.9,127,3876,0.00,2.40,0.00,0.000,4,0.000,0.046,2248,495,3224
$GC,4044,-2.29,-71.0,595.3,-13.7,129,4049,0.00,2.30,0.00,0.000,6,0.000,0.027,2248,1901,3223
$GC,4371,-2.29,-71.0,632.3,-11.1,135,4375,0.00,2.38,0.00,0.000,4,0.000,0.048,2248,502,3223
$GC,4419,-2.29,-71.0,638.3,-12.0,135,4424,0.00,2.28,0.00,0.000,6,0.000,0.033,2248,1892,3223
$GC,4735,-2.33,-71.0,675.6,-11.8,141,4740,0.12,2.38,0.00,0.000,4,0.082,0.048,2217,496,3222
$GC,4790,-2.23,-71.0,682.9,-13.3,141,4796,0.12,2.28,0.00,0.000,6,0.147,0.028,2239,1903,3222
$GC,5098,-2.23,-71.0,721.0,-12.3,147,5102,0.00,2.38,0.00,0.000,4,0.000,0.052,2239,505,3222
$GC,5154,-2.18,-71.0,728.2,-13.0,147,5160,0.00,2.25,0.00,0.000,6,0.000,0.032,2239,1901,3222
$GC,5462,-2.18,-71.0,765.0,-11.9,153,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,1903,3221
$GC,5766,-2.18,-71.0,800.0,-11.6,158,5770,0.00,2.40,0.00,0.000,4,0.000,0.054,2239,499,3221
$GC,5792,-2.14,-71.0,803.4,-13.1,158,5797,0.08,2.30,0.00,0.000,6,0.142,0.033,2256,1901,3221
$GC,6129,-2.21,-71.0,840.6,-11.0,164,6133,0.00,2.40,0.00,0.000,4,0.000,0.057,2256,498,3221
$GC,6172,-2.21,-71.0,845.9,-11.9,164,6176,0.00,2.30,0.00,0.000,6,0.000,0.034,2256,1898,3221
$GC,6499,-2.28,-71.0,881.0,-10.8,170,6504,0.12,2.40,0.00,0.000,4,0.084,0.052,2226,505,3220
$GC,6599,-2.21,-71.0,893.7,-13.0,171,6603,0.10,2.28,0.00,0.000,6,0.153,0.035,2243,1900,3220
$GC,6930,-2.21,-71.0,930.6,-11.2,177,6934,0.00,2.42,0.00,0.000,4,0.000,0.066,2242,509,3220
$GC,6991,-2.21,-71.0,937.8,-12.2,178,6995,0.00,2.30,0.00,0.000,6,0.000,0.036,2242,1894,3220
$GC,7361,-2.25,-71.0,979.6,-11.2,184,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,1894,3219
$STATE,7480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7480,begin apogee
$GC,7486,-0.33,0.0,993.1,11.1,186,7553,2.03,0.00,62.70,1.367,6,0.126,0.000,2652,2093,2932
$STATE,7554,end apogee,CONTROL_FINISHED_OK
$STATE,7554,begin climb
$GC,7556,2.06,71.0,994.9,0.0,187,7623,2.28,0.00,61.80,1.338,6,0.064,0.000,3176,2093,2640
$GC,7920,1.95,71.0,958.8,11.2,193,7925,0.12,2.50,0.00,0.000,4,0.143,0.065,3156,3515,2638
$GC,8009,1.87,71.0,948.6,12.2,194,8013,0.00,2.38,0.00,0.000,6,0.000,0.047,3156,2107,2638
$GC,8352,1.82,71.0,911.1,11.0,200,8354,0.15,0.00,0.00,0.000,6,0.138,0.000,3129,2107,2637
$GC,8654,1.82,71.0,879.3,10.5,205,8659,0.00,2.42,0.00,0.000,4,0.000,0.055,3129,683,2637
$GC,8710,1.74,71.0,873.2,10.9,205,8716,0.00,2.35,0.00,0.000,6,0.000,0.033,3129,2120,2637
$GC,9018,1.74,71.0,841.2,10.3,211,9023,0.00,2.42,0.00,0.000,4,0.000,0.050,3129,690,2637
$GC,9063,1.68,71.0,836.5,11.9,211,9068,0.17,2.30,0.00,0.000,6,0.137,0.035,3097,2102,2636
$GC,9377,1.76,71.0,807.8,9.1,217,9378,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2102,2636
$GC,9680,1.84,71.0,780.0,9.2,222,9685,0.15,2.40,0.00,0.000,4,0.076,0.045,3137,685,2636
$GC,9701,1.84,71.0,777.7,10.4,222,9705,0.00,2.33,0.00,0.000,6,0.000,0.031,3137,2114,2636
$GC,10046,1.84,71.0,744.0,9.7,228,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2115,2636
$GC,10347,1.84,71.0,715.5,9.4,233,10351,0.00,2.30,0.00,0.000,4,0.000,0.042,3137,3497,2636
$GC,10390,1.84,71.0,711.1,10.3,233,10394,0.00,2.33,0.00,0.000,6,0.000,0.034,3137,2077,2636
$GC,10710,1.84,71.0,680.7,9.4,239,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2076,2635
$GC,11013,1.84,71.0,652.4,9.4,244,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2077,2635
$GC,11316,1.84,71.0,624.8,9.0,249,11321,0.00,2.33,0.00,0.000,4,0.000,0.051,3137,691,2635
$GC,11361,1.77,71.0,620.4,10.3,249,11366,0.12,2.30,0.00,0.000,6,0.141,0.030,3116,2108,2635
$GC,11677,1.81,71.0,593.6,8.5,255,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2110,2635
$GC,11979,1.86,71.0,568.4,8.4,260,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2111,2635
$GC,12282,1.91,71.0,543.0,8.4,265,12286,0.12,2.35,0.00,0.000,4,0.081,0.043,3145,698,2635
$GC,12400,1.82,71.0,531.9,9.5,266,12405,0.12,2.28,0.00,0.000,6,0.143,0.028,3125,2109,2635
$GC,12714,1.82,71.0,506.0,8.1,272,12718,0.00,2.38,0.00,0.000,4,0.000,0.043,3124,692,2635
$GC,12770,1.82,71.0,501.3,8.6,272,12774,0.00,2.28,0.00,0.000,6,0.000,0.028,3124,2101,2635
$GC,13079,1.82,72.7,476.9,7.8,277,13080,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2104,2635
$GC,13382,1.82,75.2,453.7,7.7,282,13388,0.00,0.00,4.20,0.706,6,0.000,0.000,3124,2104,2624
$GC,13685,1.82,76.4,429.9,7.8,287,13689,0.00,2.35,0.00,0.000,4,0.000,0.045,3124,699,2624
$GC,13763,1.82,76.4,423.6,8.2,288,13767,0.00,2.28,0.00,0.000,6,0.000,0.034,3125,2106,2624
$GC,14117,1.82,77.2,395.6,7.9,294,14118,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2110,2623
$GC,14420,1.83,80.4,372.6,7.6,299,14431,0.00,2.33,6.18,0.796,4,0.000,0.038,3124,3496,2602
$GC,14498,1.83,81.6,366.3,7.8,300,14503,0.00,2.30,0.00,0.000,6,0.000,0.029,3124,2087,2602
$GC,14847,1.88,83.9,339.5,7.7,306,14853,0.00,0.00,4.53,0.690,6,0.000,0.000,3124,2087,2589
$GC,15150,1.93,86.5,316.4,7.7,311,15156,0.10,0.00,4.03,0.637,6,0.087,0.000,3149,2088,2578
$GC,15453,1.93,86.5,292.0,8.2,317,15455,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2088,2578
$GC,15759,1.94,91.5,268.4,7.3,327,15770,0.00,2.38,5.97,0.739,4,0.000,0.045,3149,3492,2557
$GC,15900,1.94,91.7,257.2,8.0,331,15904,0.00,2.28,0.00,0.000,6,0.000,0.034,3149,2099,2557
$GC,16223,1.94,94.0,232.4,7.7,342,16228,0.00,0.00,3.90,0.598,6,0.000,0.000,3149,2099,2547
$GC,16528,1.94,94.0,207.3,8.4,352,16529,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2099,2546
$GC,16834,1.94,94.0,181.5,8.3,362,16836,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2099,2546
$GC,17141,1.95,96.0,157.2,7.7,372,17145,0.00,2.35,0.00,0.000,4,0.000,0.044,3149,698,2546
$GC,17230,1.90,96.0,149.6,9.0,374,17236,0.00,2.28,0.00,0.000,6,0.000,0.029,3149,2106,2546
$GC,17546,1.91,105.1,126.3,6.8,390,17561,0.00,2.33,10.50,0.743,4,0.000,0.042,3149,3493,2501
$GC,17699,1.94,132.5,116.3,4.3,396,17728,0.00,2.28,22.48,0.760,6,0.000,0.033,3149,2098,2389
$GC,18053,2.05,157.7,94.7,4.6,413,18080,0.10,2.38,21.23,0.742,4,0.086,0.044,3174,706,2286
$GC,18096,2.06,162.7,91.8,7.3,415,18106,0.00,2.30,5.38,0.594,6,0.000,0.028,3174,2105,2267
$GC,18423,2.12,162.7,63.9,8.8,438,18428,0.00,2.33,0.00,0.000,4,0.000,0.043,3174,3492,2264
$GC,18605,2.12,162.7,45.5,9.9,453,18611,0.00,2.25,0.00,0.000,6,0.000,0.035,3173,2105,2264
$GC,18932,2.25,195.7,21.0,3.6,484,18966,0.15,2.40,27.42,0.693,4,0.074,0.044,3215,697,2132
$STATE,19160,end climb,SURFACE_DEPTH_REACHED
$STATE,19160,begin surface coast
$FINISH,0.9,1.016199
$STATE,19183,end surface coast,CONTROL_FINISHED_OK
$STATE,19183,begin surface
$SM_CCo,19205,161.35,0.658,0,0,1300,400.08
$SM_GC,1.48,0.00,0.00,161.35,0.000,0.000,0.658,494,1905,1300,-10.27,0.14,400.08
$IRIDIUM_FIX,4949.70,-14451.14,231097,131343
$TT8_MAMPS,0.029146
$HUMID,1740
$INTERNAL_PRESSURE,7.67608
$TCM_TEMP,18.00
$XPDR_PINGS,79
$24V_AH,23.3,37.807
$10V_AH,10.2,19.162
$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,27.625,144.700,240.300,161.350,0.000,57.692,128.239,147.016,19.750,0.000,0.000,37.654,1195.685,15881.458,548.096,1708.875,552.968,33.360,1438.683,0.000,1664.856,0.000,0.459
$DEVICE_MAMPS,162.604,116.584,1366.794,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,359.773,407.736,524.137,306.748,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31713,506
$CAP_FILE_SIZE,129037,0
$CFSIZE,260165632,245964800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290708,183407,5007.278,-14450.548,50,2.0,50,18.5