version: 66.03
glider: 144
mission: 13
dive: 298
start: 8 27 108 18 35 3
data:
$ID,144
$MISSION,13
$DIVE,298
$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,300
$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,-51877.449
$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,54
$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
$GPS1,182803,5007.125,-14451.175,40,1.9,40,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-57.0
$GPS2,183407,5007.143,-14451.164,47,1.9,58,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.073,0.034
$KALMAN_X,13430.2,439.0,482.2,-6048.7,-1404.9
$KALMAN_Y,227098.6,-8.0,85.6,-214897.2,-121.9
$MHEAD_RNG_PITCHd_Wd,46.7,755,-43.6,-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,21,-2.93,-18.7,0.0,0.0,0,95,0.00,0.00,-71.32,0.000,2,0.000,0.000,496,1889,2790
$GC,97,-2.95,-31.8,3.1,-4.3,7,121,8.52,2.33,-7.80,0.000,4,0.168,0.052,2080,504,3062
$GC,373,-3.02,-31.8,76.0,-24.0,31,380,0.00,2.22,0.00,0.000,6,0.000,0.026,2080,1906,3065
$GC,690,-3.21,-31.8,138.1,-17.4,48,695,0.20,2.35,0.00,0.000,4,0.071,0.038,2028,506,3066
$GC,947,-3.21,-31.8,186.8,-18.9,57,953,0.00,2.22,0.00,0.000,6,0.000,0.023,2028,1904,3067
$GC,1260,-3.31,-31.8,240.1,-17.0,68,1264,0.00,2.35,0.00,0.000,4,0.000,0.045,2028,499,3067
$GC,1518,-3.31,-31.8,287.1,-18.9,75,1522,0.00,2.25,0.00,0.000,6,0.000,0.025,2028,1891,3067
$GC,1864,-3.42,-31.8,345.2,-16.7,83,1869,0.17,2.35,0.00,0.000,4,0.080,0.040,1984,499,3066
$GC,2121,-3.36,-31.8,393.2,-18.0,86,2127,0.00,2.25,0.00,0.000,6,0.000,0.026,1984,1907,3065
$GC,2431,-3.36,-31.8,445.3,-16.8,92,2435,0.00,2.35,0.00,0.000,4,0.000,0.043,1984,508,3065
$GC,2590,-3.30,-31.8,472.4,-17.4,94,2595,0.12,2.22,0.00,0.000,6,0.166,0.028,2004,1902,3064
$GC,2927,-3.38,-31.8,522.7,-14.7,100,2931,0.00,2.35,0.00,0.000,4,0.000,0.041,2004,508,3064
$GC,3028,-3.38,-31.8,538.8,-16.5,101,3032,0.00,2.22,0.00,0.000,6,0.000,0.029,2004,1901,3063
$GC,3355,-3.46,-31.8,586.3,-14.3,107,3359,0.12,2.33,0.00,0.000,4,0.088,0.046,1975,508,3063
$GC,3461,-3.39,-31.8,602.5,-15.2,108,3465,0.00,2.22,0.00,0.000,6,0.000,0.029,1976,1907,3063
$GC,3786,-3.39,-31.8,647.6,-13.8,114,3790,0.00,2.38,0.00,0.000,4,0.000,0.043,1975,499,3062
$GC,3898,-3.34,-31.8,663.8,-13.8,115,3903,0.12,2.22,0.00,0.000,6,0.168,0.027,1995,1900,3062
$GC,4225,-3.41,-31.8,706.0,-12.8,121,4229,0.00,2.35,0.00,0.000,4,0.000,0.048,1995,499,3062
$GC,4319,-3.41,-31.8,719.6,-14.0,122,4323,0.00,2.25,0.00,0.000,6,0.000,0.022,1995,1901,3061
$GC,4662,-3.48,-31.8,762.8,-12.4,128,4664,0.12,0.00,0.00,0.000,6,0.089,0.000,1967,1903,3061
$GC,4965,-3.48,-31.8,801.0,-12.7,133,4969,0.00,2.35,0.00,0.000,4,0.000,0.044,1966,508,3060
$GC,5010,-3.42,-31.8,807.1,-13.7,133,5014,0.00,2.22,0.00,0.000,6,0.000,0.021,1967,1901,3060
$GC,5324,-3.42,-31.8,847.5,-12.9,139,5328,0.00,2.35,0.00,0.000,4,0.000,0.048,1967,509,3060
$GC,5537,-3.36,-31.8,876.3,-13.8,142,5541,0.15,2.22,0.00,0.000,6,0.165,0.026,1991,1896,3060
$GC,5891,-3.43,-31.8,917.7,-11.5,148,5895,0.00,2.38,0.00,0.000,4,0.000,0.051,1991,506,3059
$GC,6047,-3.43,-31.8,936.8,-11.6,150,6052,0.00,2.28,0.00,0.000,6,0.000,0.033,1991,1886,3059
$GC,6390,-3.51,-31.8,974.5,-10.9,156,6395,0.12,2.42,0.00,0.000,4,0.093,0.071,1963,515,3059
$GC,6513,-3.45,-31.8,989.0,-12.3,157,6517,0.00,2.35,0.00,0.000,6,0.000,0.051,1964,1897,3059
$STATE,6577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6577,begin apogee
$GC,6584,-0.33,0.0,996.1,11.0,158,6619,3.55,0.00,29.52,1.355,6,0.151,0.000,2648,2110,2931
$STATE,6620,end apogee,CONTROL_FINISHED_OK
$STATE,6620,begin climb
$GC,6622,2.95,31.8,996.1,0.0,158,6662,3.12,2.60,29.02,1.325,4,0.060,0.073,3373,3505,2801
$GC,6707,2.95,31.8,990.5,9.8,159,6711,0.00,2.42,0.00,0.000,6,0.000,0.056,3373,2121,2800
$GC,7056,2.95,31.8,953.4,10.7,165,7060,0.00,2.47,0.00,0.000,4,0.000,0.059,3374,687,2799
$GC,7094,2.89,31.8,949.2,11.1,165,7098,0.00,2.38,0.00,0.000,6,0.000,0.039,3374,2107,2799
$GC,7414,2.89,31.8,916.2,10.3,171,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2107,2798
$GC,7717,2.89,31.8,886.8,9.6,176,7721,0.00,2.42,0.00,0.000,4,0.000,0.045,3373,673,2799
$GC,7974,2.84,31.8,862.6,8.9,179,7979,0.15,2.35,0.00,0.000,6,0.161,0.027,3349,2117,2798
$GC,8284,2.92,31.9,837.8,8.0,184,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2117,2798
$GC,8587,2.99,34.0,815.5,7.4,189,8592,0.12,2.42,0.00,0.000,4,0.086,0.045,3377,680,2798
$GC,8845,2.94,34.6,795.0,7.8,192,8851,0.00,2.30,0.00,0.000,6,0.000,0.031,3377,2102,2797
$GC,9154,2.94,37.8,772.9,7.1,198,9162,0.00,0.00,6.35,0.999,6,0.000,0.000,3377,2103,2776
$GC,9457,2.94,38.1,749.4,7.9,203,9461,0.00,2.30,0.00,0.000,4,0.000,0.042,3377,3495,2776
$GC,9714,2.94,38.1,728.5,8.2,206,9720,0.00,2.33,0.00,0.000,6,0.000,0.030,3377,2067,2776
$GC,10024,2.94,39.7,705.5,7.5,212,10028,0.00,2.38,0.00,0.000,4,0.000,0.041,3377,3497,2775
$GC,10068,2.95,42.6,702.2,7.2,212,10078,0.00,2.28,5.62,0.924,6,0.000,0.031,3377,2095,2757
$GC,10382,2.95,42.6,676.4,8.4,217,10386,0.00,2.33,0.00,0.000,4,0.000,0.038,3377,700,2757
$GC,10483,2.90,42.6,667.6,8.5,218,10488,0.00,2.25,0.00,0.000,6,0.000,0.025,3377,2103,2756
$GC,10811,2.95,42.6,639.8,8.4,224,10815,0.00,2.30,0.00,0.000,4,0.000,0.041,3377,3494,2756
$GC,10973,2.95,42.6,625.7,8.2,226,10977,0.00,2.28,0.00,0.000,6,0.000,0.031,3377,2091,2756
$GC,11311,2.99,44.9,600.6,7.4,232,11315,0.00,2.30,0.00,0.000,4,0.000,0.038,3377,695,2756
$GC,11390,2.95,48.2,594.7,7.0,233,11401,0.00,2.25,6.43,0.914,6,0.000,0.025,3377,2104,2734
$GC,11745,3.01,50.2,568.5,7.4,239,11749,0.00,2.35,0.00,0.000,4,0.000,0.043,3377,694,2734
$GC,11839,3.01,55.8,561.8,6.4,240,11854,0.00,2.28,8.18,0.954,6,0.000,0.031,3377,2101,2702
$GC,12182,3.08,55.8,535.2,8.0,246,12183,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2101,2702
$GC,12484,3.14,55.8,510.1,8.3,251,12489,0.15,2.35,0.00,0.000,4,0.083,0.037,3410,698,2702
$GC,12690,3.07,55.8,491.0,8.9,254,12694,0.00,2.28,0.00,0.000,6,0.000,0.025,3411,2105,2702
$GC,13050,3.07,55.8,459.8,8.7,260,13051,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2105,2701
$GC,13353,3.07,55.8,434.6,8.2,265,13357,0.00,2.35,0.00,0.000,4,0.000,0.043,3411,696,2701
$GC,13380,3.00,55.8,432.4,8.4,265,13385,0.15,2.28,0.00,0.000,6,0.163,0.030,3386,2111,2701
$GC,13712,3.06,59.7,408.6,6.9,271,13719,0.00,0.00,4.85,0.742,6,0.000,0.000,3386,2112,2687
$GC,14015,3.12,61.3,385.9,7.5,276,14019,0.00,2.35,0.00,0.000,4,0.000,0.038,3386,701,2687
$GC,14173,3.12,63.2,373.5,7.5,278,14183,0.00,2.25,4.72,0.719,6,0.000,0.031,3386,2107,2673
$GC,14510,3.18,64.8,347.9,7.6,284,14512,0.15,0.00,0.00,0.000,6,0.083,0.000,3420,2109,2673
$GC,14813,3.19,67.9,326.1,7.1,289,14823,0.00,2.38,5.60,0.747,4,0.000,0.037,3420,698,2654
$GC,15077,3.11,67.9,302.3,9.9,293,15081,0.00,2.28,0.00,0.000,6,0.000,0.025,3420,2106,2653
$GC,15415,3.11,67.9,271.9,8.7,303,15419,0.00,2.30,0.00,0.000,4,0.000,0.038,3420,3498,2653
$GC,15477,3.11,67.9,267.0,8.0,305,15481,0.00,2.25,0.00,0.000,6,0.000,0.028,3420,2097,2653
$GC,15817,3.12,71.6,241.9,7.0,316,15826,0.00,2.33,4.62,0.656,4,0.000,0.034,3420,3492,2639
$GC,16080,3.12,72.4,221.0,7.8,323,16086,0.00,2.28,0.00,0.000,6,0.000,0.028,3420,2092,2639
$GC,16393,3.12,72.9,195.5,7.8,334,16397,0.00,2.33,0.00,0.000,4,0.000,0.038,3420,3495,2639
$GC,16650,3.13,77.5,177.5,6.7,341,16661,0.00,2.25,6.53,0.710,6,0.000,0.031,3420,2101,2614
$GC,16991,3.14,84.6,154.6,6.0,353,17005,0.00,2.40,7.32,0.717,4,0.000,0.033,3420,3500,2585
$GC,17113,3.14,90.7,147.3,6.3,357,17124,0.00,2.28,6.65,0.690,6,0.000,0.031,3420,2099,2560
$GC,17434,3.21,110.3,132.2,2.4,373,17456,0.00,2.42,16.60,0.763,4,0.000,0.033,3420,3499,2481
$GC,17599,3.21,114.3,122.2,6.8,380,17608,0.00,2.28,4.95,0.607,6,0.000,0.025,3420,2101,2464
$GC,17920,3.29,128.2,103.2,4.0,395,17942,0.10,2.40,12.23,0.731,4,0.092,0.034,3444,3492,2408
$GC,18194,3.29,128.2,81.7,9.6,407,18198,0.00,2.30,0.00,0.000,6,0.000,0.028,3443,2101,2406
$GC,18522,3.36,128.2,55.6,8.2,436,18525,0.00,2.30,0.00,0.000,4,0.000,0.038,3443,3493,2406
$GC,18781,3.46,171.5,41.7,-4.4,459,18825,0.17,2.25,35.58,0.716,6,0.078,0.031,3485,2092,2229
$GC,19143,3.46,171.5,15.6,11.4,493,19147,0.00,2.33,0.00,0.000,4,0.000,0.039,3485,702,2223
$STATE,19263,end climb,SURFACE_DEPTH_REACHED
$STATE,19263,begin surface coast
$FINISH,1.1,1.024682
$STATE,19277,end surface coast,CONTROL_FINISHED_OK
$STATE,19277,begin surface
$SM_CCo,19302,179.95,0.658,0,0,1299,400.08
$SM_GC,1.47,0.00,0.00,179.95,0.000,0.000,0.658,490,1913,1299,-10.29,0.40,400.08
$IRIDIUM_FIX,4949.70,-14449.20,211197,131304
$TT8_MAMPS,0.028379
$HUMID,1786
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,18.20
$XPDR_PINGS,75
$24V_AH,23.2,55.804
$10V_AH,10.1,28.360
$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,30.700,162.300,194.775,179.950,0.000,28.326,29.551,148.656,18.750,0.000,0.000,58.191,1329.400,15144.413,530.092,2344.834,502.724,33.364,1677.648,0.000,2258.939,0.000,0.459
$DEVICE_MAMPS,167.973,105.846,1354.522,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,358.210,404.032,520.644,315.147,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31805,504
$CAP_FILE_SIZE,146928,0
$CFSIZE,260165632,239030272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,000136,5007.994,-14450.333,64,1.6,73,18.5