version: 66.03
glider: 144
mission: 13
dive: 299
start: 8 28 108 0 10 55
data:
$ID,144
$MISSION,13
$DIVE,299
$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,-51914.742
$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,62
$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
$GPS1,000136,5007.994,-14450.333,64,1.6,73,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-60.9
$GPS2,000959,5007.991,-14450.284,16,2.4,35,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.054,-0.059
$KALMAN_X,13776.1,179.7,-346.2,-4265.3,280.9
$KALMAN_Y,227732.2,131.3,64.3,-214086.4,216.5
$MHEAD_RNG_PITCHd_Wd,203.6,1144,-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,19,begin dive
$GC,21,-2.93,-18.7,0.0,0.0,0,100,0.00,0.00,-76.10,0.000,2,0.000,0.000,490,1914,2952
$GC,103,-2.95,-32.6,3.6,-4.0,8,119,8.50,2.25,-2.83,0.000,4,0.166,0.048,2081,3284,3066
$GC,238,-3.08,-32.6,40.6,-26.4,19,245,0.12,2.22,0.00,0.000,6,0.075,0.032,2050,1904,3069
$GC,559,-3.20,-32.6,114.5,-23.6,43,563,0.00,2.35,0.00,0.000,4,0.000,0.041,2050,496,3071
$GC,587,-3.24,-32.6,121.2,-24.6,44,591,0.12,2.22,0.00,0.000,6,0.074,0.026,2018,1900,3071
$GC,921,-3.31,-32.6,186.8,-17.7,57,925,0.00,2.35,0.00,0.000,4,0.000,0.039,2018,503,3072
$GC,1179,-3.31,-32.6,233.6,-17.4,64,1185,0.00,2.22,0.00,0.000,6,0.000,0.027,2018,1902,3072
$GC,1492,-3.40,-32.6,284.9,-16.4,75,1497,0.12,2.35,0.00,0.000,4,0.080,0.041,1987,503,3071
$GC,1661,-3.34,-32.6,315.7,-18.1,79,1665,0.00,2.22,0.00,0.000,6,0.000,0.027,1987,1900,3071
$GC,1987,-3.38,-32.6,371.6,-16.9,85,1991,0.00,2.35,0.00,0.000,4,0.000,0.042,1987,503,3071
$GC,2087,-3.32,-32.6,389.9,-18.2,86,2091,0.00,2.22,0.00,0.000,6,0.000,0.028,1987,1902,3070
$GC,2413,-3.36,-32.6,444.9,-16.8,92,2417,0.00,2.35,0.00,0.000,4,0.000,0.047,1987,502,3070
$GC,2520,-3.36,-32.6,463.8,-17.4,93,2524,0.00,2.22,0.00,0.000,6,0.000,0.029,1987,1899,3069
$GC,2846,-3.42,-32.6,516.8,-16.2,99,2850,0.00,2.35,0.00,0.000,4,0.000,0.044,1987,503,3069
$GC,3081,-3.36,-32.6,557.2,-17.0,102,3085,0.00,2.22,0.00,0.000,6,0.000,0.026,1987,1899,3068
$GC,3407,-3.43,-32.6,605.6,-14.7,108,3411,0.00,2.35,0.00,0.000,4,0.000,0.041,1987,503,3067
$GC,3582,-3.38,-32.6,631.9,-14.8,110,3586,0.00,2.22,0.00,0.000,6,0.000,0.029,1987,1898,3067
$GC,3902,-3.44,-32.6,674.5,-13.1,116,3906,0.00,2.35,0.00,0.000,4,0.000,0.047,1987,503,3067
$GC,3990,-3.44,-32.6,687.0,-13.7,117,3994,0.00,2.22,0.00,0.000,6,0.000,0.028,1987,1900,3066
$GC,4334,-3.50,-32.6,733.7,-13.7,123,4338,0.00,2.35,0.00,0.000,4,0.000,0.043,1987,504,3065
$GC,4401,-3.50,-32.6,743.4,-14.3,124,4405,0.00,2.22,0.00,0.000,6,0.000,0.029,1987,1899,3066
$GC,4761,-3.57,-32.6,790.1,-12.9,130,4766,0.17,2.38,0.00,0.000,4,0.082,0.048,1944,496,3065
$GC,4873,-3.47,-32.6,806.1,-14.7,131,4878,0.15,2.25,0.00,0.000,6,0.165,0.027,1969,1906,3065
$GC,5188,-3.51,-32.6,847.2,-13.0,137,5192,0.00,2.38,0.00,0.000,4,0.000,0.042,1968,504,3064
$GC,5339,-3.46,-32.6,867.7,-13.4,139,5343,0.00,2.22,0.00,0.000,6,0.000,0.025,1968,1898,3064
$GC,5681,-3.50,-32.6,908.6,-11.8,145,5686,0.00,2.40,0.00,0.000,4,0.000,0.056,1969,499,3064
$GC,5833,-3.45,-32.6,927.5,-12.2,147,5837,0.00,2.28,0.00,0.000,6,0.000,0.029,1969,1885,3063
$GC,6176,-3.50,-32.6,968.7,-12.0,153,6180,0.00,2.42,0.00,0.000,4,0.000,0.069,1968,512,3063
$GC,6259,-3.44,-32.6,979.4,-13.3,154,6263,0.00,2.33,0.00,0.000,6,0.000,0.050,1969,1889,3062
$STATE,6356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6356,begin apogee
$GC,6363,-0.33,0.0,991.2,11.8,156,6399,3.53,0.00,30.42,1.351,6,0.152,0.000,2649,2102,2931
$STATE,6400,end apogee,CONTROL_FINISHED_OK
$STATE,6400,begin climb
$GC,6402,2.95,32.6,991.2,0.0,156,6442,3.12,2.60,29.88,1.322,4,0.061,0.071,3374,3504,2797
$GC,6576,2.95,32.6,977.2,11.0,158,6580,0.00,2.40,0.00,0.000,6,0.000,0.047,3374,2115,2796
$GC,6903,2.95,32.6,945.5,9.8,164,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2115,2795
$GC,7205,2.95,32.6,916.4,9.6,169,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2115,2795
$GC,7509,2.95,32.6,888.0,9.3,174,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2115,2795
$GC,7812,2.95,32.6,860.6,9.0,179,7816,0.00,2.40,0.00,0.000,4,0.000,0.048,3374,683,2795
$GC,7907,2.90,32.6,851.8,8.7,180,7911,0.00,2.33,0.00,0.000,6,0.000,0.027,3374,2126,2795
$GC,8238,2.90,32.6,824.1,8.2,186,8242,0.00,2.42,0.00,0.000,4,0.000,0.040,3374,681,2794
$GC,8386,2.84,32.7,812.2,8.0,188,8390,0.15,2.30,0.00,0.000,6,0.160,0.028,3350,2105,2794
$GC,8734,2.92,34.1,785.6,7.6,194,8738,0.00,2.40,0.00,0.000,4,0.000,0.041,3349,673,2794
$GC,8761,2.92,34.5,783.4,7.9,194,8765,0.00,2.33,0.00,0.000,6,0.000,0.025,3350,2107,2794
$GC,9093,3.01,38.6,760.4,6.8,200,9106,0.15,2.47,6.32,0.989,4,0.084,0.043,3387,680,2773
$GC,9215,2.94,38.6,750.1,9.1,201,9219,0.00,2.30,0.00,0.000,6,0.000,0.030,3388,2101,2772
$GC,9524,2.94,38.6,724.6,8.1,206,9528,0.00,2.30,0.00,0.000,4,0.000,0.036,3387,3495,2772
$GC,9596,2.94,40.3,719.2,7.5,207,9600,0.00,2.30,0.00,0.000,6,0.000,0.025,3387,2075,2772
$GC,9950,2.94,41.5,692.1,7.7,213,9959,0.00,2.33,4.12,0.779,4,0.000,0.043,3388,694,2761
$GC,9966,2.94,42.3,690.8,7.8,213,9970,0.00,2.28,0.00,0.000,6,0.000,0.028,3388,2103,2761
$GC,10314,2.94,42.3,662.3,8.2,219,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2104,2761
$GC,10617,2.94,42.5,638.1,7.9,224,10618,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2104,2761
$GC,10920,2.95,44.5,615.6,7.4,229,10926,0.00,0.00,4.40,0.787,6,0.000,0.000,3387,2105,2749
$GC,11223,2.95,45.7,592.3,7.7,234,11227,0.00,2.35,0.00,0.000,4,0.000,0.040,3388,698,2749
$GC,11341,2.89,45.7,583.0,8.0,235,11346,0.17,2.28,0.00,0.000,6,0.158,0.031,3359,2110,2748
$GC,11651,2.97,50.3,562.1,6.7,240,11664,0.00,2.38,6.60,0.906,4,0.000,0.041,3358,3495,2725
$GC,11682,3.04,52.0,559.8,7.5,240,11687,0.12,2.28,0.00,0.000,6,0.085,0.028,3386,2096,2725
$GC,12014,3.04,53.6,534.4,7.6,246,12020,0.00,0.00,4.47,0.759,6,0.000,0.000,3386,2096,2712
$GC,12317,3.08,54.8,511.2,7.7,251,12321,0.00,2.33,0.00,0.000,4,0.000,0.041,3386,697,2712
$GC,12574,3.08,54.8,489.9,8.6,254,12580,0.00,2.25,0.00,0.000,6,0.000,0.028,3386,2103,2712
$GC,12884,3.12,54.8,465.0,8.0,260,12885,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2104,2712
$GC,13187,3.17,54.8,440.3,8.2,265,13191,0.15,2.35,0.00,0.000,4,0.084,0.038,3424,696,2712
$GC,13311,3.07,54.8,429.3,8.9,266,13318,0.15,2.25,0.00,0.000,6,0.163,0.028,3400,2104,2712
$GC,13620,3.07,55.3,404.7,7.9,272,13624,0.00,2.33,0.00,0.000,4,0.000,0.044,3400,703,2712
$GC,13752,3.01,55.9,394.3,7.8,274,13762,0.00,2.25,3.83,0.637,6,0.000,0.028,3400,2107,2702
$GC,14123,3.02,58.5,367.0,7.2,280,14132,0.00,2.38,3.97,0.643,4,0.000,0.037,3400,710,2692
$GC,14386,2.96,61.0,346.8,7.3,283,14395,0.15,2.22,3.95,0.635,6,0.161,0.028,3376,2099,2681
$GC,14764,3.05,66.9,322.3,6.3,290,14775,0.00,2.35,6.38,0.777,4,0.000,0.036,3375,704,2658
$GC,14808,3.05,72.5,319.2,6.4,290,14819,0.00,2.25,6.43,0.765,6,0.000,0.024,3375,2099,2635
$GC,15124,3.14,72.5,294.0,8.2,296,15128,0.15,2.35,0.00,0.000,4,0.084,0.041,3414,697,2634
$GC,15230,3.09,72.5,284.1,9.2,299,15234,0.00,2.25,0.00,0.000,6,0.000,0.027,3413,2097,2634
$GC,15552,3.09,72.5,254.1,9.4,310,15556,0.00,2.33,0.00,0.000,4,0.000,0.039,3413,3499,2634
$GC,15591,3.09,72.5,250.4,9.6,311,15595,0.00,2.28,0.00,0.000,6,0.000,0.028,3414,2098,2635
$GC,15920,3.09,72.5,221.9,8.5,322,15924,0.00,2.33,0.00,0.000,4,0.000,0.035,3413,3497,2634
$GC,16178,3.09,75.7,202.7,7.1,329,16187,0.00,2.28,4.30,0.615,6,0.000,0.031,3413,2094,2622
$GC,16525,3.09,79.9,179.5,6.8,341,16534,0.00,2.35,5.12,0.659,4,0.000,0.034,3413,3496,2605
$GC,16788,3.09,79.9,158.1,8.7,349,16792,0.00,2.28,0.00,0.000,6,0.000,0.025,3413,2093,2604
$GC,17116,3.11,93.0,137.2,4.2,363,17137,0.00,2.42,12.12,0.755,4,0.000,0.038,3413,3501,2550
$GC,17389,3.12,100.8,121.7,5.8,375,17406,0.00,2.28,7.53,0.696,6,0.000,0.030,3413,2094,2519
$GC,17716,3.21,116.6,104.0,3.5,391,17737,0.00,2.40,13.80,0.737,4,0.000,0.046,3414,702,2454
$GC,17765,3.22,125.7,101.9,5.4,393,17782,0.00,2.28,8.80,0.686,6,0.000,0.030,3413,2104,2417
$GC,18093,3.31,125.7,75.5,8.7,411,18098,0.15,2.30,0.00,0.000,4,0.084,0.040,3452,3492,2416
$GC,18350,3.31,125.7,50.7,10.5,433,18357,0.00,2.25,0.00,0.000,6,0.000,0.025,3453,2101,2416
$GC,18677,3.32,134.6,27.7,5.5,464,18690,0.00,2.30,8.57,0.660,4,0.000,0.036,3453,3488,2381
$GC,18943,3.39,156.7,27.4,1.7,487,18971,0.00,2.25,18.65,0.696,6,0.000,0.026,3453,2092,2291
$GC,19289,3.40,158.4,10.5,7.5,520,19293,0.00,2.33,0.00,0.000,4,0.000,0.038,3453,3497,2288
$GC,19400,3.40,158.4,2.8,8.9,529,19407,0.00,2.30,0.00,0.000,6,0.000,0.027,3453,2094,2287
$STATE,19415,end climb,SURFACE_DEPTH_REACHED
$STATE,19415,begin surface coast
$FINISH,0.9,1.024904
$STATE,19437,end surface coast,CONTROL_FINISHED_OK
$STATE,19437,begin surface
$SM_CCo,19461,191.32,0.656,0,0,1299,400.08
$SM_GC,1.48,0.00,0.00,191.32,0.000,0.000,0.656,493,1888,1299,-10.28,-0.31,400.08
$IRIDIUM_FIX,4946.36,-14434.37,221197,000014
$TT8_MAMPS,0.029146
$HUMID,1783
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,16.10
$XPDR_PINGS,85
$24V_AH,23.2,55.908
$10V_AH,10.1,28.447
$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,30.400,171.850,189.675,191.325,0.000,55.580,63.111,184.877,21.250,0.000,0.000,36.663,1356.345,15393.275,554.855,2257.139,597.731,33.370,1675.774,0.000,2188.240,0.000,0.459
$DEVICE_MAMPS,165.672,99.710,1350.687,655.785,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,379.729,421.819,547.405,368.564,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31741,533
$CAP_FILE_SIZE,153846,0
$CFSIZE,260165632,238952448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,053955,5007.561,-14450.613,49,1.4,49,18.5