version: 66.03
glider: 144
mission: 13
dive: 302
start: 8 28 108 17 1 28
data:
$ID,144
$MISSION,13
$DIVE,302
$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,-52021.02
$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,59
$R_STBD_OVSHOOT,64
$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
$GPS1,165456,5006.986,-14451.229,51,1.3,70,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-60.3
$GPS2,170032,5006.987,-14451.127,33,1.3,33,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.066,-0.045
$KALMAN_X,16055.1,328.6,350.7,-8386.5,-131.3
$KALMAN_Y,229532.2,-232.4,-176.6,-217128.1,1244.7
$MHEAD_RNG_PITCHd_Wd,106.0,1008,-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,-18.7,0.0,0.0,0,94,0.00,0.00,-71.20,0.000,2,0.000,0.000,492,1872,2811
$GC,97,-2.94,-27.7,3.7,-5.4,7,121,8.52,2.38,-6.18,0.000,4,0.166,0.048,2082,3283,3047
$GC,373,-3.12,-27.7,70.3,-21.8,31,380,0.15,2.20,0.00,0.000,6,0.072,0.030,2045,1917,3049
$GC,691,-3.23,-27.7,135.6,-18.3,49,695,0.00,2.38,0.00,0.000,4,0.000,0.041,2045,502,3051
$GC,808,-3.23,-27.7,155.6,-16.0,54,812,0.00,2.22,0.00,0.000,6,0.000,0.027,2045,1901,3052
$GC,1120,-3.35,-27.7,204.3,-16.2,64,1125,0.17,2.35,0.00,0.000,4,0.072,0.042,1999,506,3052
$GC,1250,-3.31,-27.7,228.0,-18.0,68,1254,0.00,2.22,0.00,0.000,6,0.000,0.028,1999,1901,3052
$GC,1584,-3.36,-27.7,285.5,-16.5,79,1588,0.00,2.35,0.00,0.000,4,0.000,0.042,1999,504,3052
$GC,1707,-3.36,-27.7,307.6,-18.2,82,1713,0.00,2.22,0.00,0.000,6,0.000,0.028,1999,1902,3052
$GC,2016,-3.42,-27.7,357.8,-16.2,88,2020,0.00,2.35,0.00,0.000,4,0.000,0.044,1999,499,3051
$GC,2213,-3.42,-27.7,390.7,-16.1,90,2219,0.00,2.22,0.00,0.000,6,0.000,0.028,1999,1900,3051
$GC,2523,-3.49,-27.7,434.5,-13.9,96,2527,0.15,2.33,0.00,0.000,4,0.081,0.041,1960,506,3050
$GC,2594,-3.39,-27.7,445.3,-14.3,97,2599,0.15,2.22,0.00,0.000,6,0.163,0.025,1984,1908,3050
$GC,2954,-3.44,-27.7,493.8,-13.6,103,2958,0.00,2.35,0.00,0.000,4,0.000,0.043,1984,503,3049
$GC,3004,-3.38,-27.7,501.2,-14.3,103,3008,0.00,2.22,0.00,0.000,6,0.000,0.022,1984,1905,3049
$GC,3325,-3.44,-27.7,543.8,-13.2,109,3329,0.00,2.35,0.00,0.000,4,0.000,0.040,1984,506,3049
$GC,3387,-3.39,-27.7,552.7,-13.8,110,3391,0.00,2.22,0.00,0.000,6,0.000,0.026,1984,1908,3048
$GC,3758,-3.44,-27.7,602.9,-13.5,116,3762,0.00,2.38,0.00,0.000,4,0.000,0.045,1984,499,3048
$GC,4015,-3.39,-27.7,641.0,-15.0,119,4021,0.00,2.22,0.00,0.000,6,0.000,0.022,1985,1899,3047
$GC,4325,-3.45,-27.7,683.5,-13.7,125,4329,0.00,2.35,0.00,0.000,4,0.000,0.047,1984,505,3047
$GC,4583,-3.45,-27.7,719.3,-14.1,128,4589,0.00,2.22,0.00,0.000,6,0.000,0.026,1984,1898,3046
$GC,4892,-3.51,-27.7,757.8,-12.3,134,4896,0.00,2.35,0.00,0.000,4,0.000,0.042,1984,503,3046
$GC,5149,-3.51,-27.7,791.4,-12.9,137,5153,0.00,2.25,0.00,0.000,6,0.000,0.030,1984,1907,3046
$GC,5465,-3.57,-27.7,828.6,-11.8,143,5470,0.15,2.38,0.00,0.000,4,0.085,0.044,1945,504,3045
$GC,5617,-3.47,-27.7,848.2,-13.3,145,5622,0.12,2.22,0.00,0.000,6,0.171,0.022,1965,1904,3045
$GC,5965,-3.47,-27.7,889.4,-11.9,151,5970,0.00,2.38,0.00,0.000,4,0.000,0.045,1965,509,3045
$GC,6049,-3.42,-27.7,899.7,-12.0,152,6053,0.00,2.22,0.00,0.000,6,0.000,0.030,1965,1894,3044
$GC,6392,-3.42,-27.7,938.3,-11.3,158,6396,0.00,2.40,0.00,0.000,4,0.000,0.056,1965,505,3044
$GC,6649,-3.34,-27.7,969.9,-12.8,161,6654,0.17,2.33,0.00,0.000,6,0.166,0.039,1995,1886,3044
$STATE,6835,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6835,begin apogee
$GC,6841,-0.33,0.0,990.7,11.2,164,6873,3.40,0.00,26.23,1.344,6,0.150,0.000,2652,2100,2931
$STATE,6873,end apogee,CONTROL_FINISHED_OK
$STATE,6873,begin climb
$GC,6876,2.94,27.7,990.7,0.0,164,6911,3.10,2.60,25.75,1.314,4,0.060,0.067,3375,3508,2818
$GC,7009,2.94,27.7,982.0,9.6,166,7014,0.00,2.42,0.00,0.000,6,0.000,0.051,3375,2113,2816
$GC,7374,2.94,27.7,950.6,8.6,172,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2113,2816
$GC,7677,2.94,27.7,924.5,8.7,177,7681,0.00,2.42,0.00,0.000,4,0.000,0.051,3376,684,2816
$GC,7935,2.87,27.7,901.0,9.4,180,7942,0.12,2.35,0.00,0.000,6,0.163,0.032,3356,2127,2815
$GC,8245,2.93,27.7,875.5,8.1,186,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2127,2815
$GC,8547,2.99,27.7,851.2,8.1,191,8552,0.10,2.45,0.00,0.000,4,0.092,0.041,3378,678,2815
$GC,8568,2.99,27.7,849.3,8.8,191,8572,0.00,2.33,0.00,0.000,6,0.000,0.028,3378,2108,2814
$GC,8912,2.99,27.7,821.6,8.0,197,8916,0.00,2.40,0.00,0.000,4,0.000,0.045,3378,670,2815
$GC,9007,2.93,29.9,814.1,7.4,198,9011,0.00,2.33,0.00,0.000,6,0.000,0.031,3378,2107,2814
$GC,9344,2.93,33.1,789.9,7.1,204,9354,0.00,2.42,5.93,0.981,4,0.000,0.039,3378,678,2795
$GC,9377,2.88,35.6,787.4,7.3,204,9387,0.12,2.33,4.03,0.788,6,0.162,0.031,3359,2103,2785
$GC,9708,2.94,36.5,761.9,7.7,210,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2103,2785
$GC,10011,3.01,40.0,740.7,7.0,215,10022,0.12,2.42,5.65,0.940,4,0.087,0.038,3386,676,2766
$GC,10276,2.95,40.0,719.6,8.6,219,10281,0.00,2.33,0.00,0.000,6,0.000,0.032,3386,2105,2766
$GC,10642,2.95,41.6,691.9,7.5,225,10646,0.00,2.40,0.00,0.000,4,0.000,0.044,3386,670,2766
$GC,10900,2.89,42.6,671.6,7.7,228,10910,0.15,2.33,3.90,0.741,6,0.162,0.030,3362,2111,2756
$GC,11278,2.96,45.2,644.4,7.3,235,11287,0.00,2.42,4.00,0.749,4,0.000,0.038,3362,678,2746
$GC,11542,2.96,45.2,622.6,8.3,238,11547,0.00,2.30,0.00,0.000,6,0.000,0.032,3361,2100,2746
$GC,11851,3.04,48.3,600.2,7.1,244,11861,0.12,2.40,4.38,0.773,4,0.088,0.038,3390,679,2734
$GC,12114,2.98,48.3,578.4,8.4,247,12121,0.00,2.30,0.00,0.000,6,0.000,0.025,3389,2101,2734
$GC,12424,2.98,49.2,554.6,7.7,253,12428,0.00,2.38,0.00,0.000,4,0.000,0.039,3390,670,2734
$GC,12479,2.92,49.2,550.0,8.0,253,12484,0.15,2.30,0.00,0.000,6,0.158,0.031,3366,2101,2733
$GC,12794,3.00,51.6,526.9,7.3,259,12804,0.00,2.33,4.75,0.781,4,0.000,0.035,3366,3497,2719
$GC,12883,3.04,51.6,519.6,8.1,260,12887,0.10,2.30,0.00,0.000,6,0.092,0.028,3388,2075,2720
$GC,13225,3.04,51.6,491.6,8.1,266,13226,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2075,2720
$GC,13529,3.04,53.4,468.8,7.5,271,13530,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2075,2720
$GC,13831,3.04,55.7,446.4,7.3,276,13838,0.00,0.00,5.28,0.790,6,0.000,0.000,3388,2075,2703
$GC,14135,3.09,56.5,423.0,7.8,281,14139,0.00,2.38,0.00,0.000,4,0.000,0.041,3388,3505,2702
$GC,14201,3.09,56.9,417.8,7.9,282,14205,0.00,2.28,0.00,0.000,6,0.000,0.027,3388,2100,2702
$GC,14561,3.13,60.6,392.8,6.9,288,14572,0.00,2.35,5.97,0.798,4,0.000,0.040,3388,3499,2682
$GC,14826,3.13,60.6,370.0,8.7,292,14830,0.00,2.28,0.00,0.000,6,0.000,0.027,3388,2101,2681
$GC,15191,3.18,60.6,339.3,8.3,298,15193,0.15,0.00,0.00,0.000,6,0.082,0.000,3423,2101,2682
$GC,15494,3.18,60.6,314.5,8.0,303,15498,0.00,2.33,0.00,0.000,4,0.000,0.038,3422,696,2682
$GC,15752,3.10,65.3,295.5,6.7,307,15762,0.00,2.25,5.30,0.714,6,0.000,0.025,3422,2106,2664
$GC,16091,3.10,69.1,271.7,6.9,319,16101,0.00,2.38,4.85,0.683,4,0.000,0.038,3422,694,2649
$GC,16354,3.03,69.8,252.2,7.8,326,16361,0.17,2.25,0.00,0.000,6,0.157,0.024,3392,2099,2648
$GC,16667,3.09,75.3,232.5,6.4,337,16681,0.00,2.42,6.72,0.743,4,0.000,0.037,3392,694,2622
$GC,16715,3.09,79.4,228.9,6.8,338,16725,0.00,2.28,4.97,0.660,6,0.000,0.031,3392,2101,2607
$GC,17033,3.17,79.4,203.1,8.1,348,17035,0.10,0.00,0.00,0.000,6,0.093,0.000,3415,2102,2606
$GC,17341,3.17,79.4,175.8,9.4,358,17345,0.00,2.30,0.00,0.000,4,0.000,0.036,3415,3495,2606
$GC,17600,3.17,83.5,149.3,6.8,365,17609,0.00,2.25,5.03,0.637,6,0.000,0.025,3415,2099,2590
$GC,17939,3.23,101.5,133.2,2.9,382,17961,0.00,2.38,15.80,0.768,4,0.000,0.044,3414,697,2515
$GC,18214,3.25,110.8,117.7,5.3,394,18231,0.00,2.28,8.80,0.707,6,0.000,0.024,3415,2113,2478
$GC,18540,3.33,122.0,98.1,4.8,410,18555,0.15,2.30,10.25,0.716,4,0.081,0.038,3454,3492,2433
$GC,18648,3.34,129.8,92.4,5.8,414,18662,0.00,2.28,7.82,0.670,6,0.000,0.025,3454,2094,2400
$GC,18986,3.34,129.8,64.0,10.4,438,18990,0.00,2.33,0.00,0.000,4,0.000,0.041,3454,3495,2399
$GC,19244,3.34,130.2,38.3,7.9,461,19248,0.00,2.28,0.00,0.000,6,0.000,0.029,3454,2092,2399
$GC,19576,3.45,152.1,29.3,1.7,492,19602,0.10,2.42,18.75,0.698,4,0.091,0.041,3478,694,2309
$GC,19857,3.41,175.9,24.5,1.2,517,19882,0.00,2.25,20.10,0.684,6,0.000,0.030,3478,2107,2212
$STATE,20088,end climb,SURFACE_DEPTH_REACHED
$STATE,20091,begin surface coast
$FINISH,0.8,1.014695
$STATE,20100,end surface coast,CONTROL_FINISHED_OK
$STATE,20100,begin surface
$SM_CCo,20123,176.52,0.653,0,0,1300,400.08
$SM_GC,1.36,0.00,0.00,176.52,0.000,0.000,0.653,497,1892,1300,-10.26,-0.23,400.08
$IRIDIUM_FIX,4949.70,-14449.20,221197,111111
$TT8_MAMPS,0.029146
$HUMID,1771
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,16.00
$XPDR_PINGS,78
$24V_AH,23.2,56.212
$10V_AH,10.1,28.705
$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,30.575,163.475,204.250,176.525,0.000,25.889,29.489,147.220,19.500,0.000,0.000,33.513,1411.394,15686.479,529.387,2490.614,520.873,33.365,1749.506,0.000,2423.161,0.000,0.459
$DEVICE_MAMPS,171.041,91.273,1343.784,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,384.441,430.806,559.085,359.917,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31761,540
$CAP_FILE_SIZE,155733,0
$CFSIZE,260165632,238755840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,224143,5006.816,-14449.910,77,1.5,77,18.5