version: 66.03
glider: 144
mission: 13
dive: 306
start: 8 29 108 15 38 2
data:
$ID,144
$MISSION,13
$DIVE,306
$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,-52180.262
$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,49
$R_STBD_OVSHOOT,55
$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
$GPS1,153137,5008.277,-14452.628,37,2.0,37,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-59.8
$GPS2,153706,5008.305,-14452.585,30,1.5,30,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.084,-0.086
$KALMAN_X,17593.7,-13.5,126.7,-11082.3,-63.9
$KALMAN_Y,230188.2,-64.9,-2.6,-215695.5,670.7
$MHEAD_RNG_PITCHd_Wd,117.5,2495,-31.8,-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,-2.16,-34.5,0.0,0.0,0,95,0.00,0.00,-71.15,0.000,2,0.000,0.000,497,1895,2821
$GC,98,-2.19,-58.7,3.4,-4.3,7,121,9.38,2.38,-9.27,0.000,4,0.166,0.046,2244,3297,3173
$GC,263,-2.28,-58.7,39.7,-19.9,21,270,0.00,2.25,0.00,0.000,6,0.000,0.023,2244,1910,3175
$GC,585,-2.32,-58.7,99.7,-18.2,47,589,0.00,2.35,0.00,0.000,4,0.000,0.043,2244,495,3177
$GC,624,-2.32,-58.7,107.7,-20.3,48,631,0.00,2.28,0.00,0.000,6,0.000,0.022,2244,1901,3177
$GC,960,-2.40,-58.7,161.7,-15.6,64,964,0.15,2.38,0.00,0.000,4,0.073,0.041,2202,498,3178
$GC,988,-2.35,-58.7,166.4,-17.4,65,992,0.00,2.25,0.00,0.000,6,0.000,0.028,2203,1905,3178
$GC,1323,-2.35,-58.7,217.5,-14.7,76,1327,0.00,2.38,0.00,0.000,4,0.000,0.044,2202,501,3178
$GC,1580,-2.29,-58.7,261.1,-17.5,83,1587,0.12,2.25,0.00,0.000,6,0.146,0.024,2225,1906,3178
$GC,1923,-2.34,-58.7,313.1,-15.0,94,1927,0.00,2.38,0.00,0.000,4,0.000,0.044,2225,499,3178
$GC,2068,-2.34,-58.7,336.1,-16.5,96,2072,0.00,2.25,0.00,0.000,6,0.000,0.022,2225,1904,3177
$GC,2417,-2.39,-58.7,387.0,-14.5,102,2421,0.00,2.38,0.00,0.000,4,0.000,0.048,2225,496,3177
$GC,2472,-2.39,-58.7,395.4,-15.0,102,2478,0.00,2.25,0.00,0.000,6,0.000,0.028,2224,1899,3177
$GC,2781,-2.44,-58.7,437.9,-13.7,108,2786,0.12,2.35,0.00,0.000,4,0.081,0.047,2195,501,3176
$GC,2905,-2.36,-58.7,457.0,-15.6,109,2911,0.00,2.25,0.00,0.000,6,0.000,0.025,2194,1907,3176
$GC,3213,-2.36,-58.7,500.7,-14.0,115,3217,0.00,2.35,0.00,0.000,4,0.000,0.041,2195,503,3175
$GC,3365,-2.27,-58.7,522.7,-14.7,117,3369,0.20,2.22,0.00,0.000,6,0.142,0.031,2231,1899,3175
$GC,3715,-2.35,-58.7,564.9,-12.0,123,3719,0.00,2.35,0.00,0.000,4,0.000,0.042,2231,504,3174
$GC,3753,-2.35,-58.7,570.1,-12.3,123,3757,0.00,2.25,0.00,0.000,6,0.000,0.031,2231,1920,3174
$GC,4079,-2.43,-58.7,607.3,-11.4,129,4084,0.15,2.40,0.00,0.000,4,0.081,0.047,2191,496,3174
$GC,4238,-2.34,-58.7,628.9,-14.0,131,4243,0.12,2.25,0.00,0.000,6,0.150,0.025,2212,1901,3173
$GC,4574,-2.34,-58.7,669.4,-11.9,137,4578,0.00,2.38,0.00,0.000,4,0.000,0.041,2212,496,3173
$GC,4608,-2.29,-58.7,673.8,-12.8,137,4612,0.00,2.25,0.00,0.000,6,0.000,0.022,2212,1901,3173
$GC,4933,-2.33,-58.7,713.0,-12.0,143,4938,0.00,2.38,0.00,0.000,4,0.000,0.042,2212,498,3172
$GC,4995,-2.33,-58.7,720.9,-12.7,144,4999,0.00,2.28,0.00,0.000,6,0.000,0.024,2212,1911,3172
$GC,5362,-2.38,-58.7,763.7,-11.6,150,5366,0.00,2.38,0.00,0.000,4,0.000,0.044,2212,505,3172
$GC,5411,-2.38,-58.7,770.1,-12.1,150,5415,0.00,2.25,0.00,0.000,6,0.000,0.028,2213,1906,3172
$GC,5727,-2.43,-58.7,806.4,-11.6,156,5731,0.00,2.38,0.00,0.000,4,0.000,0.048,2212,505,3171
$GC,5838,-2.43,-58.7,820.7,-13.0,157,5843,0.00,2.22,0.00,0.000,6,0.000,0.023,2211,1900,3171
$GC,6165,-2.48,-58.7,857.7,-11.2,163,6169,0.12,2.38,0.00,0.000,4,0.084,0.044,2181,501,3171
$GC,6232,-2.37,-58.7,866.6,-13.4,164,6237,0.15,2.25,0.00,0.000,6,0.149,0.029,2207,1898,3171
$GC,6598,-2.42,-58.7,908.6,-11.5,170,6602,0.00,2.40,0.00,0.000,4,0.000,0.051,2207,501,3171
$GC,6666,-2.38,-58.7,917.2,-12.4,171,6670,0.00,2.28,0.00,0.000,6,0.000,0.032,2207,1899,3170
$GC,7026,-2.43,-58.7,957.3,-11.1,177,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1899,3170
$GC,7329,-2.47,-58.7,989.6,-10.6,182,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2207,1898,3170
$STATE,7386,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7386,begin apogee
$GC,7393,-0.33,0.0,995.9,10.6,183,7450,2.22,0.00,53.10,1.377,6,0.135,0.000,2650,2086,2931
$STATE,7451,end apogee,CONTROL_FINISHED_OK
$STATE,7451,begin climb
$GC,7453,2.19,58.7,997.7,0.0,184,7516,2.42,2.60,52.08,1.351,4,0.066,0.075,3208,3509,2691
$GC,7528,2.07,58.7,993.1,8.1,185,7533,0.15,2.45,0.00,0.000,6,0.149,0.053,3183,2115,2690
$GC,7882,2.03,58.7,955.1,10.9,191,7886,0.00,2.42,0.00,0.000,4,0.000,0.053,3183,3509,2689
$GC,7999,1.96,58.7,941.6,11.5,192,8004,0.15,2.38,0.00,0.000,6,0.146,0.041,3158,2090,2689
$GC,8308,1.96,58.7,910.7,9.9,197,8312,0.00,2.42,0.00,0.000,4,0.000,0.044,3157,3515,2688
$GC,8334,1.96,58.7,907.9,10.2,197,8339,0.00,2.38,0.00,0.000,6,0.000,0.035,3157,2075,2688
$GC,8674,1.96,58.7,876.0,9.4,203,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2075,2688
$GC,8975,1.96,58.7,849.1,8.8,208,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2075,2688
$GC,9278,1.96,58.7,823.7,8.3,213,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2075,2687
$GC,9581,1.96,58.7,798.4,8.3,218,9585,0.00,2.42,0.00,0.000,4,0.000,0.039,3157,3518,2687
$GC,9608,1.96,58.7,795.8,9.6,218,9612,0.00,2.33,0.00,0.000,6,0.000,0.028,3157,2095,2687
$GC,9945,1.96,58.7,765.6,9.0,224,9949,0.00,2.35,0.00,0.000,4,0.000,0.043,3157,692,2687
$GC,9984,1.90,58.7,762.0,9.4,224,9988,0.00,2.33,0.00,0.000,6,0.000,0.031,3157,2126,2687
$GC,10303,1.90,58.7,733.2,8.9,230,10307,0.00,2.28,0.00,0.000,4,0.000,0.038,3157,3494,2686
$GC,10342,1.90,58.7,729.6,9.4,230,10346,0.00,2.28,0.00,0.000,6,0.000,0.031,3157,2093,2686
$GC,10668,1.90,58.7,701.7,8.6,236,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2093,2686
$GC,10970,1.90,58.7,676.9,8.2,241,10974,0.00,2.33,0.00,0.000,4,0.000,0.048,3157,698,2687
$GC,11003,1.84,58.7,674.1,8.9,241,11008,0.15,2.28,0.00,0.000,6,0.149,0.032,3132,2107,2686
$GC,11329,1.92,62.3,649.7,7.4,247,11338,0.00,2.35,3.90,0.738,4,0.000,0.041,3131,3491,2677
$GC,11379,1.97,62.3,645.9,8.1,247,11384,0.12,2.28,0.00,0.000,6,0.084,0.025,3160,2093,2677
$GC,11693,1.97,62.3,620.3,8.3,253,11697,0.00,2.35,0.00,0.000,4,0.000,0.040,3161,3501,2677
$GC,11754,1.97,62.3,614.9,8.9,254,11758,0.00,2.28,0.00,0.000,6,0.000,0.029,3160,2099,2677
$GC,12119,1.97,62.3,583.6,8.6,260,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2099,2677
$GC,12422,1.97,62.3,556.6,9.0,265,12426,0.00,2.33,0.00,0.000,4,0.000,0.041,3160,701,2677
$GC,12477,1.92,62.3,551.2,9.1,265,12483,0.00,2.25,0.00,0.000,6,0.000,0.027,3160,2101,2676
$GC,12787,1.92,62.3,524.2,8.7,271,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2102,2676
$GC,13090,1.92,62.9,499.9,7.9,276,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2103,2676
$GC,13393,1.93,67.7,477.4,7.3,281,13404,0.00,2.38,6.38,0.861,4,0.000,0.038,3161,698,2654
$GC,13489,1.89,69.0,469.9,7.8,282,13493,0.00,2.28,0.00,0.000,6,0.000,0.026,3160,2102,2653
$GC,13820,1.90,74.6,445.7,7.1,288,13829,0.00,0.00,7.45,0.876,6,0.000,0.000,3161,2105,2626
$GC,14123,1.90,77.3,422.9,7.6,293,14132,0.00,2.38,4.12,0.679,4,0.000,0.038,3161,701,2614
$GC,14212,1.90,77.3,415.3,9.0,294,14216,0.00,2.28,0.00,0.000,6,0.000,0.028,3160,2104,2614
$GC,14555,1.95,78.4,388.3,7.8,300,14559,0.00,2.35,0.00,0.000,4,0.000,0.038,3161,701,2614
$GC,14626,1.95,78.4,382.2,8.4,301,14631,0.00,2.30,0.00,0.000,6,0.000,0.031,3161,2103,2614
$GC,14987,2.00,82.6,355.4,7.3,307,14998,0.00,2.38,6.05,0.784,4,0.000,0.039,3160,701,2594
$GC,15031,2.00,82.6,351.7,8.2,307,15035,0.00,2.28,0.00,0.000,6,0.000,0.026,3160,2100,2593
$GC,15353,2.05,84.6,327.3,7.7,313,15357,0.00,2.30,0.00,0.000,4,0.000,0.035,3161,3494,2593
$GC,15431,2.05,84.6,320.5,8.5,314,15435,0.00,2.28,0.00,0.000,6,0.000,0.031,3161,2088,2593
$GC,15749,2.11,84.6,294.2,8.1,320,15753,0.12,2.35,0.00,0.000,4,0.083,0.036,3190,3502,2592
$GC,15843,2.06,84.6,286.0,8.9,322,15849,0.00,2.28,0.00,0.000,6,0.000,0.024,3190,2097,2593
$GC,16156,2.06,85.3,261.5,7.9,333,16165,0.00,2.38,3.88,0.597,4,0.000,0.041,3189,705,2583
$GC,16257,1.99,85.3,252.7,8.7,336,16262,0.15,2.28,0.00,0.000,6,0.142,0.031,3164,2108,2583
$GC,16592,2.05,88.5,226.8,7.5,347,16602,0.00,2.33,4.72,0.654,4,0.000,0.035,3164,3497,2569
$GC,16722,2.05,88.5,216.8,8.0,350,16728,0.00,2.28,0.00,0.000,6,0.000,0.024,3164,2094,2569
$GC,17035,2.12,95.7,195.2,6.9,361,17045,0.10,0.00,7.60,0.744,6,0.091,0.000,3187,2093,2540
$GC,17341,2.12,95.7,169.1,9.0,371,17342,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2093,2540
$GC,17647,2.12,100.1,143.9,7.3,382,17657,0.00,2.33,5.10,0.642,4,0.000,0.039,3187,705,2522
$GC,17741,2.14,112.5,138.0,6.1,386,17757,0.00,2.25,11.35,0.752,6,0.000,0.030,3187,2112,2472
$GC,18081,2.22,140.1,121.5,3.7,403,18111,0.10,2.40,22.75,0.770,4,0.088,0.037,3211,3492,2360
$GC,18139,2.23,147.7,117.4,6.8,405,18154,0.00,2.28,7.97,0.680,6,0.000,0.025,3212,2102,2327
$GC,18477,2.28,147.7,86.3,9.8,422,18481,0.00,2.35,0.00,0.000,4,0.000,0.048,3212,698,2325
$GC,18494,2.28,147.7,84.7,9.7,423,18498,0.00,2.28,0.00,0.000,6,0.000,0.032,3212,2098,2325
$GC,18821,2.34,153.6,59.8,7.1,451,18829,0.10,0.00,5.95,0.631,6,0.089,0.000,3236,2101,2304
$GC,19147,2.38,186.9,32.7,2.8,482,19180,0.00,2.42,28.17,0.713,4,0.000,0.034,3236,3499,2167
$GC,19328,2.38,186.9,22.7,8.9,498,19332,0.00,2.28,0.00,0.000,6,0.000,0.030,3236,2099,2162
$STATE,19576,end climb,SURFACE_DEPTH_REACHED
$STATE,19576,begin surface coast
$FINISH,1.1,1.024668
$STATE,19600,end surface coast,CONTROL_FINISHED_OK
$STATE,19600,begin surface
$SM_CCo,19622,168.32,0.665,0,0,1300,400.08
$SM_GC,1.71,0.00,0.00,168.32,0.000,0.000,0.665,497,1892,1300,-10.26,-0.23,400.08
$IRIDIUM_FIX,4949.70,-14451.95,231197,101007
$TT8_MAMPS,0.029146
$HUMID,1780
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,16.00
$XPDR_PINGS,84
$24V_AH,23.2,56.641
$10V_AH,10.1,29.038
$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,28.025,177.275,230.575,168.325,0.000,29.092,27.591,141.724,21.000,0.000,0.000,31.009,1261.024,15991.895,557.766,1816.219,495.173,33.392,1523.059,0.000,1773.871,0.000,0.459
$DEVICE_MAMPS,165.672,98.943,1376.765,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,370.570,423.015,541.601,327.127,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31760,523
$CAP_FILE_SIZE,141701,0
$CFSIZE,260165632,238497792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,210927,5007.551,-14450.152,37,1.8,56,18.5