version: 66.03
glider: 144
mission: 13
dive: 300
start: 8 28 108 5 46 34
data:
$ID,144
$MISSION,13
$DIVE,300
$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,-51950.75
$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,55
$R_STBD_OVSHOOT,57
$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
$GPS1,053955,5007.561,-14450.613,49,1.4,49,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-60.4
$GPS2,054538,5007.548,-14450.589,35,1.3,35,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.008,-0.080
$KALMAN_X,14417.6,-291.4,475.6,-5620.9,-301.3
$KALMAN_Y,228451.4,108.5,37.3,-215572.8,466.2
$MHEAD_RNG_PITCHd_Wd,166.9,363,-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,-71.25,0.000,2,0.000,0.000,493,1888,2811
$GC,98,-2.95,-32.4,3.3,-4.1,7,121,8.45,2.30,-7.03,0.000,4,0.163,0.045,2080,3291,3066
$GC,268,-3.13,-32.4,44.1,-21.3,22,273,0.15,2.25,0.00,0.000,6,0.071,0.023,2043,1907,3069
$GC,601,-3.24,-32.4,118.7,-22.3,45,605,0.00,2.35,0.00,0.000,4,0.000,0.041,2043,500,3070
$GC,858,-3.24,-32.4,167.9,-18.6,55,865,0.00,2.25,0.00,0.000,6,0.000,0.026,2043,1896,3071
$GC,1171,-3.36,-32.4,222.5,-17.7,66,1176,0.17,2.35,0.00,0.000,4,0.071,0.045,1995,496,3071
$GC,1267,-3.32,-32.4,240.9,-19.4,69,1271,0.00,2.22,0.00,0.000,6,0.000,0.029,1995,1895,3071
$GC,1601,-3.37,-32.4,299.5,-17.3,80,1605,0.00,2.35,0.00,0.000,4,0.000,0.040,1995,498,3071
$GC,1777,-3.32,-32.4,330.1,-17.7,83,1781,0.00,2.22,0.00,0.000,6,0.000,0.028,1995,1906,3070
$GC,2103,-3.38,-32.4,383.2,-16.2,89,2107,0.00,2.35,0.00,0.000,4,0.000,0.040,1995,500,3069
$GC,2171,-3.38,-32.4,394.7,-16.8,90,2175,0.00,2.25,0.00,0.000,6,0.000,0.024,1995,1909,3070
$GC,2536,-3.45,-32.4,453.0,-15.8,96,2540,0.00,2.35,0.00,0.000,4,0.000,0.042,1995,506,3069
$GC,2670,-3.45,-32.4,476.3,-17.5,98,2674,0.00,2.22,0.00,0.000,6,0.000,0.028,1995,1903,3069
$GC,3030,-3.52,-32.4,532.7,-15.6,104,3032,0.15,0.00,0.00,0.000,6,0.079,0.000,1960,1905,3068
$GC,3332,-3.52,-32.4,580.7,-15.9,109,3336,0.00,2.35,0.00,0.000,4,0.000,0.048,1960,505,3068
$GC,3501,-3.43,-32.4,608.4,-16.2,111,3506,0.10,2.22,0.00,0.000,6,0.173,0.025,1975,1903,3067
$GC,3827,-3.47,-32.4,656.6,-14.7,117,3831,0.00,2.35,0.00,0.000,4,0.000,0.045,1975,505,3067
$GC,4062,-3.42,-32.4,693.5,-15.2,120,4066,0.00,2.22,0.00,0.000,6,0.000,0.029,1975,1902,3066
$GC,4389,-3.46,-32.4,739.6,-14.1,126,4393,0.00,2.35,0.00,0.000,4,0.000,0.046,1975,505,3066
$GC,4647,-3.41,-32.4,777.9,-14.8,129,4653,0.00,2.22,0.00,0.000,6,0.000,0.022,1975,1899,3065
$GC,4956,-3.46,-32.4,819.6,-13.4,135,4960,0.00,2.35,0.00,0.000,4,0.000,0.046,1975,506,3065
$GC,5029,-3.41,-32.4,829.7,-13.7,136,5033,0.00,2.22,0.00,0.000,6,0.000,0.028,1975,1898,3064
$GC,5385,-3.46,-32.4,874.8,-12.7,142,5389,0.00,2.38,0.00,0.000,4,0.000,0.047,1975,503,3064
$GC,5565,-3.42,-32.4,899.2,-13.2,144,5569,0.00,2.25,0.00,0.000,6,0.000,0.030,1975,1898,3063
$GC,5879,-3.47,-32.4,937.8,-12.2,150,5884,0.00,2.40,0.00,0.000,4,0.000,0.057,1975,512,3063
$GC,6072,-3.43,-32.4,961.6,-12.2,152,6078,0.00,2.30,0.00,0.000,6,0.000,0.044,1975,1882,3063
$STATE,6320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6320,begin apogee
$GC,6326,-0.33,0.0,990.5,11.5,157,6362,3.47,0.00,30.58,1.351,6,0.150,0.000,2648,2098,2931
$STATE,6363,end apogee,CONTROL_FINISHED_OK
$STATE,6363,begin climb
$GC,6366,2.95,32.4,990.5,0.0,157,6406,3.12,2.60,29.73,1.322,4,0.059,0.074,3376,3501,2798
$GC,6579,2.95,32.4,971.5,10.7,160,6584,0.00,2.40,0.00,0.000,6,0.000,0.050,3376,2122,2796
$GC,6934,2.95,32.4,936.0,9.9,166,6938,0.00,2.45,0.00,0.000,4,0.000,0.054,3376,688,2796
$GC,6956,2.95,32.4,933.7,10.2,166,6960,0.00,2.38,0.00,0.000,6,0.000,0.036,3376,2119,2796
$GC,7301,2.95,32.4,901.5,9.4,172,7305,0.00,2.45,0.00,0.000,4,0.000,0.043,3376,681,2796
$GC,7316,2.95,32.4,899.7,9.6,172,7320,0.00,2.35,0.00,0.000,6,0.000,0.031,3375,2121,2796
$GC,7667,2.95,32.4,869.2,8.7,178,7671,0.00,2.45,0.00,0.000,4,0.000,0.044,3376,676,2795
$GC,7689,2.95,32.4,867.0,9.3,178,7693,0.00,2.33,0.00,0.000,6,0.000,0.031,3376,2102,2795
$GC,8033,2.95,32.4,838.2,8.4,184,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2103,2795
$GC,8335,2.95,32.4,813.6,8.1,189,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2103,2795
$GC,8638,2.95,32.4,789.2,8.1,194,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2102,2795
$GC,8941,2.95,32.4,764.8,8.1,199,8945,0.00,2.40,0.00,0.000,4,0.000,0.045,3376,673,2795
$GC,9199,2.89,32.4,743.0,8.5,202,9205,0.00,2.33,0.00,0.000,6,0.000,0.031,3375,2112,2794
$GC,9508,2.90,33.7,719.6,7.6,208,9512,0.00,2.40,0.00,0.000,4,0.000,0.043,3376,679,2794
$GC,9766,2.84,35.4,700.2,7.5,211,9772,0.15,2.30,0.00,0.000,6,0.160,0.031,3351,2107,2794
$GC,10075,2.93,41.8,680.9,6.2,217,10089,0.00,2.47,8.82,1.040,4,0.000,0.042,3351,678,2760
$GC,10344,2.93,41.8,660.2,8.4,221,10349,0.00,2.33,0.00,0.000,6,0.000,0.031,3351,2108,2759
$GC,10710,3.02,46.2,634.9,6.8,227,10721,0.15,2.40,5.65,0.892,4,0.082,0.037,3389,680,2741
$GC,10969,2.96,46.2,612.9,8.3,230,10974,0.00,2.30,0.00,0.000,6,0.000,0.028,3389,2103,2741
$GC,11278,2.96,46.7,588.7,7.8,236,11279,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2103,2740
$GC,11581,2.96,47.0,564.7,7.9,241,11585,0.00,2.38,0.00,0.000,4,0.000,0.037,3389,680,2741
$GC,11838,2.91,47.0,542.2,8.6,244,11845,0.15,2.30,0.00,0.000,6,0.160,0.025,3365,2105,2740
$GC,12148,2.98,47.4,517.6,7.9,250,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2105,2741
$GC,12451,3.05,49.4,494.9,7.4,255,12458,0.12,0.00,4.38,0.733,6,0.088,0.000,3393,2108,2729
$GC,12754,3.06,52.7,473.3,7.1,260,12760,0.00,0.00,4.53,0.741,6,0.000,0.000,3393,2108,2716
$GC,13057,3.06,56.3,452.2,7.0,265,13066,0.00,2.42,4.75,0.751,4,0.000,0.038,3393,672,2701
$GC,13090,3.02,59.8,449.9,7.0,265,13099,0.00,2.33,4.60,0.726,6,0.000,0.025,3393,2102,2686
$GC,13421,3.02,60.6,424.2,7.8,271,13425,0.00,2.33,0.00,0.000,4,0.000,0.035,3393,3502,2687
$GC,13656,3.02,63.5,405.9,7.2,274,13666,0.00,2.30,4.90,0.739,6,0.000,0.028,3393,2078,2671
$GC,13987,3.07,63.5,379.0,8.3,280,13991,0.00,2.35,0.00,0.000,4,0.000,0.037,3393,3493,2671
$GC,14008,3.07,65.0,377.1,7.6,280,14012,0.00,2.28,0.00,0.000,6,0.000,0.031,3393,2089,2671
$GC,14346,3.11,65.0,347.8,8.9,286,14348,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2089,2671
$GC,14649,3.16,65.0,320.0,9.2,291,14653,0.00,2.33,0.00,0.000,4,0.000,0.039,3393,3499,2671
$GC,14906,3.16,65.0,296.5,8.4,294,14910,0.00,2.28,0.00,0.000,6,0.000,0.031,3393,2096,2671
$GC,15225,3.21,69.5,273.6,6.7,305,15234,0.15,0.00,6.68,0.765,6,0.083,0.000,3427,2095,2647
$GC,15530,3.21,72.0,251.4,7.3,315,15539,0.00,2.38,3.88,0.590,4,0.000,0.044,3427,701,2637
$GC,15793,3.13,72.0,230.7,8.5,322,15799,0.00,2.25,0.00,0.000,6,0.000,0.028,3428,2103,2637
$GC,16105,3.13,73.3,206.3,7.6,333,16110,0.00,2.35,0.00,0.000,4,0.000,0.044,3427,696,2637
$GC,16195,3.05,73.3,199.4,8.0,335,16202,0.17,2.25,0.00,0.000,6,0.158,0.024,3397,2101,2636
$GC,16509,3.11,77.0,177.9,6.9,346,16517,0.00,0.00,5.88,0.692,6,0.000,0.000,3396,2103,2616
$GC,16815,3.17,79.0,154.9,7.4,356,16819,0.00,2.30,0.00,0.000,4,0.000,0.036,3397,3493,2616
$GC,16933,3.17,81.9,146.2,7.2,360,16945,0.00,2.25,5.62,0.665,6,0.000,0.024,3397,2100,2596
$GC,17254,3.25,96.4,125.4,3.9,376,17277,0.15,2.38,12.95,0.751,4,0.083,0.037,3435,3491,2537
$GC,17350,3.27,109.5,121.7,4.3,380,17367,0.00,2.28,11.80,0.732,6,0.000,0.030,3435,2091,2484
$GC,17676,3.29,128.2,106.9,2.6,396,17698,0.00,2.35,15.98,0.741,4,0.000,0.034,3435,3489,2408
$GC,17951,3.29,128.2,84.8,8.7,408,17955,0.00,2.28,0.00,0.000,6,0.000,0.024,3435,2094,2406
$GC,18278,3.35,128.2,55.8,8.9,436,18282,0.00,2.33,0.00,0.000,4,0.000,0.040,3435,3491,2406
$GC,18535,3.35,132.3,33.6,6.8,458,18546,0.10,2.25,4.93,0.576,6,0.092,0.025,3459,2099,2390
$GC,18872,3.45,164.9,31.6,-1.3,490,18905,0.00,2.38,26.95,0.703,4,0.000,0.040,3459,696,2257
$GC,19157,3.45,164.9,14.1,9.6,515,19164,0.00,2.30,0.00,0.000,6,0.000,0.028,3459,2108,2252
$STATE,19278,end climb,SURFACE_DEPTH_REACHED
$STATE,19278,begin surface coast
$FINISH,1.0,1.024740
$STATE,19290,end surface coast,CONTROL_FINISHED_OK
$STATE,19290,begin surface
$SM_CCo,19312,184.77,0.655,0,0,1299,400.08
$SM_GC,1.49,0.00,0.00,184.77,0.000,0.000,0.655,496,1886,1299,-10.27,-0.40,400.08
$IRIDIUM_FIX,4949.70,-14501.30,221197,000009
$TT8_MAMPS,0.029146
$HUMID,1789
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,16.00
$XPDR_PINGS,77
$24V_AH,23.2,56.007
$10V_AH,10.1,28.532
$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,29.450,149.700,192.575,184.775,0.000,30.352,27.113,150.277,19.250,0.000,0.000,35.380,1341.407,15155.520,539.181,2279.509,528.515,33.365,1656.364,0.000,2226.178,0.000,0.460
$DEVICE_MAMPS,173.342,104.312,1351.454,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,376.967,428.272,551.068,356.422,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31829,528
$CAP_FILE_SIZE,144674,0
$CFSIZE,260165632,238899200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,111339,5006.844,-14450.454,88,1.3,88,18.5