version: 66.03
glider: 144
mission: 13
dive: 304
start: 8 29 108 4 25 40
data:
$ID,144
$MISSION,13
$DIVE,304
$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,-52096.305
$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,76
$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
$GPS1,041907,5007.011,-14451.325,41,1.6,53,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-59.6
$GPS2,042444,5007.024,-14451.249,35,1.6,35,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.080,-0.001
$KALMAN_X,17706.7,-404.9,306.3,-9405.3,922.2
$KALMAN_Y,229945.7,26.8,-232.3,-217677.6,898.1
$MHEAD_RNG_PITCHd_Wd,251.0,997,-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,-76.05,0.000,2,0.000,0.000,495,1928,2938
$GC,103,-2.94,-30.2,3.6,-4.7,8,119,8.50,0.00,-2.97,0.000,6,0.163,0.000,2082,1928,3057
$GC,440,-3.13,-30.2,79.8,-21.0,40,444,0.15,2.40,0.00,0.000,4,0.072,0.040,2040,502,3060
$GC,659,-3.18,-30.2,132.0,-21.5,50,663,0.00,2.20,0.00,0.000,6,0.000,0.025,2041,1884,3061
$GC,973,-3.29,-30.2,187.2,-16.5,62,977,0.12,2.33,0.00,0.000,4,0.078,0.041,2009,503,3061
$GC,1179,-3.29,-30.2,226.1,-18.1,68,1183,0.00,2.22,0.00,0.000,6,0.000,0.021,2009,1895,3061
$GC,1509,-3.36,-30.2,282.0,-16.9,79,1513,0.00,2.35,0.00,0.000,4,0.000,0.041,2009,498,3061
$GC,1760,-3.36,-30.2,326.3,-16.8,84,1764,0.00,2.25,0.00,0.000,6,0.000,0.028,2009,1903,3061
$GC,2075,-3.45,-30.2,377.6,-16.3,90,2080,0.15,2.35,0.00,0.000,4,0.081,0.044,1974,508,3061
$GC,2132,-3.38,-30.2,387.7,-17.8,90,2138,0.00,2.22,0.00,0.000,6,0.000,0.024,1974,1905,3060
$GC,2441,-3.38,-30.2,439.6,-16.6,96,2445,0.00,2.35,0.00,0.000,4,0.000,0.039,1974,501,3060
$GC,2587,-3.30,-30.2,464.9,-17.5,98,2592,0.17,2.22,0.00,0.000,6,0.160,0.029,2003,1900,3060
$GC,2941,-3.38,-30.2,518.5,-15.0,104,2945,0.00,2.35,0.00,0.000,4,0.000,0.048,2003,499,3059
$GC,3198,-3.38,-30.2,559.0,-15.3,107,3202,0.00,2.25,0.00,0.000,6,0.000,0.027,2003,1907,3059
$GC,3514,-3.47,-30.2,602.7,-13.8,113,3518,0.12,2.35,0.00,0.000,4,0.086,0.039,1974,507,3058
$GC,3715,-3.41,-30.2,632.2,-14.3,116,3719,0.00,2.22,0.00,0.000,6,0.000,0.028,1974,1900,3058
$GC,4075,-3.45,-30.2,678.1,-12.7,122,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,1901,3057
$GC,4378,-3.50,-30.2,716.5,-12.6,127,4382,0.00,2.35,0.00,0.000,4,0.000,0.045,1974,506,3057
$GC,4575,-3.45,-30.2,743.1,-13.0,130,4579,0.00,2.22,0.00,0.000,6,0.000,0.028,1974,1900,3057
$GC,4941,-3.49,-30.2,787.7,-12.1,136,4945,0.00,2.35,0.00,0.000,4,0.000,0.043,1974,506,3056
$GC,5110,-3.44,-30.2,810.2,-13.6,138,5114,0.00,2.22,0.00,0.000,6,0.000,0.029,1974,1900,3055
$GC,5437,-3.49,-30.2,850.2,-12.2,144,5441,0.00,2.35,0.00,0.000,4,0.000,0.042,1974,509,3055
$GC,5481,-3.44,-30.2,855.9,-12.5,144,5485,0.00,2.22,0.00,0.000,6,0.000,0.030,1974,1900,3055
$GC,5796,-3.49,-30.2,894.2,-12.1,150,5800,0.00,2.38,0.00,0.000,4,0.000,0.047,1974,508,3055
$GC,6042,-3.44,-30.2,926.2,-12.7,153,6046,0.00,2.25,0.00,0.000,6,0.000,0.035,1974,1885,3054
$GC,6356,-3.49,-30.2,963.1,-11.7,159,6360,0.00,2.40,0.00,0.000,4,0.000,0.062,1974,515,3054
$GC,6457,-3.44,-30.2,975.3,-12.3,160,6461,0.00,2.33,0.00,0.000,6,0.000,0.040,1974,1894,3054
$STATE,6599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6599,begin apogee
$GC,6605,-0.33,0.0,991.0,10.9,163,6639,3.50,0.00,28.60,1.349,6,0.152,0.000,2648,2105,2931
$STATE,6640,end apogee,CONTROL_FINISHED_OK
$STATE,6640,begin climb
$GC,6642,2.94,30.2,991.0,0.0,163,6679,3.15,2.55,27.80,1.319,4,0.060,0.067,3378,3508,2808
$GC,6931,2.94,30.2,964.7,10.6,167,6935,0.00,2.38,0.00,0.000,6,0.000,0.042,3378,2117,2806
$GC,7274,2.94,30.2,931.1,9.8,173,7278,0.00,2.40,0.00,0.000,4,0.000,0.044,3378,3526,2806
$GC,7307,2.94,30.2,928.0,8.8,173,7312,0.00,2.40,0.00,0.000,6,0.000,0.036,3378,2084,2805
$GC,7633,2.94,30.2,897.4,9.3,179,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2084,2805
$GC,7936,2.94,30.2,870.0,9.0,184,7940,0.00,2.42,0.00,0.000,4,0.000,0.038,3378,3528,2805
$GC,7991,2.94,30.2,864.9,9.0,184,7998,0.00,2.35,0.00,0.000,6,0.000,0.027,3378,2090,2805
$GC,8301,2.94,30.2,837.8,8.8,190,8305,0.00,2.33,0.00,0.000,4,0.000,0.041,3378,701,2805
$GC,8558,2.89,30.2,814.8,8.4,193,8565,0.12,2.30,0.00,0.000,6,0.164,0.025,3358,2127,2804
$GC,8869,2.94,32.1,791.3,7.5,199,8873,0.00,2.28,0.00,0.000,4,0.000,0.039,3358,3499,2804
$GC,8902,2.94,33.4,788.7,7.6,199,8911,0.00,2.28,4.28,0.831,6,0.000,0.025,3358,2099,2793
$GC,9233,3.01,35.3,763.9,7.5,205,9235,0.10,0.00,0.00,0.000,6,0.091,0.000,3381,2099,2793
$GC,9536,3.02,37.7,741.7,7.3,210,9543,0.00,0.00,5.25,0.915,6,0.000,0.000,3381,2099,2777
$GC,9839,3.02,38.5,718.3,7.8,215,9843,0.00,2.33,0.00,0.000,4,0.000,0.041,3381,699,2777
$GC,9860,3.02,38.5,716.5,8.3,215,9864,0.00,2.28,0.00,0.000,6,0.000,0.031,3381,2110,2777
$GC,10203,3.02,40.6,691.4,7.4,221,10212,0.00,2.33,4.32,0.806,4,0.000,0.035,3381,3503,2765
$GC,10270,3.02,40.6,686.0,8.8,222,10275,0.00,2.30,0.00,0.000,6,0.000,0.025,3381,2092,2764
$GC,10641,3.02,40.6,655.0,8.3,228,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2092,2764
$GC,10944,3.02,42.0,631.5,7.6,233,10948,0.00,2.33,0.00,0.000,4,0.000,0.038,3381,3505,2765
$GC,11202,3.02,43.7,611.2,7.5,236,11214,0.00,2.28,4.50,0.791,6,0.000,0.031,3381,2098,2752
$GC,11517,3.02,44.6,586.8,7.7,242,11521,0.00,2.33,0.00,0.000,4,0.000,0.036,3381,3498,2752
$GC,11589,3.03,46.1,581.3,7.6,243,11593,0.00,2.28,0.00,0.000,6,0.000,0.024,3381,2092,2751
$GC,11943,3.03,49.0,555.8,7.2,249,11954,0.00,2.35,6.25,0.887,4,0.000,0.038,3381,694,2730
$GC,12027,3.03,49.0,549.3,8.4,250,12031,0.00,2.28,0.00,0.000,6,0.000,0.031,3380,2105,2730
$GC,12377,3.08,51.7,523.7,7.2,256,12386,0.00,2.35,3.95,0.698,4,0.000,0.035,3381,3494,2720
$GC,12421,3.08,53.5,520.2,7.5,256,12425,0.00,2.28,0.00,0.000,6,0.000,0.028,3381,2092,2719
$GC,12742,3.14,55.7,496.4,7.4,262,12753,0.12,2.33,5.32,0.808,4,0.087,0.043,3409,698,2702
$GC,13007,3.06,55.7,472.8,9.0,266,13011,0.00,2.25,0.00,0.000,6,0.000,0.032,3409,2098,2703
$GC,13372,3.06,55.7,441.6,8.4,272,13376,0.00,2.33,0.00,0.000,4,0.000,0.039,3409,700,2703
$GC,13630,2.98,55.7,418.8,8.1,275,13636,0.17,2.25,0.00,0.000,6,0.159,0.030,3379,2101,2702
$GC,13940,3.04,56.0,394.5,7.9,281,13944,0.00,2.35,0.00,0.000,4,0.000,0.044,3380,692,2702
$GC,14197,3.04,56.2,373.5,7.9,284,14202,0.00,2.28,0.00,0.000,6,0.000,0.025,3379,2110,2702
$GC,14508,3.11,57.7,350.2,7.6,289,14517,0.10,2.40,3.45,0.571,4,0.094,0.038,3402,698,2694
$GC,14528,3.11,58.7,348.3,7.7,289,14532,0.00,2.28,0.00,0.000,6,0.000,0.031,3401,2108,2695
$GC,14871,3.11,61.7,323.4,7.1,295,14878,0.00,0.00,5.00,0.713,6,0.000,0.000,3402,2110,2679
$GC,15175,3.12,65.7,302.6,6.8,300,15184,0.00,2.30,5.00,0.705,4,0.000,0.033,3402,3492,2663
$GC,15439,3.12,69.6,282.9,6.9,307,15448,0.00,2.28,5.00,0.696,6,0.000,0.029,3402,2089,2647
$GC,15773,3.17,71.6,258.3,7.4,318,15777,0.00,2.33,0.00,0.000,4,0.000,0.034,3402,3494,2646
$GC,15970,3.17,75.3,243.4,6.9,324,15981,0.00,2.25,6.22,0.735,6,0.000,0.031,3402,2101,2624
$GC,16305,3.22,75.3,215.8,8.5,335,16310,0.12,2.33,0.00,0.000,4,0.087,0.036,3430,3500,2623
$GC,16405,3.22,75.3,206.7,9.2,338,16408,0.00,2.28,0.00,0.000,6,0.000,0.028,3430,2097,2623
$GC,16740,3.22,77.2,179.5,7.4,349,16741,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2097,2623
$GC,17046,3.23,85.4,160.5,5.7,359,17060,0.00,2.35,9.82,0.758,4,0.000,0.036,3430,3491,2581
$GC,17145,3.23,85.4,153.0,8.6,362,17149,0.00,2.28,0.00,0.000,6,0.000,0.028,3430,2093,2581
$GC,17466,3.25,99.8,131.7,3.9,377,17488,0.00,2.40,12.77,0.759,4,0.000,0.033,3431,3493,2524
$GC,17535,3.26,107.3,128.6,5.9,380,17549,0.00,2.28,7.75,0.696,6,0.000,0.024,3431,2100,2492
$GC,17867,3.33,126.5,111.5,2.5,396,17889,0.00,2.38,16.23,0.749,4,0.000,0.040,3430,698,2414
$GC,17922,3.34,137.4,109.7,4.9,398,17938,0.10,2.28,10.27,0.708,6,0.094,0.024,3454,2116,2370
$GC,18259,3.38,137.4,76.3,11.1,416,18263,0.00,2.25,0.00,0.000,4,0.000,0.037,3453,3483,2368
$GC,18381,3.38,137.4,61.0,13.5,426,18388,0.00,2.28,0.00,0.000,6,0.000,0.025,3454,2100,2368
$GC,18709,3.51,172.6,31.9,-2.1,457,18746,0.15,2.40,29.05,0.711,4,0.081,0.039,3493,3484,2225
$GC,19000,3.51,172.6,13.6,8.8,483,19004,0.00,2.25,0.00,0.000,6,0.000,0.031,3493,2102,2220
$STATE,19105,end climb,SURFACE_DEPTH_REACHED
$STATE,19105,begin surface coast
$FINISH,1.0,1.024873
$STATE,19118,end surface coast,CONTROL_FINISHED_OK
$STATE,19118,begin surface
$SM_CCo,19141,179.12,0.664,0,0,1300,400.08
$SM_GC,1.62,0.00,0.00,179.12,0.000,0.000,0.664,492,1893,1300,-10.29,-0.20,400.08
$IRIDIUM_FIX,4949.70,-14446.46,221197,222221
$TT8_MAMPS,0.029913
$HUMID,1798
$INTERNAL_PRESSURE,7.68584
$TCM_TEMP,14.30
$XPDR_PINGS,79
$24V_AH,23.2,56.419
$10V_AH,10.1,28.871
$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,29.950,162.500,200.850,179.125,0.000,29.259,28.561,143.852,19.750,0.000,0.000,35.753,1308.329,15060.767,532.424,2257.861,500.344,33.370,1654.016,0.000,2191.898,0.000,0.459
$DEVICE_MAMPS,164.138,95.108,1349.153,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,350.933,398.830,510.061,295.730,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28687,494
$CAP_FILE_SIZE,147704,0
$CFSIZE,260165632,238628864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,094931,5006.953,-14452.939,72,1.3,72,18.5