version: 66.03
glider: 144
mission: 13
dive: 305
start: 8 29 108 10 0 51
data:
$ID,144
$MISSION,13
$DIVE,305
$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,-52148.625
$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,61
$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
$GPS1,094931,5006.953,-14452.939,72,1.3,72,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.0
$GPS2,095956,5006.939,-14452.931,43,1.7,49,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.005,0.080
$KALMAN_X,18142.8,-134.3,-468.9,-11333.6,2348.6
$KALMAN_Y,229630.1,-136.8,51.8,-217638.6,-34.6
$MHEAD_RNG_PITCHd_Wd,345.4,2645,-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,-71.55,0.000,2,0.000,0.000,491,1893,2852
$GC,98,-2.94,-29.5,3.6,-4.9,7,121,8.57,2.35,-5.22,0.000,4,0.170,0.056,2081,513,3054
$GC,373,-3.04,-29.5,72.1,-22.0,31,380,0.00,2.20,0.00,0.000,6,0.000,0.021,2081,1901,3056
$GC,691,-3.24,-29.5,139.4,-20.2,49,696,0.22,2.35,0.00,0.000,4,0.066,0.039,2021,505,3058
$GC,948,-3.24,-29.5,189.6,-18.7,57,955,0.00,2.22,0.00,0.000,6,0.000,0.021,2021,1904,3059
$GC,1261,-3.34,-29.5,242.2,-16.9,68,1265,0.00,2.35,0.00,0.000,4,0.000,0.041,2021,503,3058
$GC,1518,-3.34,-29.5,289.7,-18.8,75,1525,0.00,2.25,0.00,0.000,6,0.000,0.028,2020,1896,3059
$GC,1828,-3.43,-29.5,340.4,-16.3,82,1833,0.15,2.35,0.00,0.000,4,0.077,0.040,1981,499,3058
$GC,1891,-3.37,-29.5,351.6,-18.7,83,1895,0.00,2.25,0.00,0.000,6,0.000,0.029,1981,1908,3058
$GC,2256,-3.37,-29.5,413.9,-17.0,89,2260,0.00,2.35,0.00,0.000,4,0.000,0.040,1981,505,3057
$GC,2514,-3.31,-29.5,459.6,-16.5,92,2519,0.12,2.22,0.00,0.000,6,0.166,0.029,2001,1903,3056
$GC,2823,-3.38,-29.5,506.9,-15.1,97,2827,0.00,2.35,0.00,0.000,4,0.000,0.047,2002,502,3056
$GC,3080,-3.38,-29.5,547.6,-15.2,100,3084,0.00,2.22,0.00,0.000,6,0.000,0.028,2001,1900,3056
$GC,3396,-3.45,-29.5,593.0,-14.2,106,3400,0.12,2.35,0.00,0.000,4,0.086,0.040,1973,504,3055
$GC,3555,-3.39,-29.5,617.0,-15.0,108,3560,0.00,2.22,0.00,0.000,6,0.000,0.028,1973,1903,3054
$GC,3892,-3.39,-29.5,664.0,-13.6,114,3896,0.00,2.35,0.00,0.000,4,0.000,0.040,1973,505,3053
$GC,3937,-3.33,-29.5,670.5,-15.0,114,3942,0.15,2.22,0.00,0.000,6,0.163,0.029,1998,1906,3053
$GC,4252,-3.41,-29.5,709.5,-12.3,120,4256,0.00,2.35,0.00,0.000,4,0.000,0.047,1998,499,3053
$GC,4330,-3.41,-29.5,719.8,-13.4,121,4334,0.00,2.25,0.00,0.000,6,0.000,0.026,1998,1906,3053
$GC,4684,-3.50,-29.5,762.7,-12.1,127,4688,0.15,2.38,0.00,0.000,4,0.083,0.042,1959,499,3053
$GC,4790,-3.42,-29.5,776.9,-13.4,128,4795,0.12,2.25,0.00,0.000,6,0.169,0.023,1979,1913,3052
$GC,5110,-3.48,-29.5,817.5,-12.8,134,5114,0.00,2.38,0.00,0.000,4,0.000,0.043,1978,506,3052
$GC,5296,-3.43,-29.5,842.9,-13.1,136,5300,0.00,2.22,0.00,0.000,6,0.000,0.027,1978,1898,3051
$GC,5606,-3.50,-29.5,882.6,-12.8,141,5610,0.00,2.38,0.00,0.000,4,0.000,0.048,1978,501,3051
$GC,5781,-3.45,-29.5,905.9,-13.0,143,5785,0.00,2.25,0.00,0.000,6,0.000,0.024,1978,1894,3050
$GC,6101,-3.50,-29.5,945.3,-12.2,149,6105,0.00,2.40,0.00,0.000,4,0.000,0.063,1979,513,3050
$GC,6315,-3.50,-29.5,971.8,-12.3,152,6320,0.00,2.30,0.00,0.000,6,0.000,0.043,1978,1881,3050
$STATE,6479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6479,begin apogee
$GC,6486,-0.33,0.0,990.0,10.9,155,6519,3.47,0.00,27.67,1.348,6,0.150,0.000,2651,2108,2930
$STATE,6520,end apogee,CONTROL_FINISHED_OK
$STATE,6520,begin climb
$GC,6522,2.94,29.5,990.0,0.0,155,6560,3.17,2.60,27.10,1.321,4,0.060,0.072,3376,3507,2810
$GC,6610,2.94,29.5,984.0,9.4,157,6614,0.00,2.42,0.00,0.000,6,0.000,0.053,3376,2113,2810
$GC,6976,2.94,29.5,948.5,9.6,163,6980,0.00,2.42,0.00,0.000,4,0.000,0.051,3375,3518,2809
$GC,7093,2.94,29.5,936.8,9.9,164,7097,0.00,2.40,0.00,0.000,6,0.000,0.035,3376,2083,2809
$GC,7407,2.94,29.5,907.3,9.4,170,7411,0.00,2.35,0.00,0.000,4,0.000,0.051,3376,692,2808
$GC,7504,2.88,29.5,898.2,9.6,171,7509,0.00,2.33,0.00,0.000,6,0.000,0.032,3375,2123,2808
$GC,7836,2.88,29.5,868.2,9.0,177,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2123,2807
$GC,8139,2.88,29.5,842.4,8.5,182,8143,0.00,2.42,0.00,0.000,4,0.000,0.042,3375,682,2808
$GC,8222,2.82,29.5,835.0,8.9,183,8227,0.17,2.30,0.00,0.000,6,0.160,0.028,3346,2106,2807
$GC,8565,2.91,30.5,808.2,7.7,189,8569,0.00,2.38,0.00,0.000,4,0.000,0.039,3346,690,2807
$GC,8695,2.91,30.5,797.7,8.3,191,8699,0.00,2.28,0.00,0.000,6,0.000,0.031,3346,2102,2807
$GC,9066,2.99,34.7,771.9,6.8,197,9077,0.15,2.38,5.85,0.968,4,0.081,0.043,3384,688,2788
$GC,9122,2.93,36.0,767.6,7.6,197,9128,0.00,2.28,0.00,0.000,6,0.000,0.031,3384,2101,2788
$GC,9432,2.93,37.0,743.6,7.7,203,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2101,2788
$GC,9734,2.94,41.4,722.7,6.7,208,9743,0.00,0.00,7.20,1.013,6,0.000,0.000,3384,2101,2762
$GC,10037,2.94,42.5,699.7,7.7,213,10042,0.00,2.33,0.00,0.000,4,0.000,0.036,3384,3502,2762
$GC,10295,2.94,45.3,679.9,7.2,216,10305,0.00,2.30,5.10,0.874,6,0.000,0.031,3384,2086,2746
$GC,10665,2.94,45.8,651.3,7.9,223,10669,0.00,2.35,0.00,0.000,4,0.000,0.036,3384,3499,2746
$GC,10923,2.94,45.8,630.4,8.7,226,10929,0.00,2.28,0.00,0.000,6,0.000,0.025,3384,2100,2746
$GC,11232,2.94,46.8,606.8,7.7,232,11233,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2100,2746
$GC,11535,2.94,48.8,584.0,7.4,237,11545,0.00,2.35,4.72,0.805,4,0.000,0.039,3384,696,2731
$GC,11613,2.90,48.8,577.4,8.8,238,11618,0.12,2.28,0.00,0.000,6,0.163,0.028,3364,2105,2732
$GC,11968,2.98,49.5,549.8,7.8,244,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2106,2732
$GC,12271,3.06,51.9,527.6,7.3,249,12281,0.12,2.38,4.50,0.761,4,0.088,0.038,3393,699,2719
$GC,12535,3.00,51.9,505.2,8.8,253,12539,0.00,2.25,0.00,0.000,6,0.000,0.028,3393,2102,2718
$GC,12900,3.00,51.9,475.2,8.3,259,12904,0.00,2.33,0.00,0.000,4,0.000,0.044,3393,700,2719
$GC,13157,2.96,51.9,453.1,8.0,262,13161,0.00,2.25,0.00,0.000,6,0.000,0.025,3393,2102,2718
$GC,13467,2.96,54.3,430.2,7.3,267,13476,0.12,2.40,3.90,0.660,4,0.165,0.041,3373,680,2709
$GC,13730,2.96,56.5,410.9,7.3,270,13739,0.00,2.28,3.72,0.629,6,0.000,0.024,3373,2102,2699
$GC,14106,3.04,59.8,384.6,7.1,277,14115,0.00,2.38,4.45,0.699,4,0.000,0.037,3373,692,2687
$GC,14368,3.04,59.8,362.2,8.1,280,14374,0.00,2.28,0.00,0.000,6,0.000,0.026,3373,2100,2686
$GC,14678,3.11,59.8,337.7,8.0,286,14683,0.15,2.30,0.00,0.000,4,0.084,0.035,3407,3491,2686
$GC,14750,3.11,60.6,331.9,7.8,287,14754,0.00,2.25,0.00,0.000,6,0.000,0.025,3407,2096,2686
$GC,15105,3.12,61.7,304.5,7.7,293,15109,0.00,2.30,0.00,0.000,4,0.000,0.040,3407,3491,2686
$GC,15346,3.13,69.8,287.8,5.7,299,15360,0.00,2.25,9.68,0.829,6,0.000,0.030,3407,2096,2646
$GC,15674,3.13,72.0,264.2,7.4,310,15678,0.00,2.33,0.00,0.000,4,0.000,0.038,3407,3494,2645
$GC,15740,3.13,73.4,259.1,7.6,312,15749,0.00,2.28,4.62,0.658,6,0.000,0.029,3407,2090,2631
$GC,16075,3.13,74.8,233.8,7.6,323,16076,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,2090,2631
$GC,16381,3.13,76.3,210.3,7.6,333,16390,0.00,2.35,4.28,0.617,4,0.000,0.034,3407,3489,2619
$GC,16644,3.13,77.6,188.5,7.6,340,16650,0.00,2.25,0.00,0.000,6,0.000,0.026,3408,2096,2619
$GC,16956,3.14,79.0,165.2,7.6,351,16962,0.00,0.00,4.07,0.584,6,0.000,0.000,3407,2095,2608
$GC,17274,3.15,90.0,143.5,4.9,363,17289,0.00,2.33,10.05,0.748,4,0.000,0.044,3407,702,2564
$GC,17440,3.15,93.1,132.1,7.1,369,17450,0.00,2.25,4.43,0.592,6,0.000,0.025,3407,2105,2551
$GC,17780,3.23,109.2,117.8,3.4,386,17802,0.10,2.42,14.23,0.754,4,0.094,0.044,3430,702,2484
$GC,17819,3.24,116.9,115.7,5.8,387,17833,0.00,2.25,7.60,0.676,6,0.000,0.026,3430,2098,2453
$GC,18158,3.30,119.7,91.1,7.2,404,18167,0.00,2.40,3.97,0.535,4,0.000,0.044,3430,697,2441
$GC,18190,3.30,119.7,88.4,8.1,405,18194,0.00,2.28,0.00,0.000,6,0.000,0.028,3430,2101,2441
$GC,18513,3.36,125.0,65.2,6.5,429,18526,0.12,2.33,5.75,0.627,4,0.087,0.038,3459,3494,2421
$GC,18653,3.37,131.2,55.2,6.2,441,18665,0.00,2.28,6.62,0.644,6,0.000,0.028,3459,2092,2395
$GC,18983,3.45,147.9,30.5,3.2,472,19006,0.00,2.40,14.75,0.700,4,0.000,0.039,3459,3488,2326
$GC,19258,3.49,175.8,29.8,0.0,496,19287,0.12,2.25,23.20,0.701,6,0.084,0.029,3488,2093,2213
$STATE,19560,end climb,SURFACE_DEPTH_REACHED
$STATE,19560,begin surface coast
$FINISH,0.9,1.024911
$STATE,19571,end surface coast,CONTROL_FINISHED_OK
$STATE,19571,begin surface
$SM_CCo,19594,176.35,0.660,0,0,1300,400.08
$SM_GC,1.48,0.00,0.00,176.35,0.000,0.000,0.660,497,1895,1300,-10.26,-0.14,400.08
$IRIDIUM_FIX,4946.36,-14451.14,231197,101001
$TT8_MAMPS,0.029146
$HUMID,1787
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,16.00
$XPDR_PINGS,79
$24V_AH,23.2,56.529
$10V_AH,10.1,28.961
$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,30.325,162.875,207.475,176.350,0.000,56.524,63.356,281.716,19.750,0.000,0.000,51.691,1375.287,15335.351,543.181,2442.991,700.625,33.363,1728.376,0.000,2353.352,0.000,0.460
$DEVICE_MAMPS,170.274,72.098,1348.386,659.620,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,373.151,417.188,539.154,351.281,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31828,526
$CAP_FILE_SIZE,155216,0
$CFSIZE,260165632,238559232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,153137,5008.277,-14452.628,37,2.0,37,18.5