version: 66.03
glider: 144
mission: 13
dive: 17
start: 6 11 108 14 37 4
data:
$ID,144
$MISSION,13
$DIVE,17
$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,120
$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,300
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-19577.67
$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,31
$R_STBD_OVSHOOT,32
$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,2
$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
$GPS1,182737,5011.469,-14449.489,69,1.8,69,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-61.5
$GPS2,182737,5011.469,-14449.489,69,1.8,69,18.6
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,NW
$TGT_LATLONG,5020.579,-14459.120
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.027,-0.075
$KALMAN_X,-1613.7,-110.6,291.8,264.4,-374.4
$KALMAN_Y,12650.7,-368.2,154.1,24723.6,1043.3
$MHEAD_RNG_PITCHd_Wd,141.7,20352,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-2.93,-18.7,0.0,0.0,0,91,0.00,0.00,-66.03,0.000,6,0.000,0.000,496,1895,3010
$GC,93,-2.95,-32.3,3.6,-4.1,7,109,8.45,2.42,-1.55,0.000,4,0.168,0.067,2082,3305,3065
$GC,243,-3.13,-32.3,37.5,-23.8,20,250,0.17,2.35,0.00,0.000,6,0.078,0.047,2042,1899,3066
$GC,575,-3.26,-32.3,113.8,-21.9,45,580,0.10,2.42,0.00,0.000,4,0.091,0.058,2017,498,3067
$GC,731,-3.26,-32.3,145.8,-19.5,52,735,0.00,2.35,0.00,0.000,6,0.000,0.043,2017,1902,3067
$GC,1044,-3.34,-32.3,199.9,-16.9,63,1048,0.00,2.40,0.00,0.000,4,0.000,0.054,2017,3303,3067
$GC,1076,-3.41,-32.3,205.5,-16.4,64,1080,0.15,2.38,0.00,0.000,6,0.081,0.049,1982,1889,3067
$GC,1410,-3.41,-32.3,264.8,-17.9,75,1414,0.00,2.42,0.00,0.000,4,0.000,0.065,1982,492,3067
$GC,1499,-3.36,-32.3,281.9,-18.9,77,1505,0.00,2.38,0.00,0.000,6,0.000,0.050,1982,1894,3067
$GC,1809,-3.36,-32.3,337.8,-17.9,85,1813,0.00,2.42,0.00,0.000,4,0.000,0.061,1982,500,3068
$GC,1829,-3.36,-32.3,341.8,-18.1,85,1834,0.00,2.38,0.00,0.000,6,0.000,0.044,1982,1897,3067
$GC,2172,-3.36,-32.3,399.3,-16.6,91,2176,0.00,2.45,0.00,0.000,4,0.000,0.064,1982,493,3067
$GC,2261,-3.29,-32.3,414.2,-16.5,92,2266,0.15,2.38,0.00,0.000,6,0.163,0.048,2007,1909,3068
$GC,2604,-3.37,-32.3,465.5,-14.9,98,2608,0.00,2.45,0.00,0.000,4,0.000,0.063,2007,499,3068
$GC,2675,-3.37,-32.3,476.8,-15.4,99,2680,0.00,2.38,0.00,0.000,6,0.000,0.046,2007,1896,3067
$GC,3035,-3.46,-32.3,529.8,-14.7,105,3040,0.15,2.45,0.00,0.000,4,0.086,0.061,1973,492,3067
$GC,3292,-3.39,-32.3,570.2,-15.9,108,3298,0.00,2.40,0.00,0.000,6,0.000,0.051,1973,1903,3067
$GC,3601,-3.39,-32.3,615.5,-14.7,114,3605,0.00,2.45,0.00,0.000,4,0.000,0.064,1973,495,3067
$GC,3739,-3.33,-32.3,636.8,-15.3,116,3744,0.15,2.38,0.00,0.000,6,0.165,0.052,1997,1907,3067
$GC,4099,-3.41,-32.3,685.6,-13.5,122,4104,0.00,2.45,0.00,0.000,4,0.000,0.061,1998,497,3067
$GC,4154,-3.41,-32.3,693.7,-14.3,122,4161,0.00,2.38,0.00,0.000,6,0.000,0.051,1998,1897,3067
$GC,4464,-3.49,-32.3,734.7,-13.2,128,4468,0.15,2.45,0.00,0.000,4,0.087,0.065,1959,491,3067
$GC,4518,-3.41,-32.3,742.6,-14.4,128,4525,0.12,2.38,0.00,0.000,6,0.170,0.048,1979,1908,3067
$GC,4827,-3.47,-32.3,784.7,-13.7,134,4832,0.00,2.45,0.00,0.000,4,0.000,0.067,1979,499,3067
$GC,5084,-3.42,-32.3,821.6,-14.1,137,5091,0.00,2.35,0.00,0.000,6,0.000,0.051,1979,1885,3066
$GC,5394,-3.47,-32.3,862.1,-13.1,143,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,1886,3066
$GC,5697,-3.54,-32.3,898.6,-11.9,148,5701,0.00,2.45,0.00,0.000,4,0.000,0.069,1979,498,3066
$GC,5818,-3.50,-32.3,913.5,-12.2,149,5826,0.00,2.40,0.00,0.000,6,0.000,0.048,1978,1891,3066
$GC,6128,-3.56,-32.3,948.5,-11.2,155,6133,0.12,2.50,0.00,0.000,4,0.096,0.081,1951,501,3066
$GC,6233,-3.47,-32.3,961.4,-13.3,156,6238,0.10,2.42,0.00,0.000,6,0.174,0.062,1966,1895,3065
$STATE,6496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6496,begin apogee
$GC,6501,-0.33,0.0,990.8,11.0,161,6537,3.53,0.00,30.45,1.336,6,0.150,0.000,2649,2104,2931
$STATE,6538,end apogee,CONTROL_FINISHED_OK
$STATE,6538,begin climb
$GC,6539,2.95,32.3,990.8,0.0,161,6579,3.15,2.70,29.58,1.299,4,0.063,0.093,3375,3506,2799
$GC,6651,2.95,32.3,981.8,10.7,162,6656,0.00,2.53,0.00,0.000,6,0.000,0.067,3375,2116,2798
$GC,6972,2.95,32.3,948.7,10.1,168,6976,0.00,2.50,0.00,0.000,4,0.000,0.076,3374,3515,2798
$GC,7032,2.95,32.3,942.5,10.0,169,7037,0.00,2.47,0.00,0.000,6,0.000,0.057,3375,2084,2797
$GC,7397,2.95,32.3,907.5,9.5,175,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2085,2797
$GC,7700,2.95,32.3,879.9,9.1,180,7704,0.00,2.42,0.00,0.000,4,0.000,0.060,3374,686,2797
$GC,7709,2.95,32.3,878.9,9.0,180,7713,0.00,2.45,0.00,0.000,6,0.000,0.043,3375,2119,2797
$GC,8063,2.95,32.3,847.9,8.8,186,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2119,2797
$GC,8366,2.95,32.3,823.0,8.2,191,8370,0.00,2.40,0.00,0.000,4,0.000,0.059,3375,3508,2797
$GC,8386,2.95,32.8,821.2,7.9,191,8391,0.00,2.40,0.00,0.000,6,0.000,0.044,3375,2093,2797
$GC,8729,2.95,33.7,794.5,7.7,197,8733,0.00,2.40,0.00,0.000,4,0.000,0.058,3375,697,2797
$GC,8964,2.89,33.9,775.9,8.0,200,8969,0.00,2.38,0.00,0.000,6,0.000,0.044,3375,2096,2797
$GC,9303,2.90,38.2,752.9,6.8,206,9314,0.00,2.45,6.35,0.996,4,0.000,0.060,3375,693,2775
$GC,9409,2.85,38.2,744.4,9.0,207,9413,0.15,2.38,0.00,0.000,6,0.170,0.051,3351,2099,2775
$GC,9735,2.93,38.2,718.3,8.0,213,9736,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2099,2775
$GC,10038,3.01,38.5,694.3,7.9,218,10043,0.15,2.42,0.00,0.000,4,0.089,0.061,3388,3508,2775
$GC,10103,3.01,38.8,688.9,7.9,219,10108,0.00,2.40,0.00,0.000,6,0.000,0.041,3388,2095,2775
$GC,10469,3.01,40.1,660.6,7.6,225,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2095,2775
$GC,10772,3.01,43.1,639.1,7.1,230,10780,0.00,0.00,6.03,0.931,6,0.000,0.000,3388,2095,2755
$GC,11075,3.01,44.6,616.3,7.6,235,11079,0.00,2.42,0.00,0.000,4,0.000,0.061,3388,3505,2755
$GC,11136,3.01,44.6,611.8,8.2,236,11140,0.00,2.35,0.00,0.000,6,0.000,0.048,3388,2100,2755
$GC,11500,3.02,48.2,586.2,7.0,242,11511,0.00,2.42,5.85,0.894,4,0.000,0.061,3388,3503,2735
$GC,11515,3.02,51.3,585.0,7.1,242,11525,0.00,2.38,4.68,0.788,6,0.000,0.041,3388,2099,2722
$GC,11862,3.02,51.3,555.3,8.7,248,11866,0.00,2.40,0.00,0.000,4,0.000,0.064,3388,697,2721
$GC,12119,2.97,51.3,532.4,8.1,251,12124,0.00,2.40,0.00,0.000,6,0.000,0.052,3388,2101,2721
$GC,12434,2.97,51.3,507.1,8.0,257,12438,0.00,2.42,0.00,0.000,4,0.000,0.058,3387,694,2721
$GC,12690,2.92,51.3,485.1,8.8,260,12698,0.08,2.40,0.00,0.000,6,0.154,0.053,3367,2101,2721
$GC,13000,2.99,52.2,461.1,7.7,266,13004,0.00,2.42,0.00,0.000,4,0.000,0.061,3367,688,2721
$GC,13015,2.99,52.9,459.8,7.8,266,13019,0.00,2.40,0.00,0.000,6,0.000,0.045,3367,2097,2721
$GC,13364,3.06,55.4,434.3,7.3,272,13372,0.12,0.00,5.20,0.788,6,0.097,0.000,3394,2100,2705
$GC,13666,3.06,55.4,409.4,8.2,277,13670,0.00,2.42,0.00,0.000,4,0.000,0.056,3394,3511,2705
$GC,13923,3.06,56.5,389.6,7.7,280,13930,0.00,2.40,0.00,0.000,6,0.000,0.048,3394,2095,2705
$GC,14233,3.07,60.6,368.2,6.8,286,14246,0.00,2.45,6.40,0.812,4,0.000,0.059,3394,3506,2683
$GC,14291,3.07,60.6,363.6,8.2,286,14297,0.00,2.40,0.00,0.000,6,0.000,0.046,3394,2099,2683
$GC,14600,3.07,60.6,338.3,8.3,292,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2099,2683
$GC,14903,3.07,60.6,312.7,8.5,297,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,2099,2683
$GC,15207,3.07,60.6,287.8,8.3,304,15211,0.00,2.42,0.00,0.000,4,0.000,0.058,3394,3505,2683
$GC,15464,3.07,63.1,267.9,7.3,311,15475,0.00,2.38,3.85,0.612,6,0.000,0.043,3394,2102,2672
$GC,15810,3.12,65.8,241.8,7.2,323,15819,0.00,2.45,4.00,0.617,4,0.000,0.059,3394,3511,2662
$GC,16071,3.12,68.5,221.7,7.2,330,16082,0.00,2.40,3.97,0.607,6,0.000,0.048,3394,2098,2651
$GC,16418,3.18,71.5,196.5,7.1,342,16427,0.10,2.45,4.20,0.617,4,0.099,0.061,3416,3505,2639
$GC,16454,3.18,72.2,193.7,7.8,343,16459,0.00,2.38,0.00,0.000,6,0.000,0.041,3416,2107,2639
$GC,16789,3.18,72.2,167.2,8.2,354,16793,0.00,2.42,0.00,0.000,4,0.000,0.057,3416,694,2639
$GC,16984,3.11,72.2,151.3,8.8,360,16989,0.00,2.38,0.00,0.000,6,0.000,0.054,3416,2102,2639
$GC,17302,3.12,81.4,131.9,5.4,375,17315,0.00,0.00,9.50,0.742,6,0.000,0.000,3416,2103,2599
$GC,17632,3.15,105.5,117.2,1.1,391,17657,0.00,2.45,20.50,0.762,4,0.000,0.061,3416,3502,2500
$GC,17909,3.16,114.1,98.8,5.5,403,17924,0.00,2.38,8.43,0.700,6,0.000,0.042,3416,2092,2465
$GC,18246,3.24,123.4,82.0,5.3,420,18261,0.00,2.50,8.88,0.700,4,0.000,0.058,3416,3502,2427
$GC,18514,3.29,123.4,59.2,9.3,442,18519,0.12,2.38,0.00,0.000,6,0.092,0.043,3444,2092,2426
$GC,18839,3.34,125.5,31.6,7.4,472,18843,0.00,2.42,0.00,0.000,4,0.000,0.058,3444,3503,2426
$GC,19095,3.34,125.5,11.3,8.0,494,19102,0.00,2.40,0.00,0.000,6,0.000,0.048,3444,2099,2426
$STATE,19197,end climb,SURFACE_DEPTH_REACHED
$STATE,19197,begin surface coast
$FINISH,0.8,1.025633
$STATE,19208,end surface coast,CONTROL_FINISHED_OK
$STATE,19208,begin surface
$SM_CCo,19228,139.60,0.671,0,0,1707,300.00
$SM_GC,1.59,0.00,0.00,139.60,0.000,0.000,0.671,492,1899,1707,-10.29,-0.03,300.00
$IRIDIUM_FIX,4956.40,-14502.96,050997,070739
$TT8_MAMPS,0.029146
$HUMID,1683
$INTERNAL_PRESSURE,7.64678
$TCM_TEMP,15.30
$XPDR_PINGS,78
$24V_AH,23.4,8.988
$10V_AH,10.1,4.039
$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,29.950,170.000,157.850,139.600,0.000,30.544,25.347,130.646,19.500,0.000,0.000,302.215,1288.923,15424.562,483.821,2378.620,361.383,33.346,1540.948,0.000,2054.639,0.000,0.460
$DEVICE_MAMPS,174.109,120.419,1336.114,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,359.181,408.175,521.527,306.391,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31758,505
$CAP_FILE_SIZE,142365,0
$CFSIZE,260165632,257138688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100608,182737,5011.469,-14449.489,69,1.8,69,18.6