version: 66.03
glider: 144
mission: 13
dive: 18
start: 6 11 108 20 15 18
data:
$ID,144
$MISSION,13
$DIVE,18
$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,-20184.182
$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,28
$R_STBD_OVSHOOT,33
$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,1.57
$_SM_ANGLEo,-55.5
$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,-0.074,-0.030
$KALMAN_X,-1634.3,107.0,-279.7,933.2,451.2
$KALMAN_Y,13371.9,355.8,-247.7,22860.0,1120.7
$MHEAD_RNG_PITCHd_Wd,229.5,20352,-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,19,-2.93,-18.7,0.0,0.0,0,83,0.00,0.00,-62.15,0.000,2,0.000,0.000,491,1898,2956
$GC,86,-2.95,-31.5,3.3,-4.3,6,103,8.55,0.00,-3.17,0.000,6,0.168,0.000,2081,1900,3062
$GC,422,-3.13,-31.5,78.0,-22.8,38,424,0.15,0.00,0.00,0.000,6,0.082,0.000,2046,1899,3063
$GC,740,-3.26,-31.5,142.9,-17.3,54,745,0.12,2.45,0.00,0.000,4,0.089,0.061,2017,494,3064
$GC,766,-3.26,-31.5,147.7,-17.4,55,771,0.00,2.38,0.00,0.000,6,0.000,0.046,2017,1899,3064
$GC,1105,-3.34,-31.5,203.5,-16.6,67,1109,0.00,2.45,0.00,0.000,4,0.000,0.063,2017,498,3063
$GC,1334,-3.34,-31.5,244.8,-17.3,74,1338,0.00,2.35,0.00,0.000,6,0.000,0.048,2017,1896,3064
$GC,1668,-3.42,-31.5,300.7,-16.9,85,1673,0.15,2.45,0.00,0.000,4,0.084,0.061,1982,492,3064
$GC,1706,-3.35,-31.5,307.8,-18.7,85,1710,0.00,2.40,0.00,0.000,6,0.000,0.044,1982,1921,3064
$GC,2032,-3.35,-31.5,362.3,-16.5,91,2036,0.00,2.47,0.00,0.000,4,0.000,0.067,1982,500,3064
$GC,2120,-3.28,-31.5,377.6,-17.5,92,2125,0.10,2.38,0.00,0.000,6,0.158,0.051,2003,1898,3064
$GC,2463,-3.36,-31.5,428.0,-14.4,98,2467,0.00,2.45,0.00,0.000,4,0.000,0.063,2003,492,3064
$GC,2489,-3.36,-31.5,432.0,-14.9,98,2493,0.00,2.38,0.00,0.000,6,0.000,0.044,2003,1892,3064
$GC,2826,-3.44,-31.5,481.3,-14.7,104,2831,0.10,2.45,0.00,0.000,4,0.099,0.068,1981,492,3064
$GC,2948,-3.38,-31.5,501.7,-16.9,105,2955,0.00,2.40,0.00,0.000,6,0.000,0.047,1981,1900,3064
$GC,3258,-3.43,-31.5,549.4,-15.4,111,3261,0.00,2.45,0.00,0.000,4,0.000,0.063,1981,492,3064
$GC,3515,-3.37,-31.5,592.2,-15.8,114,3519,0.00,2.40,0.00,0.000,6,0.000,0.048,1981,1902,3063
$GC,3830,-3.42,-31.5,640.3,-15.4,120,3834,0.00,2.42,0.00,0.000,4,0.000,0.067,1981,496,3063
$GC,3986,-3.36,-31.5,664.2,-14.7,122,3990,0.00,2.38,0.00,0.000,6,0.000,0.047,1981,1909,3063
$GC,4334,-3.42,-31.5,711.2,-13.3,128,4338,0.00,2.45,0.00,0.000,4,0.000,0.064,1981,499,3063
$GC,4463,-3.37,-31.5,729.0,-13.5,130,4467,0.00,2.35,0.00,0.000,6,0.000,0.046,1981,1902,3062
$GC,4828,-3.43,-31.5,772.8,-11.7,136,4832,0.00,2.42,0.00,0.000,4,0.000,0.061,1981,499,3062
$GC,4911,-3.39,-31.5,782.9,-11.6,137,4915,0.00,2.35,0.00,0.000,6,0.000,0.044,1980,1899,3062
$GC,5265,-3.45,-31.5,824.0,-11.5,143,5269,0.00,2.42,0.00,0.000,4,0.000,0.062,1980,500,3062
$GC,5303,-3.40,-31.5,828.8,-12.8,143,5307,0.00,2.38,0.00,0.000,6,0.000,0.045,1981,1902,3062
$GC,5635,-3.46,-31.5,867.1,-11.6,149,5639,0.00,2.45,0.00,0.000,4,0.000,0.069,1981,501,3062
$GC,5868,-3.46,-31.5,897.8,-12.7,152,5873,0.00,2.38,0.00,0.000,6,0.000,0.047,1980,1890,3062
$GC,6201,-3.52,-31.5,937.9,-12.1,158,6205,0.00,2.50,0.00,0.000,4,0.000,0.076,1981,3306,3061
$GC,6244,-3.58,-31.5,943.6,-12.3,158,6249,0.15,2.40,0.00,0.000,6,0.091,0.059,1948,1911,3061
$GC,6564,-3.58,-31.5,984.1,-12.7,164,6568,0.00,2.60,0.00,0.000,4,0.000,0.090,1948,491,3061
$STATE,6611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6611,begin apogee
$GC,6618,-0.33,0.0,990.6,12.8,164,6654,3.60,0.00,30.00,1.340,6,0.152,0.000,2651,2090,2931
$STATE,6655,end apogee,CONTROL_FINISHED_OK
$STATE,6655,begin climb
$GC,6657,2.95,31.5,992.2,0.0,165,6696,3.15,2.75,29.17,1.304,4,0.062,0.093,3376,3516,2802
$GC,6926,2.95,31.5,969.1,9.1,169,6930,0.00,2.55,0.00,0.000,6,0.000,0.067,3376,2097,2801
$GC,7291,2.95,31.5,934.9,9.4,175,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2096,2801
$GC,7594,2.95,31.5,905.8,9.7,180,7598,0.00,2.50,0.00,0.000,4,0.000,0.061,3375,3521,2800
$GC,7794,2.95,31.5,886.0,9.6,183,7799,0.00,2.45,0.00,0.000,6,0.000,0.049,3376,2090,2800
$GC,8160,2.95,31.5,852.1,9.3,189,8164,0.00,2.42,0.00,0.000,4,0.000,0.061,3376,693,2800
$GC,8383,2.89,31.5,830.1,10.2,192,8387,0.00,2.42,0.00,0.000,6,0.000,0.052,3375,2108,2800
$GC,8726,2.89,31.5,800.2,8.6,198,8730,0.00,2.45,0.00,0.000,4,0.000,0.058,3375,693,2800
$GC,8837,2.83,31.5,790.6,8.1,199,8842,0.17,2.38,0.00,0.000,6,0.166,0.048,3347,2103,2800
$GC,9158,2.91,34.9,767.6,7.0,205,9167,0.00,2.45,4.32,0.846,4,0.000,0.059,3346,3510,2788
$GC,9240,2.96,38.1,761.7,7.1,206,9250,0.10,2.40,4.55,0.863,6,0.099,0.042,3369,2088,2775
$GC,9593,3.01,40.6,735.4,7.3,212,9602,0.00,2.47,4.10,0.804,4,0.000,0.057,3369,3508,2765
$GC,9850,3.01,42.2,716.3,7.5,215,9854,0.00,2.38,0.00,0.000,6,0.000,0.048,3369,2091,2765
$GC,10159,3.06,44.6,694.1,7.3,220,10170,0.10,2.40,5.12,0.894,4,0.101,0.065,3391,696,2749
$GC,10247,2.99,44.6,686.8,8.8,221,10252,0.00,2.38,0.00,0.000,6,0.000,0.053,3390,2099,2749
$GC,10590,2.99,44.6,659.4,8.0,227,10595,0.00,2.42,0.00,0.000,4,0.000,0.056,3390,695,2749
$GC,10652,2.93,44.6,654.0,8.7,228,10657,0.15,2.38,0.00,0.000,6,0.170,0.050,3367,2102,2750
$GC,11016,2.98,44.6,622.8,8.7,234,11020,0.00,2.45,0.00,0.000,4,0.000,0.061,3367,688,2749
$GC,11166,2.98,44.6,608.8,9.2,236,11171,0.00,2.42,0.00,0.000,6,0.000,0.051,3367,2103,2749
$GC,11515,3.04,44.6,578.7,8.6,242,11520,0.10,2.45,0.00,0.000,4,0.102,0.058,3388,688,2749
$GC,11772,2.99,44.6,555.0,9.1,245,11779,0.00,2.40,0.00,0.000,6,0.000,0.053,3388,2113,2749
$GC,12081,2.99,44.6,529.8,8.2,251,12085,0.00,2.45,0.00,0.000,4,0.000,0.058,3388,695,2749
$GC,12338,2.93,47.7,509.2,7.1,254,12348,0.12,2.38,4.65,0.782,6,0.174,0.048,3369,2106,2735
$GC,12714,3.00,48.7,480.4,7.7,261,12718,0.00,2.42,0.00,0.000,4,0.000,0.058,3370,695,2736
$GC,12971,3.00,49.9,460.8,7.6,264,12982,0.00,2.40,3.65,0.651,6,0.000,0.046,3369,2102,2727
$GC,13348,3.07,52.7,434.2,7.2,271,13357,0.12,2.45,4.07,0.694,4,0.095,0.063,3396,694,2716
$GC,13576,3.01,53.5,415.9,7.8,274,13580,0.00,2.38,0.00,0.000,6,0.000,0.048,3396,2096,2716
$GC,13919,3.02,55.4,390.3,7.5,280,13927,0.00,0.00,4.15,0.688,6,0.000,0.000,3396,2097,2705
$GC,14287,3.02,55.4,360.6,8.1,286,14291,0.00,2.42,0.00,0.000,4,0.000,0.057,3396,3507,2705
$GC,14308,3.02,55.4,358.8,8.0,286,14313,0.00,2.38,0.00,0.000,6,0.000,0.044,3396,2105,2705
$GC,14652,3.02,56.3,332.4,7.7,292,14656,0.00,2.40,0.00,0.000,4,0.000,0.056,3396,695,2705
$GC,14909,2.97,59.9,311.9,7.0,295,14922,0.12,2.38,5.43,0.747,6,0.174,0.052,3377,2110,2686
$GC,15225,3.04,63.4,288.7,7.0,303,15234,0.00,2.47,4.90,0.706,4,0.000,0.057,3377,688,2672
$GC,15486,3.04,64.2,267.9,7.8,310,15493,0.00,2.40,0.00,0.000,6,0.000,0.046,3377,2091,2672
$GC,15799,3.11,66.5,244.9,7.3,321,15809,0.12,2.45,4.22,0.640,4,0.097,0.055,3404,3509,2660
$GC,16060,3.11,66.5,224.3,8.1,328,16067,0.00,2.40,0.00,0.000,6,0.000,0.044,3404,2100,2660
$GC,16373,3.11,69.4,201.3,7.2,339,16379,0.00,0.00,4.18,0.620,6,0.000,0.000,3404,2100,2648
$GC,16679,3.12,72.3,179.6,7.2,349,16688,0.00,2.42,4.25,0.616,4,0.000,0.058,3403,695,2636
$GC,16942,3.08,75.9,158.5,7.0,356,16952,0.00,2.38,4.93,0.650,6,0.000,0.053,3404,2102,2620
$GC,17281,3.13,79.5,132.5,7.0,371,17290,0.00,2.45,4.57,0.620,4,0.000,0.057,3404,697,2606
$GC,17464,3.10,91.5,121.3,4.6,379,17479,0.00,2.40,11.02,0.743,6,0.000,0.049,3404,2101,2558
$GC,17801,3.21,121.4,113.4,-0.5,396,17831,0.00,2.47,24.80,0.761,4,0.000,0.057,3404,3508,2436
$STATE,17835,end climb,NO_VERTICAL_VELOCITY
$STATE,17835,begin surface
$SM_CCo,17838,444.40,0.626,33,0,480,601.23
$SM_GC,1.46,12.62,0.00,0.00,0.051,0.000,0.000,497,1907,474,-10.19,0.20,602.70
$IRIDIUM_FIX,5003.11,-14456.34,050997,141458
$TT8_MAMPS,0.029146
$HUMID,1628
$INTERNAL_PRESSURE,7.53935
$TCM_TEMP,17.30
$XPDR_PINGS,92
$24V_AH,23.4,9.123
$10V_AH,10.1,4.126
$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,29.825,165.850,162.100,444.400,0.000,30.430,23.985,110.562,23.000,0.000,0.000,302.228,1180.825,14229.654,926.854,2443.691,323.615,33.352,2014.841,0.000,2109.639,0.000,0.459
$DEVICE_MAMPS,174.109,92.807,1339.949,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,280.338,335.750,410.717,144.422,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22156,397
$CAP_FILE_SIZE,142666,0
$CFSIZE,260165632,257085440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,33,0
$GPS,100608,182737,5011.469,-14449.489,69,1.8,69,18.6