version: 66.03
glider: 144
mission: 13
dive: 36
start: 6 16 108 18 19 8
data:
$ID,144
$MISSION,13
$DIVE,36
$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,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,-24998.541
$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,20
$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
$GPS1,180809,5005.232,-14440.268,130,1.7,132,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-58.0
$GPS2,181813,5005.280,-14440.224,167,1.9,171,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NE
$TGT_LATLONG,5007.080,-14438.068
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.126,0.074
$KALMAN_X,818.7,163.7,140.3,20196.9,-538.8
$KALMAN_Y,29021.9,-117.9,-149.6,-19927.0,1495.8
$MHEAD_RNG_PITCHd_Wd,40.9,4202,-26.6,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.84,-49.2,0.0,0.0,0,98,0.00,0.00,-77.30,0.000,2,0.000,0.000,495,1890,2837
$GC,100,-1.88,-87.6,3.1,-3.8,8,133,9.75,2.50,-13.93,0.000,4,0.170,0.077,2311,489,3292
$GC,385,-1.83,-87.6,57.8,-19.2,33,392,0.00,2.38,0.00,0.000,6,0.000,0.043,2311,1898,3294
$GC,705,-1.83,-87.6,112.5,-16.6,55,709,0.00,2.45,0.00,0.000,4,0.000,0.061,2312,488,3295
$GC,961,-1.83,-87.6,151.9,-14.2,66,968,0.00,2.38,0.00,0.000,6,0.000,0.044,2311,1895,3295
$GC,1274,-1.88,-87.6,194.1,-13.7,77,1278,0.00,2.45,0.00,0.000,4,0.000,0.061,2311,488,3295
$GC,1530,-1.88,-87.6,232.0,-14.6,84,1537,0.00,2.38,0.00,0.000,6,0.000,0.046,2311,1895,3295
$GC,1843,-1.95,-87.6,273.3,-13.0,95,1847,0.00,2.45,0.00,0.000,4,0.000,0.064,2311,484,3295
$GC,2099,-1.95,-87.6,310.9,-14.3,101,2106,0.00,2.38,0.00,0.000,6,0.000,0.042,2311,1892,3295
$GC,2409,-2.03,-87.6,351.8,-13.3,107,2414,0.12,2.42,0.00,0.000,4,0.085,0.062,2281,491,3295
$GC,2531,-1.97,-87.6,370.8,-15.2,108,2538,0.00,2.38,0.00,0.000,6,0.000,0.047,2281,1897,3295
$GC,2840,-1.97,-87.6,413.2,-13.6,114,2844,0.00,2.42,0.00,0.000,4,0.000,0.064,2281,491,3295
$GC,2974,-1.93,-87.6,432.3,-14.4,116,2979,0.12,2.38,0.00,0.000,6,0.142,0.043,2302,1907,3294
$GC,3339,-1.99,-87.6,474.8,-11.4,122,3343,0.00,2.45,0.00,0.000,4,0.000,0.059,2303,492,3294
$GC,3410,-1.99,-87.6,483.9,-13.1,123,3414,0.00,2.38,0.00,0.000,6,0.000,0.045,2303,1898,3294
$GC,3770,-2.04,-87.6,525.3,-11.5,129,3774,0.00,2.45,0.00,0.000,4,0.000,0.058,2303,485,3294
$GC,3899,-2.04,-87.6,542.2,-13.9,131,3903,0.00,2.38,0.00,0.000,6,0.000,0.043,2303,1907,3294
$GC,4264,-2.11,-87.6,586.1,-12.0,137,4266,0.15,0.00,0.00,0.000,6,0.079,0.000,2268,1909,3293
$GC,4567,-2.11,-87.6,625.7,-13.0,142,4571,0.00,2.47,0.00,0.000,4,0.000,0.061,2267,488,3293
$GC,4689,-2.02,-87.6,643.0,-14.3,143,4696,0.05,2.38,0.00,0.000,6,0.121,0.045,2285,1893,3293
$GC,4998,-2.02,-87.6,681.1,-12.2,149,5002,0.00,2.45,0.00,0.000,4,0.000,0.066,2285,482,3293
$GC,5130,-2.02,-87.6,698.6,-13.0,151,5135,0.00,2.38,0.00,0.000,6,0.000,0.040,2285,1891,3292
$GC,5496,-2.02,-87.6,741.6,-11.7,157,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,1892,3292
$GC,5799,-2.02,-87.6,776.7,-11.6,162,5803,0.00,2.45,0.00,0.000,4,0.000,0.061,2285,485,3292
$GC,5903,-2.02,-87.6,789.7,-12.4,163,5908,0.00,2.38,0.00,0.000,6,0.000,0.045,2285,1895,3292
$GC,6230,-2.02,-87.6,824.3,-10.4,169,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2286,1898,3291
$GC,6533,-2.02,-87.6,855.0,-10.3,174,6537,0.00,2.45,0.00,0.000,4,0.000,0.068,2285,492,3291
$GC,6632,-2.02,-87.6,866.4,-11.4,175,6637,0.00,2.38,0.00,0.000,6,0.000,0.044,2285,1897,3291
$GC,6969,-2.02,-87.6,900.4,-10.0,181,6974,0.00,2.47,0.00,0.000,4,0.000,0.072,2285,492,3291
$GC,7041,-2.02,-87.6,908.5,-11.8,182,7046,0.00,2.38,0.00,0.000,6,0.000,0.048,2285,1901,3290
$GC,7401,-2.06,-87.6,945.2,-10.2,188,7405,0.00,2.53,0.00,0.000,4,0.000,0.080,2285,491,3290
$GC,7427,-2.06,-87.6,948.2,-11.4,188,7432,0.00,2.42,0.00,0.000,6,0.000,0.050,2285,1895,3290
$GC,7765,-2.10,-87.6,983.4,-10.3,194,7769,0.00,2.58,0.00,0.000,4,0.000,0.091,2285,491,3290
$STATE,7824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7824,begin apogee
$GC,7831,-0.33,0.0,990.3,10.9,195,7913,1.80,0.00,78.12,1.352,6,0.126,0.000,2649,2102,2931
$STATE,7914,end apogee,CONTROL_FINISHED_OK
$STATE,7914,begin climb
$GC,7916,1.88,87.6,992.5,0.0,196,7998,2.12,0.00,77.03,1.322,6,0.069,0.000,3137,2101,2572
$GC,8280,1.78,87.6,952.2,12.6,202,8282,0.12,0.00,0.00,0.000,6,0.146,0.000,3116,2102,2569
$GC,8583,1.72,87.6,915.8,12.0,207,8587,0.00,2.47,0.00,0.000,4,0.000,0.064,3116,3515,2568
$GC,8654,1.64,87.6,906.7,13.2,208,8659,0.15,2.42,0.00,0.000,6,0.143,0.050,3089,2093,2568
$GC,9013,1.64,87.6,866.4,11.2,214,9017,0.00,2.47,0.00,0.000,4,0.000,0.059,3090,3517,2568
$GC,9067,1.64,87.6,859.9,12.6,214,9074,0.00,2.42,0.00,0.000,6,0.000,0.042,3089,2099,2568
$GC,9376,1.64,87.6,824.6,11.5,220,9380,0.00,2.45,0.00,0.000,4,0.000,0.062,3089,690,2567
$GC,9425,1.59,87.6,818.3,13.4,220,9429,0.00,2.42,0.00,0.000,6,0.000,0.044,3089,2124,2567
$GC,9739,1.59,87.6,781.7,11.5,226,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2124,2567
$GC,10042,1.59,87.6,749.3,10.6,231,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2125,2567
$GC,10345,1.59,87.6,718.6,10.0,236,10350,0.00,2.47,0.00,0.000,4,0.000,0.058,3089,695,2567
$GC,10413,1.53,87.6,711.6,10.4,237,10418,0.15,2.38,0.00,0.000,6,0.142,0.045,3062,2106,2567
$GC,10772,1.61,87.6,679.8,8.6,243,10773,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2109,2567
$GC,11075,1.68,87.6,654.1,8.5,248,11080,0.12,2.45,0.00,0.000,4,0.087,0.058,3092,690,2566
$GC,11170,1.63,87.6,644.5,10.3,249,11174,0.00,2.38,0.00,0.000,6,0.000,0.048,3092,2104,2566
$GC,11500,1.63,87.6,611.7,10.0,255,11504,0.00,2.45,0.00,0.000,4,0.000,0.061,3092,688,2566
$GC,11549,1.57,87.6,606.5,10.6,255,11554,0.12,2.38,0.00,0.000,6,0.140,0.043,3070,2100,2566
$GC,11866,1.63,87.6,577.1,9.3,261,11870,0.00,2.42,0.00,0.000,4,0.000,0.062,3070,694,2566
$GC,11909,1.63,87.6,572.6,10.1,261,11913,0.00,2.38,0.00,0.000,6,0.000,0.042,3070,2091,2566
$GC,12229,1.68,87.6,544.1,8.8,267,12234,0.10,2.40,0.00,0.000,4,0.094,0.054,3095,3501,2566
$GC,12290,1.68,87.6,538.2,9.5,268,12294,0.00,2.35,0.00,0.000,6,0.000,0.043,3095,2092,2566
$GC,12654,1.68,87.6,505.1,9.0,274,12658,0.00,2.40,0.00,0.000,4,0.000,0.057,3094,696,2566
$GC,12725,1.62,87.6,498.6,9.0,275,12729,0.00,2.35,0.00,0.000,6,0.000,0.044,3094,2101,2566
$GC,13084,1.62,87.6,468.3,8.4,281,13089,0.00,2.40,0.00,0.000,4,0.000,0.053,3094,3509,2566
$GC,13152,1.62,87.6,462.4,8.8,282,13156,0.00,2.35,0.00,0.000,6,0.000,0.043,3094,2098,2566
$GC,13510,1.62,87.6,430.5,8.9,288,13514,0.00,2.40,0.00,0.000,4,0.000,0.062,3094,697,2566
$GC,13548,1.56,87.6,426.9,9.4,288,13553,0.15,2.35,0.00,0.000,6,0.138,0.042,3068,2101,2566
$GC,13874,1.64,87.6,398.1,8.8,294,13878,0.00,2.38,0.00,0.000,4,0.000,0.054,3068,3501,2566
$GC,13935,1.69,87.6,392.5,9.0,295,13940,0.12,2.35,0.00,0.000,6,0.084,0.039,3097,2092,2567
$GC,14299,1.69,87.6,359.2,9.0,301,14303,0.00,2.40,0.00,0.000,4,0.000,0.062,3097,692,2566
$GC,14399,1.63,87.6,349.9,10.1,302,14404,0.00,2.35,0.00,0.000,6,0.000,0.045,3097,2102,2566
$GC,14724,1.63,87.6,323.0,8.2,308,14728,0.00,2.40,0.00,0.000,4,0.000,0.061,3097,698,2566
$GC,14910,1.57,87.6,305.9,8.9,310,14915,0.15,2.35,0.00,0.000,6,0.137,0.044,3071,2107,2566
$GC,15226,1.66,97.0,283.0,7.0,319,15236,0.00,0.00,8.15,0.802,6,0.000,0.000,3071,2110,2535
$GC,15532,1.75,97.0,259.0,8.1,329,15536,0.15,2.38,0.00,0.000,4,0.079,0.056,3110,3499,2535
$GC,15574,1.75,97.0,255.1,8.2,330,15579,0.00,2.35,0.00,0.000,6,0.000,0.041,3110,2108,2535
$GC,15898,1.75,97.0,227.4,8.1,341,15903,0.00,2.42,0.00,0.000,4,0.000,0.060,3109,690,2535
$GC,15948,1.67,97.0,223.3,8.5,342,15952,0.00,2.35,0.00,0.000,6,0.000,0.048,3110,2099,2535
$GC,16265,1.67,97.0,197.2,8.3,353,16269,0.00,2.38,0.00,0.000,4,0.000,0.052,3110,3500,2535
$GC,16297,1.67,97.0,194.4,8.8,354,16302,0.00,2.35,0.00,0.000,6,0.000,0.044,3110,2104,2535
$GC,16632,1.68,101.0,168.3,7.6,365,16642,0.00,2.40,5.20,0.663,4,0.000,0.058,3110,3500,2518
$GC,16675,1.68,102.9,165.1,7.8,366,16679,0.00,2.38,0.00,0.000,6,0.000,0.037,3110,2096,2518
$GC,16989,1.68,103.0,141.2,8.0,378,16993,0.00,2.38,0.00,0.000,4,0.000,0.054,3110,698,2518
$GC,17044,1.62,103.0,136.6,8.1,380,17052,0.12,2.38,0.00,0.000,6,0.128,0.045,3083,2101,2518
$GC,17360,1.77,157.0,121.6,2.1,396,17411,0.12,2.45,45.50,0.759,4,0.083,0.057,3112,3501,2290
$GC,17635,1.84,157.0,102.9,8.5,408,17642,0.00,2.38,0.00,0.000,6,0.000,0.045,3112,2105,2286
$GC,17952,1.93,157.0,76.1,8.3,426,17954,0.15,0.00,0.00,0.000,6,0.080,0.000,3149,2104,2284
$GC,18271,1.94,157.7,48.7,7.9,456,18275,0.00,2.42,0.00,0.000,4,0.000,0.056,3149,692,2284
$GC,18528,1.88,157.7,25.4,8.4,478,18535,0.00,2.38,0.00,0.000,6,0.000,0.048,3149,2093,2284
$STATE,18808,end climb,SURFACE_DEPTH_REACHED
$STATE,18809,begin surface coast
$FINISH,0.9,1.024342
$STATE,18832,end surface coast,CONTROL_FINISHED_OK
$STATE,18832,begin surface
$SM_CCo,18851,191.85,0.657,0,0,1300,400.08
$SM_GC,1.47,0.00,0.00,191.85,0.000,0.000,0.657,497,1892,1300,-10.26,-0.23,400.08
$IRIDIUM_FIX,4943.02,-14450.33,100997,111141
$TT8_MAMPS,0.029146
$HUMID,1656
$INTERNAL_PRESSURE,7.61748
$TCM_TEMP,15.30
$XPDR_PINGS,78
$24V_AH,23.4,12.026
$10V_AH,10.1,5.766
$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,27.300,174.075,214.000,191.850,0.000,61.654,104.665,129.888,19.500,0.000,0.000,172.775,1249.098,15249.457,605.379,2101.633,447.121,33.363,1600.418,0.000,1907.254,0.000,0.460
$DEVICE_MAMPS,169.507,90.506,1352.221,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,360.992,402.109,520.040,318.469,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31797,507
$CAP_FILE_SIZE,136598,0
$CFSIZE,260165632,255909888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160608,234016,5006.771,-14438.696,170,2.8,189,18.6