version: 66.03
glider: 144
mission: 13
dive: 51
start: 6 20 108 19 47 1
data:
$ID,144
$MISSION,13
$DIVE,51
$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,-29081.811
$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,36
$R_STBD_OVSHOOT,31
$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
$GPS1,193857,5007.895,-14510.682,163,2.8,182,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-55.6
$GPS2,194607,5007.899,-14510.683,165,1.6,182,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.009,-0.243
$KALMAN_X,-1553.9,136.7,128.6,-13640.8,-492.9
$KALMAN_Y,35544.1,-168.0,11.1,-21710.9,1377.1
$MHEAD_RNG_PITCHd_Wd,159.4,25764,-15.3,-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,-1.20,-146.6,0.0,0.0,0,104,0.00,0.00,-82.20,0.000,2,0.000,0.000,497,1891,2936
$GC,106,-1.20,-146.6,3.3,-4.2,8,140,10.60,2.42,-16.52,0.000,4,0.172,0.064,2459,3305,3531
$GC,380,-1.20,-146.6,36.3,-11.6,32,387,0.00,2.38,0.00,0.000,6,0.000,0.044,2459,1903,3533
$GC,706,-1.16,-146.6,73.5,-11.1,63,710,0.00,2.42,0.00,0.000,4,0.000,0.061,2459,499,3534
$GC,772,-1.11,-146.6,81.7,-12.2,68,777,0.08,2.38,0.00,0.000,6,0.108,0.044,2485,1906,3534
$GC,1100,-1.16,-146.6,113.4,-9.4,84,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1910,3534
$GC,1408,-1.24,-146.6,139.9,-8.3,99,1413,0.12,2.45,0.00,0.000,4,0.077,0.064,2453,498,3534
$GC,1530,-1.24,-146.6,152.7,-10.9,104,1537,0.00,2.38,0.00,0.000,6,0.000,0.045,2452,1902,3534
$GC,1842,-1.24,-146.6,181.8,-9.3,115,1847,0.00,2.45,0.00,0.000,4,0.000,0.061,2453,495,3534
$GC,1897,-1.24,-146.6,187.5,-10.4,116,1904,0.00,2.38,0.00,0.000,6,0.000,0.044,2453,1898,3534
$GC,2209,-1.24,-146.6,216.5,-9.2,127,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1900,3534
$GC,2515,-1.24,-146.6,243.2,-8.5,137,2519,0.00,2.42,0.00,0.000,4,0.000,0.061,2452,495,3534
$GC,2576,-1.24,-146.6,249.1,-9.8,138,2582,0.00,2.38,0.00,0.000,6,0.000,0.044,2452,1898,3534
$GC,2888,-1.24,-146.6,276.0,-8.8,149,2892,0.00,2.42,0.00,0.000,4,0.000,0.059,2452,501,3534
$GC,2925,-1.24,-146.6,279.6,-9.8,150,2930,0.00,2.35,0.00,0.000,6,0.000,0.040,2452,1891,3534
$GC,3289,-1.24,-146.6,313.3,-9.4,160,3293,0.00,2.42,0.00,0.000,4,0.000,0.061,2452,500,3533
$GC,3361,-1.24,-146.6,320.8,-11.0,161,3365,0.00,2.38,0.00,0.000,6,0.000,0.044,2453,1901,3533
$GC,3721,-1.24,-146.6,355.8,-9.7,167,3725,0.00,2.45,0.00,0.000,4,0.000,0.059,2452,494,3532
$GC,3764,-1.24,-146.6,360.3,-10.4,167,3768,0.00,2.38,0.00,0.000,6,0.000,0.043,2452,1900,3533
$GC,4084,-1.24,-146.6,390.9,-9.5,173,4088,0.00,2.42,0.00,0.000,4,0.000,0.061,2452,500,3532
$GC,4122,-1.24,-146.6,395.0,-10.5,173,4126,0.00,2.35,0.00,0.000,6,0.000,0.043,2452,1892,3532
$GC,4448,-1.24,-146.6,424.7,-9.1,179,4452,0.00,2.42,0.00,0.000,4,0.000,0.060,2452,501,3532
$GC,4491,-1.24,-146.6,428.9,-9.9,179,4496,0.00,2.35,0.00,0.000,6,0.000,0.045,2451,1910,3532
$GC,4811,-1.24,-146.6,458.3,-9.2,185,4815,0.00,2.42,0.00,0.000,4,0.000,0.063,2452,499,3532
$GC,4867,-1.24,-146.6,463.8,-10.1,185,4872,0.00,2.33,0.00,0.000,6,0.000,0.041,2452,1898,3532
$GC,5175,-1.24,-146.6,491.7,-8.9,190,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1901,3532
$GC,5479,-1.24,-146.6,516.7,-8.2,195,5483,0.00,2.42,0.00,0.000,4,0.000,0.060,2453,501,3531
$GC,5574,-1.24,-146.6,525.1,-8.5,196,5578,0.00,2.35,0.00,0.000,6,0.000,0.048,2452,1908,3531
$GC,5905,-1.28,-146.6,550.3,-7.5,202,5909,0.00,2.45,0.00,0.000,4,0.000,0.064,2452,498,3531
$GC,5953,-1.28,-146.6,554.2,-8.3,202,5957,0.00,2.38,0.00,0.000,6,0.000,0.041,2453,1901,3531
$GC,6268,-1.28,-146.6,576.5,-7.0,208,6272,0.00,2.42,0.00,0.000,4,0.000,0.066,2453,499,3531
$GC,6323,-1.28,-146.6,580.8,-8.2,208,6328,0.00,2.35,0.00,0.000,6,0.000,0.041,2452,1910,3531
$GC,6632,-1.32,-146.6,603.3,-7.3,213,6637,0.00,2.45,0.00,0.000,4,0.000,0.064,2452,499,3531
$GC,6676,-1.32,-146.6,607.1,-8.8,213,6680,0.00,2.35,0.00,0.000,6,0.000,0.041,2452,1894,3531
$GC,6997,-1.37,-146.6,631.9,-7.8,219,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1895,3530
$GC,7300,-1.41,-146.6,657.1,-8.3,224,7304,0.15,2.42,0.00,0.000,4,0.075,0.059,2410,499,3530
$GC,7337,-1.32,-146.6,661.0,-10.5,224,7342,0.15,2.35,0.00,0.000,6,0.120,0.041,2440,1908,3530
$GC,7662,-1.32,-146.6,690.0,-8.8,230,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1911,3530
$GC,7965,-1.32,-146.6,715.4,-8.3,235,7969,0.00,2.45,0.00,0.000,4,0.000,0.061,2440,499,3530
$GC,8027,-1.32,-146.6,720.7,-9.1,236,8031,0.00,2.35,0.00,0.000,6,0.000,0.042,2440,1906,3529
$GC,8391,-1.32,-146.6,748.1,-7.4,242,8395,0.00,2.42,0.00,0.000,4,0.000,0.061,2440,501,3529
$GC,8440,-1.32,-146.6,752.1,-8.2,242,8445,0.00,2.38,0.00,0.000,6,0.000,0.046,2440,1900,3529
$GC,8761,-1.32,-146.6,773.6,-6.7,248,8765,0.00,2.45,0.00,0.000,4,0.000,0.062,2440,496,3529
$GC,8793,-1.32,-146.6,776.1,-7.8,248,8797,0.00,2.35,0.00,0.000,6,0.000,0.043,2440,1904,3529
$GC,9125,-1.32,-146.6,799.5,-7.0,254,9129,0.00,2.45,0.00,0.000,4,0.000,0.061,2440,501,3529
$GC,9179,-1.32,-146.6,803.8,-8.3,254,9186,0.00,2.35,0.00,0.000,6,0.000,0.046,2440,1893,3529
$GC,9489,-1.32,-146.6,826.6,-7.3,260,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1895,3528
$GC,9792,-1.32,-146.6,848.7,-7.3,265,9793,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1896,3529
$GC,10095,-1.32,-146.6,872.8,-8.0,270,10099,0.00,2.42,0.00,0.000,4,0.000,0.071,2440,502,3528
$GC,10162,-1.32,-146.6,878.6,-8.6,271,10166,0.00,2.35,0.00,0.000,6,0.000,0.045,2439,1905,3528
$GC,10526,-1.32,-146.6,908.2,-8.1,277,10527,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1906,3528
$GC,10829,-1.32,-146.6,932.6,-8.0,282,10833,0.00,2.50,0.00,0.000,4,0.000,0.074,2440,503,3528
$GC,10862,-1.32,-146.6,935.2,-8.4,282,10866,0.00,2.35,0.00,0.000,6,0.000,0.051,2440,1895,3528
$GC,11187,-1.32,-146.6,960.6,-7.8,288,11188,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1895,3527
$GC,11490,-1.32,-146.6,982.9,-7.3,293,11491,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1895,3527
$STATE,11609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11609,begin apogee
$GC,11614,-0.33,0.0,991.2,7.1,295,11745,1.00,0.00,128.18,1.353,6,0.100,0.000,2652,2093,2931
$STATE,11746,end apogee,CONTROL_FINISHED_OK
$STATE,11746,begin climb
$GC,11748,1.20,146.6,993.9,0.0,297,11884,1.50,2.72,126.65,1.321,4,0.075,0.089,2986,3508,2332
$GC,11940,1.01,146.6,980.9,10.5,300,11945,0.15,2.53,0.00,0.000,6,0.117,0.064,2953,2117,2328
$GC,12305,0.93,146.6,949.9,8.3,306,12307,0.12,0.00,0.00,0.000,6,0.129,0.000,2931,2117,2324
$GC,12608,0.94,153.9,926.5,7.7,311,12621,0.00,2.62,6.57,1.042,4,0.000,0.067,2931,683,2303
$GC,12639,0.90,155.4,924.0,7.9,311,12643,0.00,2.45,0.00,0.000,6,0.000,0.049,2930,2109,2302
$GC,12976,0.92,174.6,898.8,7.3,317,12998,0.00,0.00,20.05,1.226,6,0.000,0.000,2931,2109,2219
$GC,13279,0.94,189.7,876.2,7.4,322,13296,0.00,0.00,14.77,1.188,6,0.000,0.000,2930,2109,2158
$GC,13582,0.95,196.6,852.8,7.7,327,13596,0.00,2.58,7.50,1.057,4,0.000,0.059,2930,684,2129
$GC,13635,0.95,196.6,848.1,9.7,327,13639,0.00,2.45,0.00,0.000,6,0.000,0.048,2930,2109,2128
$GC,13950,0.95,196.6,822.6,8.2,333,13954,0.00,2.50,0.00,0.000,4,0.000,0.061,2930,677,2127
$GC,13970,0.95,196.6,820.6,9.5,333,13974,0.00,2.42,0.00,0.000,6,0.000,0.048,2930,2110,2126
$GC,14313,0.95,196.6,791.6,8.5,339,14317,0.00,2.50,0.00,0.000,4,0.000,0.064,2931,680,2127
$GC,14338,0.95,196.6,789.3,8.8,339,14344,0.00,2.42,0.00,0.000,6,0.000,0.047,2930,2097,2126
$GC,14676,0.95,196.6,760.5,8.5,345,14680,0.00,2.45,0.00,0.000,4,0.000,0.063,2930,679,2126
$GC,14690,0.95,196.6,759.2,8.5,345,14695,0.00,2.42,0.00,0.000,6,0.000,0.041,2930,2101,2126
$GC,15045,0.99,196.6,730.2,8.1,351,15046,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2102,2126
$GC,15348,0.99,196.6,706.0,8.0,356,15352,0.00,2.47,0.00,0.000,4,0.000,0.058,2930,677,2126
$GC,15379,0.99,196.6,703.2,8.6,356,15384,0.00,2.42,0.00,0.000,6,0.000,0.042,2930,2101,2125
$GC,15711,1.00,201.6,677.3,7.8,362,15722,0.00,2.50,5.68,0.911,4,0.000,0.056,2930,677,2108
$GC,15749,1.00,201.6,674.0,8.5,362,15753,0.00,2.42,0.00,0.000,6,0.000,0.044,2930,2094,2108
$GC,16075,1.04,201.6,647.6,8.1,368,16080,0.10,2.47,0.00,0.000,4,0.089,0.060,2955,677,2107
$GC,16096,1.04,201.6,645.7,9.8,368,16100,0.00,2.40,0.00,0.000,6,0.000,0.048,2955,2101,2107
$GC,16438,1.04,201.6,615.1,8.8,374,16443,0.00,2.47,0.00,0.000,4,0.000,0.060,2955,676,2107
$GC,16471,1.00,201.6,612.1,10.8,374,16476,0.00,2.42,0.00,0.000,6,0.000,0.044,2955,2101,2107
$GC,16803,1.00,201.6,584.1,8.4,380,16807,0.00,2.45,0.00,0.000,4,0.000,0.058,2955,681,2107
$GC,16823,1.00,201.6,582.1,10.6,380,16828,0.00,2.42,0.00,0.000,6,0.000,0.045,2955,2102,2107
$GC,17172,1.00,201.6,553.0,8.3,386,17176,0.00,2.47,0.00,0.000,4,0.000,0.061,2955,676,2107
$GC,17204,0.95,201.6,550.1,8.5,386,17208,0.00,2.40,0.00,0.000,6,0.000,0.043,2955,2105,2107
$GC,17535,0.95,201.6,522.3,8.4,392,17536,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2109,2107
$GC,17838,0.95,201.6,495.8,8.8,397,17842,0.00,2.45,0.00,0.000,4,0.000,0.059,2955,682,2107
$GC,17870,0.91,201.6,492.8,8.7,397,17875,0.15,2.40,0.00,0.000,6,0.121,0.048,2926,2109,2106
$GC,18208,0.98,201.6,465.7,8.0,403,18212,0.00,2.47,0.00,0.000,4,0.000,0.061,2926,681,2106
$GC,18245,1.02,201.6,462.4,8.8,403,18250,0.10,2.40,0.00,0.000,6,0.092,0.044,2950,2112,2107
$GC,18571,1.02,201.6,435.1,8.3,409,18572,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2114,2107
$GC,18874,1.02,201.6,409.9,8.3,414,18875,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2114,2106
$GC,19178,1.03,212.2,386.6,7.6,419,19194,0.00,2.53,10.88,0.889,4,0.000,0.056,2950,680,2064
$GC,19232,1.03,212.2,382.3,8.0,419,19239,0.00,2.42,0.00,0.000,6,0.000,0.042,2950,2097,2063
$GC,19541,1.05,228.4,359.3,7.4,425,19562,0.00,2.53,15.43,0.891,4,0.000,0.060,2950,674,1998
$GC,19572,1.07,237.5,357.0,7.7,425,19587,0.00,2.42,9.35,0.820,6,0.000,0.048,2950,2100,1962
$GC,19902,1.13,253.4,332.4,7.4,431,19922,0.10,2.53,14.68,0.867,4,0.087,0.064,2975,682,1897
$GC,19944,1.13,253.4,328.7,8.8,431,19948,0.00,2.42,0.00,0.000,6,0.000,0.044,2975,2094,1895
$GC,20264,1.13,253.4,300.1,8.9,437,20268,0.00,2.45,0.00,0.000,4,0.000,0.058,2975,682,1893
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$GC,23368,1.24,294.4,40.6,7.8,581,23380,0.00,2.50,4.35,0.555,4,0.000,0.057,3001,661,1730
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$STATE,23838,end climb,SURFACE_DEPTH_REACHED
$STATE,23839,begin surface coast
$FINISH,0.8,1.013918
$STATE,23861,end surface coast,CONTROL_FINISHED_OK
$STATE,23862,begin surface
$SM_CCo,23880,72.43,0.667,0,0,1300,400.08
$SM_GC,1.66,0.00,0.00,72.43,0.000,0.000,0.667,493,1880,1300,-10.28,-0.57,400.08
$IRIDIUM_FIX,4953.05,-14520.84,140997,131305
$TT8_MAMPS,0.029146
$HUMID,1703
$INTERNAL_PRESSURE,7.62725
$TCM_TEMP,13.60
$XPDR_PINGS,106
$24V_AH,23.4,14.484
$10V_AH,10.1,7.131
$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
$DEVICE_SECS,25.200,224.425,410.850,72.425,0.000,25.424,26.330,119.161,26.500,0.000,0.000,182.031,1424.568,19887.729,682.526,2017.029,373.171,33.370,1724.461,0.000,1830.877,0.000,0.459
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,444.583,509.186,649.595,380.405,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38070,627
$CAP_FILE_SIZE,155245,0
$CFSIZE,260165632,254922752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210608,023000,5005.356,-14510.598,172,2.9,191,18.4