version: 66.03
glider: 144
mission: 13
dive: 301
start: 8 28 108 11 20 4
data:
$ID,144
$MISSION,13
$DIVE,301
$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,-51986.879
$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,50
$R_STBD_OVSHOOT,59
$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
$GPS1,111339,5006.844,-14450.454,88,1.3,88,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-59.6
$GPS2,111908,5006.867,-14450.422,34,1.2,34,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.103,0.015
$KALMAN_X,15395.2,-16.8,-356.7,-5841.8,2010.6
$KALMAN_Y,229310.3,-29.7,39.1,-217556.6,821.4
$MHEAD_RNG_PITCHd_Wd,259.8,1314,-35.7,-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,-2.42,-27.3,0.0,0.0,0,95,0.00,0.00,-71.28,0.000,2,0.000,0.000,496,1886,2813
$GC,97,-2.44,-45.9,3.2,-4.4,7,121,9.10,2.30,-8.52,0.000,4,0.166,0.048,2192,3285,3120
$GC,212,-2.44,-45.9,28.3,-24.2,17,216,0.00,2.25,0.00,0.000,6,0.000,0.031,2192,1907,3122
$GC,549,-2.51,-45.9,92.6,-19.7,45,553,0.00,2.35,0.00,0.000,4,0.000,0.041,2192,501,3124
$GC,791,-2.56,-45.9,144.1,-19.0,56,795,0.00,2.22,0.00,0.000,6,0.000,0.028,2192,1900,3124
$GC,1111,-2.65,-45.9,196.9,-16.3,67,1115,0.15,2.38,0.00,0.000,4,0.074,0.044,2150,498,3125
$GC,1201,-2.61,-45.9,213.7,-18.4,69,1207,0.00,2.22,0.00,0.000,6,0.000,0.025,2150,1897,3125
$GC,1513,-2.61,-45.9,265.6,-16.1,80,1517,0.00,2.35,0.00,0.000,4,0.000,0.041,2150,496,3124
$GC,1737,-2.56,-45.9,303.6,-16.6,86,1742,0.10,2.25,0.00,0.000,6,0.153,0.028,2166,1898,3125
$GC,2047,-2.62,-45.9,347.9,-14.1,91,2051,0.00,2.38,0.00,0.000,4,0.000,0.047,2166,496,3124
$GC,2153,-2.62,-45.9,363.9,-14.8,92,2157,0.00,2.25,0.00,0.000,6,0.000,0.022,2166,1900,3124
$GC,2473,-2.68,-45.9,406.3,-13.1,98,2477,0.00,2.35,0.00,0.000,4,0.000,0.048,2166,502,3123
$GC,2584,-2.68,-45.9,422.4,-14.3,99,2588,0.00,2.28,0.00,0.000,6,0.000,0.024,2166,1902,3123
$GC,2911,-2.76,-45.9,464.2,-12.7,105,2915,0.15,2.38,0.00,0.000,4,0.078,0.041,2126,497,3122
$GC,2973,-2.65,-45.9,473.1,-14.7,106,2977,0.12,2.25,0.00,0.000,6,0.155,0.023,2146,1901,3122
$GC,3337,-2.65,-45.9,521.1,-13.1,112,3341,0.00,2.38,0.00,0.000,4,0.000,0.044,2146,494,3122
$GC,3427,-2.60,-45.9,533.7,-14.0,113,3431,0.00,2.25,0.00,0.000,6,0.000,0.022,2146,1903,3121
$GC,3763,-2.60,-45.9,577.4,-12.9,119,3768,0.00,2.38,0.00,0.000,4,0.000,0.044,2146,495,3121
$GC,3835,-2.60,-45.9,587.4,-13.8,120,3840,0.00,2.28,0.00,0.000,6,0.000,0.023,2146,1899,3121
$GC,4196,-2.65,-45.9,631.9,-12.3,126,4200,0.00,2.38,0.00,0.000,4,0.000,0.049,2146,492,3120
$GC,4263,-2.65,-45.9,640.7,-13.5,127,4267,0.00,2.25,0.00,0.000,6,0.000,0.025,2146,1899,3120
$GC,4629,-2.71,-45.9,686.0,-12.5,133,4633,0.00,2.38,0.00,0.000,4,0.000,0.044,2146,495,3119
$GC,4797,-2.71,-45.9,708.8,-14.1,135,4801,0.00,2.25,0.00,0.000,6,0.000,0.024,2145,1898,3119
$GC,5123,-2.76,-45.9,748.6,-12.2,141,5127,0.00,2.38,0.00,0.000,4,0.000,0.050,2146,496,3119
$GC,5240,-2.76,-45.9,764.2,-12.5,142,5244,0.00,2.28,0.00,0.000,6,0.000,0.024,2146,1911,3118
$GC,5549,-2.82,-45.9,801.8,-12.1,147,5554,0.15,2.40,0.00,0.000,4,0.083,0.044,2107,495,3118
$GC,5707,-2.70,-45.9,822.9,-13.8,149,5712,0.17,2.25,0.00,0.000,6,0.150,0.022,2137,1898,3118
$GC,6044,-2.70,-45.9,862.8,-11.7,155,6048,0.00,2.38,0.00,0.000,4,0.000,0.049,2137,499,3117
$GC,6111,-2.65,-45.9,871.0,-12.7,156,6116,0.00,2.25,0.00,0.000,6,0.000,0.024,2137,1897,3117
$GC,6477,-2.65,-45.9,914.1,-11.8,162,6481,0.00,2.40,0.00,0.000,4,0.000,0.052,2137,504,3117
$GC,6611,-2.60,-45.9,930.9,-12.6,164,6616,0.12,2.28,0.00,0.000,6,0.158,0.033,2158,1891,3117
$GC,6970,-2.69,-45.9,969.1,-10.5,170,6975,0.00,2.45,0.00,0.000,4,0.000,0.067,2157,508,3116
$STATE,7155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7155,begin apogee
$GC,7163,-0.33,0.0,990.1,11.7,172,7209,2.42,0.00,41.75,1.364,6,0.137,0.000,2649,2093,2931
$STATE,7210,end apogee,CONTROL_FINISHED_OK
$STATE,7210,begin climb
$GC,7213,2.44,45.9,991.7,0.0,173,7263,2.70,2.60,41.25,1.338,4,0.063,0.071,3260,3504,2743
$GC,7303,2.33,45.9,985.5,10.3,175,7308,0.12,2.42,0.00,0.000,6,0.153,0.051,3239,2113,2743
$GC,7662,2.33,45.9,949.2,10.0,181,7666,0.00,2.47,0.00,0.000,4,0.000,0.062,3239,684,2741
$GC,7920,2.24,45.9,921.8,11.0,184,7927,0.12,2.38,0.00,0.000,6,0.156,0.035,3218,2126,2740
$GC,8229,2.24,45.9,893.6,9.0,190,8230,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2125,2740
$GC,8532,2.24,45.9,866.6,8.9,195,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2125,2740
$GC,8835,2.24,45.9,839.9,8.7,200,8840,0.00,2.45,0.00,0.000,4,0.000,0.042,3218,680,2740
$GC,8880,2.19,45.9,835.6,9.4,200,8884,0.00,2.33,0.00,0.000,6,0.000,0.028,3218,2113,2740
$GC,9195,2.19,45.9,808.8,8.5,206,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2113,2739
$GC,9497,2.19,45.9,783.9,8.2,211,9498,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2113,2739
$GC,9800,2.19,45.9,758.6,8.4,216,9804,0.00,2.42,0.00,0.000,4,0.000,0.041,3218,677,2739
$GC,10057,2.14,45.9,735.8,9.1,219,10062,0.12,2.30,0.00,0.000,6,0.155,0.031,3198,2101,2739
$GC,10368,2.21,46.5,711.5,7.9,224,10372,0.00,2.38,0.00,0.000,4,0.000,0.039,3197,680,2739
$GC,10417,2.21,46.5,707.3,8.4,224,10422,0.00,2.33,0.00,0.000,6,0.000,0.026,3197,2101,2739
$GC,10739,2.29,49.8,683.4,7.4,230,10745,0.12,0.00,4.38,0.815,6,0.084,0.000,3227,2104,2727
$GC,11042,2.29,51.2,660.1,7.7,235,11046,0.00,2.40,0.00,0.000,4,0.000,0.040,3228,678,2727
$GC,11299,2.24,52.1,639.2,7.8,238,11309,0.00,2.30,3.90,0.732,6,0.000,0.025,3227,2104,2717
$GC,11675,2.24,54.1,610.7,7.6,245,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2104,2717
$GC,11978,2.24,58.1,588.6,7.2,250,11991,0.00,2.40,6.75,0.923,4,0.000,0.038,3227,680,2692
$GC,12015,2.19,58.1,585.8,8.3,250,12019,0.12,2.30,0.00,0.000,6,0.150,0.031,3206,2099,2692
$GC,12341,2.27,58.5,560.1,7.9,256,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2100,2693
$GC,12644,2.35,61.6,537.5,7.4,261,12651,0.15,0.00,4.72,0.782,6,0.081,0.000,3241,2102,2679
$GC,12946,2.35,61.6,512.8,8.3,266,12950,0.00,2.40,0.00,0.000,4,0.000,0.040,3241,673,2678
$GC,13070,2.28,61.6,501.9,8.7,267,13076,0.00,2.30,0.00,0.000,6,0.000,0.031,3241,2100,2678
$GC,13379,2.28,61.9,477.2,7.9,273,13383,0.00,2.38,0.00,0.000,4,0.000,0.041,3241,680,2678
$GC,13490,2.21,61.9,467.6,8.1,274,13495,0.15,2.30,0.00,0.000,6,0.149,0.030,3214,2107,2678
$GC,13805,2.28,63.7,443.7,7.7,280,13809,0.00,2.28,0.00,0.000,4,0.000,0.038,3214,3494,2678
$GC,13832,2.28,63.7,441.5,8.2,280,13836,0.00,2.30,0.00,0.000,6,0.000,0.024,3214,2072,2678
$GC,14176,2.35,63.7,414.4,8.0,286,14181,0.10,2.35,0.00,0.000,4,0.090,0.035,3238,3491,2678
$GC,14276,2.35,63.7,406.2,8.6,287,14280,0.00,2.25,0.00,0.000,6,0.000,0.023,3238,2098,2678
$GC,14601,2.35,65.0,380.7,7.7,293,14611,0.00,2.35,4.53,0.703,4,0.000,0.044,3238,700,2665
$GC,14634,2.30,65.0,378.0,8.6,293,14638,0.00,2.28,0.00,0.000,6,0.000,0.028,3238,2110,2665
$GC,14966,2.30,67.1,352.8,7.6,299,14970,0.00,2.35,0.00,0.000,4,0.000,0.040,3238,702,2665
$GC,15130,2.25,70.3,340.2,7.4,301,15141,0.00,2.25,6.03,0.772,6,0.000,0.023,3237,2103,2644
$GC,15462,2.26,73.4,315.5,7.4,307,15471,0.00,2.33,4.50,0.673,4,0.000,0.035,3238,3489,2631
$GC,15607,2.26,74.8,304.0,7.7,309,15611,0.00,2.25,0.00,0.000,6,0.000,0.028,3237,2101,2630
$GC,15934,2.26,78.2,279.0,7.3,319,15945,0.00,2.35,5.70,0.728,4,0.000,0.038,3238,700,2611
$GC,15973,2.22,78.2,276.0,8.1,320,15977,0.12,2.25,0.00,0.000,6,0.150,0.029,3216,2100,2611
$GC,16297,2.31,80.1,251.6,7.6,331,16301,0.00,2.35,0.00,0.000,4,0.000,0.045,3216,701,2611
$GC,16554,2.32,85.1,230.5,7.0,338,16568,0.00,2.25,7.05,0.747,6,0.000,0.027,3216,2102,2583
$GC,16899,2.41,87.6,203.8,7.5,350,16909,0.15,2.40,3.97,0.581,4,0.077,0.038,3256,704,2572
$GC,17089,2.36,89.4,187.6,7.7,355,17093,0.00,2.25,0.00,0.000,6,0.000,0.030,3256,2098,2573
$GC,17402,2.36,91.2,163.7,7.7,365,17408,0.00,0.00,4.62,0.624,6,0.000,0.000,3257,2100,2559
$GC,17719,2.38,105.7,143.9,5.2,377,17740,0.00,2.38,13.05,0.765,4,0.000,0.041,3256,3486,2499
$GC,17824,2.38,111.0,136.5,7.0,381,17835,0.00,2.28,5.78,0.650,6,0.000,0.024,3257,2089,2478
$GC,18157,2.45,117.3,111.6,6.8,398,18166,0.00,0.00,6.85,0.677,6,0.000,0.000,3256,2089,2452
$GC,18466,2.54,129.7,93.2,5.6,413,18480,0.10,0.00,11.18,0.719,6,0.088,0.000,3281,2089,2401
$GC,18780,2.54,129.8,68.7,8.0,434,18784,0.00,2.33,0.00,0.000,4,0.000,0.035,3281,3491,2400
$GC,19037,2.54,135.1,48.2,7.0,456,19047,0.00,2.25,5.78,0.616,6,0.000,0.025,3281,2099,2380
$GC,19373,2.69,173.8,36.3,0.4,488,19411,0.12,2.38,32.15,0.711,4,0.084,0.044,3311,703,2221
$GC,19447,2.71,192.5,33.8,4.3,494,19469,0.00,2.28,16.20,0.676,6,0.000,0.023,3311,2116,2145
$STATE,19785,end climb,SURFACE_DEPTH_REACHED
$STATE,19785,begin surface coast
$FINISH,0.8,1.024401
$STATE,19797,end surface coast,CONTROL_FINISHED_OK
$STATE,19797,begin surface
$SM_CCo,19819,163.57,0.659,0,0,1299,400.08
$SM_GC,1.49,0.00,0.00,163.57,0.000,0.000,0.659,493,1871,1299,-10.29,-0.82,400.08
$IRIDIUM_FIX,4949.70,-14453.88,221197,050530
$TT8_MAMPS,0.029146
$HUMID,1808
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,15.90
$XPDR_PINGS,84
$24V_AH,23.2,56.114
$10V_AH,10.1,28.615
$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,28.850,168.425,230.125,163.575,0.000,25.933,28.312,139.262,21.000,0.000,0.000,35.496,1336.928,15775.432,545.084,2166.594,490.314,33.368,1632.944,0.000,2107.022,0.000,0.460
$DEVICE_MAMPS,165.672,85.137,1363.726,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,373.201,421.042,545.035,342.616,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31856,527
$CAP_FILE_SIZE,148945,0
$CFSIZE,260165632,238825472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280808,165456,5006.986,-14451.229,51,1.3,70,18.5