version: 66.04
glider: 144
mission: 15
dive: 7
start: 6 15 109 10 17 33
data:
$ID,144
$MISSION,15
$DIVE,7
$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,330
$T_MISSION,360
$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,0.0037098001
$HD_B,0.012019
$HD_C,3.2039999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$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,10
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-60936.746
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,120
$PITCH_MAX,3976
$C_PITCH,2000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3809
$ROLL_DEG,40
$C_ROLL_DIVE,2303
$C_ROLL_CLIMB,2303
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,24
$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,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,147
$AH0_10V,122.2
$PHONE_SUPPLY,2
$PRESSURE_YINT,-1.9652373
$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
$XPDR_VALID,0
$XPDR_INHIBIT,90
$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
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043441742
$SEABIRD_T_H,0.00062523223
$SEABIRD_T_I,1.8114715e-05
$SEABIRD_T_J,1.1782754e-06
$SEABIRD_C_G,-10.019677
$SEABIRD_C_H,1.1227477
$SEABIRD_C_I,-0.00077646878
$SEABIRD_C_J,0.00015901824
$GPS1,100920,5005.560,-14453.721,39,3.0,58,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.8
$GPS2,101638,5005.576,-14453.756,9,1.5,9,18.5
$SPEED_LIMITS,0.100,0.234
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.205,0.114
$KALMAN_X,-4758.4,387.9,1.8,12813.5,-2196.6
$KALMAN_Y,1913.8,611.0,374.3,7987.3,-300.1
$MHEAD_RNG_PITCHd_Wd,42.5,4941,-19.7,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.04,-146.6,0.0,0.0,0,59,0.00,0.00,-42.00,0.000,2,0.000,0.000,101,2294,2828
$GC,62,-1.04,-146.6,3.7,-6.7,4,89,6.85,2.30,-15.18,0.000,4,0.259,0.075,1764,889,3530
$GC,240,-1.04,-146.6,37.1,-16.6,19,247,0.00,2.30,0.00,0.000,6,0.000,0.052,1756,2298,3532
$GC,574,-0.96,-146.6,94.5,-16.8,47,579,0.15,2.28,0.00,0.000,4,0.169,0.058,1794,892,3533
$GC,685,-1.07,-146.6,110.0,-12.8,52,690,0.10,2.28,0.00,0.000,6,0.085,0.053,1749,2306,3533
$GC,1005,-1.07,-146.6,159.9,-15.2,67,1009,0.00,2.28,0.00,0.000,4,0.000,0.064,1739,3716,3533
$GC,1045,-1.07,-146.6,166.0,-15.7,68,1050,0.12,2.22,0.00,0.000,6,0.161,0.052,1770,2298,3533
$GC,1374,-1.15,-146.6,208.1,-12.4,79,1378,0.00,2.22,0.00,0.000,4,0.000,0.059,1769,890,3533
$GC,1514,-1.26,-146.6,225.9,-12.7,83,1519,0.15,2.25,0.00,0.000,6,0.074,0.058,1703,2303,3533
$GC,1843,-1.14,-146.6,282.6,-17.9,94,1848,0.17,2.28,0.00,0.000,4,0.170,0.059,1756,885,3533
$GC,1898,-1.25,-146.6,291.2,-14.1,95,1905,0.10,2.28,0.00,0.000,6,0.087,0.054,1710,2314,3533
$GC,2209,-1.15,-146.6,342.8,-16.7,102,2213,0.15,2.28,0.00,0.000,4,0.170,0.066,1747,896,3533
$GC,2292,-1.21,-146.6,354.8,-13.6,103,2296,0.00,2.25,0.00,0.000,6,0.000,0.054,1742,2310,3533
$GC,2634,-1.21,-146.6,402.3,-13.9,109,2638,0.00,2.28,0.00,0.000,4,0.000,0.060,1742,888,3533
$GC,2707,-1.26,-146.6,412.6,-14.1,110,2711,0.00,2.25,0.00,0.000,6,0.000,0.055,1737,2305,3533
$GC,3060,-1.26,-146.6,461.3,-13.7,116,3064,0.00,2.28,0.00,0.000,4,0.000,0.065,1737,883,3532
$GC,3149,-1.26,-146.6,473.4,-13.5,117,3153,0.00,2.25,0.00,0.000,6,0.000,0.061,1726,2302,3532
$GC,3493,-1.26,-146.6,518.9,-13.2,123,3497,0.00,2.25,0.00,0.000,4,0.000,0.062,1727,896,3532
$GC,3593,-1.26,-146.6,532.5,-12.9,124,3597,0.00,2.25,0.00,0.000,6,0.000,0.058,1717,2310,3532
$GC,3925,-1.22,-146.6,578.4,-13.9,130,3929,0.00,2.28,0.00,0.000,4,0.000,0.066,1717,890,3532
$GC,4070,-1.22,-146.6,598.7,-13.8,132,4075,0.10,2.25,0.00,0.000,6,0.183,0.058,1729,2302,3532
$GC,4425,-1.22,-146.6,642.8,-12.3,138,4429,0.00,2.28,0.00,0.000,4,0.000,0.064,1731,886,3531
$GC,4515,-1.22,-146.6,653.7,-12.6,139,4519,0.00,2.28,0.00,0.000,6,0.000,0.057,1724,2312,3531
$GC,4851,-1.22,-146.6,696.2,-12.7,145,4855,0.00,2.28,0.00,0.000,4,0.000,0.069,1724,897,3531
$GC,4935,-1.22,-146.6,707.3,-14.0,146,4939,0.00,2.25,0.00,0.000,6,0.000,0.062,1713,2306,3531
$GC,5278,-1.22,-146.6,753.9,-13.7,152,5283,0.10,2.28,0.00,0.000,4,0.198,0.072,1735,897,3531
$GC,5328,-1.28,-146.6,760.2,-11.9,152,5331,0.00,2.25,0.00,0.000,6,0.000,0.061,1727,2305,3531
$GC,5643,-1.28,-146.6,800.1,-12.8,158,5647,0.00,2.28,0.00,0.000,4,0.000,0.068,1731,898,3531
$GC,5715,-1.33,-146.6,809.5,-12.5,159,5719,0.00,2.25,0.00,0.000,6,0.000,0.063,1723,2306,3530
$GC,6074,-1.33,-146.6,856.5,-13.1,165,6078,0.00,2.30,0.00,0.000,4,0.000,0.074,1723,888,3530
$GC,6214,-1.33,-146.6,875.2,-13.5,167,6218,0.00,2.28,0.00,0.000,6,0.000,0.062,1714,2306,3530
$GC,6574,-1.33,-146.6,921.5,-12.8,173,6578,0.00,2.30,0.00,0.000,4,0.000,0.074,1714,892,3530
$GC,6652,-1.33,-146.6,932.0,-13.6,174,6656,0.00,2.28,0.00,0.000,6,0.000,0.062,1703,2308,3530
$GC,7007,-1.27,-146.6,978.9,-13.3,180,7011,0.00,2.30,0.00,0.000,4,0.000,0.074,1709,896,3530
$STATE,7090,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7090,begin apogee
$GC,7098,-0.22,0.0,990.4,13.9,181,7219,0.85,0.00,117.62,1.332,6,0.206,0.000,1943,2308,2931
$STATE,7220,end apogee,CONTROL_FINISHED_OK
$STATE,7220,begin climb
$GC,7222,1.04,146.6,994.4,0.0,183,7354,0.93,2.60,123.07,1.299,4,0.141,0.073,2218,3713,2331
$GC,7388,0.68,146.6,985.9,13.9,185,7393,0.35,2.38,0.00,0.000,6,0.225,0.062,2149,2313,2328
$GC,7709,0.79,195.8,960.2,7.7,191,7753,0.08,0.00,41.45,1.261,6,0.124,0.000,2170,2313,2132
$GC,8012,0.79,200.8,931.0,9.8,196,8021,0.00,2.40,4.50,0.841,4,0.000,0.077,2164,3719,2112
$GC,8044,0.79,200.8,927.2,11.6,196,8048,0.00,2.35,0.00,0.000,6,0.000,0.055,2172,2303,2111
$GC,8382,0.79,200.8,891.3,10.8,202,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,2172,2303,2110
$GC,8685,0.79,200.8,857.5,11.1,207,8689,0.00,2.38,0.00,0.000,4,0.000,0.074,2172,3724,2109
$GC,8729,0.73,200.8,852.0,12.9,207,8734,0.12,2.33,0.00,0.000,6,0.200,0.057,2156,2292,2108
$GC,9044,0.80,200.8,819.7,10.1,213,9045,0.00,0.00,0.00,0.000,6,0.000,0.000,2156,2291,2108
$GC,9347,0.88,200.8,789.4,10.1,218,9349,0.12,0.00,0.00,0.000,6,0.101,0.000,2196,2292,2107
$GC,9650,0.81,200.8,751.3,12.7,223,9654,0.00,2.35,0.00,0.000,4,0.000,0.071,2192,3717,2107
$GC,9728,0.67,200.8,739.9,14.1,224,9733,0.22,2.28,0.00,0.000,6,0.202,0.060,2145,2295,2107
$GC,10078,0.80,206.6,705.4,9.7,230,10089,0.10,2.35,5.90,0.910,4,0.100,0.071,2178,3717,2088
$GC,10111,0.75,206.6,701.3,12.4,230,10116,0.12,2.28,0.00,0.000,6,0.202,0.054,2160,2298,2087
$GC,10437,0.83,207.0,668.1,10.0,236,10442,0.00,2.33,0.00,0.000,4,0.000,0.073,2152,3719,2086
$GC,10465,0.83,207.0,665.0,10.8,236,10469,0.00,2.28,0.00,0.000,6,0.000,0.052,2160,2295,2086
$GC,10803,0.93,226.2,634.0,9.1,242,10823,0.15,0.00,17.80,1.057,6,0.094,0.000,2214,2296,2008
$GC,11106,0.83,226.2,595.0,13.1,247,11111,0.12,2.35,0.00,0.000,4,0.191,0.069,2185,3715,2003
$GC,11184,0.78,226.2,584.6,13.0,248,11188,0.10,2.25,0.00,0.000,6,0.200,0.054,2173,2303,2003
$GC,11538,0.87,235.7,549.9,9.6,254,11552,0.00,2.38,8.48,0.917,4,0.000,0.074,2173,3710,1970
$GC,11587,0.87,235.7,544.7,10.9,254,11591,0.00,2.28,0.00,0.000,6,0.000,0.054,2181,2296,1969
$GC,11908,0.92,236.8,512.6,9.9,260,11912,0.00,2.35,0.00,0.000,4,0.000,0.067,2181,3726,1967
$GC,11971,0.92,236.8,505.5,11.3,261,11975,0.00,2.28,0.00,0.000,6,0.000,0.051,2192,2301,1967
$GC,12336,0.92,236.8,467.7,10.3,267,12340,0.00,2.33,0.00,0.000,4,0.000,0.067,2193,3723,1967
$GC,12385,0.85,236.8,461.6,11.9,267,12389,0.00,2.28,0.00,0.000,6,0.000,0.052,2203,2296,1967
$GC,12695,0.81,236.8,426.1,11.4,272,12697,0.12,0.00,0.00,0.000,6,0.193,0.000,2174,2295,1967
$GC,12998,0.91,254.8,397.9,9.2,277,13022,0.08,2.40,16.75,0.908,4,0.100,0.066,2206,3716,1891
$GC,13079,0.81,254.8,387.5,13.5,278,13084,0.17,2.28,0.00,0.000,6,0.188,0.051,2174,2298,1889
$GC,13428,0.93,268.0,354.2,9.4,284,13447,0.10,2.38,11.88,0.851,4,0.091,0.065,2213,3714,1837
$GC,13464,0.85,268.0,349.7,12.4,284,13468,0.15,2.28,0.00,0.000,6,0.189,0.051,2189,2302,1836
$GC,13790,0.92,268.0,313.6,11.1,290,13794,0.00,2.33,0.00,0.000,4,0.000,0.065,2188,3726,1834
$GC,13822,0.92,268.0,309.4,12.3,290,13826,0.00,2.28,0.00,0.000,6,0.000,0.051,2197,2301,1834
$GC,14157,0.92,268.0,270.8,11.2,300,14161,0.00,2.33,0.00,0.000,4,0.000,0.066,2197,3727,1833
$GC,14200,0.92,268.0,265.1,13.3,301,14204,0.00,2.28,0.00,0.000,6,0.000,0.051,2208,2300,1833
$GC,14525,0.92,268.0,227.5,11.5,312,14529,0.00,2.30,0.00,0.000,4,0.000,0.066,2208,3716,1832
$GC,14580,0.85,268.0,220.0,13.7,313,14587,0.10,2.28,0.00,0.000,6,0.181,0.050,2189,2300,1832
$GC,14893,0.93,270.6,188.4,9.9,324,14897,0.00,2.30,0.00,0.000,4,0.000,0.064,2189,3718,1832
$GC,14948,0.93,270.6,181.9,11.1,325,14955,0.00,2.28,0.00,0.000,6,0.000,0.050,2198,2303,1832
$GC,15262,1.00,280.1,150.3,9.6,336,15277,0.00,2.33,10.57,0.727,4,0.000,0.067,2198,3723,1788
$GC,15294,1.05,282.5,147.0,9.9,337,15301,0.00,2.28,0.00,0.000,6,0.000,0.051,2209,2294,1787
$GC,15610,1.18,302.8,117.2,9.0,353,15636,0.15,2.40,19.30,0.732,4,0.078,0.066,2269,3716,1695
$GC,15723,1.03,302.8,101.5,14.6,358,15728,0.22,2.28,0.00,0.000,6,0.191,0.051,2223,2297,1693
$GC,16045,1.15,320.0,68.7,9.2,379,16064,0.10,0.00,14.35,0.686,6,0.088,0.000,2265,2297,1626
$GC,16382,1.15,320.0,25.9,12.5,411,16386,0.00,2.33,0.00,0.000,4,0.000,0.064,2265,3717,1620
$GC,16516,1.07,320.0,7.1,13.6,422,16523,0.17,2.25,0.00,0.000,6,0.176,0.049,2231,2294,1620
$STATE,16563,end climb,SURFACE_DEPTH_REACHED
$STATE,16563,begin surface coast
$FINISH,0.9,1.021599
$STATE,16574,end surface coast,CONTROL_FINISHED_OK
$STATE,16574,begin surface
$SM_CCo,16649,0.00,0.000,0,0,1618,322.08
$SM_GC,1.51,5.72,0.00,0.00,0.061,0.000,0.000,104,2293,1618,-8.60,-0.31,322.08
$IRIDIUM_FIX,4949.70,-14453.88,090998,101044
$TT8_MAMPS,0.029146
$HUMID,1630
$INTERNAL_PRESSURE,7.3831
$TCM_TEMP,15.50
$XPDR_PINGS,47
$24V_AH,23.3,4.521
$10V_AH,10.7,1.788
$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,Compass2
$DEVICE_SECS,18.375,165.450,391.675,0.000,0.000,54.930,49.882,167.477,11.750,0.000,0.000,11.144,1089.917,13309.381,485.394,1709.947,496.490,33.344,1363.567,0.000,1690.886,0.000,0.528,0.000
$DEVICE_MAMPS,259.246,76.700,1332.279,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,305.023,338.456,438.357,735.001,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25422,428
$CAP_FILE_SIZE,127386,0
$CFSIZE,260165632,258367488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,150609,145607,5007.417,-14450.566,28,1.3,28,18.5