version: 66.03
glider: 144
mission: 13
dive: 7
start: 6 9 108 8 33 21
data:
$ID,144
$MISSION,13
$DIVE,7
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,240
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16733.879
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,30
$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
$GPS1,082445,5003.438,-14452.804,134,3.6,153,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-58.8
$GPS2,083228,5003.464,-14452.846,71,2.5,90,18.5
$SPEED_LIMITS,0.100,0.262
$TGT_NAME,C_NW
$TGT_LATLONG,5007.080,-14438.068
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.260,-0.037
$KALMAN_X,-1142.7,3.4,-447.3,7886.5,320.1
$KALMAN_Y,3919.7,-31.3,-81.8,1651.9,1753.5
$MHEAD_RNG_PITCHd_Wd,79.6,18783,-18.5,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-1.41,-146.6,0.0,0.0,0,113,0.00,0.00,-91.88,0.000,2,0.000,0.000,498,2099,3107
$GC,115,-1.41,-146.6,3.1,-4.4,9,142,10.30,2.45,-11.30,0.000,4,0.168,0.079,2415,693,3529
$GC,348,-1.41,-146.6,37.1,-15.2,29,356,0.00,2.40,0.00,0.000,6,0.000,0.048,2416,2100,3531
$GC,673,-1.41,-146.6,81.5,-13.6,60,678,0.00,2.45,0.00,0.000,4,0.000,0.067,2416,700,3531
$GC,852,-1.41,-146.6,107.5,-14.2,68,856,0.00,2.38,0.00,0.000,6,0.000,0.046,2416,2093,3532
$GC,1178,-1.41,-146.6,148.7,-11.7,84,1182,0.00,2.45,0.00,0.000,4,0.000,0.064,2415,693,3531
$GC,1429,-1.41,-146.6,178.2,-11.3,92,1434,0.00,2.40,0.00,0.000,6,0.000,0.048,2415,2098,3531
$GC,1747,-1.41,-146.6,211.0,-10.0,103,1752,0.00,2.45,0.00,0.000,4,0.000,0.062,2415,698,3531
$GC,1897,-1.41,-146.6,227.2,-11.1,107,1902,0.00,2.40,0.00,0.000,6,0.000,0.048,2415,2101,3531
$GC,2215,-1.41,-146.6,259.2,-10.0,118,2220,0.00,2.47,0.00,0.000,4,0.000,0.069,2415,691,3531
$GC,2400,-1.41,-146.6,279.5,-11.2,123,2404,0.00,2.38,0.00,0.000,6,0.000,0.052,2416,2100,3531
$GC,2747,-1.41,-146.6,314.4,-10.2,133,2751,0.00,2.45,0.00,0.000,4,0.000,0.064,2416,699,3531
$GC,2958,-1.41,-146.6,337.5,-11.6,136,2963,0.00,2.38,0.00,0.000,6,0.000,0.050,2415,2090,3531
$GC,3312,-1.41,-146.6,375.6,-10.9,142,3316,0.00,2.42,0.00,0.000,4,0.000,0.070,2415,699,3531
$GC,3530,-1.41,-146.6,399.9,-10.8,145,3535,0.00,2.38,0.00,0.000,6,0.000,0.048,2416,2106,3531
$GC,3873,-1.41,-146.6,433.4,-9.6,151,3877,0.00,2.47,0.00,0.000,4,0.000,0.066,2415,690,3531
$GC,4057,-1.41,-146.6,452.2,-10.2,153,4061,0.00,2.38,0.00,0.000,6,0.000,0.048,2415,2102,3531
$GC,4371,-1.41,-146.6,482.8,-9.8,159,4376,0.00,2.45,0.00,0.000,4,0.000,0.063,2416,696,3531
$GC,4556,-1.41,-146.6,503.0,-10.8,161,4560,0.00,2.38,0.00,0.000,6,0.000,0.044,2415,2107,3531
$GC,4865,-1.41,-146.6,534.2,-10.0,166,4869,0.00,2.45,0.00,0.000,4,0.000,0.067,2416,697,3531
$GC,5092,-1.41,-146.6,558.8,-11.1,169,5098,0.00,2.40,0.00,0.000,6,0.000,0.045,2416,2103,3531
$GC,5430,-1.41,-146.6,593.6,-10.4,175,5434,0.00,2.45,0.00,0.000,4,0.000,0.071,2415,697,3530
$STATE,5489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5489,begin apogee
$GC,5496,-0.33,0.0,600.4,11.0,175,5622,1.08,0.00,123.47,1.098,6,0.102,0.000,2647,2109,2931
$STATE,5623,end apogee,CONTROL_FINISHED_OK
$STATE,5623,begin climb
$GC,5625,1.41,146.6,605.6,0.0,178,5756,1.73,2.50,123.12,1.062,4,0.071,0.058,3035,3513,2332
$GC,5895,1.41,146.6,587.1,11.5,182,5900,0.00,2.42,0.00,0.000,6,0.000,0.047,3034,2104,2326
$GC,6249,1.41,146.9,552.1,10.0,188,6254,0.00,2.45,0.00,0.000,4,0.000,0.058,3035,3511,2324
$GC,6287,1.41,146.9,548.0,11.1,188,6292,0.00,2.42,0.00,0.000,6,0.000,0.041,3035,2098,2324
$GC,6613,1.42,148.1,515.7,9.9,194,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2098,2324
$GC,6916,1.42,148.1,484.8,10.2,199,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2098,2323
$GC,7219,1.42,152.5,454.9,9.8,204,7226,0.00,0.00,5.03,0.775,6,0.000,0.000,3034,2098,2309
$GC,7523,1.44,171.1,426.8,9.1,209,7542,0.00,0.00,17.75,0.953,6,0.000,0.000,3034,2098,2233
$GC,7885,1.46,184.3,392.8,9.4,215,7899,0.00,0.00,12.70,0.910,6,0.000,0.000,3034,2098,2179
$GC,8188,1.46,185.1,362.9,10.0,220,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2098,2176
$GC,8491,1.46,185.1,331.4,10.5,225,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2098,2176
$GC,8794,1.46,185.1,299.9,10.3,230,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2098,2175
$GC,9100,1.46,185.1,268.5,10.5,240,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2098,2175
$GC,9406,1.46,185.1,236.3,10.6,250,9407,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2098,2175
$GC,9712,1.46,185.1,204.1,10.5,260,9717,0.00,2.45,0.00,0.000,4,0.000,0.058,3035,3512,2175
$GC,9756,1.46,185.1,199.3,10.8,261,9760,0.00,2.40,0.00,0.000,6,0.000,0.044,3035,2100,2175
$GC,10079,1.48,199.1,168.1,9.4,272,10095,0.00,0.00,13.60,0.793,6,0.000,0.000,3035,2100,2119
$GC,10397,1.49,204.5,137.2,9.7,284,10405,0.00,0.00,6.07,0.690,6,0.000,0.000,3035,2100,2097
$GC,10707,1.52,230.0,108.1,8.8,299,10733,0.10,0.00,23.05,0.764,6,0.092,0.000,3059,2100,1993
$GC,11037,1.53,239.5,76.2,9.6,316,11048,0.00,0.00,8.80,0.702,6,0.000,0.000,3059,2100,1954
$GC,11366,1.54,245.3,44.2,9.7,347,11378,0.00,2.45,5.90,0.636,4,0.000,0.059,3059,3508,1932
$GC,11446,1.54,245.3,35.5,11.0,354,11450,0.00,2.38,0.00,0.000,6,0.000,0.044,3059,2092,1931
$GC,11770,1.54,245.3,2.5,10.6,384,11774,0.00,2.10,0.00,0.000,3,0.000,0.059,3059,3324,1930
$STATE,11775,end climb,SURFACE_DEPTH_REACHED
$STATE,11775,begin surface coast
$FINISH,0.6,0.999915
$STATE,11792,end surface coast,CONTROL_FINISHED_OK
$STATE,11792,begin surface
$SM_CCo,11812,125.12,0.679,0,0,1300,400.08
$SM_GC,1.18,0.00,0.00,125.12,0.000,0.000,0.679,497,2092,1300,-10.26,-0.23,400.08
$IRIDIUM_FIX,4943.02,-14454.99,030997,050540
$TT8_MAMPS,0.029146
$HUMID,1695
$INTERNAL_PRESSURE,7.60771
$TCM_TEMP,15.10
$XPDR_PINGS,45
$24V_AH,23.5,7.434
$10V_AH,10.1,3.225
$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,24.275,76.950,339.500,125.125,0.000,29.281,33.895,230.860,11.250,0.000,0.000,93.943,856.923,9184.896,579.320,1387.423,404.639,33.351,1237.494,0.000,1290.261,0.000,0.459
$DEVICE_MAMPS,167.973,79.001,1097.577,678.795,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,274.597,295.563,395.254,313.427,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22226,386
$CAP_FILE_SIZE,83420,0
$CFSIZE,260165632,257773568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090608,115603,5004.193,-14449.988,190,1.6,190,18.5