version: 66.03
glider: 144
mission: 13
dive: 25
start: 6 13 108 16 43 51
data:
$ID,144
$MISSION,13
$DIVE,25
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23042.447
$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,30
$R_STBD_OVSHOOT,32
$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
$GPS1,095716,5008.888,-14459.838,243,2.0,251,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-64.1
$GPS2,164257,5006.151,-14459.832,210,5.9,229,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4953.581,-14459.120
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.007,-0.243
$KALMAN_X,43.6,-460.5,392.0,-1989.0,168.8
$KALMAN_Y,11451.4,2165.8,722.2,-3922.1,-3199.0
$MHEAD_RNG_PITCHd_Wd,159.9,23296,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.20,-146.6,0.0,0.0,0,72,0.00,0.00,-52.70,0.000,2,0.000,0.000,495,1898,2781
$GC,75,-1.20,-146.6,3.0,-3.6,5,119,10.62,2.47,-23.42,0.000,4,0.173,0.071,2459,3306,3532
$GC,232,-1.20,-146.6,20.6,-12.0,19,236,0.00,2.35,0.00,0.000,6,0.000,0.047,2459,1903,3533
$GC,557,-1.15,-146.6,58.6,-10.9,49,561,0.00,2.40,0.00,0.000,4,0.000,0.051,2459,3301,3533
$GC,600,-1.15,-146.6,63.8,-11.3,52,607,0.00,2.38,0.00,0.000,6,0.000,0.044,2459,1902,3533
$GC,920,-1.15,-146.6,100.6,-11.9,75,924,0.00,2.42,0.00,0.000,4,0.000,0.060,2459,499,3534
$GC,998,-1.11,-146.6,110.6,-12.2,78,1005,0.12,2.33,0.00,0.000,6,0.120,0.047,2483,1902,3534
$GC,1313,-1.18,-146.6,141.5,-9.2,94,1317,0.00,2.45,0.00,0.000,4,0.000,0.060,2483,495,3534
$GC,1374,-1.25,-146.6,147.5,-9.8,97,1379,0.12,2.35,0.00,0.000,6,0.078,0.048,2451,1900,3535
$GC,1686,-1.25,-146.6,177.9,-9.5,108,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1903,3535
$GC,1992,-1.25,-146.6,205.7,-8.8,118,1996,0.00,2.40,0.00,0.000,4,0.000,0.057,2451,3304,3534
$GC,2030,-1.25,-146.6,209.2,-9.5,119,2034,0.00,2.38,0.00,0.000,6,0.000,0.044,2451,1885,3534
$GC,2359,-1.25,-146.6,237.9,-8.7,130,2363,0.00,2.40,0.00,0.000,4,0.000,0.061,2451,498,3534
$GC,2390,-1.25,-146.6,240.9,-9.0,131,2395,0.00,2.38,0.00,0.000,6,0.000,0.048,2451,1898,3534
$GC,2725,-1.25,-146.6,270.3,-8.8,142,2729,0.00,2.45,0.00,0.000,4,0.000,0.061,2451,492,3534
$GC,2814,-1.25,-146.6,279.2,-10.2,144,2820,0.00,2.40,0.00,0.000,6,0.000,0.050,2451,1902,3534
$GC,3125,-1.25,-146.6,307.0,-8.6,154,3130,0.00,2.45,0.00,0.000,4,0.000,0.060,2451,493,3534
$GC,3152,-1.25,-146.6,309.5,-9.5,154,3156,0.00,2.38,0.00,0.000,6,0.000,0.046,2451,1898,3534
$GC,3489,-1.25,-146.6,339.1,-8.8,160,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1901,3534
$GC,3792,-1.25,-146.6,366.3,-9.0,165,3796,0.00,2.42,0.00,0.000,4,0.000,0.062,2451,498,3534
$GC,3824,-1.25,-146.6,369.6,-10.3,165,3829,0.00,2.38,0.00,0.000,6,0.000,0.046,2451,1900,3534
$GC,4162,-1.25,-146.6,401.5,-9.4,171,4166,0.00,2.45,0.00,0.000,4,0.000,0.060,2451,493,3533
$GC,4193,-1.25,-146.6,404.8,-10.5,171,4198,0.00,2.38,0.00,0.000,6,0.000,0.047,2451,1901,3533
$GC,4525,-1.25,-146.6,435.8,-9.3,177,4530,0.00,2.45,0.00,0.000,4,0.000,0.064,2451,495,3533
$GC,4587,-1.25,-146.6,441.7,-9.9,178,4591,0.00,2.35,0.00,0.000,6,0.000,0.047,2451,1900,3533
$GC,4951,-1.25,-146.6,472.9,-8.5,184,4955,0.00,2.45,0.00,0.000,4,0.000,0.063,2451,492,3533
$GC,4982,-1.25,-146.6,475.7,-9.4,184,4987,0.00,2.38,0.00,0.000,6,0.000,0.044,2451,1896,3533
$GC,5314,-1.25,-146.6,503.7,-8.5,190,5318,0.00,2.42,0.00,0.000,4,0.000,0.064,2451,500,3534
$GC,5340,-1.25,-146.6,506.2,-9.4,190,5345,0.00,2.38,0.00,0.000,6,0.000,0.042,2451,1900,3533
$GC,5684,-1.25,-146.6,535.5,-8.5,196,5688,0.00,2.45,0.00,0.000,4,0.000,0.067,2451,495,3532
$GC,5727,-1.25,-146.6,539.5,-9.3,196,5731,0.00,2.38,0.00,0.000,6,0.000,0.046,2451,1897,3533
$GC,6048,-1.29,-146.6,565.7,-8.1,202,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1900,3532
$GC,6351,-1.29,-146.6,589.2,-7.8,207,6352,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1900,3532
$GC,6654,-1.34,-146.6,612.9,-7.8,212,6659,0.00,2.45,0.00,0.000,4,0.000,0.062,2451,492,3532
$GC,6716,-1.34,-146.6,617.9,-7.9,213,6720,0.00,2.35,0.00,0.000,6,0.000,0.046,2451,1898,3532
$GC,7080,-1.39,-146.6,646.0,-7.7,219,7085,0.12,2.45,0.00,0.000,4,0.080,0.063,2419,495,3531
$GC,7124,-1.33,-146.6,650.2,-10.4,219,7128,0.00,2.38,0.00,0.000,6,0.000,0.043,2419,1897,3531
$GC,7444,-1.33,-146.6,679.7,-9.3,225,7448,0.00,2.45,0.00,0.000,4,0.000,0.067,2419,490,3532
$GC,7481,-1.27,-146.6,683.5,-10.2,225,7486,0.15,2.38,0.00,0.000,6,0.120,0.044,2449,1891,3531
$GC,7807,-1.31,-146.6,709.7,-8.0,231,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1893,3531
$GC,8110,-1.36,-146.6,733.3,-7.8,236,8112,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1893,3531
$GC,8413,-1.41,-146.6,755.1,-7.2,241,8415,0.12,0.00,0.00,0.000,6,0.081,0.000,2418,1893,3531
$GC,8716,-1.41,-146.6,779.5,-8.0,246,8720,0.00,2.45,0.00,0.000,4,0.000,0.070,2417,494,3531
$GC,8799,-1.36,-146.6,787.0,-9.0,247,8803,0.00,2.38,0.00,0.000,6,0.000,0.045,2417,1906,3531
$GC,9147,-1.36,-146.6,816.0,-8.4,253,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1908,3531
$GC,9451,-1.36,-146.6,842.4,-8.7,258,9456,0.00,2.47,0.00,0.000,4,0.000,0.067,2417,498,3530
$GC,9501,-1.32,-146.6,847.4,-9.7,258,9505,0.12,2.38,0.00,0.000,6,0.126,0.050,2441,1912,3531
$GC,9816,-1.36,-146.6,873.5,-8.3,264,9820,0.00,2.47,0.00,0.000,4,0.000,0.073,2441,501,3530
$GC,9847,-1.36,-146.6,876.5,-10.1,264,9852,0.00,2.38,0.00,0.000,6,0.000,0.044,2441,1900,3530
$GC,10185,-1.36,-146.6,904.5,-8.3,270,10189,0.00,2.47,0.00,0.000,4,0.000,0.074,2441,501,3530
$GC,10216,-1.36,-146.6,907.3,-8.7,270,10221,0.00,2.38,0.00,0.000,6,0.000,0.047,2441,1891,3530
$GC,10549,-1.40,-146.6,933.9,-8.0,276,10553,0.00,2.50,0.00,0.000,4,0.000,0.072,2441,3306,3530
$GC,10575,-1.45,-146.6,936.0,-7.3,276,10581,0.12,2.40,0.00,0.000,6,0.083,0.056,2409,1897,3530
$GC,10906,-1.45,-146.6,964.3,-8.5,282,10907,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,1897,3530
$GC,11209,-1.45,-146.6,989.7,-8.4,287,11213,0.00,2.15,0.00,0.000,3,0.000,0.097,2409,710,3530
$STATE,11214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11214,begin apogee
$GC,11221,-0.33,0.0,990.1,8.4,287,11353,1.12,0.00,128.60,1.360,6,0.108,0.000,2648,2093,2931
$STATE,11354,end apogee,CONTROL_FINISHED_OK
$STATE,11354,begin climb
$GC,11355,1.20,146.6,993.7,0.0,289,11492,1.50,2.72,127.75,1.325,4,0.071,0.094,2983,3515,2332
$GC,11548,1.02,146.6,981.4,10.6,292,11553,0.12,2.55,0.00,0.000,6,0.116,0.069,2956,2104,2329
$GC,11912,0.94,146.6,950.4,8.4,298,11917,0.12,2.55,0.00,0.000,4,0.127,0.075,2933,687,2324
$GC,11933,0.87,146.6,948.6,8.2,298,11938,0.00,2.47,0.00,0.000,6,0.000,0.058,2933,2105,2324
$GC,12276,0.91,172.8,924.2,7.0,304,12302,0.00,0.00,23.67,1.252,6,0.000,0.000,2933,2105,2226
$GC,12579,0.92,181.9,901.1,7.7,309,12593,0.00,2.58,9.38,1.131,4,0.000,0.067,2932,679,2188
$GC,12621,0.92,181.9,897.5,8.4,309,12626,0.00,2.47,0.00,0.000,6,0.000,0.048,2933,2099,2186
$GC,12948,0.92,187.7,871.9,7.8,315,12961,0.00,2.60,6.50,1.034,4,0.000,0.063,2933,680,2165
$GC,12977,0.92,187.7,869.5,8.5,315,12982,0.00,2.47,0.00,0.000,6,0.000,0.047,2933,2097,2164
$GC,13315,0.94,204.7,844.4,7.4,321,13344,0.00,2.55,18.83,1.099,4,0.000,0.067,2933,679,2096
$GC,13361,0.96,220.3,840.8,7.4,321,13382,0.00,2.47,15.82,1.169,6,0.000,0.047,2932,2100,2032
$GC,13741,0.98,232.4,811.9,7.6,328,13766,0.00,2.58,13.57,0.992,4,0.000,0.061,2932,684,1983
$GC,13793,0.98,232.4,807.6,8.7,328,13798,0.00,2.45,0.00,0.000,6,0.000,0.051,2932,2096,1982
$GC,14109,1.03,233.7,782.7,8.0,334,14113,0.00,2.47,0.00,0.000,4,0.000,0.064,2933,684,1980
$GC,14135,1.03,233.7,780.3,8.7,334,14140,0.00,2.45,0.00,0.000,6,0.000,0.051,2933,2103,1980
$GC,14473,1.07,233.7,751.5,8.6,340,14478,0.12,2.50,0.00,0.000,4,0.083,0.067,2963,682,1980
$GC,14499,1.03,233.7,748.7,11.3,340,14503,0.00,2.42,0.00,0.000,6,0.000,0.051,2963,2104,1979
$GC,14836,1.03,233.7,715.0,9.9,346,14837,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2104,1979
$GC,15139,1.03,233.7,685.2,9.8,351,15143,0.00,2.50,0.00,0.000,4,0.000,0.066,2963,674,1979
$GC,15193,0.96,233.7,679.6,10.3,351,15201,0.12,2.42,0.00,0.000,6,0.126,0.051,2940,2099,1978
$GC,15502,0.96,233.7,654.4,8.0,357,15506,0.00,2.50,0.00,0.000,4,0.000,0.064,2940,676,1978
$GC,15518,0.97,243.1,652.9,7.7,357,15533,0.00,2.45,10.48,1.045,6,0.000,0.047,2940,2097,1939
$GC,15865,1.00,266.4,627.7,7.1,363,15894,0.00,2.60,22.02,1.085,4,0.000,0.063,2940,678,1845
$GC,15928,1.02,279.3,622.9,7.5,364,15948,0.00,2.45,13.30,1.027,6,0.000,0.048,2940,2106,1791
$GC,16299,1.08,280.6,594.1,8.0,370,16304,0.10,2.50,0.00,0.000,4,0.086,0.065,2964,680,1786
$GC,16342,1.08,280.6,589.4,10.6,370,16346,0.00,2.45,0.00,0.000,6,0.000,0.053,2965,2096,1786
$GC,16662,1.08,280.6,557.9,9.8,376,16666,0.00,2.45,0.00,0.000,4,0.000,0.064,2964,682,1786
$GC,16688,1.08,280.6,555.1,9.2,376,16693,0.00,2.45,0.00,0.000,6,0.000,0.051,2965,2101,1785
$GC,17032,1.08,280.6,521.0,9.9,382,17036,0.00,2.47,0.00,0.000,4,0.000,0.061,2965,681,1785
$GC,17069,1.08,280.6,516.9,10.0,382,17074,0.00,2.45,0.00,0.000,6,0.000,0.048,2965,2106,1785
$GC,17395,1.08,280.6,483.8,10.2,388,17400,0.00,2.50,0.00,0.000,4,0.000,0.061,2965,677,1784
$GC,17427,1.08,280.6,480.2,10.0,388,17432,0.00,2.42,0.00,0.000,6,0.000,0.044,2965,2093,1784
$GC,17759,1.08,280.6,445.8,10.4,394,17760,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2096,1784
$GC,18062,1.08,280.6,415.3,10.0,399,18066,0.00,2.47,0.00,0.000,4,0.000,0.065,2965,679,1784
$GC,18094,1.08,280.6,411.8,10.6,399,18099,0.00,2.42,0.00,0.000,6,0.000,0.044,2964,2097,1784
$GC,18426,1.08,280.6,381.5,9.0,405,18430,0.00,2.45,0.00,0.000,4,0.000,0.061,2964,678,1784
$GC,18469,1.08,280.6,377.3,10.4,405,18473,0.00,2.42,0.00,0.000,6,0.000,0.044,2965,2100,1784
$GC,18789,1.08,280.6,351.0,8.2,411,18793,0.00,2.47,0.00,0.000,4,0.000,0.059,2965,683,1784
$GC,18816,1.08,280.6,348.7,8.6,411,18820,0.00,2.42,0.00,0.000,6,0.000,0.046,2965,2099,1783
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$GC,22404,1.38,336.1,43.7,7.2,561,22430,0.15,2.53,18.30,0.702,4,0.074,0.064,3030,702,1559
$GC,22470,1.32,336.1,37.3,10.1,567,22474,0.00,2.38,0.00,0.000,6,0.000,0.050,3030,2102,1557
$GC,22795,1.32,336.1,4.8,10.1,597,22799,0.00,2.45,0.00,0.000,4,0.000,0.064,3031,697,1555
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$STATE,22831,end climb,SURFACE_DEPTH_REACHED
$STATE,22831,begin surface coast
$FINISH,1.0,1.025533
$STATE,22843,end surface coast,CONTROL_FINISHED_OK
$STATE,22843,begin surface
$SM_CCo,22921,0.00,0.000,0,0,1552,338.27
$SM_GC,1.76,10.88,0.00,0.00,0.051,0.000,0.000,496,1899,1552,-10.20,-0.03,338.27
$IRIDIUM_FIX,4953.05,-14459.38,070997,101027
$TT8_MAMPS,0.029146
$HUMID,1695
$INTERNAL_PRESSURE,7.63701
$TCM_TEMP,15.20
$XPDR_PINGS,111
$24V_AH,23.3,10.198
$10V_AH,10.1,4.762
$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,26.000,249.300,440.525,0.000,0.000,29.078,26.871,117.691,27.750,0.000,0.000,230.375,1398.134,18971.783,607.121,2073.156,351.510,33.353,1680.705,0.000,1827.340,0.000,0.459
$DEVICE_MAMPS,173.342,97.409,1359.891,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,427.668,485.440,618.301,359.790,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34915,601
$CAP_FILE_SIZE,159204,0
$CFSIZE,260165632,256610304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$GPS,130608,164257,5006.151,-14459.832,210,5.9,229,18.5