version: 66.03
glider: 144
mission: 13
dive: 139
start: 7 15 108 6 26 51
data:
$ID,144
$MISSION,13
$DIVE,139
$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,-39740.113
$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,35
$R_STBD_OVSHOOT,40
$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
$GPS1,062037,5001.448,-14512.712,76,1.8,88,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-61.4
$GPS2,062556,5001.461,-14512.681,43,1.8,43,18.4
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,SW
$TGT_LATLONG,4954.011,-14511.944
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.029,-0.242
$KALMAN_X,8061.5,-117.1,352.9,-25605.0,-463.4
$KALMAN_Y,111145.8,69.2,-71.6,-109390.3,1803.9
$MHEAD_RNG_PITCHd_Wd,154.7,13826,-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,-146.6,0.0,0.0,0,94,0.00,0.00,-72.45,0.000,2,0.000,0.000,496,1892,2822
$GC,96,-1.20,-146.6,3.5,-4.5,7,131,10.50,2.45,-18.55,0.000,4,0.165,0.064,2462,3301,3531
$GC,345,-1.15,-146.6,34.5,-11.6,29,349,0.00,2.33,0.00,0.000,6,0.000,0.040,2462,1897,3534
$GC,671,-1.07,-146.6,72.0,-11.5,59,675,0.15,2.38,0.00,0.000,4,0.112,0.058,2496,499,3535
$GC,754,-1.12,-146.6,81.3,-11.0,66,758,0.00,2.30,0.00,0.000,6,0.000,0.037,2496,1900,3536
$GC,1081,-1.18,-146.6,112.2,-8.9,82,1082,0.12,0.00,0.00,0.000,6,0.070,0.000,2462,1903,3536
$GC,1390,-1.18,-146.6,143.1,-9.7,97,1394,0.00,2.42,0.00,0.000,4,0.000,0.052,2462,493,3536
$GC,1432,-1.18,-146.6,147.5,-10.2,99,1437,0.00,2.35,0.00,0.000,6,0.000,0.038,2461,1896,3536
$GC,1746,-1.18,-146.6,175.2,-8.7,110,1750,0.00,2.38,0.00,0.000,4,0.000,0.054,2461,3304,3536
$GC,1766,-1.18,-146.6,177.1,-8.9,110,1773,0.00,2.35,0.00,0.000,6,0.000,0.038,2462,1901,3536
$GC,2079,-1.18,-146.6,203.7,-8.4,121,2083,0.00,2.40,0.00,0.000,4,0.000,0.054,2462,496,3536
$GC,2144,-1.18,-146.6,209.8,-9.2,123,2149,0.00,2.35,0.00,0.000,6,0.000,0.035,2461,1903,3536
$GC,2479,-1.18,-146.6,237.2,-8.6,134,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,1906,3536
$GC,2785,-1.18,-146.6,264.1,-8.9,144,2789,0.00,2.42,0.00,0.000,4,0.000,0.054,2462,497,3535
$GC,2834,-1.18,-146.6,269.0,-10.1,145,2839,0.00,2.33,0.00,0.000,6,0.000,0.038,2462,1892,3535
$GC,3153,-1.22,-146.6,298.9,-9.8,156,3157,0.00,2.38,0.00,0.000,4,0.000,0.051,2462,3300,3534
$GC,3181,-1.28,-146.6,301.7,-9.9,157,3185,0.00,2.33,0.00,0.000,6,0.000,0.042,2461,1893,3534
$GC,3513,-1.32,-146.6,332.6,-9.3,163,3517,0.00,2.38,0.00,0.000,4,0.000,0.058,2462,499,3534
$GC,3556,-1.32,-146.6,337.0,-9.7,163,3560,0.00,2.33,0.00,0.000,6,0.000,0.038,2461,1892,3533
$GC,3877,-1.37,-146.6,365.4,-8.7,169,3882,0.15,2.40,0.00,0.000,4,0.071,0.053,2418,498,3533
$GC,3932,-1.27,-146.6,371.5,-11.5,169,3939,0.15,2.30,0.00,0.000,6,0.117,0.039,2448,1900,3533
$GC,4240,-1.27,-146.6,400.2,-9.2,175,4245,0.00,2.40,0.00,0.000,4,0.000,0.056,2448,501,3533
$GC,4306,-1.27,-146.6,407.0,-10.1,176,4311,0.00,2.33,0.00,0.000,6,0.000,0.040,2448,1895,3533
$GC,4672,-1.27,-146.6,441.0,-9.3,182,4676,0.00,2.40,0.00,0.000,4,0.000,0.055,2448,501,3532
$GC,4754,-1.27,-146.6,449.4,-9.9,183,4759,0.00,2.33,0.00,0.000,6,0.000,0.042,2448,1895,3532
$GC,5109,-1.27,-146.6,481.0,-8.8,189,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1897,3531
$GC,5412,-1.27,-146.6,506.8,-8.5,194,5416,0.00,2.40,0.00,0.000,4,0.000,0.057,2447,499,3531
$GC,5432,-1.27,-146.6,508.7,-8.6,194,5437,0.00,2.35,0.00,0.000,6,0.000,0.040,2448,1903,3531
$GC,5778,-1.27,-146.6,537.3,-8.3,200,5782,0.00,2.42,0.00,0.000,4,0.000,0.057,2448,494,3531
$GC,5821,-1.27,-146.6,541.6,-9.4,200,5825,0.00,2.33,0.00,0.000,6,0.000,0.037,2448,1900,3530
$GC,6141,-1.27,-146.6,568.4,-8.3,206,6145,0.00,2.40,0.00,0.000,4,0.000,0.056,2448,501,3530
$GC,6173,-1.27,-146.6,571.2,-9.0,206,6178,0.00,2.35,0.00,0.000,6,0.000,0.037,2448,1901,3530
$GC,6511,-1.27,-146.6,597.6,-7.8,212,6515,0.00,2.42,0.00,0.000,4,0.000,0.058,2448,496,3531
$GC,6543,-1.27,-146.6,600.5,-8.1,212,6548,0.00,2.35,0.00,0.000,6,0.000,0.037,2448,1900,3530
$GC,6876,-1.27,-146.6,626.5,-7.8,218,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1902,3530
$GC,7179,-1.27,-146.6,650.2,-7.9,223,7183,0.00,2.42,0.00,0.000,4,0.000,0.062,2448,493,3530
$GC,7235,-1.27,-146.6,654.8,-8.4,223,7239,0.00,2.33,0.00,0.000,6,0.000,0.037,2448,1903,3529
$GC,7544,-1.27,-146.6,679.0,-7.8,228,7548,0.00,2.42,0.00,0.000,4,0.000,0.062,2448,496,3529
$GC,7621,-1.27,-146.6,686.1,-9.2,229,7625,0.00,2.35,0.00,0.000,6,0.000,0.038,2448,1900,3529
$GC,7975,-1.27,-146.6,715.5,-8.2,235,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1903,3529
$GC,8279,-1.31,-146.6,739.9,-8.0,240,8283,0.00,2.42,0.00,0.000,4,0.000,0.061,2448,492,3529
$GC,8305,-1.31,-146.6,742.3,-8.6,240,8309,0.00,2.35,0.00,0.000,6,0.000,0.038,2448,1892,3529
$GC,8649,-1.35,-146.6,768.5,-7.6,246,8653,0.00,2.40,0.00,0.000,4,0.000,0.059,2448,501,3529
$GC,8698,-1.35,-146.6,772.9,-8.9,246,8702,0.00,2.33,0.00,0.000,6,0.000,0.038,2448,1906,3528
$GC,9013,-1.40,-146.6,796.8,-7.6,252,9018,0.10,2.45,0.00,0.000,4,0.083,0.056,2421,494,3529
$GC,9045,-1.34,-146.6,799.5,-8.9,252,9049,0.00,2.33,0.00,0.000,6,0.000,0.041,2421,1900,3528
$GC,9377,-1.34,-146.6,827.3,-8.3,258,9381,0.00,2.42,0.00,0.000,4,0.000,0.064,2420,502,3528
$GC,9420,-1.29,-146.6,831.4,-9.4,258,9425,0.12,2.33,0.00,0.000,6,0.120,0.037,2445,1900,3528
$GC,9742,-1.29,-146.6,855.3,-7.4,264,9746,0.00,2.42,0.00,0.000,4,0.000,0.061,2445,502,3528
$GC,9791,-1.29,-146.6,859.5,-7.7,264,9795,0.00,2.33,0.00,0.000,6,0.000,0.041,2445,1904,3527
$GC,10106,-1.34,-146.6,881.7,-7.0,270,10110,0.00,2.42,0.00,0.000,4,0.000,0.067,2445,502,3527
$GC,10144,-1.34,-146.6,884.8,-8.1,270,10149,0.00,2.35,0.00,0.000,6,0.000,0.039,2445,1897,3527
$GC,10477,-1.39,-146.6,908.5,-7.1,276,10478,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1897,3527
$GC,10780,-1.43,-146.6,929.2,-6.8,281,10785,0.12,2.47,0.00,0.000,4,0.077,0.068,2412,503,3527
$GC,10846,-1.37,-146.6,935.0,-9.2,282,10850,0.00,2.35,0.00,0.000,6,0.000,0.048,2412,1900,3526
$GC,11212,-1.37,-146.6,964.0,-7.9,288,11216,0.00,2.53,0.00,0.000,4,0.000,0.083,2412,500,3526
$GC,11261,-1.30,-146.6,968.2,-8.6,288,11266,0.15,2.40,0.00,0.000,6,0.114,0.050,2441,1898,3526
$GC,11571,-1.35,-146.6,988.9,-6.7,293,11574,0.00,2.55,0.00,0.000,4,0.000,0.087,2440,504,3526
$STATE,11584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11584,begin apogee
$GC,11591,-0.33,0.0,990.2,6.6,293,11721,0.98,0.00,126.43,1.364,6,0.100,0.000,2651,2098,2931
$STATE,11722,end apogee,CONTROL_FINISHED_OK
$STATE,11722,begin climb
$GC,11724,1.20,146.6,992.4,0.0,295,11858,1.48,2.65,124.60,1.332,4,0.071,0.083,2985,3516,2332
$GC,11902,1.01,146.6,980.7,10.7,297,11909,0.20,2.50,0.00,0.000,6,0.117,0.058,2948,2105,2328
$GC,12212,0.95,146.6,953.3,8.8,303,12216,0.00,2.55,0.00,0.000,4,0.000,0.071,2948,680,2325
$GC,12255,0.83,146.6,949.1,10.4,303,12260,0.20,2.45,0.00,0.000,6,0.114,0.048,2909,2111,2325
$GC,12570,0.86,165.9,926.0,7.3,309,12594,0.00,2.60,17.15,1.225,4,0.000,0.065,2909,688,2254
$GC,12616,0.87,176.8,922.4,7.6,309,12634,0.00,2.42,11.05,1.150,6,0.000,0.046,2909,2112,2210
$GC,12936,0.94,188.9,898.3,7.6,315,12955,0.10,2.60,12.12,1.170,4,0.084,0.061,2934,687,2159
$GC,12977,0.94,188.9,894.6,8.8,315,12981,0.00,2.42,0.00,0.000,6,0.000,0.041,2934,2110,2158
$GC,13303,0.94,188.9,866.5,8.6,321,13307,0.00,2.50,0.00,0.000,4,0.000,0.062,2934,680,2156
$GC,13317,0.94,188.9,865.2,8.6,321,13322,0.00,2.42,0.00,0.000,6,0.000,0.041,2933,2104,2156
$GC,13667,0.94,189.1,837.0,8.0,327,13671,0.00,2.45,0.00,0.000,4,0.000,0.062,2934,685,2156
$GC,13693,0.94,189.1,834.7,8.7,327,13698,0.00,2.40,0.00,0.000,6,0.000,0.038,2934,2100,2156
$GC,14036,0.96,202.7,808.7,7.5,333,14055,0.00,2.55,13.27,1.152,4,0.000,0.061,2935,685,2104
$GC,14078,0.98,216.8,805.5,7.5,333,14100,0.00,2.40,14.15,1.142,6,0.000,0.043,2934,2107,2046
$GC,14403,1.00,237.6,781.7,7.2,339,14436,0.00,2.58,21.48,1.082,4,0.000,0.061,2934,684,1961
$GC,14459,1.00,237.6,777.2,8.4,339,14466,0.00,2.42,0.00,0.000,6,0.000,0.044,2934,2100,1960
$GC,14768,1.00,237.9,752.7,8.0,345,14773,0.00,2.45,0.00,0.000,4,0.000,0.057,2934,682,1957
$GC,14789,1.00,237.9,750.7,8.5,345,14794,0.00,2.40,0.00,0.000,6,0.000,0.038,2934,2096,1957
$GC,15133,1.01,239.6,723.1,7.9,351,15134,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2098,1956
$GC,15436,1.01,243.1,699.2,7.9,356,15446,0.00,2.47,5.50,0.900,4,0.000,0.052,2934,678,1939
$GC,15484,1.01,243.1,694.9,8.6,356,15488,0.00,2.42,0.00,0.000,6,0.000,0.042,2934,2103,1939
$GC,15800,1.05,243.1,669.1,8.3,362,15805,0.10,2.47,0.00,0.000,4,0.084,0.058,2960,677,1938
$GC,15837,1.00,243.1,665.1,10.8,362,15842,0.00,2.40,0.00,0.000,6,0.000,0.039,2960,2108,1938
$GC,16163,1.00,243.1,633.4,9.7,368,16167,0.00,2.47,0.00,0.000,4,0.000,0.059,2960,674,1938
$GC,16190,0.96,243.1,630.5,10.9,368,16195,0.12,2.38,0.00,0.000,6,0.118,0.044,2937,2099,1938
$GC,16526,1.00,243.1,601.5,8.6,374,16528,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2101,1938
$GC,16829,1.04,243.1,576.8,8.1,379,16834,0.00,2.45,0.00,0.000,4,0.000,0.061,2937,681,1938
$GC,16856,1.04,243.1,574.5,8.2,379,16861,0.00,2.40,0.00,0.000,6,0.000,0.038,2936,2101,1937
$GC,17196,1.10,248.4,547.9,7.8,385,17207,0.12,2.47,6.20,0.873,4,0.075,0.060,2969,683,1917
$GC,17229,1.04,248.4,544.5,9.2,385,17233,0.00,2.40,0.00,0.000,6,0.000,0.044,2969,2109,1917
$GC,17561,1.04,248.4,515.1,8.8,391,17565,0.00,2.47,0.00,0.000,4,0.000,0.058,2969,675,1916
$GC,17587,0.99,248.4,512.5,9.9,391,17592,0.12,2.38,0.00,0.000,6,0.119,0.038,2945,2101,1916
$GC,17918,1.01,262.4,487.4,7.5,397,17937,0.00,2.55,13.73,0.969,4,0.000,0.054,2945,681,1861
$GC,17970,1.01,262.4,483.0,8.5,397,17975,0.00,2.42,0.00,0.000,6,0.000,0.038,2945,2101,1859
$GC,18285,1.01,262.4,457.9,8.0,403,18290,0.00,2.45,0.00,0.000,4,0.000,0.054,2945,683,1857
$GC,18323,1.01,262.4,454.5,8.3,403,18328,0.00,2.38,0.00,0.000,6,0.000,0.041,2945,2108,1857
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$GC,23000,1.25,284.3,46.6,7.9,566,23012,0.00,2.45,4.22,0.554,4,0.000,0.052,3003,705,1771
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$GC,23349,1.27,308.2,19.6,7.1,598,23376,0.00,2.47,21.70,0.693,4,0.000,0.057,3003,692,1673
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$STATE,23592,end climb,SURFACE_DEPTH_REACHED
$STATE,23592,begin surface coast
$FINISH,1.0,1.018100
$STATE,23627,end surface coast,CONTROL_FINISHED_OK
$STATE,23627,begin surface
$SM_CCo,23645,63.08,0.584,7,0,1300,400.08
$SM_GC,1.67,0.00,0.00,63.08,0.000,0.000,0.584,495,1895,1300,-10.27,-0.14,400.08
$IRIDIUM_FIX,4946.36,-14509.81,081097,232325
$TT8_MAMPS,0.029146
$HUMID,1750
$INTERNAL_PRESSURE,7.65654
$TCM_TEMP,13.80
$XPDR_PINGS,124
$24V_AH,23.4,29.208
$10V_AH,10.2,14.756
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$DEVICE_SECS,25.825,275.650,426.725,63.075,0.000,28.424,27.236,133.825,31.000,0.000,0.000,43.538,1469.720,19461.443,708.207,1986.648,438.589,33.374,1845.411,0.000,1928.282,0.000,0.459
$DEVICE_MAMPS,164.905,87.438,1363.726,583.687,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,440.547,507.537,644.954,379.069,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37961,623
$CAP_FILE_SIZE,171104,0
$CFSIZE,260165632,249274368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,8,0
$GPS,150708,062556,5001.461,-14512.681,43,1.8,43,18.4