version: 66.03
glider: 144
mission: 13
dive: 153
start: 7 19 108 3 5 1
data:
$ID,144
$MISSION,13
$DIVE,153
$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,-41338.457
$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,28
$R_STBD_OVSHOOT,39
$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
$GPS1,025855,5018.578,-14431.413,109,1.7,114,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-55.5
$GPS2,030407,5018.550,-14431.412,47,1.4,47,18.7
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,NE
$TGT_LATLONG,5021.009,-14429.833
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.085,0.170
$KALMAN_X,5961.7,173.8,104.8,25569.1,-235.3
$KALMAN_Y,125093.3,-169.1,85.1,-91603.6,332.5
$MHEAD_RNG_PITCHd_Wd,7.9,4921,-20.3,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.46,-85.2,0.0,0.0,0,95,0.00,0.00,-72.18,0.000,2,0.000,0.000,492,1897,2779
$GC,97,-1.53,-143.9,3.2,-4.3,7,134,10.02,2.45,-20.25,0.000,4,0.162,0.069,2388,497,3520
$GC,301,-1.43,-143.9,37.4,-15.8,25,309,0.10,2.33,0.00,0.000,6,0.112,0.038,2411,1896,3523
$GC,637,-1.43,-143.9,86.4,-14.9,55,641,0.00,2.40,0.00,0.000,4,0.000,0.050,2412,492,3524
$GC,713,-1.43,-143.9,98.6,-15.0,58,720,0.00,2.33,0.00,0.000,6,0.000,0.031,2411,1893,3524
$GC,1029,-1.43,-143.9,139.2,-11.7,74,1033,0.00,2.38,0.00,0.000,4,0.000,0.046,2411,3302,3525
$GC,1061,-1.51,-143.9,143.1,-11.6,75,1068,0.00,2.33,0.00,0.000,6,0.000,0.033,2411,1895,3525
$GC,1374,-1.58,-143.9,178.6,-11.5,87,1376,0.12,0.00,0.00,0.000,6,0.074,0.000,2379,1894,3525
$GC,1680,-1.58,-143.9,218.6,-12.8,97,1684,0.00,2.38,0.00,0.000,4,0.000,0.057,2379,500,3525
$GC,1728,-1.58,-143.9,225.3,-13.0,98,1733,0.00,2.33,0.00,0.000,6,0.000,0.038,2379,1899,3525
$GC,2047,-1.58,-143.9,265.2,-12.2,109,2051,0.00,2.40,0.00,0.000,4,0.000,0.051,2379,499,3525
$GC,2084,-1.58,-143.9,270.3,-12.8,110,2089,0.00,2.33,0.00,0.000,6,0.000,0.039,2379,1895,3525
$GC,2413,-1.58,-143.9,310.2,-12.4,120,2417,0.00,2.40,0.00,0.000,4,0.000,0.057,2378,495,3524
$GC,2490,-1.58,-143.9,320.1,-12.5,121,2494,0.00,2.35,0.00,0.000,6,0.000,0.040,2378,1901,3524
$GC,2844,-1.58,-143.9,362.8,-12.0,127,2848,0.00,2.40,0.00,0.000,4,0.000,0.050,2379,496,3524
$GC,2921,-1.58,-143.9,372.7,-12.8,128,2925,0.00,2.33,0.00,0.000,6,0.000,0.040,2379,1894,3523
$GC,3281,-1.58,-143.9,414.4,-11.6,134,3285,0.00,2.40,0.00,0.000,4,0.000,0.053,2378,496,3523
$GC,3352,-1.58,-143.9,423.5,-12.5,135,3356,0.00,2.33,0.00,0.000,6,0.000,0.038,2379,1892,3523
$GC,3717,-1.58,-143.9,465.8,-11.5,141,3721,0.00,2.40,0.00,0.000,4,0.000,0.053,2378,496,3522
$GC,3778,-1.58,-143.9,473.4,-12.4,141,3784,0.00,2.30,0.00,0.000,6,0.000,0.041,2378,1898,3521
$GC,4087,-1.58,-143.9,511.6,-12.6,147,4091,0.00,2.40,0.00,0.000,4,0.000,0.057,2378,496,3521
$GC,4158,-1.58,-143.9,521.5,-13.7,148,4163,0.00,2.33,0.00,0.000,6,0.000,0.034,2379,1895,3522
$GC,4524,-1.58,-143.9,566.7,-12.2,154,4528,0.00,2.38,0.00,0.000,4,0.000,0.053,2378,499,3521
$GC,4607,-1.58,-143.9,577.5,-12.5,155,4611,0.00,2.33,0.00,0.000,6,0.000,0.041,2378,1897,3520
$GC,4961,-1.62,-143.9,617.8,-11.3,161,4965,0.00,2.40,0.00,0.000,4,0.000,0.057,2378,498,3519
$GC,5021,-1.62,-143.9,625.0,-12.1,161,5028,0.00,2.33,0.00,0.000,6,0.000,0.040,2378,1905,3519
$GC,5331,-1.67,-143.9,656.9,-10.2,167,5335,0.00,2.40,0.00,0.000,4,0.000,0.058,2378,499,3519
$GC,5425,-1.67,-143.9,667.3,-11.4,168,5429,0.00,2.33,0.00,0.000,6,0.000,0.035,2378,1897,3518
$GC,5768,-1.71,-143.9,701.7,-10.1,174,5773,0.10,2.40,0.00,0.000,4,0.085,0.059,2353,495,3519
$GC,5830,-1.67,-143.9,708.8,-11.8,175,5834,0.00,2.33,0.00,0.000,6,0.000,0.039,2353,1898,3518
$GC,6194,-1.67,-143.9,750.2,-11.4,181,6198,0.00,2.40,0.00,0.000,4,0.000,0.052,2352,501,3518
$GC,6255,-1.62,-143.9,757.8,-13.4,182,6260,0.12,2.30,0.00,0.000,6,0.127,0.042,2375,1902,3518
$GC,6620,-1.66,-143.9,797.4,-10.9,188,6624,0.00,2.42,0.00,0.000,4,0.000,0.057,2375,498,3518
$GC,6730,-1.66,-143.9,811.1,-11.9,189,6735,0.00,2.35,0.00,0.000,6,0.000,0.035,2375,1900,3518
$GC,7052,-1.71,-143.9,846.0,-10.9,195,7056,0.00,2.42,0.00,0.000,4,0.000,0.062,2375,499,3517
$GC,7078,-1.71,-143.9,849.3,-11.5,195,7082,0.00,2.35,0.00,0.000,6,0.000,0.035,2375,1897,3517
$GC,7416,-1.76,-143.9,883.8,-10.2,201,7421,0.15,2.42,0.00,0.000,4,0.074,0.064,2339,504,3518
$GC,7505,-1.68,-143.9,894.7,-12.5,202,7509,0.10,2.33,0.00,0.000,6,0.135,0.041,2356,1906,3517
$GC,7846,-1.68,-143.9,931.2,-10.5,208,7851,0.00,2.47,0.00,0.000,4,0.000,0.064,2356,505,3517
$GC,7924,-1.68,-143.9,940.2,-11.7,209,7928,0.00,2.38,0.00,0.000,6,0.000,0.040,2356,1897,3517
$GC,8278,-1.68,-143.9,977.5,-10.5,215,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,1897,3517
$STATE,8397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8397,begin apogee
$GC,8402,-0.33,0.0,990.6,10.6,217,8530,1.40,0.00,124.18,1.368,6,0.106,0.000,2651,2101,2931
$STATE,8531,end apogee,CONTROL_FINISHED_OK
$STATE,8531,begin climb
$GC,8533,1.53,143.9,994.0,0.0,219,8663,1.80,2.65,122.20,1.334,4,0.067,0.084,3059,3516,2343
$GC,8736,1.34,143.9,977.3,12.8,222,8741,0.20,2.47,0.00,0.000,6,0.128,0.055,3023,2113,2340
$GC,9090,1.27,143.9,939.4,10.6,228,9094,0.00,2.47,0.00,0.000,4,0.000,0.064,3023,3513,2337
$GC,9123,1.17,143.9,935.8,11.1,228,9128,0.20,2.42,0.00,0.000,6,0.127,0.048,2986,2092,2337
$GC,9454,1.17,143.9,906.3,8.8,234,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2092,2335
$GC,9757,1.17,143.9,881.0,8.4,239,9761,0.00,2.42,0.00,0.000,4,0.000,0.061,2986,688,2335
$GC,9789,1.17,143.9,877.9,9.1,239,9793,0.00,2.40,0.00,0.000,6,0.000,0.039,2985,2113,2335
$GC,10126,1.17,143.9,849.3,8.6,245,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2113,2335
$GC,10429,1.17,143.9,822.8,8.8,250,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2113,2335
$GC,10732,1.17,143.9,796.0,8.9,255,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2113,2335
$GC,11036,1.21,143.9,769.5,8.7,260,11040,0.00,2.45,0.00,0.000,4,0.000,0.053,2986,688,2335
$GC,11067,1.21,143.9,766.3,9.7,260,11072,0.00,2.38,0.00,0.000,6,0.000,0.035,2986,2102,2334
$GC,11400,1.25,143.9,738.0,8.5,266,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2102,2334
$GC,11702,1.25,143.9,711.9,8.7,271,11706,0.00,2.38,0.00,0.000,4,0.000,0.048,2986,3504,2334
$GC,11734,1.25,143.9,708.9,8.9,271,11738,0.00,2.38,0.00,0.000,6,0.000,0.032,2985,2086,2334
$GC,12066,1.30,143.9,680.7,8.4,277,12068,0.12,0.00,0.00,0.000,6,0.079,0.000,3016,2086,2334
$GC,12368,1.30,143.9,651.1,9.9,282,12373,0.00,2.42,0.00,0.000,4,0.000,0.053,3016,3508,2334
$GC,12423,1.25,143.9,645.4,10.2,282,12430,0.00,2.33,0.00,0.000,6,0.000,0.033,3016,2101,2334
$GC,12732,1.25,143.9,616.8,9.2,288,12736,0.00,2.40,0.00,0.000,4,0.000,0.058,3016,690,2334
$GC,12776,1.18,143.9,612.4,9.8,288,12781,0.17,2.35,0.00,0.000,6,0.120,0.043,2983,2104,2334
$GC,13096,1.24,149.7,587.6,7.6,294,13103,0.00,0.00,4.90,0.819,6,0.000,0.000,2984,2107,2320
$GC,13399,1.31,158.1,564.7,7.5,299,13414,0.12,2.47,8.80,0.960,4,0.080,0.058,3014,704,2286
$GC,13458,1.25,158.1,559.3,9.5,299,13465,0.00,2.35,0.00,0.000,6,0.000,0.036,3014,2108,2284
$GC,13767,1.25,158.1,532.0,8.8,305,13768,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2109,2285
$GC,14070,1.25,158.1,505.5,8.8,310,14071,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2111,2285
$GC,14373,1.25,158.1,480.2,8.4,315,14377,0.00,2.42,0.00,0.000,4,0.000,0.050,3014,692,2285
$GC,14406,1.21,158.1,477.2,9.2,315,14411,0.12,2.35,0.00,0.000,6,0.127,0.036,2992,2114,2285
$GC,14737,1.27,161.8,451.4,7.8,321,14747,0.00,2.38,4.72,0.748,4,0.000,0.046,2991,3498,2271
$GC,14769,1.32,161.8,448.5,9.3,321,14774,0.10,2.33,0.00,0.000,6,0.084,0.038,3017,2096,2271
$GC,15100,1.32,161.8,416.2,10.0,327,15102,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2096,2271
$GC,15403,1.32,161.8,385.9,9.9,332,15407,0.00,2.38,0.00,0.000,4,0.000,0.057,3017,696,2271
$GC,15463,1.27,161.8,379.7,10.4,332,15470,0.00,2.33,0.00,0.000,6,0.000,0.036,3017,2100,2271
$GC,15772,1.27,161.8,350.9,9.3,338,15773,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2102,2271
$GC,16075,1.27,161.8,322.7,9.3,343,16079,0.00,2.35,0.00,0.000,4,0.000,0.047,3017,3498,2271
$GC,16115,1.27,161.8,319.1,9.3,343,16119,0.00,2.30,0.00,0.000,6,0.000,0.034,3017,2099,2271
$GC,16435,1.27,161.8,290.6,8.8,350,16439,0.00,2.38,0.00,0.000,4,0.000,0.053,3017,698,2270
$GC,16489,1.27,161.8,285.4,9.3,351,16495,0.00,2.35,0.00,0.000,6,0.000,0.038,3017,2115,2270
$GC,16801,1.27,161.8,258.9,8.2,362,16802,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2117,2271
$GC,17107,1.27,161.8,233.7,8.3,372,17111,0.00,2.40,0.00,0.000,4,0.000,0.052,3016,699,2270
$GC,17141,1.27,161.8,230.7,8.2,373,17145,0.00,2.33,0.00,0.000,6,0.000,0.038,3017,2106,2270
$GC,17475,1.27,161.8,203.2,8.3,384,17479,0.00,2.40,0.00,0.000,4,0.000,0.052,3017,697,2270
$GC,17507,1.27,161.8,200.4,8.2,385,17511,0.00,2.33,0.00,0.000,6,0.000,0.039,3017,2093,2270
$GC,17842,1.27,165.4,174.6,7.8,396,17849,0.00,0.00,5.03,0.646,6,0.000,0.000,3017,2097,2256
$GC,18149,1.27,165.4,149.1,8.5,406,18150,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2097,2255
$GC,18458,1.33,165.4,121.7,8.3,421,18462,0.00,2.38,0.00,0.000,4,0.000,0.046,3017,3501,2255
$GC,18485,1.39,179.2,119.7,7.1,422,18504,0.00,2.30,12.77,0.740,6,0.000,0.038,3017,2097,2200
$GC,18828,1.51,207.8,99.2,6.2,439,18858,0.15,2.45,24.67,0.746,4,0.073,0.046,3059,3502,2082
$GC,18879,1.51,207.8,94.7,9.1,441,18886,0.00,2.35,0.00,0.000,6,0.000,0.033,3059,2109,2080
$GC,19199,1.51,207.8,67.6,8.5,463,19203,0.00,2.40,0.00,0.000,4,0.000,0.050,3059,698,2078
$GC,19332,1.51,207.8,55.3,8.8,474,19340,0.00,2.35,0.00,0.000,6,0.000,0.042,3059,2098,2077
$GC,19659,1.52,211.6,28.9,7.8,505,19663,0.00,2.40,0.00,0.000,4,0.000,0.049,3059,691,2076
$GC,19698,1.53,225.6,25.7,7.1,508,19721,0.00,2.33,15.00,0.684,6,0.000,0.038,3059,2106,2010
$GC,20039,1.59,225.6,3.1,8.6,540,20043,0.00,2.35,0.00,0.000,4,0.000,0.048,3059,3494,2006
$STATE,20046,end climb,SURFACE_DEPTH_REACHED
$STATE,20046,begin surface coast
$FINISH,1.0,1.024935
$STATE,20070,end surface coast,CONTROL_FINISHED_OK
$STATE,20070,begin surface
$SM_CCo,20091,138.82,0.658,0,0,1300,400.08
$SM_GC,1.51,0.00,0.00,138.82,0.000,0.000,0.658,497,1902,1300,-10.26,0.06,400.08
$IRIDIUM_FIX,4959.75,-14436.75,121097,202014
$TT8_MAMPS,0.029146
$HUMID,1739
$INTERNAL_PRESSURE,7.66631
$TCM_TEMP,18.00
$XPDR_PINGS,87
$24V_AH,23.4,31.503
$10V_AH,10.2,15.967
$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,26.000,186.075,322.275,138.825,0.000,28.162,26.040,128.079,21.750,0.000,0.000,47.216,1238.587,16554.117,638.068,1740.284,374.150,33.359,1572.458,0.000,1676.474,0.000,0.459
$DEVICE_MAMPS,161.837,100.477,1368.328,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,384.467,427.499,556.139,344.330,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31784,542
$CAP_FILE_SIZE,134671,0
$CFSIZE,260165632,248410112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,190708,084357,5021.239,-14430.513,50,2.9,69,18.7