version: 66.03
glider: 144
mission: 13
dive: 164
start: 7 22 108 2 33 10
data:
$ID,144
$MISSION,13
$DIVE,164
$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,-41958.062
$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,32
$R_STBD_OVSHOOT,37
$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,0
$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
$GPS1,022638,4953.986,-14430.011,45,1.7,45,18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-61.6
$GPS2,023214,4953.998,-14429.988,65,2.0,65,18.5
$SPEED_LIMITS,0.080,0.243
$TGT_NAME,C_NW
$TGT_LATLONG,5007.510,-14450.889
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.163,0.181
$KALMAN_X,4883.3,63.8,60.7,28498.5,-567.3
$KALMAN_Y,131870.1,-163.5,254.5,-144024.7,165.1
$MHEAD_RNG_PITCHd_Wd,299.4,35242,-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,17,begin dive
$GC,19,-1.20,-146.6,0.0,0.0,0,83,0.00,0.00,-61.70,0.000,2,0.000,0.000,491,1880,2555
$GC,85,-1.20,-146.6,3.0,-3.3,6,132,10.43,2.40,-31.20,0.000,4,0.163,0.065,2459,494,3531
$GC,150,-1.07,-146.6,8.2,-10.8,12,155,0.17,2.33,0.00,0.000,6,0.108,0.030,2494,1911,3532
$GC,474,-1.07,-146.6,45.8,-10.8,42,479,0.00,2.42,0.00,0.000,4,0.000,0.048,2493,499,3534
$GC,518,-1.07,-146.6,50.9,-11.2,45,525,0.00,2.33,0.00,0.000,6,0.000,0.030,2494,1902,3534
$GC,851,-1.07,-146.6,86.7,-10.8,74,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1903,3535
$GC,1161,-1.07,-146.6,117.3,-9.3,89,1165,0.00,2.42,0.00,0.000,4,0.000,0.050,2494,494,3535
$GC,1188,-1.11,-146.6,119.9,-9.5,90,1192,0.00,2.30,0.00,0.000,6,0.000,0.034,2494,1897,3535
$GC,1509,-1.20,-146.6,143.0,-5.7,106,1514,0.12,2.40,0.00,0.000,4,0.070,0.051,2460,501,3536
$GC,1575,-1.20,-146.6,148.2,-8.2,109,1579,0.00,2.30,0.00,0.000,6,0.000,0.035,2459,1898,3536
$GC,1888,-1.20,-146.6,175.8,-9.2,120,1892,0.00,2.40,0.00,0.000,4,0.000,0.050,2459,492,3536
$GC,1932,-1.20,-146.6,180.1,-9.8,121,1936,0.00,2.33,0.00,0.000,6,0.000,0.038,2459,1901,3536
$GC,2261,-1.20,-146.6,210.5,-9.4,132,2265,0.00,2.42,0.00,0.000,4,0.000,0.053,2459,494,3535
$GC,2294,-1.20,-146.6,213.9,-10.6,133,2299,0.00,2.33,0.00,0.000,6,0.000,0.035,2459,1908,3535
$GC,2623,-1.20,-146.6,245.0,-9.2,144,2627,0.00,2.42,0.00,0.000,4,0.000,0.055,2459,498,3535
$GC,2660,-1.20,-146.6,248.7,-9.9,145,2664,0.00,2.30,0.00,0.000,6,0.000,0.033,2459,1901,3534
$GC,2990,-1.20,-146.6,278.1,-8.9,156,2994,0.00,2.40,0.00,0.000,4,0.000,0.054,2459,500,3534
$GC,3072,-1.20,-146.6,286.2,-9.9,158,3076,0.00,2.30,0.00,0.000,6,0.000,0.035,2459,1903,3534
$GC,3419,-1.20,-146.6,316.9,-8.9,167,3423,0.00,2.40,0.00,0.000,4,0.000,0.053,2459,500,3534
$GC,3456,-1.20,-146.6,320.5,-9.7,167,3460,0.00,2.33,0.00,0.000,6,0.000,0.033,2459,1898,3534
$GC,3782,-1.20,-146.6,350.0,-9.0,173,3787,0.00,2.40,0.00,0.000,4,0.000,0.052,2459,500,3533
$GC,3809,-1.20,-146.6,352.7,-10.0,173,3814,0.00,2.33,0.00,0.000,6,0.000,0.034,2459,1897,3533
$GC,4146,-1.20,-146.6,381.8,-8.7,179,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1898,3532
$GC,4450,-1.24,-146.6,406.5,-8.1,184,4454,0.00,2.40,0.00,0.000,4,0.000,0.055,2459,500,3532
$GC,4499,-1.24,-146.6,410.7,-8.5,184,4503,0.00,2.30,0.00,0.000,6,0.000,0.036,2459,1900,3532
$GC,4814,-1.28,-146.6,433.7,-7.2,190,4818,0.00,2.40,0.00,0.000,4,0.000,0.055,2459,501,3532
$GC,4851,-1.28,-146.6,436.6,-8.0,190,4856,0.00,2.33,0.00,0.000,6,0.000,0.033,2459,1897,3532
$GC,5184,-1.34,-146.6,460.0,-7.1,196,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1898,3531
$GC,5487,-1.38,-146.6,482.2,-7.3,201,5492,0.15,2.40,0.00,0.000,4,0.070,0.051,2416,501,3530
$GC,5549,-1.30,-146.6,488.2,-10.1,202,5554,0.15,2.30,0.00,0.000,6,0.118,0.038,2445,1901,3531
$GC,5913,-1.30,-146.6,518.3,-8.3,208,5917,0.00,2.40,0.00,0.000,4,0.000,0.055,2446,501,3530
$GC,5950,-1.30,-146.6,522.0,-9.8,208,5955,0.00,2.33,0.00,0.000,6,0.000,0.040,2445,1895,3531
$GC,6282,-1.30,-146.6,550.1,-8.4,214,6286,0.00,2.40,0.00,0.000,4,0.000,0.054,2445,496,3530
$GC,6331,-1.30,-146.6,554.6,-9.5,214,6335,0.00,2.30,0.00,0.000,6,0.000,0.038,2445,1897,3530
$GC,6645,-1.30,-146.6,581.2,-8.4,220,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1898,3530
$GC,6949,-1.30,-146.6,606.2,-8.2,225,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1898,3529
$GC,7252,-1.30,-146.6,629.9,-7.8,230,7256,0.00,2.40,0.00,0.000,4,0.000,0.058,2446,501,3529
$GC,7278,-1.30,-146.6,632.2,-8.4,230,7283,0.00,2.33,0.00,0.000,6,0.000,0.039,2446,1900,3529
$GC,7616,-1.30,-146.6,658.3,-7.8,236,7620,0.00,2.40,0.00,0.000,4,0.000,0.058,2445,495,3529
$GC,7672,-1.30,-146.6,663.0,-8.5,236,7676,0.00,2.30,0.00,0.000,6,0.000,0.035,2445,1900,3529
$GC,7981,-1.30,-146.6,687.2,-7.8,241,7985,0.00,2.40,0.00,0.000,4,0.000,0.053,2445,501,3528
$GC,8013,-1.30,-146.6,690.1,-8.3,241,8017,0.00,2.30,0.00,0.000,6,0.000,0.040,2445,1901,3528
$GC,8345,-1.30,-146.6,716.4,-8.0,247,8349,0.00,2.42,0.00,0.000,4,0.000,0.053,2445,494,3528
$GC,8376,-1.30,-146.6,719.2,-8.7,247,8381,0.00,2.33,0.00,0.000,6,0.000,0.035,2445,1891,3528
$GC,8708,-1.30,-146.6,746.0,-8.1,253,8712,0.00,2.38,0.00,0.000,4,0.000,0.046,2445,3295,3528
$GC,8735,-1.34,-146.6,748.4,-9.2,253,8739,0.00,2.30,0.00,0.000,6,0.000,0.040,2445,1902,3528
$GC,9072,-1.34,-146.6,775.8,-8.2,259,9076,0.00,2.40,0.00,0.000,4,0.000,0.055,2445,499,3528
$GC,9109,-1.34,-146.6,779.2,-9.3,259,9114,0.00,2.33,0.00,0.000,6,0.000,0.041,2445,1895,3528
$GC,9436,-1.34,-146.6,806.0,-8.2,265,9440,0.00,2.40,0.00,0.000,4,0.000,0.054,2445,499,3527
$GC,9479,-1.34,-146.6,809.9,-8.9,265,9483,0.00,2.33,0.00,0.000,6,0.000,0.040,2445,1892,3527
$GC,9800,-1.38,-146.6,837.3,-8.6,271,9801,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1894,3527
$GC,10103,-1.42,-146.6,862.9,-8.4,276,10107,0.12,2.42,0.00,0.000,4,0.077,0.056,2413,496,3527
$GC,10130,-1.37,-146.6,865.6,-10.4,276,10134,0.00,2.33,0.00,0.000,6,0.000,0.041,2413,1901,3527
$GC,10460,-1.37,-146.6,897.4,-9.6,282,10464,0.00,2.45,0.00,0.000,4,0.000,0.059,2412,498,3526
$GC,10493,-1.30,-146.6,900.7,-9.5,282,10498,0.15,2.33,0.00,0.000,6,0.116,0.039,2442,1898,3526
$GC,10825,-1.30,-146.6,928.5,-8.3,288,10826,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1898,3526
$GC,11128,-1.35,-146.6,953.6,-8.3,293,11132,0.00,2.50,0.00,0.000,4,0.000,0.071,2442,496,3526
$GC,11171,-1.35,-146.6,957.3,-8.2,293,11175,0.00,2.40,0.00,0.000,6,0.000,0.050,2442,1893,3526
$GC,11492,-1.39,-146.6,982.1,-7.7,299,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1892,3526
$STATE,11611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11611,begin apogee
$GC,11616,-0.33,0.0,991.3,7.6,301,11746,0.98,0.00,126.50,1.369,6,0.099,0.000,2651,2099,2931
$STATE,11747,end apogee,CONTROL_FINISHED_OK
$STATE,11747,begin climb
$GC,11748,1.20,146.6,994.9,0.0,303,11883,1.48,2.62,124.95,1.338,4,0.069,0.081,2985,3507,2331
$GC,11950,1.02,146.6,982.1,10.4,306,11955,0.17,2.45,0.00,0.000,6,0.119,0.056,2953,2113,2328
$GC,12298,0.94,146.6,953.8,8.0,312,12302,0.00,2.55,0.00,0.000,4,0.000,0.070,2953,681,2325
$GC,12336,0.82,146.6,950.3,8.7,312,12341,0.22,2.45,0.00,0.000,6,0.115,0.045,2909,2113,2325
$GC,12656,0.87,186.8,929.1,6.5,318,12693,0.00,0.00,35.40,1.280,6,0.000,0.000,2909,2113,2169
$GC,12959,0.98,216.6,908.1,6.9,323,12997,0.15,0.00,29.65,1.187,6,0.071,0.000,2947,2112,2047
$GC,13262,0.98,216.6,881.5,8.9,328,13266,0.00,2.50,0.00,0.000,4,0.000,0.060,2947,681,2041
$GC,13300,0.93,216.6,877.7,10.2,328,13304,0.00,2.40,0.00,0.000,6,0.000,0.041,2947,2114,2040
$GC,13619,0.93,216.6,849.2,8.9,334,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2114,2040
$GC,13922,0.93,216.6,822.1,8.9,339,13926,0.00,2.50,0.00,0.000,4,0.000,0.052,2947,675,2039
$GC,13948,0.93,216.6,819.5,8.9,339,13953,0.00,2.40,0.00,0.000,6,0.000,0.038,2947,2094,2039
$GC,14285,0.93,216.6,788.3,9.3,345,14289,0.00,2.45,0.00,0.000,4,0.000,0.051,2946,677,2039
$GC,14311,0.93,216.6,785.6,9.1,345,14315,0.00,2.40,0.00,0.000,6,0.000,0.040,2947,2098,2038
$GC,14654,0.93,216.6,755.3,8.8,351,14655,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2098,2038
$GC,14957,0.93,216.6,730.3,8.3,356,14961,0.00,2.45,0.00,0.000,4,0.000,0.051,2947,681,2038
$GC,14984,0.93,216.6,727.8,9.3,356,14989,0.00,2.40,0.00,0.000,6,0.000,0.038,2947,2103,2038
$GC,15322,0.93,217.3,701.0,8.0,362,15323,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2104,2038
$GC,15625,0.93,217.3,676.5,8.1,367,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2104,2038
$GC,15928,0.93,217.3,652.2,8.0,372,15932,0.00,2.45,0.00,0.000,4,0.000,0.050,2947,679,2038
$GC,15965,0.93,217.3,648.6,9.5,372,15970,0.00,2.38,0.00,0.000,6,0.000,0.035,2947,2096,2038
$GC,16291,0.93,217.3,621.8,8.2,378,16292,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2099,2038
$GC,16594,0.93,217.3,597.1,8.2,383,16595,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2099,2038
$GC,16898,0.93,217.3,571.8,8.3,388,16902,0.00,2.42,0.00,0.000,4,0.000,0.051,2947,681,2038
$GC,16930,0.93,217.3,568.8,9.6,388,16934,0.00,2.38,0.00,0.000,6,0.000,0.035,2947,2100,2038
$GC,17261,0.93,217.3,540.1,8.7,394,17263,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2102,2037
$GC,17565,0.93,217.3,514.0,8.6,399,17566,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2102,2037
$GC,17868,0.93,217.3,489.0,8.2,404,17872,0.00,2.45,0.00,0.000,4,0.000,0.056,2947,674,2038
$GC,17900,0.93,217.3,486.2,8.0,404,17904,0.00,2.38,0.00,0.000,6,0.000,0.041,2947,2100,2038
$GC,18231,0.95,232.5,461.5,7.4,410,18247,0.00,0.00,13.52,0.954,6,0.000,0.000,2947,2102,1983
$GC,18534,0.97,251.9,439.4,7.3,415,18559,0.00,2.53,17.92,0.952,4,0.000,0.056,2947,690,1903
$GC,18592,0.98,255.5,434.6,7.9,415,18602,0.00,2.38,4.65,0.708,6,0.000,0.038,2947,2107,1889
$GC,18967,0.98,255.5,405.0,8.1,422,18969,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2107,1886
$GC,19271,1.02,255.5,378.2,8.9,427,19275,0.00,2.45,0.00,0.000,4,0.000,0.057,2947,682,1885
$GC,19320,1.02,255.5,373.0,11.7,427,19324,0.00,2.35,0.00,0.000,6,0.000,0.041,2947,2097,1885
$GC,19635,1.06,255.5,344.0,9.2,433,19636,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2099,1884
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$GC,23131,1.26,282.2,49.9,8.9,572,23135,0.00,2.40,0.00,0.000,4,0.000,0.049,3006,695,1781
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$GC,23485,1.37,334.6,23.4,6.1,604,23537,0.00,2.40,45.40,0.692,4,0.000,0.045,3006,3500,1564
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$STATE,23740,end climb,SURFACE_DEPTH_REACHED
$STATE,23740,begin surface coast
$FINISH,1.0,1.024536
$STATE,23763,end surface coast,CONTROL_FINISHED_OK
$STATE,23763,begin surface
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$SM_GC,1.65,0.00,0.00,42.38,0.000,0.000,0.605,492,1893,1300,-10.29,-0.20,400.08
$IRIDIUM_FIX,4939.69,-14432.79,151097,191911
$TT8_MAMPS,0.029146
$HUMID,1790
$INTERNAL_PRESSURE,7.65654
$TCM_TEMP,15.60
$XPDR_PINGS,103
$24V_AH,23.4,33.291
$10V_AH,10.1,16.896
$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
$DEVICE_SECS,25.675,215.275,435.625,42.375,0.000,28.068,26.673,131.935,25.750,0.000,0.000,65.685,1402.162,19888.246,664.561,1793.932,433.253,33.389,1658.636,0.000,1726.680,0.000,0.459
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$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,nil,nil,nil,nil
$SENSOR_SECS,448.376,507.353,652.319,384.330,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38077,630
$CAP_FILE_SIZE,153106,0
$CFSIZE,260165632,247672832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,220708,091138,4956.376,-14433.846,32,1.7,32,18.5