version: 66.03
glider: 143
mission: 4
dive: 16
start: 4 6 108 22 11 51
data:
$ID,143
$MISSION,4
$DIVE,16
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,350
$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,330
$T_MISSION,360
$T_ABORT,720
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51457
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,120
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,8
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4262.6436
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,182
$ROLL_MAX,3816
$ROLL_DEG,40
$C_ROLL_DIVE,2260
$C_ROLL_CLIMB,2134
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3964
$C_VBD,3071
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PRESSURE_YINT,-13.47135
$PRESSURE_SLOPE,9.1530041e-05
$AD7714Ch0Gain,64
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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
$DEVICE5,87
$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,0.0043273759
$SEABIRD_T_H,0.00064184016
$SEABIRD_T_I,2.4188148e-05
$SEABIRD_T_J,2.4070987e-06
$SEABIRD_C_G,-10.197048
$SEABIRD_C_H,1.1695373
$SEABIRD_C_I,-0.0015330453
$SEABIRD_C_J,0.00015523176
$GPS1,220138,5933.104,-1942.841,35,1.8,35,-14.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-42.9
$GPS2,221132,5933.061,-1942.766,9,1.6,14,-14.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5927.662,-1938.014
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,134.1,20000,-15.7,-10.000
$D_GRID,990
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-0.82,-194.7,0.0,0.0,0,128,0.00,0.00,-101.32,0.000,2,0.000,0.000,1467,2241,3680
$GC,130,-0.82,-194.7,4.0,-8.4,14,154,9.77,2.83,-3.80,0.000,4,0.252,0.063,2611,851,3867
$GC,260,-0.75,-194.7,36.1,-18.3,37,269,0.10,2.78,0.00,0.000,6,0.341,0.045,2628,2243,3869
$GC,396,-0.67,-194.7,56.7,-13.2,62,404,0.15,0.00,0.00,0.000,6,0.147,0.000,2653,2243,3869
$GC,530,-0.67,-194.7,73.0,-10.9,87,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2243,3869
$GC,663,-0.67,-194.7,93.1,-14.0,112,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2243,3869
$GC,796,-0.67,-194.7,113.2,-14.2,137,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2243,3869
$GC,930,-0.67,-194.7,130.8,-13.0,162,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2243,3869
$GC,1063,-0.67,-194.7,148.4,-12.9,187,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2243,3869
$GC,1201,-0.67,-194.7,167.3,-13.9,212,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2243,3869
$GC,1533,-0.67,-194.7,210.8,-12.1,273,1539,0.00,2.85,0.00,0.000,4,0.000,0.058,2653,3676,3869
$GC,1546,-0.67,-194.7,212.5,-12.2,275,1553,0.00,2.75,0.00,0.000,6,0.000,0.040,2653,2248,3869
$GC,1874,-0.67,-194.7,253.5,-12.4,336,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2245,3869
$GC,2207,-0.67,-194.7,295.9,-13.2,397,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2245,3869
$GC,2535,-0.67,-194.7,337.9,-12.2,458,2543,0.00,2.85,0.00,0.000,4,0.000,0.055,2652,3675,3869
$GC,2556,-0.67,-194.7,340.3,-12.8,461,2562,0.00,2.72,0.00,0.000,6,0.000,0.041,2653,2251,3869
$GC,2892,-0.67,-194.7,382.7,-12.6,522,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2248,3868
$GC,3230,-0.67,-194.7,425.7,-12.3,583,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2247,3869
$GC,3569,-0.67,-194.7,468.5,-12.6,644,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2247,3869
$GC,3912,-0.67,-194.7,511.1,-12.5,705,3918,0.00,2.80,0.00,0.000,4,0.000,0.054,2653,3675,3869
$GC,3945,-0.67,-194.7,515.5,-12.5,711,3952,0.00,2.70,0.00,0.000,6,0.000,0.041,2653,2264,3869
$GC,4287,-0.67,-194.7,556.5,-11.7,768,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2260,3868
$GC,4605,-0.67,-194.7,593.0,-11.6,798,4606,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2260,3868
$GC,4924,-0.67,-194.7,631.4,-12.5,828,4925,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2260,3868
$GC,5242,-0.67,-194.7,671.9,-12.8,858,5243,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2260,3868
$GC,5562,-0.67,-194.7,711.4,-12.1,888,5567,0.00,2.83,0.00,0.000,4,0.000,0.064,2653,3670,3868
$GC,5589,-0.67,-194.7,714.8,-12.5,890,5594,0.00,2.75,0.00,0.000,6,0.000,0.051,2653,2266,3868
$GC,5913,-0.67,-194.7,752.2,-11.4,920,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2266,3868
$GC,6231,-0.67,-194.7,788.3,-11.2,950,6236,0.00,2.83,0.00,0.000,4,0.000,0.063,2653,3677,3868
$GC,6247,-0.67,-194.7,790.1,-11.2,951,6251,0.00,2.75,0.00,0.000,6,0.000,0.051,2653,2270,3868
$GC,6571,-0.67,-194.7,826.7,-11.4,981,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2270,3868
$GC,6889,-0.67,-194.7,863.0,-11.4,1011,6894,0.00,2.83,0.00,0.000,4,0.000,0.063,2652,3679,3868
$GC,6905,-0.67,-194.7,864.9,-11.6,1012,6910,0.00,2.75,0.00,0.000,6,0.000,0.051,2653,2269,3868
$GC,7230,-0.67,-194.7,901.2,-11.0,1042,7234,0.00,2.80,0.00,0.000,4,0.000,0.064,2653,3670,3868
$GC,7239,-0.67,-194.7,902.4,-11.1,1042,7246,0.00,2.72,0.00,0.000,6,0.000,0.048,2653,2282,3867
$GC,7564,-0.67,-194.7,937.0,-10.3,1073,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2282,3867
$GC,7882,-0.67,-194.7,971.0,-11.2,1103,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2282,3867
$STATE,8050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8051,begin apogee
$GC,8055,-0.19,0.0,990.5,12.1,1119,8264,0.60,0.00,201.48,1.581,6,0.116,0.000,2757,2121,3071
$STATE,8265,end apogee,CONTROL_FINISHED_OK
$STATE,8265,begin climb
$GC,8266,0.82,194.7,1002.4,0.0,1140,8480,1.23,3.17,199.93,1.411,4,0.084,0.058,2972,3552,2275
$GC,8559,0.68,194.7,981.8,13.2,1168,8565,0.15,3.00,0.00,0.000,6,0.142,0.051,2952,2136,2273
$GC,8883,0.55,194.7,943.5,12.0,1198,8888,0.17,2.95,0.00,0.000,4,0.137,0.069,2924,725,2271
$GC,9040,0.51,208.5,927.6,9.5,1211,9059,0.00,2.80,13.93,1.384,6,0.000,0.045,2923,2136,2221
$GC,9385,0.48,222.3,895.0,9.5,1244,9407,0.00,3.00,15.73,1.428,4,0.000,0.070,2924,716,2163
$GC,9513,0.49,233.1,882.2,9.6,1255,9531,0.00,2.85,12.35,1.272,6,0.000,0.045,2924,2149,2120
$GC,9848,0.50,238.2,849.2,9.8,1287,9860,0.00,2.97,6.28,1.132,4,0.000,0.068,2923,722,2101
$GC,9864,0.36,238.2,847.4,10.7,1288,9872,0.28,2.83,0.00,0.000,6,0.114,0.044,2879,2150,2101
$GC,10189,0.62,367.2,828.1,5.5,1319,10325,0.25,0.00,131.23,1.343,6,0.052,0.000,2935,2150,1574
$GC,10650,0.62,367.2,776.8,11.8,1363,10655,0.00,3.00,0.00,0.000,4,0.000,0.070,2935,722,1565
$GC,10757,0.62,367.2,764.6,11.0,1372,10762,0.00,2.83,0.00,0.000,6,0.000,0.044,2935,2150,1563
$GC,11081,0.62,367.2,727.8,11.3,1402,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2151,1563
$GC,11399,0.62,367.2,691.7,11.4,1432,11404,0.00,2.95,0.00,0.000,4,0.000,0.068,2935,715,1562
$GC,11426,0.62,367.2,688.7,11.7,1434,11431,0.00,2.75,0.00,0.000,6,0.000,0.042,2935,2137,1561
$GC,11751,0.62,367.2,652.8,11.6,1464,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2137,1561
$GC,12069,0.62,367.2,616.2,11.3,1494,12073,0.00,2.88,0.00,0.000,4,0.000,0.064,2935,715,1561
$GC,12107,0.62,367.2,611.9,10.8,1497,12111,0.00,2.70,0.00,0.000,6,0.000,0.041,2935,2122,1560
$GC,12431,0.62,367.2,575.3,11.1,1527,12435,0.00,2.80,0.00,0.000,4,0.000,0.051,2935,3550,1560
$GC,12451,0.62,367.2,572.8,12.1,1528,12458,0.00,2.85,0.00,0.000,6,0.000,0.044,2935,2102,1560
$GC,12782,0.62,367.2,537.3,11.5,1569,12788,0.00,2.72,0.00,0.000,4,0.000,0.061,2935,724,1560
$GC,12815,0.62,367.2,533.3,10.1,1575,12822,0.00,2.65,0.00,0.000,6,0.000,0.039,2935,2122,1560
$GC,13155,0.62,367.2,496.2,10.8,1636,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2123,1560
$GC,13499,0.62,367.2,458.8,11.2,1697,13505,0.00,2.78,0.00,0.000,4,0.000,0.060,2935,727,1560
$GC,13532,0.62,367.2,454.8,10.7,1703,13538,0.00,2.60,0.00,0.000,6,0.000,0.038,2935,2100,1560
$GC,13871,0.62,367.2,417.0,11.5,1764,13879,0.00,2.83,0.00,0.000,4,0.000,0.051,2935,3540,1559
$GC,13904,0.62,367.2,413.5,11.3,1769,13910,0.00,2.80,0.00,0.000,6,0.000,0.044,2935,2091,1560
$GC,14243,0.62,367.2,375.5,11.0,1830,14249,0.00,2.70,0.00,0.000,4,0.000,0.061,2935,719,1560
$GC,14285,0.67,367.2,371.1,11.2,1837,14291,0.00,2.60,0.00,0.000,6,0.000,0.038,2935,2096,1560
$GC,14622,0.67,367.2,334.7,10.2,1898,14630,0.00,2.83,0.00,0.000,4,0.000,0.051,2935,3538,1560
$GC,14657,0.73,367.2,330.8,11.0,1904,14665,0.08,2.83,0.00,0.000,6,0.067,0.044,2955,2090,1560
$GC,14991,0.67,367.2,286.6,13.6,1965,14997,0.00,2.70,0.00,0.000,4,0.000,0.061,2956,719,1560
$GC,15018,0.67,367.2,282.3,13.7,1970,15026,0.00,2.62,0.00,0.000,6,0.000,0.038,2955,2095,1559
$GC,15352,0.62,367.2,237.7,13.8,2031,15359,0.00,2.80,0.00,0.000,4,0.000,0.049,2955,3543,1560
$GC,15377,0.62,367.2,234.2,14.4,2035,15383,0.00,2.80,0.00,0.000,6,0.000,0.044,2956,2089,1560
$GC,15706,0.57,367.2,188.1,13.5,2096,15715,0.15,2.70,0.00,0.000,4,0.127,0.061,2929,727,1560
$GC,15738,0.57,367.2,184.4,11.4,2101,15745,0.00,2.58,0.00,0.000,6,0.000,0.038,2929,2104,1560
$GC,16069,0.68,422.1,154.3,8.1,2162,16127,0.00,2.95,51.95,1.043,4,0.000,0.051,2929,3549,1350
$GC,16156,0.81,431.8,146.7,9.7,2176,16173,0.20,2.90,10.55,0.798,6,0.047,0.042,2976,2100,1310
$GC,16301,0.71,431.8,123.8,17.4,2202,16308,0.00,2.80,0.00,0.000,4,0.000,0.061,2976,728,1306
$GC,16347,0.71,431.8,115.7,16.2,2210,16355,0.10,2.67,0.00,0.000,6,0.125,0.038,2958,2091,1305
$GC,16482,0.71,431.8,96.3,13.1,2235,16490,0.00,2.90,0.00,0.000,4,0.000,0.050,2959,3541,1305
$GC,16502,0.71,431.8,93.4,14.5,2238,16510,0.00,2.92,0.00,0.000,6,0.000,0.043,2959,2072,1304
$GC,16636,0.71,431.8,77.1,11.9,2263,16644,0.00,2.72,0.00,0.000,4,0.000,0.062,2958,727,1304
$GC,16667,0.71,431.8,73.1,13.6,2268,16675,0.00,2.62,0.00,0.000,6,0.000,0.038,2959,2075,1303
$GC,16801,0.71,431.8,55.1,14.7,2293,16809,0.00,2.92,0.00,0.000,4,0.000,0.051,2959,3543,1303
$GC,16821,0.71,431.8,51.9,15.2,2296,16830,0.00,3.00,0.00,0.000,6,0.000,0.046,2958,2038,1303
$GC,16956,0.71,431.8,35.4,13.0,2321,16964,0.00,2.65,0.00,0.000,4,0.000,0.062,2958,728,1302
$GC,16987,0.71,431.8,31.6,12.4,2326,16995,0.00,2.55,0.00,0.000,6,0.000,0.038,2958,2042,1302
$GC,17121,0.71,431.8,12.5,14.0,2351,17129,0.00,2.97,0.00,0.000,4,0.000,0.051,2958,3541,1302
$GC,17152,0.71,431.8,8.3,12.0,2356,17159,0.00,2.97,0.00,0.000,6,0.000,0.044,2958,2037,1302
$STATE,17207,end climb,SURFACE_DEPTH_REACHED
$STATE,17207,begin surface coast
$FINISH,0.2,1.027336
$STATE,17219,end surface coast,CONTROL_FINISHED_OK
$STATE,17219,begin surface
$SM_CCo,17294,0.00,0.000,0,0,1299,434.67
$SM_GC,0.72,7.30,0.00,0.00,0.045,0.000,0.000,1471,2277,1299,-6.08,0.48,434.67
$IRIDIUM_FIX,5915.45,-1934.65,010797,222214
$TT8_MAMPS,0.021476
$HUMID,1630
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.60
$XPDR_PINGS,393
$24V_AH,19.9,15.440
$10V_AH,9.8,7.599
$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,20.525,174.700,643.400,0.000,0.000,58.216,97.672,258.905,98.250,0.000,0.000,16.302,3624.750,7416.907,760.394,5387.056,674.193,0.000,2699.353,0.000,5400.104,0.000,0.470
$DEVICE_MAMPS,341.315,69.797,1580.787,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1712.605,1706.159,1037.728,1430.545,2797.580,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,177244,2368
$CAP_FILE_SIZE,196357,0
$CFSIZE,260165632,255983616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,030108,5930.334,-1932.300,29,1.0,29,-14.0