version: 66.03
glider: 143
mission: 4
dive: 20
start: 4 7 108 18 12 40
data:
$ID,143
$MISSION,4
$DIVE,20
$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,270
$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,-4358.3896
$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,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,15
$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
$GPS1,180502,5920.585,-1923.122,39,1.6,39,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-47.6
$GPS2,181221,5920.471,-1923.025,12,1.5,12,-13.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5920.471,-1928.532
$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,283.8,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,129,0.00,0.00,-101.28,0.000,2,0.000,0.000,1464,2264,3638
$GC,131,-0.82,-194.7,3.9,-7.8,14,154,9.95,2.92,-4.68,0.000,4,0.256,0.073,2613,3670,3867
$GC,297,-0.73,-194.7,39.1,-18.0,44,305,0.12,2.78,0.00,0.000,6,0.138,0.039,2634,2256,3868
$GC,432,-0.66,-194.7,60.5,-14.9,69,439,0.12,0.00,0.00,0.000,6,0.155,0.000,2650,2254,3868
$GC,566,-0.66,-194.7,78.6,-12.9,94,574,0.00,2.80,0.00,0.000,4,0.000,0.055,2650,857,3868
$GC,591,-0.66,-194.7,82.2,-14.2,98,598,0.00,2.75,0.00,0.000,6,0.000,0.044,2650,2258,3868
$GC,724,-0.66,-194.7,100.1,-13.8,123,732,0.00,2.85,0.00,0.000,4,0.000,0.058,2650,3671,3868
$GC,754,-0.66,-194.7,104.1,-13.2,128,762,0.00,2.75,0.00,0.000,6,0.000,0.039,2650,2260,3868
$GC,889,-0.66,-194.7,121.6,-13.2,153,897,0.00,2.80,0.00,0.000,4,0.000,0.054,2650,853,3868
$GC,914,-0.66,-194.7,125.2,-13.8,157,922,0.00,2.78,0.00,0.000,6,0.000,0.045,2650,2260,3868
$GC,1048,-0.66,-194.7,142.7,-12.0,182,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2260,3868
$GC,1185,-0.66,-194.7,160.5,-13.0,207,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2260,3869
$GC,1513,-0.66,-194.7,203.8,-13.2,268,1521,0.00,2.83,0.00,0.000,4,0.000,0.058,2650,3671,3868
$GC,1555,-0.66,-194.7,209.1,-12.3,275,1561,0.00,2.70,0.00,0.000,6,0.000,0.040,2650,2265,3868
$GC,1884,-0.66,-194.7,254.3,-13.7,336,1892,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2261,3868
$GC,2217,-0.66,-194.7,297.7,-12.6,397,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2261,3868
$GC,2545,-0.66,-194.7,339.4,-12.4,458,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2261,3868
$GC,2883,-0.66,-194.7,382.0,-12.7,519,2889,0.00,2.78,0.00,0.000,4,0.000,0.053,2650,3679,3868
$GC,2910,-0.66,-194.7,385.6,-13.2,524,2918,0.00,2.72,0.00,0.000,6,0.000,0.040,2650,2268,3868
$GC,3254,-0.66,-194.7,427.7,-11.9,585,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2264,3868
$GC,3592,-0.66,-194.7,468.8,-12.4,646,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2265,3868
$GC,3931,-0.66,-194.7,510.8,-12.2,707,3936,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2265,3869
$GC,4275,-0.66,-194.7,552.8,-11.9,767,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2265,3868
$GC,4596,-0.66,-194.7,591.7,-12.3,797,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2265,3868
$GC,4913,-0.66,-194.7,630.5,-12.7,827,4917,0.00,2.80,0.00,0.000,4,0.000,0.058,2650,3682,3868
$GC,4939,-0.66,-194.7,633.9,-13.4,829,4944,0.00,2.72,0.00,0.000,6,0.000,0.044,2650,2268,3868
$GC,5265,-0.66,-194.7,673.4,-12.5,859,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2268,3868
$GC,5582,-0.66,-194.7,712.7,-12.3,889,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2268,3868
$GC,5900,-0.66,-194.7,752.3,-12.2,919,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2268,3868
$GC,6219,-0.66,-194.7,791.3,-12.6,949,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2268,3868
$GC,6537,-0.66,-194.7,831.4,-12.5,979,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2268,3868
$GC,6856,-0.66,-194.7,870.2,-11.9,1009,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2268,3868
$GC,7174,-0.66,-194.7,907.1,-11.5,1039,7179,0.00,2.83,0.00,0.000,4,0.000,0.064,2650,3678,3868
$GC,7207,-0.66,-194.7,910.9,-11.7,1041,7213,0.00,2.75,0.00,0.000,6,0.000,0.049,2650,2267,3868
$GC,7533,-0.66,-194.7,947.4,-11.1,1072,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2267,3868
$GC,7850,-0.66,-194.7,982.2,-11.3,1102,7854,0.00,2.83,0.00,0.000,4,0.000,0.063,2650,3678,3867
$GC,7876,-0.66,-194.7,985.2,-12.2,1104,7881,0.00,2.75,0.00,0.000,6,0.000,0.051,2650,2269,3867
$STATE,7923,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7923,begin apogee
$GC,7927,-0.19,0.0,990.3,11.2,1108,8136,0.62,0.00,200.80,1.574,6,0.121,0.000,2757,2044,3071
$STATE,8136,end apogee,CONTROL_FINISHED_OK
$STATE,8137,begin climb
$GC,8138,0.82,194.7,998.6,0.0,1129,8347,1.20,3.15,198.52,1.381,4,0.083,0.074,2971,644,2276
$GC,8441,0.69,194.7,973.3,12.9,1157,8449,0.12,2.92,0.00,0.000,6,0.140,0.044,2955,2061,2273
$GC,8766,0.55,194.7,932.8,12.8,1188,8771,0.20,2.90,0.00,0.000,4,0.140,0.059,2923,3467,2271
$GC,8839,0.51,194.7,924.9,10.7,1194,8844,0.00,2.85,0.00,0.000,6,0.000,0.051,2924,2068,2271
$GC,9166,0.48,214.4,893.9,9.3,1224,9191,0.00,2.90,19.73,1.428,4,0.000,0.058,2923,3464,2197
$GC,9236,0.48,215.0,886.8,10.0,1230,9240,0.00,2.85,0.00,0.000,6,0.000,0.050,2923,2066,2195
$GC,9560,0.49,220.3,855.4,9.8,1260,9575,0.00,3.00,7.28,1.174,4,0.000,0.071,2923,640,2173
$GC,9676,0.49,220.3,843.3,10.2,1270,9683,0.00,2.88,0.00,0.000,6,0.000,0.044,2924,2101,2172
$GC,10001,0.52,243.4,812.7,9.2,1301,10033,0.00,3.10,24.80,1.375,4,0.000,0.071,2924,640,2078
$GC,10128,0.54,261.9,800.5,9.4,1312,10155,0.00,2.90,19.55,1.276,6,0.000,0.043,2923,2104,2003
$GC,10473,0.57,288.5,768.1,9.1,1345,10507,0.00,2.85,27.85,1.321,4,0.000,0.058,2923,3459,1894
$GC,10536,0.59,308.1,762.2,9.3,1351,10562,0.00,2.80,20.62,1.197,6,0.000,0.050,2923,2093,1815
$GC,10880,0.61,319.8,730.1,9.6,1383,10901,0.00,3.08,12.90,1.289,4,0.000,0.071,2923,646,1767
$GC,11005,0.63,339.4,718.2,9.3,1394,11036,0.00,2.90,21.83,1.200,6,0.000,0.042,2923,2117,1686
$GC,11353,0.68,373.3,686.2,8.8,1427,11396,0.12,3.17,34.35,1.254,4,0.071,0.070,2948,638,1548
$GC,11491,0.68,373.3,670.3,11.1,1439,11497,0.00,2.92,0.00,0.000,6,0.000,0.041,2948,2111,1546
$GC,11816,0.63,373.3,629.0,13.0,1470,11820,0.00,2.67,0.00,0.000,4,0.000,0.052,2948,3463,1544
$GC,11832,0.59,373.3,626.8,12.7,1471,11837,0.00,2.72,0.00,0.000,6,0.000,0.045,2948,2089,1542
$GC,12156,0.54,373.3,585.6,12.8,1501,12158,0.17,0.00,0.00,0.000,6,0.124,0.000,2922,2089,1542
$GC,12475,0.66,419.7,557.4,8.4,1531,12525,0.00,0.00,46.95,1.194,6,0.000,0.000,2921,2089,1360
$GC,12856,0.83,485.4,525.7,7.7,1592,12932,0.25,0.00,68.18,1.125,6,0.051,0.000,2980,2089,1091
$GC,13268,0.68,485.4,439.5,21.2,1665,13275,0.17,2.95,0.00,0.000,4,0.142,0.063,2952,642,1085
$GC,13294,0.59,485.4,434.2,19.8,1669,13300,0.15,2.85,0.00,0.000,6,0.115,0.038,2929,2109,1082
$GC,13635,0.76,537.6,403.6,8.2,1730,13698,0.15,3.12,53.45,1.070,4,0.060,0.062,2966,639,878
$GC,13715,0.76,537.6,393.0,15.0,1744,13724,0.00,2.90,0.00,0.000,6,0.000,0.038,2966,2087,876
$GC,14057,0.72,537.6,338.3,16.5,1805,14063,0.00,2.95,0.00,0.000,4,0.000,0.063,2966,642,874
$GC,14092,0.72,537.6,332.7,14.5,1811,14098,0.00,2.75,0.00,0.000,6,0.000,0.038,2966,2068,872
$GC,14422,0.72,537.6,280.7,16.8,1872,14429,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2068,872
$GC,14755,0.72,537.6,226.9,16.7,1933,14761,0.00,2.88,0.00,0.000,4,0.000,0.062,2966,643,872
$GC,14794,0.72,537.6,220.7,14.6,1940,14802,0.00,2.72,0.00,0.000,6,0.000,0.038,2966,2053,870
$GC,15129,0.72,537.6,168.8,16.8,2001,15134,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2053,870
$GC,15450,0.72,537.6,116.6,16.8,2062,15458,0.00,2.88,0.00,0.000,4,0.000,0.064,2966,644,870
$GC,15481,0.72,537.6,111.4,15.8,2067,15489,0.00,2.70,0.00,0.000,6,0.000,0.038,2966,2044,869
$GC,15615,0.72,537.6,91.7,15.9,2092,15623,0.00,2.78,0.00,0.000,4,0.000,0.049,2966,3453,869
$GC,15631,0.72,537.6,89.3,15.4,2094,15639,0.00,2.80,0.00,0.000,6,0.000,0.044,2965,2033,869
$GC,15765,0.72,537.6,70.6,15.7,2119,15773,0.00,2.83,0.00,0.000,4,0.000,0.065,2966,635,869
$GC,15791,0.72,537.6,66.5,16.0,2123,15799,0.00,2.65,0.00,0.000,6,0.000,0.038,2966,2017,868
$GC,15925,0.72,537.6,46.3,18.4,2148,15933,0.00,2.83,0.00,0.000,4,0.000,0.050,2966,3455,868
$GC,15946,0.72,537.6,42.9,16.0,2151,15954,0.00,2.85,0.00,0.000,6,0.000,0.044,2966,2006,869
$GC,16080,0.72,537.6,22.3,15.6,2176,16088,0.00,2.75,0.00,0.000,4,0.000,0.066,2966,644,869
$GC,16105,0.72,537.6,18.1,16.8,2180,16114,0.00,2.67,0.00,0.000,6,0.000,0.038,2966,2035,868
$STATE,16218,end climb,SURFACE_DEPTH_REACHED
$STATE,16218,begin surface coast
$FINISH,0.3,1.027351
$STATE,16231,end surface coast,CONTROL_FINISHED_OK
$STATE,16231,begin surface
$SM_CCo,16306,0.00,0.000,0,0,868,540.40
$SM_GC,0.34,7.22,0.00,0.00,0.041,0.000,0.000,1470,2274,868,-6.08,0.40,540.40
$IRIDIUM_FIX,5858.64,-1926.17,020797,131328
$TT8_MAMPS,0.021476
$HUMID,1622
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,12.50
$XPDR_PINGS,363
$24V_AH,19.9,16.643
$10V_AH,9.8,8.699
$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,20.600,154.425,756.800,0.000,0.000,28.096,32.062,260.938,90.750,0.000,0.000,14.399,3349.320,6953.478,833.333,5032.332,551.673,0.000,2666.159,0.000,5033.333,0.000,0.468
$DEVICE_MAMPS,256.178,73.632,1573.884,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1593.727,1566.318,965.194,1316.768,2574.395,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164556,2203
$CAP_FILE_SIZE,182615,0
$CFSIZE,260165632,255561728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,224558,5917.403,-1925.053,38,4.2,57,-13.8