version: 66.03
glider: 143
mission: 4
dive: 23
start: 4 8 108 9 3 58
data:
$ID,143
$MISSION,4
$DIVE,23
$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,90
$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,-4442.7837
$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,21
$R_STBD_OVSHOOT,33
$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
$GPS1,084346,5910.153,-1913.954,36,2.3,55,-13.7
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-54.4
$GPS2,090339,5909.914,-1913.901,14,1.2,14,-13.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5909.914,-1908.366
$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,103.7,20000,-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,-194.7,0.0,0.0,0,114,0.00,0.00,-87.10,0.000,2,0.000,0.000,1471,2285,3490
$GC,116,-0.82,-194.7,3.1,-6.5,12,141,9.73,2.92,-8.77,0.000,4,0.249,0.061,2612,849,3867
$GC,309,-0.75,-194.7,38.1,-16.4,47,317,0.10,2.78,0.00,0.000,6,0.141,0.049,2629,2239,3868
$GC,444,-0.66,-194.7,58.7,-15.1,72,452,0.15,0.00,0.00,0.000,6,0.146,0.000,2653,2239,3868
$GC,578,-0.66,-194.7,76.8,-12.9,97,585,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2239,3868
$GC,711,-0.66,-194.7,95.4,-14.3,122,719,0.00,2.92,0.00,0.000,4,0.000,0.061,2653,3681,3868
$GC,727,-0.66,-194.7,97.6,-13.8,124,735,0.00,2.78,0.00,0.000,6,0.000,0.041,2653,2264,3869
$GC,861,-0.66,-194.7,115.4,-12.5,149,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2260,3868
$GC,994,-0.66,-194.7,132.7,-13.7,174,1002,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2260,3868
$GC,1128,-0.66,-194.7,150.8,-13.3,199,1134,0.00,2.83,0.00,0.000,4,0.000,0.058,2653,3676,3869
$GC,1152,-0.66,-194.7,154.2,-13.6,203,1158,0.00,2.72,0.00,0.000,6,0.000,0.041,2653,2266,3869
$GC,1481,-0.66,-194.7,197.2,-13.3,264,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2263,3868
$GC,1813,-0.66,-194.7,241.2,-12.8,325,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2263,3868
$GC,2140,-0.66,-194.7,284.3,-13.4,386,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2263,3868
$GC,2473,-0.66,-194.7,326.6,-12.5,447,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2263,3868
$GC,2805,-0.66,-194.7,368.5,-12.4,508,2813,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2263,3869
$GC,3149,-0.66,-194.7,410.8,-12.0,569,3155,0.00,2.78,0.00,0.000,4,0.000,0.054,2653,3676,3868
$GC,3165,-0.66,-194.7,413.3,-13.0,572,3174,0.00,2.72,0.00,0.000,6,0.000,0.041,2653,2270,3868
$GC,3509,-0.66,-194.7,455.4,-12.8,633,3515,0.00,2.75,0.00,0.000,4,0.000,0.054,2653,850,3868
$GC,3526,-0.66,-194.7,457.9,-13.0,636,3534,0.00,2.72,0.00,0.000,6,0.000,0.041,2653,2265,3868
$GC,3871,-0.66,-194.7,502.3,-12.8,697,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2265,3868
$GC,4210,-0.66,-194.7,546.7,-13.1,758,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2265,3868
$GC,4534,-0.66,-194.7,587.5,-12.5,791,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2265,3868
$GC,4854,-0.66,-194.7,626.7,-12.1,821,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2265,3868
$GC,5171,-0.66,-194.7,666.1,-12.6,851,5172,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2265,3868
$GC,5490,-0.66,-194.7,706.9,-12.9,881,5494,0.00,2.85,0.00,0.000,4,0.000,0.071,2653,853,3868
$GC,5509,-0.66,-194.7,709.8,-13.5,882,5517,0.00,2.75,0.00,0.000,6,0.000,0.047,2653,2263,3868
$GC,5835,-0.66,-194.7,751.0,-12.7,913,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2265,3868
$GC,6153,-0.66,-194.7,790.9,-13.0,943,6158,0.00,2.85,0.00,0.000,4,0.000,0.070,2653,852,3868
$GC,6176,-0.66,-194.7,793.7,-12.7,944,6182,0.00,2.72,0.00,0.000,6,0.000,0.049,2653,2264,3868
$GC,6501,-0.66,-194.7,834.9,-12.8,975,6505,0.00,2.83,0.00,0.000,4,0.000,0.064,2653,3676,3868
$GC,6516,-0.66,-194.7,837.1,-12.6,976,6521,0.00,2.78,0.00,0.000,6,0.000,0.050,2653,2255,3868
$GC,6841,-0.66,-194.7,876.4,-11.7,1006,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2255,3868
$GC,7159,-0.66,-194.7,912.9,-11.2,1036,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2255,3868
$GC,7477,-0.66,-194.7,947.8,-11.2,1066,7482,0.00,2.85,0.00,0.000,4,0.000,0.064,2653,3675,3868
$GC,7493,-0.66,-194.7,949.6,-10.9,1067,7498,0.00,2.80,0.00,0.000,6,0.000,0.051,2654,2243,3867
$GC,7818,-0.66,-194.7,984.1,-10.9,1097,7822,0.00,2.88,0.00,0.000,4,0.000,0.063,2653,3676,3867
$GC,7845,-0.66,-194.7,987.2,-11.6,1099,7849,0.00,2.80,0.00,0.000,6,0.000,0.052,2653,2248,3867
$STATE,7869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7870,begin apogee
$GC,7874,-0.19,0.0,990.0,11.1,1101,8083,0.60,0.00,203.20,1.620,6,0.117,0.000,2757,2040,3071
$STATE,8084,end apogee,CONTROL_FINISHED_OK
$STATE,8084,begin climb
$GC,8085,0.82,194.7,999.2,0.0,1122,8294,1.23,3.15,198.48,1.371,4,0.086,0.057,2971,3461,2276
$GC,8384,0.67,194.7,974.0,14.8,1150,8390,0.17,2.97,0.00,0.000,6,0.141,0.051,2949,2058,2273
$GC,8708,0.55,194.7,936.4,11.5,1180,8714,0.17,3.00,0.00,0.000,4,0.134,0.071,2921,632,2271
$GC,8819,0.55,200.5,925.5,9.8,1189,8831,0.00,2.88,6.28,1.081,6,0.000,0.044,2920,2082,2253
$GC,9149,0.55,229.6,895.6,9.0,1220,9186,0.00,2.88,30.73,1.436,4,0.000,0.058,2921,3464,2133
$GC,9253,0.55,229.6,885.3,10.9,1229,9257,0.00,2.78,0.00,0.000,6,0.000,0.050,2921,2108,2131
$GC,9577,0.58,257.3,855.1,9.0,1259,9612,0.00,2.85,28.58,1.384,4,0.000,0.057,2921,3467,2020
$GC,9630,0.55,277.2,850.1,9.3,1264,9660,0.00,2.78,21.02,1.236,6,0.000,0.049,2921,2113,1941
$GC,9978,0.55,277.4,816.5,10.0,1297,9979,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2112,1937
$GC,10297,0.55,277.4,785.0,10.0,1327,10301,0.00,2.72,0.00,0.000,4,0.000,0.055,2921,3459,1937
$GC,10335,0.55,277.4,781.0,10.6,1330,10339,0.00,2.65,0.00,0.000,6,0.000,0.050,2921,2128,1935
$GC,10658,0.57,289.8,748.3,9.6,1360,10674,0.00,0.00,13.62,1.259,6,0.000,0.000,2921,2127,1889
$GC,10988,0.60,317.7,717.4,9.0,1391,11019,0.00,0.00,28.80,1.323,6,0.000,0.000,2920,2125,1775
$GC,11336,0.60,317.7,685.0,10.0,1424,11337,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2124,1772
$GC,11656,0.62,333.2,655.7,9.5,1454,11679,0.00,2.75,16.98,1.292,4,0.000,0.053,2921,3464,1711
$GC,11690,0.51,358.4,652.3,9.1,1457,11721,0.00,2.67,26.15,1.139,6,0.000,0.045,2921,2125,1609
$GC,12040,0.59,376.3,619.6,9.4,1490,12064,0.00,2.75,19.05,1.275,4,0.000,0.051,2921,3466,1535
$GC,12150,0.67,376.3,608.3,10.7,1500,12155,0.12,2.67,0.00,0.000,6,0.072,0.044,2946,2126,1534
$GC,12473,0.67,376.3,566.5,12.9,1530,12478,0.00,2.67,0.00,0.000,4,0.000,0.049,2946,3472,1532
$GC,12573,0.67,376.3,553.5,12.7,1538,12580,0.00,2.67,0.00,0.000,6,0.000,0.044,2946,2129,1532
$GC,12911,0.67,376.3,510.2,13.6,1596,12919,0.00,3.03,0.00,0.000,4,0.000,0.063,2946,632,1531
$GC,12943,0.67,376.3,506.1,12.9,1601,12949,0.00,2.90,0.00,0.000,6,0.000,0.038,2946,2146,1531
$GC,13282,0.67,376.3,461.9,12.4,1662,13288,0.00,2.58,0.00,0.000,4,0.000,0.049,2946,3471,1531
$GC,13301,0.67,376.3,459.7,12.8,1665,13307,0.00,2.60,0.00,0.000,6,0.000,0.043,2946,2132,1530
$GC,13641,0.67,376.3,415.6,13.0,1726,13647,0.00,2.97,0.00,0.000,4,0.000,0.063,2946,635,1530
$GC,13668,0.67,376.3,412.0,13.1,1731,13674,0.00,2.88,0.00,0.000,6,0.000,0.038,2946,2150,1530
$GC,14006,0.67,376.3,369.1,12.6,1792,14015,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2150,1530
$GC,14344,0.67,376.3,326.6,12.8,1853,14350,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2150,1530
$GC,14671,0.67,376.3,285.8,11.5,1914,14680,0.00,3.05,0.00,0.000,4,0.000,0.061,2946,632,1530
$GC,14693,0.67,376.3,283.3,13.4,1917,14699,0.00,2.85,0.00,0.000,6,0.000,0.038,2946,2142,1530
$GC,15022,0.67,376.3,241.3,13.6,1978,15030,0.00,2.58,0.00,0.000,4,0.000,0.049,2946,3462,1530
$GC,15046,0.67,376.3,238.1,13.2,1982,15054,0.00,2.60,0.00,0.000,6,0.000,0.043,2946,2127,1530
$GC,15380,0.67,376.3,196.9,12.6,2043,15386,0.00,2.95,0.00,0.000,4,0.000,0.062,2946,631,1530
$GC,15407,0.67,376.3,193.2,12.4,2048,15415,0.00,2.88,0.00,0.000,6,0.000,0.039,2946,2137,1530
$GC,15740,0.67,376.3,152.8,11.1,2109,15746,0.00,2.58,0.00,0.000,4,0.000,0.051,2946,3466,1530
$GC,15764,0.67,376.3,149.8,12.1,2113,15772,0.00,2.60,0.00,0.000,6,0.000,0.043,2946,2127,1530
$GC,15899,0.67,376.3,133.4,12.5,2138,15906,0.00,2.97,0.00,0.000,4,0.000,0.064,2946,637,1530
$GC,15929,0.67,376.3,129.4,12.2,2143,15937,0.00,2.88,0.00,0.000,6,0.000,0.038,2946,2140,1530
$GC,16063,0.67,376.3,113.2,12.9,2168,16071,0.00,2.60,0.00,0.000,4,0.000,0.050,2946,3466,1530
$GC,16089,0.67,376.3,110.0,12.9,2172,16097,0.00,2.62,0.00,0.000,6,0.000,0.043,2946,2121,1530
$GC,16223,0.67,376.3,93.2,12.7,2197,16231,0.00,2.97,0.00,0.000,4,0.000,0.064,2946,632,1530
$GC,16249,0.67,376.3,90.2,11.5,2201,16256,0.00,2.85,0.00,0.000,6,0.000,0.038,2946,2127,1530
$GC,16382,0.67,376.3,74.4,12.2,2226,16390,0.00,2.62,0.00,0.000,4,0.000,0.051,2946,3467,1530
$GC,16402,0.67,376.3,71.6,14.1,2229,16411,0.00,2.62,0.00,0.000,6,0.000,0.041,2946,2114,1530
$GC,16536,0.67,376.3,55.9,13.0,2254,16544,0.00,2.95,0.00,0.000,4,0.000,0.064,2946,638,1530
$GC,16562,0.67,376.3,52.6,12.7,2258,16570,0.00,2.85,0.00,0.000,6,0.000,0.038,2946,2128,1530
$GC,16696,0.67,376.3,36.2,12.1,2283,16705,0.00,2.62,0.00,0.000,4,0.000,0.051,2946,3468,1530
$GC,16727,0.67,376.3,32.4,12.6,2288,16735,0.00,2.65,0.00,0.000,6,0.000,0.043,2946,2108,1530
$GC,16861,0.67,376.3,15.7,11.7,2313,16869,0.00,2.95,0.00,0.000,4,0.000,0.064,2946,633,1530
$GC,16892,0.71,376.3,12.2,11.2,2318,16900,0.00,2.83,0.00,0.000,6,0.000,0.039,2946,2108,1530
$STATE,16983,end climb,SURFACE_DEPTH_REACHED
$STATE,16984,begin surface coast
$FINISH,0.6,1.027316
$STATE,16996,end surface coast,CONTROL_FINISHED_OK
$STATE,16996,begin surface
$SM_CCo,17070,0.00,0.000,0,0,1528,378.50
$SM_GC,0.59,7.15,0.00,0.00,0.044,0.000,0.000,1470,2273,1528,-6.08,0.37,378.50
$IRIDIUM_FIX,5846.12,-1917.80,030797,090930
$TT8_MAMPS,0.021476
$HUMID,1630
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,13.20
$XPDR_PINGS,667
$24V_AH,19.8,17.538
$10V_AH,9.8,9.544
$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,19.425,179.600,592.875,0.000,0.000,113.518,140.388,624.435,166.750,0.000,0.000,16.104,3586.239,7383.663,733.491,5388.623,1147.054,0.000,2635.616,0.000,5400.013,0.000,0.468
$DEVICE_MAMPS,249.275,71.331,1619.904,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1691.381,1674.643,1056.028,1462.856,2861.689,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,173808,2337
$CAP_FILE_SIZE,205660,0
$CFSIZE,260165632,255197184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,134938,5906.782,-1910.741,36,1.4,36,-13.6