version: 66.03
glider: 143
mission: 4
dive: 52
start: 4 14 108 8 53 16
data:
$ID,143
$MISSION,4
$DIVE,52
$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,45
$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,-4962.2153
$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,30
$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
$GPS1,084232,5928.497,-2118.878,39,1.4,39,-14.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-53.9
$GPS2,085257,5928.522,-2118.985,12,1.4,12,-14.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5936.159,-2115.121
$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,59.9,20000,-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,-101.40,0.000,2,0.000,0.000,1463,2275,3525
$GC,131,-0.82,-194.7,3.1,-6.2,14,156,10.05,2.85,-8.05,0.000,4,0.258,0.064,2613,846,3866
$GC,184,-0.70,-194.7,14.7,-17.4,22,192,0.15,2.80,0.00,0.000,6,0.143,0.048,2638,2246,3867
$GC,319,-0.63,-194.7,35.2,-14.5,47,327,0.15,0.00,0.00,0.000,6,0.140,0.000,2663,2246,3867
$GC,451,-0.63,-194.7,52.0,-12.4,72,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2246,3867
$GC,654,-0.63,-194.7,77.4,-12.5,109,660,0.00,2.85,0.00,0.000,4,0.000,0.057,2663,3676,3867
$GC,689,-0.63,-194.7,81.8,-12.8,115,695,0.00,2.78,0.00,0.000,6,0.000,0.040,2663,2241,3867
$GC,889,-0.63,-194.7,105.2,-11.2,152,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2239,3867
$GC,1092,-0.63,-194.7,127.6,-11.5,189,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2238,3867
$GC,1294,-0.63,-194.7,150.5,-10.7,226,1302,0.00,2.88,0.00,0.000,4,0.000,0.056,2666,3672,3867
$GC,1325,-0.63,-194.7,154.1,-11.8,231,1332,0.00,2.72,0.00,0.000,6,0.000,0.040,2663,2253,3867
$GC,1655,-0.63,-194.7,190.8,-11.2,292,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2251,3867
$GC,1989,-0.63,-194.7,228.9,-11.4,353,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2250,3867
$GC,2317,-0.63,-194.7,267.6,-11.6,414,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2249,3867
$GC,2650,-0.63,-194.7,305.5,-11.7,475,2656,0.00,2.80,0.00,0.000,4,0.000,0.054,2663,3676,3867
$GC,2685,-0.63,-194.7,309.6,-12.0,481,2691,0.00,2.72,0.00,0.000,6,0.000,0.040,2663,2252,3867
$GC,3016,-0.63,-194.7,346.4,-10.8,542,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2248,3867
$GC,3356,-0.63,-194.7,384.5,-11.5,603,3362,0.00,2.80,0.00,0.000,4,0.000,0.053,2663,3685,3867
$GC,3386,-0.63,-194.7,387.9,-12.1,608,3392,0.00,2.72,0.00,0.000,6,0.000,0.040,2663,2258,3867
$GC,3727,-0.63,-194.7,427.0,-11.2,669,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2255,3867
$GC,4067,-0.63,-194.7,465.9,-11.8,730,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2255,3867
$GC,4410,-0.63,-194.7,505.3,-11.4,791,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2255,3867
$GC,4749,-0.63,-194.7,543.3,-11.1,852,4758,0.00,2.80,0.00,0.000,4,0.000,0.054,2663,3670,3867
$GC,4779,-0.63,-194.7,546.6,-11.8,857,4785,0.00,2.67,0.00,0.000,6,0.000,0.041,2663,2273,3867
$GC,5120,-0.63,-194.7,584.4,-10.9,918,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2273,3867
$GC,5451,-0.63,-194.7,621.6,-11.5,961,5452,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2273,3867
$GC,5769,-0.63,-194.7,657.0,-11.1,991,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2273,3867
$GC,6088,-0.63,-194.7,693.1,-11.5,1021,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2273,3867
$GC,6407,-0.63,-194.7,727.7,-10.7,1051,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2273,3867
$GC,6725,-0.63,-194.7,759.4,-10.2,1081,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2273,3867
$GC,7043,-0.63,-194.7,792.8,-10.6,1111,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2273,3866
$GC,7362,-0.63,-194.7,827.3,-10.7,1141,7366,0.00,2.83,0.00,0.000,4,0.000,0.064,2663,3673,3866
$GC,7400,-0.69,-194.7,831.4,-11.0,1144,7405,0.00,2.75,0.00,0.000,6,0.000,0.052,2663,2274,3867
$GC,7726,-0.69,-194.7,864.8,-10.6,1174,7731,0.00,2.85,0.00,0.000,4,0.000,0.070,2663,852,3866
$GC,7754,-0.75,-194.7,868.0,-11.4,1176,7759,0.15,2.75,0.00,0.000,6,0.057,0.048,2630,2276,3866
$GC,8078,-0.71,-194.7,911.4,-13.4,1206,8082,0.00,2.80,0.00,0.000,4,0.000,0.064,2631,3677,3866
$GC,8116,-0.71,-194.7,916.7,-14.3,1209,8120,0.00,2.75,0.00,0.000,6,0.000,0.051,2630,2275,3866
$GC,8440,-0.71,-194.7,958.8,-13.1,1239,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2275,3866
$STATE,8682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8682,begin apogee
$GC,8686,-0.19,0.0,990.6,12.9,1262,8886,0.75,0.00,195.43,1.460,6,0.126,0.000,2756,2039,3071
$STATE,8887,end apogee,CONTROL_FINISHED_OK
$STATE,8887,begin climb
$GC,8888,0.82,194.7,998.4,0.0,1282,9102,1.23,3.15,199.27,1.376,4,0.086,0.071,2972,650,2276
$GC,9185,0.68,194.7,971.8,14.9,1310,9193,0.15,2.92,0.00,0.000,6,0.140,0.044,2952,2059,2272
$GC,9510,0.56,194.7,932.9,11.5,1341,9515,0.17,2.92,0.00,0.000,4,0.137,0.060,2924,3472,2271
$GC,9572,0.52,199.3,926.4,9.8,1346,9584,0.00,2.85,5.03,0.986,6,0.000,0.052,2924,2077,2258
$GC,9901,0.47,199.3,892.7,10.3,1377,9906,0.15,2.83,0.00,0.000,4,0.133,0.057,2903,3463,2257
$GC,9945,0.51,231.9,888.5,8.9,1380,9985,0.00,2.78,33.92,1.407,6,0.000,0.051,2903,2089,2125
$GC,10310,0.60,311.6,861.0,7.2,1415,10397,0.15,3.15,80.15,1.338,4,0.066,0.071,2932,635,1799
$GC,10480,0.60,311.6,843.0,11.1,1430,10487,0.00,2.97,0.00,0.000,6,0.000,0.043,2932,2116,1795
$GC,10806,0.60,311.6,806.6,11.2,1461,10811,0.00,3.10,0.00,0.000,4,0.000,0.071,2932,632,1793
$GC,10911,0.60,311.6,795.1,11.1,1470,10916,0.00,2.90,0.00,0.000,6,0.000,0.044,2932,2108,1792
$GC,11236,0.60,311.6,759.6,10.8,1500,11240,0.00,2.72,0.00,0.000,4,0.000,0.058,2932,3465,1791
$GC,11274,0.60,311.6,755.2,11.5,1503,11278,0.00,2.72,0.00,0.000,6,0.000,0.051,2932,2105,1789
$GC,11598,0.60,311.6,719.6,11.2,1533,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2104,1790
$GC,11916,0.60,311.6,684.1,11.0,1563,11921,0.00,2.72,0.00,0.000,4,0.000,0.054,2933,3468,1790
$GC,11936,0.60,311.6,681.7,11.0,1564,11943,0.00,2.67,0.00,0.000,6,0.000,0.048,2932,2121,1789
$GC,12262,0.60,311.6,646.0,10.9,1595,12267,0.00,3.00,0.00,0.000,4,0.000,0.067,2932,632,1789
$GC,12277,0.60,311.6,644.2,11.1,1596,12282,0.00,2.88,0.00,0.000,6,0.000,0.041,2932,2134,1789
$GC,12602,0.60,311.6,610.4,10.1,1626,12603,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2134,1789
$GC,12930,0.60,311.6,574.4,10.9,1676,12936,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2134,1789
$GC,13270,0.60,311.6,535.8,11.1,1737,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2134,1789
$GC,13611,0.60,311.6,498.9,10.6,1798,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2134,1789
$GC,13950,0.60,311.6,463.3,10.2,1859,13956,0.00,3.00,0.00,0.000,4,0.000,0.062,2932,634,1789
$GC,13967,0.60,311.6,461.4,10.3,1862,13973,0.00,2.83,0.00,0.000,6,0.000,0.038,2932,2126,1789
$GC,14307,0.60,311.6,426.7,10.6,1923,14314,0.00,2.62,0.00,0.000,4,0.000,0.050,2932,3465,1789
$GC,14325,0.60,311.6,424.8,10.6,1926,14332,0.00,2.62,0.00,0.000,6,0.000,0.043,2932,2115,1789
$GC,14668,0.61,314.6,390.4,9.9,1987,14674,0.00,2.92,0.00,0.000,4,0.000,0.063,2932,633,1789
$GC,14686,0.61,314.6,388.4,10.6,1990,14692,0.00,2.83,0.00,0.000,6,0.000,0.038,2932,2131,1789
$GC,15029,0.61,314.6,352.9,10.6,2051,15035,0.00,2.58,0.00,0.000,4,0.000,0.049,2932,3468,1789
$GC,15045,0.61,314.6,350.9,10.7,2054,15051,0.00,2.60,0.00,0.000,6,0.000,0.042,2932,2110,1789
$GC,15376,0.61,314.6,318.2,10.6,2115,15383,0.00,2.90,0.00,0.000,4,0.000,0.063,2932,634,1789
$GC,15393,0.61,314.6,316.2,10.2,2118,15400,0.00,2.83,0.00,0.000,6,0.000,0.038,2932,2121,1789
$GC,15726,0.61,314.6,282.8,10.1,2179,15732,0.00,2.60,0.00,0.000,4,0.000,0.049,2932,3468,1789
$GC,15743,0.61,314.6,280.9,10.3,2182,15751,0.00,2.65,0.00,0.000,6,0.000,0.042,2933,2104,1789
$GC,16078,0.61,314.6,245.4,10.4,2243,16083,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2104,1789
$GC,16407,0.61,314.6,210.6,10.2,2304,16415,0.00,2.67,0.00,0.000,4,0.000,0.048,2932,3468,1789
$GC,16438,0.61,314.6,207.4,10.1,2309,16444,0.00,2.60,0.00,0.000,6,0.000,0.042,2932,2113,1789
$GC,16768,0.65,346.3,175.2,8.9,2370,16807,0.00,2.97,32.30,0.967,4,0.000,0.062,2932,631,1658
$GC,16818,0.68,370.0,170.5,9.2,2378,16851,0.00,2.90,22.15,0.837,6,0.000,0.038,2932,2129,1564
$GC,17177,0.72,370.0,137.0,10.8,2443,17183,0.12,0.00,0.00,0.000,6,0.065,0.000,2959,2129,1560
$GC,17377,0.67,370.0,109.9,15.0,2480,17384,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2129,1559
$GC,17582,0.62,370.0,80.8,13.4,2517,17589,0.15,3.00,0.00,0.000,4,0.122,0.061,2932,634,1559
$GC,17608,0.62,370.0,77.4,12.4,2521,17615,0.00,2.85,0.00,0.000,6,0.000,0.038,2932,2126,1559
$GC,17808,0.74,422.1,58.7,8.2,2558,17867,0.15,2.70,49.97,0.874,4,0.064,0.050,2969,3474,1349
$GC,17873,0.69,422.1,50.6,14.3,2568,17881,0.12,2.75,0.00,0.000,6,0.121,0.043,2948,2107,1348
$GC,18070,0.69,422.1,29.7,10.2,2605,18077,0.00,3.00,0.00,0.000,4,0.000,0.064,2947,642,1344
$GC,18101,0.76,422.1,26.5,11.1,2610,18109,0.00,2.85,0.00,0.000,6,0.000,0.038,2947,2103,1344
$GC,18236,0.82,422.1,13.1,10.3,2635,18244,0.15,2.72,0.00,0.000,4,0.062,0.050,2983,3465,1343
$GC,18251,0.82,422.1,11.4,10.1,2637,18259,0.00,2.75,0.00,0.000,6,0.000,0.044,2983,2083,1343
$STATE,18317,end climb,SURFACE_DEPTH_REACHED
$STATE,18317,begin surface coast
$FINISH,-0.0,1.014278
$STATE,18329,end surface coast,CONTROL_FINISHED_OK
$STATE,18329,begin surface
$SM_CCo,18404,0.00,0.000,0,0,1342,424.37
$SM_GC,0.64,7.40,0.00,0.00,0.040,0.000,0.000,1465,2283,1342,-6.09,0.62,424.37
$IRIDIUM_FIX,5854.46,-1722.00,090797,080824
$TT8_MAMPS,0.021476
$HUMID,1637
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,12.40
$XPDR_PINGS,352
$24V_AH,19.7,25.817
$10V_AH,9.8,16.968
$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,21.200,164.000,618.225,0.000,0.000,59.916,127.254,261.358,88.000,0.000,0.000,14.304,4018.842,7672.140,743.325,5834.768,737.694,0.000,2829.974,0.000,5851.071,0.000,0.468
$DEVICE_MAMPS,257.712,71.331,1459.601,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1913.530,1929.368,1192.708,1110.182,2864.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199689,2651
$CAP_FILE_SIZE,205030,0
$CFSIZE,260165632,251834368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,140107,5931.440,-2115.832,33,1.1,33,-14.9