version: 66.03
glider: 143
mission: 4
dive: 33
start: 4 10 108 10 33 46
data:
$ID,143
$MISSION,4
$DIVE,33
$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,260
$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,-4654.311
$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,15
$R_STBD_OVSHOOT,25
$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
$GPS1,102538,5847.343,-1952.092,30,1.8,30,-13.8
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-41.3
$GPS2,103327,5847.258,-1952.243,13,1.3,13,-13.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5845.383,-1957.759
$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,273.8,20000,-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,-194.7,0.0,0.0,0,144,0.00,0.00,-116.00,0.000,2,0.000,0.000,1465,2267,3594
$GC,146,-0.82,-194.7,4.0,-9.0,16,170,9.93,2.83,-5.53,0.000,4,0.256,0.064,2613,3679,3865
$GC,317,-0.73,-194.7,44.7,-19.8,47,326,0.12,2.80,0.00,0.000,6,0.133,0.041,2634,2254,3867
$GC,454,-0.66,-194.7,66.1,-15.6,72,463,0.12,2.80,0.00,0.000,4,0.154,0.054,2651,852,3867
$GC,479,-0.66,-194.7,70.0,-16.0,76,487,0.00,2.75,0.00,0.000,6,0.000,0.044,2651,2250,3867
$GC,618,-0.66,-194.7,88.3,-13.1,101,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3867
$GC,751,-0.66,-194.7,107.9,-16.6,126,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2250,3867
$GC,889,-0.66,-194.7,126.1,-13.9,151,895,0.00,2.85,0.00,0.000,4,0.000,0.056,2650,3685,3867
$GC,924,-0.66,-194.7,130.9,-13.8,157,931,0.00,2.80,0.00,0.000,6,0.000,0.040,2650,2238,3867
$GC,1059,-0.66,-194.7,148.0,-12.6,182,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2237,3866
$GC,1198,-0.66,-194.7,165.2,-12.7,207,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2236,3867
$GC,1527,-0.66,-194.7,208.1,-12.7,268,1535,0.00,2.90,0.00,0.000,4,0.000,0.056,2650,3680,3866
$GC,1558,-0.66,-194.7,212.1,-13.1,273,1565,0.00,2.75,0.00,0.000,6,0.000,0.039,2650,2245,3866
$GC,1888,-0.66,-194.7,254.0,-12.5,334,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2242,3866
$GC,2220,-0.66,-194.7,298.2,-13.3,395,2226,0.00,2.83,0.00,0.000,4,0.000,0.054,2651,3679,3866
$GC,2266,-0.66,-194.7,304.4,-13.5,403,2272,0.00,2.72,0.00,0.000,6,0.000,0.040,2650,2257,3866
$GC,2597,-0.66,-194.7,345.0,-11.9,464,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2254,3866
$GC,2936,-0.66,-194.7,385.9,-12.1,525,2943,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2254,3866
$GC,3277,-0.66,-194.7,425.6,-11.7,586,3282,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2254,3866
$GC,3618,-0.66,-194.7,468.0,-12.2,647,3624,0.00,2.80,0.00,0.000,4,0.000,0.053,2650,3685,3867
$GC,3657,-0.66,-194.7,473.0,-12.3,654,3664,0.00,2.75,0.00,0.000,6,0.000,0.041,2650,2238,3866
$GC,3998,-0.66,-194.7,514.9,-12.5,715,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2235,3866
$GC,4341,-0.66,-194.7,555.3,-12.2,776,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2235,3866
$GC,4679,-0.66,-194.7,594.7,-11.6,837,4686,0.00,2.83,0.00,0.000,4,0.000,0.056,2650,3676,3866
$GC,4719,-0.66,-194.7,599.4,-11.5,844,4725,0.00,2.70,0.00,0.000,6,0.000,0.044,2650,2274,3866
$GC,5044,-0.66,-194.7,639.1,-12.5,875,5048,0.00,2.83,0.00,0.000,4,0.000,0.065,2650,846,3866
$GC,5070,-0.66,-194.7,642.7,-13.1,877,5075,0.00,2.75,0.00,0.000,6,0.000,0.044,2650,2281,3866
$GC,5395,-0.66,-194.7,683.6,-12.4,907,5400,0.00,2.78,0.00,0.000,4,0.000,0.064,2650,3677,3866
$GC,5427,-0.66,-194.7,687.8,-12.8,909,5434,0.00,2.75,0.00,0.000,6,0.000,0.048,2650,2264,3866
$GC,5752,-0.66,-194.7,730.0,-13.6,940,5756,0.00,2.83,0.00,0.000,4,0.000,0.071,2650,849,3866
$GC,5783,-0.66,-194.7,734.5,-13.9,942,5790,0.00,2.78,0.00,0.000,6,0.000,0.048,2651,2266,3866
$GC,6109,-0.66,-194.7,778.5,-13.6,973,6113,0.00,2.80,0.00,0.000,4,0.000,0.064,2651,3672,3866
$GC,6147,-0.66,-194.7,783.9,-14.0,976,6151,0.00,2.75,0.00,0.000,6,0.000,0.049,2651,2257,3866
$GC,6471,-0.66,-194.7,825.3,-12.2,1006,6476,0.00,2.80,0.00,0.000,4,0.000,0.069,2650,850,3866
$GC,6491,-0.66,-194.7,828.1,-12.7,1007,6498,0.00,2.78,0.00,0.000,6,0.000,0.048,2650,2272,3866
$GC,6819,-0.66,-194.7,865.9,-11.4,1038,6823,0.00,2.80,0.00,0.000,4,0.000,0.063,2651,3680,3866
$GC,6857,-0.66,-194.7,870.6,-11.7,1041,6861,0.00,2.75,0.00,0.000,6,0.000,0.048,2651,2263,3865
$GC,7181,-0.66,-194.7,908.6,-12.6,1071,7186,0.00,2.80,0.00,0.000,4,0.000,0.067,2651,853,3865
$GC,7213,-0.70,-194.7,912.6,-13.0,1073,7220,0.00,2.75,0.00,0.000,6,0.000,0.048,2650,2273,3865
$GC,7538,-0.70,-194.7,952.6,-12.5,1104,7543,0.00,2.78,0.00,0.000,4,0.000,0.063,2650,3670,3865
$GC,7581,-0.70,-194.7,958.1,-12.5,1107,7587,0.00,2.75,0.00,0.000,6,0.000,0.048,2653,2272,3865
$STATE,7851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7851,begin apogee
$GC,7856,-0.19,0.0,990.9,12.0,1133,8055,0.62,0.00,195.30,1.474,6,0.124,0.000,2757,2035,3071
$STATE,8056,end apogee,CONTROL_FINISHED_OK
$STATE,8056,begin climb
$GC,8058,0.82,194.7,1001.0,0.0,1153,8266,1.23,3.12,197.95,1.388,4,0.087,0.071,2972,644,2277
$GC,8360,0.68,194.7,977.1,12.4,1181,8367,0.15,2.92,0.00,0.000,6,0.137,0.044,2953,2061,2274
$GC,8685,0.55,194.7,937.9,12.1,1212,8690,0.17,2.90,0.00,0.000,4,0.137,0.058,2924,3471,2272
$GC,8747,0.51,194.7,931.2,10.5,1217,8751,0.00,2.85,0.00,0.000,6,0.000,0.048,2923,2063,2271
$GC,9072,0.47,203.0,899.4,9.7,1247,9086,0.12,2.95,8.75,1.236,4,0.130,0.070,2906,643,2243
$GC,9205,0.53,256.6,887.8,8.1,1259,9267,0.00,2.85,54.33,1.380,6,0.000,0.045,2906,2085,2025
$GC,9585,0.63,330.9,857.2,7.4,1295,9668,0.15,3.15,75.10,1.341,4,0.065,0.071,2939,644,1721
$GC,9739,0.63,330.9,839.2,11.6,1309,9746,0.00,2.95,0.00,0.000,6,0.000,0.044,2939,2101,1718
$GC,10065,0.63,330.9,800.6,12.8,1340,10070,0.00,2.75,0.00,0.000,4,0.000,0.058,2939,3462,1715
$GC,10103,0.63,330.9,795.6,12.7,1343,10108,0.00,2.75,0.00,0.000,6,0.000,0.049,2939,2093,1713
$GC,10427,0.63,330.9,755.8,12.5,1373,10432,0.00,2.97,0.00,0.000,4,0.000,0.070,2939,642,1714
$GC,10447,0.63,330.9,753.1,13.4,1374,10454,0.00,2.88,0.00,0.000,6,0.000,0.043,2940,2114,1714
$GC,10772,0.63,330.9,713.1,12.0,1405,10777,0.00,2.70,0.00,0.000,4,0.000,0.057,2939,3470,1713
$GC,10793,0.63,330.9,710.3,13.3,1406,10800,0.00,2.72,0.00,0.000,6,0.000,0.050,2940,2094,1712
$GC,11120,0.63,330.9,672.0,11.7,1437,11124,0.00,2.75,0.00,0.000,4,0.000,0.054,2939,3469,1712
$GC,11185,0.63,330.9,664.3,11.9,1442,11192,0.00,2.88,0.00,0.000,6,0.000,0.049,2939,2015,1711
$GC,11511,0.63,330.9,629.0,11.1,1473,11515,0.00,2.78,0.00,0.000,4,0.000,0.067,2939,632,1711
$GC,11616,0.63,330.9,617.6,10.5,1482,11620,0.00,2.55,0.00,0.000,6,0.000,0.040,2939,1970,1711
$GC,11948,0.63,330.9,582.6,11.4,1526,11954,0.00,2.67,0.00,0.000,4,0.000,0.062,2940,634,1711
$GC,11988,0.63,330.9,578.2,11.4,1533,11995,0.00,2.72,0.00,0.000,6,0.000,0.040,2939,2073,1711
$GC,12331,0.63,330.9,539.9,10.8,1594,12337,0.00,2.88,0.00,0.000,4,0.000,0.061,2940,634,1711
$GC,12392,0.63,330.9,532.7,10.9,1605,12399,0.00,2.90,0.00,0.000,6,0.000,0.041,2939,2165,1711
$GC,12735,0.63,330.9,495.0,11.3,1666,12741,0.00,3.05,0.00,0.000,4,0.000,0.061,2940,632,1711
$GC,12824,0.63,330.9,485.0,10.5,1682,12830,0.00,3.05,0.00,0.000,6,0.000,0.040,2939,2237,1711
$GC,13163,0.63,330.9,449.0,11.0,1743,13171,0.00,2.40,0.00,0.000,4,0.000,0.049,2939,3459,1711
$GC,13242,0.65,348.0,441.0,9.4,1757,13265,0.00,2.33,16.33,1.130,6,0.000,0.042,2939,2249,1652
$GC,13600,0.65,348.0,405.9,10.7,1821,13607,0.00,3.20,0.00,0.000,4,0.000,0.062,2939,635,1650
$GC,13679,0.65,348.0,397.4,10.5,1835,13685,0.00,3.03,0.00,0.000,6,0.000,0.039,2939,2224,1650
$GC,14018,0.65,348.0,360.4,10.8,1896,14027,0.00,3.17,0.00,0.000,4,0.000,0.061,2939,644,1650
$GC,14061,0.65,348.0,355.7,11.1,1903,14067,0.00,2.95,0.00,0.000,6,0.000,0.039,2939,2195,1650
$GC,14392,0.65,348.0,316.6,10.9,1964,14400,0.00,3.12,0.00,0.000,4,0.000,0.061,2939,641,1650
$GC,14418,0.65,348.0,313.9,11.2,1968,14425,0.00,2.95,0.00,0.000,6,0.000,0.039,2939,2178,1649
$GC,14752,0.66,355.9,278.6,9.7,2029,14767,0.00,3.15,8.93,0.944,4,0.000,0.061,2940,634,1619
$GC,14780,0.66,355.9,275.4,11.1,2033,14786,0.00,2.92,0.00,0.000,6,0.000,0.038,2939,2170,1618
$GC,15109,0.66,355.9,238.0,11.6,2094,15117,0.00,3.08,0.00,0.000,4,0.000,0.061,2939,644,1617
$GC,15130,0.66,355.9,235.8,11.4,2097,15137,0.00,2.90,0.00,0.000,6,0.000,0.038,2940,2168,1617
$GC,15461,0.66,355.9,198.3,11.3,2158,15469,0.00,3.08,0.00,0.000,4,0.000,0.060,2940,635,1617
$GC,15482,0.66,355.9,196.1,10.6,2161,15488,0.00,2.85,0.00,0.000,6,0.000,0.038,2940,2144,1617
$GC,15814,0.66,355.9,163.1,10.1,2222,15821,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2144,1617
$GC,16147,0.72,410.9,132.3,8.1,2283,16211,0.00,3.15,54.22,1.075,4,0.000,0.061,2939,640,1394
$GC,16224,0.78,459.4,126.1,8.3,2295,16281,0.15,2.95,48.40,0.907,6,0.053,0.038,2976,2144,1197
$GC,16411,0.67,459.4,92.5,21.9,2328,16419,0.15,0.00,0.00,0.000,6,0.136,0.000,2953,2144,1193
$GC,16550,0.67,459.4,69.7,14.7,2353,16556,0.00,3.08,0.00,0.000,4,0.000,0.061,2952,642,1191
$GC,16578,0.72,459.4,65.7,14.2,2358,16586,0.00,2.90,0.00,0.000,6,0.000,0.038,2952,2120,1189
$GC,16717,0.72,459.4,49.0,13.1,2383,16726,0.00,2.67,0.00,0.000,4,0.000,0.049,2952,3459,1189
$GC,16738,0.72,459.4,45.9,15.1,2386,16746,0.00,2.72,0.00,0.000,6,0.000,0.044,2952,2096,1188
$GC,16872,0.72,459.4,28.7,12.0,2411,16881,0.00,2.97,0.00,0.000,4,0.000,0.064,2952,641,1188
$GC,16909,0.72,459.4,24.2,12.9,2417,16917,0.00,2.80,0.00,0.000,6,0.000,0.039,2952,2077,1187
$GC,17043,0.78,504.8,6.3,8.4,2442,17081,0.00,0.00,35.53,0.958,2,0.000,0.000,2952,2078,1049
$STATE,17082,end climb,SURFACE_DEPTH_REACHED
$STATE,17082,begin surface coast
$FINISH,-0.2,1.018674
$STATE,17099,end surface coast,CONTROL_FINISHED_OK
$STATE,17099,begin surface
$SM_CCo,17174,0.00,0.000,0,0,1044,497.22
$SM_GC,0.33,7.50,0.00,0.00,0.049,0.000,0.000,1470,2275,1044,-6.08,0.42,497.22
$IRIDIUM_FIX,5825.43,-1937.00,050797,050539
$TT8_MAMPS,0.021476
$HUMID,1622
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.20
$XPDR_PINGS,308
$24V_AH,19.9,20.341
$10V_AH,9.7,12.157
$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,20.425,217.450,694.825,0.000,0.000,24.237,32.993,292.279,77.000,0.000,0.000,14.558,3732.569,7023.771,822.933,5400.349,640.405,0.000,2864.354,0.000,5417.901,0.000,0.468
$DEVICE_MAMPS,256.178,70.564,1474.174,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1774.741,1781.896,1073.143,987.688,2565.800,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186639,2450
$CAP_FILE_SIZE,203587,0
$CFSIZE,260165632,254062592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,152108,5846.671,-2004.454,34,1.3,34,-13.9