version: 66.03
glider: 143
mission: 4
dive: 206
start: 5 15 108 20 1 58
data:
$ID,143
$MISSION,4
$DIVE,206
$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,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,310
$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,-9182.6484
$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,2295
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$R_STBD_OVSHOOT,21
$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
$GPS1,195337,6124.900,-2629.968,40,1.2,40,-18.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-56.3
$GPS2,200141,6124.973,-2630.020,9,2.4,28,-18.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6131.914,-2633.963
$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,328.7,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.82,-194.7,0.0,0.0,0,113,0.00,0.00,-82.62,0.000,2,0.000,0.000,1464,2299,3276
$GC,116,-0.82,-194.7,3.0,-4.9,15,151,10.10,2.92,-15.65,0.000,4,0.252,0.074,2611,3702,3867
$GC,208,-0.74,-194.7,18.7,-16.7,31,215,0.15,2.72,0.00,0.000,6,0.145,0.041,2632,2292,3868
$GC,354,-0.68,-194.7,40.6,-15.1,56,360,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2292,3868
$GC,496,-0.63,-194.7,62.3,-14.8,81,502,0.15,2.78,0.00,0.000,4,0.146,0.054,2657,882,3868
$GC,543,-0.70,-194.7,68.4,-11.7,89,549,0.00,2.78,0.00,0.000,6,0.000,0.046,2657,2301,3868
$GC,887,-0.70,-194.7,108.8,-11.5,150,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2302,3868
$GC,1230,-0.70,-194.7,147.7,-11.6,211,1236,0.00,2.80,0.00,0.000,4,0.000,0.054,2657,883,3868
$GC,1277,-0.75,-194.7,153.0,-10.7,219,1283,0.00,2.78,0.00,0.000,6,0.000,0.046,2658,2309,3868
$GC,1622,-0.75,-194.7,191.3,-11.7,280,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2309,3868
$GC,1964,-0.75,-194.7,230.2,-10.6,341,1971,0.00,2.80,0.00,0.000,4,0.000,0.054,2658,881,3868
$GC,2024,-0.81,-194.7,236.4,-10.9,351,2031,0.20,2.72,0.00,0.000,6,0.055,0.045,2616,2286,3868
$GC,2369,-0.73,-194.7,287.4,-15.3,412,2376,0.15,0.00,0.00,0.000,6,0.137,0.000,2641,2286,3868
$GC,2713,-0.73,-194.7,331.9,-12.9,473,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2286,3868
$GC,3044,-0.73,-194.7,375.9,-13.1,516,3048,0.00,2.78,0.00,0.000,4,0.000,0.055,2639,882,3868
$GC,3087,-0.73,-194.7,381.6,-13.0,519,3094,0.00,2.72,0.00,0.000,6,0.000,0.045,2640,2289,3868
$GC,3415,-0.73,-194.7,423.3,-12.7,550,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2289,3868
$GC,3730,-0.73,-194.7,464.1,-12.4,580,3734,0.00,2.78,0.00,0.000,4,0.000,0.056,2639,886,3868
$GC,3769,-0.73,-194.7,468.8,-12.2,583,3773,0.00,2.70,0.00,0.000,6,0.000,0.044,2641,2280,3868
$GC,4094,-0.73,-194.7,508.2,-11.9,613,4099,0.00,2.85,0.00,0.000,4,0.000,0.058,2639,3711,3868
$GC,4133,-0.73,-194.7,513.0,-11.9,616,4138,0.00,2.80,0.00,0.000,6,0.000,0.043,2639,2266,3868
$GC,4459,-0.73,-194.7,551.4,-12.4,646,4463,0.00,2.70,0.00,0.000,4,0.000,0.057,2639,888,3868
$GC,4508,-0.73,-194.7,557.7,-11.9,650,4513,0.00,2.70,0.00,0.000,6,0.000,0.045,2639,2282,3868
$GC,4836,-0.73,-194.7,599.2,-13.3,680,4840,0.00,2.88,0.00,0.000,4,0.000,0.060,2639,3714,3868
$GC,4874,-0.73,-194.7,604.9,-14.0,682,4879,0.00,2.83,0.00,0.000,6,0.000,0.045,2639,2266,3867
$GC,5199,-0.73,-194.7,646.9,-13.0,698,5204,0.00,2.75,0.00,0.000,4,0.000,0.063,2639,887,3867
$GC,5254,-0.73,-194.7,654.0,-12.5,700,5260,0.00,2.70,0.00,0.000,6,0.000,0.048,2639,2270,3867
$GC,5569,-0.73,-194.7,692.3,-12.0,716,5574,0.00,2.92,0.00,0.000,4,0.000,0.066,2639,3703,3867
$GC,5608,-0.73,-194.7,696.7,-11.2,718,5612,0.00,2.85,0.00,0.000,6,0.000,0.051,2639,2265,3867
$GC,5934,-0.73,-194.7,734.2,-11.4,734,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2265,3867
$GC,6242,-0.73,-194.7,772.2,-12.9,749,6247,0.00,2.80,0.00,0.000,4,0.000,0.067,2639,876,3866
$GC,6304,-0.73,-194.7,780.1,-12.8,752,6309,0.00,2.70,0.00,0.000,6,0.000,0.051,2639,2249,3866
$GC,6631,-0.73,-194.7,822.6,-12.6,768,6636,0.00,2.97,0.00,0.000,4,0.000,0.067,2639,3705,3866
$GC,6674,-0.73,-194.7,828.2,-12.7,770,6679,0.00,2.90,0.00,0.000,6,0.000,0.051,2639,2245,3866
$GC,6995,-0.73,-194.7,865.2,-11.0,786,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2245,3866
$GC,7305,-0.73,-194.7,900.2,-10.8,801,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2245,3865
$GC,7614,-0.73,-194.7,936.0,-11.7,816,7615,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2245,3865
$GC,7923,-0.73,-194.7,970.9,-11.4,831,7927,0.00,2.75,0.00,0.000,4,0.000,0.067,2639,881,3864
$GC,7962,-0.73,-194.7,975.3,-11.5,833,7966,0.00,2.72,0.00,0.000,6,0.000,0.051,2639,2262,3864
$STATE,8100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8100,begin apogee
$GC,8105,-0.19,0.0,991.7,12.0,840,8310,0.70,0.00,201.35,1.427,6,0.128,0.000,2755,2038,3071
$STATE,8311,end apogee,CONTROL_FINISHED_OK
$STATE,8311,begin climb
$GC,8313,0.82,194.7,1002.0,0.0,850,8532,1.25,3.17,208.30,1.358,4,0.086,0.070,2970,653,2277
$GC,8651,0.71,194.7,977.1,11.6,865,8656,0.00,2.92,0.00,0.000,6,0.000,0.048,2970,2059,2273
$GC,8971,0.59,194.7,940.5,11.6,881,8977,0.22,2.92,0.00,0.000,4,0.135,0.065,2933,3472,2272
$GC,9011,0.54,195.0,936.2,10.0,883,9016,0.00,2.85,0.00,0.000,6,0.000,0.053,2933,2067,2271
$GC,9338,0.56,250.5,908.3,8.1,899,9399,0.00,0.00,56.53,1.361,6,0.000,0.000,2933,2066,2048
$GC,9708,0.60,280.9,876.1,8.9,917,9742,0.00,0.00,31.70,1.348,6,0.000,0.000,2933,2066,1925
$GC,10058,0.60,280.9,841.2,10.3,934,10063,0.00,2.88,0.00,0.000,4,0.000,0.061,2933,3474,1922
$GC,10165,0.60,280.9,829.8,10.5,939,10169,0.00,2.83,0.00,0.000,6,0.000,0.054,2933,2068,1920
$GC,10490,0.60,280.9,793.8,11.8,955,10495,0.00,2.85,0.00,0.000,4,0.000,0.061,2933,3474,1920
$GC,10517,0.60,280.9,790.5,12.1,956,10521,0.00,2.78,0.00,0.000,6,0.000,0.052,2933,2084,1919
$GC,10832,0.60,280.9,755.3,10.9,971,10833,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2084,1919
$GC,11141,0.60,280.9,722.7,10.1,986,11146,0.00,2.78,0.00,0.000,4,0.000,0.060,2933,3466,1919
$GC,11162,0.61,288.0,720.5,9.8,987,11179,0.00,2.75,7.57,1.127,6,0.000,0.051,2933,2082,1897
$GC,11487,0.61,289.8,689.3,9.9,1003,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2081,1896
$GC,11796,0.61,289.8,656.3,11.0,1018,11801,0.00,2.78,0.00,0.000,4,0.000,0.058,2933,3464,1896
$GC,11835,0.61,289.8,651.8,11.2,1020,11840,0.00,2.70,0.00,0.000,6,0.000,0.049,2933,2098,1895
$GC,12161,0.61,289.8,616.7,10.5,1036,12162,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2097,1895
$GC,12475,0.61,292.8,584.9,9.9,1058,12486,0.00,0.00,6.62,1.025,6,0.000,0.000,2933,2097,1877
$GC,12806,0.61,292.8,551.9,10.1,1089,12810,0.00,2.72,0.00,0.000,4,0.000,0.055,2933,3465,1876
$GC,12860,0.61,292.8,545.8,10.4,1093,12867,0.00,2.67,0.00,0.000,6,0.000,0.047,2933,2105,1876
$GC,13187,0.63,306.3,514.0,9.5,1124,13206,0.00,0.00,15.07,1.190,6,0.000,0.000,2933,2105,1822
$GC,13524,0.68,351.4,483.3,8.4,1156,13576,0.00,0.00,46.22,1.110,6,0.000,0.000,2933,2105,1638
$GC,13894,0.76,414.5,453.7,7.8,1191,13964,0.17,0.00,64.00,1.069,6,0.063,0.000,2969,2105,1380
$GC,14283,0.71,414.5,401.5,14.9,1228,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2105,1373
$GC,14602,0.66,414.5,354.6,14.9,1258,14608,0.15,2.95,0.00,0.000,4,0.128,0.064,2943,642,1371
$GC,14619,0.66,414.5,352.0,14.7,1259,14624,0.00,2.88,0.00,0.000,6,0.000,0.040,2943,2137,1370
$GC,14962,0.71,414.5,315.7,10.7,1317,14968,0.00,3.03,0.00,0.000,4,0.000,0.062,2943,641,1370
$GC,14987,0.77,414.5,312.9,11.7,1321,14993,0.12,2.83,0.00,0.000,6,0.062,0.039,2972,2116,1369
$GC,15331,0.71,414.5,261.4,14.3,1382,15336,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2116,1369
$GC,15674,0.66,414.5,212.5,13.1,1443,15680,0.15,3.00,0.00,0.000,4,0.128,0.063,2946,632,1369
$GC,15703,0.66,414.5,208.9,12.2,1448,15710,0.00,2.80,0.00,0.000,6,0.000,0.040,2946,2098,1368
$GC,16048,0.71,414.5,175.4,10.3,1509,16053,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2098,1368
$GC,16393,0.77,419.2,139.4,9.8,1570,16398,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2098,1368
$GC,16736,0.83,419.2,104.8,10.4,1631,16741,0.15,0.00,0.00,0.000,6,0.067,0.000,2981,2098,1368
$GC,17079,0.75,419.2,49.4,17.0,1692,17085,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2098,1368
$GC,17221,0.68,419.2,27.5,16.5,1717,17228,0.17,2.95,0.00,0.000,4,0.127,0.063,2951,638,1368
$GC,17245,0.68,419.2,23.8,15.2,1721,17252,0.00,2.75,0.00,0.000,6,0.000,0.039,2951,2088,1367
$GC,17391,0.72,419.2,9.0,10.3,1746,17397,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2089,1367
$STATE,17457,end climb,SURFACE_DEPTH_REACHED
$STATE,17457,begin surface coast
$FINISH,0.4,1.027310
$STATE,17475,end surface coast,CONTROL_FINISHED_OK
$STATE,17475,begin surface
$SM_CCo,17551,0.00,0.000,0,0,1367,417.99
$SM_GC,0.98,7.18,0.00,0.00,0.041,0.000,0.000,1466,2296,1367,-6.10,0.03,417.99
$IRIDIUM_FIX,6059.36,-2621.85,090897,151526
$TT8_MAMPS,0.021476
$HUMID,1723
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,16.50
$XPDR_PINGS,22
$24V_AH,19.1,67.502
$10V_AH,9.9,47.042
$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,21.025,141.750,637.375,0.000,0.000,32.997,43.865,272.454,5.500,0.000,0.000,30.841,2798.142,10730.809,761.901,3092.405,635.631,0.000,2236.115,0.000,3064.949,0.000,0.465
$DEVICE_MAMPS,251.576,74.399,1426.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1344.602,1236.157,642.299,902.690,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126603,1761
$CAP_FILE_SIZE,163817,0
$CFSIZE,260165632,237076480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,160508,005537,6127.721,-2636.117,33,1.2,33,-18.7