version: 66.03
glider: 143
mission: 4
dive: 218
start: 5 18 108 6 30 46
data:
$ID,143
$MISSION,4
$DIVE,218
$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,120
$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,-9395.4541
$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,20
$R_STBD_OVSHOOT,26
$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
$GPS1,061727,6125.068,-2607.575,24,3.5,43,-18.5
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-50.2
$GPS2,063029,6125.064,-2607.570,14,2.7,33,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6119.665,-2603.083
$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,138.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.82,-194.7,0.0,0.0,0,111,0.00,0.00,-81.85,0.000,2,0.000,0.000,1462,2309,3303
$GC,114,-0.82,-194.7,3.0,-5.9,15,145,10.23,2.85,-14.10,0.000,4,0.252,0.066,2612,888,3866
$GC,185,-0.74,-194.7,15.7,-16.4,27,192,0.15,2.78,0.00,0.000,6,0.151,0.054,2633,2282,3867
$GC,331,-0.68,-194.7,37.9,-15.1,52,337,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2282,3867
$GC,472,-0.62,-194.7,60.4,-15.0,77,478,0.15,0.00,0.00,0.000,6,0.147,0.000,2657,2282,3867
$GC,816,-0.62,-194.7,102.6,-12.0,138,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,1159,-0.62,-194.7,143.8,-12.1,199,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,1502,-0.62,-194.7,185.2,-12.7,260,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,1846,-0.62,-194.7,227.7,-12.2,321,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,2189,-0.62,-194.7,269.1,-12.1,382,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3867
$GC,2532,-0.62,-194.7,309.6,-11.8,443,2538,0.00,2.75,0.00,0.000,4,0.000,0.054,2657,884,3867
$GC,2555,-0.62,-194.7,312.3,-11.5,447,2561,0.00,2.80,0.00,0.000,6,0.000,0.044,2657,2335,3867
$GC,2898,-0.62,-194.7,351.6,-11.4,507,2903,0.00,2.85,0.00,0.000,4,0.000,0.054,2657,886,3867
$GC,2918,-0.62,-194.7,354.1,-11.0,508,2925,0.00,2.78,0.00,0.000,6,0.000,0.043,2657,2311,3867
$GC,3245,-0.62,-194.7,390.4,-11.4,539,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2311,3867
$GC,3562,-0.62,-194.7,428.1,-11.8,569,3567,0.00,2.80,0.00,0.000,4,0.000,0.055,2657,886,3867
$GC,3591,-0.62,-194.7,431.4,-12.2,571,3596,0.00,2.75,0.00,0.000,6,0.000,0.044,2657,2317,3867
$GC,3917,-0.62,-194.7,470.4,-11.7,601,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2317,3867
$GC,4234,-0.62,-194.7,507.5,-11.9,631,4239,0.00,2.83,0.00,0.000,4,0.000,0.055,2657,887,3867
$GC,4273,-0.68,-194.7,512.0,-11.1,634,4278,0.00,2.75,0.00,0.000,6,0.000,0.044,2657,2312,3867
$GC,4600,-0.68,-194.7,549.2,-11.5,664,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2313,3867
$GC,4916,-0.68,-194.7,586.7,-11.7,694,4920,0.00,2.85,0.00,0.000,4,0.000,0.057,2657,879,3867
$GC,4943,-0.68,-194.7,589.9,-12.4,696,4948,0.00,2.75,0.00,0.000,6,0.000,0.045,2657,2299,3867
$GC,5261,-0.68,-194.7,628.4,-12.0,715,5262,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2299,3867
$GC,5570,-0.68,-194.7,662.3,-10.7,730,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2299,3866
$GC,5879,-0.68,-194.7,694.1,-10.3,745,5884,0.00,2.88,0.00,0.000,4,0.000,0.067,2657,886,3867
$GC,5906,-0.73,-194.7,696.8,-10.3,746,5911,0.00,2.72,0.00,0.000,6,0.000,0.048,2657,2286,3866
$GC,6221,-0.73,-194.7,729.9,-10.8,761,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2288,3867
$GC,6530,-0.73,-194.7,764.3,-11.7,776,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2289,3866
$GC,6841,-0.73,-194.7,798.9,-10.8,791,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2291,3866
$GC,7149,-0.73,-194.7,832.0,-11.0,806,7153,0.00,2.88,0.00,0.000,4,0.000,0.067,2657,881,3866
$GC,7175,-0.78,-194.7,834.9,-11.1,807,7180,0.15,2.72,0.00,0.000,6,0.058,0.049,2624,2275,3866
$GC,7491,-0.74,-194.7,875.6,-13.0,822,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2276,3865
$GC,7800,-0.69,-194.7,913.4,-12.2,837,7802,0.15,0.00,0.00,0.000,6,0.137,0.000,2646,2277,3865
$GC,8109,-0.69,-194.7,944.5,-10.1,852,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2278,3864
$GC,8418,-0.69,-194.7,976.7,-10.4,867,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2278,3864
$STATE,8560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8560,begin apogee
$GC,8566,-0.19,0.0,992.3,10.9,874,8770,0.65,0.00,201.23,1.414,6,0.123,0.000,2754,2043,3071
$STATE,8771,end apogee,CONTROL_FINISHED_OK
$STATE,8771,begin climb
$GC,8773,0.82,194.7,999.7,0.0,884,8992,1.25,3.22,207.05,1.346,4,0.087,0.071,2971,650,2276
$GC,9092,0.71,194.7,973.1,11.8,899,9097,0.00,2.92,0.00,0.000,6,0.000,0.048,2971,2060,2273
$GC,9414,0.59,194.7,936.1,11.3,915,9419,0.22,2.90,0.00,0.000,4,0.135,0.063,2934,3470,2271
$GC,9463,0.59,195.7,930.8,10.0,917,9469,0.20,2.85,0.00,0.000,6,0.132,0.052,2927,2058,2271
$GC,9779,0.70,290.0,909.9,6.7,932,9883,0.22,3.10,95.80,1.347,4,0.064,0.071,2948,641,1887
$GC,9985,0.70,290.0,886.8,11.6,941,9991,0.00,2.85,0.00,0.000,6,0.000,0.048,2950,2060,1884
$GC,10301,0.66,290.0,850.7,11.0,957,10306,0.00,2.95,0.00,0.000,4,0.000,0.071,2949,635,1882
$GC,10389,0.66,290.0,840.9,10.5,961,10394,0.00,2.85,0.00,0.000,6,0.000,0.048,2949,2081,1881
$GC,10711,0.61,290.0,805.4,11.5,977,10715,0.00,2.78,0.00,0.000,4,0.000,0.061,2948,3461,1880
$GC,10760,0.61,290.0,799.4,12.2,979,10764,0.00,2.75,0.00,0.000,6,0.000,0.053,2949,2083,1878
$GC,11075,0.56,290.0,762.7,11.8,994,11077,0.17,0.00,0.00,0.000,6,0.125,0.000,2922,2082,1879
$GC,11385,0.59,311.3,734.1,9.3,1009,11413,0.00,2.83,21.23,1.305,4,0.000,0.058,2921,3469,1800
$GC,11442,0.65,311.3,728.5,10.2,1011,11448,0.00,2.75,0.00,0.000,6,0.000,0.050,2920,2094,1799
$GC,11758,0.77,369.0,701.9,8.0,1027,11823,0.20,2.88,59.47,1.243,4,0.063,0.058,2966,3471,1566
$GC,11926,0.77,369.0,680.5,12.6,1035,11930,0.00,2.78,0.00,0.000,6,0.000,0.051,2966,2101,1562
$GC,12252,0.71,369.0,633.6,14.6,1051,12256,0.00,2.75,0.00,0.000,4,0.000,0.055,2966,3468,1559
$GC,12351,0.71,369.0,619.7,12.8,1055,12358,0.00,2.72,0.00,0.000,6,0.000,0.049,2967,2096,1558
$GC,12672,0.64,369.0,573.9,14.8,1079,12678,0.15,2.92,0.00,0.000,4,0.130,0.065,2940,638,1557
$GC,12705,0.64,369.0,569.4,11.8,1081,12712,0.00,2.85,0.00,0.000,6,0.000,0.042,2940,2120,1557
$GC,13033,0.64,369.0,534.9,10.7,1112,13037,0.00,2.65,0.00,0.000,4,0.000,0.053,2940,3465,1557
$GC,13061,0.69,369.0,531.6,11.3,1114,13065,0.00,2.67,0.00,0.000,6,0.000,0.045,2941,2097,1556
$GC,13386,0.69,369.0,497.8,10.6,1144,13391,0.00,2.92,0.00,0.000,4,0.000,0.063,2940,632,1556
$GC,13426,0.76,369.0,493.5,10.2,1147,13431,0.12,2.85,0.00,0.000,6,0.064,0.041,2968,2121,1556
$GC,13751,0.70,369.0,446.5,14.9,1177,13755,0.00,2.65,0.00,0.000,4,0.000,0.052,2967,3471,1556
$GC,13778,0.70,369.0,442.3,14.8,1179,13783,0.00,2.70,0.00,0.000,6,0.000,0.045,2967,2087,1556
$GC,14103,0.64,369.0,395.1,14.6,1209,14109,0.15,2.88,0.00,0.000,4,0.130,0.062,2941,637,1556
$GC,14143,0.70,369.0,390.2,10.8,1212,14148,0.00,2.80,0.00,0.000,6,0.000,0.041,2941,2103,1556
$GC,14470,0.70,373.4,358.3,9.8,1242,14475,0.00,2.67,0.00,0.000,4,0.000,0.052,2941,3468,1556
$GC,14503,0.76,373.4,354.5,10.1,1244,14511,0.12,2.67,0.00,0.000,6,0.071,0.044,2967,2090,1555
$GC,14844,0.71,373.4,308.2,13.9,1301,14850,0.00,2.88,0.00,0.000,4,0.000,0.062,2967,642,1556
$GC,14878,0.71,373.4,303.3,13.2,1307,14884,0.00,2.80,0.00,0.000,6,0.000,0.041,2967,2108,1556
$GC,15222,0.66,373.4,257.5,12.7,1368,15229,0.12,2.67,0.00,0.000,4,0.130,0.052,2949,3471,1556
$GC,15246,0.66,373.4,254.5,12.4,1372,15253,0.00,2.67,0.00,0.000,6,0.000,0.044,2948,2092,1555
$GC,15590,0.69,391.6,221.6,9.4,1433,15618,0.00,2.97,22.35,0.989,4,0.000,0.063,2949,638,1473
$GC,15642,0.79,427.6,216.9,8.8,1442,15686,0.12,2.83,36.78,0.887,6,0.061,0.040,2976,2107,1327
$GC,16023,0.72,427.6,163.6,14.0,1510,16029,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2107,1320
$GC,16367,0.66,427.6,112.5,15.2,1571,16374,0.17,2.97,0.00,0.000,4,0.130,0.062,2947,636,1320
$GC,16409,0.74,427.6,107.5,10.3,1578,16415,0.00,2.78,0.00,0.000,6,0.000,0.040,2947,2090,1319
$GC,16756,0.84,451.7,75.2,9.2,1639,16789,0.15,2.75,23.83,0.863,4,0.064,0.053,2983,3456,1228
$GC,16814,0.84,451.7,67.6,14.1,1649,16820,0.00,2.72,0.00,0.000,6,0.000,0.044,2983,2075,1228
$GC,17157,0.76,451.7,11.6,14.7,1710,17164,0.00,2.85,0.00,0.000,4,0.000,0.064,2983,645,1225
$GC,17215,0.76,451.7,2.6,13.0,1720,17222,0.00,2.78,0.00,0.000,6,0.000,0.044,2983,2078,1223
$STATE,17226,end climb,SURFACE_DEPTH_REACHED
$STATE,17226,begin surface coast
$FINISH,0.8,1.027231
$STATE,17244,end surface coast,CONTROL_FINISHED_OK
$STATE,17244,begin surface
$SM_CCo,17321,0.00,0.000,0,0,1222,453.56
$SM_GC,0.82,7.40,0.00,0.00,0.044,0.000,0.000,1469,2303,1222,-6.09,0.23,453.56
$IRIDIUM_FIX,6059.36,-2607.78,120897,060607
$TT8_MAMPS,0.021476
$HUMID,1720
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,16.70
$XPDR_PINGS,29
$24V_AH,19.2,70.573
$10V_AH,9.8,48.611
$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,22.275,158.425,667.725,0.000,0.000,53.699,84.763,396.255,7.250,0.000,0.000,36.145,2759.191,10460.393,765.148,3224.011,877.337,0.000,2246.257,0.000,3192.239,0.000,0.467
$DEVICE_MAMPS,252.343,71.331,1413.581,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1298.345,1216.887,624.895,1498.839,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126458,1725
$CAP_FILE_SIZE,169966,0
$CFSIZE,260165632,236019712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,180508,112058,6122.750,-2600.915,35,99.0,54,-18.4