version: 66.03
glider: 143
mission: 4
dive: 81
start: 4 20 108 8 58 46
data:
$ID,143
$MISSION,4
$DIVE,81
$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,20
$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,-5605.0181
$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,16
$R_STBD_OVSHOOT,19
$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
$GPS1,084655,6005.596,-2233.491,39,1.5,39,-15.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-45.4
$GPS2,085827,6005.826,-2233.486,13,1.6,13,-15.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6015.974,-2231.654
$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,35.8,20000,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,150,0.00,0.00,-122.40,0.000,2,0.000,0.000,1468,2303,3575
$GC,152,-0.82,-194.7,3.4,-6.7,17,175,10.10,2.88,-6.65,0.000,4,0.257,0.068,2609,3712,3866
$GC,318,-0.69,-194.7,38.2,-18.0,47,326,0.20,2.80,0.00,0.000,6,0.143,0.040,2642,2289,3867
$GC,452,-0.64,-194.7,58.1,-14.3,72,460,0.00,2.80,0.00,0.000,4,0.000,0.054,2642,885,3867
$GC,486,-0.64,-194.7,63.1,-13.3,78,495,0.00,2.78,0.00,0.000,6,0.000,0.045,2642,2283,3867
$GC,690,-0.58,-194.7,92.0,-15.2,115,696,0.15,0.00,0.00,0.000,6,0.146,0.000,2666,2284,3867
$GC,889,-0.58,-194.7,116.8,-12.1,152,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2284,3867
$GC,1093,-0.58,-194.7,140.8,-12.0,189,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2284,3867
$GC,1295,-0.58,-194.7,164.9,-12.0,226,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2284,3867
$GC,1628,-0.58,-194.7,205.1,-12.3,287,1634,0.00,2.75,0.00,0.000,4,0.000,0.054,2666,885,3867
$GC,1664,-0.63,-194.7,209.3,-11.9,293,1671,0.00,2.70,0.00,0.000,6,0.000,0.042,2666,2286,3867
$GC,1993,-0.63,-194.7,249.0,-11.7,354,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2287,3867
$GC,2326,-0.63,-194.7,287.2,-11.6,415,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2286,3867
$GC,2653,-0.63,-194.7,325.5,-11.5,476,2661,0.00,2.78,0.00,0.000,4,0.000,0.054,2666,889,3867
$GC,2696,-0.70,-194.7,330.1,-11.8,483,2703,0.00,2.67,0.00,0.000,6,0.000,0.043,2666,2282,3867
$GC,3032,-0.70,-194.7,368.5,-11.0,544,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2282,3867
$GC,3371,-0.70,-194.7,406.5,-10.9,605,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2282,3867
$GC,3712,-0.70,-194.7,444.6,-11.4,666,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2282,3867
$GC,4052,-0.70,-194.7,482.0,-10.6,727,4058,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2282,3867
$GC,4392,-0.70,-194.7,518.8,-11.2,788,4398,0.00,2.75,0.00,0.000,4,0.000,0.056,2667,886,3867
$GC,4438,-0.77,-194.7,523.7,-11.1,796,4444,0.17,2.65,0.00,0.000,6,0.054,0.041,2627,2273,3867
$GC,4779,-0.70,-194.7,573.6,-15.0,857,4785,0.00,2.83,0.00,0.000,4,0.000,0.056,2627,3707,3867
$GC,4832,-0.66,-194.7,581.0,-15.0,866,4838,0.17,2.78,0.00,0.000,6,0.142,0.043,2652,2266,3867
$GC,5169,-0.66,-194.7,621.9,-12.5,911,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2266,3866
$GC,5488,-0.66,-194.7,661.2,-12.6,941,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2266,3866
$GC,5806,-0.66,-194.7,700.4,-12.1,971,5811,0.00,2.92,0.00,0.000,4,0.000,0.066,2652,3707,3866
$GC,5850,-0.66,-194.7,705.9,-12.6,974,5857,0.00,2.83,0.00,0.000,6,0.000,0.052,2652,2278,3866
$GC,6175,-0.66,-194.7,746.1,-11.9,1005,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2278,3866
$GC,6493,-0.66,-194.7,786.0,-13.0,1035,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3866
$GC,6813,-0.66,-194.7,826.0,-12.4,1065,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3866
$GC,7130,-0.66,-194.7,864.4,-12.1,1095,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3865
$GC,7448,-0.66,-194.7,901.0,-11.2,1125,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2277,3865
$GC,7767,-0.66,-194.7,936.9,-11.2,1155,7768,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3865
$GC,8085,-0.66,-194.7,972.2,-10.8,1185,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2278,3864
$STATE,8254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8254,begin apogee
$GC,8258,-0.19,0.0,990.2,10.6,1201,8458,0.62,0.00,195.55,1.477,6,0.133,0.000,2755,2034,3071
$STATE,8459,end apogee,CONTROL_FINISHED_OK
$STATE,8459,begin climb
$GC,8460,0.82,194.7,997.7,0.0,1221,8675,1.25,3.20,201.32,1.378,4,0.093,0.071,2970,651,2276
$GC,8792,0.71,194.7,966.3,13.2,1252,8799,0.00,2.90,0.00,0.000,6,0.000,0.044,2971,2051,2272
$GC,9120,0.57,194.7,922.0,13.4,1283,9125,0.28,2.92,0.00,0.000,4,0.132,0.060,2926,3464,2271
$GC,9181,0.57,194.7,914.9,10.2,1288,9186,0.00,2.85,0.00,0.000,6,0.000,0.051,2926,2066,2270
$GC,9506,0.56,227.6,885.0,8.9,1318,9548,0.00,2.97,32.85,1.431,4,0.000,0.059,2926,3464,2141
$GC,9575,0.58,242.5,878.4,9.5,1324,9596,0.00,2.83,16.30,1.243,6,0.000,0.050,2926,2085,2082
$GC,9915,0.62,274.0,847.0,8.9,1356,9956,0.00,2.92,32.10,1.371,4,0.000,0.058,2926,3458,1952
$GC,9967,0.51,306.5,842.2,8.9,1361,10009,0.00,2.83,34.20,1.269,6,0.000,0.050,2925,2088,1821
$GC,10327,0.52,313.0,809.4,9.8,1395,10339,0.00,3.03,7.05,1.162,4,0.000,0.072,2926,637,1795
$GC,10344,0.23,313.0,807.5,10.1,1396,10351,0.43,2.92,0.00,0.000,6,0.105,0.044,2854,2113,1795
$GC,10669,0.58,313.0,778.1,10.8,1427,10674,0.35,2.75,0.00,0.000,4,0.072,0.058,2922,3471,1793
$GC,10978,0.87,313.8,751.3,10.0,1454,10983,0.35,2.72,0.00,0.000,6,0.071,0.049,2990,2100,1791
$GC,11302,0.72,313.8,701.8,17.3,1484,11304,0.20,0.00,0.00,0.000,6,0.136,0.000,2960,2098,1791
$GC,11621,0.63,313.8,656.9,14.0,1514,11626,0.15,2.72,0.00,0.000,4,0.136,0.054,2938,3462,1791
$GC,11664,0.63,313.8,651.1,11.6,1517,11671,0.00,2.70,0.00,0.000,6,0.000,0.048,2938,2108,1790
$GC,11990,0.63,313.8,614.7,11.1,1548,11991,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2107,1790
$GC,12317,0.63,313.8,578.3,11.0,1595,12323,0.00,2.70,0.00,0.000,4,0.000,0.054,2939,3473,1790
$GC,12346,0.63,313.8,575.2,10.6,1600,12353,0.00,2.65,0.00,0.000,6,0.000,0.046,2946,2108,1790
$GC,12688,0.63,313.8,539.3,10.6,1661,12693,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2108,1790
$GC,13025,0.63,313.8,504.4,10.3,1722,13032,0.00,2.65,0.00,0.000,4,0.000,0.051,2938,3465,1790
$GC,13050,0.63,313.8,501.9,11.0,1726,13056,0.00,2.62,0.00,0.000,6,0.000,0.044,2939,2112,1789
$GC,13390,0.63,313.8,464.4,11.0,1787,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2112,1789
$GC,13728,0.63,313.8,427.7,10.2,1848,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2112,1789
$GC,14073,0.63,313.8,391.7,10.4,1909,14078,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2112,1790
$GC,14413,0.64,317.3,356.2,9.9,1970,14427,0.00,2.70,5.38,0.851,4,0.000,0.051,2938,3469,1777
$GC,14433,0.60,325.0,354.3,9.7,1973,14450,0.00,2.60,9.45,1.022,6,0.000,0.043,2939,2123,1745
$GC,14778,0.60,325.0,320.0,10.3,2036,14785,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2123,1745
$GC,15110,0.60,325.0,286.8,10.2,2097,15116,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2123,1745
$GC,15440,0.61,328.2,253.5,9.9,2158,15454,0.00,3.00,4.82,0.781,4,0.000,0.062,2938,634,1732
$GC,15472,0.61,328.2,250.4,10.5,2163,15478,0.00,2.85,0.00,0.000,6,0.000,0.039,2939,2134,1732
$GC,15803,0.62,335.5,217.0,9.8,2224,15816,0.00,0.00,9.05,0.968,6,0.000,0.000,2939,2134,1703
$GC,16138,0.62,335.5,183.6,10.1,2286,16146,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2134,1703
$GC,16472,0.62,339.8,150.8,9.9,2347,16485,0.00,3.00,6.20,0.824,4,0.000,0.061,2938,637,1684
$GC,16501,0.62,339.8,147.5,11.0,2352,16509,0.00,2.88,0.00,0.000,6,0.000,0.038,2941,2130,1684
$GC,16706,0.66,367.7,127.7,9.0,2389,16736,0.00,0.00,27.27,0.962,6,0.000,0.000,2941,2130,1570
$GC,16930,0.67,376.2,105.2,9.7,2430,16943,0.00,0.00,9.18,0.913,6,0.000,0.000,2941,2130,1537
$GC,17138,0.71,376.2,84.6,11.2,2468,17147,0.00,3.05,0.00,0.000,4,0.000,0.061,2938,641,1535
$GC,17160,0.77,376.2,82.5,10.6,2471,17167,0.15,2.85,0.00,0.000,6,0.055,0.038,2974,2121,1535
$GC,17361,0.70,376.2,52.5,15.2,2508,17369,0.12,0.00,0.00,0.000,6,0.125,0.000,2956,2122,1535
$GC,17558,0.70,376.2,28.0,11.7,2545,17566,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2121,1535
$GC,17692,0.70,376.2,12.6,10.9,2570,17699,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2121,1535
$STATE,17788,end climb,SURFACE_DEPTH_REACHED
$STATE,17788,begin surface coast
$FINISH,0.1,1.027298
$STATE,17805,end surface coast,CONTROL_FINISHED_OK
$STATE,17805,begin surface
$SM_CCo,17880,0.00,0.000,0,0,1533,377.27
$SM_GC,0.73,7.28,0.00,0.00,0.043,0.000,0.000,1467,2302,1533,-6.10,0.20,377.27
$IRIDIUM_FIX,5940.92,-2242.50,150797,080836
$TT8_MAMPS,0.021476
$HUMID,1663
$INTERNAL_PRESSURE,8.17414
$TCM_TEMP,12.60
$XPDR_PINGS,276
$24V_AH,19.6,34.064
$10V_AH,9.8,24.257
$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,21.975,113.575,590.725,0.000,0.000,50.358,91.691,362.477,69.000,0.000,0.000,14.720,3916.894,7407.190,713.455,5701.188,808.784,0.000,2721.101,0.000,5732.579,0.000,0.467
$DEVICE_MAMPS,256.945,72.098,1477.242,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1901.545,1874.896,1092.189,1082.641,2807.138,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196101,2591
$CAP_FILE_SIZE,197502,0
$CFSIZE,260165632,248578048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200408,135802,6010.452,-2230.027,42,1.1,42,-15.8