version: 66.03
glider: 143
mission: 4
dive: 89
start: 4 21 108 23 31 28
data:
$ID,143
$MISSION,4
$DIVE,89
$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,335
$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,-5726.73
$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,15
$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
$GPS1,232338,6037.714,-2206.696,35,1.2,35,-15.9
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-47.5
$GPS2,233109,6037.809,-2206.759,14,1.8,14,-15.9
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6047.597,-2208.986
$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,350.9,20000,-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,-101.30,0.000,2,0.000,0.000,1465,2307,3610
$GC,131,-0.82,-194.7,3.3,-4.8,14,155,10.02,2.83,-5.60,0.000,4,0.254,0.066,2612,3707,3868
$GC,397,-0.72,-194.7,55.4,-16.1,63,404,0.17,2.75,0.00,0.000,6,0.142,0.041,2637,2289,3869
$GC,599,-0.66,-194.7,86.8,-15.3,100,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2287,3869
$GC,804,-0.59,-194.7,117.2,-14.8,137,811,0.17,2.78,0.00,0.000,4,0.141,0.054,2666,881,3869
$GC,854,-0.65,-194.7,124.2,-11.6,146,862,0.00,2.78,0.00,0.000,6,0.000,0.044,2666,2294,3869
$GC,1060,-0.65,-194.7,148.0,-11.8,183,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2294,3869
$GC,1260,-0.65,-194.7,171.4,-11.7,220,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2294,3869
$GC,1593,-0.65,-194.7,210.0,-11.5,281,1599,0.00,2.78,0.00,0.000,4,0.000,0.054,2666,885,3869
$GC,1650,-0.71,-194.7,216.5,-11.0,291,1656,0.00,2.70,0.00,0.000,6,0.000,0.043,2666,2288,3869
$GC,1980,-0.71,-194.7,254.9,-11.9,352,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2288,3869
$GC,2314,-0.71,-194.7,293.5,-11.4,413,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2288,3869
$GC,2643,-0.71,-194.7,332.1,-11.4,474,2651,0.00,2.80,0.00,0.000,4,0.000,0.055,2666,883,3869
$GC,2697,-0.78,-194.7,337.6,-10.4,483,2704,0.17,2.67,0.00,0.000,6,0.056,0.043,2628,2282,3869
$GC,3037,-0.69,-194.7,388.6,-15.3,544,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2282,3869
$GC,3376,-0.61,-194.7,439.9,-15.3,605,3383,0.17,0.00,0.00,0.000,6,0.131,0.000,2657,2282,3869
$GC,3716,-0.61,-194.7,481.1,-12.3,666,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2282,3869
$GC,4057,-0.61,-194.7,522.3,-12.1,727,4063,0.00,2.75,0.00,0.000,4,0.000,0.056,2657,886,3869
$GC,4113,-0.66,-194.7,529.2,-12.1,737,4119,0.00,2.65,0.00,0.000,6,0.000,0.041,2658,2272,3869
$GC,4453,-0.66,-194.7,571.1,-12.5,798,4459,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2272,3869
$GC,4793,-0.66,-194.7,611.4,-11.8,851,4794,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2272,3869
$GC,5112,-0.66,-194.7,648.2,-11.4,881,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2272,3869
$GC,5430,-0.66,-194.7,685.3,-11.8,911,5435,0.00,2.83,0.00,0.000,4,0.000,0.069,2657,881,3869
$GC,5485,-0.71,-194.7,691.7,-11.0,915,5491,0.00,2.70,0.00,0.000,6,0.000,0.048,2658,2274,3869
$GC,5810,-0.71,-194.7,729.0,-11.7,946,5815,0.00,2.90,0.00,0.000,4,0.000,0.067,2657,3707,3869
$GC,5849,-0.75,-194.7,733.6,-11.7,949,5854,0.00,2.85,0.00,0.000,6,0.000,0.054,2657,2269,3868
$GC,6173,-0.75,-194.7,770.3,-11.1,979,6177,0.00,2.78,0.00,0.000,4,0.000,0.070,2657,887,3868
$GC,6212,-0.80,-194.7,774.6,-11.4,982,6217,0.17,2.70,0.00,0.000,6,0.056,0.049,2621,2273,3868
$GC,6536,-0.72,-194.7,822.0,-14.5,1012,6538,0.12,0.00,0.00,0.000,6,0.140,0.000,2639,2274,3868
$GC,6855,-0.72,-194.7,862.7,-13.2,1042,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2275,3868
$GC,7172,-0.72,-194.7,903.9,-12.5,1072,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2276,3867
$GC,7491,-0.72,-194.7,944.3,-12.7,1102,7496,0.00,2.83,0.00,0.000,4,0.000,0.069,2637,883,3867
$GC,7552,-0.72,-194.7,951.7,-12.3,1107,7556,0.00,2.67,0.00,0.000,6,0.000,0.049,2637,2260,3867
$STATE,7863,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7864,begin apogee
$GC,7869,-0.19,0.0,990.7,12.7,1136,8069,0.70,0.00,196.48,1.464,6,0.131,0.000,2753,2039,3071
$STATE,8070,end apogee,CONTROL_FINISHED_OK
$STATE,8070,begin climb
$GC,8072,0.82,194.7,999.3,0.0,1156,8286,1.25,3.22,201.88,1.374,4,0.090,0.072,2970,652,2276
$GC,8376,0.70,194.7,973.1,13.2,1185,8381,0.00,2.92,0.00,0.000,6,0.000,0.045,2971,2050,2272
$GC,8701,0.57,194.7,931.8,12.6,1215,8707,0.25,2.92,0.00,0.000,4,0.130,0.060,2929,3469,2271
$GC,8763,0.52,194.7,925.0,10.7,1220,8768,0.20,2.85,0.00,0.000,6,0.131,0.052,2916,2073,2270
$GC,9087,0.64,287.8,902.4,6.8,1250,9189,0.12,3.15,92.53,1.371,4,0.071,0.072,2931,647,1896
$GC,9272,0.64,288.0,884.9,10.0,1267,9279,0.00,2.92,0.00,0.000,6,0.000,0.045,2944,2087,1893
$GC,9598,0.65,294.5,853.6,9.8,1298,9609,0.00,0.00,7.25,1.176,6,0.000,0.000,2941,2087,1870
$GC,9928,0.67,312.1,822.7,9.4,1329,9953,0.00,3.08,19.20,1.386,4,0.000,0.073,2961,643,1798
$GC,9991,0.72,315.8,816.6,9.9,1334,10003,0.05,2.90,5.20,0.944,6,0.099,0.045,2987,2096,1783
$GC,10320,0.72,315.8,780.6,11.2,1365,10326,0.28,2.78,0.00,0.000,4,0.113,0.059,2890,3462,1781
$GC,10360,0.95,390.4,777.3,7.4,1368,10445,0.57,2.72,76.93,1.302,6,0.043,0.051,3012,2104,1479
$GC,10770,0.74,390.4,684.4,24.0,1407,10775,0.30,2.78,0.00,0.000,4,0.149,0.055,2963,3464,1471
$GC,10791,0.58,390.4,679.4,23.2,1408,10799,0.22,2.72,0.00,0.000,6,0.136,0.049,2930,2112,1469
$GC,11116,0.66,410.8,646.4,9.3,1439,11139,0.00,0.00,20.67,1.307,6,0.000,0.000,2930,2112,1396
$GC,11456,0.74,415.0,614.0,9.9,1471,11468,0.15,3.03,5.40,0.976,4,0.064,0.067,2970,637,1379
$GC,11484,0.74,415.0,610.4,13.0,1473,11490,0.00,2.90,0.00,0.000,6,0.000,0.042,2967,2117,1378
$GC,11820,0.68,415.0,558.3,15.9,1527,11827,0.00,2.65,0.00,0.000,4,0.000,0.053,2964,3462,1377
$GC,11845,0.63,415.0,554.6,15.9,1531,11852,0.17,2.67,0.00,0.000,6,0.117,0.047,2938,2105,1377
$GC,12187,0.68,415.0,517.8,10.4,1592,12193,0.00,2.95,0.00,0.000,4,0.000,0.064,2938,635,1377
$GC,12217,0.75,415.0,514.8,10.4,1597,12224,0.12,2.85,0.00,0.000,6,0.062,0.041,2966,2117,1376
$GC,12559,0.69,415.0,463.8,15.0,1658,12565,0.00,2.65,0.00,0.000,4,0.000,0.051,2966,3469,1376
$GC,12587,0.69,415.0,459.4,15.0,1663,12593,0.00,2.67,0.00,0.000,6,0.000,0.045,2968,2102,1376
$GC,12926,0.64,415.0,409.3,14.4,1724,12933,0.17,2.92,0.00,0.000,4,0.127,0.062,2937,635,1376
$GC,12944,0.64,415.0,406.8,14.0,1727,12950,0.00,2.83,0.00,0.000,6,0.000,0.039,2943,2118,1375
$GC,13285,0.72,434.6,375.9,9.3,1788,13310,0.00,0.00,21.02,1.176,6,0.000,0.000,2947,2118,1299
$GC,13644,0.84,468.9,343.6,8.8,1852,13690,0.15,3.08,36.78,1.057,4,0.063,0.062,2976,644,1158
$GC,13708,0.84,468.9,335.3,15.1,1862,13715,0.10,2.90,0.00,0.000,6,0.106,0.039,2957,2107,1156
$GC,14042,0.84,468.9,295.3,11.5,1923,14048,0.15,0.00,0.00,0.000,6,0.067,0.000,2991,2108,1154
$GC,14372,0.74,468.9,233.3,19.8,1984,14381,0.15,3.00,0.00,0.000,4,0.135,0.061,2964,641,1153
$GC,14404,0.74,468.9,227.9,16.2,1989,14411,0.05,2.80,0.00,0.000,6,0.143,0.038,2962,2102,1152
$GC,14735,0.74,468.9,189.5,11.5,2050,14743,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2103,1151
$GC,15069,0.74,468.9,152.1,11.1,2111,15075,0.00,2.95,0.00,0.000,4,0.000,0.061,2957,635,1152
$GC,15094,0.79,468.9,149.3,11.6,2115,15100,0.00,2.78,0.00,0.000,6,0.000,0.038,2957,2094,1151
$GC,15294,0.79,468.9,127.3,10.4,2152,15301,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2094,1151
$GC,15499,0.79,468.9,104.3,11.0,2189,15505,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2094,1151
$GC,15699,0.83,468.9,81.5,10.8,2226,15707,0.12,0.00,0.00,0.000,6,0.070,0.000,2984,2094,1151
$GC,15904,0.78,468.9,49.4,14.8,2263,15912,0.00,2.95,0.00,0.000,4,0.000,0.063,2983,641,1151
$GC,15930,0.78,468.9,45.4,15.7,2267,15939,0.30,2.75,0.00,0.000,6,0.101,0.038,2998,2070,1150
$GC,16067,0.99,520.6,34.2,8.2,2292,16126,0.40,0.00,51.33,0.874,6,0.043,0.000,3017,2071,946
$STATE,16226,end climb,SURFACE_DEPTH_REACHED
$STATE,16226,begin surface coast
$FINISH,0.4,1.027344
$STATE,16233,end surface coast,CONTROL_FINISHED_OK
$STATE,16233,begin surface
$SM_CCo,16307,0.00,0.000,0,0,941,522.24
$SM_GC,0.32,7.62,0.00,0.00,0.039,0.000,0.000,1466,2290,941,-6.09,-0.14,522.24
$IRIDIUM_FIX,6011.05,-2159.47,160797,181843
$TT8_MAMPS,0.021476
$HUMID,1655
$INTERNAL_PRESSURE,8.12531
$TCM_TEMP,12.50
$XPDR_PINGS,213
$24V_AH,19.6,36.328
$10V_AH,9.7,26.190
$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,24.650,136.925,734.650,0.000,0.000,28.931,30.924,271.084,53.250,0.000,0.000,16.308,3519.451,6722.300,797.444,5070.392,625.872,0.000,2660.426,0.000,5103.718,0.000,0.468
$DEVICE_MAMPS,253.877,72.865,1464.203,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1723.079,1667.222,961.931,937.059,2432.247,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,173950,2320
$CAP_FILE_SIZE,186398,0
$CFSIZE,260165632,247717888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,040426,6041.794,-2209.136,37,1.5,37,-15.9