version: 66.03
glider: 143
mission: 4
dive: 93
start: 4 22 108 19 0 22
data:
$ID,143
$MISSION,4
$DIVE,93
$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,-5823.9829
$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
$GPS1,184758,6051.886,-2221.198,35,99.0,54,-16.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.52
$_SM_ANGLEo,-45.1
$GPS2,190005,6051.993,-2221.449,11,99.0,30,-16.1
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6101.780,-2223.660
$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,351.1,20000,-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,26,-0.82,-194.7,0.0,0.0,0,129,0.00,0.00,-100.70,0.000,2,0.000,0.000,1469,2308,3774
$GC,131,-0.82,-194.7,4.0,-7.3,14,154,10.15,2.85,-1.85,0.000,4,0.258,0.062,2610,3708,3868
$GC,418,-0.71,-194.7,61.9,-16.7,67,425,0.20,2.78,0.00,0.000,6,0.143,0.041,2639,2279,3869
$GC,619,-0.66,-194.7,92.8,-14.5,104,627,0.00,2.78,0.00,0.000,4,0.000,0.055,2639,889,3869
$GC,675,-0.66,-194.7,101.1,-13.9,114,683,0.00,2.75,0.00,0.000,6,0.000,0.047,2640,2279,3869
$GC,880,-0.61,-194.7,131.2,-15.1,151,886,0.15,0.00,0.00,0.000,6,0.147,0.000,2665,2279,3869
$GC,1079,-0.61,-194.7,156.7,-12.9,188,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2279,3869
$GC,1411,-0.61,-194.7,197.7,-12.4,249,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2279,3869
$GC,1741,-0.61,-194.7,238.6,-11.8,310,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2279,3869
$GC,2073,-0.61,-194.7,278.9,-11.9,371,2079,0.00,2.75,0.00,0.000,4,0.000,0.054,2664,881,3869
$GC,2131,-0.67,-194.7,285.3,-11.3,381,2137,0.00,2.70,0.00,0.000,6,0.000,0.044,2665,2285,3869
$GC,2462,-0.67,-194.7,323.0,-11.4,442,2470,0.00,2.83,0.00,0.000,4,0.000,0.054,2664,3702,3869
$GC,2505,-0.71,-194.7,327.7,-11.4,449,2511,0.00,2.75,0.00,0.000,6,0.000,0.041,2664,2273,3869
$GC,2839,-0.71,-194.7,366.3,-11.7,510,2846,0.00,2.67,0.00,0.000,4,0.000,0.054,2664,890,3869
$GC,2890,-0.78,-194.7,372.3,-11.3,519,2898,0.17,2.65,0.00,0.000,6,0.054,0.042,2627,2278,3869
$GC,3234,-0.70,-194.7,424.4,-14.8,580,3240,0.12,0.00,0.00,0.000,6,0.137,0.000,2644,2278,3869
$GC,3577,-0.70,-194.7,471.3,-13.4,641,3582,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2278,3869
$GC,3916,-0.70,-194.7,518.7,-13.5,702,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2278,3869
$GC,4258,-0.70,-194.7,564.2,-13.3,763,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2278,3869
$GC,4599,-0.70,-194.7,608.8,-13.4,819,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2278,3869
$GC,4918,-0.70,-194.7,650.5,-12.8,849,4922,0.00,2.80,0.00,0.000,4,0.000,0.066,2643,886,3869
$GC,4956,-0.70,-194.7,655.4,-12.8,852,4961,0.00,2.67,0.00,0.000,6,0.000,0.046,2643,2269,3869
$GC,5280,-0.70,-194.7,697.5,-13.1,882,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2271,3869
$GC,5598,-0.70,-194.7,738.4,-12.7,912,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2272,3869
$GC,5916,-0.70,-194.7,778.4,-12.3,942,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2273,3869
$GC,6235,-0.70,-194.7,817.4,-12.3,972,6240,0.00,2.90,0.00,0.000,4,0.000,0.067,2642,3702,3868
$GC,6266,-0.70,-194.7,821.4,-13.2,974,6274,0.00,2.85,0.00,0.000,6,0.000,0.052,2643,2259,3868
$GC,6592,-0.70,-194.7,861.2,-12.1,1005,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2259,3868
$GC,6910,-0.70,-194.7,900.2,-12.6,1035,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2259,3868
$GC,7228,-0.70,-194.7,940.4,-12.5,1065,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2259,3868
$GC,7547,-0.70,-194.7,978.8,-11.8,1095,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2259,3867
$STATE,7641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7641,begin apogee
$GC,7645,-0.19,0.0,990.3,11.9,1104,7846,0.68,0.00,196.45,1.463,6,0.130,0.000,2754,2038,3071
$STATE,7847,end apogee,CONTROL_FINISHED_OK
$STATE,7847,begin climb
$GC,7848,0.82,194.7,999.6,0.0,1124,8061,1.25,3.22,202.25,1.368,4,0.087,0.072,2971,649,2277
$GC,8157,0.68,194.7,973.5,13.7,1154,8162,0.15,2.95,0.00,0.000,6,0.140,0.045,2953,2059,2273
$GC,8481,0.57,194.7,936.1,11.6,1184,8486,0.15,2.92,0.00,0.000,4,0.138,0.061,2928,3467,2271
$GC,8547,0.53,199.0,929.2,9.9,1189,8557,0.00,2.85,4.88,0.989,6,0.000,0.051,2929,2074,2259
$GC,8877,0.49,207.7,898.3,9.7,1220,8893,0.12,2.88,10.18,1.326,4,0.129,0.059,2910,3467,2223
$GC,8927,0.53,234.4,893.6,9.1,1224,8962,0.00,2.80,28.17,1.315,6,0.000,0.051,2912,2086,2115
$GC,9287,0.58,279.0,863.2,8.5,1258,9339,0.00,0.00,45.55,1.365,6,0.000,0.000,2912,2085,1932
$GC,9657,0.66,311.0,831.3,8.9,1293,9699,0.17,2.92,32.60,1.354,4,0.068,0.058,2947,3460,1803
$GC,9760,0.66,311.0,817.9,14.2,1302,9767,0.00,2.80,0.00,0.000,6,0.000,0.051,2947,2100,1800
$GC,10087,0.61,311.0,775.5,12.9,1333,10092,0.00,2.78,0.00,0.000,4,0.000,0.058,2947,3462,1798
$GC,10104,0.56,311.0,772.9,13.3,1334,10109,0.15,2.70,0.00,0.000,6,0.130,0.049,2926,2118,1797
$GC,10427,0.56,315.3,739.8,9.9,1364,10438,0.00,0.00,5.03,0.984,6,0.000,0.000,2927,2117,1785
$GC,10757,0.57,322.8,707.3,9.7,1395,10768,0.00,0.00,9.30,1.233,6,0.000,0.000,2927,2116,1755
$GC,11087,0.58,329.3,675.5,9.8,1426,11098,0.00,0.00,8.55,1.201,6,0.000,0.000,2926,2114,1728
$GC,11416,0.62,359.2,644.9,9.0,1457,11457,0.00,2.78,31.38,1.256,4,0.000,0.054,2925,3466,1605
$GC,11496,0.71,375.7,637.4,9.4,1464,11523,0.15,2.72,18.02,1.145,6,0.066,0.048,2956,2114,1538
$GC,11843,0.66,375.7,592.5,12.9,1502,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2114,1534
$GC,12182,0.62,375.7,547.0,13.6,1563,12189,0.12,0.00,0.00,0.000,6,0.126,0.000,2939,2113,1533
$GC,12524,0.62,375.7,509.5,10.6,1624,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2113,1532
$GC,12863,0.62,375.7,473.1,10.1,1685,12869,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2113,1532
$GC,13205,0.62,375.7,436.8,10.3,1746,13211,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2113,1532
$GC,13546,0.62,375.7,402.2,10.1,1807,13551,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2112,1532
$GC,13886,0.62,376.1,366.6,10.0,1868,13891,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2113,1532
$GC,14223,0.62,376.1,332.1,10.0,1929,14229,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2113,1532
$GC,14553,0.64,393.7,299.9,9.4,1990,14573,0.00,0.00,18.27,1.104,6,0.000,0.000,2938,2113,1465
$GC,14900,0.69,393.7,264.5,10.5,2053,14905,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2112,1463
$GC,15230,0.75,394.8,232.6,10.0,2114,15238,0.12,0.00,0.00,0.000,6,0.070,0.000,2965,2113,1463
$GC,15565,0.70,394.8,186.0,14.0,2175,15571,0.00,2.95,0.00,0.000,4,0.000,0.064,2964,638,1463
$GC,15582,0.65,394.8,183.1,14.3,2178,15590,0.10,2.88,0.00,0.000,6,0.113,0.038,2945,2133,1462
$GC,15916,0.65,394.8,145.7,11.1,2239,15921,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2133,1462
$GC,16114,0.65,394.8,123.1,11.3,2276,16123,0.00,3.03,0.00,0.000,4,0.000,0.062,2945,638,1462
$GC,16136,0.65,394.8,120.9,11.2,2279,16142,0.00,2.83,0.00,0.000,6,0.000,0.038,2946,2127,1462
$GC,16337,0.65,394.8,100.2,10.6,2316,16344,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2127,1462
$GC,16541,0.65,394.8,78.4,10.1,2353,16547,0.00,2.97,0.00,0.000,4,0.000,0.061,2945,637,1462
$GC,16558,0.65,394.8,76.2,11.2,2356,16566,0.00,2.83,0.00,0.000,6,0.000,0.038,2947,2113,1462
$GC,16763,0.65,394.8,54.2,11.8,2393,16768,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2113,1462
$GC,16960,0.71,443.3,34.1,8.3,2430,17011,0.00,0.00,47.67,0.858,6,0.000,0.000,2947,2113,1264
$GC,17139,0.77,443.3,17.2,13.2,2461,17147,0.00,3.03,0.00,0.000,4,0.000,0.061,2945,641,1258
$GC,17160,0.85,443.3,14.5,12.5,2464,17169,0.15,2.85,0.00,0.000,6,0.043,0.037,2987,2105,1258
$STATE,17241,end climb,SURFACE_DEPTH_REACHED
$STATE,17242,begin surface coast
$FINISH,1.1,1.027339
$STATE,17254,end surface coast,CONTROL_FINISHED_OK
$STATE,17255,begin surface
$SM_CCo,17330,0.00,0.000,0,0,1256,445.22
$SM_GC,0.40,7.50,0.00,0.00,0.043,0.000,0.000,1465,2306,1256,-6.10,0.31,445.22
$IRIDIUM_FIX,6028.48,-2218.48,170797,181835
$TT8_MAMPS,0.021476
$HUMID,1663
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,12.00
$XPDR_PINGS,231
$24V_AH,19.6,37.425
$10V_AH,9.7,27.203
$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,21.625,97.200,658.300,0.000,0.000,48.975,85.063,375.737,57.750,0.000,0.000,32.557,3742.041,7313.992,731.563,5441.108,800.510,0.000,2651.140,0.000,5440.601,0.000,0.467
$DEVICE_MAMPS,258.479,72.098,1463.436,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1825.600,1783.725,1035.142,1019.660,2640.941,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186302,2481
$CAP_FILE_SIZE,189446,0
$CFSIZE,260165632,247246848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,235102,6054.719,-2225.315,76,1.1,76,-16.2