version: 66.03
glider: 143
mission: 4
dive: 97
start: 4 23 108 15 1 35
data:
$ID,143
$MISSION,4
$DIVE,97
$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,359
$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,-5944.5283
$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,27
$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
$GPS1,145302,6102.749,-2224.646,41,1.0,41,-16.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-48.9
$GPS2,150117,6102.772,-2224.524,13,2.8,32,-16.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6113.570,-2224.615
$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,15.3,20000,-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,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,135,0.00,0.00,-108.25,0.000,2,0.000,0.000,1467,2309,3552
$GC,138,-0.82,-194.7,3.1,-5.1,15,161,9.62,2.88,-7.22,0.000,4,0.245,0.076,2611,3694,3867
$GC,370,-0.72,-194.7,48.4,-18.1,58,379,0.15,2.75,0.00,0.000,6,0.133,0.040,2636,2288,3869
$GC,513,-0.66,-194.7,69.7,-14.6,83,519,0.00,2.78,0.00,0.000,4,0.000,0.054,2637,883,3869
$GC,569,-0.66,-194.7,78.5,-14.2,93,576,0.00,2.72,0.00,0.000,6,0.000,0.046,2637,2279,3869
$GC,771,-0.61,-194.7,108.2,-15.2,130,779,0.15,0.00,0.00,0.000,6,0.151,0.000,2660,2279,3869
$GC,976,-0.61,-194.7,133.7,-12.3,167,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2279,3869
$GC,1176,-0.61,-194.7,158.0,-12.4,204,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2279,3869
$GC,1518,-0.61,-194.7,200.1,-12.2,265,1524,0.00,2.75,0.00,0.000,4,0.000,0.054,2661,881,3869
$GC,1565,-0.66,-194.7,205.9,-12.0,273,1572,0.00,2.72,0.00,0.000,6,0.000,0.044,2661,2292,3869
$GC,1905,-0.66,-194.7,246.9,-12.2,334,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2292,3869
$GC,2243,-0.66,-194.7,288.9,-12.2,395,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2292,3869
$GC,2580,-0.66,-194.7,329.7,-12.1,456,2588,0.00,2.80,0.00,0.000,4,0.000,0.054,2661,883,3869
$GC,2627,-0.72,-194.7,335.1,-11.3,464,2635,0.00,2.72,0.00,0.000,6,0.000,0.043,2660,2286,3869
$GC,2970,-0.72,-194.7,375.2,-11.7,525,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3870
$GC,3309,-0.72,-194.7,415.0,-12.0,586,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3869
$GC,3648,-0.72,-194.7,454.4,-11.5,647,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3869
$GC,3986,-0.72,-194.7,493.9,-11.7,708,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3869
$GC,4327,-0.72,-194.7,532.8,-11.1,769,4333,0.00,2.75,0.00,0.000,4,0.000,0.056,2661,887,3869
$GC,4367,-0.78,-194.7,537.5,-11.3,776,4376,0.12,2.67,0.00,0.000,6,0.050,0.042,2628,2273,3869
$GC,4709,-0.72,-194.7,587.0,-14.2,837,4715,0.00,2.83,0.00,0.000,4,0.000,0.057,2627,3704,3868
$GC,4754,-0.72,-194.7,593.5,-14.3,845,4760,0.00,2.75,0.00,0.000,6,0.000,0.043,2628,2275,3869
$GC,5086,-0.66,-194.7,641.8,-14.4,880,5088,0.17,0.00,0.00,0.000,6,0.137,0.000,2653,2275,3869
$GC,5405,-0.66,-194.7,680.3,-11.4,910,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2275,3869
$GC,5723,-0.66,-194.7,715.8,-10.9,940,5728,0.00,2.80,0.00,0.000,4,0.000,0.071,2653,888,3869
$GC,5762,-0.70,-194.7,720.0,-10.7,943,5767,0.00,2.70,0.00,0.000,6,0.000,0.049,2654,2276,3868
$GC,6088,-0.70,-194.7,756.7,-11.0,973,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2277,3868
$GC,6404,-0.70,-194.7,794.2,-12.1,1003,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2278,3868
$GC,6723,-0.70,-194.7,829.2,-10.4,1033,6724,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2279,3869
$GC,7041,-0.70,-194.7,862.4,-10.3,1063,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2279,3868
$GC,7360,-0.70,-194.7,896.6,-11.0,1093,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2279,3868
$GC,7678,-0.70,-194.7,931.1,-10.8,1123,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2279,3867
$GC,7997,-0.70,-194.7,964.8,-11.0,1153,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2280,3867
$STATE,8229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8229,begin apogee
$GC,8233,-0.19,0.0,990.0,10.7,1175,8433,0.60,0.00,195.93,1.457,6,0.130,0.000,2752,2041,3071
$STATE,8433,end apogee,CONTROL_FINISHED_OK
$STATE,8434,begin climb
$GC,8435,0.82,194.7,997.6,0.0,1195,8648,1.27,3.25,201.25,1.366,4,0.091,0.071,2970,644,2276
$GC,8733,0.69,194.7,971.0,13.1,1224,8738,0.00,2.95,0.00,0.000,6,0.000,0.044,2971,2054,2273
$GC,9058,0.55,194.7,929.8,12.4,1254,9063,0.28,2.92,0.00,0.000,4,0.131,0.061,2926,3462,2271
$GC,9112,0.58,212.0,923.8,9.4,1258,9140,0.00,2.85,17.77,1.394,6,0.000,0.051,2927,2064,2206
$GC,9457,0.58,212.0,889.7,10.6,1291,9462,0.00,2.85,0.00,0.000,4,0.000,0.057,2926,3462,2204
$GC,9507,0.58,212.0,884.3,10.8,1295,9511,0.00,2.78,0.00,0.000,6,0.000,0.050,2927,2082,2203
$GC,9831,0.58,214.3,852.7,9.9,1325,9836,0.00,2.80,0.00,0.000,4,0.000,0.058,2926,3466,2202
$GC,9874,0.58,214.3,848.0,10.5,1328,9881,0.00,2.75,0.00,0.000,6,0.000,0.049,2930,2099,2202
$GC,10201,0.60,235.8,816.7,9.3,1359,10232,0.00,2.83,24.67,1.410,4,0.000,0.058,2926,3464,2108
$GC,10259,0.61,240.4,810.8,9.8,1364,10271,0.00,2.72,6.38,1.029,6,0.000,0.048,2931,2111,2090
$GC,10589,0.65,270.9,781.2,8.9,1395,10630,0.00,2.83,31.05,1.336,4,0.000,0.058,2926,3467,1965
$GC,10641,0.64,296.4,776.4,9.1,1400,10675,0.00,2.72,27.55,1.231,6,0.000,0.048,2930,2129,1861
$GC,11000,0.64,296.4,740.9,10.6,1434,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2128,1856
$GC,11320,0.64,296.4,706.3,11.0,1464,11321,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2127,1855
$GC,11638,0.64,296.4,673.9,10.3,1494,11642,0.00,2.70,0.00,0.000,4,0.000,0.055,2926,3474,1855
$GC,11658,0.64,296.4,671.6,10.7,1495,11665,0.00,2.67,0.00,0.000,6,0.000,0.046,2926,2134,1853
$GC,11984,0.64,296.4,638.0,10.9,1526,11985,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2134,1853
$GC,12301,0.64,296.4,603.6,10.4,1556,12302,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2133,1853
$GC,12632,0.66,314.0,569.7,9.4,1612,12654,0.00,0.00,16.80,1.272,6,0.000,0.000,2926,2132,1791
$GC,12987,0.69,337.1,534.7,9.2,1676,13016,0.12,0.00,25.02,1.185,6,0.071,0.000,2951,2132,1696
$GC,13351,0.69,337.1,488.2,13.7,1741,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2131,1692
$GC,13688,0.69,337.1,445.9,12.6,1802,13694,0.00,2.65,0.00,0.000,4,0.000,0.051,2951,3471,1692
$GC,13705,0.69,337.1,443.7,13.2,1805,13711,0.00,2.60,0.00,0.000,6,0.000,0.042,2951,2135,1690
$GC,14045,0.69,337.1,398.7,13.6,1866,14051,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2135,1690
$GC,14384,0.69,337.1,352.8,12.6,1927,14390,0.00,2.97,0.00,0.000,4,0.000,0.062,2951,641,1690
$GC,14401,0.69,337.1,350.5,13.3,1930,14408,0.00,2.88,0.00,0.000,6,0.000,0.039,2951,2149,1690
$GC,14740,0.69,337.1,306.5,13.2,1991,14745,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2149,1690
$GC,15078,0.69,337.1,263.5,12.3,2052,15086,0.00,3.05,0.00,0.000,4,0.000,0.061,2951,641,1690
$GC,15099,0.69,337.1,261.1,12.2,2055,15105,0.00,2.88,0.00,0.000,6,0.000,0.039,2951,2153,1690
$GC,15438,0.69,337.1,219.3,11.9,2116,15446,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2153,1690
$GC,15782,0.69,337.1,174.9,12.9,2177,15788,0.00,3.03,0.00,0.000,4,0.000,0.061,2951,639,1690
$GC,15807,0.69,337.1,171.5,13.8,2181,15813,0.00,2.85,0.00,0.000,6,0.000,0.040,2951,2140,1691
$GC,16144,0.69,337.1,129.4,12.2,2242,16151,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2140,1690
$GC,16346,0.69,337.1,105.2,11.3,2279,16352,0.00,3.00,0.00,0.000,4,0.000,0.061,2951,638,1690
$GC,16382,0.69,337.1,101.2,11.4,2285,16388,0.00,2.85,0.00,0.000,6,0.000,0.039,2951,2137,1690
$GC,16583,0.69,340.1,79.4,9.9,2322,16590,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2137,1690
$GC,16787,0.69,340.1,57.6,10.3,2359,16793,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2137,1691
$GC,16983,0.69,340.1,33.9,10.9,2396,16991,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2137,1690
$GC,17118,0.69,340.1,17.2,11.5,2421,17125,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2137,1690
$GC,17251,0.69,340.1,2.4,10.5,2446,17259,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2138,1690
$STATE,17264,end climb,SURFACE_DEPTH_REACHED
$STATE,17264,begin surface coast
$FINISH,-0.1,1.027382
$STATE,17282,end surface coast,CONTROL_FINISHED_OK
$STATE,17282,begin surface
$SM_CCo,17357,0.00,0.000,0,0,1690,338.76
$SM_GC,0.71,7.18,0.00,0.00,0.042,0.000,0.000,1460,2316,1690,-6.09,0.59,338.76
$IRIDIUM_FIX,6037.25,-2217.74,180797,101047
$TT8_MAMPS,0.021476
$HUMID,1674
$INTERNAL_PRESSURE,8.18391
$TCM_TEMP,11.90
$XPDR_PINGS,138
$24V_AH,19.6,38.591
$10V_AH,9.8,28.101
$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,19.675,107.800,546.425,0.000,0.000,30.320,36.660,290.061,34.500,0.000,0.000,35.047,3691.892,7899.754,671.235,4949.037,618.779,0.000,2537.016,0.000,4941.308,0.000,0.467
$DEVICE_MAMPS,245.440,75.933,1456.533,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1804.451,1742.271,862.832,995.683,1760.382,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,180008,2451
$CAP_FILE_SIZE,181362,0
$CFSIZE,260165632,246816768
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,195207,6105.361,-2222.199,36,0.9,41,-16.3