version: 66.03
glider: 143
mission: 4
dive: 100
start: 4 24 108 6 7 22
data:
$ID,143
$MISSION,4
$DIVE,100
$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,220
$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,-6007.2866
$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,19
$R_STBD_OVSHOOT,30
$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
$GPS1,060038,6100.613,-2224.140,29,0.8,29,-16.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-45.2
$GPS2,060703,6100.630,-2224.088,13,1.9,13,-16.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6052.357,-2227.467
$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,236.2,20000,-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,-194.7,0.0,0.0,0,136,0.00,0.00,-108.43,0.000,2,0.000,0.000,1468,2308,3604
$GC,138,-0.82,-194.7,3.5,-6.1,15,161,10.00,2.85,-5.68,0.000,4,0.251,0.064,2596,882,3865
$GC,325,-0.71,-194.7,41.7,-18.4,49,332,0.08,2.78,0.00,0.000,6,0.329,0.051,2675,2273,3866
$GC,461,-0.59,-194.7,66.8,-17.4,74,468,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2273,3866
$GC,793,-0.47,-194.7,124.4,-18.0,135,800,0.22,0.00,0.00,0.000,6,0.153,0.000,2690,2273,3866
$GC,1127,-0.47,-194.7,172.9,-14.2,196,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2273,3866
$GC,1471,-0.47,-194.7,222.4,-14.9,257,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2273,3866
$GC,1809,-0.47,-194.7,272.7,-14.6,318,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2273,3866
$GC,2149,-0.47,-194.7,322.4,-14.9,379,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2273,3866
$GC,2486,-0.47,-194.7,371.9,-14.8,427,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2273,3866
$GC,2807,-0.47,-194.7,416.9,-14.1,457,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2273,3866
$GC,3123,-0.47,-194.7,460.7,-13.6,487,3128,0.00,2.83,0.00,0.000,4,0.000,0.055,2642,3708,3866
$GC,3152,-0.47,-194.7,464.5,-14.2,489,3158,0.30,2.72,0.00,0.000,6,0.125,0.042,2692,2291,3866
$GC,3477,-0.56,-194.7,494.7,-9.2,519,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2288,3866
$GC,3796,-0.65,-194.7,523.9,-9.0,549,3798,0.17,0.00,0.00,0.000,6,0.058,0.000,2653,2288,3866
$GC,4114,-0.65,-194.7,564.3,-12.8,579,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2288,3866
$GC,4431,-0.65,-194.7,603.3,-12.3,608,4435,0.00,2.78,0.00,0.000,4,0.000,0.060,2653,880,3866
$GC,4474,-0.69,-194.7,608.5,-11.8,610,4478,0.00,2.75,0.00,0.000,6,0.000,0.044,2653,2310,3866
$GC,4800,-0.69,-194.7,647.0,-11.9,626,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2310,3866
$GC,5110,-0.69,-194.7,684.1,-11.5,641,5114,0.00,2.88,0.00,0.000,4,0.000,0.069,2654,891,3866
$GC,5135,-0.69,-194.7,687.1,-11.7,642,5140,0.00,2.75,0.00,0.000,6,0.000,0.049,2653,2292,3866
$GC,5457,-0.69,-194.7,722.6,-11.0,658,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2293,3865
$GC,5766,-0.69,-194.7,757.9,-11.8,673,5767,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2295,3865
$GC,6075,-0.69,-194.7,793.2,-11.0,688,6076,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2297,3865
$GC,6385,-0.69,-194.7,827.0,-10.9,703,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2297,3865
$GC,6694,-0.69,-194.7,860.2,-10.6,718,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2297,3865
$GC,7003,-0.69,-194.7,893.2,-10.6,733,7007,0.00,2.85,0.00,0.000,4,0.000,0.068,2654,885,3864
$GC,7029,-0.69,-194.7,896.1,-10.9,734,7033,0.00,2.75,0.00,0.000,6,0.000,0.049,2654,2294,3864
$GC,7350,-0.69,-194.7,929.3,-10.6,750,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2294,3864
$GC,7659,-0.69,-194.7,962.0,-10.5,765,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2295,3864
$STATE,7926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7926,begin apogee
$GC,7930,-0.19,0.0,990.2,10.5,778,8130,0.60,0.00,196.65,1.463,6,0.123,0.000,2754,2047,3071
$STATE,8131,end apogee,CONTROL_FINISHED_OK
$STATE,8131,begin climb
$GC,8133,0.82,194.7,997.8,0.0,788,8345,1.27,3.22,202.10,1.368,4,0.091,0.071,2973,644,2277
$GC,8434,0.69,194.7,971.1,12.9,802,8439,0.15,2.95,0.00,0.000,6,0.134,0.045,2953,2054,2273
$GC,8749,0.57,194.7,933.1,11.9,817,8755,0.15,2.92,0.00,0.000,4,0.139,0.061,2929,3462,2271
$GC,8821,0.53,194.7,925.3,10.8,820,8826,0.00,2.85,0.00,0.000,6,0.000,0.053,2929,2065,2271
$GC,9137,0.50,214.7,895.6,9.3,835,9163,0.00,2.90,20.30,1.428,4,0.000,0.059,2929,3464,2194
$GC,9196,0.50,214.7,889.9,10.3,838,9200,0.00,2.83,0.00,0.000,6,0.000,0.051,2929,2077,2193
$GC,9522,0.49,236.7,859.8,9.2,854,9551,0.00,2.90,23.02,1.387,4,0.000,0.059,2929,3456,2105
$GC,9586,0.49,236.7,853.6,10.3,857,9592,0.12,2.80,0.00,0.000,6,0.137,0.051,2912,2083,2104
$GC,9912,0.55,288.0,827.4,8.2,873,9974,0.00,3.12,52.50,1.345,4,0.000,0.071,2913,640,1895
$GC,10058,0.67,333.2,815.3,8.4,879,10112,0.15,2.95,45.97,1.291,6,0.061,0.044,2948,2117,1712
$GC,10433,0.67,333.2,772.4,11.6,898,10438,0.00,3.10,0.00,0.000,4,0.000,0.070,2942,635,1706
$GC,10532,0.67,333.2,760.8,11.3,902,10539,0.00,2.92,0.00,0.000,6,0.000,0.044,2944,2117,1706
$GC,10847,0.67,333.2,724.4,11.7,918,10852,0.00,2.72,0.00,0.000,4,0.000,0.059,2942,3471,1705
$GC,10885,0.67,333.2,719.8,11.6,920,10890,0.00,2.72,0.00,0.000,6,0.000,0.051,2942,2107,1703
$GC,11211,0.67,333.2,684.2,10.6,936,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2106,1703
$GC,11520,0.67,333.2,651.2,10.9,951,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2105,1703
$GC,11829,0.67,333.2,615.4,11.7,966,11830,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2104,1703
$GC,12143,0.67,333.2,580.4,10.7,989,12144,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2103,1703
$GC,12462,0.67,333.2,546.0,10.6,1019,12467,0.00,2.70,0.00,0.000,4,0.000,0.053,2942,3472,1703
$GC,12494,0.67,333.2,542.4,10.5,1021,12501,0.00,2.67,0.00,0.000,6,0.000,0.044,2942,2114,1702
$GC,12820,0.67,333.2,507.5,11.0,1052,12824,0.00,2.95,0.00,0.000,4,0.000,0.063,2943,632,1702
$GC,12846,0.67,333.2,504.4,11.6,1054,12851,0.00,2.85,0.00,0.000,6,0.000,0.041,2945,2128,1702
$GC,13170,0.67,333.2,468.7,11.2,1084,13174,0.00,2.62,0.00,0.000,4,0.000,0.051,2942,3475,1702
$GC,13191,0.67,333.2,466.1,12.0,1085,13198,0.00,2.67,0.00,0.000,6,0.000,0.044,2951,2111,1702
$GC,13517,0.67,333.2,430.3,11.0,1116,13522,0.00,2.92,0.00,0.000,4,0.000,0.062,2942,635,1702
$GC,13544,0.67,333.2,427.1,10.8,1118,13548,0.00,2.85,0.00,0.000,6,0.000,0.040,2962,2134,1702
$GC,13868,0.67,333.2,391.6,10.7,1148,13872,0.00,2.60,0.00,0.000,4,0.000,0.051,2942,3468,1702
$GC,13894,0.67,333.2,388.6,11.3,1150,13899,0.00,2.62,0.00,0.000,6,0.000,0.044,2946,2109,1702
$GC,14218,0.67,333.2,355.4,10.4,1180,14223,0.00,2.90,0.00,0.000,4,0.000,0.061,2942,638,1702
$GC,14245,0.67,333.2,352.5,11.0,1182,14250,0.00,2.83,0.00,0.000,6,0.000,0.039,2947,2127,1702
$GC,14582,0.69,345.9,317.8,9.6,1240,14596,0.00,0.00,12.07,1.010,6,0.000,0.000,2947,2127,1660
$GC,14928,0.69,345.9,281.0,10.4,1302,14933,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2127,1659
$GC,15268,0.69,345.9,246.1,10.2,1363,15274,0.00,2.95,0.00,0.000,4,0.000,0.060,2942,643,1659
$GC,15296,0.69,345.9,243.1,10.4,1368,15303,0.00,2.83,0.00,0.000,6,0.000,0.039,2956,2113,1659
$GC,15640,0.71,363.7,209.4,9.4,1429,15663,0.00,2.65,18.05,1.077,4,0.000,0.051,2942,3468,1588
$GC,15689,0.75,367.7,204.6,9.9,1437,15701,0.00,2.67,5.50,0.687,6,0.000,0.043,2947,2095,1571
$GC,16032,0.77,380.6,169.9,9.6,1499,16051,0.00,2.97,14.05,1.007,4,0.000,0.061,2942,642,1519
$GC,16080,0.83,380.6,165.2,10.0,1507,16086,0.00,2.85,0.00,0.000,6,0.000,0.039,2944,2118,1518
$GC,16413,0.83,380.6,130.6,10.9,1568,16422,0.15,0.00,0.00,0.000,6,0.064,0.000,2978,2118,1517
$GC,16747,0.74,380.6,75.9,19.0,1629,16752,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2119,1517
$GC,17071,0.65,380.6,21.5,16.9,1690,17080,0.20,3.00,0.00,0.000,4,0.124,0.061,2943,643,1516
$GC,17098,0.65,380.6,17.8,14.0,1694,17106,0.00,2.83,0.00,0.000,6,0.000,0.038,2944,2105,1516
$GC,17232,0.65,380.6,3.8,10.0,1719,17239,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2106,1516
$STATE,17250,end climb,SURFACE_DEPTH_REACHED
$STATE,17250,begin surface coast
$FINISH,0.2,1.027307
$STATE,17268,end surface coast,CONTROL_FINISHED_OK
$STATE,17268,begin surface
$SM_CCo,17343,0.00,0.000,0,0,1514,381.93
$SM_GC,0.65,7.25,0.00,0.00,0.048,0.000,0.000,1470,2314,1514,-6.08,0.51,381.93
$IRIDIUM_FIX,6037.25,-2223.53,190797,010133
$TT8_MAMPS,0.021476
$HUMID,1665
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,12.50
$XPDR_PINGS,171
$24V_AH,19.5,39.464
$10V_AH,9.8,28.665
$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,20.825,125.675,590.225,0.000,0.000,28.235,34.951,213.051,42.750,0.000,0.000,14.878,2734.477,9976.590,670.069,3843.629,489.234,0.000,2145.026,0.000,3839.902,0.000,0.466
$DEVICE_MAMPS,329.043,71.331,1462.669,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1279.520,1213.720,614.140,832.130,1486.765,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126503,1725
$CAP_FILE_SIZE,156436,0
$CFSIZE,260165632,246599680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240408,105738,6058.383,-2225.683,39,0.9,39,-16.2