version: 66.03
glider: 143
mission: 4
dive: 117
start: 4 27 108 17 58 34
data:
$ID,143
$MISSION,4
$DIVE,117
$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,340
$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,633.11926
$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,-7321.7612
$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,29
$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
$GPS1,124157,6118.049,-2400.135,12,1.4,12,-17.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-40.3
$GPS2,175817,6120.876,-2401.326,72,2.7,91,-17.3
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6131.024,-2403.087
$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,357.3,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,173,0.00,0.00,-143.98,0.000,2,0.000,0.000,1465,2308,3540
$GC,175,-0.82,-194.7,3.3,-5.8,20,199,10.18,2.85,-7.40,0.000,4,0.261,0.064,2610,881,3866
$GC,279,-0.76,-194.7,24.4,-16.8,38,288,0.10,2.80,0.00,0.000,6,0.139,0.050,2628,2285,3867
$GC,415,-0.68,-194.7,45.1,-14.3,63,423,0.15,0.00,0.00,0.000,6,0.143,0.000,2652,2285,3867
$GC,553,-0.68,-194.7,62.8,-12.5,88,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2285,3867
$GC,885,-0.68,-194.7,103.9,-12.8,149,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3867
$GC,1212,-0.68,-194.7,146.0,-12.9,210,1220,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2285,3867
$GC,1552,-0.68,-194.7,190.5,-13.1,271,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3867
$GC,1890,-0.68,-194.7,234.7,-12.4,332,1898,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3867
$GC,2232,-0.68,-194.7,276.6,-12.2,393,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2285,3867
$GC,2570,-0.68,-194.7,317.3,-12.1,454,2576,0.00,2.78,0.00,0.000,4,0.000,0.055,2652,875,3867
$GC,2625,-0.68,-194.7,323.9,-11.2,464,2633,0.00,2.78,0.00,0.000,6,0.000,0.044,2652,2296,3867
$GC,2962,-0.68,-194.7,362.3,-11.2,515,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2296,3867
$GC,3283,-0.68,-194.7,399.5,-11.8,545,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2296,3866
$GC,3599,-0.68,-194.7,436.3,-11.3,575,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2296,3866
$GC,3918,-0.68,-194.7,474.0,-12.5,605,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2296,3866
$GC,4236,-0.68,-194.7,512.4,-11.5,635,4237,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2296,3866
$GC,4558,-0.68,-194.7,550.3,-12.4,665,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2296,3866
$GC,4873,-0.68,-194.7,590.6,-12.8,695,4878,0.00,2.80,0.00,0.000,4,0.000,0.058,2651,881,3866
$GC,4916,-0.73,-194.7,596.1,-12.6,698,4923,0.00,2.72,0.00,0.000,6,0.000,0.044,2653,2301,3866
$GC,5242,-0.73,-194.7,636.8,-12.6,716,5247,0.00,2.80,0.00,0.000,4,0.000,0.061,2651,3704,3865
$GC,5285,-0.73,-194.7,642.3,-12.4,718,5289,0.00,2.78,0.00,0.000,6,0.000,0.045,2652,2279,3866
$GC,5612,-0.73,-194.7,682.2,-12.4,734,5613,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2279,3866
$GC,5921,-0.73,-194.7,718.5,-11.3,749,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2279,3866
$GC,6230,-0.73,-194.7,753.1,-11.1,764,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2279,3865
$GC,6540,-0.73,-194.7,787.8,-11.3,779,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2279,3865
$GC,6848,-0.73,-194.7,823.9,-11.6,794,6850,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2279,3865
$GC,7158,-0.73,-194.7,858.2,-10.6,809,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2279,3865
$GC,7467,-0.73,-194.7,890.8,-10.6,824,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2279,3865
$GC,7776,-0.73,-194.7,924.8,-11.0,839,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2279,3865
$GC,8086,-0.73,-194.7,958.9,-10.7,854,8087,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2279,3864
$STATE,8373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8373,begin apogee
$GC,8377,-0.19,0.0,990.1,10.8,868,8577,0.60,0.00,196.43,1.434,6,0.118,0.000,2754,2038,3071
$STATE,8578,end apogee,CONTROL_FINISHED_OK
$STATE,8578,begin climb
$GC,8580,0.82,194.7,998.3,0.0,878,8793,1.30,3.17,203.60,1.359,4,0.088,0.071,2975,647,2276
$GC,8893,0.70,194.7,970.4,13.3,892,8899,0.17,2.92,0.00,0.000,6,0.133,0.044,2955,2053,2272
$GC,9209,0.59,194.7,933.6,11.6,907,9214,0.15,2.92,0.00,0.000,4,0.138,0.061,2927,3467,2271
$GC,9281,0.59,194.7,926.1,10.3,910,9285,0.00,2.85,0.00,0.000,6,0.000,0.053,2928,2072,2270
$GC,9596,0.56,210.2,895.5,9.5,925,9618,0.00,2.97,15.55,1.386,4,0.000,0.071,2928,641,2214
$GC,9754,0.56,210.2,879.1,10.7,932,9759,0.00,2.88,0.00,0.000,6,0.000,0.045,2930,2094,2213
$GC,10079,0.58,220.7,846.7,9.6,948,10101,0.00,3.08,11.98,1.301,4,0.000,0.070,2928,640,2171
$GC,10183,0.58,220.7,836.1,10.1,952,10190,0.00,2.90,0.00,0.000,6,0.000,0.045,2935,2111,2170
$GC,10500,0.61,245.8,806.6,9.1,968,10533,0.00,2.78,26.55,1.314,4,0.000,0.060,2927,3465,2067
$GC,10573,0.63,265.4,799.3,9.3,971,10598,0.00,2.75,20.38,1.241,6,0.000,0.051,2929,2115,1988
$GC,10909,0.66,288.4,768.2,9.2,987,10935,0.00,0.00,24.55,1.285,6,0.000,0.000,2929,2114,1895
$GC,11238,0.70,320.5,738.6,8.9,1003,11280,0.12,2.85,32.60,1.260,4,0.074,0.057,2951,3465,1763
$GC,11302,0.70,320.5,731.5,11.6,1006,11307,0.00,2.75,0.00,0.000,6,0.000,0.051,2953,2124,1762
$GC,11628,0.65,320.5,691.0,12.9,1022,11633,0.00,3.05,0.00,0.000,4,0.000,0.068,2952,635,1759
$GC,11644,0.59,320.5,688.8,13.1,1023,11650,0.15,2.92,0.00,0.000,6,0.117,0.041,2930,2134,1759
$GC,11970,0.59,320.5,655.5,10.2,1039,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2134,1758
$GC,12279,0.59,320.5,623.6,10.3,1054,12284,0.00,3.03,0.00,0.000,4,0.000,0.067,2929,641,1758
$GC,12306,0.64,320.5,620.8,10.4,1055,12310,0.00,2.85,0.00,0.000,6,0.000,0.041,2930,2117,1758
$GC,12630,0.65,329.1,589.2,9.7,1076,12644,0.00,2.67,9.30,1.118,4,0.000,0.054,2928,3465,1729
$GC,12663,0.65,330.4,585.9,10.0,1079,12668,0.00,2.67,0.00,0.000,6,0.000,0.045,2933,2106,1728
$GC,12988,0.66,340.7,555.4,9.6,1109,13010,0.00,2.97,13.90,1.180,4,0.000,0.064,2930,640,1681
$GC,13021,0.69,360.6,552.1,9.3,1112,13047,0.00,2.88,20.58,1.070,6,0.000,0.041,2930,2121,1599
$GC,13376,0.79,404.0,520.3,8.5,1145,13424,0.22,0.00,44.38,1.119,6,0.058,0.000,2977,2121,1423
$GC,13742,0.69,404.0,459.8,16.7,1180,13747,0.15,3.03,0.00,0.000,4,0.133,0.062,2954,637,1416
$GC,13763,0.63,404.0,456.3,15.7,1181,13770,0.00,2.88,0.00,0.000,6,0.000,0.040,2955,2118,1415
$GC,14088,0.63,404.0,415.9,12.4,1212,14093,0.00,3.00,0.00,0.000,4,0.000,0.062,2954,641,1415
$GC,14108,0.63,404.0,413.1,12.3,1213,14115,0.00,2.83,0.00,0.000,6,0.000,0.039,2957,2107,1415
$GC,14434,0.63,404.0,374.2,12.1,1244,14435,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2107,1414
$GC,14759,0.63,404.0,334.8,12.1,1285,14764,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2107,1414
$GC,15098,0.63,404.0,296.1,11.6,1346,15103,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2107,1414
$GC,15436,0.63,404.0,255.3,12.4,1407,15441,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2107,1414
$GC,15776,0.63,404.0,215.1,12.2,1468,15784,0.00,2.97,0.00,0.000,4,0.000,0.062,2954,638,1414
$GC,15789,0.63,404.0,213.3,12.1,1470,15796,0.00,2.78,0.00,0.000,6,0.000,0.040,2956,2100,1414
$GC,16130,0.63,404.0,173.0,11.6,1531,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2101,1414
$GC,16463,0.63,404.0,133.0,11.7,1592,16470,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2101,1413
$GC,16796,0.63,404.0,92.3,11.3,1653,16802,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2101,1414
$GC,17126,0.63,404.0,56.1,10.2,1714,17134,0.00,2.97,0.00,0.000,4,0.000,0.063,2954,635,1414
$GC,17158,0.63,404.0,52.5,10.7,1719,17164,0.00,2.78,0.00,0.000,6,0.000,0.040,2956,2095,1413
$GC,17478,0.63,404.0,15.7,12.0,1780,17486,0.00,2.70,0.00,0.000,4,0.000,0.053,2952,3461,1413
$GC,17504,0.63,404.0,12.3,11.8,1784,17512,0.00,2.67,0.00,0.000,6,0.000,0.043,2954,2092,1413
$STATE,17591,end climb,SURFACE_DEPTH_REACHED
$STATE,17591,begin surface coast
$FINISH,0.0,1.027639
$STATE,17608,end surface coast,CONTROL_FINISHED_OK
$STATE,17608,begin surface
$SM_CCo,17624,216.10,0.763,0,0,490,633.12
$SM_GC,0.27,0.00,0.00,216.10,0.000,0.000,0.763,1468,2314,490,-6.12,0.54,633.12
$IRIDIUM_FIX,6059.36,-2401.39,220797,181808
$TT8_MAMPS,0.022243
$HUMID,1640
$INTERNAL_PRESSURE,8.06672
$TCM_TEMP,12.10
$XPDR_PINGS,126
$24V_AH,19.5,43.954
$10V_AH,9.9,31.860
$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,20.500,109.675,619.775,216.100,0.000,145.504,384.451,0.000,31.500,0.000,0.000,95.094,2822.243,10119.052,961.498,4124.760,758.384,0.000,2475.141,0.000,4044.580,0.000,0.467
$DEVICE_MAMPS,260.780,70.564,1434.290,763.165,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1333.196,1267.746,673.717,909.472,1676.586,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132820,1803
$CAP_FILE_SIZE,154174,0
$CFSIZE,260165632,244973568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,270408,225707,6123.288,-2402.922,36,1.4,36,-17.3