version: 66.03
glider: 143
mission: 4
dive: 121
start: 4 28 108 14 3 4
data:
$ID,143
$MISSION,4
$DIVE,121
$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,135
$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,-7386.5439
$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,31
$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
$GPS1,135607,6119.152,-2352.217,30,1.2,30,-17.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-42.2
$GPS2,140245,6119.098,-2352.256,12,1.2,12,-17.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6111.461,-2348.576
$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,152.2,20000,-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,22,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,143,0.00,0.00,-115.32,0.000,2,0.000,0.000,1464,2311,3530
$GC,145,-0.82,-194.7,3.3,-5.6,16,169,9.98,2.90,-7.65,0.000,4,0.252,0.069,2611,884,3866
$GC,327,-0.75,-194.7,37.1,-16.0,49,336,0.10,2.80,0.00,0.000,6,0.150,0.050,2629,2283,3867
$GC,462,-0.67,-194.7,58.8,-15.5,74,470,0.15,0.00,0.00,0.000,6,0.153,0.000,2653,2283,3867
$GC,796,-0.67,-194.7,101.0,-12.8,135,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2283,3867
$GC,1126,-0.67,-194.7,143.5,-13.0,196,1133,0.00,2.80,0.00,0.000,4,0.000,0.054,2651,884,3867
$GC,1149,-0.67,-194.7,146.7,-12.8,200,1157,0.00,2.80,0.00,0.000,6,0.000,0.046,2653,2305,3867
$GC,1492,-0.67,-194.7,189.5,-12.3,261,1498,0.00,2.80,0.00,0.000,4,0.000,0.054,2651,884,3867
$GC,1504,-0.67,-194.7,191.3,-12.1,263,1510,0.00,2.75,0.00,0.000,6,0.000,0.045,2654,2299,3867
$GC,1843,-0.67,-194.7,231.7,-12.5,324,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2300,3867
$GC,2185,-0.67,-194.7,274.2,-12.3,385,2191,0.00,2.80,0.00,0.000,4,0.000,0.054,2657,875,3867
$GC,2221,-0.67,-194.7,278.6,-12.7,391,2227,0.00,2.75,0.00,0.000,6,0.000,0.045,2655,2295,3867
$GC,2560,-0.67,-194.7,321.7,-13.0,452,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2295,3867
$GC,2901,-0.67,-194.7,366.1,-13.4,503,2906,0.00,2.78,0.00,0.000,4,0.000,0.054,2652,882,3867
$GC,2933,-0.67,-194.7,370.6,-12.6,505,2940,0.00,2.72,0.00,0.000,6,0.000,0.044,2655,2281,3867
$GC,3261,-0.67,-194.7,412.1,-12.6,536,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2280,3867
$GC,3577,-0.67,-194.7,452.6,-12.7,566,3578,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2281,3866
$GC,3895,-0.67,-194.7,493.9,-13.0,596,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2281,3867
$GC,4214,-0.67,-194.7,533.7,-11.9,626,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2281,3867
$GC,4534,-0.67,-194.7,571.4,-11.6,656,4539,0.00,2.78,0.00,0.000,4,0.000,0.058,2652,878,3867
$GC,4552,-0.67,-194.7,573.4,-11.5,657,4557,0.00,2.72,0.00,0.000,6,0.000,0.044,2655,2292,3867
$GC,4884,-0.67,-194.7,612.7,-12.0,683,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3866
$GC,5193,-0.67,-194.7,651.0,-12.6,698,5194,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2292,3866
$GC,5502,-0.67,-194.7,688.5,-12.1,713,5507,0.00,2.85,0.00,0.000,4,0.000,0.067,2655,885,3867
$GC,5522,-0.67,-194.7,691.1,-11.8,714,5527,0.00,2.72,0.00,0.000,6,0.000,0.048,2655,2283,3866
$GC,5849,-0.67,-194.7,730.8,-12.2,730,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2285,3866
$GC,6158,-0.67,-194.7,767.9,-12.2,745,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3866
$GC,6468,-0.67,-194.7,805.6,-12.2,760,6472,0.00,2.85,0.00,0.000,4,0.000,0.068,2652,880,3866
$GC,6489,-0.67,-194.7,808.3,-12.5,761,6494,0.00,2.70,0.00,0.000,6,0.000,0.049,2654,2268,3866
$GC,6809,-0.67,-194.7,846.0,-11.3,777,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2269,3866
$GC,7119,-0.67,-194.7,881.1,-11.6,792,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2269,3866
$GC,7428,-0.67,-194.7,916.4,-11.3,807,7429,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3866
$GC,7737,-0.67,-194.7,949.8,-10.7,822,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2270,3865
$GC,8046,-0.67,-194.7,982.7,-10.5,837,8051,0.00,2.92,0.00,0.000,4,0.000,0.069,2651,3704,3865
$GC,8072,-0.67,-194.7,985.6,-11.4,838,8077,0.00,2.88,0.00,0.000,6,0.000,0.052,2650,2249,3865
$STATE,8124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8124,begin apogee
$GC,8128,-0.19,0.0,991.1,10.7,841,8329,0.62,0.00,197.30,1.430,6,0.121,0.000,2756,2038,3071
$STATE,8330,end apogee,CONTROL_FINISHED_OK
$STATE,8330,begin climb
$GC,8332,0.82,194.7,998.5,0.0,851,8545,1.23,3.17,203.27,1.359,4,0.087,0.071,2969,650,2277
$GC,8629,0.70,194.7,973.5,12.5,865,8633,0.00,2.92,0.00,0.000,6,0.000,0.044,2969,2050,2273
$GC,8945,0.56,194.7,935.7,11.8,880,8950,0.25,2.92,0.00,0.000,4,0.131,0.061,2928,3464,2271
$GC,9024,0.52,200.9,927.9,9.8,883,9038,0.00,2.83,6.65,1.121,6,0.000,0.053,2929,2076,2252
$GC,9361,0.50,224.0,897.3,9.2,900,9391,0.00,2.90,24.52,1.362,4,0.000,0.060,2988,3468,2157
$GC,9429,0.50,224.2,890.5,10.0,903,9434,0.15,2.83,0.00,0.000,6,0.129,0.052,2913,2088,2155
$GC,9751,0.61,309.9,867.0,7.0,919,9845,0.00,3.00,86.28,1.332,4,0.000,0.058,2907,3468,1806
$GC,9880,0.76,362.7,857.8,8.2,925,9941,0.30,2.80,54.62,1.285,6,0.054,0.051,2966,2116,1592
$GC,10262,0.66,362.7,800.4,15.6,944,10267,0.12,3.08,0.00,0.000,4,0.135,0.070,2948,634,1584
$GC,10294,0.66,362.7,795.5,14.0,945,10301,0.00,2.95,0.00,0.000,6,0.000,0.044,2948,2125,1583
$GC,10609,0.66,362.7,756.0,12.8,961,10614,0.00,2.70,0.00,0.000,4,0.000,0.059,2948,3462,1582
$GC,10635,0.66,362.7,752.4,13.3,962,10640,0.00,2.70,0.00,0.000,6,0.000,0.051,2963,2117,1581
$GC,10956,0.66,362.7,710.8,13.2,978,10961,0.00,3.03,0.00,0.000,4,0.000,0.069,2950,631,1581
$GC,10982,0.66,362.7,707.2,12.9,979,10986,0.00,2.90,0.00,0.000,6,0.000,0.043,2950,2125,1580
$GC,11303,0.66,362.7,666.1,12.9,995,11308,0.00,2.67,0.00,0.000,4,0.000,0.057,2948,3467,1581
$GC,11323,0.66,362.7,663.3,12.9,996,11328,0.00,2.70,0.00,0.000,6,0.000,0.048,2957,2115,1580
$GC,11650,0.66,362.7,622.8,12.8,1012,11655,0.00,2.97,0.00,0.000,4,0.000,0.067,2956,640,1580
$GC,11676,0.66,362.7,619.3,12.4,1013,11680,0.00,2.85,0.00,0.000,6,0.000,0.041,2949,2123,1579
$GC,12002,0.66,362.7,577.3,12.7,1037,12006,0.00,2.65,0.00,0.000,4,0.000,0.054,2949,3466,1579
$GC,12029,0.66,362.7,573.8,12.7,1039,12033,0.00,2.65,0.00,0.000,6,0.000,0.046,2959,2114,1579
$GC,12352,0.66,362.7,534.3,11.7,1069,12357,0.00,2.97,0.00,0.000,4,0.000,0.065,2952,632,1579
$GC,12380,0.66,362.7,531.1,12.5,1071,12384,0.00,2.88,0.00,0.000,6,0.000,0.041,2949,2132,1580
$GC,12704,0.66,362.7,491.8,12.1,1101,12708,0.00,2.62,0.00,0.000,4,0.000,0.052,2948,3469,1579
$GC,12731,0.66,362.7,488.4,12.0,1103,12736,0.28,2.65,0.00,0.000,6,0.117,0.046,2946,2112,1579
$GC,13055,0.93,461.1,466.1,6.6,1133,13161,0.32,3.10,96.93,1.093,4,0.045,0.064,2986,638,1190
$GC,13187,0.85,461.1,445.5,18.3,1145,13192,0.00,2.95,0.00,0.000,6,0.000,0.041,2980,2123,1187
$GC,13511,0.73,461.1,382.3,19.8,1175,13513,0.12,0.00,0.00,0.000,6,0.139,0.000,2963,2123,1183
$GC,13835,0.73,461.1,332.0,14.8,1215,13842,0.00,3.00,0.00,0.000,4,0.000,0.063,2967,639,1181
$GC,13886,0.78,461.1,325.2,11.4,1224,13894,0.00,2.85,0.00,0.000,6,0.000,0.040,2963,2104,1180
$GC,14230,0.78,461.1,277.1,14.4,1285,14235,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2104,1180
$GC,14568,0.78,461.1,230.1,13.5,1346,14574,0.00,2.97,0.00,0.000,4,0.000,0.063,2970,632,1180
$GC,14601,0.78,461.1,225.5,13.6,1352,14609,0.00,2.83,0.00,0.000,6,0.000,0.039,2964,2094,1180
$GC,14946,0.78,461.1,178.7,14.2,1413,14953,0.00,2.67,0.00,0.000,4,0.000,0.051,2961,3462,1179
$GC,14972,0.78,461.1,175.0,13.4,1417,14978,0.00,2.72,0.00,0.000,6,0.000,0.045,2966,2066,1179
$GC,15307,0.78,461.1,129.4,13.5,1478,15315,0.00,2.88,0.00,0.000,4,0.000,0.064,2962,641,1179
$GC,15353,0.84,461.1,123.5,12.0,1486,15361,0.00,2.75,0.00,0.000,6,0.000,0.040,2966,2068,1178
$GC,15686,0.84,461.1,79.8,14.6,1547,15692,0.00,2.72,0.00,0.000,4,0.000,0.051,2961,3459,1178
$GC,15713,0.84,461.1,75.7,14.6,1552,15721,0.00,2.75,0.00,0.000,6,0.000,0.045,2966,2063,1178
$GC,16041,0.84,461.1,32.3,12.6,1613,16049,0.00,2.88,0.00,0.000,4,0.000,0.064,2962,642,1177
$GC,16078,0.89,461.1,27.3,13.7,1619,16087,0.10,2.72,0.00,0.000,6,0.045,0.039,2995,2061,1177
$STATE,16213,end climb,SURFACE_DEPTH_REACHED
$STATE,16213,begin surface coast
$FINISH,0.9,1.027358
$STATE,16220,end surface coast,CONTROL_FINISHED_OK
$STATE,16220,begin surface
$SM_CCo,16295,0.00,0.000,0,0,1177,464.60
$SM_GC,0.63,7.40,0.00,0.00,0.041,0.000,0.000,1464,2296,1177,-6.09,0.03,464.60
$IRIDIUM_FIX,6054.92,-2355.47,230797,090904
$TT8_MAMPS,0.021476
$HUMID,1687
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,12.10
$XPDR_PINGS,111
$24V_AH,19.5,45.056
$10V_AH,9.8,32.593
$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,21.125,159.325,669.575,0.000,0.000,28.531,27.747,232.943,27.750,0.000,0.000,14.448,2617.611,9088.312,743.191,3713.195,518.874,0.000,2211.298,0.000,3713.824,0.000,0.467
$DEVICE_MAMPS,251.576,70.564,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1221.348,1154.487,601.889,799.361,1481.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120362,1645
$CAP_FILE_SIZE,154359,0
$CFSIZE,260165632,244711424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280408,183615,6115.877,-2346.838,42,2.3,61,-17.1