version: 66.03
glider: 143
mission: 4
dive: 124
start: 4 29 108 4 37 22
data:
$ID,143
$MISSION,4
$DIVE,124
$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,180
$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,-7469.0752
$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,13
$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
$GPS1,043028,6109.329,-2342.729,28,2.2,47,-17.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-43.0
$GPS2,043705,6109.250,-2342.762,13,2.3,32,-17.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6058.451,-2342.762
$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,197.0,20000,-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,23,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,129,0.00,0.00,-101.38,0.000,2,0.000,0.000,1465,2298,3373
$GC,131,-0.82,-194.7,3.3,-7.7,14,161,9.95,2.88,-12.18,0.000,4,0.252,0.071,2609,3710,3867
$GC,419,-0.73,-194.7,58.1,-17.8,67,426,0.17,2.78,0.00,0.000,6,0.142,0.041,2635,2286,3868
$GC,749,-0.68,-194.7,107.4,-14.4,128,757,0.00,2.80,0.00,0.000,4,0.000,0.058,2634,887,3868
$GC,774,-0.68,-194.7,111.1,-14.4,132,782,0.00,2.78,0.00,0.000,6,0.000,0.047,2635,2297,3868
$GC,1109,-0.62,-194.7,159.0,-14.9,193,1115,0.17,2.80,0.00,0.000,4,0.141,0.054,2663,884,3868
$GC,1128,-0.62,-194.7,161.9,-14.0,196,1136,0.00,2.75,0.00,0.000,6,0.000,0.045,2663,2286,3868
$GC,1472,-0.62,-194.7,201.6,-10.8,257,1478,0.00,2.78,0.00,0.000,4,0.000,0.055,2663,884,3869
$GC,1497,-0.62,-194.7,204.4,-11.1,261,1503,0.00,2.70,0.00,0.000,6,0.000,0.043,2663,2285,3868
$GC,1837,-0.62,-194.7,241.8,-10.9,322,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2285,3868
$GC,2175,-0.62,-194.7,279.5,-11.4,383,2181,0.00,2.78,0.00,0.000,4,0.000,0.055,2663,880,3868
$GC,2198,-0.62,-194.7,282.1,-11.7,387,2205,0.00,2.67,0.00,0.000,6,0.000,0.044,2663,2272,3869
$GC,2540,-0.62,-194.7,320.4,-11.2,448,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2272,3868
$GC,2879,-0.62,-194.7,358.6,-11.0,502,2884,0.00,2.75,0.00,0.000,4,0.000,0.056,2663,877,3868
$GC,2900,-0.62,-194.7,361.2,-11.2,503,2907,0.00,2.67,0.00,0.000,6,0.000,0.043,2663,2268,3868
$GC,3226,-0.62,-194.7,397.5,-11.4,534,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2267,3868
$GC,3544,-0.62,-194.7,433.5,-11.0,564,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2267,3868
$GC,3862,-0.62,-194.7,468.4,-10.7,594,3866,0.00,2.72,0.00,0.000,4,0.000,0.057,2663,888,3868
$GC,3890,-0.67,-194.7,471.3,-10.9,596,3895,0.00,2.65,0.00,0.000,6,0.000,0.042,2664,2270,3868
$GC,4217,-0.67,-194.7,507.7,-11.2,626,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2270,3868
$GC,4532,-0.67,-194.7,544.0,-11.2,656,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2270,3868
$GC,4851,-0.67,-194.7,579.6,-11.1,686,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2270,3868
$GC,5165,-0.67,-194.7,613.6,-10.7,710,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2270,3868
$GC,5474,-0.67,-194.7,646.3,-10.6,725,5479,0.00,2.78,0.00,0.000,4,0.000,0.064,2664,891,3868
$GC,5494,-0.67,-194.7,648.6,-11.0,726,5499,0.00,2.67,0.00,0.000,6,0.000,0.045,2665,2258,3868
$GC,5821,-0.67,-194.7,684.0,-11.0,742,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2258,3868
$GC,6131,-0.67,-194.7,717.7,-10.9,757,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2260,3868
$GC,6440,-0.67,-194.7,750.9,-10.5,772,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2262,3868
$GC,6749,-0.67,-194.7,781.9,-9.9,787,6754,0.00,2.80,0.00,0.000,4,0.000,0.070,2671,883,3868
$GC,6766,-0.71,-194.7,783.5,-10.1,788,6770,0.00,2.67,0.00,0.000,6,0.000,0.048,2665,2257,3867
$GC,7091,-0.71,-194.7,817.1,-10.6,804,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2259,3867
$GC,7400,-0.71,-194.7,849.8,-10.7,819,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2259,3867
$GC,7710,-0.75,-194.7,882.5,-10.4,834,7715,0.15,2.80,0.00,0.000,4,0.064,0.067,2628,884,3867
$GC,7736,-0.75,-194.7,885.8,-13.1,835,7740,0.00,2.67,0.00,0.000,6,0.000,0.048,2629,2256,3867
$GC,8057,-0.70,-194.7,927.2,-12.6,851,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2258,3866
$GC,8367,-0.66,-194.7,966.3,-13.0,866,8369,0.15,0.00,0.00,0.000,6,0.137,0.000,2651,2258,3867
$STATE,8571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8571,begin apogee
$GC,8575,-0.19,0.0,990.3,11.6,876,8776,0.62,0.00,197.68,1.430,6,0.123,0.000,2756,2049,3071
$STATE,8777,end apogee,CONTROL_FINISHED_OK
$STATE,8777,begin climb
$GC,8779,0.82,194.7,1000.1,0.0,886,8993,1.25,3.20,203.80,1.359,4,0.087,0.071,2972,649,2277
$GC,9071,0.70,194.7,977.9,12.0,900,9076,0.15,2.95,0.00,0.000,6,0.135,0.044,2954,2059,2273
$GC,9392,0.59,194.7,941.0,11.9,916,9397,0.17,2.92,0.00,0.000,4,0.134,0.063,2924,3465,2271
$GC,9469,0.59,194.7,932.9,10.2,919,9476,0.00,2.85,0.00,0.000,6,0.000,0.054,2924,2074,2271
$GC,9785,0.61,217.7,904.7,9.2,935,9809,0.00,0.00,23.08,1.369,6,0.000,0.000,2924,2074,2183
$GC,10114,0.64,240.3,874.3,9.2,951,10143,0.00,2.90,23.85,1.347,4,0.000,0.060,2924,3468,2090
$GC,10205,0.64,240.3,865.3,10.1,955,10210,0.00,2.83,0.00,0.000,6,0.000,0.052,2926,2085,2088
$GC,10532,0.69,282.5,836.4,8.5,971,10582,0.12,2.92,42.97,1.326,4,0.074,0.058,2948,3458,1918
$GC,10620,0.69,282.5,826.7,11.6,975,10625,0.20,2.80,0.00,0.000,6,0.128,0.052,2952,2101,1916
$GC,10948,0.75,330.7,799.6,8.3,991,11003,0.00,3.12,49.00,1.301,4,0.000,0.071,2919,640,1722
$GC,11018,0.82,386.7,793.4,8.1,993,11087,0.30,2.97,58.33,1.249,6,0.048,0.043,2981,2118,1493
$GC,11395,0.69,386.7,727.7,18.7,1012,11400,0.17,2.75,0.00,0.000,4,0.136,0.058,2953,3469,1485
$GC,11427,0.69,386.7,722.2,14.9,1013,11434,0.00,2.75,0.00,0.000,6,0.000,0.051,2954,2111,1484
$GC,11742,0.69,386.7,681.7,13.0,1029,11747,0.00,3.03,0.00,0.000,4,0.000,0.069,2953,633,1483
$GC,11781,0.69,386.7,676.8,12.5,1031,11785,0.00,2.88,0.00,0.000,6,0.000,0.042,2953,2116,1482
$GC,12106,0.69,386.7,633.9,13.4,1047,12111,0.00,2.67,0.00,0.000,4,0.000,0.054,2953,3465,1482
$GC,12132,0.69,386.7,630.2,13.0,1048,12136,0.00,2.72,0.00,0.000,6,0.000,0.048,2954,2102,1482
$GC,12456,0.69,386.7,588.4,12.6,1068,12461,0.00,2.95,0.00,0.000,4,0.000,0.066,2953,641,1482
$GC,12487,0.69,386.7,584.1,12.1,1070,12495,0.00,2.85,0.00,0.000,6,0.000,0.042,2954,2105,1481
$GC,12813,0.69,386.7,541.2,13.5,1101,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2105,1481
$GC,13131,0.69,386.7,499.5,12.5,1131,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2105,1481
$GC,13452,0.69,386.7,459.5,12.5,1161,13453,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2104,1481
$GC,13768,0.69,386.7,418.7,12.7,1191,13773,0.00,2.95,0.00,0.000,4,0.000,0.063,2953,634,1481
$GC,13798,0.69,386.7,415.1,13.2,1193,13802,0.00,2.83,0.00,0.000,6,0.000,0.040,2954,2115,1480
$GC,14121,0.69,386.7,374.0,12.3,1223,14122,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2115,1481
$GC,14447,0.69,386.7,333.3,12.2,1264,14454,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2115,1481
$GC,14790,0.69,386.7,290.1,13.3,1325,14796,0.00,2.95,0.00,0.000,4,0.000,0.061,2953,640,1481
$GC,14825,0.69,386.7,285.6,11.4,1331,14832,0.00,2.78,0.00,0.000,6,0.000,0.041,2954,2097,1481
$GC,15165,0.69,386.7,243.4,11.6,1392,15172,0.00,2.67,0.00,0.000,4,0.000,0.051,2953,3453,1481
$GC,15197,0.69,386.7,239.7,12.7,1397,15203,0.00,2.67,0.00,0.000,6,0.000,0.044,2958,2075,1481
$GC,15537,0.69,386.7,198.5,11.4,1458,15543,0.00,2.85,0.00,0.000,4,0.000,0.063,2955,640,1481
$GC,15565,0.69,386.7,195.1,12.0,1463,15571,0.00,2.78,0.00,0.000,6,0.000,0.040,2961,2100,1481
$GC,15904,0.69,386.7,154.6,11.4,1524,15912,0.00,2.67,0.00,0.000,4,0.000,0.052,2953,3456,1481
$GC,15929,0.69,386.7,151.5,12.2,1528,15937,0.00,2.67,0.00,0.000,6,0.000,0.044,2959,2090,1481
$GC,16263,0.69,386.7,110.8,12.0,1589,16269,0.00,2.90,0.00,0.000,4,0.000,0.064,2955,634,1481
$GC,16298,0.69,386.7,106.5,10.8,1595,16304,0.00,2.78,0.00,0.000,6,0.000,0.039,2967,2096,1480
$GC,16628,0.69,386.7,67.2,11.9,1656,16636,0.00,2.70,0.00,0.000,4,0.000,0.052,2953,3462,1481
$GC,16660,0.69,386.7,63.5,12.8,1661,16666,0.00,2.67,0.00,0.000,6,0.000,0.044,2966,2083,1481
$GC,16983,0.69,386.7,26.0,10.6,1722,16990,0.00,2.90,0.00,0.000,4,0.000,0.065,2953,647,1481
$GC,17024,0.69,386.7,21.3,10.5,1729,17032,0.00,2.78,0.00,0.000,6,0.000,0.038,2955,2096,1481
$GC,17159,0.70,394.6,7.1,9.7,1754,17175,0.00,2.72,6.50,0.723,4,0.000,0.055,2953,3459,1462
$GC,17198,0.70,394.6,2.9,10.8,1760,17205,0.00,2.70,0.00,0.000,6,0.000,0.040,2953,2071,1461
$STATE,17211,end climb,SURFACE_DEPTH_REACHED
$STATE,17211,begin surface coast
$FINISH,0.6,1.027420
$STATE,17229,end surface coast,CONTROL_FINISHED_OK
$STATE,17229,begin surface
$SM_CCo,17304,0.00,0.000,0,0,1459,395.42
$SM_GC,0.86,7.25,0.00,0.00,0.045,0.000,0.000,1467,2311,1459,-6.10,0.45,395.42
$IRIDIUM_FIX,6050.49,-2340.06,230797,232350
$TT8_MAMPS,0.021476
$HUMID,1670
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.10
$XPDR_PINGS,120
$24V_AH,19.5,45.815
$10V_AH,9.7,33.144
$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,20.850,157.850,605.200,0.000,0.000,25.481,28.854,212.198,30.000,0.000,0.000,34.351,2799.019,9699.990,716.765,3968.532,501.332,0.000,2219.372,0.000,3949.755,0.000,0.467
$DEVICE_MAMPS,252.343,71.331,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1308.650,1236.747,639.121,885.840,1610.801,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129862,1765
$CAP_FILE_SIZE,160731,0
$CFSIZE,260165632,244424704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290408,092702,6105.439,-2344.109,42,1.3,42,-17.0