version: 66.03
glider: 143
mission: 4
dive: 132
start: 4 30 108 20 20 28
data:
$ID,143
$MISSION,4
$DIVE,132
$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,350
$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,-7607.6782
$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,25
$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
$GPS1,201041,6104.090,-2437.288,38,2.0,48,-17.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-46.7
$GPS2,202008,6104.113,-2437.439,10,2.0,15,-17.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6114.748,-2438.341
$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,7.5,20000,-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,-101.50,0.000,2,0.000,0.000,1466,2311,3502
$GC,131,-0.82,-194.7,3.2,-5.4,14,154,9.98,0.00,-8.18,0.000,6,0.252,0.000,2609,2311,3868
$GC,281,-0.69,-194.7,37.3,-18.9,41,289,0.22,0.00,0.00,0.000,6,0.156,0.000,2644,2311,3868
$GC,414,-0.69,-194.7,56.7,-16.1,66,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2311,3868
$GC,748,-0.63,-194.7,110.3,-14.6,127,754,0.00,2.83,0.00,0.000,4,0.000,0.052,2644,880,3869
$GC,794,-0.63,-194.7,117.1,-14.4,135,800,0.00,2.75,0.00,0.000,6,0.000,0.046,2644,2295,3869
$GC,1127,-0.58,-194.7,170.8,-15.0,196,1136,0.17,0.00,0.00,0.000,6,0.147,0.000,2672,2295,3869
$GC,1471,-0.58,-194.7,214.5,-12.8,257,1477,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2295,3869
$GC,1810,-0.58,-194.7,254.9,-11.7,318,1816,0.00,2.78,0.00,0.000,4,0.000,0.053,2672,882,3869
$GC,1851,-0.66,-194.7,259.3,-10.8,325,1858,0.00,2.70,0.00,0.000,6,0.000,0.042,2672,2285,3869
$GC,2191,-0.66,-194.7,299.3,-11.5,386,2197,0.00,2.80,0.00,0.000,4,0.000,0.054,2672,3709,3869
$GC,2232,-0.73,-194.7,303.9,-11.7,393,2239,0.15,2.75,0.00,0.000,6,0.059,0.041,2639,2270,3868
$GC,2572,-0.68,-194.7,351.8,-13.9,453,2577,0.00,2.67,0.00,0.000,4,0.000,0.054,2639,890,3869
$GC,2633,-0.68,-194.7,359.8,-12.6,458,2638,0.00,2.70,0.00,0.000,6,0.000,0.044,2639,2291,3869
$GC,2959,-0.63,-194.7,402.4,-13.0,488,2960,0.12,0.00,0.00,0.000,6,0.142,0.000,2657,2291,3869
$GC,3278,-0.63,-194.7,438.7,-11.5,518,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2291,3869
$GC,3595,-0.63,-194.7,477.5,-12.7,548,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2291,3869
$GC,3913,-0.63,-194.7,517.8,-12.5,578,3917,0.00,2.78,0.00,0.000,4,0.000,0.055,2656,884,3869
$GC,3956,-0.68,-194.7,523.2,-11.9,581,3963,0.00,2.70,0.00,0.000,6,0.000,0.043,2657,2292,3869
$GC,4281,-0.68,-194.7,562.9,-12.2,612,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2292,3869
$GC,4611,-0.68,-194.7,602.9,-11.9,642,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2292,3869
$GC,4918,-0.68,-194.7,640.4,-12.3,657,4922,0.00,2.83,0.00,0.000,4,0.000,0.063,2657,884,3868
$GC,4961,-0.73,-194.7,645.7,-11.7,659,4965,0.00,2.70,0.00,0.000,6,0.000,0.046,2657,2281,3868
$GC,5288,-0.73,-194.7,682.4,-11.0,675,5293,0.00,2.88,0.00,0.000,4,0.000,0.065,2657,3704,3868
$GC,5331,-0.73,-194.7,687.3,-11.1,677,5335,0.00,2.83,0.00,0.000,6,0.000,0.051,2657,2273,3868
$GC,5657,-0.73,-194.7,721.9,-10.7,693,5662,0.00,2.80,0.00,0.000,4,0.000,0.071,2656,889,3868
$GC,5690,-0.78,-194.7,725.6,-11.1,694,5697,0.15,2.70,0.00,0.000,6,0.057,0.048,2623,2270,3868
$GC,6006,-0.71,-194.7,771.1,-14.9,710,6007,0.12,0.00,0.00,0.000,6,0.143,0.000,2640,2272,3868
$GC,6314,-0.71,-194.7,811.9,-13.2,725,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2274,3868
$GC,6624,-0.71,-194.7,850.9,-12.3,740,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2275,3867
$GC,6933,-0.71,-194.7,889.5,-12.6,755,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2275,3867
$GC,7242,-0.71,-194.7,928.4,-12.2,770,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2275,3866
$GC,7552,-0.71,-194.7,966.2,-12.3,785,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2275,3866
$STATE,7756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7756,begin apogee
$GC,7761,-0.19,0.0,992.1,12.7,795,7962,0.70,0.00,198.12,1.444,6,0.133,0.000,2755,2037,3071
$STATE,7963,end apogee,CONTROL_FINISHED_OK
$STATE,7963,begin climb
$GC,7965,0.82,194.7,1002.5,0.0,805,8183,1.27,3.20,204.48,1.374,4,0.084,0.071,2973,653,2276
$GC,8251,0.69,194.7,982.5,12.4,819,8256,0.12,2.95,0.00,0.000,6,0.137,0.044,2957,2057,2273
$GC,8577,0.58,194.7,945.9,11.6,835,8582,0.17,2.92,0.00,0.000,4,0.136,0.061,2930,3467,2272
$GC,8649,0.54,200.0,938.5,9.8,838,8661,0.00,2.83,5.80,1.079,6,0.000,0.053,2933,2080,2255
$GC,8970,0.50,213.0,908.6,9.6,854,8992,0.17,3.03,14.65,1.388,4,0.124,0.072,2901,634,2202
$GC,9094,0.63,273.9,898.8,7.9,859,9166,0.10,2.90,61.80,1.341,6,0.075,0.045,2929,2101,1953
$GC,9474,0.65,289.0,863.5,9.5,878,9496,0.00,3.15,16.77,1.355,4,0.000,0.071,2921,641,1892
$GC,9564,0.66,303.0,854.8,9.5,882,9586,0.50,2.92,15.32,1.243,6,0.104,0.046,2956,2105,1835
$GC,9895,0.99,303.0,821.0,11.5,898,9900,0.35,2.78,0.00,0.000,4,0.064,0.060,2902,3468,1831
$GC,10102,1.25,309.3,800.9,9.8,907,10117,0.88,2.72,6.95,1.144,6,0.072,0.051,3071,2107,1810
$GC,10445,0.92,309.3,715.3,26.1,924,10447,0.45,0.00,0.00,0.000,6,0.154,0.000,3004,2105,1808
$GC,10753,0.72,309.3,656.7,18.6,939,10758,0.28,2.75,0.00,0.000,4,0.158,0.057,2960,3472,1808
$GC,10797,0.67,309.3,649.9,13.8,941,10801,0.00,2.70,0.00,0.000,6,0.000,0.049,2963,2109,1807
$GC,11117,0.59,309.3,607.8,13.5,957,11119,0.20,0.00,0.00,0.000,6,0.148,0.000,2931,2108,1807
$GC,11436,0.62,329.2,577.5,9.3,983,11462,0.00,2.75,21.52,1.220,4,0.000,0.054,2931,3465,1728
$GC,11485,0.63,342.9,572.3,9.5,987,11506,0.00,2.67,15.38,1.095,6,0.000,0.044,2931,2112,1673
$GC,11825,0.67,374.0,540.8,8.9,1019,11858,0.00,0.00,31.58,1.159,6,0.000,0.000,2930,2112,1546
$GC,12174,0.78,423.1,511.1,8.3,1052,12227,0.20,0.00,50.58,1.124,6,0.056,0.000,2973,2112,1346
$GC,12542,0.69,423.1,454.7,15.9,1087,12544,0.12,0.00,0.00,0.000,6,0.132,0.000,2955,2113,1338
$GC,12861,0.69,423.1,414.2,12.4,1117,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2113,1337
$GC,13179,0.69,423.1,372.0,13.7,1147,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2112,1336
$GC,13504,0.69,423.1,328.2,13.1,1191,13510,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2112,1336
$GC,13843,0.69,423.1,281.6,12.7,1252,13852,0.00,2.97,0.00,0.000,4,0.000,0.062,2955,637,1335
$GC,13868,0.69,423.1,278.1,14.4,1256,13876,0.00,2.90,0.00,0.000,6,0.000,0.040,2955,2140,1335
$GC,14212,0.69,423.1,235.8,12.4,1317,14218,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2140,1335
$GC,14551,0.69,423.1,193.8,11.8,1378,14557,0.00,3.03,0.00,0.000,4,0.000,0.062,2955,635,1335
$GC,14586,0.73,423.1,189.9,11.3,1384,14594,0.00,2.88,0.00,0.000,6,0.000,0.040,2955,2129,1334
$GC,14928,0.73,423.1,146.1,12.2,1445,14933,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2129,1334
$GC,15256,0.73,423.1,108.0,13.8,1506,15264,0.00,3.03,0.00,0.000,4,0.000,0.062,2955,638,1334
$GC,15292,0.79,423.1,104.2,10.9,1512,15300,0.00,2.85,0.00,0.000,6,0.000,0.039,2955,2118,1334
$GC,15624,0.79,423.1,67.0,12.6,1573,15630,0.00,2.62,0.00,0.000,4,0.000,0.051,2955,3466,1334
$GC,15648,0.79,423.1,63.8,13.7,1577,15654,0.00,2.65,0.00,0.000,6,0.000,0.041,2955,2089,1334
$GC,15973,0.79,423.1,33.0,11.9,1638,15981,0.00,2.88,0.00,0.000,4,0.000,0.058,2955,644,1334
$GC,15999,0.79,423.1,29.8,12.6,1642,16007,0.00,2.83,0.00,0.000,6,0.000,0.039,2956,2114,1334
$GC,16134,0.79,423.1,11.9,16.8,1667,16141,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2114,1334
$STATE,16209,end climb,SURFACE_DEPTH_REACHED
$STATE,16209,begin surface coast
$FINISH,0.1,1.027342
$STATE,16221,end surface coast,CONTROL_FINISHED_OK
$STATE,16221,begin surface
$SM_CCo,16296,0.00,0.000,0,0,1332,426.58
$SM_GC,0.64,7.12,0.00,0.00,0.037,0.000,0.000,1466,2312,1332,-6.08,0.48,426.58
$IRIDIUM_FIX,6041.65,-2434.38,250797,202011
$TT8_MAMPS,0.021476
$HUMID,1671
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.20
$XPDR_PINGS,122
$24V_AH,19.4,47.954
$10V_AH,9.8,34.607
$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,23.575,113.925,642.950,0.000,0.000,52.712,59.376,273.354,30.500,0.000,0.000,16.873,2660.738,9010.773,725.421,3822.806,629.624,0.000,2166.702,0.000,3824.858,0.000,0.467
$DEVICE_MAMPS,252.343,72.098,1444.261,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1247.866,1186.749,627.573,852.388,1565.759,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126710,1683
$CAP_FILE_SIZE,153237,0
$CFSIZE,260165632,243695616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,010508,005307,6107.910,-2440.513,29,1.3,29,-17.5