version: 66.03
glider: 143
mission: 4
dive: 162
start: 5 6 108 23 18 10
data:
$ID,143
$MISSION,4
$DIVE,162
$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,140
$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,-8223.5312
$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,23
$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
$GPS1,231108,6111.719,-2645.296,28,1.4,28,-18.7
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-57.3
$GPS2,231751,6111.793,-2645.179,11,1.5,11,-18.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6103.520,-2641.820
$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,158.7,20000,-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,-194.7,0.0,0.0,0,137,0.00,0.00,-109.00,0.000,2,0.000,0.000,1469,2315,3521
$GC,139,-0.82,-194.7,3.4,-5.3,15,162,9.57,0.00,-7.85,0.000,6,0.242,0.000,2612,2315,3866
$GC,290,-0.71,-194.7,33.0,-18.4,42,298,0.17,0.00,0.00,0.000,6,0.144,0.000,2640,2315,3867
$GC,427,-0.71,-194.7,53.3,-14.3,67,433,0.00,2.85,0.00,0.000,4,0.000,0.054,2641,882,3867
$GC,441,-0.71,-194.7,55.4,-13.7,69,447,0.00,2.75,0.00,0.000,6,0.000,0.047,2640,2295,3867
$GC,771,-0.71,-194.7,101.9,-14.0,130,778,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2295,3867
$GC,1104,-0.71,-194.7,149.1,-14.6,191,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2295,3867
$GC,1444,-0.71,-194.7,198.6,-14.1,252,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2295,3867
$GC,1786,-0.71,-194.7,247.4,-14.2,313,1792,0.00,2.80,0.00,0.000,4,0.000,0.054,2640,876,3867
$GC,1806,-0.71,-194.7,250.2,-14.1,316,1813,0.00,2.80,0.00,0.000,6,0.000,0.047,2641,2301,3867
$GC,2150,-0.71,-194.7,298.9,-14.4,377,2156,0.00,2.80,0.00,0.000,4,0.000,0.054,2640,882,3867
$GC,2169,-0.71,-194.7,301.7,-14.5,380,2177,0.00,2.78,0.00,0.000,6,0.000,0.045,2640,2299,3867
$GC,2513,-0.71,-194.7,350.6,-14.2,441,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2299,3867
$GC,2830,-0.71,-194.7,394.4,-13.1,471,2834,0.00,2.80,0.00,0.000,4,0.000,0.054,2640,878,3867
$GC,2867,-0.71,-194.7,399.4,-13.1,474,2872,0.00,2.75,0.00,0.000,6,0.000,0.044,2640,2304,3866
$GC,3192,-0.71,-194.7,440.8,-12.8,504,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2304,3867
$GC,3510,-0.71,-194.7,482.1,-13.0,534,3514,0.00,2.83,0.00,0.000,4,0.000,0.055,2641,875,3867
$GC,3530,-0.71,-194.7,485.0,-13.8,535,3537,0.00,2.75,0.00,0.000,6,0.000,0.043,2640,2291,3867
$GC,3856,-0.71,-194.7,528.3,-13.6,566,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2291,3867
$GC,4174,-0.71,-194.7,571.6,-14.1,596,4178,0.00,2.80,0.00,0.000,4,0.000,0.056,2640,876,3867
$GC,4201,-0.71,-194.7,575.4,-14.4,598,4206,0.00,2.72,0.00,0.000,6,0.000,0.044,2640,2289,3867
$GC,4521,-0.71,-194.7,620.6,-14.0,621,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2289,3867
$GC,4830,-0.71,-194.7,661.9,-12.9,636,4834,0.00,2.85,0.00,0.000,4,0.000,0.065,2640,882,3867
$GC,4856,-0.71,-194.7,665.4,-12.8,637,4861,0.00,2.70,0.00,0.000,6,0.000,0.045,2640,2275,3866
$GC,5177,-0.71,-194.7,705.1,-12.4,653,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2276,3867
$GC,5486,-0.71,-194.7,744.4,-12.7,668,5487,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2278,3867
$GC,5796,-0.71,-194.7,784.5,-13.3,683,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2278,3867
$GC,6105,-0.71,-194.7,825.6,-13.0,698,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2278,3866
$GC,6414,-0.71,-194.7,864.0,-12.4,713,6415,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2278,3866
$GC,6724,-0.71,-194.7,901.2,-12.3,728,6728,0.00,2.90,0.00,0.000,4,0.000,0.065,2640,3702,3866
$GC,6762,-0.71,-194.7,906.1,-12.7,730,6767,0.00,2.85,0.00,0.000,6,0.000,0.053,2640,2268,3865
$GC,7087,-0.71,-194.7,945.8,-12.5,746,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2268,3865
$GC,7397,-0.71,-194.7,983.1,-11.9,761,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2268,3865
$STATE,7456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7457,begin apogee
$GC,7461,-0.19,0.0,990.6,12.2,764,7664,0.68,0.00,198.88,1.438,6,0.126,0.000,2753,2033,3071
$STATE,7665,end apogee,CONTROL_FINISHED_OK
$STATE,7665,begin climb
$GC,7667,0.82,194.7,1000.0,0.0,774,7884,1.27,3.20,206.18,1.367,4,0.088,0.071,2971,649,2277
$GC,7974,0.69,194.7,975.3,13.3,788,7981,0.15,2.92,0.00,0.000,6,0.137,0.045,2954,2049,2273
$GC,8289,0.58,194.7,936.8,12.0,804,8295,0.17,2.92,0.00,0.000,4,0.137,0.061,2924,3464,2271
$GC,8367,0.59,200.1,928.5,9.8,807,8378,0.00,2.83,6.00,1.082,6,0.000,0.051,2924,2069,2255
$GC,8699,0.63,238.9,899.3,8.7,824,8745,0.00,2.92,40.10,1.369,4,0.000,0.060,2924,3461,2097
$GC,8801,0.64,248.7,889.8,9.7,829,8822,0.00,2.80,11.77,1.251,6,0.000,0.051,2924,2088,2056
$GC,9131,0.68,275.4,859.7,9.1,845,9166,0.12,2.90,27.73,1.348,4,0.077,0.059,2948,3459,1947
$GC,9195,0.63,275.4,852.8,11.3,848,9199,0.00,2.75,0.00,0.000,6,0.000,0.051,2948,2112,1945
$GC,9520,0.56,275.4,815.9,11.2,864,9522,0.15,0.00,0.00,0.000,6,0.133,0.000,2927,2112,1943
$GC,9830,0.59,296.8,787.2,9.3,879,9859,0.00,2.83,22.67,1.311,4,0.000,0.059,2926,3462,1860
$GC,9893,0.59,299.8,781.1,9.9,882,9903,0.00,2.70,4.53,0.900,6,0.000,0.051,2929,2128,1848
$GC,10218,0.61,313.7,751.2,9.5,898,10239,0.00,0.00,15.62,1.272,6,0.000,0.000,2926,2128,1792
$GC,10548,0.62,324.4,719.2,9.6,914,10562,0.00,0.00,12.62,1.253,6,0.000,0.000,2926,2126,1748
$GC,10857,0.66,356.0,690.2,8.9,929,10896,0.00,0.00,33.53,1.256,6,0.000,0.000,2926,2125,1618
$GC,11206,0.75,392.1,660.3,8.8,946,11250,0.20,2.78,37.67,1.216,4,0.062,0.056,2966,3468,1471
$GC,11267,0.69,392.1,652.3,14.3,949,11272,0.00,2.70,0.00,0.000,6,0.000,0.048,2966,2141,1470
$GC,11593,0.61,392.1,602.4,15.4,965,11598,0.17,3.05,0.00,0.000,4,0.132,0.065,2937,641,1466
$GC,11626,0.61,392.1,597.9,12.0,967,11632,0.00,2.95,0.00,0.000,6,0.000,0.043,2937,2157,1465
$GC,11951,0.63,407.2,567.1,9.5,998,11971,0.00,0.00,15.82,1.162,6,0.000,0.000,2937,2156,1410
$GC,12289,0.67,407.2,533.4,10.1,1030,12294,0.00,3.08,0.00,0.000,4,0.000,0.064,2937,641,1408
$GC,12331,0.76,410.5,529.3,9.9,1033,12343,0.15,2.90,4.60,0.854,6,0.062,0.041,2969,2144,1397
$GC,12660,0.68,410.5,476.7,17.0,1064,12665,0.12,2.60,0.00,0.000,4,0.133,0.051,2951,3466,1397
$GC,12699,0.68,410.5,471.2,12.7,1067,12703,0.00,2.62,0.00,0.000,6,0.000,0.045,2966,2127,1396
$GC,13025,0.68,410.5,431.2,12.5,1097,13029,0.00,2.97,0.00,0.000,4,0.000,0.062,2951,635,1396
$GC,13063,0.72,410.5,426.2,12.4,1100,13068,0.00,2.88,0.00,0.000,6,0.000,0.040,2951,2138,1396
$GC,13387,0.72,410.5,385.1,13.3,1130,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2138,1395
$GC,13709,0.72,410.5,343.3,12.6,1164,13716,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2139,1395
$GC,14049,0.72,410.5,300.2,13.0,1225,14055,0.00,3.00,0.00,0.000,4,0.000,0.061,2952,640,1395
$GC,14085,0.76,410.5,295.8,12.2,1231,14091,0.00,2.85,0.00,0.000,6,0.000,0.040,2951,2134,1395
$GC,14425,0.76,410.5,255.5,10.8,1292,14432,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2134,1395
$GC,14766,0.76,410.5,216.0,11.9,1353,14772,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2134,1395
$GC,15105,0.76,410.5,176.7,11.5,1414,15111,0.00,3.00,0.00,0.000,4,0.000,0.061,2951,634,1395
$GC,15146,0.83,410.5,172.1,10.6,1421,15153,0.15,2.83,0.00,0.000,6,0.059,0.040,2984,2117,1395
$GC,15481,0.71,410.5,113.0,18.6,1482,15491,0.15,2.67,0.00,0.000,4,0.137,0.052,2958,3468,1395
$GC,15518,0.71,410.5,107.1,13.8,1488,15526,0.00,2.70,0.00,0.000,6,0.000,0.045,2959,2092,1395
$GC,15851,0.71,410.5,65.3,12.7,1549,15857,0.00,2.88,0.00,0.000,4,0.000,0.064,2959,643,1395
$GC,15887,0.71,410.5,60.8,12.4,1555,15893,0.00,2.80,0.00,0.000,6,0.000,0.040,2959,2114,1395
$GC,16210,0.71,410.5,21.3,11.5,1616,16218,0.00,2.67,0.00,0.000,4,0.000,0.052,2958,3468,1395
$GC,16236,0.71,410.5,18.0,12.2,1620,16244,0.00,2.67,0.00,0.000,6,0.000,0.044,2961,2102,1395
$STATE,16369,end climb,SURFACE_DEPTH_REACHED
$STATE,16369,begin surface coast
$FINISH,0.4,1.027364
$STATE,16388,end surface coast,CONTROL_FINISHED_OK
$STATE,16388,begin surface
$SM_CCo,16464,0.00,0.000,0,0,1394,411.37
$SM_GC,0.88,7.25,0.00,0.00,0.044,0.000,0.000,1469,2316,1394,-6.08,0.59,411.37
$IRIDIUM_FIX,6041.65,-2647.85,310797,181848
$TT8_MAMPS,0.021476
$HUMID,1699
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,11.70
$XPDR_PINGS,115
$24V_AH,19.3,55.921
$10V_AH,9.8,40.103
$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,20.500,130.950,637.725,0.000,0.000,27.684,28.289,233.294,28.750,0.000,0.000,13.078,2626.467,9249.954,740.989,3703.131,531.985,0.000,2159.270,0.000,3703.295,0.000,0.467
$DEVICE_MAMPS,242.372,70.564,1438.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1230.598,1153.308,597.581,819.983,1507.116,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123407,1648
$CAP_FILE_SIZE,152424,0
$CFSIZE,260165632,240984064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,035338,6110.512,-2637.451,29,1.4,29,-18.6