version: 66.03
glider: 143
mission: 4
dive: 165
start: 5 7 108 8 46 14
data:
$ID,143
$MISSION,4
$DIVE,165
$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,-8329.7695
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,084207,6110.125,-2631.327,12,0.8,28,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-61.4
$GPS2,084557,6110.150,-2631.300,10,0.9,10,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6101.878,-2627.938
$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,158.5,20000,-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,26,-0.82,-194.7,0.0,0.0,0,108,0.00,0.00,-79.82,0.000,2,0.000,0.000,1470,2271,3610
$GC,110,-0.82,-194.7,3.5,-6.3,11,133,9.80,2.75,-5.53,0.000,4,0.249,0.067,2612,897,3865
$GC,142,-0.07,-194.7,13.7,-29.8,15,150,0.95,2.75,0.00,0.000,6,0.153,0.051,2777,2274,3866
$GC,278,-0.47,-194.7,22.9,-7.9,40,286,0.38,0.00,0.00,0.000,6,0.061,0.000,2699,2274,3866
$GC,413,-0.69,-194.7,33.2,-7.2,65,422,0.22,2.75,0.00,0.000,4,0.044,0.051,2638,893,3867
$GC,496,-0.69,-194.7,42.4,-12.8,80,504,0.00,2.55,0.00,0.000,6,0.000,0.045,2640,2188,3866
$GC,635,-0.64,-194.7,61.2,-14.4,105,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2188,3867
$GC,966,-0.60,-194.7,108.0,-14.1,166,974,0.15,3.08,0.00,0.000,4,0.139,0.058,2663,3711,3867
$GC,1010,-0.65,-194.7,113.4,-11.7,173,1016,0.00,2.92,0.00,0.000,6,0.000,0.041,2663,2197,3866
$GC,1339,-0.65,-194.7,151.3,-11.4,234,1346,0.00,3.00,0.00,0.000,4,0.000,0.056,2663,3712,3866
$GC,1374,-0.69,-194.7,155.3,-11.5,240,1382,0.00,2.92,0.00,0.000,6,0.000,0.041,2663,2213,3866
$GC,1716,-0.69,-194.7,193.4,-10.9,301,1722,0.00,3.00,0.00,0.000,4,0.000,0.056,2663,3715,3866
$GC,1741,-0.69,-194.7,196.3,-11.7,305,1747,0.00,2.88,0.00,0.000,6,0.000,0.041,2663,2226,3866
$GC,2081,-0.69,-194.7,234.5,-11.4,366,2087,0.00,2.95,0.00,0.000,4,0.000,0.055,2663,3711,3866
$GC,2104,-0.69,-194.7,237.1,-11.5,370,2110,0.00,2.85,0.00,0.000,6,0.000,0.042,2663,2234,3866
$GC,2443,-0.69,-194.7,275.3,-11.6,431,2450,0.00,2.95,0.00,0.000,4,0.000,0.055,2663,3717,3866
$GC,2467,-0.69,-194.7,278.0,-12.1,435,2474,0.00,2.83,0.00,0.000,6,0.000,0.041,2663,2248,3866
$GC,2806,-0.69,-194.7,316.8,-11.3,496,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2245,3866
$GC,3149,-0.69,-194.7,355.5,-12.0,553,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2245,3866
$GC,3464,-0.69,-194.7,391.7,-11.7,583,3469,0.00,2.90,0.00,0.000,4,0.000,0.054,2663,3712,3866
$GC,3484,-0.69,-194.7,394.3,-12.1,584,3493,0.00,2.88,0.00,0.000,6,0.000,0.041,2663,2238,3866
$GC,3810,-0.69,-194.7,430.9,-11.2,615,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2235,3866
$GC,4128,-0.69,-194.7,465.5,-10.2,645,4133,0.00,2.92,0.00,0.000,4,0.000,0.055,2663,3712,3865
$GC,4155,-0.69,-194.7,468.5,-10.9,647,4160,0.00,2.83,0.00,0.000,6,0.000,0.042,2663,2249,3865
$GC,4480,-0.69,-194.7,503.0,-10.8,677,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2248,3865
$GC,4798,-0.69,-194.7,537.1,-10.4,707,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2248,3865
$GC,5120,-0.69,-194.7,572.2,-11.2,737,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2248,3865
$GC,5443,-0.69,-194.7,607.1,-10.5,765,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2247,3864
$GC,5751,-0.69,-194.7,640.3,-10.9,780,5756,0.00,2.92,0.00,0.000,4,0.000,0.060,2663,3708,3865
$GC,5772,-0.73,-194.7,642.6,-11.4,781,5778,0.12,2.85,0.00,0.000,6,0.064,0.046,2636,2249,3864
$GC,6093,-0.73,-194.7,683.0,-12.1,797,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2249,3864
$GC,6402,-0.73,-194.7,720.3,-12.0,812,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2249,3864
$GC,6711,-0.73,-194.7,758.0,-12.7,827,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2249,3864
$GC,7021,-0.73,-194.7,796.9,-12.7,842,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2249,3864
$GC,7329,-0.73,-194.7,836.1,-12.9,857,7334,0.00,2.97,0.00,0.000,4,0.000,0.064,2636,3711,3864
$GC,7355,-0.73,-194.7,839.7,-13.6,858,7360,0.00,2.90,0.00,0.000,6,0.000,0.051,2636,2239,3864
$GC,7677,-0.73,-194.7,879.4,-12.2,874,7682,0.00,3.00,0.00,0.000,4,0.000,0.064,2637,3709,3864
$GC,7693,-0.73,-194.7,881.5,-12.2,875,7698,0.00,2.85,0.00,0.000,6,0.000,0.050,2636,2268,3863
$GC,8018,-0.73,-194.7,920.0,-11.9,891,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2268,3863
$GC,8327,-0.73,-194.7,957.1,-12.0,906,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2268,3863
$STATE,8614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8614,begin apogee
$GC,8620,-0.19,0.0,992.5,12.3,920,8821,0.73,0.00,197.75,1.432,6,0.123,0.000,2756,2036,3071
$STATE,8822,end apogee,CONTROL_FINISHED_OK
$STATE,8822,begin climb
$GC,8824,0.82,194.7,1001.5,0.0,930,9041,1.23,3.22,205.45,1.359,4,0.083,0.070,2971,646,2277
$GC,9153,0.69,194.7,973.9,12.1,945,9160,0.00,2.92,0.00,0.000,6,0.000,0.045,2971,2059,2273
$GC,9469,0.56,194.7,936.1,12.1,961,9474,0.28,2.88,0.00,0.000,4,0.137,0.060,2928,3461,2272
$GC,9541,0.58,207.1,928.7,9.6,964,9561,0.00,2.80,12.85,1.332,6,0.000,0.048,2927,2067,2226
$GC,9884,0.58,241.1,898.7,8.8,981,9926,0.00,2.92,35.40,1.349,4,0.000,0.058,2927,3470,2087
$GC,9971,0.58,243.3,890.3,9.9,985,9976,0.00,2.83,0.00,0.000,6,0.000,0.049,2928,2082,2085
$GC,10297,0.59,251.2,859.0,9.7,1001,10318,0.00,2.83,11.35,1.291,4,0.000,0.057,2928,3467,2046
$GC,10351,0.59,251.2,853.5,10.4,1003,10356,0.00,2.72,0.00,0.000,6,0.000,0.049,2927,2111,2045
$GC,10666,0.62,279.0,823.7,9.0,1018,10698,0.00,0.00,29.55,1.336,6,0.000,0.000,2928,2110,1933
$GC,10996,0.64,295.2,792.7,9.4,1034,11019,0.00,2.80,17.90,1.322,4,0.000,0.057,2927,3469,1867
$GC,11042,0.68,328.5,788.3,8.8,1036,11082,0.00,2.70,35.12,1.248,6,0.000,0.048,2928,2128,1731
$GC,11404,0.69,337.8,753.5,9.7,1054,11421,0.12,2.72,10.65,1.223,4,0.076,0.056,2951,3469,1693
$GC,11504,0.69,337.8,741.0,13.1,1057,11511,0.00,2.72,0.00,0.000,6,0.000,0.050,2951,2112,1691
$GC,11820,0.64,337.8,700.0,13.6,1073,11824,0.00,2.72,0.00,0.000,4,0.000,0.055,2951,3464,1690
$GC,11926,0.64,337.8,685.8,13.0,1078,11930,0.00,2.67,0.00,0.000,6,0.000,0.049,2951,2116,1689
$GC,12251,0.59,337.8,642.9,12.9,1094,12257,0.12,2.97,0.00,0.000,4,0.131,0.066,2933,641,1689
$GC,12291,0.64,337.8,638.4,10.3,1096,12296,0.00,2.88,0.00,0.000,6,0.000,0.044,2933,2129,1689
$GC,12617,0.64,344.7,605.8,9.8,1112,12631,0.00,2.67,8.05,1.086,4,0.000,0.054,2932,3458,1664
$GC,12653,0.70,355.2,602.0,9.6,1113,12673,0.00,2.65,12.32,1.220,6,0.000,0.045,2937,2110,1622
$GC,13000,0.71,364.9,568.9,9.7,1145,13021,0.00,2.97,11.30,1.180,4,0.000,0.064,2932,640,1582
$GC,13044,0.80,387.2,564.6,9.2,1149,13077,0.20,2.90,24.17,1.101,6,0.056,0.042,2975,2130,1492
$GC,13394,0.68,387.2,506.4,17.3,1182,13396,0.17,0.00,0.00,0.000,6,0.139,0.000,2950,2130,1487
$GC,13713,0.68,387.2,466.6,12.3,1212,13715,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2130,1486
$GC,14032,0.68,387.2,427.0,11.9,1242,14037,0.00,3.00,0.00,0.000,4,0.000,0.063,2950,641,1486
$GC,14071,0.68,387.2,422.3,11.2,1245,14075,0.00,2.85,0.00,0.000,6,0.000,0.041,2950,2126,1485
$GC,14394,0.68,387.2,383.5,12.3,1275,14396,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2125,1485
$GC,14715,0.68,387.2,345.6,11.1,1308,14723,0.00,3.03,0.00,0.000,4,0.000,0.062,2950,635,1485
$GC,14748,0.68,387.2,342.0,11.2,1313,14754,0.00,2.83,0.00,0.000,6,0.000,0.040,2950,2116,1485
$GC,15088,0.68,387.2,302.3,11.5,1374,15095,0.00,2.62,0.00,0.000,4,0.000,0.051,2950,3467,1485
$GC,15111,0.68,387.2,299.5,12.0,1378,15117,0.00,2.67,0.00,0.000,6,0.000,0.044,2951,2089,1485
$GC,15452,0.68,387.2,259.2,11.2,1439,15458,0.00,2.88,0.00,0.000,4,0.000,0.062,2950,640,1485
$GC,15480,0.68,387.2,255.9,11.2,1444,15488,0.00,2.83,0.00,0.000,6,0.000,0.040,2950,2108,1485
$GC,15823,0.68,387.2,217.9,11.0,1505,15829,0.00,2.65,0.00,0.000,4,0.000,0.052,2950,3467,1485
$GC,15848,0.68,387.2,214.9,11.9,1509,15855,0.22,2.67,0.00,0.000,6,0.127,0.044,2939,2084,1485
$GC,16190,0.94,482.3,191.9,6.7,1570,16294,0.38,3.03,93.50,0.909,4,0.042,0.063,3002,643,1103
$GC,16314,0.78,482.3,168.2,25.1,1591,16321,0.20,2.90,0.00,0.000,6,0.132,0.041,2973,2106,1100
$GC,16649,0.71,482.3,111.8,18.8,1652,16656,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2106,1096
$GC,16982,0.65,482.3,56.3,16.3,1713,16989,0.15,2.95,0.00,0.000,4,0.133,0.063,2947,644,1094
$GC,17023,0.75,482.3,50.5,12.1,1720,17031,0.00,2.80,0.00,0.000,6,0.000,0.041,2947,2087,1093
$GC,17347,0.91,530.4,21.6,8.3,1781,17398,0.22,0.00,46.58,0.797,6,0.054,0.000,3000,2087,907
$STATE,17451,end climb,SURFACE_DEPTH_REACHED
$STATE,17451,begin surface coast
$FINISH,0.7,1.027286
$STATE,17458,end surface coast,CONTROL_FINISHED_OK
$STATE,17459,begin surface
$SM_CCo,17535,0.00,0.000,0,0,903,531.81
$SM_GC,0.67,7.50,0.00,0.00,0.038,0.000,0.000,1465,2312,903,-6.09,0.48,531.81
$IRIDIUM_FIX,6046.07,-2635.90,010897,080813
$TT8_MAMPS,0.021476
$HUMID,1686
$INTERNAL_PRESSURE,8.10578
$TCM_TEMP,12.10
$XPDR_PINGS,135
$24V_AH,19.3,56.543
$10V_AH,9.7,40.559
$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,23.150,166.300,751.950,0.000,0.000,0.000,0.000,0.000,33.750,0.000,0.000,12.404,2844.259,9621.634,807.413,4091.765,235.150,0.000,2394.015,0.000,4084.891,0.000,0.467
$DEVICE_MAMPS,249.275,69.797,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1331.246,1262.952,650.977,934.582,1690.709,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132896,1799
$CAP_FILE_SIZE,176456,0
$CFSIZE,260165632,240734208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,133937,6108.289,-2625.769,33,1.0,33,-18.5