version: 66.03
glider: 143
mission: 4
dive: 184
start: 5 11 108 7 25 34
data:
$ID,143
$MISSION,4
$DIVE,184
$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,90
$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,-8720.0322
$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,18
$R_STBD_OVSHOOT,21
$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
$GPS1,071525,6129.537,-2622.125,24,1.3,41,-18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-49.6
$GPS2,072515,6129.618,-2621.925,10,1.4,10,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6129.618,-2616.771
$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,108.6,20000,-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,-101.43,0.000,2,0.000,0.000,1470,2301,3611
$GC,132,-0.82,-194.7,3.9,-6.4,14,156,9.77,2.90,-5.53,0.000,4,0.246,0.069,2610,3706,3867
$GC,310,-0.72,-194.7,39.5,-18.6,46,318,0.12,2.78,0.00,0.000,6,0.131,0.041,2632,2292,3868
$GC,451,-0.67,-194.7,61.1,-15.0,71,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2291,3868
$GC,778,-0.62,-194.7,107.7,-14.3,132,786,0.15,0.00,0.00,0.000,6,0.142,0.000,2657,2289,3868
$GC,1110,-0.62,-194.7,146.7,-11.8,193,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2289,3869
$GC,1447,-0.62,-194.7,186.9,-11.8,254,1453,0.00,2.75,0.00,0.000,4,0.000,0.054,2657,887,3869
$GC,1477,-0.62,-194.7,190.2,-12.1,259,1483,0.00,2.75,0.00,0.000,6,0.000,0.045,2657,2305,3869
$GC,1816,-0.62,-194.7,230.3,-11.8,320,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2305,3869
$GC,2157,-0.62,-194.7,270.2,-12.0,381,2164,0.00,2.80,0.00,0.000,4,0.000,0.054,2657,883,3869
$GC,2193,-0.68,-194.7,274.5,-11.8,387,2200,0.00,2.72,0.00,0.000,6,0.000,0.045,2657,2294,3869
$GC,2535,-0.68,-194.7,314.8,-11.8,448,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2295,3869
$GC,2874,-0.68,-194.7,356.8,-12.6,504,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2295,3869
$GC,3195,-0.68,-194.7,397.4,-12.7,534,3199,0.00,2.80,0.00,0.000,4,0.000,0.055,2657,877,3869
$GC,3222,-0.68,-194.7,401.0,-12.7,536,3227,0.00,2.75,0.00,0.000,6,0.000,0.044,2658,2302,3869
$GC,3550,-0.68,-194.7,442.7,-13.1,566,3554,0.00,2.80,0.00,0.000,4,0.000,0.055,2658,883,3869
$GC,3577,-0.68,-194.7,446.7,-13.3,568,3582,0.00,2.70,0.00,0.000,6,0.000,0.043,2659,2297,3869
$GC,3902,-0.68,-194.7,487.3,-12.5,598,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2297,3869
$GC,4220,-0.68,-194.7,525.5,-11.6,628,4224,0.00,2.80,0.00,0.000,4,0.000,0.056,2657,883,3869
$GC,4248,-0.72,-194.7,528.6,-11.4,630,4253,0.00,2.70,0.00,0.000,6,0.000,0.044,2663,2282,3868
$GC,4573,-0.72,-194.7,565.9,-11.6,660,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2282,3868
$GC,4903,-0.72,-194.7,603.1,-10.8,690,4905,0.12,0.00,0.00,0.000,6,0.070,0.000,2640,2282,3868
$GC,5210,-0.72,-194.7,640.2,-11.1,705,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2283,3868
$GC,5519,-0.72,-194.7,674.5,-11.1,720,5524,0.00,2.85,0.00,0.000,4,0.000,0.067,2631,883,3868
$GC,5541,-0.72,-194.7,676.9,-11.2,721,5546,0.00,2.72,0.00,0.000,6,0.000,0.048,2635,2282,3868
$GC,5861,-0.72,-194.7,714.9,-12.6,737,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2284,3868
$GC,6170,-0.72,-194.7,752.3,-11.9,752,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2285,3868
$GC,6479,-0.72,-194.7,789.9,-12.4,767,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2287,3868
$GC,6789,-0.72,-194.7,830.8,-13.4,782,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2286,3867
$GC,7098,-0.72,-194.7,871.5,-13.2,797,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2287,3867
$GC,7407,-0.72,-194.7,911.9,-13.0,812,7412,0.00,2.85,0.00,0.000,4,0.000,0.069,2631,890,3867
$GC,7439,-0.72,-194.7,916.2,-13.0,813,7445,0.00,2.70,0.00,0.000,6,0.000,0.048,2631,2272,3866
$GC,7754,-0.72,-194.7,955.7,-12.0,829,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2273,3866
$STATE,8062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8062,begin apogee
$GC,8067,-0.19,0.0,990.9,11.5,844,8272,0.75,0.00,200.70,1.438,6,0.125,0.000,2755,2038,3071
$STATE,8272,end apogee,CONTROL_FINISHED_OK
$STATE,8272,begin climb
$GC,8274,0.82,194.7,998.4,0.0,854,8493,1.27,3.22,207.05,1.361,4,0.087,0.070,2973,651,2277
$GC,8589,0.69,194.7,971.6,13.5,869,8594,0.15,2.92,0.00,0.000,6,0.141,0.047,2954,2050,2273
$GC,8915,0.58,194.7,934.4,11.3,885,8921,0.15,2.92,0.00,0.000,4,0.139,0.062,2929,3467,2272
$GC,8970,0.59,204.2,928.6,9.7,887,8986,0.00,2.85,10.40,1.283,6,0.000,0.051,2929,2055,2238
$GC,9301,0.59,204.2,896.3,10.2,904,9306,0.00,2.88,0.00,0.000,4,0.000,0.061,2929,3465,2236
$GC,9350,0.59,204.2,891.1,10.9,906,9355,0.00,2.80,0.00,0.000,6,0.000,0.051,2931,2067,2235
$GC,9666,0.60,206.7,859.3,9.9,921,9670,0.00,2.83,0.00,0.000,4,0.000,0.060,2929,3461,2235
$GC,9697,0.60,206.7,855.8,11.2,922,9704,0.00,2.75,0.00,0.000,6,0.000,0.051,2950,2082,2235
$GC,10014,0.65,250.2,826.5,8.5,938,10068,0.00,2.95,46.75,1.351,4,0.000,0.059,2929,3468,2049
$GC,10098,0.69,279.2,819.2,9.0,942,10134,0.00,2.78,30.52,1.286,6,0.000,0.051,2930,2108,1932
$GC,10445,0.76,340.6,791.5,7.9,958,10515,0.15,2.90,63.10,1.301,4,0.074,0.056,2962,3466,1681
$GC,10537,0.71,340.6,780.5,11.8,962,10541,0.00,2.80,0.00,0.000,6,0.000,0.050,2961,2109,1679
$GC,10853,0.64,340.6,740.0,13.7,977,10858,0.15,3.03,0.00,0.000,4,0.135,0.069,2936,637,1674
$GC,10874,0.64,340.6,736.8,13.8,978,10879,0.00,2.95,0.00,0.000,6,0.000,0.045,2936,2135,1674
$GC,11195,0.64,340.6,698.9,12.4,994,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2135,1673
$GC,11505,0.64,340.6,660.3,12.1,1009,11509,0.00,3.08,0.00,0.000,4,0.000,0.068,2936,635,1672
$GC,11531,0.64,340.6,657.0,11.9,1010,11535,0.00,2.88,0.00,0.000,6,0.000,0.044,2936,2122,1672
$GC,11852,0.64,340.6,622.2,10.5,1026,11856,0.00,2.67,0.00,0.000,4,0.000,0.055,2936,3471,1672
$GC,11878,0.64,340.6,619.4,10.7,1027,11882,0.00,2.65,0.00,0.000,6,0.000,0.046,2936,2117,1671
$GC,12203,0.69,381.8,590.0,8.6,1048,12249,0.00,3.05,40.40,1.206,4,0.000,0.066,2936,640,1513
$GC,12276,0.79,413.9,583.3,8.9,1054,12317,0.20,2.92,34.65,1.146,6,0.055,0.042,2979,2126,1383
$GC,12634,0.70,413.9,527.2,15.9,1088,12636,0.17,0.00,0.00,0.000,6,0.137,0.000,2954,2126,1375
$GC,12954,0.70,413.9,487.6,12.7,1118,12955,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2126,1374
$GC,13271,0.70,413.9,445.7,13.0,1148,13276,0.00,3.03,0.00,0.000,4,0.000,0.063,2953,632,1373
$GC,13310,0.75,413.9,440.9,12.1,1151,13315,0.00,2.85,0.00,0.000,6,0.000,0.041,2953,2117,1372
$GC,13636,0.75,413.9,401.5,11.7,1181,13637,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2117,1373
$GC,13953,0.75,413.9,363.9,12.1,1211,13958,0.00,2.97,0.00,0.000,4,0.000,0.061,2953,640,1372
$GC,13985,0.75,413.9,359.7,12.1,1213,13992,0.00,2.80,0.00,0.000,6,0.000,0.040,2954,2108,1372
$GC,14321,0.75,413.9,319.0,12.1,1266,14326,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2108,1372
$GC,14662,0.75,413.9,276.2,12.4,1327,14667,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2108,1372
$GC,15001,0.75,413.9,232.1,13.2,1388,15009,0.00,2.97,0.00,0.000,4,0.000,0.062,2953,644,1372
$GC,15038,0.81,413.9,227.5,11.9,1394,15044,0.00,2.78,0.00,0.000,6,0.000,0.041,2954,2097,1372
$GC,15378,0.81,413.9,183.2,12.6,1455,15383,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2097,1372
$GC,15716,0.81,413.9,141.0,11.7,1516,15724,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2097,1371
$GC,16052,0.82,424.8,104.7,9.6,1577,16072,0.12,2.97,10.02,0.849,4,0.072,0.062,2979,641,1339
$GC,16102,0.82,424.8,98.5,13.2,1585,16108,0.00,2.75,0.00,0.000,6,0.000,0.041,2979,2076,1338
$GC,16431,0.74,424.8,51.9,17.1,1646,16439,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2076,1338
$GC,16754,0.66,424.8,2.6,13.4,1707,16762,0.17,2.75,0.00,0.000,4,0.118,0.051,2947,3461,1337
$STATE,16768,end climb,SURFACE_DEPTH_REACHED
$STATE,16768,begin surface coast
$FINISH,0.3,1.027291
$STATE,16780,end surface coast,CONTROL_FINISHED_OK
$STATE,16780,begin surface
$SM_CCo,16858,0.00,0.000,0,0,1335,425.84
$SM_GC,0.77,7.32,0.00,0.00,0.051,0.000,0.000,1470,2280,1335,-6.08,-0.42,425.84
$IRIDIUM_FIX,6103.81,-2621.82,050897,070710
$TT8_MAMPS,0.021476
$HUMID,1707
$INTERNAL_PRESSURE,8.14484
$TCM_TEMP,11.60
$XPDR_PINGS,100
$24V_AH,19.2,61.774
$10V_AH,9.8,44.128
$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,20.800,130.850,643.600,0.000,0.000,58.819,151.687,204.227,25.000,0.000,0.000,12.151,2715.391,9493.270,705.915,3835.261,684.089,0.000,2177.370,0.000,3837.186,0.000,0.467
$DEVICE_MAMPS,246.207,69.797,1438.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1268.937,1199.884,621.299,837.025,1533.786,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126497,1711
$CAP_FILE_SIZE,153607,0
$CFSIZE,260165632,239030272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110508,120738,6129.805,-2613.951,31,1.3,31,-18.6