version: 66.03
glider: 143
mission: 4
dive: 210
start: 5 16 108 15 32 52
data:
$ID,143
$MISSION,4
$DIVE,210
$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,45
$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,-9242.3867
$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,20
$R_STBD_OVSHOOT,19
$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
$GPS1,152608,6134.051,-2635.530,39,1.0,39,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-60.2
$GPS2,153233,6134.068,-2635.641,11,1.4,11,-18.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6141.704,-2632.020
$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,63.8,20000,-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,-194.7,0.0,0.0,0,116,0.00,0.00,-88.00,0.000,2,0.000,0.000,1467,2296,3467
$GC,119,-0.82,-194.7,3.5,-5.5,16,145,9.85,2.95,-9.23,0.000,4,0.246,0.072,2614,3705,3867
$GC,249,-0.75,-194.7,28.6,-16.1,38,256,0.12,2.72,0.00,0.000,6,0.143,0.040,2631,2289,3868
$GC,393,-0.70,-194.7,50.6,-14.9,63,398,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2289,3868
$GC,735,-0.65,-194.7,101.7,-15.1,124,742,0.15,2.75,0.00,0.000,4,0.144,0.054,2656,880,3868
$GC,771,-0.70,-194.7,106.4,-12.7,130,777,0.00,2.72,0.00,0.000,6,0.000,0.045,2656,2289,3868
$GC,1116,-0.70,-194.7,146.5,-10.9,191,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3869
$GC,1460,-0.70,-194.7,186.5,-12.1,252,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3869
$GC,1804,-0.70,-194.7,229.6,-12.1,313,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3869
$GC,2146,-0.70,-194.7,270.6,-11.4,374,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3868
$GC,2487,-0.70,-194.7,308.9,-11.2,435,2493,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3869
$GC,2832,-0.70,-194.7,345.6,-10.2,496,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3868
$GC,3165,-0.70,-194.7,380.1,-10.3,531,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3869
$GC,3483,-0.70,-194.7,412.3,-10.5,561,3484,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2289,3869
$GC,3801,-0.70,-194.7,445.8,-10.0,591,3805,0.00,2.78,0.00,0.000,4,0.000,0.056,2656,887,3869
$GC,3833,-0.75,-194.7,449.0,-9.3,593,3840,0.00,2.70,0.00,0.000,6,0.000,0.043,2656,2292,3868
$GC,4161,-0.75,-194.7,483.7,-11.2,624,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2292,3868
$GC,4477,-0.75,-194.7,520.4,-11.6,654,4478,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2292,3869
$GC,4794,-0.75,-194.7,557.0,-11.0,684,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2292,3868
$GC,5112,-0.75,-194.7,592.8,-11.3,714,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2292,3869
$GC,5435,-0.75,-194.7,628.0,-11.2,733,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2292,3869
$GC,5743,-0.75,-194.7,662.7,-11.4,748,5748,0.00,2.85,0.00,0.000,4,0.000,0.064,2656,883,3868
$GC,5770,-0.79,-194.7,665.7,-11.7,749,5775,0.15,2.72,0.00,0.000,6,0.058,0.048,2624,2281,3869
$GC,6086,-0.74,-194.7,710.2,-14.2,764,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2282,3868
$GC,6395,-0.70,-194.7,752.9,-13.7,779,6397,0.12,0.00,0.00,0.000,6,0.134,0.000,2641,2284,3868
$GC,6703,-0.70,-194.7,791.5,-13.0,794,6708,0.00,2.92,0.00,0.000,4,0.000,0.067,2641,3711,3868
$GC,6742,-0.70,-194.7,796.4,-11.9,796,6747,0.00,2.85,0.00,0.000,6,0.000,0.052,2641,2279,3868
$GC,7068,-0.70,-194.7,834.0,-11.0,812,7072,0.00,2.83,0.00,0.000,4,0.000,0.067,2641,876,3867
$GC,7111,-0.75,-194.7,838.9,-10.4,814,7116,0.00,2.72,0.00,0.000,6,0.000,0.051,2641,2263,3867
$GC,7432,-0.75,-194.7,875.0,-12.0,830,7437,0.00,2.97,0.00,0.000,4,0.000,0.069,2641,3712,3867
$GC,7459,-0.75,-194.7,877.9,-11.7,831,7463,0.00,2.88,0.00,0.000,6,0.000,0.051,2641,2266,3867
$GC,7780,-0.75,-194.7,915.6,-11.8,847,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2266,3867
$STATE,8025,end dive,NO_VERTICAL_VELOCITY
$STATE,8025,begin apogee
$GC,8031,-0.19,0.0,919.4,0.0,859,8234,0.60,0.00,199.23,1.368,6,0.061,0.000,2762,2034,3071
$STATE,8234,end apogee,CONTROL_FINISHED_OK
$STATE,8235,begin climb
$GC,8237,0.82,194.7,919.2,0.0,869,8451,1.17,3.22,204.40,1.295,4,0.068,0.060,2974,3462,2278
$GC,8468,0.69,196.3,905.6,9.9,880,8474,0.15,3.08,0.00,0.000,6,0.133,0.051,2954,2058,2276
$GC,8783,0.60,196.3,871.9,11.4,895,8789,0.15,2.90,0.00,0.000,4,0.133,0.058,2930,3464,2273
$GC,8850,0.66,242.2,865.9,8.4,898,8907,0.00,2.80,48.25,1.302,6,0.000,0.051,2930,2078,2083
$GC,9217,0.73,299.5,834.9,8.0,916,9282,0.15,2.97,57.58,1.292,4,0.070,0.060,2962,3466,1849
$GC,9326,0.73,299.5,821.9,12.6,921,9331,0.00,2.80,0.00,0.000,6,0.000,0.052,2962,2106,1847
$GC,9647,0.67,299.5,781.4,13.1,937,9652,0.00,3.00,0.00,0.000,4,0.000,0.071,2962,640,1844
$GC,9668,0.61,299.5,778.4,13.3,938,9673,0.17,2.90,0.00,0.000,6,0.123,0.047,2936,2115,1844
$GC,9989,0.61,299.5,745.7,10.1,954,9993,0.00,2.72,0.00,0.000,4,0.000,0.061,2935,3469,1843
$GC,10016,0.61,301.3,742.9,9.9,955,10020,0.00,2.72,0.00,0.000,6,0.000,0.052,2935,2102,1842
$GC,10331,0.63,316.9,712.4,9.5,970,10354,0.00,2.80,17.92,1.289,4,0.000,0.060,2935,3471,1779
$GC,10455,0.63,316.9,700.1,10.3,975,10462,0.00,2.75,0.00,0.000,6,0.000,0.052,2935,2102,1776
$GC,10771,0.67,344.8,671.4,9.0,991,10806,0.00,2.80,30.15,1.236,4,0.000,0.058,2935,3462,1664
$GC,10899,0.74,353.8,659.3,9.7,996,10915,0.12,2.75,10.18,1.186,6,0.074,0.050,2960,2096,1628
$GC,11223,0.74,353.8,621.6,11.6,1011,11228,0.00,2.97,0.00,0.000,4,0.000,0.069,2960,634,1625
$GC,11250,0.74,353.8,618.3,12.3,1012,11255,0.00,2.88,0.00,0.000,6,0.000,0.045,2960,2105,1625
$GC,11570,0.74,353.8,580.7,12.0,1034,11571,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2105,1624
$GC,11888,0.74,353.8,542.1,11.7,1064,11890,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2105,1624
$GC,12207,0.74,353.8,504.1,12.2,1094,12211,0.00,2.97,0.00,0.000,4,0.000,0.067,2960,640,1624
$GC,12229,0.74,353.8,501.4,12.6,1095,12235,0.00,2.83,0.00,0.000,6,0.000,0.044,2960,2109,1624
$GC,12554,0.74,353.8,461.5,12.5,1126,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2109,1623
$GC,12872,0.74,353.8,423.7,11.6,1156,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2109,1623
$GC,13190,0.74,353.8,387.9,11.3,1186,13195,0.00,2.97,0.00,0.000,4,0.000,0.064,2960,634,1623
$GC,13211,0.74,353.8,385.3,12.1,1187,13217,0.00,2.80,0.00,0.000,6,0.000,0.041,2960,2093,1623
$GC,13535,0.74,353.8,348.7,11.8,1219,13541,0.00,2.70,0.00,0.000,4,0.000,0.054,2959,3465,1623
$GC,13558,0.74,353.8,345.9,12.4,1223,13564,0.00,2.70,0.00,0.000,6,0.000,0.046,2960,2081,1623
$GC,13902,0.74,353.8,307.1,10.6,1284,13909,0.00,2.85,0.00,0.000,4,0.000,0.064,2960,644,1623
$GC,13925,0.74,353.8,304.3,11.3,1288,13932,0.00,2.78,0.00,0.000,6,0.000,0.042,2960,2096,1623
$GC,14269,0.74,353.8,266.5,11.4,1349,14275,0.00,2.67,0.00,0.000,4,0.000,0.054,2959,3459,1623
$GC,14293,0.74,353.8,263.7,11.6,1353,14299,0.00,2.70,0.00,0.000,6,0.000,0.046,2960,2075,1622
$GC,14635,0.74,353.8,224.6,11.1,1414,14641,0.00,2.85,0.00,0.000,4,0.000,0.064,2960,644,1622
$GC,14658,0.74,353.8,221.8,11.8,1418,14664,0.00,2.78,0.00,0.000,6,0.000,0.041,2960,2094,1623
$GC,15002,0.74,353.8,183.2,11.2,1479,15007,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2094,1623
$GC,15344,0.74,353.8,144.7,11.1,1540,15350,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2094,1623
$GC,15688,0.74,353.8,104.7,11.8,1601,15693,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2094,1623
$GC,16030,0.74,353.8,66.5,10.4,1662,16036,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2094,1622
$GC,16374,0.74,353.8,29.7,10.5,1723,16380,0.00,2.67,0.00,0.000,4,0.000,0.054,2959,3459,1622
$GC,16394,0.74,353.8,27.7,10.8,1726,16400,0.00,2.67,0.00,0.000,6,0.000,0.044,2960,2074,1623
$GC,16536,0.75,364.8,14.0,9.6,1751,16554,0.00,0.00,11.60,0.787,6,0.000,0.000,2960,2074,1583
$STATE,16659,end climb,SURFACE_DEPTH_REACHED
$STATE,16659,begin surface coast
$FINISH,0.4,1.027212
$STATE,16679,end surface coast,CONTROL_FINISHED_OK
$STATE,16679,begin surface
$SM_CCo,16755,0.00,0.000,0,0,1580,365.74
$SM_GC,1.03,7.32,0.00,0.00,0.048,0.000,0.000,1469,2305,1580,-6.08,0.28,365.74
$IRIDIUM_FIX,6108.28,-2643.98,100897,101004
$TT8_MAMPS,0.020709
$HUMID,1744
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,16.40
$XPDR_PINGS,18
$24V_AH,19.2,68.560
$10V_AH,9.8,47.551
$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,20.250,125.300,579.300,0.000,0.000,24.695,33.154,210.595,4.500,0.000,0.000,14.130,2796.024,10021.141,695.282,3080.245,535.015,0.000,2133.742,0.000,3063.967,0.000,0.466
$DEVICE_MAMPS,246.207,72.098,1368.328,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1337.791,1246.015,670.098,957.258,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126499,1776
$CAP_FILE_SIZE,153808,0
$CFSIZE,260165632,236732416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,201327,6136.179,-2633.702,25,2.7,44,-18.8