version: 66.03
glider: 143
mission: 4
dive: 223
start: 5 19 108 7 17 46
data:
$ID,143
$MISSION,4
$DIVE,223
$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,120
$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,-9490.3779
$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,31
$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
$GPS1,070607,6109.419,-2536.844,41,1.6,46,-18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-40.3
$GPS2,071727,6109.418,-2536.862,14,1.6,14,-18.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6104.019,-2532.338
$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,138.0,20000,-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,27,-0.82,-194.7,0.0,0.0,0,133,0.00,0.00,-102.88,0.000,2,0.000,0.000,1470,2311,3443
$GC,136,-0.82,-194.7,3.2,-4.3,19,166,10.25,2.90,-10.07,0.000,4,0.258,0.063,2615,884,3867
$GC,195,-0.73,-194.7,15.8,-18.0,29,202,0.15,2.75,0.00,0.000,6,0.154,0.051,2635,2280,3868
$GC,340,-0.67,-194.7,38.4,-16.0,54,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2281,3868
$GC,483,-0.60,-194.7,60.3,-15.0,79,489,0.15,0.00,0.00,0.000,6,0.144,0.000,2659,2281,3868
$GC,825,-0.60,-194.7,102.1,-10.7,140,832,0.00,2.85,0.00,0.000,4,0.000,0.059,2659,3714,3868
$GC,850,-0.60,-194.7,104.6,-10.8,144,857,0.00,2.78,0.00,0.000,6,0.000,0.041,2659,2269,3868
$GC,1194,-0.60,-194.7,142.7,-11.4,205,1200,0.00,2.70,0.00,0.000,4,0.000,0.055,2658,887,3868
$GC,1225,-0.66,-194.7,146.1,-11.6,210,1232,0.00,2.70,0.00,0.000,6,0.000,0.045,2659,2288,3868
$GC,1569,-0.66,-194.7,186.6,-12.5,271,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2288,3868
$GC,1911,-0.66,-194.7,227.3,-11.2,332,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2288,3868
$GC,2254,-0.66,-194.7,267.0,-12.0,393,2260,0.00,2.78,0.00,0.000,4,0.000,0.055,2659,883,3868
$GC,2283,-0.71,-194.7,270.4,-12.1,398,2289,0.00,2.70,0.00,0.000,6,0.000,0.045,2659,2279,3868
$GC,2627,-0.71,-194.7,310.6,-11.5,459,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2279,3868
$GC,2969,-0.71,-194.7,350.0,-11.5,520,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2279,3868
$GC,3287,-0.71,-194.7,387.7,-11.9,550,3292,0.00,2.75,0.00,0.000,4,0.000,0.055,2659,886,3868
$GC,3316,-0.75,-194.7,390.9,-12.2,552,3321,0.12,2.67,0.00,0.000,6,0.063,0.044,2632,2271,3868
$GC,3640,-0.70,-194.7,437.5,-14.2,582,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2270,3868
$GC,3960,-0.66,-194.7,485.0,-15.4,612,3962,0.15,0.00,0.00,0.000,6,0.137,0.000,2653,2271,3868
$GC,4277,-0.66,-194.7,524.4,-12.4,642,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2270,3868
$GC,4595,-0.66,-194.7,562.2,-11.7,672,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2271,3868
$GC,4913,-0.66,-194.7,599.1,-11.0,702,4914,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2270,3867
$GC,5233,-0.66,-194.7,635.0,-11.9,718,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2271,3867
$GC,5543,-0.66,-194.7,670.3,-10.8,733,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2272,3867
$GC,5852,-0.66,-194.7,706.0,-12.0,748,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2273,3867
$GC,6161,-0.66,-194.7,740.0,-10.7,763,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2275,3867
$GC,6471,-0.66,-194.7,774.3,-11.4,778,6475,0.00,2.83,0.00,0.000,4,0.000,0.068,2653,887,3867
$GC,6497,-0.70,-194.7,777.4,-12.2,779,6502,0.00,2.72,0.00,0.000,6,0.000,0.051,2653,2275,3867
$GC,6812,-0.70,-194.7,811.7,-10.9,794,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2275,3866
$GC,7123,-0.70,-194.7,845.7,-11.0,809,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2276,3866
$GC,7431,-0.70,-194.7,877.7,-10.1,824,7435,0.00,2.83,0.00,0.000,4,0.000,0.067,2653,884,3866
$GC,7448,-0.70,-194.7,879.3,-9.9,825,7452,0.00,2.72,0.00,0.000,6,0.000,0.050,2653,2272,3866
$GC,7774,-0.70,-194.7,911.7,-9.8,841,7775,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2273,3866
$GC,8082,-0.70,-194.7,943.4,-10.4,856,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2274,3865
$GC,8392,-0.70,-194.7,974.4,-9.7,871,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2274,3865
$STATE,8555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8555,begin apogee
$GC,8561,-0.19,0.0,990.1,9.5,879,8765,0.60,0.00,201.27,1.414,6,0.123,0.000,2754,2039,3071
$STATE,8766,end apogee,CONTROL_FINISHED_OK
$STATE,8766,begin climb
$GC,8768,0.82,194.7,996.7,0.0,889,8986,1.27,3.17,207.40,1.345,4,0.088,0.070,2974,644,2277
$GC,9083,0.71,194.7,969.3,12.9,904,9088,0.00,2.92,0.00,0.000,6,0.000,0.048,2973,2051,2273
$GC,9409,0.59,194.7,930.0,11.9,920,9415,0.25,2.90,0.00,0.000,4,0.135,0.063,2931,3464,2271
$GC,9476,0.61,205.9,923.2,9.6,923,9493,0.00,2.80,11.93,1.300,6,0.000,0.053,2932,2072,2231
$GC,9802,0.65,239.9,894.0,8.8,939,9845,0.00,2.90,35.72,1.342,4,0.000,0.060,2931,3463,2091
$GC,9891,0.66,253.8,886.0,9.5,943,9912,0.00,2.80,15.23,1.247,6,0.000,0.052,2932,2081,2036
$GC,10221,0.69,270.9,855.6,9.4,959,10245,0.00,2.88,18.40,1.334,4,0.000,0.061,2931,3471,1966
$GC,10262,0.61,288.6,851.6,9.4,961,10287,0.00,2.78,20.10,1.228,6,0.000,0.052,2932,2103,1894
$GC,10603,0.61,288.6,817.5,10.0,978,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2102,1890
$GC,10912,0.61,288.6,786.2,10.3,993,10916,0.00,2.75,0.00,0.000,4,0.000,0.059,2932,3465,1889
$GC,10938,0.61,288.6,783.2,10.6,994,10943,0.00,2.70,0.00,0.000,6,0.000,0.051,2932,2111,1888
$GC,11254,0.62,293.7,751.9,9.8,1009,11268,0.00,3.00,6.10,1.048,4,0.000,0.068,2931,633,1872
$GC,11284,0.62,293.7,748.7,10.2,1010,11289,0.00,2.90,0.00,0.000,6,0.000,0.044,2932,2125,1872
$GC,11601,0.67,333.4,720.6,8.6,1025,11648,0.00,2.75,41.33,1.261,4,0.000,0.059,2931,3464,1711
$GC,11670,0.75,362.2,714.4,9.0,1028,11706,0.15,2.72,30.42,1.194,6,0.067,0.050,2962,2120,1594
$GC,12028,0.70,362.2,667.9,13.4,1046,12033,0.00,3.03,0.00,0.000,4,0.000,0.068,2960,634,1588
$GC,12060,0.70,362.2,663.5,12.4,1047,12066,0.00,2.92,0.00,0.000,6,0.000,0.045,2961,2131,1587
$GC,12376,0.66,362.2,622.4,13.0,1063,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2130,1587
$GC,12689,0.66,362.2,581.7,12.7,1084,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2131,1586
$GC,13008,0.66,362.2,539.9,13.4,1114,13013,0.00,3.03,0.00,0.000,4,0.000,0.065,2961,637,1586
$GC,13047,0.66,362.2,534.8,12.3,1117,13052,0.00,2.85,0.00,0.000,6,0.000,0.043,2961,2117,1586
$GC,13372,0.66,362.2,491.7,13.6,1147,13376,0.00,2.65,0.00,0.000,4,0.000,0.054,2961,3465,1586
$GC,13403,0.66,362.2,487.3,14.0,1149,13410,0.00,2.65,0.00,0.000,6,0.000,0.046,2961,2107,1585
$GC,13730,0.66,362.2,443.4,13.2,1180,13735,0.00,2.92,0.00,0.000,4,0.000,0.063,2961,640,1585
$GC,13762,0.66,362.2,438.7,12.6,1182,13769,0.00,2.85,0.00,0.000,6,0.000,0.042,2962,2113,1585
$GC,14089,0.66,362.2,398.1,13.0,1213,14093,0.00,2.65,0.00,0.000,4,0.000,0.053,2961,3466,1585
$GC,14117,0.66,362.2,394.3,13.2,1215,14121,0.00,2.67,0.00,0.000,6,0.000,0.045,2962,2091,1584
$GC,14441,0.66,362.2,353.6,12.6,1245,14446,0.00,2.90,0.00,0.000,4,0.000,0.063,2963,634,1584
$GC,14473,0.66,362.2,349.5,11.8,1247,14480,0.00,2.83,0.00,0.000,6,0.000,0.041,2963,2113,1584
$GC,14816,0.66,362.2,308.5,12.8,1308,14823,0.00,2.65,0.00,0.000,4,0.000,0.054,2961,3469,1584
$GC,14857,0.66,362.2,303.5,11.5,1315,14863,0.00,2.65,0.00,0.000,6,0.000,0.045,2962,2105,1584
$GC,15200,0.66,362.2,260.9,12.9,1376,15207,0.00,2.90,0.00,0.000,4,0.000,0.062,2961,640,1584
$GC,15230,0.66,362.2,257.1,13.0,1381,15236,0.12,2.83,0.00,0.000,6,0.118,0.041,2947,2117,1584
$GC,15574,0.70,362.2,222.7,10.1,1442,15580,0.00,2.65,0.00,0.000,4,0.000,0.052,2942,3477,1584
$GC,15609,0.77,362.2,219.1,10.1,1448,15616,0.12,2.62,0.00,0.000,6,0.069,0.044,2969,2116,1584
$GC,15953,0.72,362.2,173.5,12.7,1509,15959,0.00,2.92,0.00,0.000,4,0.000,0.063,2968,644,1584
$GC,15982,0.72,362.2,169.7,12.8,1514,15988,0.00,2.83,0.00,0.000,6,0.000,0.041,2974,2127,1584
$GC,16326,0.68,362.2,124.5,13.6,1575,16333,0.15,2.65,0.00,0.000,4,0.127,0.053,2941,3477,1584
$GC,16356,0.68,362.2,120.7,11.8,1580,16362,0.00,2.65,0.00,0.000,6,0.000,0.044,2945,2102,1584
$GC,16701,0.78,402.3,89.9,8.6,1641,16751,0.12,3.00,39.25,0.857,4,0.070,0.064,2968,641,1429
$GC,16774,0.78,402.3,80.8,13.0,1654,16780,0.00,2.88,0.00,0.000,6,0.000,0.041,2988,2128,1427
$GC,17117,0.78,402.3,34.7,12.6,1715,17123,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2127,1424
$GC,17260,0.78,402.3,14.6,11.6,1740,17267,0.00,2.95,0.00,0.000,4,0.000,0.059,2968,644,1424
$GC,17284,0.78,402.3,11.7,11.2,1744,17291,0.00,2.80,0.00,0.000,6,0.000,0.040,2968,2108,1423
$STATE,17357,end climb,SURFACE_DEPTH_REACHED
$STATE,17357,begin surface coast
$FINISH,0.3,1.026877
$STATE,17375,end surface coast,CONTROL_FINISHED_OK
$STATE,17376,begin surface
$SM_CCo,17452,0.00,0.000,0,0,1421,404.74
$SM_GC,0.78,7.30,0.00,0.00,0.042,0.000,0.000,1467,2323,1421,-6.09,0.82,404.74
$IRIDIUM_FIX,6046.07,-2540.07,130897,070751
$TT8_MAMPS,0.021476
$HUMID,1725
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,16.90
$XPDR_PINGS,29
$24V_AH,19.2,71.883
$10V_AH,9.8,49.361
$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,20.925,152.425,627.150,0.000,0.000,54.610,68.203,365.880,7.250,0.000,0.000,15.584,2784.066,10604.582,744.606,3189.399,792.810,0.000,2216.070,0.000,3178.895,0.000,0.469
$DEVICE_MAMPS,257.712,69.797,1413.581,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1333.679,1229.983,653.146,1543.401,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,130302,1760
$CAP_FILE_SIZE,167492,0
$CFSIZE,260165632,235560960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,120955,6107.552,-2530.573,24,1.0,41,-18.0