version: 66.03
glider: 143
mission: 4
dive: 236
start: 5 22 108 0 32 52
data:
$ID,143
$MISSION,4
$DIVE,236
$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,305
$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,-9759.7578
$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,15
$R_STBD_OVSHOOT,29
$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
$GPS1,002133,6132.546,-2558.600,48,1.3,49,-18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-42.8
$GPS2,003235,6132.583,-2558.705,9,2.5,28,-18.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6138.778,-2602.906
$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,323.5,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.82,-194.7,0.0,0.0,0,135,0.00,0.00,-104.43,0.000,2,0.000,0.000,1465,2315,3435
$GC,138,-0.82,-194.7,3.4,-5.1,19,168,10.05,2.85,-10.07,0.000,4,0.252,0.070,2613,3698,3867
$GC,355,-0.73,-194.7,42.5,-15.6,57,362,0.15,2.72,0.00,0.000,6,0.141,0.040,2635,2279,3868
$GC,499,-0.67,-194.7,62.3,-13.6,82,506,0.00,2.72,0.00,0.000,4,0.000,0.054,2635,880,3868
$GC,568,-0.67,-194.7,72.0,-13.2,94,574,0.00,2.67,0.00,0.000,6,0.000,0.047,2635,2255,3869
$GC,912,-0.61,-194.7,120.1,-13.8,155,918,0.15,0.00,0.00,0.000,6,0.146,0.000,2660,2256,3869
$GC,1255,-0.61,-194.7,158.9,-11.0,216,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2256,3869
$GC,1599,-0.61,-194.7,196.6,-11.0,277,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2256,3869
$GC,1942,-0.61,-194.7,233.9,-10.7,338,1949,0.00,2.70,0.00,0.000,4,0.000,0.054,2660,880,3868
$GC,1978,-0.66,-194.7,237.7,-10.9,344,1985,0.00,2.70,0.00,0.000,6,0.000,0.046,2660,2277,3869
$GC,2322,-0.66,-194.7,274.1,-10.4,405,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2277,3869
$GC,2664,-0.66,-194.7,308.0,-9.5,466,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2277,3869
$GC,3007,-0.66,-194.7,343.9,-10.9,527,3013,0.00,2.75,0.00,0.000,4,0.000,0.054,2661,880,3869
$GC,3054,-0.73,-194.7,349.0,-10.6,535,3060,0.00,2.67,0.00,0.000,6,0.000,0.044,2660,2266,3868
$GC,3387,-0.73,-194.7,383.0,-9.8,567,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2266,3868
$GC,3704,-0.73,-194.7,413.7,-9.3,597,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2266,3868
$GC,4022,-0.73,-194.7,443.3,-9.3,627,4026,0.00,2.72,0.00,0.000,4,0.000,0.054,2662,883,3868
$GC,4061,-0.79,-194.7,447.0,-9.7,630,4066,0.17,2.65,0.00,0.000,6,0.058,0.043,2621,2262,3868
$GC,4386,-0.70,-194.7,491.8,-14.8,660,4387,0.15,0.00,0.00,0.000,6,0.146,0.000,2642,2262,3868
$GC,4705,-0.70,-194.7,533.6,-13.2,690,4709,0.00,2.72,0.00,0.000,4,0.000,0.057,2644,886,3867
$GC,4744,-0.70,-194.7,538.7,-12.5,693,4749,0.00,2.62,0.00,0.000,6,0.000,0.044,2643,2248,3868
$GC,5070,-0.70,-194.7,579.5,-12.2,723,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2248,3868
$GC,5394,-0.70,-194.7,618.4,-12.4,747,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2248,3868
$GC,5703,-0.70,-194.7,655.1,-11.5,762,5707,0.00,2.75,0.00,0.000,4,0.000,0.063,2645,883,3868
$GC,5741,-0.70,-194.7,659.6,-12.0,764,5746,0.00,2.65,0.00,0.000,6,0.000,0.048,2642,2243,3867
$GC,6067,-0.70,-194.7,696.2,-10.9,780,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2244,3867
$GC,6376,-0.70,-194.7,732.2,-12.1,795,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2246,3867
$GC,6685,-0.70,-194.7,769.7,-12.2,810,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2247,3867
$GC,6995,-0.70,-194.7,809.7,-13.2,825,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2247,3867
$GC,7304,-0.70,-194.7,848.4,-12.3,840,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2247,3867
$GC,7613,-0.70,-194.7,885.8,-12.0,855,7618,0.00,2.78,0.00,0.000,4,0.000,0.069,2643,887,3866
$GC,7657,-0.70,-194.7,891.2,-12.2,857,7661,0.00,2.65,0.00,0.000,6,0.000,0.049,2642,2235,3866
$GC,7984,-0.70,-194.7,927.8,-10.8,873,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2236,3866
$GC,8293,-0.70,-194.7,961.5,-11.8,888,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2237,3865
$STATE,8580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8580,begin apogee
$GC,8585,-0.19,0.0,991.6,9.5,902,8791,0.68,0.00,202.93,1.416,6,0.128,0.000,2754,2038,3071
$STATE,8792,end apogee,CONTROL_FINISHED_OK
$STATE,8792,begin climb
$GC,8794,0.82,194.7,997.2,0.0,912,9014,1.27,3.20,208.55,1.348,4,0.087,0.071,2973,644,2277
$GC,9109,0.72,194.7,968.0,12.1,926,9114,0.00,2.92,0.00,0.000,6,0.000,0.047,2973,2050,2273
$GC,9430,0.58,194.7,932.6,10.4,942,9436,0.25,2.90,0.00,0.000,4,0.135,0.062,2932,3464,2271
$GC,9503,0.60,254.9,926.4,7.9,945,9574,0.00,2.80,61.03,1.346,6,0.000,0.053,2932,2074,2031
$GC,9885,0.63,279.6,896.7,9.1,964,9912,0.00,0.00,25.67,1.340,6,0.000,0.000,2932,2073,1931
$GC,10215,0.68,322.8,868.4,8.5,980,10262,0.00,0.00,45.12,1.326,6,0.000,0.000,2932,2072,1755
$GC,10566,0.69,330.1,833.7,9.7,997,10580,0.00,2.85,8.73,1.206,4,0.000,0.060,2931,3461,1725
$GC,10592,0.42,330.1,830.9,10.0,998,10597,0.22,2.78,0.00,0.000,6,0.121,0.051,2896,2080,1723
$GC,10914,0.76,344.9,804.7,9.5,1014,10940,0.32,2.88,17.35,1.310,4,0.073,0.060,2961,3462,1663
$GC,10996,0.72,344.9,794.9,13.7,1017,11002,0.00,2.88,0.00,0.000,6,0.000,0.053,2961,2040,1661
$GC,11312,0.67,344.9,755.0,11.9,1033,11317,0.00,2.88,0.00,0.000,4,0.000,0.058,2961,3465,1661
$GC,11344,0.67,344.9,750.7,12.2,1034,11351,0.00,2.83,0.00,0.000,6,0.000,0.052,2961,2048,1660
$GC,11660,0.62,344.9,711.7,11.9,1050,11666,0.15,2.85,0.00,0.000,4,0.130,0.058,2939,3468,1660
$GC,11704,0.62,344.9,706.9,10.3,1052,11709,0.00,2.75,0.00,0.000,6,0.000,0.051,2939,2077,1659
$GC,12031,0.62,344.9,673.2,11.0,1068,12032,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2076,1659
$GC,12341,0.65,364.4,641.8,9.3,1083,12367,0.00,2.83,20.40,1.246,4,0.000,0.057,2939,3469,1584
$GC,12406,0.69,364.4,634.9,10.9,1086,12411,0.00,2.75,0.00,0.000,6,0.000,0.048,2939,2083,1583
$GC,12727,0.73,364.4,601.8,10.6,1102,12729,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2083,1581
$GC,13045,0.73,364.4,564.2,11.0,1131,13049,0.00,2.75,0.00,0.000,4,0.000,0.054,2939,3467,1581
$GC,13084,0.79,364.4,559.6,11.6,1134,13089,0.17,2.70,0.00,0.000,6,0.065,0.047,2975,2092,1581
$GC,13408,0.71,364.4,516.0,12.2,1164,13409,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2091,1581
$GC,13729,0.64,364.4,475.1,14.4,1194,13734,0.17,2.72,0.00,0.000,4,0.131,0.052,2944,3465,1581
$GC,13756,0.64,364.4,471.1,13.2,1196,13761,0.00,2.65,0.00,0.000,6,0.000,0.045,2944,2102,1580
$GC,14080,0.64,364.4,436.6,10.8,1226,14082,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2102,1581
$GC,14401,0.67,392.1,405.0,9.0,1256,14436,0.00,2.78,29.17,1.078,4,0.000,0.053,2944,3462,1472
$GC,14466,0.77,419.7,398.8,9.0,1262,14502,0.12,2.67,29.40,1.006,6,0.071,0.044,2969,2109,1360
$GC,14826,0.77,419.7,356.2,11.6,1296,14831,0.00,2.97,0.00,0.000,4,0.000,0.065,2969,637,1354
$GC,14854,0.77,419.7,352.9,11.2,1298,14858,0.00,2.85,0.00,0.000,6,0.000,0.040,2969,2119,1353
$GC,15196,0.77,419.7,311.1,12.5,1356,15201,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2120,1353
$GC,15539,0.77,419.7,266.0,14.0,1417,15545,0.00,2.97,0.00,0.000,4,0.000,0.063,2969,643,1352
$GC,15562,0.77,419.7,262.7,13.0,1421,15568,0.00,2.83,0.00,0.000,6,0.000,0.041,2969,2119,1352
$GC,15906,0.77,419.7,215.7,13.1,1482,15912,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2119,1352
$GC,16249,0.77,419.7,170.5,12.6,1543,16254,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2119,1352
$GC,16591,0.77,419.7,127.7,11.3,1604,16597,0.00,2.97,0.00,0.000,4,0.000,0.064,2969,641,1351
$GC,16622,0.77,419.7,124.4,10.7,1609,16628,0.00,2.80,0.00,0.000,6,0.000,0.041,2969,2107,1351
$GC,16966,0.78,431.9,85.9,9.6,1670,16984,0.00,2.67,11.95,0.852,4,0.000,0.053,2969,3467,1311
$GC,16996,0.72,431.9,82.7,11.9,1675,17002,0.00,2.67,0.00,0.000,6,0.000,0.044,2969,2098,1310
$GC,17340,0.72,431.9,46.3,11.8,1736,17346,0.00,2.95,0.00,0.000,4,0.000,0.067,2969,634,1310
$GC,17364,0.72,431.9,43.5,11.4,1740,17370,0.00,2.78,0.00,0.000,6,0.000,0.040,2969,2096,1309
$GC,17508,0.72,431.9,26.2,11.1,1765,17514,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2096,1309
$GC,17649,0.72,431.9,9.0,11.9,1790,17656,0.00,2.65,0.00,0.000,4,0.000,0.051,2969,3459,1309
$GC,17663,0.72,431.9,7.3,12.0,1792,17669,0.00,2.70,0.00,0.000,6,0.000,0.043,2969,2065,1309
$STATE,17718,end climb,SURFACE_DEPTH_REACHED
$STATE,17719,begin surface coast
$FINISH,0.2,1.014028
$STATE,17750,end surface coast,CONTROL_FINISHED_OK
$STATE,17750,begin surface
$SM_CCo,17826,0.00,0.000,0,0,1307,432.71
$SM_GC,0.75,7.22,0.00,0.00,0.039,0.000,0.000,1470,2309,1307,-6.08,0.40,432.71
$IRIDIUM_FIX,6108.28,-2555.55,160897,000022
$TT8_MAMPS,0.021476
$HUMID,1752
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,16.50
$XPDR_PINGS,29
$24V_AH,19.1,75.381
$10V_AH,9.8,51.341
$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,21.275,134.400,660.300,0.000,0.000,58.357,75.124,320.918,7.250,0.000,0.000,30.884,2855.656,10787.804,756.621,3302.979,766.264,0.000,2266.948,0.000,3279.336,0.000,0.467
$DEVICE_MAMPS,251.576,70.564,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1376.094,1266.290,665.609,1593.112,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132901,1807
$CAP_FILE_SIZE,167239,0
$CFSIZE,260165632,234348544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,220508,053108,6134.394,-2604.348,34,1.8,34,-18.5