version: 66.03
glider: 143
mission: 4
dive: 240
start: 5 22 108 21 24 52
data:
$ID,143
$MISSION,4
$DIVE,240
$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,70
$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,-9819.6123
$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,35
$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
$GPS1,211732,6133.242,-2616.918,38,1.4,38,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-51.3
$GPS2,212433,6133.310,-2617.111,13,1.1,13,-18.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6137.003,-2612.287
$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,88.6,20000,-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,26,-0.82,-194.7,0.0,0.0,0,122,0.00,0.00,-93.18,0.000,2,0.000,0.000,1465,2320,3451
$GC,125,-0.82,-194.7,3.5,-5.0,17,155,10.32,2.83,-9.68,0.000,4,0.257,0.071,2614,3684,3868
$GC,242,-0.75,-194.7,26.5,-17.3,37,249,0.12,2.70,0.00,0.000,6,0.140,0.041,2632,2285,3869
$GC,387,-0.68,-194.7,50.4,-15.6,62,393,0.00,2.75,0.00,0.000,4,0.000,0.056,2632,880,3869
$GC,411,-0.64,-194.7,54.3,-15.0,66,418,0.15,2.70,0.00,0.000,6,0.137,0.048,2654,2262,3869
$GC,757,-0.64,-194.7,96.5,-12.5,127,762,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2262,3869
$GC,1100,-0.64,-194.7,140.4,-12.7,188,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2262,3869
$GC,1444,-0.64,-194.7,182.8,-11.5,249,1450,0.00,2.90,0.00,0.000,4,0.000,0.058,2654,3716,3869
$GC,1474,-0.64,-194.7,186.3,-11.9,254,1480,0.00,2.75,0.00,0.000,6,0.000,0.041,2654,2285,3869
$GC,1819,-0.64,-194.7,224.3,-10.9,315,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2282,3870
$GC,2163,-0.64,-194.7,262.2,-11.0,376,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2282,3869
$GC,2506,-0.64,-194.7,301.0,-11.2,437,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2282,3869
$GC,2848,-0.64,-194.7,339.4,-11.0,498,2855,0.00,2.75,0.00,0.000,4,0.000,0.056,2653,881,3869
$GC,2872,-0.64,-194.7,342.1,-11.1,502,2878,0.00,2.72,0.00,0.000,6,0.000,0.044,2654,2299,3869
$GC,3201,-0.64,-194.7,379.4,-11.3,539,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2299,3869
$GC,3520,-0.64,-194.7,415.9,-11.6,569,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2299,3870
$GC,3839,-0.64,-194.7,454.2,-12.3,599,3843,0.00,2.80,0.00,0.000,4,0.000,0.056,2654,884,3869
$GC,3878,-0.68,-194.7,459.1,-12.5,602,3882,0.00,2.70,0.00,0.000,6,0.000,0.044,2653,2286,3869
$GC,4204,-0.68,-194.7,500.9,-13.4,632,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3869
$GC,4520,-0.68,-194.7,542.4,-12.8,662,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3869
$GC,4839,-0.68,-194.7,582.3,-12.5,692,4840,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2286,3869
$GC,5153,-0.68,-194.7,622.3,-13.0,714,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2286,3869
$GC,5462,-0.68,-194.7,662.3,-13.5,729,5467,0.00,2.85,0.00,0.000,4,0.000,0.066,2654,884,3869
$GC,5496,-0.74,-194.7,666.7,-13.2,730,5503,0.00,2.75,0.00,0.000,6,0.000,0.049,2654,2291,3869
$GC,5812,-0.74,-194.7,705.7,-11.7,746,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2292,3869
$GC,6121,-0.74,-194.7,741.1,-11.0,761,6126,0.00,2.90,0.00,0.000,4,0.000,0.067,2653,3711,3868
$GC,6153,-0.74,-194.7,744.9,-11.5,762,6160,0.00,2.80,0.00,0.000,6,0.000,0.051,2654,2299,3868
$GC,6469,-0.74,-194.7,778.0,-10.7,778,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2298,3868
$GC,6778,-0.74,-194.7,812.8,-11.5,793,6783,0.00,2.88,0.00,0.000,4,0.000,0.068,2653,879,3868
$GC,6822,-0.81,-194.7,818.1,-11.8,795,6827,0.17,2.78,0.00,0.000,6,0.058,0.051,2617,2289,3868
$GC,7145,-0.74,-194.7,866.3,-15.5,811,7150,0.12,2.90,0.00,0.000,4,0.139,0.065,2635,3708,3867
$GC,7172,-0.74,-194.7,871.0,-15.5,812,7176,0.00,2.83,0.00,0.000,6,0.000,0.051,2635,2281,3867
$GC,7493,-0.74,-194.7,917.1,-14.2,828,7494,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2281,3867
$GC,7803,-0.74,-194.7,958.5,-13.2,843,7807,0.00,2.85,0.00,0.000,4,0.000,0.070,2634,879,3866
$GC,7841,-0.74,-194.7,963.5,-13.0,845,7846,0.00,2.78,0.00,0.000,6,0.000,0.051,2635,2285,3866
$STATE,8062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8062,begin apogee
$GC,8068,-0.19,0.0,992.4,12.8,856,8275,0.73,0.00,203.48,1.424,6,0.130,0.000,2754,2038,3071
$STATE,8276,end apogee,CONTROL_FINISHED_OK
$STATE,8276,begin climb
$GC,8278,0.82,194.7,1002.4,0.0,866,8497,1.27,3.17,208.77,1.356,4,0.089,0.071,2971,651,2277
$GC,8588,0.71,194.7,979.9,11.6,880,8593,0.00,2.92,0.00,0.000,6,0.000,0.046,2971,2059,2274
$GC,8915,0.58,194.7,945.5,10.3,896,8920,0.25,2.88,0.00,0.000,4,0.136,0.062,2931,3461,2271
$GC,8965,0.63,236.5,940.9,8.6,898,9017,0.00,2.83,42.92,1.365,6,0.000,0.051,2931,2063,2105
$GC,9327,0.68,274.8,911.0,8.7,916,9372,0.00,2.92,39.33,1.355,4,0.000,0.060,2931,3461,1950
$GC,9399,0.70,290.8,904.1,9.4,919,9426,0.00,2.85,18.45,1.261,6,0.000,0.052,2932,2072,1884
$GC,9736,0.75,330.9,874.6,8.6,936,9786,0.15,2.92,41.85,1.335,4,0.071,0.059,2965,3468,1721
$GC,9809,0.71,330.9,865.7,12.8,939,9813,0.00,2.83,0.00,0.000,6,0.000,0.053,2965,2095,1719
$GC,10124,0.64,330.9,824.1,13.9,954,10130,0.15,3.00,0.00,0.000,4,0.130,0.072,2939,638,1715
$GC,10146,0.64,330.9,820.9,13.4,955,10150,0.00,2.88,0.00,0.000,6,0.000,0.046,2939,2102,1715
$GC,10467,0.64,330.9,784.6,11.3,971,10472,0.00,2.72,0.00,0.000,4,0.000,0.060,2939,3462,1714
$GC,10488,0.64,330.9,782.1,11.5,972,10493,0.00,2.72,0.00,0.000,6,0.000,0.051,2940,2094,1714
$GC,10810,0.66,344.4,749.7,9.5,988,10830,0.00,0.00,14.75,1.309,6,0.000,0.000,2940,2093,1666
$GC,11139,0.69,372.3,720.8,9.0,1004,11174,0.00,2.85,29.58,1.261,4,0.000,0.060,2939,3468,1552
$GC,11191,0.70,374.7,715.8,9.9,1005,11197,0.00,2.75,0.00,0.000,6,0.000,0.051,2939,2107,1551
$GC,11506,0.74,374.7,684.0,10.2,1021,11511,0.00,3.00,0.00,0.000,4,0.000,0.071,2939,638,1548
$GC,11539,0.80,374.7,680.4,10.7,1022,11546,0.17,2.85,0.00,0.000,6,0.061,0.045,2976,2105,1547
$GC,11855,0.73,374.7,634.6,14.2,1038,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2105,1547
$GC,12166,0.66,374.7,591.1,13.1,1056,12167,0.20,0.00,0.00,0.000,6,0.127,0.000,2946,2105,1547
$GC,12485,0.66,374.7,559.0,10.6,1086,12487,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2105,1546
$GC,12802,0.66,374.7,524.6,10.9,1116,12807,0.00,2.97,0.00,0.000,4,0.000,0.064,2946,634,1546
$GC,12830,0.72,374.7,521.5,11.2,1118,12835,0.00,2.83,0.00,0.000,6,0.000,0.042,2946,2104,1546
$GC,13156,0.72,374.7,482.8,12.6,1148,13160,0.00,2.67,0.00,0.000,4,0.000,0.054,2946,3466,1546
$GC,13184,0.76,374.7,479.1,13.7,1150,13189,0.00,2.70,0.00,0.000,6,0.000,0.047,2946,2086,1546
$GC,13508,0.76,374.7,438.0,12.9,1180,13513,0.00,2.90,0.00,0.000,4,0.000,0.065,2946,635,1546
$GC,13541,0.83,374.7,433.7,12.4,1182,13548,0.17,2.80,0.00,0.000,6,0.058,0.042,2984,2099,1546
$GC,13866,0.75,374.7,379.2,16.7,1213,13867,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2100,1546
$GC,14191,0.68,374.7,327.0,15.0,1256,14198,0.17,2.95,0.00,0.000,4,0.132,0.064,2954,638,1546
$GC,14222,0.68,374.7,322.9,13.4,1261,14228,0.00,2.75,0.00,0.000,6,0.000,0.041,2954,2077,1546
$GC,14565,0.68,374.7,285.2,11.0,1322,14571,0.00,2.72,0.00,0.000,4,0.000,0.054,2954,3463,1546
$GC,14600,0.73,374.7,281.4,10.7,1328,14606,0.00,2.70,0.00,0.000,6,0.000,0.046,2954,2080,1546
$GC,14944,0.73,374.7,244.5,10.2,1389,14951,0.00,2.88,0.00,0.000,4,0.000,0.064,2954,638,1545
$GC,14979,0.78,374.7,240.8,10.3,1395,14986,0.00,2.78,0.00,0.000,6,0.000,0.041,2954,2091,1546
$GC,15323,0.78,377.7,205.7,9.9,1456,15335,0.00,2.70,5.62,0.772,4,0.000,0.052,2954,3467,1532
$GC,15359,0.83,381.8,202.3,9.9,1462,15372,0.15,2.72,6.53,0.813,6,0.068,0.045,2984,2070,1514
$GC,15711,0.77,381.8,153.8,14.7,1524,15717,0.00,2.85,0.00,0.000,4,0.000,0.065,2984,641,1513
$GC,15752,0.77,381.8,147.6,14.3,1531,15758,0.00,2.75,0.00,0.000,6,0.000,0.041,2984,2075,1513
$GC,16096,0.71,381.8,96.2,14.2,1592,16103,0.15,2.72,0.00,0.000,4,0.130,0.051,2958,3468,1513
$GC,16115,0.71,381.8,93.5,14.3,1595,16121,0.00,2.72,0.00,0.000,6,0.000,0.044,2958,2070,1512
$GC,16458,0.71,381.8,54.8,11.8,1656,16464,0.00,2.85,0.00,0.000,4,0.000,0.066,2958,643,1513
$GC,16482,0.75,381.8,52.0,12.6,1660,16488,0.00,2.72,0.00,0.000,6,0.000,0.040,2958,2070,1513
$GC,16826,0.75,381.8,15.3,11.6,1721,16832,0.00,2.72,0.00,0.000,4,0.000,0.054,2958,3465,1513
$GC,16856,0.80,381.8,12.2,10.4,1726,16862,0.00,2.72,0.00,0.000,6,0.000,0.044,2958,2060,1513
$STATE,16951,end climb,SURFACE_DEPTH_REACHED
$STATE,16951,begin surface coast
$FINISH,0.4,1.027260
$STATE,16969,end surface coast,CONTROL_FINISHED_OK
$STATE,16969,begin surface
$SM_CCo,17046,0.00,0.000,0,0,1511,382.67
$SM_GC,0.97,7.30,0.00,0.00,0.047,0.000,0.000,1468,2299,1511,-6.09,0.11,382.67
$IRIDIUM_FIX,6112.75,-2611.69,160897,161601
$TT8_MAMPS,0.021476
$HUMID,1746
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,15.10
$XPDR_PINGS,21
$24V_AH,19.1,76.408
$10V_AH,9.9,51.973
$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,21.775,164.125,611.275,0.000,0.000,27.371,33.053,229.432,5.250,0.000,0.000,14.506,2775.345,10149.815,736.474,3192.638,592.107,0.000,2204.243,0.000,3180.934,0.000,0.466
$DEVICE_MAMPS,256.945,72.098,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1317.669,1221.188,640.422,1547.773,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129777,1746
$CAP_FILE_SIZE,162716,0
$CFSIZE,260165632,233975808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,230508,021007,6134.521,-2615.801,33,1.6,33,-18.6