version: 66.03
glider: 143
mission: 4
dive: 69
start: 4 17 108 22 4 30
data:
$ID,143
$MISSION,4
$DIVE,69
$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,2
$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,-5364.5039
$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,19
$R_STBD_OVSHOOT,30
$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
$GPS1,215616,5936.380,-2246.597,37,2.7,56,-15.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-47.2
$GPS2,220411,5936.480,-2246.566,9,2.6,28,-15.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5936.480,-2241.103
$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,105.3,20000,-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,24,begin dive
$GC,25,-0.82,-194.7,0.0,0.0,0,139,0.00,0.00,-110.80,0.000,2,0.000,0.000,1469,2318,3631
$GC,141,-0.82,-194.7,3.3,-6.0,12,168,9.93,2.80,-5.38,0.000,4,0.255,0.062,2612,3696,3867
$GC,267,-0.70,-194.7,35.4,-21.1,32,276,0.15,2.78,0.00,0.000,6,0.167,0.041,2637,2291,3868
$GC,416,-0.62,-194.7,58.6,-15.5,57,423,0.15,0.00,0.00,0.000,6,0.148,0.000,2662,2288,3868
$GC,628,-0.62,-194.7,93.0,-16.4,94,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3868
$GC,841,-0.62,-194.7,120.4,-12.4,131,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3868
$GC,1050,-0.62,-194.7,147.0,-11.3,168,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3868
$GC,1263,-0.62,-194.7,171.6,-12.0,205,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3868
$GC,1604,-0.62,-194.7,212.8,-12.3,266,1613,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2287,3868
$GC,1952,-0.62,-194.7,256.9,-12.3,327,1959,0.00,2.72,0.00,0.000,4,0.000,0.054,2661,887,3868
$GC,1979,-0.62,-194.7,260.3,-12.8,331,1986,0.00,2.72,0.00,0.000,6,0.000,0.043,2661,2305,3868
$GC,2325,-0.62,-194.7,301.9,-11.5,392,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2305,3868
$GC,2673,-0.62,-194.7,342.5,-11.1,453,2681,0.00,2.78,0.00,0.000,4,0.000,0.054,2661,884,3868
$GC,2711,-0.62,-194.7,346.9,-11.4,459,2719,0.00,2.72,0.00,0.000,6,0.000,0.042,2662,2314,3868
$GC,3055,-0.62,-194.7,385.3,-11.3,520,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2314,3868
$GC,3396,-0.62,-194.7,423.1,-10.9,581,3403,0.00,2.80,0.00,0.000,4,0.000,0.054,2662,881,3868
$GC,3444,-0.67,-194.7,428.1,-11.1,589,3451,0.00,2.70,0.00,0.000,6,0.000,0.041,2662,2300,3868
$GC,3786,-0.67,-194.7,467.6,-11.4,650,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2300,3868
$GC,4125,-0.67,-194.7,504.3,-10.8,711,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2300,3868
$GC,4466,-0.67,-194.7,542.3,-11.7,772,4472,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2300,3868
$GC,4805,-0.67,-194.7,581.4,-11.3,833,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2300,3868
$GC,5135,-0.67,-194.7,618.3,-11.2,879,5140,0.00,2.80,0.00,0.000,4,0.000,0.061,2662,888,3868
$GC,5162,-0.67,-194.7,621.3,-11.2,881,5167,0.00,2.70,0.00,0.000,6,0.000,0.044,2662,2297,3868
$GC,5487,-0.67,-194.7,655.8,-10.6,911,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2297,3868
$GC,5805,-0.67,-194.7,690.5,-11.1,941,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2297,3868
$GC,6123,-0.67,-194.7,725.5,-10.8,971,6128,0.00,2.88,0.00,0.000,4,0.000,0.071,2662,884,3868
$GC,6144,-0.67,-194.7,727.8,-10.7,972,6152,0.00,2.72,0.00,0.000,6,0.000,0.049,2662,2285,3868
$GC,6469,-0.67,-194.7,764.3,-11.3,1003,6471,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2288,3868
$GC,6787,-0.67,-194.7,800.2,-11.1,1033,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2289,3867
$GC,7107,-0.67,-194.7,832.7,-9.8,1063,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2289,3867
$GC,7425,-0.67,-194.7,864.2,-9.9,1093,7429,0.00,2.83,0.00,0.000,4,0.000,0.069,2662,891,3866
$GC,7456,-0.73,-194.7,867.4,-10.4,1095,7465,0.00,2.70,0.00,0.000,6,0.000,0.049,2662,2283,3867
$GC,7783,-0.73,-194.7,898.5,-9.4,1126,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2283,3866
$GC,8101,-0.73,-194.7,928.9,-9.6,1156,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2285,3866
$GC,8418,-0.73,-194.7,960.5,-10.4,1186,8423,0.00,2.88,0.00,0.000,4,0.000,0.067,2661,3710,3866
$GC,8446,-0.77,-194.7,963.4,-11.3,1188,8452,0.15,2.83,0.00,0.000,6,0.062,0.051,2630,2274,3866
$STATE,8652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8652,begin apogee
$GC,8657,-0.19,0.0,990.8,14.0,1207,8859,0.75,0.00,195.38,1.462,6,0.123,0.000,2757,2038,3071
$STATE,8860,end apogee,CONTROL_FINISHED_OK
$STATE,8860,begin climb
$GC,8862,0.82,194.7,1001.0,0.0,1227,9075,1.23,3.20,201.30,1.381,4,0.087,0.071,2971,651,2277
$GC,9164,0.67,194.7,976.1,12.5,1253,9172,0.17,2.92,0.00,0.000,6,0.140,0.044,2948,2059,2273
$GC,9489,0.56,194.7,939.2,11.3,1284,9494,0.15,2.92,0.00,0.000,4,0.137,0.060,2923,3471,2271
$GC,9573,0.58,211.8,930.6,9.4,1291,9598,0.00,2.85,17.65,1.437,6,0.000,0.052,2923,2077,2207
$GC,9914,0.62,241.1,900.1,9.0,1323,9951,0.00,2.97,30.77,1.387,4,0.000,0.059,2923,3465,2087
$GC,9989,0.62,241.1,892.9,10.5,1329,9997,0.00,2.83,0.00,0.000,6,0.000,0.051,2923,2093,2086
$GC,10315,0.65,270.6,863.8,9.0,1360,10351,0.00,2.95,30.20,1.391,4,0.000,0.058,2923,3471,1968
$GC,10367,0.49,293.1,858.7,9.2,1364,10399,0.00,2.80,24.90,1.263,6,0.000,0.051,2923,2114,1876
$GC,10715,0.49,295.1,824.5,9.9,1397,10720,0.00,3.08,0.00,0.000,4,0.000,0.072,2923,635,1871
$GC,10735,0.49,295.1,822.2,10.2,1398,10743,0.00,2.95,0.00,0.000,6,0.000,0.044,2923,2128,1871
$GC,11061,0.49,295.7,789.0,10.0,1429,11065,0.00,2.70,0.00,0.000,4,0.000,0.059,2923,3465,1870
$GC,11088,0.49,295.7,786.0,10.3,1431,11093,0.00,2.72,0.00,0.000,6,0.000,0.051,2924,2107,1869
$GC,11412,0.49,295.7,753.8,10.1,1461,11414,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2106,1869
$GC,11732,0.51,313.6,722.9,9.4,1491,11759,0.00,2.83,20.75,1.404,4,0.000,0.058,2923,3466,1791
$GC,11778,0.32,350.6,718.5,8.7,1495,11826,0.32,2.72,38.65,1.220,6,0.114,0.051,2871,2118,1640
$GC,12142,0.67,350.6,684.2,10.9,1529,12147,0.35,3.05,0.00,0.000,4,0.067,0.067,2940,634,1635
$GC,12452,0.92,368.8,656.8,9.4,1556,12478,0.30,2.88,18.52,1.341,6,0.074,0.040,2997,2121,1567
$GC,12793,0.78,368.8,600.3,19.3,1588,12798,0.15,3.05,0.00,0.000,4,0.147,0.065,2975,636,1564
$GC,12817,0.65,368.8,595.9,18.5,1591,12825,0.20,2.90,0.00,0.000,6,0.125,0.042,2942,2124,1563
$GC,13159,0.65,368.8,553.4,12.4,1652,13165,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2124,1563
$GC,13497,0.65,368.8,513.6,11.8,1713,13505,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2124,1563
$GC,13839,0.65,368.8,475.1,10.8,1774,13845,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2124,1563
$GC,14178,0.65,368.8,435.0,12.4,1835,14185,0.00,2.97,0.00,0.000,4,0.000,0.062,2943,638,1563
$GC,14202,0.65,368.8,432.1,12.0,1839,14210,0.00,2.85,0.00,0.000,6,0.000,0.039,2953,2118,1562
$GC,14544,0.65,368.8,393.8,11.3,1900,14551,0.00,2.60,0.00,0.000,4,0.000,0.050,2941,3466,1562
$GC,14567,0.65,368.8,390.9,11.7,1904,14575,0.00,2.62,0.00,0.000,6,0.000,0.043,2941,2101,1562
$GC,14910,0.65,368.8,354.0,10.6,1965,14917,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2100,1562
$GC,15255,0.65,369.5,318.5,10.0,2026,15263,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2100,1562
$GC,15603,0.67,383.5,282.7,9.5,2087,15624,0.00,0.00,15.60,1.035,6,0.000,0.000,2941,2100,1506
$GC,15963,0.67,383.5,244.2,10.6,2150,15971,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2100,1505
$GC,16309,0.70,415.3,210.2,8.9,2211,16347,0.00,0.00,32.15,0.997,6,0.000,0.000,2942,2100,1378
$GC,16685,0.86,498.9,179.0,7.1,2276,16778,0.20,2.83,83.03,0.889,4,0.057,0.049,2988,3468,1036
$GC,16790,0.76,498.9,161.8,20.6,2290,16800,0.10,2.78,0.00,0.000,6,0.129,0.041,2971,2104,1034
$GC,17138,0.70,498.9,101.1,16.7,2351,17146,0.00,2.97,0.00,0.000,4,0.000,0.065,2971,640,1029
$GC,17200,0.75,498.9,90.1,17.0,2361,17207,0.00,2.83,0.00,0.000,6,0.000,0.038,2971,2110,1027
$GC,17411,0.71,498.9,55.2,18.0,2398,17419,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2110,1027
$GC,17627,0.67,498.9,24.6,11.2,2435,17636,0.15,0.00,0.00,0.000,6,0.126,0.000,2945,2110,1027
$GC,17776,0.81,514.6,7.1,9.5,2460,17805,0.15,3.03,15.43,0.887,4,0.054,0.061,2986,640,972
$STATE,17817,end climb,SURFACE_DEPTH_REACHED
$STATE,17817,begin surface coast
$FINISH,0.1,1.027297
$STATE,17831,end surface coast,CONTROL_FINISHED_OK
$STATE,17831,begin surface
$SM_CCo,17908,0.00,0.000,0,0,969,515.62
$SM_GC,0.51,7.40,0.00,0.00,0.038,0.000,0.000,1464,2306,969,-6.10,0.31,515.62
$IRIDIUM_FIX,5915.45,-2241.77,120797,171724
$TT8_MAMPS,0.021476
$HUMID,1647
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,12.90
$XPDR_PINGS,285
$24V_AH,19.6,30.782
$10V_AH,9.7,21.257
$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,22.000,125.900,724.325,0.000,0.000,23.318,56.004,260.594,71.250,0.000,0.000,31.278,4845.835,6676.764,878.737,5345.743,613.154,0.000,2821.109,0.000,5340.851,0.000,0.469
$DEVICE_MAMPS,255.411,72.098,1461.902,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1798.748,1780.866,951.769,946.683,2461.621,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,186647,2467
$CAP_FILE_SIZE,191004,0
$CFSIZE,260165632,249937920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.098, 21.0,1
$GPS,180408,030408,5936.978,-2240.012,36,1.2,36,-15.6