version: 66.03
glider: 143
mission: 4
dive: 91
start: 4 22 108 9 2 46
data:
$ID,143
$MISSION,4
$DIVE,91
$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,335
$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,-5754.5742
$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,16
$R_STBD_OVSHOOT,20
$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
$GPS1,085442,6045.469,-2213.586,36,1.6,38,-16.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-46.2
$GPS2,090227,6045.524,-2213.766,11,1.6,11,-16.0
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6055.312,-2215.984
$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,351.0,20000,-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,25,-0.82,-194.7,0.0,0.0,0,115,0.00,0.00,-87.38,0.000,2,0.000,0.000,1468,2312,3517
$GC,117,-0.82,-194.7,3.1,-6.2,12,142,9.80,2.85,-8.05,0.000,4,0.249,0.069,2612,3708,3866
$GC,385,-0.73,-194.7,53.3,-15.6,62,394,0.12,2.80,0.00,0.000,6,0.136,0.042,2634,2290,3867
$GC,590,-0.66,-194.7,85.9,-15.4,99,597,0.12,2.78,0.00,0.000,4,0.147,0.054,2650,883,3867
$GC,647,-0.66,-194.7,94.0,-13.6,109,653,0.00,2.72,0.00,0.000,6,0.000,0.044,2653,2281,3867
$GC,846,-0.66,-194.7,119.9,-12.4,146,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2280,3867
$GC,1050,-0.66,-194.7,145.6,-12.7,183,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2281,3867
$GC,1250,-0.66,-194.7,173.0,-13.4,220,1257,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2281,3867
$GC,1583,-0.66,-194.7,218.0,-13.0,281,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2281,3867
$GC,1911,-0.66,-194.7,260.9,-12.5,342,1919,0.00,2.78,0.00,0.000,4,0.000,0.054,2651,887,3867
$GC,1965,-0.66,-194.7,267.3,-11.7,351,1972,0.20,2.67,0.00,0.000,6,0.054,0.044,2632,2277,3867
$GC,2295,-0.54,-194.7,323.8,-17.3,412,2303,0.35,0.00,0.00,0.000,6,0.140,0.000,2674,2278,3867
$GC,2631,-0.54,-194.7,363.6,-11.9,473,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2278,3867
$GC,2970,-0.54,-194.7,401.9,-10.7,534,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2278,3867
$GC,3311,-0.54,-194.7,438.8,-11.0,595,3318,0.00,2.75,0.00,0.000,4,0.000,0.055,2665,880,3866
$GC,3353,-0.59,-194.7,443.2,-10.7,602,3359,0.00,2.67,0.00,0.000,6,0.000,0.041,2666,2279,3867
$GC,3693,-0.59,-194.7,481.0,-11.0,663,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,4034,-0.59,-194.7,518.4,-10.9,724,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,4372,-0.59,-194.7,556.7,-11.3,785,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,4713,-0.59,-194.7,594.6,-11.0,846,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,5041,-0.59,-194.7,629.8,-10.9,881,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,5358,-0.59,-194.7,664.5,-11.0,911,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2279,3867
$GC,5679,-0.59,-194.7,698.7,-10.5,941,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2281,3866
$GC,5995,-0.59,-194.7,731.5,-10.3,971,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2283,3866
$GC,6316,-0.59,-194.7,763.8,-10.0,1001,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2284,3866
$GC,6633,-0.59,-194.7,794.5,-9.6,1031,6638,0.00,2.85,0.00,0.000,4,0.000,0.071,2665,883,3866
$GC,6677,-0.66,-194.7,798.8,-9.9,1034,6683,0.00,2.70,0.00,0.000,6,0.000,0.049,2665,2266,3866
$GC,7002,-0.66,-194.7,830.3,-10.0,1065,7006,0.00,2.90,0.00,0.000,4,0.000,0.067,2665,3704,3865
$GC,7040,-0.72,-194.7,834.2,-10.6,1068,7045,0.12,2.83,0.00,0.000,6,0.067,0.050,2639,2269,3865
$GC,7363,-0.72,-194.7,874.2,-12.7,1098,7365,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2269,3865
$GC,7682,-0.72,-194.7,914.9,-12.8,1128,7684,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2269,3864
$GC,8002,-0.72,-194.7,956.0,-12.7,1158,8007,0.00,2.92,0.00,0.000,4,0.000,0.064,2639,3712,3864
$GC,8051,-0.72,-194.7,962.7,-12.8,1162,8056,0.00,2.85,0.00,0.000,6,0.000,0.051,2639,2267,3864
$STATE,8278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8278,begin apogee
$GC,8283,-0.19,0.0,991.0,12.3,1183,8483,0.70,0.00,196.15,1.466,6,0.125,0.000,2756,2035,3071
$STATE,8484,end apogee,CONTROL_FINISHED_OK
$STATE,8484,begin climb
$GC,8485,0.82,194.7,1000.0,0.0,1203,8697,1.25,3.20,202.02,1.371,4,0.088,0.072,2976,644,2277
$GC,8793,0.68,194.7,973.2,13.4,1233,8798,0.17,2.95,0.00,0.000,6,0.137,0.046,2951,2053,2273
$GC,9117,0.57,194.7,936.5,11.0,1263,9122,0.17,2.95,0.00,0.000,4,0.135,0.063,2922,3470,2271
$GC,9172,0.58,203.4,931.0,9.7,1267,9189,0.00,2.88,9.27,1.272,6,0.000,0.051,2924,2061,2241
$GC,9507,0.63,247.4,902.3,8.5,1299,9559,0.00,2.97,45.20,1.384,4,0.000,0.058,2921,3467,2061
$GC,9604,0.65,265.1,893.6,9.4,1308,9628,0.00,2.85,18.62,1.279,6,0.000,0.050,2925,2084,1990
$GC,9953,0.66,273.9,861.3,9.7,1341,9969,0.00,3.03,10.30,1.318,4,0.000,0.071,2925,638,1953
$GC,10072,0.66,274.0,849.5,10.0,1351,10077,0.12,2.92,0.00,0.000,6,0.068,0.045,2948,2113,1952
$GC,10396,0.59,274.0,808.7,12.6,1381,10400,0.00,3.05,0.00,0.000,4,0.000,0.071,2958,643,1950
$GC,10502,0.55,274.0,795.7,12.2,1390,10507,0.17,2.90,0.00,0.000,6,0.119,0.047,2920,2116,1950
$GC,10827,0.58,299.0,764.8,9.1,1420,10859,0.00,2.83,26.40,1.370,4,0.000,0.060,2920,3463,1851
$GC,10882,0.60,313.8,759.6,9.5,1425,10904,0.00,2.75,16.15,1.202,6,0.000,0.051,2941,2109,1791
$GC,11221,0.64,351.0,729.6,8.7,1457,11262,0.00,0.00,39.00,1.298,6,0.000,0.000,2943,2109,1639
$GC,11580,0.73,378.4,698.1,9.1,1491,11610,0.00,0.00,28.30,1.282,6,0.000,0.000,2943,2107,1528
$GC,11928,0.87,427.6,668.7,8.3,1524,11983,0.22,0.00,51.67,1.239,6,0.056,0.000,2989,2107,1327
$GC,12296,0.80,427.6,611.2,16.3,1559,12298,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2105,1320
$GC,12628,0.72,427.6,557.8,16.0,1612,12634,0.17,0.00,0.00,0.000,6,0.127,0.000,2963,2105,1319
$GC,12968,0.78,434.9,521.2,9.7,1673,12980,0.00,0.00,7.32,1.033,6,0.000,0.000,2964,2105,1296
$GC,13317,0.84,434.9,486.1,10.2,1735,13323,0.00,2.95,0.00,0.000,4,0.000,0.064,2938,635,1295
$GC,13336,0.90,434.9,484.2,10.1,1738,13342,0.30,2.88,0.00,0.000,6,0.044,0.039,3004,2134,1294
$GC,13678,0.70,434.9,405.8,23.5,1799,13684,0.28,3.03,0.00,0.000,4,0.145,0.062,2959,634,1294
$GC,13695,0.53,434.9,401.7,23.7,1802,13702,0.25,2.85,0.00,0.000,6,0.120,0.039,2919,2127,1294
$GC,14037,0.77,519.8,373.8,7.1,1863,14132,0.22,3.15,87.55,1.048,4,0.048,0.063,2975,634,951
$GC,14150,0.73,519.8,357.1,17.8,1883,14156,0.00,2.95,0.00,0.000,6,0.000,0.039,2975,2120,948
$GC,14482,0.65,519.8,295.8,18.7,1944,14490,0.17,3.05,0.00,0.000,4,0.129,0.062,2945,642,945
$GC,14517,0.71,519.8,290.2,13.4,1950,14525,0.00,2.83,0.00,0.000,6,0.000,0.038,2946,2089,943
$GC,14852,0.85,556.3,260.5,8.7,2011,14896,0.17,3.00,35.72,1.005,4,0.054,0.062,2990,641,802
$GC,14940,0.85,556.3,247.5,15.1,2026,14948,0.00,2.78,0.00,0.000,6,0.000,0.038,2990,2048,800
$GC,15273,0.73,556.3,176.4,22.3,2087,15280,0.17,2.88,0.00,0.000,4,0.137,0.062,2962,638,798
$GC,15291,0.63,556.3,172.2,22.2,2090,15299,0.10,2.70,0.00,0.000,6,0.113,0.038,2942,2026,798
$GC,15625,0.86,626.3,144.4,7.6,2151,15701,0.20,0.00,67.72,0.887,6,0.049,0.000,2993,2026,516
$GC,15898,0.75,626.3,89.4,23.6,2199,15905,0.15,2.88,0.00,0.000,4,0.134,0.065,2968,634,510
$GC,15924,0.69,626.3,83.9,22.1,2203,15930,0.00,2.65,0.00,0.000,6,0.000,0.038,2968,2002,509
$GC,16124,0.76,626.3,58.7,11.4,2240,16131,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2002,509
$GC,16323,0.85,629.7,35.9,9.9,2277,16331,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2002,508
$GC,16457,0.96,629.7,20.3,10.5,2302,16465,0.17,0.00,0.00,0.000,6,0.054,0.000,3011,2002,508
$STATE,16543,end climb,SURFACE_DEPTH_REACHED
$STATE,16543,begin surface coast
$FINISH,0.2,1.027332
$STATE,16550,end surface coast,CONTROL_FINISHED_OK
$STATE,16550,begin surface
$SM_CCo,16625,0.00,0.000,0,0,507,628.95
$SM_GC,0.30,7.60,0.00,0.00,0.046,0.000,0.000,1466,2291,507,-6.09,-0.11,628.95
$IRIDIUM_FIX,6015.40,-2208.47,170797,040458
$TT8_MAMPS,0.021476
$HUMID,1660
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,12.20
$XPDR_PINGS,201
$24V_AH,19.6,36.900
$10V_AH,9.8,26.675
$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,23.525,115.925,841.425,0.000,0.000,23.332,35.397,286.167,50.250,0.000,0.000,12.739,3494.499,7137.942,856.280,4980.239,597.654,0.000,2705.246,0.000,4989.310,0.000,0.467
$DEVICE_MAMPS,249.275,72.098,1465.737,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1702.354,1670.762,910.238,895.451,2305.745,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,174253,2319
$CAP_FILE_SIZE,183627,0
$CFSIZE,260165632,247500800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220408,134128,6048.789,-2217.442,43,6.4,62,-16.1