version: 66.03
glider: 143
mission: 4
dive: 102
start: 4 24 108 15 44 13
data:
$ID,143
$MISSION,4
$DIVE,102
$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,220
$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,-6042.4893
$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,21
$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
$GPS1,153731,6056.323,-2227.741,37,1.4,42,-16.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-57.1
$GPS2,154356,6056.361,-2227.732,13,1.9,18,-16.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6048.088,-2231.118
$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,236.2,20000,-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,-194.7,0.0,0.0,0,122,0.00,0.00,-94.60,0.000,2,0.000,0.000,1466,2319,3547
$GC,124,-0.82,-194.7,3.2,-5.3,13,148,9.93,2.88,-7.30,0.000,4,0.250,0.063,2609,881,3866
$GC,270,-0.73,-194.7,31.7,-16.8,39,278,0.12,2.80,0.00,0.000,6,0.143,0.050,2633,2282,3866
$GC,404,-0.65,-194.7,53.6,-15.8,64,412,0.15,0.00,0.00,0.000,6,0.148,0.000,2658,2282,3867
$GC,739,-0.65,-194.7,99.0,-13.8,125,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2283,3867
$GC,1067,-0.65,-194.7,143.2,-14.3,186,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2283,3867
$GC,1406,-0.65,-194.7,189.0,-13.6,247,1412,0.00,2.72,0.00,0.000,4,0.000,0.054,2654,891,3867
$GC,1441,-0.65,-194.7,193.6,-13.5,253,1448,0.00,2.72,0.00,0.000,6,0.000,0.045,2656,2297,3867
$GC,1780,-0.65,-194.7,239.4,-13.4,314,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2297,3867
$GC,2118,-0.65,-194.7,283.9,-12.4,375,2125,0.00,2.78,0.00,0.000,4,0.000,0.053,2656,881,3867
$GC,2146,-0.65,-194.7,287.5,-13.3,380,2154,0.00,2.72,0.00,0.000,6,0.000,0.044,2656,2282,3867
$GC,2490,-0.65,-194.7,331.8,-13.2,441,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2282,3867
$GC,2824,-0.65,-194.7,374.2,-12.4,485,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2282,3867
$GC,3143,-0.65,-194.7,414.0,-12.4,515,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2283,3866
$GC,3464,-0.65,-194.7,453.9,-12.2,545,3468,0.00,2.75,0.00,0.000,4,0.000,0.055,2657,883,3866
$GC,3495,-0.65,-194.7,458.1,-11.9,547,3502,0.00,2.70,0.00,0.000,6,0.000,0.043,2655,2279,3867
$GC,3821,-0.65,-194.7,498.1,-12.6,578,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2279,3867
$GC,4138,-0.65,-194.7,537.8,-12.3,608,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2279,3866
$GC,4457,-0.65,-194.7,576.9,-12.0,638,4461,0.00,2.75,0.00,0.000,4,0.000,0.057,2655,887,3867
$GC,4484,-0.65,-194.7,580.1,-11.7,640,4489,0.00,2.67,0.00,0.000,6,0.000,0.043,2655,2283,3867
$GC,4803,-0.65,-194.7,617.1,-11.9,663,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2284,3867
$GC,5113,-0.65,-194.7,652.6,-11.2,678,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2284,3866
$GC,5422,-0.65,-194.7,689.0,-12.3,693,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2285,3867
$GC,5731,-0.65,-194.7,726.5,-12.0,708,5735,0.00,2.85,0.00,0.000,4,0.000,0.070,2654,881,3866
$GC,5774,-0.65,-194.7,731.6,-11.3,710,5778,0.00,2.75,0.00,0.000,6,0.000,0.049,2653,2279,3866
$GC,6101,-0.65,-194.7,769.1,-11.7,726,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2281,3866
$GC,6410,-0.65,-194.7,805.3,-11.5,741,6414,0.00,2.83,0.00,0.000,4,0.000,0.068,2653,891,3866
$GC,6436,-0.65,-194.7,808.4,-12.2,742,6440,0.00,2.72,0.00,0.000,6,0.000,0.051,2653,2285,3866
$GC,6757,-0.65,-194.7,844.1,-11.0,758,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2287,3866
$GC,7066,-0.65,-194.7,879.1,-11.3,773,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2287,3865
$GC,7375,-0.65,-194.7,913.0,-10.8,788,7376,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2288,3865
$GC,7685,-0.65,-194.7,947.0,-11.2,803,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2289,3865
$GC,7994,-0.65,-194.7,981.6,-11.3,818,7998,0.00,2.85,0.00,0.000,4,0.000,0.069,2652,882,3864
$GC,8032,-0.69,-194.7,985.9,-11.3,820,8037,0.00,2.72,0.00,0.000,6,0.000,0.051,2652,2275,3864
$STATE,8088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8088,begin apogee
$GC,8093,-0.19,0.0,992.0,10.9,823,8293,0.60,0.00,196.88,1.464,6,0.124,0.000,2753,2039,3071
$STATE,8294,end apogee,CONTROL_FINISHED_OK
$STATE,8294,begin climb
$GC,8296,0.82,194.7,999.9,0.0,833,8508,1.27,3.17,202.48,1.368,4,0.092,0.071,2971,651,2277
$GC,8610,0.69,194.7,972.4,12.8,848,8615,0.15,2.92,0.00,0.000,6,0.137,0.047,2953,2051,2273
$GC,8936,0.58,194.7,934.3,11.5,864,8941,0.15,2.95,0.00,0.000,4,0.141,0.063,2927,3468,2271
$GC,9008,0.54,194.7,926.5,10.4,867,9013,0.00,2.85,0.00,0.000,6,0.000,0.053,2928,2072,2271
$GC,9323,0.51,211.6,896.8,9.4,882,9348,0.00,3.05,16.92,1.448,4,0.000,0.071,2927,637,2208
$GC,9456,0.52,213.6,883.4,9.9,888,9462,0.82,2.90,0.00,0.000,6,0.114,0.047,2894,2095,2206
$GC,9783,0.90,242.9,857.9,9.0,904,9825,0.73,3.12,32.50,1.377,4,0.069,0.071,2926,645,2080
$GC,9893,0.94,271.8,848.5,9.0,909,9928,0.00,2.92,29.83,1.307,6,0.000,0.046,2945,2107,1961
$GC,10238,0.98,308.0,818.1,8.8,925,10283,0.35,3.17,37.05,1.335,4,0.054,0.071,2998,644,1815
$GC,10362,0.87,308.0,798.1,17.1,930,10368,0.00,2.97,0.00,0.000,6,0.000,0.048,3004,2121,1812
$GC,10677,0.68,308.0,739.6,19.0,946,10682,0.30,3.10,0.00,0.000,4,0.143,0.070,2950,632,1810
$GC,10788,0.68,308.0,724.1,12.7,951,10793,0.00,2.97,0.00,0.000,6,0.000,0.047,2957,2139,1810
$GC,11115,0.62,308.0,681.1,13.3,967,11116,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2139,1809
$GC,11424,0.57,308.0,640.1,13.1,982,11429,0.15,2.65,0.00,0.000,4,0.127,0.056,2923,3468,1808
$GC,11446,0.57,308.0,637.5,12.3,983,11451,0.00,2.62,0.00,0.000,6,0.000,0.048,2923,2132,1807
$GC,11766,0.61,337.0,607.7,9.0,999,11801,0.00,3.08,29.38,1.277,4,0.000,0.066,2924,637,1697
$GC,11818,0.70,374.2,603.0,8.7,1000,11865,0.00,2.95,37.78,1.149,6,0.000,0.041,2959,2142,1543
$GC,12185,0.80,402.9,570.5,9.0,1033,12217,0.12,0.00,29.83,1.185,6,0.065,0.000,2976,2142,1428
$GC,12531,0.80,402.9,526.8,12.5,1066,12536,0.00,3.08,0.00,0.000,4,0.000,0.064,2949,640,1422
$GC,12562,0.80,402.9,522.6,12.5,1068,12570,0.30,2.92,0.00,0.000,6,0.099,0.041,2923,2138,1421
$GC,12888,1.11,402.9,491.9,10.9,1099,12893,0.62,3.05,0.00,0.000,4,0.084,0.060,3017,630,1420
$GC,12943,1.11,402.9,485.3,12.3,1103,12950,0.00,2.85,0.00,0.000,6,0.000,0.041,3060,2103,1420
$GC,13270,0.91,402.9,413.0,22.9,1134,13276,0.45,2.70,0.00,0.000,4,0.147,0.051,2944,3473,1420
$GC,13302,0.91,402.9,406.4,14.9,1136,13312,0.22,2.75,0.00,0.000,6,0.044,0.046,2998,2087,1420
$GC,13630,0.74,402.9,338.3,21.2,1171,13637,0.20,2.90,0.00,0.000,4,0.146,0.063,2965,634,1419
$GC,13659,0.64,402.9,332.6,19.0,1176,13667,0.12,2.85,0.00,0.000,6,0.113,0.040,2943,2106,1419
$GC,14004,0.65,414.7,295.9,9.6,1237,14021,0.00,2.67,11.73,1.006,4,0.000,0.051,2941,3469,1379
$GC,14040,0.70,414.7,292.2,10.2,1243,14046,0.25,2.70,0.00,0.000,6,0.116,0.044,2950,2089,1379
$GC,14378,1.04,414.7,258.8,11.4,1304,14387,0.57,2.90,0.00,0.000,4,0.064,0.060,3017,642,1377
$GC,14434,0.95,414.7,251.8,13.9,1313,14440,0.00,2.78,0.00,0.000,6,0.000,0.041,3024,2107,1377
$GC,14776,0.72,414.7,166.7,26.2,1374,14782,0.40,2.67,0.00,0.000,4,0.156,0.051,2954,3472,1377
$GC,14810,0.72,414.7,159.7,16.7,1380,14818,0.00,2.75,0.00,0.000,6,0.000,0.046,2955,2079,1377
$GC,15146,0.72,414.7,118.5,12.6,1441,15153,0.00,2.88,0.00,0.000,4,0.000,0.064,2955,635,1377
$GC,15182,0.77,414.7,114.1,12.2,1447,15189,0.20,2.78,0.00,0.000,6,0.121,0.038,3045,2093,1376
$GC,15511,0.98,475.8,88.1,7.9,1508,15583,0.15,2.78,60.45,0.869,4,0.054,0.051,2961,3455,1130
$GC,15600,1.03,475.8,77.9,13.1,1522,15608,0.22,2.78,0.00,0.000,6,0.041,0.044,3026,2081,1128
$STATE,15878,end climb,SURFACE_DEPTH_REACHED
$STATE,15878,begin surface coast
$FINISH,-0.0,1.016759
$STATE,15885,end surface coast,CONTROL_FINISHED_OK
$STATE,15885,begin surface
$SM_CCo,15960,0.00,0.000,0,0,1122,478.09
$SM_GC,0.62,7.70,0.00,0.00,0.044,0.000,0.000,1470,2316,1122,-6.08,0.59,478.09
$IRIDIUM_FIX,6037.25,-2221.84,190797,111158
$TT8_MAMPS,0.021476
$HUMID,1670
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,12.00
$XPDR_PINGS,105
$24V_AH,19.5,39.983
$10V_AH,9.8,29.014
$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,26.275,143.350,684.800,0.000,0.000,27.819,32.723,211.871,26.250,0.000,0.000,19.676,2517.516,9021.394,741.049,3577.237,473.665,0.000,2164.406,0.000,3563.995,0.000,0.467
$DEVICE_MAMPS,250.042,71.331,1464.203,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1167.899,1108.565,597.783,732.488,1355.627,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,117248,1575
$CAP_FILE_SIZE,152768,0
$CFSIZE,260165632,246431744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,240408,201126,6054.652,-2231.087,39,1.1,39,-16.2