version: 66.03
glider: 143
mission: 4
dive: 192
start: 5 12 108 23 33 59
data:
$ID,143
$MISSION,4
$DIVE,192
$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,230
$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,-8893.9893
$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,28
$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
$GPS1,232307,6124.205,-2538.671,35,0.9,35,-18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-57.4
$GPS2,233341,6124.149,-2538.817,10,2.7,29,-18.2
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,6117.208,-2542.791
$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,248.2,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-0.82,-194.7,0.0,0.0,0,117,0.00,0.00,-87.88,0.000,2,0.000,0.000,1466,2315,3472
$GC,120,-0.82,-194.7,3.3,-4.5,16,145,10.15,2.92,-9.20,0.000,4,0.255,0.064,2613,887,3867
$GC,252,-0.82,-194.7,26.8,-14.2,39,259,0.00,2.78,0.00,0.000,6,0.000,0.053,2613,2291,3868
$GC,396,-0.73,-194.7,48.7,-16.9,64,402,0.15,0.00,0.00,0.000,6,0.153,0.000,2637,2291,3868
$GC,538,-0.73,-194.7,69.3,-14.0,89,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2291,3868
$GC,880,-0.73,-194.7,117.1,-13.3,150,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2291,3868
$GC,1223,-0.73,-194.7,163.7,-14.2,211,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2291,3868
$GC,1566,-0.73,-194.7,212.0,-14.1,272,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2291,3869
$GC,1909,-0.73,-194.7,260.3,-13.7,333,1915,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2291,3868
$GC,2251,-0.73,-194.7,305.4,-13.5,394,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2291,3868
$GC,2594,-0.73,-194.7,349.3,-12.9,455,2600,0.00,2.78,0.00,0.000,4,0.000,0.054,2636,878,3868
$GC,2621,-0.73,-194.7,352.9,-12.6,458,2628,0.00,2.78,0.00,0.000,6,0.000,0.046,2637,2305,3868
$GC,2948,-0.73,-194.7,394.6,-13.6,489,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2305,3868
$GC,3264,-0.73,-194.7,439.5,-14.6,519,3265,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2306,3868
$GC,3583,-0.73,-194.7,485.4,-14.0,549,3588,0.00,2.80,0.00,0.000,4,0.000,0.054,2637,884,3868
$GC,3615,-0.73,-194.7,490.0,-14.1,551,3622,0.00,2.75,0.00,0.000,6,0.000,0.044,2638,2308,3868
$GC,3941,-0.73,-194.7,534.5,-13.5,582,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2308,3868
$GC,4259,-0.73,-194.7,576.6,-12.4,612,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2308,3868
$GC,4584,-0.73,-194.7,615.4,-12.3,637,4588,0.00,2.85,0.00,0.000,4,0.000,0.058,2637,878,3868
$GC,4610,-0.73,-194.7,618.9,-12.9,638,4615,0.00,2.78,0.00,0.000,6,0.000,0.045,2637,2292,3868
$GC,4931,-0.73,-194.7,661.2,-13.9,654,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2292,3868
$GC,5240,-0.73,-194.7,703.3,-13.2,669,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2294,3868
$GC,5550,-0.73,-194.7,743.4,-12.7,684,5555,0.00,2.88,0.00,0.000,4,0.000,0.067,2637,886,3868
$GC,5589,-0.73,-194.7,748.4,-12.8,686,5593,0.00,2.75,0.00,0.000,6,0.000,0.049,2638,2288,3868
$GC,5914,-0.73,-194.7,789.0,-12.1,702,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2289,3868
$GC,6223,-0.73,-194.7,826.3,-12.7,717,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2291,3868
$GC,6533,-0.73,-194.7,866.7,-13.2,732,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2292,3867
$GC,6842,-0.73,-194.7,906.3,-12.4,747,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2292,3867
$GC,7151,-0.73,-194.7,943.4,-11.9,762,7156,0.00,2.90,0.00,0.000,4,0.000,0.067,2637,3709,3866
$GC,7190,-0.73,-194.7,947.9,-12.0,764,7195,0.00,2.83,0.00,0.000,6,0.000,0.051,2637,2288,3866
$GC,7515,-0.73,-194.7,985.1,-11.4,780,7516,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2288,3866
$STATE,7575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7575,begin apogee
$GC,7580,-0.19,0.0,992.0,11.2,783,7785,0.70,0.00,201.00,1.434,6,0.126,0.000,2753,2039,3071
$STATE,7785,end apogee,CONTROL_FINISHED_OK
$STATE,7786,begin climb
$GC,7788,0.82,194.7,999.7,0.0,793,8006,1.27,3.17,207.60,1.361,4,0.088,0.071,2971,649,2277
$GC,8080,0.70,194.7,976.6,12.6,807,8085,0.00,2.95,0.00,0.000,6,0.000,0.046,2971,2055,2274
$GC,8406,0.57,194.7,937.0,11.8,823,8411,0.25,2.90,0.00,0.000,4,0.133,0.062,2930,3462,2272
$GC,8467,0.61,229.9,931.0,8.8,826,8510,0.00,2.80,36.15,1.369,6,0.000,0.052,2930,2073,2133
$GC,8819,0.67,274.4,900.4,8.5,843,8871,0.00,3.03,45.42,1.359,4,0.000,0.071,2930,641,1952
$GC,8944,0.74,332.0,890.3,8.0,849,9011,0.15,2.92,60.25,1.327,6,0.067,0.047,2958,2099,1717
$GC,9332,0.67,332.0,843.5,12.6,868,9337,0.00,3.05,0.00,0.000,4,0.000,0.071,2959,634,1711
$GC,9442,0.67,332.0,829.7,11.5,873,9447,0.00,2.88,0.00,0.000,6,0.000,0.048,2958,2089,1710
$GC,9770,0.60,332.0,786.9,13.8,889,9775,0.15,2.78,0.00,0.000,4,0.132,0.060,2933,3465,1709
$GC,9813,0.65,332.0,781.7,11.0,891,9818,0.00,2.78,0.00,0.000,6,0.000,0.052,2932,2079,1708
$GC,10134,0.65,332.0,745.8,11.8,907,10138,0.00,2.92,0.00,0.000,4,0.000,0.071,2933,643,1708
$GC,10154,0.65,332.0,743.1,12.7,908,10159,0.00,2.83,0.00,0.000,6,0.000,0.046,2933,2092,1708
$GC,10481,0.65,332.0,704.5,11.6,924,10485,0.00,2.75,0.00,0.000,4,0.000,0.060,2933,3464,1708
$GC,10503,0.65,332.0,702.0,11.0,925,10507,0.00,2.72,0.00,0.000,6,0.000,0.050,2933,2084,1707
$GC,10823,0.68,355.5,669.3,9.2,941,10851,0.00,0.00,23.67,1.281,6,0.000,0.000,2933,2083,1621
$GC,11173,0.76,420.6,641.1,7.8,958,11244,0.15,0.00,68.35,1.216,6,0.067,0.000,2964,2082,1356
$GC,11544,0.72,420.6,594.3,13.7,977,11545,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2081,1348
$GC,11862,0.72,420.6,550.4,13.6,1007,11863,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2081,1347
$GC,12181,0.72,420.6,506.5,13.2,1037,12186,0.00,2.90,0.00,0.000,4,0.000,0.065,2963,641,1345
$GC,12213,0.72,420.6,502.0,13.0,1039,12220,0.00,2.83,0.00,0.000,6,0.000,0.041,2963,2110,1345
$GC,12539,0.72,420.6,459.5,12.9,1070,12544,0.00,2.97,0.00,0.000,4,0.000,0.063,2964,637,1344
$GC,12566,0.72,420.6,455.7,13.5,1072,12571,0.00,2.80,0.00,0.000,6,0.000,0.041,2964,2099,1344
$GC,12890,0.72,420.6,415.0,12.1,1102,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2099,1344
$GC,13209,0.72,420.6,374.0,12.9,1132,13214,0.00,2.95,0.00,0.000,4,0.000,0.062,2963,633,1344
$GC,13241,0.72,420.6,369.9,12.1,1134,13248,0.00,2.75,0.00,0.000,6,0.000,0.041,2963,2073,1343
$GC,13574,0.72,420.6,327.2,14.0,1180,13580,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2073,1343
$GC,13918,0.72,420.6,278.9,13.9,1241,13924,0.00,2.90,0.00,0.000,4,0.000,0.062,2964,631,1343
$GC,13947,0.72,420.6,274.8,14.1,1246,13953,0.00,2.72,0.00,0.000,6,0.000,0.040,2964,2061,1343
$GC,14290,0.72,420.6,225.7,14.8,1307,14295,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2061,1343
$GC,14634,0.72,420.6,177.1,14.1,1368,14640,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2061,1343
$GC,14977,0.72,420.6,129.5,12.8,1429,14983,0.00,2.88,0.00,0.000,4,0.000,0.063,2964,634,1343
$GC,15000,0.72,420.6,126.2,13.0,1433,15006,0.00,2.70,0.00,0.000,6,0.000,0.040,2963,2056,1343
$GC,15343,0.72,420.6,81.4,12.6,1494,15350,0.00,2.75,0.00,0.000,4,0.000,0.053,2963,3463,1343
$GC,15367,0.72,420.6,78.3,13.4,1498,15373,0.00,2.78,0.00,0.000,6,0.000,0.047,2965,2042,1343
$GC,15711,0.72,420.6,33.9,13.4,1559,15718,0.00,2.80,0.00,0.000,4,0.000,0.064,2963,634,1343
$GC,15741,0.72,420.6,29.9,13.8,1564,15747,0.00,2.70,0.00,0.000,6,0.000,0.039,2965,2062,1343
$GC,15883,0.72,420.6,12.4,12.8,1589,15889,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2062,1343
$STATE,15966,end climb,SURFACE_DEPTH_REACHED
$STATE,15966,begin surface coast
$FINISH,0.3,1.020914
$STATE,15984,end surface coast,CONTROL_FINISHED_OK
$STATE,15984,begin surface
$SM_CCo,16060,0.00,0.000,0,0,1342,424.12
$SM_GC,0.98,7.30,0.00,0.00,0.044,0.000,0.000,1466,2316,1342,-6.10,0.62,424.12
$IRIDIUM_FIX,6059.36,-2535.71,060897,232343
$TT8_MAMPS,0.021476
$HUMID,1713
$INTERNAL_PRESSURE,8.13508
$TCM_TEMP,16.70
$XPDR_PINGS,21
$24V_AH,19.2,63.795
$10V_AH,9.9,45.235
$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,20.275,114.600,642.450,0.000,0.000,57.660,70.912,304.788,5.250,0.000,0.000,32.261,2537.719,9895.672,731.668,2846.597,666.109,0.000,2076.735,0.000,2802.164,0.000,0.467
$DEVICE_MAMPS,255.411,71.331,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1207.985,1121.086,592.531,834.260,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113946,1607
$CAP_FILE_SIZE,146403,0
$CFSIZE,260165632,238325760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,130508,040255,6121.018,-2545.080,41,1.4,41,-18.2