version: 66.03
glider: 143
mission: 4
dive: 3
start: 4 4 108 13 10 48
data:
$ID,143
$MISSION,4
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,180
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51457
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$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,225
$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,-4012.6487
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,4022
$C_PITCH,2880
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,1999
$C_ROLL_CLIMB,1999
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$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,4
$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
$GPS1,130407,5900.424,-2029.586,8,1.3,24,-14.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-60.7
$GPS2,131032,5900.445,-2029.607,14,1.1,31,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,VM
$TGT_LATLONG,5859.850,-2029.850
$TGT_RADIUS,400.000
$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,206.1,1127,-27.8,-10.000
$D_GRID,450
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.24,-63.1,0.0,0.0,0,77,0.00,0.00,-52.53,0.000,6,0.000,0.000,1471,1990,3329
$GC,79,-1.30,-110.1,2.5,-5.0,8,103,9.98,2.90,-5.45,0.000,4,0.262,0.064,2587,3418,3518
$GC,384,-1.30,-110.1,52.1,-17.8,65,392,0.00,2.85,0.00,0.000,6,0.000,0.046,2587,1994,3518
$GC,518,-1.34,-110.1,74.0,-15.3,90,526,0.00,2.88,0.00,0.000,4,0.000,0.058,2587,3400,3518
$GC,725,-1.38,-110.1,106.1,-15.9,129,733,0.00,2.80,0.00,0.000,6,0.000,0.047,2587,1989,3519
$GC,860,-1.43,-110.1,128.5,-18.0,154,868,0.00,2.88,0.00,0.000,4,0.000,0.058,2588,3406,3519
$GC,890,-1.43,-110.1,134.1,-17.6,159,898,0.00,2.78,0.00,0.000,6,0.000,0.045,2588,2004,3518
$GC,1025,-1.48,-110.1,156.2,-15.7,184,1034,0.15,2.83,0.00,0.000,4,0.075,0.054,2556,3407,3518
$GC,1051,-1.48,-110.1,160.8,-17.9,188,1059,0.00,2.78,0.00,0.000,6,0.000,0.043,2556,1996,3518
$GC,1190,-1.48,-110.1,186.4,-17.9,213,1196,0.00,2.83,0.00,0.000,4,0.000,0.054,2556,3416,3518
$GC,1251,-1.48,-110.1,197.9,-18.9,224,1259,0.00,2.80,0.00,0.000,6,0.000,0.044,2556,1996,3519
$GC,1390,-1.48,-110.1,224.0,-18.6,249,1396,0.00,2.80,0.00,0.000,4,0.000,0.054,2556,3407,3518
$GC,1458,-1.48,-110.1,237.1,-19.5,261,1464,0.00,2.75,0.00,0.000,6,0.000,0.048,2555,1990,3518
$GC,1592,-1.48,-110.1,262.5,-18.7,286,1600,0.00,2.85,0.00,0.000,4,0.000,0.059,2555,3409,3518
$GC,1667,-1.48,-110.1,276.0,-18.2,299,1673,0.00,2.75,0.00,0.000,6,0.000,0.042,2556,1989,3518
$GC,1802,-1.48,-110.1,301.8,-19.5,324,1810,0.00,2.83,0.00,0.000,4,0.000,0.054,2555,3402,3519
$GC,1866,-1.48,-110.1,314.2,-19.9,335,1872,0.00,2.72,0.00,0.000,6,0.000,0.042,2555,1995,3518
$GC,2002,-1.48,-110.1,341.1,-19.5,360,2010,0.00,2.83,0.00,0.000,4,0.000,0.054,2555,3406,3518
$GC,2055,-1.48,-110.1,351.5,-19.4,369,2062,0.00,2.72,0.00,0.000,6,0.000,0.042,2555,1998,3518
$GC,2193,-1.48,-110.1,378.9,-19.3,394,2199,0.00,2.80,0.00,0.000,4,0.000,0.053,2555,3415,3518
$GC,2226,-1.48,-110.1,385.4,-19.9,400,2234,0.00,2.78,0.00,0.000,6,0.000,0.042,2555,1993,3518
$GC,2369,-1.48,-110.1,412.2,-18.8,425,2375,0.00,2.80,0.00,0.000,4,0.000,0.052,2555,3417,3518
$GC,2408,-1.48,-110.1,420.1,-18.8,432,2416,0.00,2.75,0.00,0.000,6,0.000,0.041,2556,2001,3518
$GC,2552,-1.48,-110.1,445.7,-17.8,457,2558,0.00,2.78,0.00,0.000,4,0.000,0.053,2555,3409,3518
$STATE,2575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2575,begin apogee
$GC,2582,-0.21,0.0,450.3,18.4,461,2717,1.67,0.00,109.38,1.096,6,0.151,0.000,2831,1989,3071
$STATE,2718,end apogee,CONTROL_FINISHED_OK
$STATE,2718,begin climb
$GC,2719,1.30,110.1,455.1,0.0,485,2833,1.65,0.00,103.88,1.058,6,0.039,0.000,3166,1989,2622
$GC,2968,0.99,110.1,425.0,20.2,529,2974,0.47,0.00,0.00,0.000,6,0.180,0.000,3101,1989,2621
$GC,3106,0.78,110.1,400.8,16.2,554,3111,0.32,0.00,0.00,0.000,6,0.180,0.000,3055,1989,2621
$GC,3244,0.67,110.1,381.0,13.9,579,3250,0.17,0.00,0.00,0.000,6,0.198,0.000,3030,1989,2620
$GC,3383,0.60,110.1,363.5,12.7,604,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1989,2620
$GC,3526,0.53,110.1,345.6,12.5,629,3532,0.20,2.83,0.00,0.000,4,0.187,0.054,3002,3412,2620
$GC,3572,0.53,110.1,340.0,11.9,637,3578,0.00,2.78,0.00,0.000,6,0.000,0.041,3002,1995,2620
$GC,3706,0.53,110.1,324.9,10.9,662,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1995,2620
$GC,3845,0.53,110.1,309.5,11.4,687,3851,0.00,2.78,0.00,0.000,4,0.000,0.048,3002,3413,2619
$GC,3874,0.53,110.1,306.0,12.0,692,3882,0.00,2.78,0.00,0.000,6,0.000,0.042,3002,2002,2620
$GC,4013,0.53,110.1,290.1,11.7,717,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2002,2619
$GC,4147,0.53,110.1,274.7,11.3,742,4155,0.00,2.80,0.00,0.000,4,0.000,0.048,3002,3413,2619
$GC,4200,0.53,110.1,268.7,11.2,751,4206,0.00,2.75,0.00,0.000,6,0.000,0.041,3002,1995,2619
$GC,4335,0.53,110.1,253.7,11.2,776,4342,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1995,2619
$GC,4473,0.53,110.1,238.6,10.6,801,4480,0.00,2.75,0.00,0.000,4,0.000,0.046,3002,3410,2619
$GC,4522,0.53,110.1,232.7,11.7,810,4530,0.00,2.75,0.00,0.000,6,0.000,0.041,3003,2002,2619
$GC,4662,0.53,110.1,217.4,11.2,835,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2002,2619
$GC,4797,0.53,110.1,202.2,11.1,860,4804,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2002,2619
$GC,4935,0.53,110.1,187.1,10.9,885,4941,0.00,2.75,0.00,0.000,4,0.000,0.047,3002,3413,2619
$GC,4970,0.53,110.1,183.2,11.5,891,4976,0.00,2.75,0.00,0.000,6,0.000,0.041,3002,1989,2619
$GC,5105,0.53,110.1,167.9,11.6,916,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1989,2619
$GC,5243,0.53,110.1,151.9,12.3,941,5249,0.00,2.78,0.00,0.000,4,0.000,0.048,3002,3412,2619
$GC,5282,0.53,110.1,147.1,12.3,948,5291,0.00,2.75,0.00,0.000,6,0.000,0.049,3002,2001,2619
$GC,5417,0.53,110.1,130.9,12.0,973,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2000,2619
$GC,5550,0.53,110.1,115.3,12.3,998,5558,0.00,2.78,0.00,0.000,4,0.000,0.048,3002,3408,2619
$GC,5581,0.53,110.1,111.6,12.2,1003,5589,0.00,2.75,0.00,0.000,6,0.000,0.042,3002,1996,2619
$GC,5715,0.53,110.1,96.5,11.7,1028,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1996,2619
$GC,5849,0.53,110.1,82.0,11.2,1053,5856,0.00,2.78,0.00,0.000,4,0.000,0.048,3002,3406,2619
$GC,5895,0.53,110.1,76.7,11.4,1061,5903,0.00,2.75,0.00,0.000,6,0.000,0.044,3002,1998,2619
$GC,6028,0.53,110.1,61.8,11.2,1086,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1998,2619
$GC,6162,0.53,110.1,47.4,11.4,1111,6170,0.00,2.78,0.00,0.000,4,0.000,0.048,3002,3409,2619
$GC,6208,0.53,110.1,42.2,12.3,1119,6216,0.00,2.75,0.00,0.000,6,0.000,0.043,3002,1997,2619
$GC,6280,0.53,110.1,34.1,11.6,1132,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1997,2619
$GC,6351,0.53,110.1,26.1,10.9,1145,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1997,2619
$GC,6423,0.53,110.1,17.7,12.2,1158,6431,0.00,2.83,0.00,0.000,4,0.000,0.065,3002,592,2619
$GC,6449,0.53,110.1,14.4,13.0,1162,6457,0.00,2.67,0.00,0.000,6,0.000,0.038,3002,2000,2619
$GC,6521,0.53,110.1,5.7,12.2,1175,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2000,2619
$STATE,6550,end climb,SURFACE_DEPTH_REACHED
$STATE,6550,begin surface coast
$FINISH,-0.1,1.027311
$STATE,6567,end surface coast,CONTROL_FINISHED_OK
$STATE,6567,begin surface
$SM_CCo,6581,102.97,0.950,0,0,2153,225.19
$SM_GC,0.80,0.00,0.00,102.97,0.000,0.000,0.950,1469,2004,2153,-6.49,0.11,225.19
$IRIDIUM_FIX,5837.82,-2030.43,290697,111134
$TT8_MAMPS,0.021476
$HUMID,1591
$INTERNAL_PRESSURE,8.26204
$TCM_TEMP,13.10
$XPDR_PINGS,535
$24V_AH,20.5,11.960
$10V_AH,9.9,4.093
$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,22.225,122.525,213.250,102.975,0.000,29.024,32.898,206.975,133.750,0.000,0.000,33.466,1821.528,1022.833,488.566,3311.775,419.517,0.000,1540.702,0.000,3310.767,0.000,0.470
$DEVICE_MAMPS,261.547,65.195,1096.043,949.546,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,837.998,849.419,753.104,1265.472,2476.396,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,92139,1183
$CAP_FILE_SIZE,107912,0
$CFSIZE,260165632,257560576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040408,150316,5900.558,-2030.099,8,99.0,27,-14.2