version: 66.03
glider: 143
mission: 4
dive: 258
start: 5 26 108 11 32 18
data:
$ID,143
$MISSION,4
$DIVE,258
$D_SURF,2
$D_FLARE,3
$D_TGT,500
$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,278
$T_MISSION,310
$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,50
$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,310
$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,-12642.424
$T_RSLEEP,20
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1469
$PITCH_MAX,2120
$C_PITCH,1903
$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
$PITCH_ADJ_DBAND,0
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,112237,6152.725,-2659.818,32,1.0,43,-19.2
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-31.7
$GPS2,113203,6152.754,-2659.737,10,1.6,10,-19.2
$SPEED_LIMITS,0.104,0.134
$TGT_NAME,HEADING
$TGT_LATLONG,6159.695,-2703.621
$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,329.2,20000,-20.9,-5.995
$D_GRID,500
$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,26,-0.83,-48.7,0.0,0.0,0,156,0.00,0.00,-126.95,0.000,6,0.000,0.000,1468,2281,3270
$GC,159,-0.83,-48.7,2.7,-3.7,23,172,3.25,2.72,0.00,0.000,4,0.354,0.048,1713,887,3271
$GC,476,-0.83,-48.7,107.6,-32.9,79,482,0.00,2.65,0.00,0.000,6,0.000,0.038,1713,2298,3271
$GC,819,-0.83,-48.7,221.8,-33.1,140,826,0.00,2.70,0.00,0.000,4,0.000,0.047,1713,884,3271
$GC,1131,-0.83,-48.7,325.8,-33.3,195,1137,0.00,2.65,0.00,0.000,6,0.000,0.040,1713,2291,3271
$GC,1459,-0.83,-48.7,431.3,-31.3,232,1464,0.00,2.70,0.00,0.000,4,0.000,0.048,1713,884,3271
$GC,1548,-0.83,-48.7,459.2,-30.8,239,1554,0.00,2.65,0.00,0.000,6,0.000,0.039,1713,2295,3271
$STATE,1680,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1680,begin apogee
$GC,1686,-0.19,0.0,500.6,31.4,252,1742,1.85,0.00,48.03,1.115,6,0.344,0.000,1852,2030,3071
$STATE,1743,end apogee,CONTROL_FINISHED_OK
$STATE,1743,begin climb
$GC,1746,0.83,48.7,517.2,0.0,258,1804,2.65,2.78,47.22,1.050,4,0.331,0.052,2075,650,2872
$GC,2024,0.83,48.7,500.6,16.4,283,2031,0.00,2.67,0.00,0.000,6,0.000,0.039,2075,2056,2871
$GC,2352,0.83,48.7,452.8,14.5,314,2356,0.00,2.72,0.00,0.000,4,0.000,0.050,2075,652,2870
$GC,2402,0.83,48.7,445.1,14.3,318,2406,0.00,2.62,0.00,0.000,6,0.000,0.039,2075,2040,2870
$GC,2728,0.83,48.7,402.2,12.8,348,2732,0.00,2.72,0.00,0.000,4,0.000,0.047,2075,3460,2870
$GC,2800,0.83,48.7,393.1,11.8,354,2805,0.00,2.78,0.00,0.000,6,0.000,0.041,2075,2010,2870
$GC,3126,0.83,48.7,355.5,11.2,384,3131,0.00,2.80,0.00,0.000,4,0.000,0.045,2075,3467,2869
$GC,3367,0.83,48.7,328.8,11.3,422,3373,0.00,2.83,0.00,0.000,6,0.000,0.041,2075,1989,2869
$GC,3712,0.83,48.7,290.3,11.4,483,3718,0.00,2.85,0.00,0.000,4,0.000,0.045,2075,3471,2869
$GC,3875,0.83,48.7,270.8,12.4,512,3882,0.00,2.83,0.00,0.000,6,0.000,0.041,2077,1986,2868
$GC,4219,0.83,48.7,230.2,11.8,573,4225,0.00,2.58,0.00,0.000,4,0.000,0.051,2075,646,2868
$GC,4360,0.83,48.7,213.5,12.1,598,4367,0.00,2.42,0.00,0.000,6,0.000,0.039,2076,1943,2868
$GC,4704,0.83,48.7,170.6,12.1,659,4710,0.00,2.90,0.00,0.000,4,0.000,0.044,2075,3461,2868
$GC,4785,0.83,48.7,161.2,11.7,673,4791,0.00,3.03,0.00,0.000,6,0.000,0.041,2076,1881,2868
$GC,5128,0.83,48.7,125.4,9.5,734,5134,0.00,3.03,0.00,0.000,4,0.000,0.044,2075,3461,2868
$GC,5248,0.83,48.7,113.7,10.0,755,5254,0.00,3.08,0.00,0.000,6,0.000,0.041,2080,1855,2868
$GC,5592,0.83,48.7,80.0,9.9,816,5598,0.00,3.10,0.00,0.000,4,0.000,0.044,2076,3467,2867
$GC,5757,0.83,48.7,62.3,11.3,845,5763,0.00,3.05,0.00,0.000,6,0.000,0.041,2076,1877,2868
$GC,6102,0.83,48.7,30.0,7.1,906,6108,0.00,2.40,0.00,0.000,4,0.000,0.053,2075,635,2867
$GC,6412,0.84,52.5,14.9,5.7,961,6425,0.00,2.45,4.72,0.629,6,0.000,0.039,2076,1937,2856
$GC,6562,0.84,52.5,3.1,8.5,987,6569,0.00,2.50,0.00,0.000,4,0.000,0.051,2077,635,2855
$STATE,6573,end climb,SURFACE_DEPTH_REACHED
$STATE,6573,begin surface coast
$FINISH,2.0,1.027214
$STATE,6596,end surface coast,CONTROL_FINISHED_OK
$STATE,6596,begin surface
$SM_CCo,6600,525.58,0.706,0,0,489,633.12
$SM_GC,0.58,3.15,0.00,0.00,0.058,0.000,0.000,1471,2296,486,-1.95,0.03,634.10
$IRIDIUM_FIX,6130.75,-2656.37,200897,111113
$TT8_MAMPS,0.021476
$HUMID,1684
$INTERNAL_PRESSURE,8.08625
$TCM_TEMP,16.70
$XPDR_PINGS,19
$24V_AH,20.1,80.795
$10V_AH,9.8,54.406
$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,10.900,78.025,99.975,525.575,0.000,56.637,141.726,203.155,4.750,0.000,0.000,12.251,1574.805,3053.202,781.421,1806.090,578.241,0.000,1557.899,0.000,1809.047,0.000,0.467
$DEVICE_MAMPS,353.587,52.923,1115.218,706.407,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,723.613,709.536,542.761,1007.185,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,76013,993
$CAP_FILE_SIZE,82160,0
$CFSIZE,260165632,232747008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,16,0,0,0
$GPS,260508,133353,6153.240,-2659.984,7,99.0,26,-19.2