version: 66.03
glider: 143
mission: 4
dive: 297
start: 5 29 108 16 49 29
data:
$ID,143
$MISSION,4
$DIVE,297
$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,-13588.612
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,164337,6206.205,-2657.128,32,0.9,32,-19.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.1
$GPS2,164914,6206.252,-2657.122,9,1.0,14,-19.3
$SPEED_LIMITS,0.104,0.134
$TGT_NAME,HEADING
$TGT_LATLONG,6213.193,-2700.978
$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,329.3,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-0.83,-48.7,0.0,0.0,0,75,0.00,0.00,-44.62,0.000,2,0.000,0.000,1472,2304,3245
$GC,78,-0.83,-48.7,3.1,-5.8,8,91,2.83,2.83,-0.77,0.000,4,0.332,0.055,1710,882,3272
$GC,394,-0.83,-48.7,112.6,-34.7,64,401,0.00,2.65,0.00,0.000,6,0.000,0.039,1711,2295,3272
$GC,740,-0.83,-48.7,231.5,-34.3,125,746,0.00,2.72,0.00,0.000,4,0.000,0.045,1709,876,3272
$GC,1050,-0.83,-48.7,338.3,-33.7,180,1056,0.00,2.67,0.00,0.000,6,0.000,0.039,1710,2295,3273
$GC,1384,-0.83,-48.7,448.8,-33.0,214,1388,0.00,2.72,0.00,0.000,4,0.000,0.046,1710,877,3273
$STATE,1537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1538,begin apogee
$GC,1547,-0.19,0.0,501.2,33.8,227,1604,1.77,0.00,48.50,1.109,6,0.334,0.000,1853,2060,3071
$STATE,1605,end apogee,CONTROL_FINISHED_OK
$STATE,1605,begin climb
$GC,1608,0.83,48.7,519.7,0.0,233,1664,2.58,2.80,47.67,1.048,4,0.328,0.048,2075,3458,2872
$GC,1850,0.83,48.7,512.7,14.5,254,1857,0.00,2.72,0.00,0.000,6,0.000,0.042,2075,2050,2871
$GC,2179,0.83,48.7,468.0,13.5,285,2183,0.00,2.72,0.00,0.000,4,0.000,0.051,2076,639,2871
$GC,2285,0.83,48.7,452.8,14.0,294,2289,0.00,2.53,0.00,0.000,6,0.000,0.040,2076,1973,2870
$GC,2613,0.83,48.7,408.3,13.2,324,2617,0.00,2.60,0.00,0.000,4,0.000,0.051,2076,634,2870
$GC,2701,0.83,48.7,396.1,12.8,331,2707,0.00,2.60,0.00,0.000,6,0.000,0.039,2075,2012,2870
$GC,3027,0.83,48.7,355.2,12.3,362,3032,0.00,2.67,0.00,0.000,4,0.000,0.051,2077,633,2870
$GC,3069,0.83,48.7,350.1,12.5,365,3074,0.00,2.55,0.00,0.000,6,0.000,0.038,2075,1992,2870
$GC,3412,0.83,48.7,307.9,12.0,425,3418,0.00,2.83,0.00,0.000,4,0.000,0.046,2075,3466,2870
$GC,3463,0.83,48.7,301.7,12.0,434,3470,0.00,2.95,0.00,0.000,6,0.000,0.042,2075,1926,2870
$GC,3808,0.83,48.7,262.0,11.6,495,3814,0.00,2.97,0.00,0.000,4,0.000,0.045,2075,3470,2870
$GC,4079,0.83,48.7,231.8,11.0,543,4085,0.00,3.03,0.00,0.000,6,0.000,0.042,2075,1895,2870
$GC,4422,0.83,48.7,194.8,11.2,604,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,1894,2870
$GC,4767,0.83,48.7,156.6,11.3,665,4773,0.00,2.42,0.00,0.000,4,0.000,0.053,2075,635,2870
$GC,4869,0.83,48.7,145.1,11.0,683,4875,0.00,2.35,0.00,0.000,6,0.000,0.038,2077,1893,2869
$GC,5213,0.83,48.7,106.6,11.3,744,5219,0.00,3.00,0.00,0.000,4,0.000,0.044,2075,3468,2869
$GC,5225,0.83,48.7,105.2,11.2,746,5232,0.00,3.08,0.00,0.000,6,0.000,0.040,2075,1855,2869
$GC,5571,0.83,48.7,70.3,9.2,807,5577,0.00,3.10,0.00,0.000,4,0.000,0.044,2075,3464,2870
$GC,5584,0.83,48.7,69.0,9.0,809,5590,0.00,3.08,0.00,0.000,6,0.000,0.040,2075,1857,2869
$GC,5928,0.86,70.7,46.1,4.2,870,5958,0.00,2.42,21.10,0.887,4,0.000,0.054,2075,640,2781
$GC,6262,0.86,70.7,3.2,15.2,929,6268,0.00,2.20,0.00,0.000,6,0.000,0.037,2074,1825,2781
$STATE,6273,end climb,SURFACE_DEPTH_REACHED
$STATE,6273,begin surface coast
$FINISH,0.9,1.027104
$STATE,6285,end surface coast,CONTROL_FINISHED_OK
$STATE,6285,begin surface
$SM_CCo,6299,113.85,0.747,0,0,2255,200.16
$SM_GC,1.22,0.00,0.00,113.85,0.000,0.000,0.747,1470,2303,2255,-1.99,0.23,200.16
$IRIDIUM_FIX,6144.36,-2652.41,230897,141412
$TT8_MAMPS,0.02301
$HUMID,1720
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,16.50
$XPDR_PINGS,13
$24V_AH,20.5,84.115
$10V_AH,9.8,57.794
$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,10.425,71.400,117.275,113.850,0.000,30.407,33.421,162.001,3.250,0.000,0.000,16.356,1509.538,2805.500,321.697,1708.389,403.649,0.000,1048.718,0.000,1703.131,0.000,0.467
$DEVICE_MAMPS,334.412,55.224,1109.082,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,681.219,667.069,477.337,899.967,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69587,933
$CAP_FILE_SIZE,75758,0
$CFSIZE,260165632,230735872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,11,0,0,0
$GPS,290508,183714,6206.437,-2656.751,7,1.7,12,-19.3