version: 66.03
glider: 143
mission: 4
dive: 73
start: 4 18 108 17 45 48
data:
$ID,143
$MISSION,4
$DIVE,73
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,270
$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,-5444.6187
$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,16
$R_STBD_OVSHOOT,14
$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
$GPS1,173226,5936.440,-2246.079,38,1.3,38,-15.7
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-52.5
$GPS2,174527,5936.422,-2246.135,14,1.6,14,-15.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,HEADING
$TGT_LATLONG,5936.422,-2251.599
$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,281.7,20000,-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,-194.7,0.0,0.0,0,129,0.00,0.00,-100.93,0.000,2,0.000,0.000,1466,2302,3839
$GC,131,-0.82,-194.7,4.1,-7.6,11,151,10.00,2.80,-0.50,0.000,4,0.253,0.056,2607,3714,3865
$GC,426,-0.70,-194.7,65.4,-18.1,61,434,0.22,2.78,0.00,0.000,6,0.141,0.041,2640,2289,3866
$GC,636,-0.65,-194.7,96.7,-14.4,98,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2287,3866
$GC,850,-0.59,-194.7,127.2,-14.9,135,857,0.15,0.00,0.00,0.000,6,0.143,0.000,2665,2285,3866
$GC,1061,-0.59,-194.7,152.0,-10.9,172,1069,0.00,2.78,0.00,0.000,4,0.000,0.054,2665,888,3866
$GC,1094,-0.59,-194.7,155.7,-11.4,177,1102,0.00,2.72,0.00,0.000,6,0.000,0.042,2665,2301,3866
$GC,1439,-0.59,-194.7,194.3,-11.7,238,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2301,3866
$GC,1788,-0.59,-194.7,234.8,-11.7,299,1795,0.00,2.78,0.00,0.000,4,0.000,0.054,2665,887,3866
$GC,1826,-0.64,-194.7,239.2,-11.3,305,1833,0.00,2.70,0.00,0.000,6,0.000,0.042,2665,2293,3866
$GC,2171,-0.64,-194.7,278.1,-11.0,366,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2294,3866
$GC,2517,-0.64,-194.7,315.6,-10.6,427,2524,0.00,2.78,0.00,0.000,4,0.000,0.053,2665,878,3866
$GC,2560,-0.70,-194.7,320.3,-10.7,434,2569,0.00,2.72,0.00,0.000,6,0.000,0.042,2666,2284,3866
$GC,2905,-0.70,-194.7,359.7,-11.8,495,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2284,3866
$GC,3246,-0.70,-194.7,400.4,-12.3,556,3253,0.00,2.75,0.00,0.000,4,0.000,0.054,2666,880,3867
$GC,3299,-0.76,-194.7,406.7,-11.7,565,3308,0.17,2.65,0.00,0.000,6,0.055,0.042,2628,2275,3866
$GC,3642,-0.69,-194.7,460.2,-15.4,626,3649,0.12,0.00,0.00,0.000,6,0.137,0.000,2645,2275,3866
$GC,3981,-0.69,-194.7,506.3,-13.6,687,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2275,3866
$GC,4322,-0.69,-194.7,552.2,-13.4,748,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2275,3866
$GC,4664,-0.69,-194.7,596.7,-12.8,809,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2275,3866
$GC,4989,-0.69,-194.7,639.2,-13.2,842,4994,0.00,2.78,0.00,0.000,4,0.000,0.063,2645,888,3866
$GC,5032,-0.69,-194.7,645.2,-12.9,845,5041,0.00,2.67,0.00,0.000,6,0.000,0.044,2645,2264,3866
$GC,5358,-0.69,-194.7,687.1,-12.3,876,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2265,3866
$GC,5676,-0.69,-194.7,726.3,-12.4,906,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2267,3866
$GC,5995,-0.69,-194.7,765.6,-12.4,936,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2268,3865
$GC,6313,-0.69,-194.7,804.7,-12.8,966,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2268,3865
$GC,6632,-0.69,-194.7,843.4,-11.2,996,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2268,3865
$GC,6950,-0.69,-194.7,881.9,-12.1,1026,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2268,3865
$GC,7271,-0.69,-194.7,919.9,-12.5,1056,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2268,3864
$GC,7587,-0.69,-194.7,960.7,-12.8,1086,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2268,3864
$STATE,7830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7830,begin apogee
$GC,7835,-0.19,0.0,990.8,12.0,1109,8034,0.65,0.00,195.40,1.467,6,0.130,0.000,2753,2042,3071
$STATE,8035,end apogee,CONTROL_FINISHED_OK
$STATE,8035,begin climb
$GC,8036,0.82,194.7,999.3,0.0,1129,8248,1.27,3.17,201.25,1.379,4,0.092,0.071,2973,651,2276
$GC,8331,0.69,194.7,973.8,13.4,1154,8339,0.15,2.92,0.00,0.000,6,0.136,0.044,2953,2052,2272
$GC,8656,0.58,194.7,935.8,11.6,1185,8661,0.15,2.92,0.00,0.000,4,0.136,0.061,2931,3461,2271
$GC,8741,0.52,194.7,926.8,10.8,1192,8745,0.00,2.83,0.00,0.000,6,0.000,0.052,2931,2078,2270
$GC,9066,0.46,194.7,894.7,10.0,1222,9071,0.15,2.83,0.00,0.000,4,0.129,0.058,2906,3461,2269
$GC,9109,0.51,232.0,890.6,8.7,1225,9154,0.00,2.78,37.15,1.450,6,0.000,0.051,2906,2083,2125
$GC,9470,0.58,291.8,862.2,7.9,1259,9542,0.00,3.15,60.97,1.358,4,0.000,0.071,2909,641,1880
$GC,9611,0.70,324.5,850.4,8.9,1271,9651,0.22,2.97,33.80,1.288,6,0.053,0.044,2952,2119,1748
$GC,9970,0.64,324.5,801.5,14.0,1304,9975,0.00,3.10,0.00,0.000,4,0.000,0.070,2952,636,1743
$GC,10058,0.64,324.5,789.5,13.0,1311,10066,0.00,2.97,0.00,0.000,6,0.000,0.045,2954,2137,1742
$GC,10384,0.58,324.5,747.7,12.5,1342,10386,0.17,0.00,0.00,0.000,6,0.123,0.000,2927,2137,1741
$GC,10703,0.60,343.2,717.8,9.4,1372,10728,0.00,3.20,19.67,1.391,4,0.000,0.071,2925,639,1671
$GC,10734,0.01,354.5,714.7,9.6,1374,10754,0.70,2.95,12.50,1.111,6,0.100,0.042,2806,2136,1624
$GC,11070,0.37,354.5,680.6,11.7,1406,11075,0.35,2.67,0.00,0.000,4,0.071,0.056,2871,3465,1620
$GC,11381,0.71,354.5,644.2,11.6,1433,11386,0.43,2.65,0.00,0.000,6,0.074,0.046,2952,2118,1619
$GC,11705,0.95,390.1,615.3,8.8,1463,11745,0.25,0.00,36.72,1.276,6,0.058,0.000,3010,2118,1479
$GC,12076,1.04,390.1,573.7,10.8,1517,12082,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2118,1475
$GC,12415,1.13,390.1,536.4,11.0,1578,12424,0.15,2.67,0.00,0.000,4,0.061,0.051,3085,3472,1474
$GC,12436,1.13,390.1,534.0,11.9,1581,12444,0.00,2.45,0.00,0.000,6,0.000,0.044,3046,2237,1474
$GC,12779,0.83,390.1,436.9,28.0,1642,12787,0.38,3.17,0.00,0.000,4,0.153,0.061,2987,638,1473
$GC,12841,0.77,390.1,422.6,17.6,1652,12848,0.00,3.08,0.00,0.000,6,0.000,0.041,2987,2234,1473
$GC,13182,0.63,390.1,356.7,19.8,1713,13190,0.28,3.20,0.00,0.000,4,0.133,0.061,2942,634,1473
$GC,13226,0.69,390.1,350.3,12.1,1720,13234,0.00,3.00,0.00,0.000,6,0.000,0.039,2943,2208,1473
$GC,13573,0.69,390.1,312.7,10.7,1781,13580,0.00,3.15,0.00,0.000,4,0.000,0.061,2940,634,1473
$GC,13613,0.75,392.4,308.6,9.9,1787,13621,0.12,2.95,0.00,0.000,6,0.062,0.038,2968,2181,1473
$GC,13960,0.68,392.4,257.3,14.9,1848,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2182,1473
$GC,14309,0.60,392.4,205.2,16.1,1909,14317,0.20,3.10,0.00,0.000,4,0.123,0.060,2933,629,1473
$GC,14348,0.66,392.4,200.2,10.4,1915,14356,0.00,2.92,0.00,0.000,6,0.000,0.038,2935,2170,1473
$GC,14694,0.76,421.5,168.1,9.0,1976,14737,0.15,3.15,31.17,1.075,4,0.062,0.061,2969,638,1351
$GC,14757,0.76,421.5,160.4,14.3,1984,14766,0.00,2.95,0.00,0.000,6,0.000,0.039,2973,2147,1350
$GC,15106,0.69,421.5,105.4,15.9,2045,15113,0.00,3.05,0.00,0.000,4,0.000,0.062,2969,636,1348
$GC,15143,0.69,421.5,99.6,14.5,2051,15150,0.00,2.85,0.00,0.000,6,0.000,0.039,2972,2118,1347
$GC,15355,0.63,421.5,67.1,16.2,2088,15364,0.17,0.00,0.00,0.000,6,0.121,0.000,2942,2119,1347
$GC,15572,0.72,432.0,43.3,9.6,2125,15589,0.00,0.00,10.70,0.862,6,0.000,0.000,2942,2119,1310
$GC,15730,0.84,452.3,28.3,9.3,2151,15759,0.17,3.08,21.58,0.908,4,0.056,0.061,2981,640,1227
$GC,15784,0.84,452.3,20.6,16.2,2158,15793,0.00,2.90,0.00,0.000,6,0.000,0.039,2984,2117,1225
$STATE,15897,end climb,SURFACE_DEPTH_REACHED
$STATE,15897,begin surface coast
$FINISH,0.2,1.027323
$STATE,15910,end surface coast,CONTROL_FINISHED_OK
$STATE,15911,begin surface
$SM_CCo,15986,0.00,0.000,0,0,1222,453.31
$SM_GC,0.54,7.55,0.00,0.00,0.047,0.000,0.000,1468,2312,1222,-6.09,0.48,453.31
$IRIDIUM_FIX,5915.45,-2247.34,130797,171758
$TT8_MAMPS,0.021476
$HUMID,1665
$INTERNAL_PRESSURE,8.15461
$TCM_TEMP,12.80
$XPDR_PINGS,267
$24V_AH,19.6,31.875
$10V_AH,9.7,22.220
$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,24.350,122.500,660.925,0.000,0.000,48.465,66.228,481.601,66.750,0.000,0.000,15.897,4352.063,5958.721,798.714,4793.464,842.912,0.000,2520.909,0.000,4802.040,0.000,0.467
$DEVICE_MAMPS,253.110,71.331,1467.271,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1598.054,1560.008,887.483,862.482,2257.203,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164493,2179
$CAP_FILE_SIZE,181146,0
$CFSIZE,260165632,249520128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086, 77.6,1
$GPS,180408,221331,5936.211,-2249.761,38,1.5,43,-15.7