version: 66.03
glider: 143
mission: 4
dive: 276
start: 5 27 108 23 18 20
data:
$ID,143
$MISSION,4
$DIVE,276
$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,-13103.006
$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,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
$GPS1,231221,6159.622,-2702.196,12,1.6,12,-19.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-61.6
$GPS2,231807,6159.688,-2702.236,13,1.0,29,-19.3
$SPEED_LIMITS,0.104,0.134
$TGT_NAME,HEADING
$TGT_LATLONG,6206.630,-2706.106
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.83,-48.7,0.0,0.0,0,79,0.00,0.00,-45.70,0.000,6,0.000,0.000,1473,2301,3271
$GC,82,-0.83,-48.7,3.3,-5.0,9,95,3.08,2.78,0.00,0.000,4,0.349,0.047,1711,889,3271
$GC,398,-0.83,-48.7,109.0,-33.6,65,404,0.00,2.65,0.00,0.000,6,0.000,0.039,1712,2298,3272
$GC,741,-0.83,-48.7,224.5,-33.6,126,747,0.00,2.70,0.00,0.000,4,0.000,0.046,1713,885,3272
$GC,1052,-0.83,-48.7,329.3,-33.9,181,1058,0.00,2.67,0.00,0.000,6,0.000,0.040,1710,2305,3272
$GC,1382,-0.83,-48.7,439.8,-32.9,217,1386,0.00,2.72,0.00,0.000,4,0.000,0.047,1711,883,3273
$STATE,1567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1567,begin apogee
$GC,1574,-0.19,0.0,501.3,33.6,233,1631,1.88,0.00,48.60,1.112,6,0.344,0.000,1853,2056,3071
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1633,begin climb
$GC,1635,0.83,48.7,520.2,0.0,239,1691,2.53,2.83,47.47,1.052,4,0.323,0.047,2074,3462,2872
$GC,1916,0.83,48.7,508.8,13.9,264,1921,0.00,2.75,0.00,0.000,6,0.000,0.043,2075,2051,2871
$GC,2244,0.83,48.7,469.0,11.9,294,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,2051,2870
$GC,2569,0.83,48.7,429.8,11.8,325,2573,0.00,2.72,0.00,0.000,4,0.000,0.053,2075,639,2870
$GC,2781,0.83,48.7,405.4,11.4,343,2787,0.00,2.55,0.00,0.000,6,0.000,0.040,2075,1992,2870
$GC,3107,0.83,48.7,369.9,11.1,374,3112,0.00,2.62,0.00,0.000,4,0.000,0.051,2074,638,2870
$GC,3248,0.83,48.7,354.2,11.4,386,3253,0.00,2.60,0.00,0.000,6,0.000,0.039,2075,2023,2870
$GC,3591,0.83,48.7,316.5,11.1,443,3597,0.00,2.67,0.00,0.000,4,0.000,0.052,2075,645,2870
$GC,3683,0.83,48.7,305.6,11.7,459,3689,0.00,2.62,0.00,0.000,6,0.000,0.039,2075,2043,2870
$GC,4026,0.83,48.7,267.1,11.1,520,4033,0.00,2.70,0.00,0.000,4,0.000,0.046,2074,3461,2870
$GC,4124,0.83,48.7,256.5,10.8,537,4130,0.00,2.85,0.00,0.000,6,0.000,0.041,2075,1972,2870
$GC,4467,0.83,48.7,219.3,11.2,598,4474,0.00,2.88,0.00,0.000,4,0.000,0.044,2074,3468,2870
$GC,4587,0.83,48.7,205.9,11.2,619,4593,0.00,2.90,0.00,0.000,6,0.000,0.041,2075,1952,2870
$GC,4930,0.83,48.7,167.7,10.8,680,4937,0.00,2.90,0.00,0.000,4,0.000,0.044,2075,3463,2870
$GC,5242,0.83,48.7,133.5,10.9,735,5249,0.00,3.00,0.00,0.000,6,0.000,0.041,2075,1900,2869
$GC,5586,0.83,48.7,100.4,8.9,796,5593,0.00,2.42,0.00,0.000,4,0.000,0.053,2074,643,2870
$GC,5899,0.83,48.7,73.8,8.5,851,5905,0.00,2.28,0.00,0.000,6,0.000,0.038,2075,1862,2869
$GC,6242,0.83,48.7,46.3,7.5,912,6249,0.00,2.35,0.00,0.000,4,0.000,0.051,2075,640,2869
$GC,6255,0.83,48.7,45.3,7.4,914,6262,0.00,2.33,0.00,0.000,6,0.000,0.037,2075,1898,2869
$GC,6399,0.83,48.7,34.9,7.0,939,6405,0.00,2.40,0.00,0.000,4,0.000,0.050,2077,644,2869
$GC,6710,0.88,89.5,23.6,2.6,994,6756,0.00,2.17,37.17,0.832,6,0.000,0.038,2075,1809,2705
$STATE,6876,end climb,SURFACE_DEPTH_REACHED
$STATE,6876,begin surface coast
$FINISH,0.8,1.027282
$STATE,6887,end surface coast,CONTROL_FINISHED_OK
$STATE,6887,begin surface
$SM_CCo,6901,97.78,0.747,0,0,2254,200.16
$SM_GC,1.44,0.00,0.00,97.78,0.000,0.000,0.747,1473,2306,2254,-1.98,0.31,200.16
$IRIDIUM_FIX,6135.28,-2704.60,210897,212153
$TT8_MAMPS,0.021476
$HUMID,1714
$INTERNAL_PRESSURE,8.23274
$TCM_TEMP,16.40
$XPDR_PINGS,14
$24V_AH,20.1,82.254
$10V_AH,9.8,55.979
$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,10.700,69.250,133.250,97.775,0.000,22.483,44.673,155.117,3.500,0.000,0.000,31.428,1642.778,3064.071,318.555,1901.171,414.649,0.000,1116.872,0.000,1888.890,0.000,0.467
$DEVICE_MAMPS,348.985,52.923,1112.150,747.058,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,755.138,735.201,550.752,1017.676,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,76003,1025
$CAP_FILE_SIZE,80134,0
$CFSIZE,260165632,231809024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,12,0,0,0
$GPS,280508,011607,6200.172,-2702.698,29,1.5,29,-19.3