version: 66.03
glider: 142
mission: 5
dive: 317
start: 6 10 108 1 46 17
data:
$ID,142
$MISSION,5
$DIVE,317
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,240
$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,51804
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,5900
$TGT_DEFAULT_LON,-2030
$TGT_AUTO_DEFAULT,0
$SM_CC,200
$N_FILEKB,4
$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,-18908.318
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,1435
$PITCH_MAX,3965
$C_PITCH,2920
$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,220
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,7
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,475
$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,-2.876246
$PRESSURE_SLOPE,9.1518581e-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,1
$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,-1.65
$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,0.0043273787
$SEABIRD_T_H,0.0006414231
$SEABIRD_T_I,2.3931538e-05
$SEABIRD_T_J,2.340664e-06
$SEABIRD_C_G,-10.258962
$SEABIRD_C_H,1.1819305
$SEABIRD_C_I,-0.0037964056
$SEABIRD_C_J,0.00031207138
$GPS1,013907,6156.465,-2601.007,26,2.0,26,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-62.1
$GPS2,014557,6156.503,-2601.063,13,1.9,13,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-2622.980
$TGT_RADIUS,2000.000
$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,217.6,28180,-14.9,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.86,-194.7,0.0,0.0,0,90,0.00,0.00,-63.58,0.000,2,0.000,0.000,1432,2292,3412
$GC,93,-0.86,-194.7,3.2,-4.2,9,128,12.02,2.92,-12.73,0.000,4,0.248,0.053,2725,3718,3867
$GC,232,-0.80,-194.7,24.4,-12.8,32,240,0.12,2.78,0.00,0.000,6,0.144,0.033,2741,2292,3867
$GC,378,-0.75,-194.7,41.5,-11.6,57,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2292,3867
$GC,521,-0.75,-194.7,58.4,-11.2,82,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2292,3868
$GC,865,-0.71,-194.7,98.8,-11.6,143,872,0.15,0.00,0.00,0.000,6,0.182,0.000,2761,2292,3868
$GC,1208,-0.71,-194.7,132.6,-9.7,204,1216,0.00,2.85,0.00,0.000,4,0.000,0.044,2761,3721,3869
$GC,1279,-0.71,-194.7,139.2,-8.8,216,1287,0.00,2.80,0.00,0.000,6,0.000,0.033,2762,2283,3869
$GC,1626,-0.71,-194.7,172.9,-10.7,277,1633,0.00,2.88,0.00,0.000,4,0.000,0.044,2762,3720,3869
$GC,1674,-0.71,-194.7,178.1,-10.9,285,1681,0.00,2.78,0.00,0.000,6,0.000,0.033,2761,2296,3869
$GC,2019,-0.71,-194.7,214.6,-10.5,346,2026,0.00,2.88,0.00,0.000,4,0.000,0.044,2761,3730,3869
$GC,2078,-0.71,-194.7,220.9,-10.9,356,2086,0.00,2.75,0.00,0.000,6,0.000,0.033,2762,2315,3869
$GC,2424,-0.71,-194.7,257.8,-10.7,417,2431,0.00,2.83,0.00,0.000,4,0.000,0.045,2762,3724,3869
$GC,2450,-0.71,-194.7,260.4,-10.1,421,2457,0.00,2.72,0.00,0.000,6,0.000,0.032,2761,2324,3869
$GC,2796,-0.71,-194.7,294.5,-9.6,482,2804,0.00,2.83,0.00,0.000,4,0.000,0.045,2761,3729,3869
$GC,2833,-0.71,-194.7,298.1,-9.5,488,2841,0.00,2.70,0.00,0.000,6,0.000,0.032,2761,2339,3869
$GC,3179,-0.71,-194.7,332.3,-10.5,549,3186,0.00,2.78,0.00,0.000,4,0.000,0.045,2761,3719,3869
$GC,3204,-0.71,-194.7,335.1,-10.6,553,3212,0.00,2.67,0.00,0.000,6,0.000,0.032,2761,2344,3869
$GC,3540,-0.71,-194.7,368.5,-10.4,597,3544,0.00,2.78,0.00,0.000,4,0.000,0.046,2761,3725,3869
$GC,3568,-0.71,-194.7,371.5,-10.8,599,3573,0.00,2.67,0.00,0.000,6,0.000,0.033,2761,2350,3869
$GC,3896,-0.71,-194.7,406.0,-11.1,629,3900,0.00,2.78,0.00,0.000,4,0.000,0.045,2761,3729,3869
$GC,3917,-0.71,-194.7,408.8,-11.2,630,3925,0.00,2.67,0.00,0.000,6,0.000,0.033,2761,2356,3869
$GC,4246,-0.71,-194.7,443.6,-10.4,661,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2355,3869
$GC,4571,-0.71,-194.7,477.4,-10.3,692,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2355,3869
$GC,4891,-0.71,-194.7,509.9,-9.8,722,4896,0.00,2.75,0.00,0.000,4,0.000,0.047,2762,3721,3869
$GC,4912,-0.71,-194.7,512.3,-9.7,723,4920,0.00,2.65,0.00,0.000,6,0.000,0.033,2761,2361,3869
$GC,5240,-0.71,-194.7,542.7,-9.1,754,5245,0.00,2.75,0.00,0.000,4,0.000,0.048,2761,3721,3869
$GC,5258,-0.71,-194.7,544.4,-8.7,755,5262,0.00,2.65,0.00,0.000,6,0.000,0.032,2761,2362,3869
$GC,5587,-0.71,-194.7,573.4,-8.7,785,5592,0.00,2.75,0.00,0.000,4,0.000,0.049,2761,3721,3869
$GC,5605,-0.71,-194.7,575.4,-8.8,786,5610,0.00,2.65,0.00,0.000,6,0.000,0.033,2761,2365,3869
$GC,5931,-0.71,-194.7,603.6,-8.5,814,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2364,3868
$GC,6239,-0.71,-194.7,633.5,-10.2,829,6244,0.00,2.83,0.00,0.000,4,0.000,0.056,2761,3725,3868
$GC,6283,-0.76,-194.7,638.1,-9.7,831,6288,0.00,2.65,0.00,0.000,6,0.000,0.037,2762,2381,3868
$GC,6605,-0.76,-194.7,669.9,-10.2,847,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2379,3868
$GC,6914,-0.76,-194.7,702.6,-10.8,862,6916,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2379,3868
$GC,7224,-0.80,-194.7,733.7,-9.4,877,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2379,3867
$GC,7534,-0.84,-194.7,759.3,-7.7,892,7536,0.15,0.00,0.00,0.000,6,0.064,0.000,2732,2379,3867
$GC,7843,-0.84,-194.7,791.9,-10.5,907,7844,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2379,3867
$GC,8153,-0.84,-194.7,825.6,-11.3,922,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2379,3867
$GC,8462,-1.03,-194.7,855.0,-4.6,937,8468,0.17,3.22,0.00,0.000,4,0.060,0.116,2694,3712,3867
$STATE,8712,end dive,NO_VERTICAL_VELOCITY
$STATE,8713,begin apogee
$GC,8720,-0.21,0.0,854.9,0.0,948,8934,0.98,0.00,207.88,1.489,6,0.091,0.000,2867,2766,3071
$STATE,8934,end apogee,CONTROL_FINISHED_OK
$STATE,8934,begin climb
$GC,8937,0.86,194.7,854.8,0.0,959,9161,1.40,3.70,211.55,1.430,4,0.081,0.103,3100,1337,2277
$GC,9195,0.74,194.7,832.8,13.1,970,9203,0.00,3.40,0.00,0.000,6,0.000,0.085,3100,2751,2276
$GC,9511,0.60,194.7,794.9,12.3,986,9516,0.25,2.55,0.00,0.000,4,0.116,0.087,3058,3906,2274
$GC,9574,0.61,196.2,788.4,9.9,989,9579,0.00,2.45,0.00,0.000,6,0.000,0.063,3058,2748,2274
$GC,9902,0.66,238.0,760.3,8.5,1005,9955,0.00,3.17,44.55,1.381,4,0.000,0.075,3058,1334,2099
$GC,10013,0.70,269.3,750.7,8.9,1010,10058,0.00,3.00,33.53,1.361,6,0.000,0.051,3058,2764,1973
$GC,10369,0.75,313.6,722.7,8.5,1027,10423,0.12,3.12,46.67,1.366,4,0.062,0.060,3083,1338,1791
$GC,10458,0.75,313.6,713.2,10.8,1031,10463,0.00,2.88,0.00,0.000,6,0.000,0.041,3083,2737,1790
$GC,10786,0.75,313.6,679.1,10.2,1047,10790,0.00,2.40,0.00,0.000,4,0.000,0.063,3083,3905,1787
$GC,10840,0.75,313.6,672.9,10.8,1049,10848,0.00,2.35,0.00,0.000,6,0.000,0.038,3083,2714,1785
$GC,11157,0.75,316.5,642.8,9.9,1065,11162,0.00,2.80,0.00,0.000,4,0.000,0.055,3083,1336,1785
$GC,11201,0.75,316.5,638.2,10.1,1067,11206,0.00,2.75,0.00,0.000,6,0.000,0.035,3083,2743,1785
$GC,11522,0.75,316.5,607.3,10.1,1083,11526,0.00,2.33,0.00,0.000,4,0.000,0.054,3083,3902,1784
$GC,11549,0.75,316.5,604.0,10.8,1084,11554,0.00,2.30,0.00,0.000,6,0.000,0.033,3083,2701,1784
$GC,11882,0.76,324.3,571.5,9.7,1113,11900,0.00,0.00,11.07,1.132,6,0.000,0.000,3083,2701,1748
$GC,12220,0.76,324.3,538.3,10.2,1145,12224,0.00,2.70,0.00,0.000,4,0.000,0.048,3083,1345,1747
$GC,12252,0.76,324.3,534.5,10.7,1147,12260,0.00,2.70,0.00,0.000,6,0.000,0.031,3083,2734,1746
$GC,12577,0.76,324.3,500.5,10.5,1178,12581,0.00,2.30,0.00,0.000,4,0.000,0.051,3082,3891,1746
$GC,12618,0.76,324.3,496.2,10.7,1181,12622,0.00,2.28,0.00,0.000,6,0.000,0.031,3083,2712,1745
$GC,12950,0.76,324.3,462.2,10.3,1212,12955,0.00,2.72,0.00,0.000,4,0.000,0.046,3083,1337,1746
$GC,12995,0.76,324.3,457.1,10.6,1215,13002,0.00,2.70,0.00,0.000,6,0.000,0.030,3083,2732,1746
$GC,13322,0.76,325.3,423.8,10.0,1246,13326,0.00,2.30,0.00,0.000,4,0.000,0.050,3083,3890,1746
$GC,13355,0.77,329.3,420.0,9.9,1248,13366,0.00,2.28,6.50,0.921,6,0.000,0.031,3083,2708,1728
$GC,13687,0.80,349.9,386.3,9.3,1279,13715,0.00,2.75,23.08,1.145,4,0.000,0.046,3083,1343,1643
$GC,13754,0.86,403.1,380.4,8.2,1284,13821,0.12,2.70,57.20,1.183,6,0.057,0.029,3111,2721,1427
$GC,14144,0.86,403.1,338.6,10.0,1329,14150,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2720,1419
$GC,14489,0.92,448.8,306.8,8.4,1390,14541,0.00,0.00,47.15,1.118,6,0.000,0.000,3111,2720,1240
$GC,14879,0.97,493.6,274.2,8.4,1458,14933,0.00,2.90,46.92,1.091,4,0.000,0.044,3111,1346,1058
$GC,14980,1.05,523.9,265.5,8.9,1474,15023,0.20,2.70,32.08,1.057,6,0.046,0.030,3153,2715,936
$GC,15365,1.01,523.9,214.5,13.7,1540,15371,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2715,931
$GC,15710,1.01,523.9,165.0,16.2,1601,15717,0.00,2.75,0.00,0.000,4,0.000,0.046,3153,1346,929
$GC,15763,0.96,523.9,156.6,16.5,1610,15771,0.15,2.60,0.00,0.000,6,0.099,0.030,3130,2690,929
$GC,16108,0.96,523.9,114.2,11.0,1671,16114,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2690,928
$GC,16452,0.96,523.9,79.8,10.8,1732,16460,0.00,2.70,0.00,0.000,4,0.000,0.046,3129,1337,928
$GC,16500,0.96,523.9,74.7,11.7,1740,16508,0.00,2.58,0.00,0.000,6,0.000,0.030,3130,2675,927
$GC,16845,0.96,523.9,37.6,12.2,1801,16852,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2675,927
$GC,16987,1.01,523.9,19.6,12.2,1826,16994,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2675,927
$GC,17130,1.12,563.7,4.0,8.6,1851,17154,0.15,0.00,20.85,0.887,2,0.054,0.000,3165,2683,849
$STATE,17154,end climb,SURFACE_DEPTH_REACHED
$STATE,17154,begin surface coast
$FINISH,0.2,1.025885
$STATE,17172,end surface coast,CONTROL_FINISHED_OK
$STATE,17172,begin surface
$SM_CCo,17251,0.00,0.000,0,0,845,545.79
$SM_GC,0.65,8.80,0.00,0.00,0.043,0.000,0.000,1435,2284,845,-6.79,-0.45,545.79
$IRIDIUM_FIX,6117.23,-2202.37,030997,212137
$TT8_MAMPS,0.026078
$HUMID,1825
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,16.60
$XPDR_PINGS,886
$24V_AH,19.0,99.086
$10V_AH,9.8,66.778
$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,24.800,158.775,789.025,0.000,0.000,22.697,31.621,216.112,221.500,0.000,0.000,15.310,3777.737,8875.228,911.021,3433.226,651.771,0.000,2484.988,0.000,3412.356,0.000,0.466
$DEVICE_MAMPS,247.741,115.817,1488.747,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1281.295,1390.523,711.936,1720.315,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136081,1857
$CAP_FILE_SIZE,171152,0
$CFSIZE,260165632,226619392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061, 28.5,1
$GPS,100608,063502,6154.748,-2602.869,37,1.5,37,-18.7