version: 66.03
glider: 142
mission: 5
dive: 341
start: 6 14 108 19 6 47
data:
$ID,142
$MISSION,5
$DIVE,341
$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,-19347.898
$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,6
$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
$GPS1,185626,6156.620,-2559.888,42,0.9,42,-18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-61.7
$GPS2,190627,6156.611,-2559.830,11,1.4,11,-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,240.3,29070,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,24,-0.86,-194.7,0.0,0.0,0,88,0.00,0.00,-62.45,0.000,2,0.000,0.000,1432,2293,3426
$GC,92,-0.86,-194.7,3.3,-4.5,9,123,12.32,2.95,-12.15,0.000,4,0.252,0.051,2724,3727,3867
$GC,198,-0.79,-194.7,20.4,-13.8,26,206,0.12,2.80,0.00,0.000,6,0.148,0.033,2740,2291,3868
$GC,345,-0.73,-194.7,39.8,-12.7,51,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2291,3868
$GC,487,-0.69,-194.7,58.1,-13.2,76,495,0.15,0.00,0.00,0.000,6,0.186,0.000,2761,2291,3868
$GC,832,-0.69,-194.7,96.6,-10.6,137,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2291,3869
$GC,1175,-0.69,-194.7,133.2,-10.3,198,1182,0.00,2.88,0.00,0.000,4,0.000,0.044,2761,3730,3870
$GC,1235,-0.69,-194.7,139.3,-10.4,208,1242,0.00,2.83,0.00,0.000,6,0.000,0.034,2761,2282,3870
$GC,1580,-0.69,-194.7,173.7,-10.1,269,1587,0.00,2.90,0.00,0.000,4,0.000,0.044,2761,3731,3870
$GC,1623,-0.69,-194.7,178.0,-10.5,276,1630,0.00,2.80,0.00,0.000,6,0.000,0.034,2761,2296,3870
$GC,1968,-0.69,-194.7,214.9,-10.3,337,1975,0.00,2.88,0.00,0.000,4,0.000,0.045,2761,3727,3870
$GC,2017,-0.69,-194.7,220.0,-10.5,345,2024,0.00,2.78,0.00,0.000,6,0.000,0.034,2761,2308,3870
$GC,2363,-0.69,-194.7,257.5,-11.2,406,2370,0.00,2.85,0.00,0.000,4,0.000,0.044,2761,3727,3870
$GC,2388,-0.69,-194.7,260.3,-11.0,410,2396,0.00,2.75,0.00,0.000,6,0.000,0.034,2761,2320,3870
$GC,2734,-0.69,-194.7,297.7,-10.7,471,2742,0.00,2.83,0.00,0.000,4,0.000,0.045,2761,3724,3869
$GC,2761,-0.69,-194.7,300.6,-10.9,475,2768,0.00,2.72,0.00,0.000,6,0.000,0.035,2761,2331,3870
$GC,3107,-0.69,-194.7,337.4,-10.5,536,3115,0.00,2.80,0.00,0.000,4,0.000,0.047,2761,3725,3870
$GC,3133,-0.69,-194.7,340.1,-10.2,540,3140,0.00,2.72,0.00,0.000,6,0.000,0.034,2761,2330,3870
$GC,3465,-0.69,-194.7,376.7,-11.5,579,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2328,3870
$GC,3784,-0.69,-194.7,414.4,-12.0,609,3788,0.00,2.83,0.00,0.000,4,0.000,0.047,2761,3730,3869
$GC,3812,-0.69,-194.7,417.7,-11.9,611,3817,0.00,2.72,0.00,0.000,6,0.000,0.034,2761,2339,3870
$GC,4140,-0.69,-194.7,453.1,-10.5,641,4145,0.00,2.80,0.00,0.000,4,0.000,0.047,2761,3724,3870
$GC,4170,-0.69,-194.7,456.3,-10.5,643,4174,0.00,2.70,0.00,0.000,6,0.000,0.034,2761,2346,3869
$GC,4498,-0.69,-194.7,488.4,-9.6,673,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2346,3869
$GC,4823,-0.69,-194.7,520.5,-9.6,704,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2346,3869
$GC,5142,-0.69,-194.7,552.7,-10.5,734,5143,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2346,3868
$GC,5460,-0.69,-194.7,585.1,-9.7,764,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2345,3868
$GC,5786,-0.69,-194.7,617.3,-9.8,787,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2345,3868
$GC,6094,-0.69,-194.7,645.3,-8.4,802,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2345,3868
$GC,6403,-0.69,-194.7,673.5,-9.9,817,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2345,3868
$GC,6713,-0.69,-194.7,703.9,-10.0,832,6714,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2345,3868
$GC,7022,-0.69,-194.7,735.9,-11.0,847,7026,0.00,2.95,0.00,0.000,4,0.000,0.071,2761,3716,3867
$GC,7048,-0.69,-194.7,739.0,-11.4,848,7053,0.00,2.80,0.00,0.000,6,0.000,0.053,2761,2361,3867
$GC,7365,-0.69,-194.7,772.0,-10.6,863,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2360,3867
$GC,7673,-0.69,-194.7,804.2,-10.2,878,7675,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2360,3867
$GC,7983,-0.69,-194.7,834.8,-9.7,893,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2360,3867
$GC,8293,-0.69,-194.7,865.3,-10.0,908,8298,0.00,3.30,0.00,0.000,4,0.000,0.118,2761,3712,3866
$GC,8326,-0.73,-194.7,868.8,-10.1,909,8333,0.00,3.17,0.00,0.000,6,0.000,0.108,2761,2378,3866
$GC,8643,-0.73,-194.7,896.9,-8.9,925,8644,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2376,3866
$GC,8952,-1.02,-194.7,901.4,0.0,940,8954,0.35,0.00,0.00,0.000,6,0.056,0.000,2694,2377,3866
$STATE,9010,end dive,NO_VERTICAL_VELOCITY
$STATE,9010,begin apogee
$GC,9017,-0.21,0.0,901.4,0.0,943,9234,1.00,0.00,209.62,1.511,6,0.083,0.000,2871,2751,3071
$STATE,9234,end apogee,CONTROL_FINISHED_OK
$STATE,9234,begin climb
$GC,9237,0.86,194.7,901.3,0.0,954,9461,1.35,3.12,212.90,1.447,4,0.066,0.130,3102,3905,2278
$GC,9496,0.73,194.7,880.4,11.5,966,9502,0.15,2.88,0.00,0.000,6,0.121,0.107,3083,2764,2275
$GC,9825,0.66,213.2,848.9,9.4,982,9847,0.00,0.00,20.23,1.341,6,0.000,0.000,3083,2763,2201
$GC,10153,0.58,213.2,816.1,10.5,998,10155,0.22,0.00,0.00,0.000,6,0.115,0.000,3048,2763,2199
$GC,10463,0.68,292.3,792.1,7.3,1013,10554,0.00,3.28,83.45,1.424,4,0.000,0.084,3048,1335,1878
$GC,10578,0.85,376.1,783.6,7.1,1018,10679,0.30,3.15,90.82,1.389,6,0.044,0.061,3107,2778,1536
$GC,10986,0.85,376.1,737.1,11.6,1038,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2779,1529
$GC,11295,0.85,376.1,701.5,11.9,1053,11300,0.00,3.03,0.00,0.000,4,0.000,0.058,3107,1329,1527
$GC,11344,0.85,376.1,695.9,11.5,1055,11349,0.00,2.85,0.00,0.000,6,0.000,0.038,3107,2764,1526
$GC,11663,0.85,376.1,663.1,10.3,1070,11667,0.00,2.33,0.00,0.000,4,0.000,0.067,3108,3896,1526
$GC,11690,0.85,376.1,659.8,10.9,1071,11694,0.00,2.30,0.00,0.000,6,0.000,0.038,3108,2728,1525
$GC,12006,0.85,376.1,626.9,10.4,1086,12010,0.00,2.83,0.00,0.000,4,0.000,0.054,3108,1337,1525
$GC,12038,0.85,376.1,623.0,11.3,1087,12045,0.00,2.80,0.00,0.000,6,0.000,0.034,3108,2763,1524
$GC,12358,0.85,376.1,586.9,11.2,1108,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2763,1524
$GC,12675,0.85,376.1,551.0,11.2,1138,12680,0.00,2.88,0.00,0.000,4,0.000,0.046,3108,1337,1524
$GC,12716,0.85,376.1,546.3,12.2,1141,12720,0.00,2.75,0.00,0.000,6,0.000,0.031,3107,2747,1524
$GC,13041,0.85,376.1,507.4,11.8,1171,13042,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2748,1524
$GC,13362,0.85,376.1,469.1,12.2,1201,13366,0.00,2.85,0.00,0.000,4,0.000,0.045,3108,1331,1524
$GC,13391,0.85,376.1,465.2,12.4,1203,13395,0.00,2.72,0.00,0.000,6,0.000,0.031,3108,2730,1523
$GC,13717,0.85,376.1,424.7,11.9,1233,13721,0.00,2.33,0.00,0.000,4,0.000,0.049,3108,3898,1523
$GC,13756,0.85,376.1,419.7,12.3,1236,13761,0.00,2.28,0.00,0.000,6,0.000,0.031,3108,2715,1523
$GC,14081,0.85,376.1,381.9,11.4,1266,14086,0.00,2.75,0.00,0.000,4,0.000,0.047,3108,1337,1523
$GC,14114,0.85,376.1,378.0,12.1,1268,14121,0.00,2.72,0.00,0.000,6,0.000,0.030,3108,2745,1522
$GC,14442,0.85,378.2,343.6,9.9,1304,14449,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2745,1522
$GC,14788,0.85,378.2,307.4,10.1,1365,14795,0.00,2.80,0.00,0.000,4,0.000,0.044,3108,1347,1522
$GC,14829,0.85,378.2,303.1,10.7,1372,14837,0.00,2.67,0.00,0.000,6,0.000,0.030,3108,2725,1522
$GC,15176,0.86,389.2,269.0,9.6,1433,15196,0.00,2.35,12.10,0.977,4,0.000,0.048,3108,3893,1483
$GC,15215,0.87,390.3,265.1,10.0,1439,15222,0.00,2.30,0.00,0.000,6,0.000,0.031,3108,2702,1483
$GC,15561,0.88,398.5,230.9,9.7,1500,15582,0.00,2.75,11.20,0.970,4,0.000,0.045,3108,1346,1446
$GC,15617,0.88,398.5,224.9,11.1,1509,15624,0.00,2.65,0.00,0.000,6,0.000,0.030,3108,2706,1444
$GC,15962,0.88,398.5,189.2,10.3,1570,15970,0.00,2.33,0.00,0.000,4,0.000,0.048,3108,3890,1444
$GC,15988,0.88,398.5,186.2,10.7,1574,15995,0.00,2.30,0.00,0.000,6,0.000,0.031,3108,2694,1444
$GC,16334,0.88,398.5,149.4,11.2,1635,16341,0.00,2.67,0.00,0.000,4,0.000,0.045,3108,1347,1444
$GC,16371,0.88,398.5,145.3,11.3,1641,16378,0.00,2.62,0.00,0.000,6,0.000,0.030,3108,2702,1443
$GC,16716,0.88,398.5,106.9,11.7,1702,16723,0.00,2.35,0.00,0.000,4,0.000,0.048,3108,3890,1444
$GC,16741,0.88,398.5,103.5,12.8,1706,16748,0.00,2.33,0.00,0.000,6,0.000,0.032,3108,2684,1443
$GC,17086,0.88,398.5,59.1,13.5,1767,17093,0.00,2.67,0.00,0.000,4,0.000,0.047,3108,1339,1443
$GC,17125,0.88,398.5,54.1,13.7,1773,17132,0.00,2.60,0.00,0.000,6,0.000,0.030,3108,2684,1443
$GC,17468,0.89,413.7,15.5,9.5,1834,17490,0.00,0.00,16.80,0.897,6,0.000,0.000,3108,2684,1384
$STATE,17595,end climb,SURFACE_DEPTH_REACHED
$STATE,17595,begin surface coast
$FINISH,0.2,1.013659
$STATE,17616,end surface coast,CONTROL_FINISHED_OK
$STATE,17616,begin surface
$SM_CCo,17695,0.00,0.000,0,0,1379,415.05
$SM_GC,0.77,8.55,0.00,0.00,0.046,0.000,0.000,1433,2287,1379,-6.80,-0.37,415.05
$IRIDIUM_FIX,6130.75,-2601.20,080997,191919
$TT8_MAMPS,0.026078
$HUMID,1839
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,16.70
$XPDR_PINGS,968
$24V_AH,18.9,106.140
$10V_AH,9.8,70.588
$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,24.525,149.775,657.125,0.000,0.000,53.865,66.622,280.328,242.000,0.000,0.000,12.756,3795.258,9573.267,818.597,3308.054,791.901,0.000,2302.211,0.000,3301.921,0.000,0.465
$DEVICE_MAMPS,252.343,130.390,1510.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1292.955,1388.953,692.062,1696.410,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135918,1859
$CAP_FILE_SIZE,167028,0
$CFSIZE,260165632,224485376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088, 71.2,1
$GPS,150608,000301,6154.997,-2602.342,36,1.5,42,-18.7