version: 66.03
glider: 142
mission: 5
dive: 342
start: 6 15 108 0 11 18
data:
$ID,142
$MISSION,5
$DIVE,342
$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,-19363.947
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,000301,6154.997,-2602.342,36,1.5,42,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-47.1
$GPS2,001057,6154.967,-2602.145,11,1.4,11,-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,251.9,25483,-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,22,-0.86,-194.7,0.0,0.0,0,145,0.00,0.00,-119.97,0.000,2,0.000,0.000,1433,2287,3519
$GC,148,-0.86,-194.7,3.4,-4.7,16,172,12.23,0.00,-8.88,0.000,6,0.254,0.000,2724,2287,3867
$GC,312,-0.76,-194.7,33.9,-16.2,43,320,0.15,0.00,0.00,0.000,6,0.170,0.000,2746,2287,3869
$GC,455,-0.76,-194.7,55.6,-13.8,68,462,0.00,2.80,0.00,0.000,4,0.000,0.042,2747,3705,3869
$GC,515,-0.76,-194.7,63.7,-13.4,78,523,0.00,2.72,0.00,0.000,6,0.000,0.032,2747,2297,3869
$GC,861,-0.76,-194.7,110.4,-13.3,139,868,0.00,2.83,0.00,0.000,4,0.000,0.043,2747,3713,3869
$GC,899,-0.76,-194.7,115.3,-12.8,145,906,0.00,2.75,0.00,0.000,6,0.000,0.033,2747,2297,3869
$GC,1243,-0.76,-194.7,159.3,-13.0,206,1251,0.00,2.83,0.00,0.000,4,0.000,0.044,2747,3713,3869
$GC,1269,-0.76,-194.7,162.7,-13.0,210,1277,0.00,2.72,0.00,0.000,6,0.000,0.032,2747,2309,3869
$GC,1616,-0.76,-194.7,204.4,-12.2,271,1623,0.00,2.80,0.00,0.000,4,0.000,0.044,2747,3705,3869
$GC,1647,-0.76,-194.7,208.0,-12.0,276,1655,0.00,2.72,0.00,0.000,6,0.000,0.033,2746,2306,3869
$GC,1993,-0.76,-194.7,247.0,-11.4,337,2000,0.00,2.80,0.00,0.000,4,0.000,0.044,2747,3704,3869
$GC,2024,-0.76,-194.7,250.5,-11.2,342,2031,0.00,2.70,0.00,0.000,6,0.000,0.033,2747,2321,3869
$GC,2370,-0.76,-194.7,289.0,-11.1,403,2377,0.00,2.78,0.00,0.000,4,0.000,0.045,2747,3703,3869
$GC,2400,-0.76,-194.7,292.5,-11.6,408,2408,0.00,2.67,0.00,0.000,6,0.000,0.033,2747,2330,3869
$GC,2746,-0.76,-194.7,331.5,-11.6,469,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2329,3869
$GC,3080,-0.76,-194.7,368.9,-10.9,514,3085,0.00,2.78,0.00,0.000,4,0.000,0.046,2747,3709,3869
$GC,3114,-0.76,-194.7,372.7,-11.0,516,3121,0.00,2.67,0.00,0.000,6,0.000,0.034,2747,2336,3869
$GC,3441,-0.76,-194.7,407.8,-10.6,547,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2335,3869
$GC,3758,-0.76,-194.7,442.0,-10.7,577,3762,0.00,2.78,0.00,0.000,4,0.000,0.048,2746,3707,3869
$GC,3786,-0.76,-194.7,445.1,-11.0,579,3791,0.00,2.65,0.00,0.000,6,0.000,0.034,2747,2345,3869
$GC,4114,-0.76,-194.7,478.6,-10.1,609,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2343,3868
$GC,4430,-0.76,-194.7,511.7,-10.2,639,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2343,3868
$GC,4748,-0.76,-194.7,545.6,-10.7,669,4753,0.00,2.78,0.00,0.000,4,0.000,0.048,2747,3710,3868
$GC,4793,-0.76,-194.7,550.5,-10.5,672,4801,0.00,2.65,0.00,0.000,6,0.000,0.033,2747,2351,3869
$GC,5122,-0.76,-194.7,583.5,-10.0,703,5128,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2350,3868
$GC,5454,-0.76,-194.7,616.9,-9.8,727,5459,0.00,2.78,0.00,0.000,4,0.000,0.052,2747,3709,3868
$GC,5481,-0.76,-194.7,619.9,-10.8,728,5486,0.00,2.67,0.00,0.000,6,0.000,0.037,2746,2358,3868
$GC,5798,-0.76,-194.7,651.0,-10.0,743,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2357,3867
$GC,6108,-0.76,-194.7,681.3,-9.7,758,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2357,3867
$GC,6417,-0.76,-194.7,711.8,-10.1,773,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2357,3867
$GC,6727,-0.76,-194.7,744.4,-10.4,788,6728,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2357,3867
$GC,7036,-0.76,-194.7,775.8,-9.9,803,7040,0.00,2.97,0.00,0.000,4,0.000,0.083,2747,3700,3866
$GC,7064,-0.76,-194.7,778.7,-10.3,804,7069,0.00,2.80,0.00,0.000,6,0.000,0.064,2747,2378,3867
$GC,7381,-0.76,-194.7,810.6,-10.9,819,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2377,3866
$GC,7690,-0.76,-194.7,844.1,-9.8,834,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2377,3866
$GC,8000,-1.00,-194.7,863.2,-0.0,849,8002,0.22,0.00,0.00,0.000,6,0.050,0.000,2702,2377,3866
$STATE,8204,end dive,NO_VERTICAL_VELOCITY
$STATE,8205,begin apogee
$GC,8212,-0.21,0.0,863.3,0.0,859,8426,0.95,0.00,207.07,1.486,6,0.081,0.000,2872,2732,3071
$STATE,8426,end apogee,CONTROL_FINISHED_OK
$STATE,8427,begin climb
$GC,8429,0.86,194.7,863.1,0.0,870,8653,1.40,3.00,210.18,1.423,4,0.093,0.109,3099,3899,2277
$GC,8754,0.75,194.7,836.0,11.7,884,8759,0.00,2.62,0.00,0.000,6,0.000,0.085,3098,2762,2275
$GC,9071,0.62,194.7,801.6,10.5,899,9076,0.22,3.17,0.00,0.000,4,0.127,0.089,3062,1337,2274
$GC,9099,0.61,220.9,798.7,9.1,900,9135,0.00,3.05,27.67,1.352,6,0.000,0.070,3062,2752,2170
$GC,9444,0.67,269.7,769.5,8.3,917,9501,0.00,2.58,51.00,1.386,4,0.000,0.076,3062,3905,1970
$GC,9525,0.69,291.9,761.9,9.2,920,9555,0.00,2.45,24.52,1.318,6,0.000,0.053,3062,2741,1881
$GC,9864,0.75,336.7,732.6,8.4,937,9917,0.00,3.08,47.30,1.366,4,0.000,0.068,3062,1334,1698
$GC,9957,0.85,372.5,724.4,8.8,941,10005,0.22,2.95,39.53,1.334,6,0.044,0.042,3109,2761,1552
$GC,10321,0.85,372.5,679.6,12.1,959,10326,0.00,2.35,0.00,0.000,4,0.000,0.063,3109,3903,1545
$GC,10349,0.85,372.5,675.9,13.0,960,10353,0.00,2.30,0.00,0.000,6,0.000,0.038,3109,2744,1545
$GC,10670,0.85,372.5,638.3,12.0,976,10674,0.00,2.88,0.00,0.000,4,0.000,0.056,3109,1337,1543
$GC,10703,0.85,372.5,634.0,12.8,977,10710,0.00,2.80,0.00,0.000,6,0.000,0.034,3109,2760,1542
$GC,11019,0.85,372.5,595.6,12.0,994,11023,0.00,2.30,0.00,0.000,4,0.000,0.054,3109,3903,1542
$GC,11047,0.85,372.5,592.1,12.4,996,11051,0.00,2.28,0.00,0.000,6,0.000,0.033,3109,2731,1541
$GC,11372,0.85,372.5,553.4,12.0,1026,11376,0.00,2.80,0.00,0.000,4,0.000,0.049,3109,1335,1541
$GC,11412,0.85,372.5,548.6,13.0,1029,11417,0.00,2.75,0.00,0.000,6,0.000,0.031,3109,2755,1541
$GC,11737,0.85,372.5,510.7,11.1,1059,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2755,1540
$GC,12056,0.85,372.5,474.5,11.5,1089,12060,0.00,2.83,0.00,0.000,4,0.000,0.045,3109,1342,1540
$GC,12095,0.85,372.5,469.8,11.8,1092,12100,0.00,2.72,0.00,0.000,6,0.000,0.031,3110,2740,1540
$GC,12420,0.85,372.5,433.1,11.7,1122,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2740,1540
$GC,12739,0.85,372.5,395.3,12.2,1152,12743,0.00,2.83,0.00,0.000,4,0.000,0.044,3110,1334,1540
$GC,12772,0.85,372.5,391.0,12.4,1154,12779,0.00,2.72,0.00,0.000,6,0.000,0.031,3110,2738,1540
$GC,13097,0.85,372.5,351.3,12.0,1185,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2737,1540
$GC,13433,0.85,372.5,310.7,11.3,1243,13441,0.00,2.80,0.00,0.000,4,0.000,0.044,3109,1342,1540
$GC,13469,0.85,372.5,306.2,12.8,1249,13477,0.00,2.67,0.00,0.000,6,0.000,0.031,3109,2720,1540
$GC,13815,0.85,372.5,265.0,11.5,1310,13822,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2719,1540
$GC,14160,0.85,372.5,224.8,11.6,1371,14167,0.00,2.78,0.00,0.000,4,0.000,0.044,3109,1336,1540
$GC,14190,0.85,372.5,221.1,12.8,1376,14198,0.00,2.67,0.00,0.000,6,0.000,0.031,3110,2719,1540
$GC,14537,0.85,372.5,181.4,11.8,1437,14544,0.00,2.33,0.00,0.000,4,0.000,0.048,3109,3893,1540
$GC,14563,0.85,372.5,178.3,12.3,1441,14570,0.00,2.30,0.00,0.000,6,0.000,0.031,3109,2686,1540
$GC,14907,0.85,372.5,138.7,11.1,1502,14915,0.00,2.67,0.00,0.000,4,0.000,0.046,3110,1339,1540
$GC,14945,0.85,372.5,134.4,11.8,1508,14952,0.00,2.62,0.00,0.000,6,0.000,0.030,3110,2699,1540
$GC,15293,0.87,385.0,97.2,9.6,1569,15313,0.00,2.40,12.15,0.880,4,0.000,0.048,3109,3896,1501
$GC,15332,0.87,385.0,92.8,10.7,1575,15339,0.00,2.35,0.00,0.000,6,0.000,0.031,3109,2682,1500
$GC,15675,0.87,385.0,57.8,10.6,1636,15683,0.00,2.67,0.00,0.000,4,0.000,0.048,3110,1336,1499
$GC,15709,0.87,385.0,54.3,11.2,1641,15716,0.00,2.65,0.00,0.000,6,0.000,0.029,3109,2706,1498
$GC,16052,0.91,416.1,21.3,8.9,1702,16088,0.00,0.00,33.03,0.938,6,0.000,0.000,3109,2706,1374
$GC,16225,0.93,435.7,6.1,9.3,1731,16253,0.00,0.00,21.58,0.913,6,0.000,0.000,3110,2705,1292
$STATE,16257,end climb,SURFACE_DEPTH_REACHED
$STATE,16257,begin surface coast
$FINISH,0.1,1.025481
$STATE,16275,end surface coast,CONTROL_FINISHED_OK
$STATE,16275,begin surface
$SM_CCo,16356,0.00,0.000,0,0,1287,437.62
$SM_GC,0.77,8.62,0.00,0.00,0.046,0.000,0.000,1436,2294,1287,-6.79,-0.17,437.62
$IRIDIUM_FIX,6130.75,-2605.31,080997,191947
$TT8_MAMPS,0.026078
$HUMID,1832
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.70
$XPDR_PINGS,847
$24V_AH,19.0,106.443
$10V_AH,9.8,70.745
$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,24.025,147.775,674.025,0.000,0.000,23.643,37.762,258.243,211.750,0.000,0.000,15.421,3536.389,8579.997,838.450,3163.460,696.552,0.000,2290.207,0.000,3145.802,0.000,0.465
$DEVICE_MAMPS,253.877,108.914,1485.679,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1207.341,1295.635,664.219,1624.512,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126722,1739
$CAP_FILE_SIZE,158075,0
$CFSIZE,260165632,224411648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088, 26.8,1
$GPS,150608,044508,6154.318,-2605.805,37,1.2,37,-18.7