version: 66.03
glider: 142
mission: 5
dive: 374
start: 6 21 108 12 30 35
data:
$ID,142
$MISSION,5
$DIVE,374
$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,-20002.973
$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,23
$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
$GPS1,122208,6151.959,-2611.464,40,1.9,40,-18.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-58.7
$GPS2,123015,6151.960,-2611.283,8,1.6,8,-18.8
$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,235.8,15939,-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,-119.38,0.000,2,0.000,0.000,1431,2281,3507
$GC,148,-0.86,-194.7,3.1,-3.7,16,179,12.10,2.85,-9.60,0.000,4,0.250,0.051,2725,3704,3866
$GC,210,-0.78,-194.7,14.9,-13.3,25,218,0.12,2.75,0.00,0.000,6,0.140,0.031,2742,2296,3868
$GC,357,-0.74,-194.7,31.2,-11.7,50,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2296,3868
$GC,502,-0.69,-194.7,46.7,-10.8,75,510,0.15,2.83,0.00,0.000,4,0.169,0.041,2763,3715,3869
$GC,529,-0.69,-194.7,49.5,-10.0,79,536,0.00,2.72,0.00,0.000,6,0.000,0.031,2763,2307,3869
$GC,672,-0.69,-194.7,62.6,-9.2,104,679,0.00,2.78,0.00,0.000,4,0.000,0.042,2763,3704,3869
$GC,704,-0.69,-194.7,65.4,-8.9,109,711,0.00,2.72,0.00,0.000,6,0.000,0.031,2763,2306,3868
$GC,1051,-0.69,-194.7,95.0,-8.7,170,1059,0.00,2.80,0.00,0.000,4,0.000,0.043,2763,3712,3869
$GC,1101,-0.69,-194.7,99.2,-8.5,178,1108,0.00,2.70,0.00,0.000,6,0.000,0.032,2763,2320,3869
$GC,1447,-0.69,-194.7,130.0,-9.6,239,1454,0.00,2.78,0.00,0.000,4,0.000,0.044,2763,3707,3869
$GC,1481,-0.69,-194.7,133.0,-9.5,244,1488,0.00,2.67,0.00,0.000,6,0.000,0.033,2763,2331,3869
$GC,1826,-0.69,-194.7,166.9,-9.4,305,1833,0.00,2.75,0.00,0.000,4,0.000,0.044,2763,3707,3869
$GC,1857,-0.69,-194.7,169.9,-9.5,310,1865,0.00,2.65,0.00,0.000,6,0.000,0.032,2763,2344,3869
$GC,2204,-0.69,-194.7,202.0,-9.0,371,2211,0.00,2.72,0.00,0.000,4,0.000,0.045,2763,3703,3869
$GC,2230,-0.69,-194.7,204.4,-8.9,375,2238,0.00,2.65,0.00,0.000,6,0.000,0.032,2763,2343,3869
$GC,2577,-0.69,-194.7,234.5,-8.8,436,2585,0.00,2.72,0.00,0.000,4,0.000,0.045,2763,3704,3869
$GC,2598,-0.69,-194.7,236.3,-9.0,439,2605,0.00,2.62,0.00,0.000,6,0.000,0.033,2763,2357,3869
$GC,2945,-0.69,-194.7,269.5,-9.4,500,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2356,3869
$GC,3290,-0.69,-194.7,301.1,-9.9,561,3297,0.00,2.72,0.00,0.000,4,0.000,0.047,2763,3711,3869
$GC,3333,-0.74,-194.7,305.2,-9.3,568,3340,0.00,2.62,0.00,0.000,6,0.000,0.033,2763,2363,3869
$GC,3680,-0.74,-194.7,336.7,-8.8,629,3687,0.00,2.70,0.00,0.000,4,0.000,0.046,2763,3704,3869
$GC,3700,-0.74,-194.7,338.5,-8.9,632,3707,0.00,2.60,0.00,0.000,6,0.000,0.033,2763,2367,3868
$GC,4034,-0.74,-194.7,369.5,-9.9,674,4038,0.00,2.70,0.00,0.000,4,0.000,0.047,2763,3711,3868
$GC,4067,-0.79,-194.7,372.9,-9.2,676,4075,0.00,2.60,0.00,0.000,6,0.000,0.033,2763,2371,3869
$GC,4396,-0.79,-194.7,404.4,-9.7,707,4400,0.00,2.70,0.00,0.000,4,0.000,0.046,2763,3713,3868
$GC,4417,-0.79,-194.7,407.0,-9.9,708,4425,0.00,2.60,0.00,0.000,6,0.000,0.033,2763,2379,3868
$GC,4746,-0.79,-194.7,438.7,-9.5,739,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2378,3868
$GC,5071,-0.79,-194.7,469.6,-9.0,770,5076,0.00,2.67,0.00,0.000,4,0.000,0.048,2763,3703,3868
$GC,5104,-0.83,-194.7,472.8,-9.6,772,5112,0.15,2.55,0.00,0.000,6,0.063,0.033,2735,2391,3867
$GC,5430,-0.83,-194.7,510.8,-11.9,803,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2390,3867
$GC,5750,-0.83,-194.7,546.7,-10.8,833,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2390,3867
$GC,6068,-0.83,-194.7,580.5,-10.6,863,6073,0.00,3.05,0.00,0.000,4,0.000,0.053,2735,885,3867
$GC,6100,-0.83,-194.7,584.3,-10.6,865,6108,0.00,2.92,0.00,0.000,6,0.000,0.031,2735,2386,3866
$GC,6422,-0.83,-194.7,617.2,-10.1,888,6423,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2387,3866
$GC,6730,-0.83,-194.7,648.2,-10.3,903,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2387,3866
$GC,7039,-0.83,-194.7,679.2,-10.2,918,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2387,3866
$GC,7350,-0.83,-194.7,710.6,-10.5,933,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2387,3866
$GC,7658,-0.83,-194.7,745.3,-11.4,948,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2387,3865
$GC,7968,-0.83,-194.7,780.3,-11.3,963,7973,0.00,3.35,0.00,0.000,4,0.000,0.090,2734,899,3865
$GC,8018,-0.83,-194.7,786.2,-11.2,965,8023,0.00,3.15,0.00,0.000,6,0.000,0.067,2735,2370,3865
$GC,8334,-0.83,-194.7,821.2,-11.0,980,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2372,3865
$GC,8644,-1.05,-194.7,832.5,0.0,995,8646,0.22,0.00,0.00,0.000,6,0.054,0.000,2691,2372,3865
$STATE,8765,end dive,NO_VERTICAL_VELOCITY
$STATE,8765,begin apogee
$GC,8773,-0.21,0.0,832.5,0.0,1001,8987,1.02,0.00,206.25,1.483,6,0.090,0.000,2870,2734,3071
$STATE,8988,end apogee,CONTROL_FINISHED_OK
$STATE,8988,begin climb
$GC,8991,0.86,194.7,832.4,0.0,1012,9212,1.40,2.95,209.15,1.427,4,0.079,0.096,3104,3898,2276
$GC,9240,0.72,194.7,813.3,13.1,1023,9246,0.17,2.60,0.00,0.000,6,0.120,0.071,3081,2766,2275
$GC,9564,0.64,205.2,781.1,9.6,1039,9582,0.00,0.00,11.93,1.213,6,0.000,0.000,3081,2764,2233
$GC,9893,0.57,208.9,749.6,9.9,1055,9904,0.20,3.03,5.35,0.956,4,0.111,0.066,3046,1329,2219
$GC,9935,0.65,278.7,746.0,7.6,1057,10014,0.00,2.92,72.93,1.397,6,0.000,0.050,3046,2750,1933
$GC,10332,0.84,389.5,718.7,6.2,1076,10457,0.25,3.17,117.15,1.377,4,0.049,0.058,3101,1328,1482
$GC,10488,0.84,389.5,703.7,10.0,1083,10492,0.00,2.90,0.00,0.000,6,0.000,0.038,3101,2726,1479
$GC,10816,0.84,389.5,670.5,10.5,1099,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2726,1475
$GC,11126,0.84,389.5,635.6,11.6,1114,11127,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2727,1473
$GC,11434,0.84,389.5,601.0,11.2,1129,11438,0.00,2.85,0.00,0.000,4,0.000,0.048,3101,1323,1472
$GC,11478,0.84,389.5,595.7,12.6,1132,11486,0.00,2.75,0.00,0.000,6,0.000,0.032,3101,2731,1471
$GC,11804,0.84,389.5,558.8,10.8,1163,11805,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2731,1471
$GC,12123,0.84,389.5,524.0,11.2,1193,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2731,1471
$GC,12441,0.84,389.5,488.0,12.2,1223,12445,0.00,2.83,0.00,0.000,4,0.000,0.045,3101,1327,1471
$GC,12480,0.84,389.5,482.9,12.8,1226,12485,0.00,2.70,0.00,0.000,6,0.000,0.032,3101,2709,1470
$GC,12806,0.84,389.5,443.7,12.0,1256,12810,0.00,2.38,0.00,0.000,4,0.000,0.050,3101,3899,1470
$GC,12834,0.84,389.5,440.2,12.4,1258,12839,0.00,2.35,0.00,0.000,6,0.000,0.031,3101,2680,1469
$GC,13160,0.84,389.5,402.0,11.6,1288,13164,0.00,2.72,0.00,0.000,4,0.000,0.048,3101,1318,1469
$GC,13188,0.84,389.5,398.7,11.4,1290,13192,0.00,2.70,0.00,0.000,6,0.000,0.031,3102,2705,1469
$GC,13513,0.84,389.5,363.2,10.7,1320,13517,0.00,2.38,0.00,0.000,4,0.000,0.050,3101,3895,1468
$GC,13546,0.84,389.5,359.4,11.1,1322,13553,0.00,2.35,0.00,0.000,6,0.000,0.031,3102,2676,1468
$GC,13885,0.84,389.5,323.6,10.5,1375,13892,0.00,2.70,0.00,0.000,4,0.000,0.047,3101,1323,1468
$GC,13934,0.84,389.5,318.3,10.7,1383,13942,0.00,2.65,0.00,0.000,6,0.000,0.031,3101,2690,1468
$GC,14280,0.84,389.5,282.1,10.4,1444,14288,0.00,2.40,0.00,0.000,4,0.000,0.048,3101,3898,1468
$GC,14312,0.84,389.5,278.5,12.1,1449,14319,0.00,2.40,0.00,0.000,6,0.000,0.031,3101,2654,1468
$GC,14656,0.84,389.5,242.0,10.5,1510,14664,0.00,2.65,0.00,0.000,4,0.000,0.045,3102,1322,1468
$GC,14699,0.84,389.5,237.6,10.6,1517,14706,0.00,2.65,0.00,0.000,6,0.000,0.030,3101,2690,1468
$GC,15044,0.84,389.5,201.2,10.6,1578,15052,0.00,2.40,0.00,0.000,4,0.000,0.048,3101,3897,1468
$GC,15075,0.84,389.5,197.8,11.0,1583,15082,0.00,2.40,0.00,0.000,6,0.000,0.031,3102,2652,1468
$GC,15421,0.84,389.5,161.5,10.6,1644,15428,0.00,2.62,0.00,0.000,4,0.000,0.046,3101,1327,1469
$GC,15453,0.84,389.5,158.1,10.6,1649,15460,0.00,2.62,0.00,0.000,6,0.000,0.030,3101,2684,1468
$GC,15798,0.84,389.5,122.4,10.6,1710,15806,0.00,2.40,0.00,0.000,4,0.000,0.048,3101,3892,1468
$GC,15830,0.84,389.5,119.0,11.4,1715,15837,0.00,2.40,0.00,0.000,6,0.000,0.031,3101,2650,1468
$GC,16174,0.84,389.5,83.6,11.2,1776,16182,0.00,2.62,0.00,0.000,4,0.000,0.047,3102,1327,1468
$GC,16211,0.84,389.5,79.5,11.1,1782,16218,0.00,2.62,0.00,0.000,6,0.000,0.030,3102,2687,1468
$GC,16555,0.88,389.5,43.8,11.6,1843,16563,0.00,2.40,0.00,0.000,4,0.000,0.048,3101,3900,1468
$GC,16587,0.94,389.5,40.3,10.2,1848,16594,0.00,2.40,0.00,0.000,6,0.000,0.032,3101,2651,1468
$GC,16736,0.99,396.3,26.2,9.8,1873,16752,0.15,2.70,5.40,0.676,4,0.052,0.046,3138,1328,1455
$GC,16776,0.99,396.3,21.2,11.9,1879,16783,0.00,2.62,0.00,0.000,6,0.000,0.029,3138,2690,1454
$GC,16922,0.99,396.3,3.9,11.6,1904,16929,0.00,2.38,0.00,0.000,4,0.000,0.046,3138,3902,1454
$STATE,16934,end climb,SURFACE_DEPTH_REACHED
$STATE,16934,begin surface coast
$FINISH,0.2,1.015744
$STATE,16952,end surface coast,CONTROL_FINISHED_OK
$STATE,16952,begin surface
$SM_CCo,17034,0.00,0.000,0,0,1453,396.90
$SM_GC,0.82,8.68,0.00,0.00,0.045,0.000,0.000,1431,2280,1453,-6.79,-0.54,396.90
$IRIDIUM_FIX,6126.23,-2611.49,150997,080846
$TT8_MAMPS,0.026845
$HUMID,1851
$INTERNAL_PRESSURE,8.93635
$TCM_TEMP,15.20
$XPDR_PINGS,888
$24V_AH,19.1,116.008
$10V_AH,9.8,75.971
$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,24.625,178.400,628.150,0.000,0.000,25.856,34.953,265.729,222.000,0.000,0.000,10.148,3894.996,8563.876,870.277,3398.803,774.919,0.000,2421.374,0.000,3398.418,0.000,0.466
$DEVICE_MAMPS,250.042,97.409,1483.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1325.739,1435.773,769.918,1775.815,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139008,1909
$CAP_FILE_SIZE,174359,0
$CFSIZE,260165632,221417472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015, 95.9,1
$GPS,210608,171538,6150.054,-2614.384,31,1.2,31,-18.8