version: 66.03
glider: 142
mission: 5
dive: 339
start: 6 14 108 11 46 48
data:
$ID,142
$MISSION,5
$DIVE,339
$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,-19319.754
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,113831,6154.991,-2606.636,38,1.2,43,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-55.8
$GPS2,114614,6154.962,-2606.478,9,1.2,14,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6156.130,-2600.200
$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,82.0,5882,-22.8,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.06,-89.2,0.0,0.0,0,144,0.00,0.00,-117.82,0.000,6,0.000,0.000,1436,2275,3435
$GC,148,-1.14,-154.1,3.5,-5.1,16,172,11.57,2.85,-7.28,0.000,4,0.252,0.055,2664,889,3701
$GC,393,-1.07,-154.1,47.7,-16.9,58,401,0.12,2.70,0.00,0.000,6,0.151,0.030,2680,2301,3702
$GC,538,-1.07,-154.1,70.3,-15.3,83,546,0.00,2.80,0.00,0.000,4,0.000,0.046,2681,893,3702
$GC,587,-1.07,-154.1,78.4,-16.3,91,594,0.00,2.62,0.00,0.000,6,0.000,0.028,2680,2263,3702
$GC,933,-1.07,-154.1,132.4,-14.7,152,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2263,3702
$GC,1278,-1.07,-154.1,183.0,-14.7,213,1285,0.00,2.67,0.00,0.000,4,0.000,0.046,2680,893,3702
$GC,1309,-1.07,-154.1,187.7,-15.2,218,1316,0.00,2.60,0.00,0.000,6,0.000,0.029,2680,2247,3702
$GC,1656,-1.07,-154.1,239.8,-14.4,279,1663,0.00,2.70,0.00,0.000,4,0.000,0.047,2680,897,3702
$GC,1681,-1.07,-154.1,243.6,-14.7,283,1688,0.00,2.58,0.00,0.000,6,0.000,0.030,2680,2238,3703
$GC,2027,-1.07,-154.1,293.4,-14.9,344,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2239,3702
$GC,2373,-1.07,-154.1,342.6,-14.7,405,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2242,3702
$GC,2703,-1.07,-154.1,392.3,-15.6,440,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2244,3702
$GC,3018,-1.07,-154.1,441.7,-16.0,470,3023,0.00,2.70,0.00,0.000,4,0.000,0.048,2680,893,3702
$GC,3047,-1.07,-154.1,446.4,-17.3,472,3051,0.00,2.60,0.00,0.000,6,0.000,0.030,2680,2244,3702
$GC,3374,-1.07,-154.1,498.3,-15.8,502,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2245,3702
$GC,3690,-1.07,-154.1,547.5,-14.6,532,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2245,3702
$GC,4009,-1.07,-154.1,593.1,-14.1,562,4013,0.00,2.72,0.00,0.000,4,0.000,0.049,2680,896,3702
$GC,4080,-1.07,-154.1,603.5,-13.8,567,4085,0.00,2.60,0.00,0.000,6,0.000,0.031,2680,2237,3702
$GC,4397,-1.07,-154.1,648.9,-14.8,582,4398,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2238,3702
$GC,4706,-1.07,-154.1,694.6,-14.7,597,4710,0.00,2.78,0.00,0.000,4,0.000,0.057,2681,890,3701
$GC,4746,-1.07,-154.1,700.5,-15.0,599,4750,0.00,2.62,0.00,0.000,6,0.000,0.038,2680,2217,3702
$GC,5073,-1.07,-154.1,746.0,-13.9,615,5078,0.00,3.12,0.00,0.000,4,0.000,0.071,2680,3692,3701
$GC,5106,-1.07,-154.1,751.0,-15.0,616,5114,0.00,3.00,0.00,0.000,6,0.000,0.058,2680,2248,3701
$GC,5422,-1.07,-154.1,797.4,-14.4,632,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2247,3701
$GC,5732,-1.07,-154.1,843.8,-14.5,647,5737,0.00,3.20,0.00,0.000,4,0.000,0.118,2680,903,3700
$GC,5773,-1.07,-154.1,849.8,-14.9,649,5777,0.00,2.97,0.00,0.000,6,0.000,0.095,2680,2207,3700
$GC,6101,-1.12,-154.1,894.7,-12.0,665,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2207,3700
$GC,6411,-1.57,-194.7,894.8,-0.0,680,6419,0.50,3.70,0.00,0.000,4,0.048,0.131,2578,3692,3700
$STATE,6423,end dive,NO_VERTICAL_VELOCITY
$STATE,6423,begin apogee
$GC,6432,-0.21,0.0,894.8,0.0,680,6600,1.55,0.00,163.65,1.510,6,0.071,0.000,2867,2765,3072
$STATE,6601,end apogee,CONTROL_FINISHED_OK
$STATE,6601,begin climb
$GC,6604,1.19,194.7,894.7,0.0,689,6827,1.73,3.83,209.85,1.446,4,0.064,0.120,3172,1332,2277
$GC,7018,1.06,194.7,836.9,18.8,707,7023,0.00,3.20,0.00,0.000,6,0.000,0.087,3172,2735,2275
$GC,7335,0.93,194.7,781.4,18.3,722,7340,0.28,2.53,0.00,0.000,4,0.134,0.078,3128,3908,2274
$GC,7401,0.93,194.7,770.3,15.4,725,7405,0.00,2.38,0.00,0.000,6,0.000,0.055,3128,2756,2273
$GC,7723,0.93,194.7,722.9,14.7,741,7727,0.00,2.40,0.00,0.000,4,0.000,0.064,3128,3906,2273
$GC,7801,0.93,194.7,711.0,15.2,744,7808,0.00,2.22,0.00,0.000,6,0.000,0.042,3128,2787,2272
$GC,8116,0.93,194.7,667.5,13.1,760,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2784,2272
$GC,8426,0.93,194.7,625.7,13.9,775,8430,0.00,2.30,0.00,0.000,4,0.000,0.055,3128,3912,2271
$GC,8459,0.93,194.7,620.9,13.9,776,8466,0.00,2.17,0.00,0.000,6,0.000,0.034,3128,2788,2271
$GC,8779,0.93,194.7,577.6,13.8,799,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2786,2272
$GC,9098,0.93,194.7,533.8,14.1,829,9102,0.00,2.25,0.00,0.000,4,0.000,0.058,3128,3905,2272
$GC,9125,0.93,194.7,529.4,15.7,831,9132,0.00,2.12,0.00,0.000,6,0.000,0.031,3129,2797,2271
$GC,9452,0.93,194.7,481.7,14.7,862,9456,0.00,2.25,0.00,0.000,4,0.000,0.050,3128,3915,2272
$GC,9482,0.93,194.7,477.0,15.1,864,9485,0.00,2.10,0.00,0.000,6,0.000,0.031,3128,2818,2271
$GC,9809,0.93,194.7,431.6,13.5,894,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2810,2272
$GC,10135,0.93,194.7,389.0,12.8,925,10139,0.00,2.20,0.00,0.000,4,0.000,0.050,3128,3910,2272
$GC,10164,0.93,194.7,385.1,13.9,927,10168,0.00,2.08,0.00,0.000,6,0.000,0.030,3128,2825,2271
$GC,10492,0.93,194.7,345.0,11.9,961,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2817,2271
$GC,10836,0.93,194.7,301.5,12.9,1022,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2818,2271
$GC,11182,0.93,194.7,255.8,13.8,1083,11189,0.00,2.17,0.00,0.000,4,0.000,0.048,3128,3909,2271
$GC,11224,0.93,194.7,250.0,13.8,1090,11231,0.00,2.10,0.00,0.000,6,0.000,0.030,3128,2825,2271
$GC,11571,0.93,194.7,204.0,13.0,1151,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2818,2271
$GC,11915,0.93,194.7,160.7,12.4,1212,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2817,2271
$GC,12260,0.93,194.7,119.7,11.0,1273,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2818,2272
$GC,12603,0.93,194.7,78.5,13.6,1334,12609,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2818,2272
$GC,12946,0.93,194.7,28.7,12.0,1395,12953,0.00,2.15,0.00,0.000,4,0.000,0.048,3128,3906,2271
$GC,13022,0.93,194.7,19.0,12.9,1408,13029,0.00,2.05,0.00,0.000,6,0.000,0.031,3128,2831,2272
$GC,13164,0.93,194.7,2.5,10.2,1433,13171,0.00,2.95,0.00,0.000,4,0.000,0.044,3128,1334,2272
$STATE,13176,end climb,SURFACE_DEPTH_REACHED
$STATE,13176,begin surface coast
$FINISH,0.2,1.012818
$STATE,13199,end surface coast,CONTROL_FINISHED_OK
$STATE,13200,begin surface
$SM_CCo,13221,3.92,0.554,0,0,2255,200.16
$SM_GC,2.06,0.00,0.00,3.92,0.000,0.000,0.554,1436,2328,2255,-6.83,0.79,200.16
$IRIDIUM_FIX,6130.75,-2613.50,080997,070718
$TT8_MAMPS,0.026845
$HUMID,1857
$INTERNAL_PRESSURE,8.98518
$TCM_TEMP,16.50
$XPDR_PINGS,725
$24V_AH,19.1,105.656
$10V_AH,9.9,70.301
$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,24.375,103.200,373.500,3.925,0.000,30.467,33.507,242.526,181.250,0.000,0.000,16.062,2909.747,6939.745,570.452,2639.048,629.822,0.000,1746.576,0.000,2629.536,0.000,0.465
$DEVICE_MAMPS,251.576,131.157,1510.223,553.774,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,994.255,1081.953,567.236,1349.594,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104500,1439
$CAP_FILE_SIZE,125578,0
$CFSIZE,260165632,224698368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,343.2,1
$GPS,140608,152831,6156.147,-2603.547,38,1.7,38,-18.7