version: 66.03
glider: 142
mission: 5
dive: 365
start: 6 19 108 18 20 45
data:
$ID,142
$MISSION,5
$DIVE,365
$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,-19869.324
$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
$GPS1,180452,6155.282,-2620.972,39,2.7,58,-18.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-54.7
$GPS2,182023,6155.295,-2620.959,13,5.5,32,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-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,346.5,2343,-27.2,-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,20,begin dive
$GC,23,-1.21,-63.0,0.0,0.0,0,157,0.00,0.00,-128.57,0.000,6,0.000,0.000,1430,2290,3328
$GC,161,-1.27,-112.0,3.0,-4.8,17,185,11.32,2.85,-6.07,0.000,4,0.252,0.051,2635,889,3529
$GC,226,-1.19,-112.0,15.1,-18.3,27,234,0.15,2.72,0.00,0.000,6,0.157,0.029,2654,2311,3529
$GC,371,-1.19,-112.0,39.6,-15.7,52,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2316,3530
$GC,514,-1.19,-112.0,61.9,-15.2,77,521,0.00,2.83,0.00,0.000,4,0.000,0.044,2655,891,3530
$GC,686,-1.19,-112.0,88.9,-16.2,107,693,0.00,2.62,0.00,0.000,6,0.000,0.030,2655,2260,3530
$GC,1030,-1.19,-112.0,142.1,-15.4,168,1037,0.00,2.72,0.00,0.000,4,0.000,0.045,2655,890,3530
$GC,1111,-1.19,-112.0,155.3,-16.3,182,1118,0.00,2.60,0.00,0.000,6,0.000,0.030,2654,2245,3530
$GC,1458,-1.19,-112.0,209.2,-15.6,243,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2246,3530
$GC,1801,-1.19,-112.0,260.6,-14.2,304,1809,0.00,2.70,0.00,0.000,4,0.000,0.046,2655,891,3530
$GC,1855,-1.19,-112.0,268.6,-14.8,313,1862,0.00,2.58,0.00,0.000,6,0.000,0.031,2655,2230,3531
$GC,2201,-1.19,-112.0,317.6,-14.1,374,2208,0.00,2.67,0.00,0.000,4,0.000,0.047,2655,894,3530
$GC,2261,-1.19,-112.0,326.5,-15.0,384,2268,0.00,2.55,0.00,0.000,6,0.000,0.030,2655,2219,3530
$GC,2596,-1.19,-112.0,375.7,-15.1,429,2597,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2225,3530
$GC,2915,-1.19,-112.0,423.6,-14.6,459,2920,0.00,2.65,0.00,0.000,4,0.000,0.047,2655,897,3530
$GC,2992,-1.19,-112.0,435.6,-14.7,465,3000,0.00,2.53,0.00,0.000,6,0.000,0.030,2655,2208,3530
$GC,3320,-1.19,-112.0,481.5,-15.2,496,3325,0.00,2.65,0.00,0.000,4,0.000,0.047,2655,886,3529
$GC,3365,-1.19,-112.0,489.4,-16.9,499,3372,0.00,2.53,0.00,0.000,6,0.000,0.030,2655,2198,3529
$GC,3693,-1.19,-112.0,544.1,-16.8,530,3698,0.00,3.00,0.00,0.000,4,0.000,0.046,2655,3702,3529
$GC,3760,-1.19,-112.0,556.3,-17.8,535,3767,0.00,2.92,0.00,0.000,6,0.000,0.035,2655,2213,3529
$GC,4083,-1.19,-112.0,612.0,-17.0,563,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2211,3529
$GC,4393,-1.19,-112.0,659.9,-14.8,578,4397,0.00,2.67,0.00,0.000,4,0.000,0.058,2655,898,3529
$GC,4470,-1.19,-112.0,672.3,-15.9,581,4477,0.00,2.58,0.00,0.000,6,0.000,0.035,2655,2209,3528
$GC,4786,-1.19,-112.0,719.3,-14.8,597,4791,0.00,2.75,0.00,0.000,4,0.000,0.063,2655,896,3528
$GC,4872,-1.19,-112.0,732.4,-15.4,601,4876,0.00,2.60,0.00,0.000,6,0.000,0.045,2655,2182,3528
$GC,5199,-1.19,-112.0,782.8,-15.1,617,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2183,3528
$GC,5510,-1.19,-112.0,829.8,-14.8,632,5514,0.00,3.00,0.00,0.000,4,0.000,0.107,2655,906,3527
$GC,5595,-1.19,-112.0,843.4,-16.1,636,5600,0.00,2.85,0.00,0.000,6,0.000,0.089,2655,2167,3527
$GC,5923,-1.19,-112.0,890.5,-14.2,652,5928,0.00,3.22,0.00,0.000,4,0.000,0.136,2655,907,3527
$GC,6017,-1.19,-112.0,904.3,-14.2,656,6022,0.00,3.03,0.00,0.000,6,0.000,0.118,2655,2149,3527
$GC,6334,-1.19,-112.0,947.7,-13.7,671,6339,0.00,3.47,0.00,0.000,4,0.000,0.169,2655,908,3526
$GC,6352,-1.25,-112.0,949.5,-12.4,672,6357,0.00,3.17,0.00,0.000,6,0.000,0.139,2654,2137,3526
$STATE,6614,end dive,NO_VERTICAL_VELOCITY
$STATE,6614,begin apogee
$GC,6623,-0.21,0.0,949.6,0.0,685,6746,1.25,0.00,119.12,1.569,6,0.098,0.000,2869,2723,3071
$STATE,6746,end apogee,CONTROL_FINISHED_OK
$STATE,6746,begin climb
$GC,6749,1.27,112.0,949.4,0.0,691,6881,1.92,3.12,122.28,1.513,4,0.094,0.047,3189,1345,2614
$GC,6932,1.16,112.0,932.0,15.3,699,6937,0.00,2.95,0.00,0.000,6,0.000,0.033,3189,2772,2613
$GC,7255,1.05,112.0,886.1,13.1,715,7256,0.25,0.00,0.00,0.000,6,0.147,0.000,3155,2772,2611
$GC,7562,1.05,112.0,849.0,12.8,730,7566,0.00,2.25,0.00,0.000,4,0.000,0.054,3154,3896,2610
$GC,7572,1.05,112.0,847.4,13.6,730,7580,0.00,2.22,0.00,0.000,6,0.000,0.032,3154,2748,2610
$GC,7889,1.05,112.0,807.5,12.1,746,7893,0.00,2.33,0.00,0.000,4,0.000,0.051,3155,3897,2610
$GC,7933,1.00,112.0,801.7,13.1,748,7937,0.00,2.15,0.00,0.000,6,0.000,0.032,3154,2773,2610
$GC,8261,1.00,112.0,761.0,12.8,764,8265,0.00,2.28,0.00,0.000,4,0.000,0.051,3155,3903,2609
$GC,8279,0.95,112.0,758.6,13.0,765,8284,0.17,2.17,0.00,0.000,6,0.154,0.032,3131,2774,2609
$GC,8606,0.95,112.0,718.6,11.9,781,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2772,2610
$GC,8916,0.95,112.0,684.4,11.4,796,8920,0.00,2.28,0.00,0.000,4,0.000,0.051,3131,3900,2610
$GC,8956,0.95,112.0,679.6,12.5,798,8960,0.00,2.15,0.00,0.000,6,0.000,0.031,3131,2782,2610
$GC,9283,0.95,112.0,641.2,11.9,814,9287,0.00,2.25,0.00,0.000,4,0.000,0.051,3131,3896,2609
$GC,9316,0.95,112.0,636.9,12.4,815,9323,0.00,2.12,0.00,0.000,6,0.000,0.031,3131,2791,2609
$GC,9633,0.95,112.0,601.4,11.2,831,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2786,2609
$GC,9949,0.95,112.0,563.3,11.7,860,9953,0.00,2.25,0.00,0.000,4,0.000,0.051,3131,3904,2609
$GC,10024,0.95,112.0,554.2,12.1,866,10028,0.00,2.12,0.00,0.000,6,0.000,0.031,3131,2797,2609
$GC,10351,0.95,112.0,515.6,12.1,896,10355,0.00,2.22,0.00,0.000,4,0.000,0.051,3131,3901,2608
$GC,10370,0.95,112.0,513.2,12.7,897,10374,0.00,2.10,0.00,0.000,6,0.000,0.031,3131,2804,2608
$GC,10705,0.95,112.0,473.2,11.5,928,10712,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2797,2609
$GC,11031,0.95,112.0,437.5,10.6,959,11035,0.00,2.20,0.00,0.000,4,0.000,0.057,3131,3896,2609
$GC,11047,0.95,112.0,435.5,10.9,960,11055,0.00,2.08,0.00,0.000,6,0.000,0.030,3130,2807,2608
$GC,11375,0.95,112.0,398.7,11.1,991,11379,0.00,2.20,0.00,0.000,4,0.000,0.049,3131,3901,2608
$GC,11392,0.95,112.0,396.5,11.3,992,11396,0.00,2.10,0.00,0.000,6,0.000,0.030,3131,2802,2608
$GC,11726,0.95,112.0,362.0,10.3,1023,11732,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2793,2608
$GC,12064,0.95,112.0,326.1,10.1,1074,12071,0.00,2.20,0.00,0.000,4,0.000,0.048,3131,3897,2609
$GC,12095,0.95,112.0,322.6,11.0,1079,12102,0.00,2.08,0.00,0.000,6,0.000,0.030,3131,2810,2608
$GC,12440,0.95,112.0,286.0,10.2,1140,12448,0.00,2.20,0.00,0.000,4,0.000,0.049,3131,3905,2609
$GC,12472,0.95,112.0,282.6,11.2,1145,12479,0.00,2.08,0.00,0.000,6,0.000,0.030,3131,2817,2609
$GC,12817,0.95,112.0,247.2,10.0,1206,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2810,2609
$GC,13163,0.95,112.0,211.7,10.9,1267,13170,0.00,2.17,0.00,0.000,4,0.000,0.048,3131,3902,2609
$GC,13201,0.95,112.0,207.8,10.7,1273,13208,0.00,2.08,0.00,0.000,6,0.000,0.030,3131,2813,2609
$GC,13547,0.96,114.4,173.2,9.7,1334,13554,0.00,2.17,0.00,0.000,4,0.000,0.048,3131,3898,2609
$GC,13568,0.96,115.3,171.1,9.9,1337,13574,0.00,2.03,0.00,0.000,6,0.000,0.030,3131,2834,2609
$GC,13914,0.96,115.3,136.6,10.1,1398,13921,0.00,2.15,0.00,0.000,4,0.000,0.049,3131,3891,2609
$GC,13935,0.96,115.3,134.4,10.8,1401,13942,0.00,2.00,0.00,0.000,6,0.000,0.030,3131,2843,2609
$GC,14280,0.96,115.3,97.2,10.5,1462,14287,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2835,2610
$GC,14626,1.00,115.3,58.2,12.2,1523,14632,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2835,2609
$GC,14970,1.06,115.4,21.2,10.0,1584,14979,0.00,2.20,4.22,0.593,4,0.000,0.047,3131,3899,2600
$GC,15113,1.06,117.7,7.3,9.8,1608,15121,0.00,2.03,3.62,0.529,6,0.000,0.030,3131,2830,2591
$STATE,15171,end climb,SURFACE_DEPTH_REACHED
$STATE,15171,begin surface coast
$FINISH,0.1,1.012187
$STATE,15195,end surface coast,CONTROL_FINISHED_OK
$STATE,15195,begin surface
$SM_CCo,15215,75.35,0.951,0,0,2255,200.16
$SM_GC,0.89,0.00,0.00,75.35,0.000,0.000,0.951,1436,2296,2255,-6.83,-0.11,200.16
$IRIDIUM_FIX,6130.75,-2625.73,130997,181850
$TT8_MAMPS,0.026845
$HUMID,1844
$INTERNAL_PRESSURE,8.99494
$TCM_TEMP,16.60
$XPDR_PINGS,819
$24V_AH,19.1,113.332
$10V_AH,9.8,74.517
$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,23.925,146.025,249.250,75.350,0.000,85.494,104.799,424.413,204.750,0.000,0.000,34.728,3341.458,8275.700,596.947,2970.611,1023.414,0.000,1905.200,0.000,2950.930,0.000,0.465
$DEVICE_MAMPS,252.343,168.740,1569.282,951.080,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1121.632,1223.970,636.075,1478.440,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120199,1622
$CAP_FILE_SIZE,155640,0
$CFSIZE,260165632,222257152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,324.5,1
$GPS,190608,223656,6156.771,-2623.828,40,1.4,40,-18.9