version: 66.03
glider: 142
mission: 5
dive: 369
start: 6 20 108 13 59 7
data:
$ID,142
$MISSION,5
$DIVE,369
$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,-19927.734
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,135031,6155.285,-2606.281,40,1.1,40,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-52.6
$GPS2,135833,6155.236,-2606.145,10,1.4,10,-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,77.7,5438,-21.1,-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,-1.00,-103.5,0.0,0.0,0,171,0.00,0.00,-145.90,0.000,6,0.000,0.000,1432,2287,3492
$GC,174,-1.12,-194.7,3.2,-4.1,19,205,11.45,2.85,-10.18,0.000,4,0.249,0.051,2670,3712,3867
$GC,395,-1.06,-194.7,44.8,-18.4,56,402,0.00,2.72,0.00,0.000,6,0.000,0.031,2670,2304,3868
$GC,540,-0.98,-194.7,71.2,-18.8,81,546,0.17,0.00,0.00,0.000,6,0.156,0.000,2697,2304,3868
$GC,884,-0.98,-194.7,127.0,-15.4,142,891,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2304,3869
$GC,1229,-0.98,-194.7,178.2,-14.5,203,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2303,3869
$GC,1574,-0.98,-194.7,230.4,-15.7,264,1581,0.00,2.80,0.00,0.000,4,0.000,0.044,2697,3707,3869
$GC,1610,-0.98,-194.7,236.3,-16.0,270,1618,0.00,2.80,0.00,0.000,6,0.000,0.033,2697,2271,3869
$GC,1957,-0.98,-194.7,290.1,-14.7,331,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2270,3868
$GC,2301,-0.98,-194.7,341.1,-14.5,392,2308,0.00,2.88,0.00,0.000,4,0.000,0.045,2697,3706,3868
$GC,2326,-0.98,-194.7,345.1,-15.2,396,2333,0.00,2.80,0.00,0.000,6,0.000,0.034,2697,2274,3868
$GC,2662,-0.98,-194.7,395.3,-15.5,430,2663,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2272,3868
$GC,2979,-0.98,-194.7,446.2,-16.3,460,2984,0.00,2.90,0.00,0.000,4,0.000,0.046,2697,3713,3868
$GC,3021,-0.98,-194.7,452.7,-15.6,463,3025,0.00,2.80,0.00,0.000,6,0.000,0.035,2697,2286,3868
$GC,3350,-0.98,-194.7,505.8,-16.4,493,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2286,3868
$GC,3675,-0.98,-194.7,560.1,-15.9,524,3677,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2285,3868
$GC,4003,-0.98,-194.7,611.5,-16.0,552,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2285,3867
$GC,4312,-0.98,-194.7,659.6,-14.9,567,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2286,3867
$GC,4621,-0.98,-194.7,704.3,-13.8,582,4622,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2286,3867
$GC,4931,-0.98,-194.7,745.4,-13.1,597,4932,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2286,3866
$GC,5240,-0.98,-194.7,787.4,-13.8,612,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2286,3866
$GC,5549,-0.98,-194.7,830.1,-13.3,627,5555,0.00,3.33,0.00,0.000,4,0.000,0.106,2697,3700,3866
$GC,5576,-0.98,-194.7,833.9,-13.2,628,5582,0.00,3.17,0.00,0.000,6,0.000,0.091,2697,2302,3865
$GC,5894,-1.21,-194.7,845.0,-0.0,643,5896,0.22,0.00,0.00,0.000,6,0.052,0.000,2650,2301,3866
$STATE,5995,end dive,NO_VERTICAL_VELOCITY
$STATE,5995,begin apogee
$GC,6002,-0.21,0.0,845.0,0.0,648,6217,1.33,0.00,205.62,1.491,6,0.112,0.000,2869,2742,3071
$STATE,6217,end apogee,CONTROL_FINISHED_OK
$STATE,6218,begin climb
$GC,6221,1.12,194.7,844.8,0.0,659,6442,1.77,2.92,208.32,1.424,4,0.090,0.095,3159,3899,2277
$GC,6515,0.97,194.7,808.5,17.0,672,6523,0.17,2.58,0.00,0.000,6,0.137,0.070,3136,2746,2276
$GC,6831,0.87,194.7,764.3,13.7,688,6836,0.15,2.50,0.00,0.000,4,0.130,0.072,3112,3906,2274
$GC,6881,0.82,194.7,757.5,13.2,690,6885,0.00,2.33,0.00,0.000,6,0.000,0.052,3112,2766,2274
$GC,7203,0.82,194.7,719.6,12.0,706,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2765,2273
$GC,7513,0.78,194.7,682.6,12.1,721,7518,0.12,2.38,0.00,0.000,4,0.131,0.059,3094,3911,2273
$GC,7546,0.78,194.7,678.3,11.8,722,7554,0.00,2.25,0.00,0.000,6,0.000,0.040,3094,2773,2273
$GC,7862,0.78,194.7,642.6,11.7,738,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2773,2273
$GC,8172,0.78,194.7,606.2,11.5,753,8177,0.00,2.90,0.00,0.000,4,0.000,0.052,3094,1335,2273
$GC,8199,0.78,194.7,602.5,12.5,754,8204,0.00,2.88,0.00,0.000,6,0.000,0.034,3094,2796,2273
$GC,8528,0.78,194.7,563.8,11.7,783,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2796,2272
$GC,8853,0.78,194.7,526.7,10.9,814,8858,0.00,2.92,0.00,0.000,4,0.000,0.045,3094,1337,2272
$GC,8886,0.78,194.7,523.0,11.5,816,8893,0.00,2.85,0.00,0.000,6,0.000,0.034,3094,2785,2272
$GC,9215,0.78,194.7,489.1,10.4,847,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2785,2272
$GC,9541,0.78,194.7,455.6,10.2,878,9545,0.00,2.92,0.00,0.000,4,0.000,0.044,3094,1331,2271
$GC,9562,0.78,194.7,453.2,10.5,879,9569,0.00,2.83,0.00,0.000,6,0.000,0.032,3094,2773,2271
$GC,9889,0.79,199.0,421.0,9.7,910,9898,0.00,0.00,5.00,0.817,6,0.000,0.000,3094,2773,2259
$GC,10219,0.79,199.0,388.6,10.2,941,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2773,2259
$GC,10544,0.79,199.4,355.3,10.0,972,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2773,2259
$GC,10878,0.79,199.4,322.8,10.1,1026,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2772,2259
$GC,11223,0.79,199.4,289.2,10.2,1087,11229,0.00,2.22,0.00,0.000,4,0.000,0.048,3094,3899,2259
$GC,11259,0.79,199.4,285.2,10.6,1093,11266,0.00,2.20,0.00,0.000,6,0.000,0.030,3095,2751,2259
$GC,11604,0.79,199.4,251.4,10.0,1154,11611,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2743,2259
$GC,11950,0.79,199.4,217.0,10.3,1215,11957,0.00,2.30,0.00,0.000,4,0.000,0.048,3094,3896,2259
$GC,11981,0.79,199.4,213.8,10.7,1220,11988,0.00,2.15,0.00,0.000,6,0.000,0.031,3094,2769,2259
$GC,12328,0.80,209.7,180.7,9.3,1281,12342,0.00,0.00,12.02,0.926,6,0.000,0.000,3094,2761,2216
$GC,12683,0.80,209.7,147.0,10.2,1343,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2761,2215
$GC,13027,0.80,209.7,111.1,12.2,1404,13033,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2761,2216
$GC,13372,0.84,209.7,64.4,12.5,1465,13378,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2761,2215
$GC,13716,0.92,226.4,33.8,8.9,1526,13739,0.12,2.35,17.38,0.897,4,0.061,0.048,3119,3901,2147
$GC,13780,0.92,226.4,26.6,11.5,1536,13788,0.00,2.15,0.00,0.000,6,0.000,0.030,3120,2776,2147
$GC,13926,0.92,226.4,10.2,10.8,1561,13933,0.00,2.83,0.00,0.000,4,0.000,0.044,3120,1349,2146
$GC,13975,0.92,226.4,4.7,11.2,1569,13982,0.00,2.78,0.00,0.000,6,0.000,0.030,3120,2778,2146
$STATE,13998,end climb,SURFACE_DEPTH_REACHED
$STATE,13998,begin surface coast
$FINISH,0.2,1.025952
$STATE,14017,end surface coast,CONTROL_FINISHED_OK
$STATE,14017,begin surface
$SM_CCo,14097,0.00,0.000,0,0,2145,227.15
$SM_GC,1.09,8.55,0.00,0.00,0.044,0.000,0.000,1434,2286,2145,-6.79,-0.40,227.15
$IRIDIUM_FIX,6130.75,-2611.42,140997,090916
$TT8_MAMPS,0.026078
$HUMID,1856
$INTERNAL_PRESSURE,8.98518
$TCM_TEMP,16.50
$XPDR_PINGS,741
$24V_AH,19.1,114.583
$10V_AH,9.8,75.167
$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,24.075,82.325,448.350,0.000,0.000,27.610,35.219,258.416,185.250,0.000,0.000,13.974,3141.988,7322.248,666.154,2771.816,670.681,0.000,1893.760,0.000,2773.194,0.000,0.465
$DEVICE_MAMPS,249.275,105.846,1491.048,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1091.692,1189.621,614.960,1479.940,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,117107,1576
$CAP_FILE_SIZE,129532,0
$CFSIZE,260165632,221917184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,209.7,1
$GPS,200608,175507,6155.703,-2603.061,26,2.0,26,-18.7