version: 66.03
glider: 142
mission: 5
dive: 210
start: 5 19 108 16 33 41
data:
$ID,142
$MISSION,5
$DIVE,210
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51804
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,20
$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,-16999.25
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,162533,6111.650,-2538.405,43,2.0,50,-18.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-58.0
$GPS2,163321,6111.551,-2538.451,11,1.6,11,-18.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6121.699,-2536.681
$TGT_RADIUS,1852.000
$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,38.1,20000,-21.7,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.03,-97.3,0.0,0.0,0,94,0.00,0.00,-65.68,0.000,2,0.000,0.000,1430,2295,3409
$GC,97,-1.03,-97.3,3.1,-5.4,12,117,11.68,2.83,-1.85,0.000,4,0.255,0.046,2681,3711,3468
$GC,320,-0.98,-97.3,38.2,-16.0,51,327,0.15,2.78,0.00,0.000,6,0.167,0.033,2699,2293,3469
$GC,463,-0.98,-97.3,56.8,-12.3,76,470,0.00,2.80,0.00,0.000,4,0.000,0.049,2699,892,3470
$GC,522,-0.98,-97.3,64.5,-13.5,86,529,0.00,2.75,0.00,0.000,6,0.000,0.029,2699,2321,3469
$GC,866,-0.98,-97.3,108.5,-12.3,147,871,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2321,3470
$GC,1208,-0.98,-97.3,149.2,-11.0,208,1214,0.00,2.88,0.00,0.000,4,0.000,0.048,2699,883,3471
$GC,1299,-0.98,-97.3,159.8,-11.7,224,1306,0.00,2.70,0.00,0.000,6,0.000,0.029,2699,2290,3471
$GC,1644,-0.98,-97.3,198.4,-11.3,285,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2291,3471
$GC,1985,-0.98,-97.3,238.8,-12.3,346,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2291,3471
$GC,2328,-0.98,-97.3,278.8,-11.6,407,2334,0.00,2.83,0.00,0.000,4,0.000,0.048,2699,883,3471
$GC,2379,-0.98,-97.3,285.1,-12.5,416,2386,0.00,2.70,0.00,0.000,6,0.000,0.029,2699,2289,3471
$GC,2725,-0.98,-97.3,325.1,-11.3,477,2731,0.00,2.80,0.00,0.000,4,0.000,0.048,2699,889,3471
$GC,2804,-0.98,-97.3,334.7,-11.8,491,2810,0.00,2.65,0.00,0.000,6,0.000,0.030,2699,2265,3471
$GC,3136,-0.98,-97.3,371.3,-10.9,534,3141,0.00,2.75,0.00,0.000,4,0.000,0.048,2699,891,3471
$GC,3180,-0.98,-97.3,376.3,-11.6,537,3186,0.00,2.65,0.00,0.000,6,0.000,0.031,2699,2269,3471
$GC,3506,-0.98,-97.3,411.5,-10.8,568,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2269,3471
$GC,3823,-0.98,-97.3,446.7,-10.8,598,3828,0.00,2.78,0.00,0.000,4,0.000,0.048,2700,888,3471
$GC,3879,-0.98,-97.3,453.2,-11.8,602,3885,0.00,2.65,0.00,0.000,6,0.000,0.031,2699,2265,3471
$GC,4205,-0.98,-97.3,488.4,-10.5,633,4206,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2265,3471
$GC,4522,-0.98,-97.3,522.6,-11.1,663,4527,0.00,2.75,0.00,0.000,4,0.000,0.049,2699,893,3470
$GC,4584,-0.98,-97.3,530.0,-12.5,668,4588,0.00,2.67,0.00,0.000,6,0.000,0.031,2699,2277,3470
$GC,4909,-0.98,-97.3,566.4,-11.3,698,4913,0.00,2.80,0.00,0.000,4,0.000,0.051,2699,893,3471
$GC,5165,-0.98,-97.3,597.0,-11.2,720,5173,0.00,2.67,0.00,0.000,6,0.000,0.032,2699,2252,3470
$GC,5493,-0.98,-97.3,630.9,-10.2,738,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2252,3470
$GC,5802,-0.98,-97.3,662.6,-10.3,753,5807,0.00,2.80,0.00,0.000,4,0.000,0.057,2699,891,3470
$GC,6059,-0.98,-97.3,692.5,-11.8,764,6066,0.00,2.65,0.00,0.000,6,0.000,0.038,2699,2237,3470
$GC,6374,-0.98,-97.3,726.9,-11.0,780,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2237,3470
$GC,6684,-0.98,-97.3,759.9,-10.7,795,6688,0.00,2.90,0.00,0.000,4,0.000,0.077,2699,898,3470
$GC,6778,-0.98,-97.3,770.7,-11.7,799,6782,0.00,2.72,0.00,0.000,6,0.000,0.058,2699,2214,3470
$GC,7093,-0.98,-97.3,803.1,-10.3,814,7098,0.00,2.95,0.00,0.000,4,0.000,0.092,2700,900,3470
$GC,7209,-0.98,-97.3,816.1,-11.1,819,7214,0.00,2.85,0.00,0.000,6,0.000,0.081,2699,2207,3470
$GC,7532,-0.98,-97.3,848.1,-9.7,835,7536,0.00,3.05,0.00,0.000,4,0.000,0.101,2699,888,3470
$GC,7597,-0.98,-97.3,854.9,-10.2,838,7601,0.00,2.60,0.00,0.000,6,0.000,0.032,2699,2226,3469
$GC,7924,-0.98,-97.3,884.4,-8.9,854,7929,0.00,2.75,0.00,0.000,4,0.000,0.054,2699,885,3469
$GC,7964,-0.98,-97.3,888.1,-9.7,856,7969,0.00,2.60,0.00,0.000,6,0.000,0.035,2699,2214,3469
$GC,8291,-0.98,-97.3,916.2,-8.5,872,8296,0.00,3.05,0.00,0.000,4,0.000,0.057,2699,3700,3469
$GC,8334,-0.98,-97.3,920.2,-9.4,874,8339,0.00,2.97,0.00,0.000,6,0.000,0.041,2699,2215,3469
$GC,8655,-0.98,-97.3,947.7,-9.0,890,8660,0.00,2.72,0.00,0.000,4,0.000,0.061,2699,892,3468
$GC,8687,-0.98,-97.3,951.0,-10.2,891,8694,0.00,2.65,0.00,0.000,6,0.000,0.035,2699,2243,3468
$GC,9004,-0.98,-97.3,979.4,-8.8,907,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2243,3468
$STATE,9124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9125,begin apogee
$GC,9131,-0.21,0.0,990.4,9.0,913,9239,1.12,0.00,103.90,1.622,6,0.146,0.000,2868,2750,3071
$STATE,9239,end apogee,CONTROL_FINISHED_OK
$STATE,9239,begin climb
$GC,9241,1.03,97.3,992.4,0.0,918,9357,1.55,2.62,107.38,1.592,4,0.087,0.063,3131,3900,2674
$GC,9396,0.89,97.3,978.6,14.2,925,9400,0.00,2.45,0.00,0.000,6,0.000,0.035,3131,2746,2673
$GC,9717,0.78,97.3,940.0,11.7,941,9722,0.22,2.40,0.00,0.000,4,0.129,0.054,3096,3898,2673
$GC,9817,0.72,97.3,929.2,11.4,945,9823,0.00,2.25,0.00,0.000,6,0.000,0.035,3096,2762,2673
$GC,10133,0.69,106.9,897.5,9.3,961,10150,0.15,2.35,10.68,1.306,4,0.132,0.054,3072,3897,2636
$GC,10195,0.73,138.6,892.3,7.8,963,10238,0.00,2.17,34.20,1.506,6,0.000,0.033,3072,2792,2506
$GC,10547,0.75,157.7,862.8,8.7,980,10571,0.00,0.00,21.50,1.435,6,0.000,0.000,3072,2790,2427
$GC,10875,0.82,177.9,833.9,8.6,996,10903,0.12,2.38,21.70,1.427,4,0.070,0.053,3095,3897,2344
$GC,10908,0.82,177.9,830.6,10.5,997,10914,0.00,2.20,0.00,0.000,6,0.000,0.032,3095,2792,2343
$GC,11224,0.82,177.9,796.0,11.1,1013,11228,0.00,2.28,0.00,0.000,4,0.000,0.053,3095,3896,2343
$GC,11278,0.82,177.9,789.2,12.7,1015,11285,0.00,2.15,0.00,0.000,6,0.000,0.033,3095,2811,2343
$GC,11595,0.82,177.9,749.5,13.5,1031,11599,0.00,2.22,0.00,0.000,4,0.000,0.053,3095,3900,2342
$GC,11638,0.82,177.9,743.0,15.0,1033,11642,0.00,2.12,0.00,0.000,6,0.000,0.032,3095,2820,2342
$GC,11966,0.82,177.9,697.1,13.5,1049,11967,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2814,2342
$GC,12274,0.82,177.9,655.6,13.3,1064,12278,0.00,2.20,0.00,0.000,4,0.000,0.052,3095,3905,2342
$GC,12318,0.82,177.9,649.5,14.0,1066,12322,0.00,2.15,0.00,0.000,6,0.000,0.035,3095,2811,2342
$GC,12645,0.82,177.9,608.6,12.2,1082,12649,0.00,2.20,0.00,0.000,4,0.000,0.051,3095,3902,2342
$GC,12683,0.82,177.9,603.4,13.2,1083,12689,0.00,2.10,0.00,0.000,6,0.000,0.031,3095,2814,2342
$GC,13008,0.82,177.9,563.1,12.4,1112,13012,0.00,2.20,0.00,0.000,4,0.000,0.051,3095,3900,2342
$GC,13040,0.82,177.9,558.6,13.1,1114,13047,0.00,2.10,0.00,0.000,6,0.000,0.031,3095,2823,2342
$GC,13367,0.82,177.9,518.8,11.9,1145,13371,0.00,2.17,0.00,0.000,4,0.000,0.051,3095,3900,2342
$GC,13410,0.82,177.9,512.9,12.4,1148,13417,0.00,2.08,0.00,0.000,6,0.000,0.031,3095,2834,2342
$GC,13737,0.82,177.9,473.3,11.8,1179,13741,0.00,2.15,0.00,0.000,4,0.000,0.051,3095,3900,2342
$GC,13792,0.82,177.9,466.2,12.3,1183,13799,0.00,2.03,0.00,0.000,6,0.000,0.031,3095,2857,2342
$GC,14119,0.82,177.9,428.4,11.5,1214,14120,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2849,2342
$GC,14436,0.82,177.9,391.6,11.7,1244,14439,0.00,2.10,0.00,0.000,4,0.000,0.051,3095,3897,2342
$GC,14470,0.82,177.9,387.6,12.1,1247,14473,0.00,2.00,0.00,0.000,6,0.000,0.031,3095,2856,2342
$GC,14801,0.82,177.9,348.8,11.8,1278,14807,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2848,2342
$GC,15144,0.82,177.9,308.7,11.7,1339,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2847,2342
$GC,15486,0.82,177.9,268.7,11.3,1400,15493,0.00,2.10,0.00,0.000,4,0.000,0.050,3095,3895,2343
$GC,15516,0.82,177.9,265.2,11.7,1405,15522,0.00,2.00,0.00,0.000,6,0.000,0.031,3095,2853,2343
$GC,15861,0.82,177.9,226.5,11.2,1466,15866,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2845,2343
$GC,16205,0.82,177.9,190.0,10.4,1527,16211,0.00,2.10,0.00,0.000,4,0.000,0.049,3095,3896,2343
$GC,16262,0.82,177.9,183.9,10.2,1537,16268,0.00,1.98,0.00,0.000,6,0.000,0.031,3095,2864,2343
$GC,16605,0.82,177.9,147.0,11.8,1598,16610,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2856,2343
$GC,16948,0.82,177.9,106.6,11.4,1659,16953,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2856,2343
$GC,17291,0.82,177.9,65.0,12.2,1720,17297,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2856,2343
$GC,17634,0.82,177.9,26.0,10.0,1781,17640,0.00,2.08,0.00,0.000,4,0.000,0.049,3095,3902,2343
$GC,17692,0.82,177.9,20.2,10.4,1791,17698,0.00,2.00,0.00,0.000,6,0.000,0.032,3095,2879,2343
$GC,17834,0.82,177.9,3.2,12.9,1816,17840,0.00,2.03,0.00,0.000,4,0.000,0.046,3095,3897,2343
$STATE,17844,end climb,SURFACE_DEPTH_REACHED
$STATE,17844,begin surface coast
$FINISH,0.2,1.026206
$STATE,17862,end surface coast,CONTROL_FINISHED_OK
$STATE,17862,begin surface
$SM_CCo,17883,19.80,0.886,0,0,2254,200.16
$SM_GC,1.20,0.00,0.00,19.80,0.000,0.000,0.886,1435,2289,2254,-6.83,-0.31,200.16
$IRIDIUM_FIX,6050.49,-2539.91,130897,111100
$TT8_MAMPS,0.026845
$HUMID,1786
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.40
$XPDR_PINGS,1022
$24V_AH,19.3,67.695
$10V_AH,9.8,50.023
$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,23.550,160.300,299.350,19.800,0.000,29.528,39.109,263.163,255.500,0.000,0.000,13.175,2939.400,10814.565,501.647,3440.412,661.863,0.000,2018.733,0.000,3427.756,0.000,0.466
$DEVICE_MAMPS,255.411,101.244,1622.205,885.885,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1277.740,1318.101,669.070,1605.569,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132962,1821
$CAP_FILE_SIZE,169124,0
$CFSIZE,260165632,236318720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,213325,6111.579,-2538.440,25,1.1,42,-18.1