version: 66.03
glider: 142
mission: 5
dive: 216
start: 5 21 108 0 43 12
data:
$ID,142
$MISSION,5
$DIVE,216
$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,290
$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,-17088.469
$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,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
$GPS1,003537,6117.486,-2539.118,39,1.5,44,-18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-57.3
$GPS2,004251,6117.478,-2539.283,9,1.6,9,-18.1
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6121.171,-2544.148
$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,308.1,20000,-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,27,-1.03,-97.3,0.0,0.0,0,100,0.00,0.00,-68.22,0.000,6,0.000,0.000,1438,2272,3467
$GC,103,-1.03,-97.3,3.4,-5.0,13,121,11.50,2.88,0.00,0.000,4,0.250,0.041,2689,3713,3468
$GC,329,-1.03,-97.3,39.2,-14.5,53,336,0.00,2.75,0.00,0.000,6,0.000,0.033,2689,2309,3470
$GC,472,-1.03,-97.3,58.5,-12.4,78,479,0.00,2.83,0.00,0.000,4,0.000,0.050,2689,892,3470
$GC,653,-1.03,-97.3,82.1,-12.5,110,660,0.00,2.72,0.00,0.000,6,0.000,0.029,2689,2310,3470
$GC,998,-1.03,-97.3,123.8,-12.0,171,1005,0.00,2.83,0.00,0.000,4,0.000,0.048,2689,895,3471
$GC,1152,-0.98,-97.3,144.7,-13.9,198,1158,0.00,2.70,0.00,0.000,6,0.000,0.030,2689,2297,3471
$GC,1496,-0.98,-97.3,189.2,-12.2,259,1502,0.00,2.83,0.00,0.000,4,0.000,0.048,2689,891,3471
$GC,1733,-0.98,-97.3,220.4,-13.7,301,1740,0.00,2.67,0.00,0.000,6,0.000,0.031,2689,2279,3471
$GC,2076,-0.98,-97.3,262.9,-12.3,362,2083,0.00,2.80,0.00,0.000,4,0.000,0.048,2689,885,3471
$GC,2145,-0.98,-97.3,271.7,-12.7,374,2151,0.00,2.67,0.00,0.000,6,0.000,0.030,2689,2276,3471
$GC,2490,-0.98,-97.3,312.5,-11.3,435,2496,0.00,2.78,0.00,0.000,4,0.000,0.048,2689,893,3471
$GC,2563,-0.98,-97.3,321.7,-12.5,448,2570,0.00,2.62,0.00,0.000,6,0.000,0.031,2689,2255,3471
$GC,2908,-0.98,-97.3,360.7,-11.1,501,2912,0.00,2.75,0.00,0.000,4,0.000,0.048,2689,885,3471
$GC,3014,-0.98,-97.3,373.6,-12.0,510,3018,0.00,2.62,0.00,0.000,6,0.000,0.031,2689,2249,3471
$GC,3339,-0.98,-97.3,409.7,-11.2,540,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2249,3471
$GC,3656,-0.98,-97.3,444.3,-11.2,570,3661,0.00,2.75,0.00,0.000,4,0.000,0.048,2689,883,3471
$GC,3836,-0.98,-97.3,465.0,-11.6,585,3842,0.00,2.62,0.00,0.000,6,0.000,0.031,2689,2244,3471
$GC,4161,-0.98,-97.3,501.2,-11.5,616,4166,0.00,2.72,0.00,0.000,4,0.000,0.048,2689,892,3471
$GC,4250,-0.98,-97.3,512.2,-12.0,623,4256,0.00,2.58,0.00,0.000,6,0.000,0.031,2689,2225,3471
$GC,4576,-0.98,-97.3,548.6,-10.9,654,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2226,3471
$GC,4894,-0.98,-97.3,582.2,-10.9,684,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2226,3470
$GC,5208,-0.98,-97.3,615.2,-10.1,707,5212,0.00,2.72,0.00,0.000,4,0.000,0.052,2689,889,3470
$GC,5307,-0.98,-97.3,626.2,-11.2,711,5313,0.00,2.60,0.00,0.000,6,0.000,0.033,2689,2224,3470
$GC,5624,-0.98,-97.3,658.4,-10.4,727,5629,0.00,3.03,0.00,0.000,4,0.000,0.056,2689,3704,3470
$GC,5685,-0.98,-97.3,665.1,-10.7,730,5689,0.00,2.95,0.00,0.000,6,0.000,0.044,2689,2239,3470
$GC,6010,-0.98,-97.3,699.9,-11.1,746,6015,0.00,2.83,0.00,0.000,4,0.000,0.068,2689,891,3470
$GC,6166,-0.98,-97.3,718.8,-11.8,753,6170,0.00,2.67,0.00,0.000,6,0.000,0.043,2689,2228,3470
$GC,6493,-0.98,-97.3,754.3,-11.2,769,6497,0.00,2.90,0.00,0.000,4,0.000,0.076,2690,892,3470
$GC,6604,-0.98,-97.3,767.4,-11.6,774,6608,0.00,2.75,0.00,0.000,6,0.000,0.057,2689,2217,3470
$GC,6924,-0.98,-97.3,801.6,-10.8,790,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2217,3470
$GC,7234,-0.98,-97.3,834.7,-10.3,805,7239,0.00,3.42,0.00,0.000,4,0.000,0.106,2689,3691,3469
$GC,7341,-0.98,-97.3,846.3,-11.2,810,7346,0.00,3.25,0.00,0.000,6,0.000,0.087,2689,2234,3469
$GC,7667,-0.98,-97.3,878.9,-9.9,826,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2233,3469
$GC,7976,-0.98,-97.3,910.9,-10.6,841,7981,0.00,3.03,0.00,0.000,4,0.000,0.055,2689,3698,3469
$GC,8053,-0.98,-97.3,919.4,-10.8,844,8059,0.00,2.90,0.00,0.000,6,0.000,0.042,2689,2252,3469
$GC,8368,-0.98,-97.3,952.0,-10.2,860,8373,0.00,3.03,0.00,0.000,4,0.000,0.058,2689,3705,3468
$GC,8468,-0.98,-97.3,962.6,-10.8,864,8474,0.00,2.90,0.00,0.000,6,0.000,0.043,2689,2264,3468
$STATE,8760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8760,begin apogee
$GC,8766,-0.21,0.0,992.0,10.0,879,8874,1.17,0.00,104.25,1.625,6,0.143,0.000,2867,2743,3071
$STATE,8875,end apogee,CONTROL_FINISHED_OK
$STATE,8875,begin climb
$GC,8877,1.03,97.3,994.7,0.0,884,8993,1.58,2.65,107.45,1.590,4,0.085,0.059,3136,3901,2674
$GC,9066,0.88,97.3,976.2,14.4,893,9071,0.15,2.42,0.00,0.000,6,0.133,0.036,3117,2749,2673
$GC,9393,0.79,97.3,934.1,13.1,909,9397,0.15,2.40,0.00,0.000,4,0.130,0.054,3093,3893,2673
$GC,9477,0.74,97.3,923.4,12.2,913,9481,0.00,2.25,0.00,0.000,6,0.000,0.035,3093,2761,2673
$GC,9803,0.74,97.3,884.8,11.9,929,9807,0.00,2.35,0.00,0.000,4,0.000,0.053,3093,3903,2672
$GC,9847,0.69,97.3,879.0,13.1,931,9851,0.15,2.20,0.00,0.000,6,0.142,0.033,3073,2776,2672
$GC,10167,0.69,97.3,844.8,10.5,947,10171,0.00,2.28,0.00,0.000,4,0.000,0.053,3073,3894,2671
$GC,10193,0.69,97.3,841.8,10.3,948,10197,0.00,2.17,0.00,0.000,6,0.000,0.035,3073,2796,2671
$GC,10521,0.71,112.7,810.7,8.9,964,10543,0.00,2.25,16.40,1.377,4,0.000,0.052,3073,3894,2611
$GC,10570,0.72,119.7,805.9,9.5,966,10588,0.00,2.15,9.12,1.282,6,0.000,0.033,3074,2802,2582
$GC,10896,0.74,137.1,776.1,8.8,982,10921,0.00,2.33,19.23,1.391,4,0.000,0.058,3073,3896,2511
$GC,10955,0.74,137.1,770.4,10.6,984,10961,0.00,2.17,0.00,0.000,6,0.000,0.033,3073,2811,2510
$GC,11270,0.74,137.1,739.2,10.3,1000,11275,0.00,2.97,0.00,0.000,4,0.000,0.048,3073,1337,2510
$GC,11286,0.74,137.1,737.6,10.2,1001,11291,0.00,2.92,0.00,0.000,6,0.000,0.033,3073,2815,2510
$GC,11613,0.75,145.6,706.3,9.4,1017,11625,0.00,0.00,9.82,1.223,6,0.000,0.000,3073,2815,2477
$GC,11921,0.77,160.9,678.5,8.9,1032,11942,0.00,0.00,17.05,1.325,6,0.000,0.000,3073,2815,2413
$GC,12251,0.82,160.9,646.5,10.0,1048,12253,0.12,0.00,0.00,0.000,6,0.068,0.000,3097,2815,2413
$GC,12560,0.82,160.9,606.8,13.1,1063,12565,0.00,2.97,0.00,0.000,4,0.000,0.046,3097,1346,2413
$GC,12570,0.82,160.9,605.3,13.2,1063,12576,0.00,2.92,0.00,0.000,6,0.000,0.034,3096,2827,2413
$GC,12895,0.82,160.9,563.6,12.3,1092,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2827,2413
$GC,13211,0.82,160.9,524.2,12.3,1122,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2827,2413
$GC,13530,0.82,160.9,486.4,11.6,1152,13532,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2827,2413
$GC,13849,0.82,160.9,449.2,11.9,1182,13852,0.00,2.12,0.00,0.000,4,0.000,0.051,3096,3899,2412
$GC,13882,0.82,160.9,445.1,12.5,1185,13886,0.00,2.08,0.00,0.000,6,0.000,0.031,3097,2818,2413
$GC,14214,0.82,160.9,405.8,12.1,1216,14215,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2810,2413
$GC,14531,0.82,160.9,368.0,11.8,1246,14532,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2810,2413
$GC,14858,0.82,160.9,329.7,11.4,1291,14863,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2810,2413
$GC,15200,0.82,160.9,290.5,11.2,1352,15206,0.00,2.95,0.00,0.000,4,0.000,0.045,3096,1335,2413
$GC,15214,0.82,160.9,289.0,11.7,1354,15220,0.00,2.92,0.00,0.000,6,0.000,0.031,3097,2833,2413
$GC,15558,0.82,160.9,248.0,12.0,1415,15564,0.00,3.00,0.00,0.000,4,0.000,0.044,3097,1335,2413
$GC,15571,0.82,160.9,246.4,11.8,1417,15577,0.00,2.92,0.00,0.000,6,0.000,0.032,3097,2832,2413
$GC,15913,0.82,160.9,204.0,11.9,1478,15920,0.00,2.97,0.00,0.000,4,0.000,0.044,3097,1346,2413
$GC,15932,0.82,160.9,201.8,12.9,1481,15938,0.00,2.88,0.00,0.000,6,0.000,0.032,3097,2817,2413
$GC,16274,0.82,160.9,159.1,12.2,1542,16280,0.00,2.95,0.00,0.000,4,0.000,0.044,3097,1342,2413
$GC,16293,0.82,160.9,156.7,12.9,1545,16299,0.00,2.88,0.00,0.000,6,0.000,0.032,3097,2813,2413
$GC,16636,0.82,160.9,114.4,11.7,1606,16643,0.00,2.17,0.00,0.000,4,0.000,0.050,3097,3898,2414
$GC,16654,0.82,160.9,112.1,12.0,1609,16660,0.00,2.10,0.00,0.000,6,0.000,0.031,3097,2806,2414
$GC,16998,0.82,160.9,73.5,10.3,1670,17004,0.00,2.20,0.00,0.000,4,0.000,0.048,3096,3905,2414
$GC,17038,0.82,160.9,68.9,11.4,1677,17044,0.00,2.10,0.00,0.000,6,0.000,0.031,3097,2812,2414
$GC,17383,0.82,160.9,31.7,10.9,1738,17389,0.00,2.90,0.00,0.000,4,0.000,0.045,3097,1343,2414
$GC,17396,0.82,161.1,30.3,10.0,1740,17402,0.00,2.83,0.00,0.000,6,0.000,0.031,3097,2801,2414
$GC,17539,0.82,165.9,15.3,9.7,1765,17550,0.00,0.00,6.85,0.756,6,0.000,0.000,3097,2801,2393
$STATE,17686,end climb,SURFACE_DEPTH_REACHED
$STATE,17686,begin surface coast
$FINISH,0.1,1.006939
$STATE,17709,end surface coast,CONTROL_FINISHED_OK
$STATE,17709,begin surface
$SM_CCo,17727,30.50,0.953,0,0,2255,200.16
$SM_GC,0.68,0.00,0.00,30.50,0.000,0.000,0.953,1433,2288,2255,-6.84,-0.34,200.16
$IRIDIUM_FIX,6046.07,-2739.70,140897,191914
$TT8_MAMPS,0.026078
$HUMID,1787
$INTERNAL_PRESSURE,8.95588
$TCM_TEMP,16.20
$XPDR_PINGS,1001
$24V_AH,19.3,68.820
$10V_AH,9.8,50.986
$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,23.425,173.550,290.175,30.500,0.000,23.657,31.797,241.473,250.250,0.000,0.000,10.952,2905.554,10794.700,504.449,3361.261,611.483,0.000,1984.289,0.000,3347.917,0.000,0.465
$DEVICE_MAMPS,250.042,105.846,1624.506,952.614,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1270.451,1299.662,664.273,1599.574,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129837,1795
$CAP_FILE_SIZE,168253,0
$CFSIZE,260165632,235745280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210508,054026,6117.241,-2545.746,37,1.2,37,-18.2