version: 66.03
glider: 142
mission: 5
dive: 221
start: 5 22 108 3 1 42
data:
$ID,142
$MISSION,5
$DIVE,221
$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,5
$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,-17173.883
$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,21
$R_STBD_OVSHOOT,15
$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
$GPS1,025408,6118.121,-2603.299,28,1.5,28,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-53.3
$GPS2,030121,6118.094,-2603.463,14,1.7,14,-18.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6128.853,-2603.014
$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,23.4,20000,-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,-97.3,0.0,0.0,0,100,0.00,0.00,-69.28,0.000,6,0.000,0.000,1433,2293,3469
$GC,103,-1.03,-97.3,3.3,-5.0,13,122,11.88,2.85,0.00,0.000,4,0.257,0.041,2687,3720,3470
$GC,330,-0.98,-97.3,37.1,-12.8,53,336,0.00,2.80,0.00,0.000,6,0.000,0.034,2687,2289,3470
$GC,471,-0.98,-97.3,57.0,-14.1,78,478,0.00,2.80,0.00,0.000,4,0.000,0.048,2687,883,3471
$GC,614,-0.93,-97.3,76.3,-13.2,103,621,0.17,2.78,0.00,0.000,6,0.140,0.028,2711,2322,3471
$GC,957,-0.93,-97.3,114.8,-10.7,164,964,0.00,2.88,0.00,0.000,4,0.000,0.047,2711,890,3471
$GC,1043,-0.93,-97.3,124.4,-11.9,179,1049,0.00,2.72,0.00,0.000,6,0.000,0.029,2711,2303,3472
$GC,1387,-0.93,-97.3,162.1,-11.1,240,1393,0.00,2.83,0.00,0.000,4,0.000,0.048,2712,889,3472
$GC,1457,-0.93,-97.3,170.4,-12.0,252,1463,0.00,2.70,0.00,0.000,6,0.000,0.031,2711,2295,3472
$GC,1801,-0.93,-97.3,209.9,-11.3,313,1807,0.00,2.83,0.00,0.000,4,0.000,0.048,2711,885,3472
$GC,1847,-0.93,-97.3,215.4,-11.9,321,1853,0.00,2.70,0.00,0.000,6,0.000,0.030,2711,2290,3472
$GC,2190,-0.93,-97.3,251.9,-10.5,382,2196,0.00,2.83,0.00,0.000,4,0.000,0.048,2712,883,3472
$GC,2264,-0.93,-97.3,259.6,-10.1,395,2270,0.00,2.67,0.00,0.000,6,0.000,0.031,2711,2274,3472
$GC,2607,-0.93,-97.3,292.3,-9.9,456,2614,0.00,2.78,0.00,0.000,4,0.000,0.048,2711,890,3472
$GC,2666,-0.93,-97.3,298.4,-10.7,466,2672,0.00,2.65,0.00,0.000,6,0.000,0.031,2712,2266,3472
$GC,3010,-0.93,-97.3,333.2,-9.7,527,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2268,3472
$GC,3344,-0.93,-97.3,366.2,-10.0,573,3348,0.00,2.78,0.00,0.000,4,0.000,0.048,2711,884,3472
$GC,3432,-0.93,-97.3,376.5,-11.4,580,3439,0.00,2.65,0.00,0.000,6,0.000,0.030,2711,2248,3472
$GC,3761,-0.93,-97.3,410.6,-10.6,611,3766,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2251,3472
$GC,4085,-0.93,-97.3,445.0,-10.3,642,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2252,3472
$GC,4404,-0.93,-97.3,477.8,-10.1,672,4408,0.00,2.75,0.00,0.000,4,0.000,0.048,2711,883,3472
$GC,4458,-0.93,-97.3,483.7,-10.8,676,4466,0.00,2.67,0.00,0.000,6,0.000,0.032,2711,2252,3472
$GC,4785,-0.93,-97.3,515.4,-9.4,707,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2253,3472
$GC,5103,-0.93,-97.3,544.9,-8.8,737,5107,0.00,2.72,0.00,0.000,4,0.000,0.048,2711,890,3472
$GC,5157,-0.93,-97.3,550.2,-9.3,741,5164,0.00,2.65,0.00,0.000,6,0.000,0.031,2711,2260,3472
$GC,5484,-0.93,-97.3,577.2,-7.7,772,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2260,3472
$GC,5800,-0.93,-97.3,602.2,-8.2,801,5804,0.00,2.78,0.00,0.000,4,0.000,0.050,2711,883,3471
$GC,5862,-0.93,-97.3,607.8,-9.5,804,5866,0.00,2.67,0.00,0.000,6,0.000,0.032,2711,2260,3471
$GC,6187,-0.93,-97.3,637.1,-9.0,820,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2260,3471
$GC,6497,-0.93,-97.3,665.6,-9.7,835,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2260,3471
$GC,6806,-0.93,-97.3,696.6,-9.9,850,6810,0.00,3.00,0.00,0.000,4,0.000,0.061,2711,3709,3471
$GC,6899,-0.93,-97.3,706.6,-11.0,854,6904,0.00,2.97,0.00,0.000,6,0.000,0.050,2711,2251,3471
$GC,7221,-0.93,-97.3,739.9,-10.4,870,7225,0.00,2.92,0.00,0.000,4,0.000,0.077,2711,888,3471
$GC,7309,-0.93,-97.3,749.7,-10.8,874,7313,0.00,2.78,0.00,0.000,6,0.000,0.049,2711,2252,3471
$GC,7636,-0.93,-97.3,781.2,-9.5,890,7641,0.00,3.05,0.00,0.000,4,0.000,0.087,2711,885,3471
$GC,7770,-0.93,-97.3,794.5,-9.6,896,7774,0.00,2.88,0.00,0.000,6,0.000,0.067,2711,2239,3471
$GC,8090,-0.93,-97.3,821.2,-8.1,912,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2239,3471
$GC,8400,-0.93,-97.3,846.0,-8.0,927,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2240,3470
$GC,8708,-0.93,-97.3,870.8,-8.3,942,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2239,3470
$GC,9018,-0.93,-97.3,896.5,-8.6,957,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2239,3470
$GC,9328,-0.97,-97.3,924.6,-9.6,972,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2240,3470
$GC,9636,-0.97,-97.3,952.3,-8.5,987,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2247,3469
$GC,9945,-0.97,-97.3,980.7,-9.0,1002,9950,0.00,3.03,0.00,0.000,4,0.000,0.055,2711,3716,3469
$GC,10018,-0.97,-97.3,987.8,-9.8,1005,10022,0.00,3.00,0.00,0.000,6,0.000,0.041,2711,2216,3468
$STATE,10042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10042,begin apogee
$GC,10048,-0.21,0.0,990.3,9.7,1006,10156,1.05,0.00,104.25,1.615,6,0.149,0.000,2868,2761,3071
$STATE,10156,end apogee,CONTROL_FINISHED_OK
$STATE,10156,begin climb
$GC,10158,1.03,97.3,993.1,0.0,1011,10274,1.58,2.58,107.38,1.587,4,0.080,0.058,3138,3893,2674
$GC,10313,0.87,97.3,979.9,14.0,1018,10318,0.20,2.45,0.00,0.000,6,0.136,0.035,3112,2736,2673
$GC,10629,0.79,97.3,943.3,11.6,1033,10633,0.00,2.42,0.00,0.000,4,0.000,0.054,3112,3898,2672
$GC,10713,0.69,97.3,933.3,11.9,1037,10718,0.25,2.25,0.00,0.000,6,0.131,0.034,3076,2761,2672
$GC,11040,0.72,114.2,904.4,8.8,1053,11064,0.00,2.40,18.20,1.420,4,0.000,0.059,3076,3894,2605
$GC,11120,0.72,114.2,896.4,10.3,1056,11127,0.00,2.22,0.00,0.000,6,0.000,0.034,3076,2784,2604
$GC,11436,0.72,116.2,865.9,9.9,1072,11440,0.00,2.30,0.00,0.000,4,0.000,0.054,3076,3903,2604
$GC,11453,0.72,116.2,864.1,10.2,1073,11457,0.00,2.17,0.00,0.000,6,0.000,0.034,3076,2789,2604
$GC,11786,0.73,130.0,833.6,9.0,1089,11810,0.00,2.35,17.55,1.401,4,0.000,0.054,3076,3896,2540
$GC,11829,0.75,142.8,829.5,9.1,1091,11850,0.00,2.15,15.05,1.394,6,0.000,0.033,3075,2806,2487
$GC,12160,0.76,154.0,799.3,9.2,1107,12181,0.00,2.30,12.77,1.330,4,0.000,0.057,3076,3893,2442
$GC,12187,0.77,154.8,796.5,10.0,1108,12190,0.00,2.15,0.00,0.000,6,0.000,0.033,3076,2807,2442
$GC,12513,0.77,157.3,764.9,9.8,1124,12520,0.00,0.00,5.05,0.986,6,0.000,0.000,3076,2806,2429
$GC,12823,0.77,157.3,733.7,10.2,1139,12824,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2806,2429
$GC,13131,0.77,157.3,701.5,10.7,1154,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2805,2429
$GC,13441,0.77,157.3,669.2,10.6,1169,13442,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2805,2428
$GC,13751,0.81,157.3,637.2,10.0,1184,13755,0.00,2.22,0.00,0.000,4,0.000,0.053,3076,3902,2428
$GC,13770,0.85,157.3,635.5,10.1,1185,13775,0.15,2.12,0.00,0.000,6,0.068,0.031,3103,2798,2428
$GC,14086,0.85,157.3,594.4,13.9,1202,14090,0.00,2.22,0.00,0.000,4,0.000,0.051,3103,3900,2428
$GC,14163,0.85,157.3,582.9,14.8,1208,14170,0.00,2.10,0.00,0.000,6,0.000,0.032,3103,2822,2428
$GC,14491,0.85,157.3,536.6,14.1,1239,14495,0.00,2.17,0.00,0.000,4,0.000,0.058,3103,3896,2428
$GC,14507,0.85,157.3,533.7,14.6,1240,14511,0.00,2.08,0.00,0.000,6,0.000,0.031,3103,2817,2428
$GC,14839,0.85,157.3,488.7,12.5,1271,14843,0.00,2.20,0.00,0.000,4,0.000,0.050,3103,3905,2428
$GC,14883,0.85,157.3,482.4,14.1,1274,14890,0.00,2.08,0.00,0.000,6,0.000,0.031,3103,2835,2428
$GC,15212,0.85,157.3,440.2,12.2,1305,15215,0.00,2.15,0.00,0.000,4,0.000,0.051,3103,3900,2428
$GC,15250,0.85,157.3,434.8,12.2,1308,15257,0.00,2.05,0.00,0.000,6,0.000,0.030,3103,2843,2428
$GC,15577,0.85,157.3,397.6,11.5,1339,15580,0.00,2.12,0.00,0.000,4,0.000,0.049,3103,3897,2428
$GC,15622,0.85,157.3,392.0,11.3,1343,15626,0.00,2.03,0.00,0.000,6,0.000,0.031,3103,2841,2428
$GC,15953,0.85,157.3,352.3,13.2,1374,15957,0.00,2.12,0.00,0.000,4,0.000,0.049,3103,3897,2428
$GC,15970,0.85,157.3,349.9,14.1,1375,15976,0.00,2.00,0.00,0.000,6,0.000,0.030,3103,2850,2428
$GC,16314,0.85,157.3,306.2,13.1,1436,16321,0.00,2.10,0.00,0.000,4,0.000,0.050,3103,3896,2428
$GC,16360,0.85,157.3,299.8,13.1,1444,16366,0.00,2.00,0.00,0.000,6,0.000,0.031,3103,2868,2428
$GC,16704,0.85,157.3,256.6,11.3,1505,16710,0.00,2.08,0.00,0.000,4,0.000,0.049,3103,3902,2429
$GC,16727,0.85,157.3,253.6,13.0,1509,16733,0.00,1.95,0.00,0.000,6,0.000,0.030,3103,2878,2429
$GC,17070,0.85,157.3,210.7,12.6,1570,17076,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2871,2429
$GC,17413,0.85,157.3,168.0,13.1,1631,17419,0.00,2.05,0.00,0.000,4,0.000,0.050,3103,3896,2429
$GC,17495,0.85,157.3,157.8,12.1,1645,17500,0.00,1.90,0.00,0.000,6,0.000,0.030,3103,2898,2430
$GC,17837,0.85,157.3,115.9,10.7,1706,17843,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2891,2429
$GC,18180,0.85,157.3,77.3,11.7,1767,18186,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2891,2430
$GC,18524,0.86,162.5,38.9,9.6,1828,18536,0.00,0.00,6.62,0.755,6,0.000,0.000,3103,2891,2409
$GC,18673,0.86,162.5,22.4,10.4,1854,18679,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2891,2409
$GC,18814,0.86,162.5,6.3,13.7,1879,18821,0.00,2.03,0.00,0.000,4,0.000,0.048,3103,3893,2409
$GC,18835,0.86,162.5,3.6,13.5,1882,18841,0.00,1.92,0.00,0.000,6,0.000,0.031,3103,2901,2409
$STATE,18847,end climb,SURFACE_DEPTH_REACHED
$STATE,18847,begin surface coast
$FINISH,0.2,1.026204
$STATE,18864,end surface coast,CONTROL_FINISHED_OK
$STATE,18864,begin surface
$SM_CCo,18882,33.95,0.953,0,0,2255,200.16
$SM_GC,0.96,0.00,0.00,33.95,0.000,0.000,0.953,1435,2286,2255,-6.83,-0.40,200.16
$IRIDIUM_FIX,6054.92,-2603.84,150897,222208
$TT8_MAMPS,0.026845
$HUMID,1766
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,14.90
$XPDR_PINGS,1061
$24V_AH,19.3,69.752
$10V_AH,9.8,51.791
$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,23.775,159.900,286.875,33.950,0.000,27.932,36.500,230.240,265.250,0.000,0.000,16.106,3046.176,11690.062,506.369,3466.438,628.744,0.000,2037.547,0.000,3452.177,0.000,0.465
$DEVICE_MAMPS,256.945,86.671,1615.302,952.614,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1330.393,1367.733,683.195,1663.516,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139074,1887
$CAP_FILE_SIZE,175843,0
$CFSIZE,260165632,235249664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220508,081808,6118.446,-2606.112,31,1.3,31,-18.4