version: 66.03
glider: 142
mission: 5
dive: 291
start: 6 5 108 0 11 19
data:
$ID,142
$MISSION,5
$DIVE,291
$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,-18489.66
$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,19
$R_STBD_OVSHOOT,23
$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
$GPS1,000332,6156.238,-2610.163,38,1.8,38,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-33.9
$GPS2,001057,6156.228,-2610.175,11,1.4,11,-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,115.8,8693,-14.9,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.86,-194.7,0.0,0.0,0,183,0.00,0.00,-158.70,0.000,2,0.000,0.000,1434,2292,3589
$GC,186,-0.86,-194.7,3.7,-6.1,21,210,11.80,2.90,-6.82,0.000,4,0.250,0.055,2726,882,3867
$GC,251,-0.77,-194.7,18.8,-14.2,31,259,0.15,2.75,0.00,0.000,6,0.142,0.030,2747,2311,3868
$GC,398,-0.72,-194.7,39.2,-13.3,56,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2311,3868
$GC,542,-0.68,-194.7,58.4,-13.0,81,550,0.15,2.78,0.00,0.000,4,0.149,0.042,2770,3712,3868
$GC,557,-0.68,-194.7,60.6,-13.0,83,565,0.00,2.80,0.00,0.000,6,0.000,0.034,2770,2280,3868
$GC,901,-0.68,-194.7,100.0,-10.5,144,908,0.00,2.75,0.00,0.000,4,0.000,0.048,2770,888,3868
$GC,929,-0.72,-194.7,102.7,-11.1,148,936,0.00,2.70,0.00,0.000,6,0.000,0.030,2770,2301,3868
$GC,1277,-0.72,-194.7,140.5,-11.3,209,1285,0.00,2.78,0.00,0.000,4,0.000,0.044,2770,3707,3868
$GC,1291,-0.72,-194.7,142.2,-10.7,211,1299,0.00,2.78,0.00,0.000,6,0.000,0.033,2770,2281,3868
$GC,1637,-0.72,-194.7,176.7,-9.7,272,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2280,3868
$GC,1983,-0.72,-194.7,210.7,-9.9,333,1990,0.00,2.85,0.00,0.000,4,0.000,0.044,2770,3706,3869
$GC,2009,-0.72,-194.7,213.1,-9.0,337,2016,0.00,2.75,0.00,0.000,6,0.000,0.032,2770,2291,3868
$GC,2354,-0.72,-194.7,241.8,-8.6,398,2361,0.00,2.83,0.00,0.000,4,0.000,0.045,2770,3703,3868
$GC,2380,-0.76,-194.7,244.0,-8.7,402,2387,0.00,2.72,0.00,0.000,6,0.000,0.032,2770,2302,3868
$GC,2726,-0.76,-194.7,271.5,-7.6,463,2733,0.00,2.80,0.00,0.000,4,0.000,0.044,2770,3701,3868
$GC,2740,-0.76,-194.7,272.7,-7.8,465,2747,0.00,2.72,0.00,0.000,6,0.000,0.033,2770,2301,3868
$GC,3085,-0.76,-194.7,299.9,-8.6,526,3092,0.00,2.83,0.00,0.000,4,0.000,0.046,2770,3708,3868
$GC,3107,-0.76,-194.7,301.6,-8.6,529,3114,0.00,2.75,0.00,0.000,6,0.000,0.033,2770,2297,3868
$GC,3452,-0.76,-194.7,333.2,-9.6,590,3460,0.00,2.83,0.00,0.000,4,0.000,0.045,2770,3706,3868
$GC,3484,-0.80,-194.7,336.2,-10.1,595,3492,0.15,2.72,0.00,0.000,6,0.064,0.033,2742,2304,3867
$GC,3817,-0.80,-194.7,376.3,-12.4,636,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2304,3868
$GC,4136,-0.80,-194.7,414.2,-11.6,666,4140,0.00,2.83,0.00,0.000,4,0.000,0.050,2741,885,3867
$GC,4168,-0.80,-194.7,418.1,-11.4,668,4177,0.00,2.75,0.00,0.000,6,0.000,0.029,2741,2319,3867
$GC,4495,-0.80,-194.7,455.2,-11.7,699,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2320,3867
$GC,4812,-0.80,-194.7,493.7,-12.5,729,4817,0.00,2.88,0.00,0.000,4,0.000,0.049,2741,890,3867
$GC,4863,-0.80,-194.7,500.2,-12.3,733,4868,0.00,2.75,0.00,0.000,6,0.000,0.031,2741,2312,3867
$GC,5193,-0.80,-194.7,540.9,-12.2,763,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2313,3867
$GC,5517,-0.80,-194.7,579.9,-11.7,794,5522,0.00,2.88,0.00,0.000,4,0.000,0.049,2741,886,3866
$GC,5545,-0.80,-194.7,583.2,-12.2,796,5550,0.00,2.75,0.00,0.000,6,0.000,0.031,2742,2308,3866
$GC,5866,-0.80,-194.7,620.2,-11.5,818,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2309,3866
$GC,6175,-0.80,-194.7,655.7,-11.3,833,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2309,3866
$GC,6484,-0.80,-194.7,691.4,-11.6,848,6488,0.00,2.92,0.00,0.000,4,0.000,0.059,2741,892,3866
$GC,6524,-0.80,-194.7,696.1,-11.9,850,6529,0.00,2.78,0.00,0.000,6,0.000,0.038,2742,2294,3866
$GC,6852,-0.80,-194.7,734.7,-11.9,866,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2295,3865
$GC,7160,-0.80,-194.7,769.6,-11.4,881,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3865
$GC,7471,-0.80,-194.7,806.3,-12.2,896,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2295,3864
$GC,7779,-0.80,-194.7,844.7,-12.4,911,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2295,3864
$GC,8089,-0.80,-194.7,879.4,-10.8,926,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3864
$GC,8397,-0.80,-194.7,912.2,-11.0,941,8398,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,2295,3864
$GC,8706,-0.80,-194.7,947.2,-11.3,956,8708,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3863
$GC,9015,-0.80,-194.7,983.9,-11.9,971,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2295,3862
$STATE,9074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9074,begin apogee
$GC,9082,-0.21,0.0,990.9,11.3,974,9298,0.82,0.00,210.07,1.578,6,0.133,0.000,2870,2737,3071
$STATE,9299,end apogee,CONTROL_FINISHED_OK
$STATE,9299,begin climb
$GC,9301,0.86,194.7,1000.6,0.0,985,9528,1.42,3.83,215.85,1.514,4,0.089,0.188,3100,3903,2276
$GC,9710,0.72,194.7,957.9,14.8,1003,9716,0.15,3.08,0.00,0.000,6,0.126,0.150,3081,2763,2274
$GC,10026,0.63,194.7,918.3,11.6,1018,10028,0.15,0.00,0.00,0.000,6,0.114,0.000,3058,2754,2273
$GC,10336,0.69,246.0,891.4,8.2,1033,10395,0.00,0.00,53.38,1.470,6,0.000,0.000,3058,2754,2068
$GC,10705,0.76,303.3,861.3,8.0,1051,10773,0.15,2.53,61.08,1.454,4,0.058,0.054,3091,3913,1833
$GC,10932,0.68,303.3,836.9,11.5,1061,10937,0.15,2.33,0.00,0.000,6,0.110,0.034,3069,2736,1828
$GC,11261,0.74,348.8,808.2,8.4,1077,11316,0.00,2.95,48.22,1.425,4,0.000,0.051,3069,1344,1648
$GC,11400,0.94,363.9,796.3,9.5,1083,11424,0.30,2.80,17.42,1.330,6,0.042,0.033,3132,2748,1587
$GC,11733,0.80,363.9,742.7,17.0,1099,11738,0.20,2.33,0.00,0.000,4,0.112,0.059,3099,3901,1583
$GC,11855,0.74,363.9,726.1,12.2,1104,11859,0.00,2.20,0.00,0.000,6,0.000,0.033,3098,2770,1582
$GC,12172,0.67,363.9,690.5,11.0,1119,12174,0.17,0.00,0.00,0.000,6,0.110,0.000,3071,2766,1581
$GC,12481,0.75,425.6,665.1,7.9,1134,12554,0.00,3.03,66.90,1.363,4,0.000,0.048,3071,1341,1335
$GC,12583,0.90,499.5,657.1,7.4,1138,12671,0.25,2.92,81.72,1.329,6,0.044,0.032,3122,2785,1034
$GC,12983,0.84,499.5,601.1,15.2,1157,12985,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2785,1026
$GC,13301,0.78,499.5,556.1,14.4,1186,13309,0.17,0.00,0.00,0.000,6,0.104,0.000,3095,2784,1024
$GC,13628,0.78,499.5,518.6,10.0,1217,13633,0.00,2.92,0.00,0.000,4,0.000,0.047,3095,1340,1023
$GC,13684,0.83,499.7,512.8,10.0,1221,13691,0.00,2.83,0.00,0.000,6,0.000,0.032,3095,2781,1022
$GC,14013,0.92,533.6,483.0,8.8,1252,14054,0.12,2.97,35.25,1.230,4,0.058,0.047,3121,1345,895
$GC,14082,0.92,533.6,474.0,13.3,1257,14089,0.00,2.83,0.00,0.000,6,0.000,0.032,3121,2760,893
$GC,14409,0.92,533.6,431.1,12.9,1288,14410,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2760,891
$GC,14725,0.92,533.6,384.6,15.2,1318,14729,0.00,2.85,0.00,0.000,4,0.000,0.046,3121,1344,890
$GC,14769,0.92,533.6,377.5,15.2,1321,14776,0.00,2.75,0.00,0.000,6,0.000,0.032,3121,2753,890
$GC,15100,0.92,533.6,330.2,13.5,1364,15107,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2753,890
$GC,15445,0.92,533.6,283.9,13.0,1425,15452,0.00,2.83,0.00,0.000,4,0.000,0.046,3121,1344,889
$GC,15487,0.92,533.6,278.1,13.8,1432,15495,0.00,2.72,0.00,0.000,6,0.000,0.032,3121,2743,889
$GC,15834,0.92,533.6,234.6,11.5,1493,15840,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2744,889
$GC,16177,0.92,533.6,192.1,13.3,1554,16185,0.00,2.80,0.00,0.000,4,0.000,0.046,3121,1343,889
$GC,16225,0.92,533.6,185.6,13.3,1562,16232,0.00,2.67,0.00,0.000,6,0.000,0.031,3121,2722,888
$GC,16573,0.92,533.6,140.5,12.3,1623,16579,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2722,888
$GC,16914,0.92,533.6,98.0,10.7,1684,16922,0.00,2.75,0.00,0.000,4,0.000,0.046,3121,1338,888
$GC,16957,0.92,533.6,92.7,13.0,1691,16964,0.00,2.67,0.00,0.000,6,0.000,0.031,3121,2717,888
$GC,17303,0.92,533.6,48.7,11.4,1752,17310,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2718,888
$GC,17445,0.92,533.6,32.7,11.3,1777,17451,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2718,887
$GC,17586,0.92,533.6,16.7,10.8,1802,17593,0.00,0.00,0.00,0.000,6,0.000,0.000,3121,2718,888
$STATE,17715,end climb,SURFACE_DEPTH_REACHED
$STATE,17715,begin surface coast
$FINISH,0.1,1.026055
$STATE,17733,end surface coast,CONTROL_FINISHED_OK
$STATE,17735,begin surface
$SM_CCo,17814,0.00,0.000,0,0,887,535.74
$SM_GC,0.55,8.50,0.00,0.00,0.043,0.000,0.000,1433,2293,887,-6.79,-0.20,535.74
$IRIDIUM_FIX,6130.75,-2611.42,290897,202037
$TT8_MAMPS,0.026078
$HUMID,1838
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,15.00
$XPDR_PINGS,933
$24V_AH,19.0,91.359
$10V_AH,9.9,62.695
$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,24.825,136.350,789.900,0.000,0.000,23.787,29.728,249.747,233.250,0.000,0.000,12.804,3713.222,9522.693,981.410,3354.617,675.249,0.000,2528.639,0.000,3348.752,0.000,0.466
$DEVICE_MAMPS,250.042,189.449,1577.719,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1296.018,1348.846,681.137,1619.234,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132982,1828
$CAP_FILE_SIZE,166675,0
$CFSIZE,260165632,228933632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022, 54.9,1
$GPS,050608,050931,6156.131,-2603.801,36,1.2,42,-18.7