version: 66.03
glider: 142
mission: 5
dive: 296
start: 6 5 108 22 57 43
data:
$ID,142
$MISSION,5
$DIVE,296
$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,-18563.812
$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,24
$R_STBD_OVSHOOT,24
$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
$GPS1,225007,6152.841,-2609.104,28,1.2,28,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-45.8
$GPS2,225721,6152.835,-2608.968,11,1.1,11,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6145.370,-2622.980
$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,207.9,18492,-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,-194.7,0.0,0.0,0,157,0.00,0.00,-133.18,0.000,2,0.000,0.000,1433,2290,3447
$GC,160,-0.86,-194.7,3.1,-5.3,17,191,11.88,2.85,-11.65,0.000,4,0.248,0.051,2724,3710,3866
$GC,205,-0.52,-194.7,12.1,-18.1,23,214,0.55,2.75,0.00,0.000,6,0.163,0.032,2801,2302,3867
$GC,350,-0.61,-194.7,24.3,-8.0,48,358,0.00,2.80,0.00,0.000,4,0.000,0.044,2801,3703,3867
$GC,371,-0.71,-194.7,26.1,-7.7,51,379,0.20,2.70,0.00,0.000,6,0.053,0.032,2761,2320,3867
$GC,515,-0.71,-194.7,40.2,-9.7,76,522,0.00,2.75,0.00,0.000,4,0.000,0.042,2761,3704,3867
$GC,541,-0.71,-194.7,43.1,-10.8,80,548,0.00,2.67,0.00,0.000,6,0.000,0.031,2761,2322,3867
$GC,684,-0.71,-194.7,58.1,-10.8,105,691,0.00,2.78,0.00,0.000,4,0.000,0.043,2761,3711,3867
$GC,721,-0.71,-194.7,62.1,-10.7,111,728,0.00,2.70,0.00,0.000,6,0.000,0.032,2761,2326,3867
$GC,1065,-0.71,-194.7,93.4,-9.4,172,1073,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2326,3867
$GC,1411,-0.71,-194.7,127.3,-10.2,233,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2326,3867
$GC,1755,-0.71,-194.7,165.0,-10.8,294,1762,0.00,2.88,0.00,0.000,4,0.000,0.050,2761,883,3867
$GC,1798,-0.75,-194.7,169.6,-10.4,301,1805,0.00,2.80,0.00,0.000,6,0.000,0.030,2761,2338,3867
$GC,2143,-0.75,-194.7,206.4,-10.4,362,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2339,3868
$GC,2487,-0.75,-194.7,243.2,-11.0,423,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2339,3867
$GC,2831,-0.75,-194.7,282.1,-11.1,484,2839,0.00,2.92,0.00,0.000,4,0.000,0.048,2761,884,3868
$GC,2880,-0.80,-194.7,287.4,-11.1,492,2887,0.00,2.78,0.00,0.000,6,0.000,0.031,2761,2326,3868
$GC,3225,-0.80,-194.7,324.9,-10.4,553,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2327,3868
$GC,3570,-0.80,-194.7,359.7,-9.8,606,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2327,3867
$GC,3888,-0.80,-194.7,391.7,-10.4,636,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2327,3867
$GC,4207,-0.80,-194.7,424.5,-10.2,666,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2328,3867
$GC,4526,-0.80,-194.7,458.2,-10.6,696,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2328,3867
$GC,4844,-0.80,-194.7,491.8,-10.6,726,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2328,3867
$GC,5162,-0.80,-194.7,527.7,-11.3,756,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2328,3867
$GC,5481,-0.80,-194.7,564.5,-11.5,786,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2328,3867
$GC,5799,-0.80,-194.7,600.8,-11.0,816,5800,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2328,3866
$GC,6109,-0.80,-194.7,634.0,-11.0,831,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2329,3866
$GC,6418,-0.80,-194.7,667.0,-10.8,846,6423,0.00,2.83,0.00,0.000,4,0.000,0.058,2761,3707,3866
$GC,6440,-0.80,-194.7,669.7,-11.5,847,6444,0.00,2.75,0.00,0.000,6,0.000,0.041,2761,2330,3866
$GC,6762,-0.80,-194.7,704.5,-10.8,863,6766,0.00,2.88,0.00,0.000,4,0.000,0.061,2761,3704,3866
$GC,6779,-0.80,-194.7,706.3,-10.4,864,6784,0.00,2.78,0.00,0.000,6,0.000,0.045,2761,2330,3865
$GC,7106,-0.80,-194.7,737.7,-8.9,880,7111,0.00,2.92,0.00,0.000,4,0.000,0.067,2761,3707,3866
$GC,7128,-0.80,-194.7,739.7,-8.6,881,7132,0.00,2.80,0.00,0.000,6,0.000,0.051,2761,2339,3865
$GC,7450,-0.80,-194.7,765.6,-8.2,897,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2338,3865
$GC,7758,-0.80,-194.7,792.4,-9.1,912,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2338,3864
$GC,8068,-0.80,-194.7,820.6,-9.1,927,8073,0.00,3.12,0.00,0.000,4,0.000,0.097,2761,3702,3865
$GC,8096,-0.84,-194.7,823.1,-9.3,928,8101,0.15,3.00,0.00,0.000,6,0.064,0.083,2732,2353,3864
$GC,8412,-0.84,-194.7,858.8,-12.0,943,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2351,3864
$GC,8721,-0.84,-194.7,893.5,-11.3,958,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2351,3864
$GC,9031,-1.09,-194.7,903.4,-0.0,973,9033,0.25,0.00,0.00,0.000,6,0.054,0.000,2682,2351,3863
$STATE,9131,end dive,NO_VERTICAL_VELOCITY
$STATE,9131,begin apogee
$GC,9137,-0.21,0.0,903.4,0.0,978,9354,1.05,0.00,207.75,1.523,6,0.081,0.000,2871,2736,3071
$STATE,9354,end apogee,CONTROL_FINISHED_OK
$STATE,9354,begin climb
$GC,9357,0.86,194.7,903.2,0.0,989,9581,1.40,3.17,212.85,1.458,4,0.080,0.127,3100,3902,2276
$GC,9614,0.72,194.7,882.9,13.6,1001,9619,0.15,2.90,0.00,0.000,6,0.119,0.106,3081,2756,2274
$GC,9938,0.64,194.7,848.6,10.7,1017,9940,0.12,0.00,0.00,0.000,6,0.118,0.000,3064,2755,2273
$GC,10247,0.63,227.0,821.1,8.9,1032,10285,0.00,0.00,33.80,1.414,6,0.000,0.000,3063,2755,2145
$GC,10595,0.64,236.8,790.0,9.7,1049,10611,0.00,2.53,11.15,1.261,4,0.000,0.087,3063,3904,2105
$GC,10645,0.67,256.3,785.1,9.3,1050,10672,0.00,2.42,21.80,1.378,6,0.000,0.058,3063,2742,2026
$GC,10983,0.68,262.8,751.8,9.8,1066,10997,0.00,3.05,7.95,1.154,4,0.000,0.073,3063,1336,1999
$GC,11042,0.68,267.8,745.9,9.8,1068,11055,0.00,2.92,6.95,1.119,6,0.000,0.049,3063,2762,1979
$GC,11377,0.68,267.8,713.2,10.1,1085,11378,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2763,1978
$GC,11688,0.72,295.0,684.4,9.1,1100,11720,0.00,0.00,29.58,1.356,6,0.000,0.000,3063,2763,1868
$GC,12016,0.74,317.5,654.5,9.2,1116,12042,0.00,0.00,24.35,1.322,6,0.000,0.000,3063,2763,1776
$GC,12346,0.75,324.0,623.2,9.8,1132,12361,0.00,2.97,7.90,1.101,4,0.000,0.051,3063,1333,1749
$GC,12401,0.82,334.6,617.8,9.6,1134,12422,0.17,2.80,12.98,1.226,6,0.049,0.034,3098,2750,1706
$GC,12740,0.76,334.6,574.7,12.6,1159,12744,0.00,2.30,0.00,0.000,4,0.000,0.054,3099,3894,1703
$GC,12817,0.72,334.6,564.4,12.1,1165,12825,0.15,2.25,0.00,0.000,6,0.110,0.032,3076,2729,1703
$GC,13142,0.72,334.6,531.8,10.0,1196,13146,0.00,2.78,0.00,0.000,4,0.000,0.048,3076,1335,1703
$GC,13187,0.72,334.6,527.2,10.0,1199,13195,0.00,2.78,0.00,0.000,6,0.000,0.031,3076,2761,1702
$GC,13513,0.72,334.6,494.2,10.6,1230,13517,0.00,2.25,0.00,0.000,4,0.000,0.051,3076,3896,1702
$GC,13554,0.72,334.6,489.7,10.7,1233,13558,0.00,2.22,0.00,0.000,6,0.000,0.032,3076,2742,1701
$GC,13880,0.74,354.2,457.3,9.3,1263,13907,0.00,2.85,21.27,1.193,4,0.000,0.047,3076,1349,1625
$GC,13951,0.78,354.2,450.6,10.0,1269,13955,0.00,2.75,0.00,0.000,6,0.000,0.031,3076,2749,1624
$GC,14278,0.78,354.2,418.5,10.2,1299,14279,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2748,1623
$GC,14595,0.78,354.2,385.0,10.6,1329,14596,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2748,1622
$GC,14915,0.79,357.6,352.3,9.9,1359,14928,0.00,2.83,4.38,0.742,4,0.000,0.044,3076,1346,1613
$GC,14959,0.83,357.6,347.7,10.5,1364,14967,0.12,2.72,0.00,0.000,6,0.054,0.031,3103,2744,1613
$GC,15304,0.79,357.6,303.6,12.9,1425,15312,0.00,2.28,0.00,0.000,4,0.000,0.049,3103,3889,1612
$GC,15358,0.79,357.6,296.7,12.9,1434,15366,0.00,2.20,0.00,0.000,6,0.000,0.031,3103,2743,1612
$GC,15704,0.75,357.6,253.6,12.3,1495,15711,0.00,2.78,0.00,0.000,4,0.000,0.044,3103,1341,1612
$GC,15746,0.75,357.6,248.1,13.0,1502,15754,0.00,2.72,0.00,0.000,6,0.000,0.031,3103,2745,1612
$GC,16092,0.75,357.6,207.1,11.4,1563,16099,0.00,2.28,0.00,0.000,4,0.000,0.049,3103,3898,1612
$GC,16144,0.75,357.6,200.6,11.4,1572,16152,0.00,2.20,0.00,0.000,6,0.000,0.031,3104,2747,1612
$GC,16490,0.75,357.6,162.1,12.6,1633,16497,0.00,2.78,0.00,0.000,4,0.000,0.045,3103,1345,1612
$GC,16531,0.75,357.6,157.2,11.5,1640,16539,0.00,2.72,0.00,0.000,6,0.000,0.031,3103,2750,1612
$GC,16877,0.75,357.6,117.8,11.5,1701,16884,0.00,2.25,0.00,0.000,4,0.000,0.049,3103,3893,1611
$GC,16919,0.75,357.6,112.9,11.6,1708,16926,0.00,2.20,0.00,0.000,6,0.000,0.031,3103,2748,1611
$GC,17265,0.76,363.9,75.9,9.8,1769,17280,0.00,2.85,8.30,0.820,4,0.000,0.045,3103,1342,1586
$GC,17332,0.76,363.9,67.9,12.0,1780,17340,0.00,2.72,0.00,0.000,6,0.000,0.031,3103,2748,1586
$GC,17675,0.76,363.9,33.2,10.4,1841,17682,0.00,2.25,0.00,0.000,4,0.000,0.048,3103,3894,1586
$GC,17718,0.77,377.2,28.7,9.5,1848,17740,0.00,2.28,14.85,0.901,6,0.000,0.031,3103,2732,1533
$GC,17877,0.77,377.2,10.9,11.5,1875,17885,0.00,2.75,0.00,0.000,4,0.000,0.045,3103,1344,1530
$GC,17931,0.77,377.2,3.6,12.8,1884,17939,0.00,2.67,0.00,0.000,6,0.000,0.030,3103,2726,1530
$STATE,17944,end climb,SURFACE_DEPTH_REACHED
$STATE,17944,begin surface coast
$FINISH,0.1,1.025800
$STATE,17961,end surface coast,CONTROL_FINISHED_OK
$STATE,17961,begin surface
$SM_CCo,18040,0.00,0.000,0,0,1529,378.25
$SM_GC,0.70,8.43,0.00,0.00,0.042,0.000,0.000,1436,2285,1529,-6.79,-0.42,378.25
$IRIDIUM_FIX,6130.75,-2559.20,300897,181814
$TT8_MAMPS,0.026845
$HUMID,1824
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,16.50
$XPDR_PINGS,1006
$24V_AH,19.0,92.765
$10V_AH,9.8,63.469
$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,24.625,146.775,625.850,0.000,0.000,26.598,32.635,232.154,251.500,0.000,0.000,12.916,3871.511,9689.770,860.225,3373.178,666.362,0.000,2367.796,0.000,3367.059,0.000,0.465
$DEVICE_MAMPS,247.741,126.555,1523.262,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1321.922,1395.446,739.093,1744.653,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139023,1889
$CAP_FILE_SIZE,171439,0
$CFSIZE,260165632,228483072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,131.2,1
$GPS,060608,035938,6149.999,-2609.446,38,1.3,38,-18.7