version: 66.03
glider: 142
mission: 5
dive: 32
start: 4 10 108 7 26 12
data:
$ID,142
$MISSION,5
$DIVE,32
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,280
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51804
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,225
$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,-13193.376
$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,2250
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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
$GPS1,071808,5906.173,-1825.010,34,1.2,34,-13.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-58.3
$GPS2,072551,5906.165,-1825.034,13,1.2,13,-13.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5858.528,-1828.970
$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,238.2,20000,-17.5,-10.000
$D_GRID,750
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.91,-146.0,0.0,0.0,0,130,0.00,0.00,-98.30,0.000,6,0.000,0.000,1433,2232,3666
$GC,133,-0.91,-146.0,3.7,-5.5,14,149,10.70,2.80,0.00,0.000,4,0.239,0.049,2713,843,3669
$GC,158,-0.08,-146.0,11.4,-25.4,17,166,1.12,2.78,0.00,0.000,6,0.144,0.028,2898,2263,3669
$GC,295,-0.55,-146.0,19.8,-6.8,42,303,0.50,2.88,0.00,0.000,4,0.074,0.044,2804,844,3670
$GC,447,-0.71,-146.0,30.2,-5.8,70,455,0.17,2.78,0.00,0.000,6,0.038,0.028,2760,2271,3670
$GC,582,-0.71,-146.0,41.7,-11.0,95,590,0.00,2.72,0.00,0.000,4,0.000,0.043,2759,3646,3670
$GC,597,-0.71,-146.0,43.5,-11.2,97,606,0.00,2.70,0.00,0.000,6,0.000,0.034,2759,2279,3670
$GC,735,-0.75,-146.0,58.3,-10.0,122,742,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2279,3670
$GC,874,-0.75,-146.0,72.6,-8.3,147,881,0.00,2.88,0.00,0.000,4,0.000,0.052,2759,835,3670
$GC,914,-0.80,-146.0,76.5,-9.6,154,921,0.00,2.80,0.00,0.000,6,0.000,0.028,2759,2287,3670
$GC,1053,-0.80,-146.0,88.7,-8.1,179,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2287,3670
$GC,1188,-0.84,-146.0,100.3,-9.1,204,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2287,3670
$GC,1327,-0.84,-146.0,112.7,-9.5,229,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2287,3670
$GC,1462,-0.84,-146.0,125.3,-9.1,254,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2288,3670
$GC,1602,-0.84,-146.0,137.5,-9.2,279,1608,0.00,2.85,0.00,0.000,4,0.000,0.047,2759,843,3670
$GC,1642,-0.89,-146.0,141.3,-9.0,286,1650,0.12,2.78,0.00,0.000,6,0.042,0.028,2727,2287,3670
$GC,1784,-0.89,-146.0,156.7,-11.0,311,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2287,3670
$GC,2114,-0.89,-146.0,195.4,-11.4,372,2121,0.00,2.88,0.00,0.000,4,0.000,0.047,2726,846,3670
$GC,2203,-0.89,-146.0,205.9,-12.2,388,2211,0.00,2.75,0.00,0.000,6,0.000,0.028,2726,2279,3669
$GC,2536,-0.89,-146.0,246.3,-13.1,449,2542,0.00,2.85,0.00,0.000,4,0.000,0.047,2726,832,3670
$GC,2615,-0.89,-146.0,256.9,-13.1,463,2621,0.00,2.72,0.00,0.000,6,0.000,0.028,2727,2272,3669
$GC,2945,-0.89,-146.0,298.6,-12.2,524,2953,0.00,2.85,0.00,0.000,4,0.000,0.047,2726,841,3670
$GC,3000,-0.89,-146.0,305.5,-13.2,533,3006,0.00,2.70,0.00,0.000,6,0.000,0.028,2726,2267,3669
$GC,3331,-0.89,-146.0,345.3,-11.9,594,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2267,3669
$GC,3674,-0.89,-146.0,384.4,-11.2,655,3681,0.00,2.80,0.00,0.000,4,0.000,0.047,2726,844,3670
$GC,3754,-0.89,-146.0,394.0,-11.9,669,3761,0.00,2.70,0.00,0.000,6,0.000,0.029,2726,2253,3670
$GC,4096,-0.89,-146.0,433.5,-11.9,730,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2253,3670
$GC,4437,-0.89,-146.0,473.2,-11.9,791,4443,0.00,2.78,0.00,0.000,4,0.000,0.048,2726,843,3670
$GC,4510,-0.89,-146.0,482.3,-12.6,804,4518,0.00,2.67,0.00,0.000,6,0.000,0.029,2726,2239,3669
$GC,4855,-0.89,-146.0,522.8,-11.4,865,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2241,3670
$GC,5194,-0.89,-146.0,562.1,-11.1,926,5200,0.00,2.78,0.00,0.000,4,0.000,0.048,2726,834,3669
$GC,5234,-0.89,-146.0,567.0,-12.5,933,5241,0.00,2.67,0.00,0.000,6,0.000,0.029,2726,2252,3669
$GC,5572,-0.89,-146.0,605.2,-11.3,990,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2253,3670
$GC,5891,-0.89,-146.0,640.5,-11.3,1020,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2253,3669
$GC,6210,-0.89,-146.0,676.7,-11.3,1050,6214,0.00,2.83,0.00,0.000,4,0.000,0.055,2726,846,3669
$GC,6298,-0.89,-146.0,687.2,-11.5,1057,6304,0.00,2.67,0.00,0.000,6,0.000,0.035,2726,2232,3669
$GC,6624,-0.89,-146.0,722.9,-10.7,1088,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2232,3669
$STATE,6877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6877,begin apogee
$GC,6883,-0.21,0.0,750.9,11.1,1112,7031,0.82,0.00,144.43,1.366,6,0.123,0.000,2865,2707,3071
$STATE,7032,end apogee,CONTROL_FINISHED_OK
$STATE,7032,begin climb
$GC,7034,0.91,146.0,755.6,0.0,1127,7192,1.42,2.72,147.05,1.329,4,0.084,0.071,3110,3893,2475
$GC,7277,0.75,146.0,731.0,15.2,1150,7282,0.17,2.47,0.00,0.000,6,0.131,0.048,3088,2721,2474
$GC,7601,0.64,146.0,691.1,11.9,1180,7606,0.15,2.47,0.00,0.000,4,0.135,0.059,3064,3901,2473
$GC,7697,0.59,146.0,680.9,10.6,1188,7701,0.00,2.38,0.00,0.000,6,0.000,0.038,3064,2713,2472
$GC,8022,0.54,146.0,648.2,10.1,1218,8027,0.17,2.45,0.00,0.000,4,0.123,0.054,3036,3906,2473
$GC,8066,0.58,179.3,644.0,8.5,1221,8104,0.00,2.33,32.75,1.242,6,0.000,0.034,3035,2719,2339
$GC,8421,0.60,201.0,613.0,9.0,1255,8445,0.00,0.00,22.02,1.194,6,0.000,0.000,3036,2718,2251
$GC,8769,0.67,223.6,581.6,9.0,1305,8800,0.15,2.47,22.92,1.182,4,0.058,0.051,3069,3902,2159
$GC,8839,0.67,223.6,573.5,12.4,1317,8846,0.00,2.35,0.00,0.000,6,0.000,0.031,3069,2730,2158
$GC,9182,0.67,223.6,532.7,11.8,1378,9188,0.00,2.38,0.00,0.000,4,0.000,0.048,3069,3903,2158
$GC,9252,0.67,223.6,524.4,12.7,1390,9258,0.00,2.22,0.00,0.000,6,0.000,0.031,3069,2753,2157
$GC,9593,0.67,223.6,483.8,11.8,1451,9599,0.00,2.33,0.00,0.000,4,0.000,0.048,3069,3910,2157
$GC,9633,0.67,223.6,478.9,12.5,1458,9640,0.00,2.22,0.00,0.000,6,0.000,0.029,3069,2766,2157
$GC,9974,0.67,223.6,438.4,12.0,1519,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2764,2157
$GC,10314,0.67,223.6,399.2,11.2,1580,10320,0.00,2.30,0.00,0.000,4,0.000,0.048,3069,3905,2157
$GC,10377,0.67,223.6,392.0,11.5,1591,10383,0.00,2.15,0.00,0.000,6,0.000,0.029,3069,2774,2156
$GC,10718,0.67,223.6,355.3,10.7,1652,10724,0.00,2.25,0.00,0.000,4,0.000,0.047,3068,3909,2157
$GC,10749,0.67,223.6,352.2,11.1,1657,10755,0.00,2.12,0.00,0.000,6,0.000,0.029,3069,2790,2157
$GC,11080,0.67,223.6,316.0,11.2,1718,11088,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2787,2157
$GC,11415,0.67,223.6,278.4,11.3,1779,11421,0.00,2.22,0.00,0.000,4,0.000,0.048,3069,3900,2157
$GC,11451,0.67,223.6,274.3,11.5,1785,11457,0.00,2.10,0.00,0.000,6,0.000,0.029,3069,2787,2156
$GC,11782,0.67,223.6,236.2,11.0,1846,11789,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2780,2157
$GC,12116,0.67,223.6,196.4,11.8,1907,12121,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2779,2157
$GC,12444,0.67,223.6,158.8,10.8,1968,12452,0.00,2.22,0.00,0.000,4,0.000,0.047,3069,3903,2156
$GC,12487,0.67,223.6,154.2,11.2,1975,12493,0.00,2.08,0.00,0.000,6,0.000,0.029,3069,2804,2156
$GC,12816,0.68,231.1,118.9,9.7,2036,12830,0.00,0.00,8.15,0.805,6,0.000,0.000,3069,2802,2128
$GC,12961,0.68,231.1,103.7,10.7,2062,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2802,2127
$GC,13100,0.68,231.1,89.0,10.9,2087,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2802,2127
$GC,13234,0.68,231.1,74.2,10.9,2112,13242,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2801,2127
$GC,13374,0.68,231.1,59.2,11.1,2137,13379,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2801,2127
$GC,13509,0.68,231.1,44.4,11.9,2162,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2801,2127
$GC,13643,0.68,231.1,29.3,12.7,2187,13650,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2801,2127
$GC,13777,0.76,293.5,15.8,7.1,2212,13844,0.00,2.28,58.00,0.904,4,0.000,0.043,3069,3906,1872
$GC,13883,0.99,419.0,5.3,4.2,2228,13913,0.28,2.17,24.83,0.854,2,0.046,0.030,3137,2807,1769
$STATE,13914,end climb,SURFACE_DEPTH_REACHED
$STATE,13914,begin surface coast
$FINISH,-0.1,1.026222
$STATE,13926,end surface coast,CONTROL_FINISHED_OK
$STATE,13926,begin surface
$SM_CCo,14004,0.00,0.000,0,0,1763,320.85
$SM_GC,0.63,8.80,0.00,0.00,0.042,0.000,0.000,1435,2239,1763,-6.79,-0.31,320.85
$IRIDIUM_FIX,5846.12,-1820.79,050797,030348
$TT8_MAMPS,0.026845
$HUMID,1727
$INTERNAL_PRESSURE,8.94611
$TCM_TEMP,12.30
$XPDR_PINGS,372
$24V_AH,20.4,14.130
$10V_AH,9.7,11.129
$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,24.600,119.450,460.150,0.000,0.000,29.110,30.895,263.364,93.000,0.000,0.000,14.519,3401.603,4590.417,587.181,5219.901,646.699,0.000,2346.903,0.000,5243.871,0.000,0.465
$DEVICE_MAMPS,238.537,70.564,1366.027,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1550.977,1612.978,1154.427,1155.571,2948.743,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,167672,2234
$CAP_FILE_SIZE,174640,0
$CFSIZE,260165632,254812160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,112038,5904.604,-1827.934,27,1.1,27,-13.2