version: 66.03
glider: 142
mission: 5
dive: 81
start: 4 20 108 21 54 39
data:
$ID,142
$MISSION,5
$DIVE,81
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,90
$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,-14278.815
$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,29
$R_STBD_OVSHOOT,21
$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
$GPS1,214538,5916.425,-2240.709,39,1.1,39,-15.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-46.8
$GPS2,215420,5916.364,-2240.710,9,1.5,14,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5916.364,-2235.192
$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,105.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,173,0.00,0.00,-143.85,0.000,2,0.000,0.000,1437,2282,3616
$GC,176,-0.86,-194.7,3.3,-4.7,20,201,11.15,2.85,-6.70,0.000,4,0.249,0.051,2724,3712,3866
$GC,250,-0.78,-194.7,18.5,-16.3,32,259,0.10,2.80,0.00,0.000,6,0.143,0.034,2740,2304,3867
$GC,387,-0.73,-194.7,36.3,-12.7,57,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2304,3867
$GC,520,-0.68,-194.7,53.9,-12.9,82,528,0.15,0.00,0.00,0.000,6,0.137,0.000,2764,2304,3866
$GC,660,-0.68,-194.7,69.1,-10.9,107,666,0.00,2.80,0.00,0.000,4,0.000,0.049,2764,891,3867
$GC,695,-0.68,-194.7,73.1,-10.8,113,701,0.00,2.70,0.00,0.000,6,0.000,0.028,2764,2297,3866
$GC,831,-0.68,-194.7,88.0,-10.6,138,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2297,3866
$GC,969,-0.68,-194.7,103.2,-11.0,163,976,0.00,2.80,0.00,0.000,4,0.000,0.047,2764,888,3867
$GC,1005,-0.68,-194.7,107.2,-11.6,169,1011,0.00,2.67,0.00,0.000,6,0.000,0.029,2764,2285,3867
$GC,1140,-0.68,-194.7,121.9,-10.2,194,1147,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2286,3866
$GC,1279,-0.68,-194.7,136.3,-10.1,219,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2286,3867
$GC,1416,-0.68,-194.7,150.5,-9.9,244,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2286,3867
$GC,1751,-0.68,-194.7,184.9,-10.0,305,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2286,3867
$GC,2080,-0.68,-194.7,220.5,-11.0,366,2087,0.00,2.80,0.00,0.000,4,0.000,0.048,2764,885,3866
$GC,2111,-0.68,-194.7,223.8,-11.2,371,2118,0.00,2.67,0.00,0.000,6,0.000,0.029,2764,2291,3867
$GC,2442,-0.68,-194.7,257.8,-10.4,432,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2291,3866
$GC,2776,-0.68,-194.7,292.4,-10.8,493,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2292,3867
$GC,3105,-0.68,-194.7,328.2,-10.5,554,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2292,3866
$GC,3440,-0.68,-194.7,360.6,-9.1,615,3446,0.00,2.75,0.00,0.000,4,0.000,0.044,2764,3706,3867
$GC,3458,-0.68,-194.7,362.4,-9.3,618,3465,0.00,2.72,0.00,0.000,6,0.000,0.033,2765,2281,3867
$GC,3801,-0.68,-194.7,396.3,-9.5,679,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2281,3866
$GC,4140,-0.68,-194.7,429.5,-10.3,740,4146,0.00,2.83,0.00,0.000,4,0.000,0.044,2764,3710,3867
$GC,4154,-0.68,-194.7,430.7,-9.7,742,4160,0.00,2.75,0.00,0.000,6,0.000,0.033,2765,2284,3867
$GC,4494,-0.68,-194.7,464.4,-9.3,803,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2284,3867
$GC,4836,-0.68,-194.7,498.1,-9.6,864,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2284,3867
$GC,5180,-0.68,-194.7,531.6,-10.0,925,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2284,3867
$GC,5520,-0.68,-194.7,563.5,-8.2,986,5526,0.00,2.83,0.00,0.000,4,0.000,0.048,2765,3700,3866
$GC,5560,-0.72,-194.7,566.9,-8.5,993,5567,0.00,2.72,0.00,0.000,6,0.000,0.035,2764,2288,3867
$GC,5904,-0.72,-194.7,596.0,-8.6,1054,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2286,3866
$GC,6237,-0.72,-194.7,625.7,-8.5,1089,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2286,3867
$GC,6555,-0.72,-194.7,653.1,-8.9,1119,6560,0.00,2.88,0.00,0.000,4,0.000,0.057,2764,3702,3867
$GC,6576,-0.72,-194.7,655.2,-9.0,1120,6583,0.00,2.78,0.00,0.000,6,0.000,0.041,2764,2295,3866
$GC,6904,-0.72,-194.7,685.3,-9.8,1151,6909,0.00,2.88,0.00,0.000,4,0.000,0.060,2764,3702,3866
$GC,6937,-0.77,-194.7,688.9,-10.1,1153,6943,0.00,2.80,0.00,0.000,6,0.000,0.046,2764,2303,3866
$GC,7265,-0.81,-194.7,719.0,-9.0,1184,7270,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2302,3866
$GC,7591,-0.85,-194.7,747.1,-8.6,1215,7593,0.17,0.00,0.00,0.000,6,0.059,0.000,2730,2302,3865
$GC,7909,-0.85,-194.7,782.2,-11.2,1245,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2302,3865
$GC,8226,-0.85,-194.7,817.6,-10.8,1275,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2302,3865
$GC,8544,-0.85,-194.7,853.2,-11.7,1305,8549,0.00,3.35,0.00,0.000,4,0.000,0.130,2729,887,3864
$GC,8572,-0.85,-194.7,856.4,-12.4,1307,8577,0.00,3.15,0.00,0.000,6,0.000,0.098,2729,2295,3864
$GC,8898,-0.85,-194.7,893.0,-11.0,1337,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2295,3863
$GC,9215,-0.85,-194.7,929.3,-11.4,1367,9219,0.00,2.88,0.00,0.000,4,0.000,0.058,2730,879,3864
$GC,9264,-0.85,-194.7,935.1,-11.8,1371,9269,0.00,2.80,0.00,0.000,6,0.000,0.032,2729,2327,3863
$GC,9590,-0.85,-194.7,971.1,-11.2,1401,9595,0.00,2.92,0.00,0.000,4,0.000,0.059,2730,885,3862
$GC,9629,-0.85,-194.7,975.7,-12.0,1404,9634,0.00,2.75,0.00,0.000,6,0.000,0.035,2729,2301,3862
$STATE,9760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9760,begin apogee
$GC,9766,-0.21,0.0,990.1,10.7,1416,9973,0.82,0.00,200.75,1.585,6,0.130,0.000,2866,2751,3070
$STATE,9974,end apogee,CONTROL_FINISHED_OK
$STATE,9974,begin climb
$GC,9976,0.86,194.7,996.5,0.0,1437,10195,1.38,2.62,208.00,1.526,4,0.083,0.060,3099,3896,2277
$GC,10370,0.69,194.7,948.9,15.9,1474,10375,0.17,2.38,0.00,0.000,6,0.129,0.036,3075,2742,2275
$GC,10694,0.57,194.7,906.2,13.4,1504,10699,0.15,2.40,0.00,0.000,4,0.130,0.053,3050,3900,2274
$GC,10738,0.50,194.7,900.6,12.4,1507,10744,0.00,2.30,0.00,0.000,6,0.000,0.035,3050,2748,2274
$GC,11064,0.44,194.7,866.1,10.5,1538,11066,0.20,0.00,0.00,0.000,6,0.119,0.000,3020,2748,2273
$GC,11382,0.53,267.6,842.1,7.5,1568,11461,0.00,0.00,74.53,1.473,6,0.000,0.000,3020,2748,1979
$GC,11780,0.69,351.8,812.4,7.1,1606,11874,0.25,2.53,88.30,1.449,4,0.048,0.053,3069,3897,1637
$GC,11902,0.69,351.8,797.6,13.1,1617,11908,0.00,2.35,0.00,0.000,6,0.000,0.033,3069,2758,1634
$GC,12228,0.63,351.8,753.9,13.0,1648,12229,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2757,1629
$GC,12547,0.58,351.8,711.7,13.4,1678,12552,0.15,2.35,0.00,0.000,4,0.112,0.051,3043,3903,1628
$GC,12592,0.62,351.8,706.3,10.5,1681,12598,0.00,2.22,0.00,0.000,6,0.000,0.033,3043,2764,1627
$GC,12918,0.62,353.9,672.7,9.9,1712,12922,0.00,2.85,0.00,0.000,4,0.000,0.049,3043,1343,1627
$GC,12950,0.69,369.9,669.2,9.4,1714,12978,0.15,2.83,18.05,1.282,6,0.052,0.031,3075,2777,1562
$GC,13295,0.63,369.9,620.8,14.4,1747,13299,0.00,2.25,0.00,0.000,4,0.000,0.051,3075,3900,1560
$GC,13346,0.63,369.9,613.3,14.0,1751,13350,0.00,2.20,0.00,0.000,6,0.000,0.033,3075,2772,1559
$GC,13682,0.57,369.9,564.8,14.5,1802,13688,0.17,0.00,0.00,0.000,6,0.111,0.000,3046,2771,1559
$GC,14023,0.63,387.7,530.8,9.4,1863,14048,0.00,2.90,19.20,1.218,4,0.000,0.048,3046,1343,1489
$GC,14077,0.71,395.4,525.5,9.7,1872,14096,0.10,2.88,9.25,1.117,6,0.044,0.031,3073,2778,1459
$GC,14434,0.71,395.4,479.2,13.0,1935,14440,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2778,1457
$GC,14775,0.71,395.4,435.0,13.1,1996,14781,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2778,1457
$GC,15116,0.71,395.4,389.8,14.2,2057,15121,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2778,1456
$GC,15455,0.71,395.4,346.2,13.0,2118,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2778,1455
$GC,15790,0.71,395.4,304.3,13.0,2179,15795,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2778,1456
$GC,16118,0.71,395.4,263.1,12.3,2240,16126,0.00,2.88,0.00,0.000,4,0.000,0.044,3073,1348,1455
$GC,16154,0.71,395.4,258.8,12.3,2246,16162,0.00,2.80,0.00,0.000,6,0.000,0.031,3073,2777,1455
$GC,16489,0.71,395.4,217.0,12.0,2307,16495,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2777,1455
$GC,16818,0.71,395.4,176.0,11.2,2368,16825,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2777,1455
$GC,17152,0.71,395.4,134.6,13.1,2429,17158,0.00,2.85,0.00,0.000,4,0.000,0.044,3073,1342,1455
$GC,17187,0.71,395.4,130.4,11.8,2435,17194,0.00,2.75,0.00,0.000,6,0.000,0.030,3073,2767,1455
$GC,17323,0.71,395.4,113.9,12.6,2460,17331,0.00,2.22,0.00,0.000,4,0.000,0.047,3073,3891,1455
$GC,17355,0.71,395.4,110.1,12.4,2465,17361,0.00,2.17,0.00,0.000,6,0.000,0.031,3073,2753,1455
$GC,17490,0.71,395.4,93.5,13.4,2490,17498,0.00,2.80,0.00,0.000,4,0.000,0.047,3073,1345,1455
$GC,17526,0.71,395.4,89.2,12.2,2496,17534,0.00,2.75,0.00,0.000,6,0.000,0.030,3073,2758,1455
$GC,17665,0.71,395.4,73.5,13.3,2521,17670,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2759,1455
$GC,17799,0.71,395.4,58.7,11.0,2546,17807,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2759,1455
$GC,17937,0.71,395.4,43.2,11.8,2571,17944,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2759,1455
$GC,18071,0.71,395.4,26.7,12.5,2596,18078,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2759,1455
$GC,18205,0.71,395.4,10.4,13.6,2621,18213,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2759,1455
$STATE,18291,end climb,SURFACE_DEPTH_REACHED
$STATE,18291,begin surface coast
$FINISH,0.2,1.026224
$STATE,18308,end surface coast,CONTROL_FINISHED_OK
$STATE,18308,begin surface
$SM_CCo,18386,0.00,0.000,0,0,1454,396.65
$SM_GC,0.67,8.12,0.00,0.00,0.042,0.000,0.000,1435,2293,1454,-6.79,-0.17,396.65
$IRIDIUM_FIX,5854.46,-2245.94,150797,161626
$TT8_MAMPS,0.026845
$HUMID,1751
$INTERNAL_PRESSURE,8.91681
$TCM_TEMP,11.90
$XPDR_PINGS,881
$24V_AH,19.6,29.215
$10V_AH,9.8,24.617
$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,23.250,126.025,618.075,0.000,0.000,30.623,37.761,298.593,220.250,0.000,0.000,15.867,4001.220,7531.167,792.854,5789.975,762.198,0.000,2857.465,0.000,5811.171,0.000,0.465
$DEVICE_MAMPS,248.508,130.390,1584.622,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1834.544,1925.923,1194.030,1102.542,2845.002,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196299,2640
$CAP_FILE_SIZE,206151,0
$CFSIZE,260165632,248922112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210408,030208,5914.502,-2233.256,27,1.1,27,-15.4