version: 66.03
glider: 142
mission: 5
dive: 104
start: 4 26 108 2 40 54
data:
$ID,142
$MISSION,5
$DIVE,104
$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,350
$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,-14781.276
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,023238,6014.863,-2231.548,29,2.0,29,-15.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-50.6
$GPS2,024037,6014.790,-2231.587,14,1.3,24,-15.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6025.425,-2232.513
$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,5.9,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,165,0.00,0.00,-136.55,0.000,2,0.000,0.000,1432,2288,3631
$GC,168,-0.86,-194.7,3.3,-4.4,19,191,11.30,0.00,-6.22,0.000,6,0.248,0.000,2724,2289,3865
$GC,319,-0.76,-194.7,30.3,-14.9,46,327,0.15,0.00,0.00,0.000,6,0.148,0.000,2747,2289,3866
$GC,454,-0.72,-194.7,48.0,-12.2,71,462,0.00,2.83,0.00,0.000,4,0.000,0.048,2748,894,3866
$GC,503,-0.72,-194.7,54.3,-13.1,79,509,0.00,2.72,0.00,0.000,6,0.000,0.029,2747,2303,3866
$GC,832,-0.72,-194.7,95.1,-11.4,140,840,0.00,2.85,0.00,0.000,4,0.000,0.048,2747,889,3866
$GC,874,-0.72,-194.7,100.1,-12.3,147,881,0.00,2.70,0.00,0.000,6,0.000,0.029,2747,2298,3866
$GC,1204,-0.72,-194.7,138.9,-12.0,208,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2298,3866
$GC,1544,-0.72,-194.7,178.3,-11.3,269,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2298,3866
$GC,1882,-0.72,-194.7,217.5,-11.5,330,1888,0.00,2.80,0.00,0.000,4,0.000,0.047,2747,884,3867
$GC,1938,-0.72,-194.7,224.0,-11.5,340,1946,0.00,2.70,0.00,0.000,6,0.000,0.029,2747,2284,3866
$GC,2282,-0.72,-194.7,261.9,-11.2,401,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2285,3867
$GC,2621,-0.72,-194.7,298.8,-10.9,462,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2285,3867
$GC,2960,-0.72,-194.7,335.9,-10.5,523,2967,0.00,2.75,0.00,0.000,4,0.000,0.048,2747,897,3866
$GC,3005,-0.72,-194.7,340.9,-10.9,531,3011,0.00,2.65,0.00,0.000,6,0.000,0.030,2747,2286,3867
$GC,3339,-0.72,-194.7,377.0,-11.1,570,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2286,3866
$GC,3657,-0.72,-194.7,411.7,-10.8,600,3662,0.00,2.78,0.00,0.000,4,0.000,0.048,2747,885,3866
$GC,3696,-0.72,-194.7,416.2,-11.5,603,3701,0.00,2.65,0.00,0.000,6,0.000,0.029,2747,2277,3866
$GC,4024,-0.72,-194.7,452.5,-11.6,633,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2277,3866
$GC,4348,-0.72,-194.7,490.5,-11.2,664,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2278,3866
$GC,4668,-0.72,-194.7,527.1,-11.7,694,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2278,3866
$GC,4985,-0.72,-194.7,562.7,-10.9,724,4990,0.00,2.80,0.00,0.000,4,0.000,0.048,2747,3703,3866
$GC,5040,-0.72,-194.7,568.9,-11.4,728,5048,0.00,2.80,0.00,0.000,6,0.000,0.035,2747,2274,3866
$GC,5376,-0.72,-194.7,604.5,-10.7,758,5381,0.00,2.78,0.00,0.000,4,0.000,0.055,2748,885,3866
$GC,5426,-0.72,-194.7,610.3,-10.6,760,5430,0.00,2.65,0.00,0.000,6,0.000,0.031,2747,2269,3866
$GC,5747,-0.72,-194.7,642.9,-10.1,776,5752,0.00,2.90,0.00,0.000,4,0.000,0.055,2747,3712,3866
$GC,5824,-0.72,-194.7,651.1,-10.4,779,5831,0.00,2.83,0.00,0.000,6,0.000,0.044,2747,2281,3866
$GC,6140,-0.72,-194.7,682.3,-9.9,795,6144,0.00,2.85,0.00,0.000,4,0.000,0.065,2747,884,3866
$GC,6211,-0.72,-194.7,689.8,-10.4,798,6216,0.00,2.75,0.00,0.000,6,0.000,0.038,2747,2292,3865
$GC,6527,-0.72,-194.7,720.7,-10.0,813,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2292,3865
$GC,6836,-0.72,-194.7,752.0,-9.9,828,6841,0.00,3.00,0.00,0.000,4,0.000,0.077,2747,3714,3865
$GC,6897,-0.72,-194.7,758.3,-10.2,831,6902,0.00,2.92,0.00,0.000,6,0.000,0.061,2748,2291,3865
$GC,7223,-0.72,-194.7,791.0,-10.0,847,7228,0.00,3.08,0.00,0.000,4,0.000,0.100,2747,887,3865
$GC,7272,-0.72,-194.7,796.3,-10.4,849,7277,0.00,2.95,0.00,0.000,6,0.000,0.072,2747,2290,3864
$GC,7587,-0.72,-194.7,827.6,-10.2,864,7592,0.00,3.20,0.00,0.000,4,0.000,0.104,2747,3713,3864
$GC,7653,-0.72,-194.7,834.5,-10.8,867,7658,0.00,3.15,0.00,0.000,6,0.000,0.093,2747,2301,3864
$GC,7974,-0.72,-194.7,867.5,-10.4,883,7978,0.00,2.85,0.00,0.000,4,0.000,0.054,2747,870,3863
$GC,8017,-0.72,-194.7,872.4,-11.0,885,8021,0.00,2.80,0.00,0.000,6,0.000,0.031,2747,2319,3863
$GC,8344,-0.72,-194.7,906.7,-10.5,901,8348,0.00,2.80,0.00,0.000,4,0.000,0.058,2747,3708,3863
$GC,8393,-0.72,-194.7,912.0,-10.4,903,8397,0.00,2.80,0.00,0.000,6,0.000,0.041,2747,2291,3863
$GC,8708,-0.72,-194.7,943.5,-9.9,918,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2290,3862
$GC,9017,-0.72,-194.7,973.0,-9.6,933,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2290,3862
$STATE,9201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9201,begin apogee
$GC,9207,-0.21,0.0,990.7,9.6,942,9411,0.73,0.00,201.07,1.600,6,0.120,0.000,2867,2750,3071
$STATE,9412,end apogee,CONTROL_FINISHED_OK
$STATE,9412,begin climb
$GC,9414,0.86,194.7,997.0,0.0,952,9639,1.40,2.60,209.88,1.543,4,0.081,0.058,3102,3895,2278
$GC,9733,0.68,194.7,961.2,15.5,967,9738,0.22,2.40,0.00,0.000,6,0.123,0.035,3071,2743,2276
$GC,10054,0.56,194.7,923.2,11.6,983,10059,0.15,2.42,0.00,0.000,4,0.127,0.054,3047,3902,2275
$GC,10118,0.51,194.7,916.6,10.1,986,10122,0.00,2.28,0.00,0.000,6,0.000,0.034,3047,2757,2275
$GC,10444,0.46,200.1,885.2,9.8,1002,10458,0.15,2.42,6.80,1.134,4,0.124,0.054,3025,3900,2255
$GC,10475,0.54,267.8,882.4,7.6,1003,10551,0.00,2.22,70.68,1.496,6,0.000,0.033,3025,2771,1979
$GC,10872,0.61,321.2,851.0,8.1,1023,10936,0.15,3.10,56.35,1.464,4,0.056,0.050,3054,1339,1761
$GC,11076,0.61,321.2,828.0,11.4,1032,11080,0.00,2.92,0.00,0.000,6,0.000,0.033,3054,2779,1757
$GC,11391,0.61,321.2,792.0,11.6,1047,11396,0.00,2.95,0.00,0.000,4,0.000,0.048,3054,1340,1754
$GC,11497,0.61,321.2,779.8,11.6,1052,11502,0.00,2.88,0.00,0.000,6,0.000,0.033,3054,2782,1754
$GC,11823,0.61,321.2,741.6,11.8,1068,11824,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2782,1753
$GC,12133,0.61,321.2,706.2,11.0,1083,12134,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2782,1752
$GC,12442,0.61,321.2,672.2,11.3,1098,12446,0.00,2.92,0.00,0.000,4,0.000,0.047,3054,1335,1752
$GC,12451,0.61,321.2,670.9,11.6,1098,12458,0.00,2.85,0.00,0.000,6,0.000,0.032,3054,2787,1752
$GC,12766,0.61,321.2,636.4,10.9,1114,12768,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2788,1752
$GC,13076,0.61,321.2,602.9,10.6,1129,13081,0.00,2.92,0.00,0.000,4,0.000,0.047,3054,1334,1752
$GC,13098,0.61,321.2,600.6,10.2,1130,13103,0.00,2.83,0.00,0.000,6,0.000,0.032,3054,2783,1751
$GC,13429,0.61,321.2,565.7,10.7,1161,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2782,1752
$GC,13746,0.61,321.2,531.2,10.5,1191,13747,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2782,1751
$GC,14064,0.61,321.2,498.4,10.2,1221,14069,0.00,2.90,0.00,0.000,4,0.000,0.045,3054,1333,1751
$GC,14074,0.61,321.2,497.2,10.3,1221,14080,0.00,2.80,0.00,0.000,6,0.000,0.031,3054,2776,1751
$GC,14400,0.61,321.2,462.7,10.7,1252,14404,0.00,2.88,0.00,0.000,4,0.000,0.045,3054,1341,1751
$GC,14409,0.61,321.2,461.5,10.6,1252,14417,0.00,2.78,0.00,0.000,6,0.000,0.031,3054,2773,1751
$GC,14735,0.61,321.2,426.4,10.7,1283,14737,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2775,1751
$GC,15056,0.61,321.2,391.8,10.9,1313,15061,0.00,2.88,0.00,0.000,4,0.000,0.044,3054,1334,1751
$GC,15066,0.61,321.2,390.2,10.8,1313,15073,0.00,2.78,0.00,0.000,6,0.000,0.030,3054,2771,1751
$GC,15392,0.61,321.2,355.9,10.5,1344,15397,0.00,2.85,0.00,0.000,4,0.000,0.044,3054,1332,1751
$GC,15410,0.61,321.2,353.9,10.6,1345,15415,0.00,2.75,0.00,0.000,6,0.000,0.030,3054,2757,1751
$GC,15748,0.61,321.2,318.3,10.1,1402,15753,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2757,1751
$GC,16083,0.62,330.5,283.9,9.7,1463,16098,0.00,2.83,8.70,0.933,4,0.000,0.044,3054,1339,1723
$GC,16104,0.63,340.9,281.9,9.6,1466,16123,0.00,2.75,11.73,1.006,6,0.000,0.030,3054,2758,1681
$GC,16459,0.63,340.9,248.5,10.6,1529,16464,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2759,1679
$GC,16801,0.67,367.8,216.1,9.1,1590,16835,0.00,2.90,28.02,1.058,4,0.000,0.043,3054,1331,1570
$GC,16844,0.70,393.1,212.3,9.1,1597,16879,0.00,2.80,26.95,1.045,6,0.000,0.029,3054,2750,1467
$GC,17216,0.80,424.6,179.1,8.9,1663,17254,0.17,2.97,31.80,1.016,4,0.048,0.044,3095,1334,1338
$GC,17272,0.75,424.6,171.9,14.1,1672,17280,0.00,2.83,0.00,0.000,6,0.000,0.029,3095,2736,1337
$GC,17611,0.66,424.6,119.6,15.1,1733,17617,0.15,2.30,0.00,0.000,4,0.107,0.045,3070,3893,1334
$GC,17640,0.66,424.6,114.9,14.4,1738,17648,0.00,2.28,0.00,0.000,6,0.000,0.031,3070,2739,1333
$GC,17976,0.66,424.6,79.2,10.3,1799,17982,0.00,2.78,0.00,0.000,4,0.000,0.046,3070,1342,1332
$GC,17991,0.66,424.6,77.5,10.2,1801,17997,0.00,2.72,0.00,0.000,6,0.000,0.029,3070,2744,1332
$GC,18321,0.75,463.4,43.1,8.7,1862,18365,0.00,2.85,38.08,0.944,4,0.000,0.044,3069,1345,1182
$GC,18374,0.86,500.3,38.4,8.7,1869,18419,0.15,2.78,38.60,0.934,6,0.037,0.029,3108,2732,1031
$GC,18548,0.78,500.3,10.9,18.6,1899,18556,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2732,1026
$STATE,18597,end climb,SURFACE_DEPTH_REACHED
$STATE,18598,begin surface coast
$FINISH,0.2,1.026184
$STATE,18605,end surface coast,CONTROL_FINISHED_OK
$STATE,18605,begin surface
$SM_CCo,18683,0.00,0.000,0,0,1022,502.62
$SM_GC,0.54,8.52,0.00,0.00,0.040,0.000,0.000,1431,2289,1022,-6.80,-0.31,502.62
$IRIDIUM_FIX,5949.48,-2229.87,200797,212125
$TT8_MAMPS,0.026845
$HUMID,1731
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.80
$XPDR_PINGS,845
$24V_AH,19.6,36.696
$10V_AH,9.7,30.084
$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,23.250,174.300,728.650,0.000,0.000,30.500,33.530,265.820,211.250,0.000,0.000,27.393,3003.573,10340.601,806.618,4340.569,648.036,0.000,2527.068,0.000,4323.821,0.000,0.465
$DEVICE_MAMPS,247.741,104.312,1599.962,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1321.219,1370.009,680.031,933.947,1704.121,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139365,1909
$CAP_FILE_SIZE,178091,0
$CFSIZE,260165632,246439936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260408,075332,6016.466,-2233.939,39,1.5,39,-15.9