version: 66.03
glider: 142
mission: 5
dive: 126
start: 5 1 108 2 10 35
data:
$ID,142
$MISSION,5
$DIVE,126
$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,345
$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,-15229.209
$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
$GPS1,015438,6058.594,-2439.794,30,1.3,30,-17.4
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-42.2
$GPS2,021015,6058.593,-2440.177,14,2.0,14,-17.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6109.024,-2441.526
$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,2.4,20000,-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,-194.7,0.0,0.0,0,180,0.00,0.00,-150.80,0.000,2,0.000,0.000,1436,2290,3675
$GC,182,-0.86,-194.7,3.2,-3.7,21,206,11.62,2.85,-5.03,0.000,4,0.254,0.051,2727,3714,3866
$GC,297,-0.86,-194.7,24.5,-14.6,41,305,0.00,2.80,0.00,0.000,6,0.000,0.035,2727,2307,3866
$GC,431,-0.81,-194.7,42.4,-13.1,66,439,0.00,2.88,0.00,0.000,4,0.000,0.048,2726,885,3866
$GC,558,-0.81,-194.7,56.7,-11.4,89,564,0.00,2.72,0.00,0.000,6,0.000,0.031,2727,2292,3866
$GC,887,-0.76,-194.7,97.5,-12.4,150,896,0.15,2.83,0.00,0.000,4,0.138,0.047,2750,895,3866
$GC,966,-0.76,-194.7,106.3,-11.6,164,974,0.00,2.67,0.00,0.000,6,0.000,0.031,2750,2264,3866
$GC,1301,-0.76,-194.7,139.9,-9.1,225,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2270,3866
$GC,1635,-0.76,-194.7,174.5,-9.7,286,1641,0.00,2.85,0.00,0.000,4,0.000,0.044,2750,3711,3866
$GC,1702,-0.76,-194.7,181.8,-10.6,298,1708,0.00,2.85,0.00,0.000,6,0.000,0.034,2750,2246,3866
$GC,2040,-0.76,-194.7,216.7,-10.5,359,2046,0.00,2.67,0.00,0.000,4,0.000,0.050,2750,891,3866
$GC,2102,-0.76,-194.7,223.2,-10.3,370,2108,0.00,2.65,0.00,0.000,6,0.000,0.029,2750,2277,3866
$GC,2440,-0.76,-194.7,256.8,-10.3,431,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2277,3866
$GC,2778,-0.76,-194.7,290.9,-10.0,492,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2277,3866
$GC,3121,-0.76,-194.7,323.5,-9.4,553,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2277,3866
$GC,3463,-0.76,-194.7,357.5,-10.2,608,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2277,3866
$GC,3784,-0.76,-194.7,390.0,-10.5,638,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2277,3866
$GC,4100,-0.76,-194.7,422.7,-10.2,668,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2277,3866
$GC,4419,-0.76,-194.7,456.3,-10.3,698,4424,0.00,2.83,0.00,0.000,4,0.000,0.047,2750,3704,3866
$GC,4485,-0.76,-194.7,463.5,-10.8,703,4492,0.00,2.80,0.00,0.000,6,0.000,0.035,2750,2263,3866
$GC,4811,-0.76,-194.7,496.8,-10.2,734,4816,0.00,2.72,0.00,0.000,4,0.000,0.050,2750,883,3866
$GC,4855,-0.76,-194.7,501.6,-10.8,737,4861,0.00,2.67,0.00,0.000,6,0.000,0.029,2750,2281,3867
$GC,5180,-0.76,-194.7,535.1,-10.3,768,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3866
$GC,5498,-0.76,-194.7,569.2,-11.1,798,5503,0.00,2.85,0.00,0.000,4,0.000,0.050,2750,3709,3866
$GC,5564,-0.76,-194.7,576.9,-11.9,803,5571,0.00,2.80,0.00,0.000,6,0.000,0.035,2750,2277,3866
$GC,5896,-0.76,-194.7,615.0,-11.5,829,5900,0.00,2.80,0.00,0.000,4,0.000,0.057,2750,885,3866
$GC,5962,-0.76,-194.7,622.8,-11.5,832,5966,0.00,2.70,0.00,0.000,6,0.000,0.032,2750,2285,3865
$GC,6282,-0.76,-194.7,656.5,-10.2,848,6287,0.00,2.90,0.00,0.000,4,0.000,0.058,2750,3710,3866
$GC,6353,-0.76,-194.7,664.0,-10.8,851,6357,0.00,2.85,0.00,0.000,6,0.000,0.048,2750,2285,3866
$GC,6675,-0.76,-194.7,695.5,-9.4,867,6680,0.00,2.92,0.00,0.000,4,0.000,0.059,2750,3704,3865
$GC,6932,-0.76,-194.7,721.1,-9.9,878,6938,0.00,2.78,0.00,0.000,6,0.000,0.051,2750,2337,3865
$GC,7247,-0.76,-194.7,750.1,-9.2,894,7252,0.00,2.90,0.00,0.000,4,0.000,0.070,2750,3706,3865
$GC,7460,-0.76,-194.7,770.0,-9.4,903,7466,0.00,2.80,0.00,0.000,6,0.000,0.063,2750,2367,3865
$GC,7775,-0.76,-194.7,799.2,-9.7,919,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2368,3865
$GC,8084,-0.76,-194.7,829.8,-9.9,934,8089,0.00,3.03,0.00,0.000,4,0.000,0.101,2750,3699,3864
$GC,8156,-0.76,-194.7,836.9,-9.5,937,8160,0.00,2.92,0.00,0.000,6,0.000,0.091,2750,2388,3864
$GC,8471,-0.76,-194.7,867.7,-9.5,952,8476,0.00,3.25,0.00,0.000,4,0.000,0.088,2750,885,3864
$GC,8504,-0.80,-194.7,871.0,-10.2,953,8510,0.00,2.92,0.00,0.000,6,0.000,0.032,2750,2390,3863
$GC,8819,-0.80,-194.7,900.3,-9.0,969,8824,0.00,2.67,0.00,0.000,4,0.000,0.058,2750,3710,3863
$GC,8886,-0.80,-194.7,906.4,-9.0,972,8890,0.00,2.62,0.00,0.000,6,0.000,0.039,2750,2378,3863
$GC,9207,-0.80,-194.7,933.8,-8.4,988,9212,0.00,3.05,0.00,0.000,4,0.000,0.061,2750,883,3863
$GC,9263,-0.86,-194.7,938.7,-8.7,990,9269,0.00,2.95,0.00,0.000,6,0.000,0.035,2750,2388,3862
$GC,9578,-0.86,-194.7,965.5,-8.3,1006,9582,0.00,2.67,0.00,0.000,4,0.000,0.060,2750,3705,3861
$GC,9650,-0.86,-194.7,971.7,-8.8,1009,9654,0.00,2.60,0.00,0.000,6,0.000,0.040,2750,2387,3861
$STATE,9880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9880,begin apogee
$GC,9886,-0.21,0.0,990.9,8.4,1020,10092,0.75,0.00,202.32,1.598,6,0.138,0.000,2868,2748,3071
$STATE,10093,end apogee,CONTROL_FINISHED_OK
$STATE,10093,begin climb
$GC,10095,0.86,194.7,996.9,0.0,1030,10320,1.40,2.65,211.18,1.547,4,0.083,0.057,3099,3891,2277
$GC,10467,0.70,194.7,952.7,14.6,1047,10472,0.17,2.38,0.00,0.000,6,0.123,0.035,3075,2738,2275
$GC,10782,0.61,194.7,914.4,12.0,1062,10787,0.15,2.42,0.00,0.000,4,0.129,0.053,3050,3900,2274
$GC,10825,0.61,194.7,909.4,10.4,1064,10830,0.00,2.30,0.00,0.000,6,0.000,0.035,3050,2758,2274
$GC,11153,0.57,194.7,877.1,10.2,1080,11157,0.00,2.35,0.00,0.000,4,0.000,0.053,3050,3900,2273
$GC,11174,0.52,194.7,874.6,10.7,1081,11178,0.00,2.25,0.00,0.000,6,0.000,0.034,3050,2757,2273
$GC,11495,0.47,194.7,840.8,10.5,1097,11500,0.15,2.33,0.00,0.000,4,0.118,0.052,3025,3896,2273
$GC,11517,0.48,203.4,838.7,9.7,1098,11533,0.00,2.20,9.62,1.240,6,0.000,0.033,3025,2769,2241
$GC,11842,0.55,254.9,812.1,8.2,1114,11904,0.00,3.05,53.08,1.465,4,0.000,0.050,3025,1342,2031
$GC,11909,0.63,318.8,806.5,7.8,1117,11987,0.17,2.95,68.03,1.447,6,0.049,0.032,3059,2776,1771
$GC,12295,0.63,318.8,762.0,11.6,1136,12299,0.00,2.97,0.00,0.000,4,0.000,0.047,3058,1338,1764
$GC,12311,0.63,318.8,760.1,11.7,1137,12316,0.00,2.88,0.00,0.000,6,0.000,0.033,3058,2769,1763
$GC,12637,0.63,318.8,723.7,10.9,1153,12641,0.00,2.92,0.00,0.000,4,0.000,0.048,3059,1342,1762
$GC,12646,0.63,318.8,722.5,10.9,1153,12653,0.00,2.80,0.00,0.000,6,0.000,0.032,3059,2753,1762
$GC,12962,0.63,318.8,689.5,10.6,1169,12963,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2753,1761
$GC,13271,0.63,318.8,657.4,10.1,1184,13272,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2753,1760
$GC,13580,0.63,318.8,625.5,10.7,1199,13581,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2753,1760
$GC,13895,0.63,318.8,591.4,11.1,1217,13900,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2753,1760
$GC,14219,0.63,318.8,554.0,11.8,1248,14220,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2753,1760
$GC,14537,0.63,318.8,516.7,11.3,1278,14542,0.00,2.85,0.00,0.000,4,0.000,0.047,3059,1338,1760
$GC,14547,0.63,318.8,515.4,11.3,1278,14553,0.00,2.75,0.00,0.000,6,0.000,0.032,3059,2750,1759
$GC,14873,0.63,318.8,479.3,11.6,1309,14874,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2750,1759
$GC,15190,0.63,318.8,441.7,11.8,1339,15191,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2750,1759
$GC,15511,0.63,318.8,404.9,11.3,1369,15515,0.00,2.83,0.00,0.000,4,0.000,0.046,3059,1339,1759
$GC,15520,0.63,318.8,403.4,11.2,1369,15527,0.00,2.72,0.00,0.000,6,0.000,0.031,3058,2745,1759
$GC,15846,0.63,318.8,365.8,11.8,1400,15847,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2746,1759
$GC,16172,0.63,318.8,327.5,11.1,1447,16178,0.00,2.83,0.00,0.000,4,0.000,0.045,3059,1333,1759
$GC,16186,0.63,318.8,326.0,11.1,1449,16192,0.00,2.72,0.00,0.000,6,0.000,0.031,3059,2739,1759
$GC,16528,0.63,318.8,286.4,10.0,1510,16533,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2739,1759
$GC,16866,0.65,338.8,249.0,9.3,1571,16889,0.00,0.00,18.58,1.029,6,0.000,0.000,3059,2739,1688
$GC,17223,0.65,338.8,210.4,10.5,1635,17228,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2739,1687
$GC,17561,0.65,338.8,174.7,10.2,1696,17569,0.00,2.83,0.00,0.000,4,0.000,0.044,3058,1338,1687
$GC,17716,0.74,377.0,159.0,8.7,1723,17763,0.00,2.70,38.53,1.032,6,0.000,0.030,3059,2734,1533
$GC,18092,0.75,384.7,123.1,9.7,1791,18107,0.12,2.83,8.15,0.832,4,0.058,0.044,3085,1338,1503
$GC,18221,0.81,433.4,110.1,8.3,1814,18280,0.00,2.75,50.33,0.992,6,0.000,0.031,3085,2723,1303
$GC,18610,0.81,433.4,64.3,10.0,1883,18616,0.00,2.35,0.00,0.000,4,0.000,0.047,3085,3900,1295
$GC,18624,0.83,449.1,62.5,9.5,1885,18650,0.00,2.30,15.30,0.884,6,0.000,0.031,3085,2721,1239
$GC,18968,0.83,449.1,17.7,15.5,1949,18977,0.00,2.40,0.00,0.000,4,0.000,0.048,3085,3896,1236
$GC,18984,0.83,449.1,14.9,16.5,1951,18992,0.00,2.28,0.00,0.000,6,0.000,0.031,3085,2742,1236
$STATE,19075,end climb,SURFACE_DEPTH_REACHED
$STATE,19076,begin surface coast
$FINISH,0.1,1.024585
$STATE,19093,end surface coast,CONTROL_FINISHED_OK
$STATE,19093,begin surface
$SM_CCo,19171,0.00,0.000,0,0,1232,451.11
$SM_GC,0.66,8.30,0.00,0.00,0.040,0.000,0.000,1433,2283,1232,-6.79,-0.48,451.11
$IRIDIUM_FIX,6037.25,-2438.76,260797,020247
$TT8_MAMPS,0.026078
$HUMID,1753
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.50
$XPDR_PINGS,908
$24V_AH,19.6,44.004
$10V_AH,9.7,34.619
$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,23.000,171.050,675.100,0.000,0.000,82.324,102.906,480.274,227.000,0.000,0.000,15.808,3099.095,10662.666,791.248,4531.666,1005.075,0.000,2548.481,0.000,4523.805,0.000,0.465
$DEVICE_MAMPS,253.877,101.244,1597.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1363.593,1424.997,722.188,980.779,1803.019,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145428,1971
$CAP_FILE_SIZE,189232,0
$CFSIZE,260165632,244281344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010508,073126,6102.108,-2445.708,44,1.5,44,-17.5