version: 66.03
glider: 142
mission: 5
dive: 179
start: 5 12 108 18 32 54
data:
$ID,142
$MISSION,5
$DIVE,179
$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,215
$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,-16490.037
$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,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
$GPS1,182431,6124.855,-2543.858,39,1.7,39,-18.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-52.7
$GPS2,183237,6124.810,-2543.851,11,1.2,27,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6115.963,-2546.829
$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,233.3,20000,-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,24,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,149,0.00,0.00,-120.12,0.000,2,0.000,0.000,1429,2289,3483
$GC,152,-0.86,-194.7,3.4,-5.3,22,182,12.10,2.83,-10.68,0.000,4,0.258,0.058,2722,891,3866
$GC,257,-0.81,-194.7,19.9,-14.1,40,263,0.00,2.72,0.00,0.000,6,0.000,0.030,2723,2303,3866
$GC,401,-0.75,-194.7,38.9,-13.1,65,407,0.15,0.00,0.00,0.000,6,0.138,0.000,2747,2304,3866
$GC,542,-0.75,-194.7,56.3,-11.9,90,548,0.00,2.85,0.00,0.000,4,0.000,0.048,2747,886,3867
$GC,583,-0.75,-194.7,61.2,-12.2,97,589,0.00,2.72,0.00,0.000,6,0.000,0.029,2747,2301,3866
$GC,926,-0.75,-194.7,103.9,-13.1,158,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2301,3866
$GC,1271,-0.75,-194.7,145.1,-11.0,219,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2301,3866
$GC,1613,-0.75,-194.7,181.7,-10.5,280,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2301,3866
$GC,1956,-0.75,-194.7,217.3,-11.1,341,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2301,3866
$GC,2297,-0.75,-194.7,256.7,-12.0,402,2304,0.00,2.83,0.00,0.000,4,0.000,0.048,2747,886,3866
$GC,2343,-0.75,-194.7,262.4,-12.6,410,2350,0.00,2.70,0.00,0.000,6,0.000,0.030,2747,2295,3866
$GC,2687,-0.75,-194.7,301.5,-10.5,471,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2295,3866
$GC,3029,-0.75,-194.7,338.8,-10.8,532,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2295,3866
$GC,3365,-0.75,-194.7,375.7,-10.6,572,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3866
$GC,3682,-0.75,-194.7,409.0,-10.3,602,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3866
$GC,4001,-0.75,-194.7,441.3,-10.1,632,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3866
$GC,4320,-0.75,-194.7,471.6,-9.6,662,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3866
$GC,4639,-0.75,-194.7,502.5,-10.0,692,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2296,3866
$GC,4957,-0.75,-194.7,536.6,-11.7,722,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3866
$GC,5275,-0.75,-194.7,572.0,-10.8,752,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3866
$GC,5593,-0.75,-194.7,604.6,-9.9,780,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3866
$GC,5902,-0.75,-194.7,633.6,-9.2,795,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3866
$GC,6212,-0.75,-194.7,663.2,-9.6,810,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3865
$GC,6521,-0.75,-194.7,693.6,-10.1,825,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3866
$GC,6829,-0.75,-194.7,727.5,-11.3,840,6834,0.00,2.95,0.00,0.000,4,0.000,0.067,2747,3703,3865
$GC,6856,-0.75,-194.7,730.7,-12.3,841,6861,0.00,2.88,0.00,0.000,6,0.000,0.049,2747,2295,3866
$GC,7171,-0.75,-194.7,767.3,-11.6,856,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2296,3866
$GC,7482,-0.75,-194.7,798.4,-9.4,871,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2295,3865
$GC,7790,-0.75,-194.7,826.0,-9.1,886,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2295,3865
$GC,8100,-0.75,-194.7,851.2,-7.9,901,8105,0.00,3.33,0.00,0.000,4,0.000,0.113,2747,3692,3865
$GC,8132,-0.75,-194.7,853.9,-8.2,902,8139,0.00,3.25,0.00,0.000,6,0.000,0.101,2747,2290,3864
$GC,8449,-0.75,-194.7,878.3,-8.0,918,8450,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2285,3865
$GC,8757,-0.75,-194.7,904.3,-7.9,933,8762,0.00,2.90,0.00,0.000,4,0.000,0.055,2747,3698,3864
$GC,8800,-0.75,-194.7,908.9,-10.6,935,8805,0.00,2.83,0.00,0.000,6,0.000,0.039,2747,2280,3864
$GC,9128,-0.75,-194.7,938.5,-8.9,951,9132,0.00,2.95,0.00,0.000,4,0.000,0.057,2747,3705,3864
$GC,9160,-0.75,-194.7,941.9,-10.2,952,9166,0.00,2.80,0.00,0.000,6,0.000,0.041,2747,2305,3864
$GC,9475,-0.75,-194.7,973.1,-9.6,968,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2304,3863
$STATE,9659,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9659,begin apogee
$GC,9665,-0.21,0.0,991.4,10.1,977,9876,0.77,0.00,207.75,1.625,6,0.127,0.000,2870,2750,3071
$STATE,9877,end apogee,CONTROL_FINISHED_OK
$STATE,9877,begin climb
$GC,9879,0.86,194.7,999.5,0.0,987,10105,1.38,2.67,215.68,1.587,4,0.079,0.057,3097,3895,2277
$GC,10242,0.71,194.7,960.3,15.1,1004,10247,0.15,2.38,0.00,0.000,6,0.127,0.035,3078,2743,2274
$GC,10569,0.59,194.7,919.9,12.1,1020,10573,0.15,2.40,0.00,0.000,4,0.122,0.053,3053,3896,2274
$GC,10630,0.53,194.7,912.8,11.2,1023,10634,0.00,2.22,0.00,0.000,6,0.000,0.034,3053,2765,2273
$GC,10962,0.49,209.2,880.6,9.5,1039,10985,0.15,2.35,15.20,1.375,4,0.113,0.056,3027,3902,2218
$GC,11024,0.54,254.2,875.3,8.4,1041,11079,0.00,2.22,48.05,1.516,6,0.000,0.033,3027,2773,2034
$GC,11404,0.62,317.4,846.7,7.8,1060,11473,0.15,0.00,66.80,1.503,6,0.059,0.000,3055,2772,1777
$GC,11770,0.62,317.4,805.0,11.7,1078,11775,0.00,2.92,0.00,0.000,4,0.000,0.048,3056,1335,1772
$GC,11813,0.62,317.4,800.0,11.5,1080,11818,0.00,2.90,0.00,0.000,6,0.000,0.032,3056,2790,1770
$GC,12134,0.62,317.4,762.9,11.7,1096,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2791,1770
$GC,12444,0.62,317.4,727.0,11.9,1111,12445,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2790,1769
$GC,12753,0.62,317.4,690.9,11.3,1126,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2790,1769
$GC,13062,0.62,317.4,657.1,10.7,1141,13067,0.00,2.92,0.00,0.000,4,0.000,0.046,3056,1343,1769
$GC,13101,0.62,317.4,652.9,10.8,1143,13106,0.00,2.83,0.00,0.000,6,0.000,0.034,3055,2780,1768
$GC,13427,0.62,317.4,618.6,10.3,1159,13429,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2780,1768
$GC,13740,0.62,317.4,584.9,11.2,1180,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2780,1768
$GC,14058,0.62,317.4,549.3,10.9,1210,14059,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2780,1768
$GC,14377,0.62,317.4,512.9,11.2,1240,14382,0.00,2.90,0.00,0.000,4,0.000,0.045,3055,1338,1768
$GC,14416,0.62,317.4,508.6,10.6,1243,14421,0.00,2.83,0.00,0.000,6,0.000,0.033,3056,2782,1768
$GC,14741,0.62,317.4,474.5,10.0,1273,14744,0.00,2.20,0.00,0.000,4,0.000,0.049,3056,3897,1768
$GC,14768,0.62,317.4,471.6,10.4,1275,14774,0.00,2.20,0.00,0.000,6,0.000,0.032,3056,2772,1767
$GC,15094,0.65,339.1,441.1,9.2,1306,15121,0.00,2.90,21.62,1.190,4,0.000,0.047,3056,1335,1687
$GC,15160,0.66,353.4,434.5,9.5,1311,15182,0.00,2.85,16.27,1.195,6,0.000,0.031,3056,2776,1630
$GC,15501,0.67,355.3,401.8,9.9,1343,15502,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2776,1626
$GC,15821,0.70,378.4,370.2,9.2,1373,15849,0.00,0.00,26.67,1.174,6,0.000,0.000,3056,2776,1528
$GC,16175,0.75,420.7,338.1,8.5,1417,16230,0.12,3.03,44.62,1.174,4,0.058,0.045,3083,1347,1354
$GC,16264,0.75,420.7,327.8,11.4,1433,16270,0.00,2.85,0.00,0.000,6,0.000,0.031,3083,2764,1352
$GC,16607,0.75,420.7,286.6,12.7,1494,16613,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2765,1348
$GC,16950,0.75,420.7,245.9,11.8,1555,16955,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2765,1347
$GC,17292,0.75,420.7,202.3,13.0,1616,17299,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2764,1347
$GC,17635,0.75,420.7,156.6,14.4,1677,17640,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2765,1346
$GC,17977,0.75,420.7,109.2,13.5,1738,17982,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2765,1346
$GC,18321,0.75,420.7,64.3,12.1,1799,18327,0.00,2.85,0.00,0.000,4,0.000,0.045,3083,1345,1345
$GC,18356,0.75,420.7,59.6,13.1,1805,18362,0.00,2.75,0.00,0.000,6,0.000,0.031,3083,2760,1345
$GC,18699,0.75,420.7,18.2,12.7,1866,18704,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2761,1345
$STATE,18839,end climb,SURFACE_DEPTH_REACHED
$STATE,18840,begin surface coast
$FINISH,0.3,1.014249
$STATE,18858,end surface coast,CONTROL_FINISHED_OK
$STATE,18858,begin surface
$SM_CCo,18936,0.00,0.000,0,0,1343,423.88
$SM_GC,0.80,8.35,0.00,0.00,0.046,0.000,0.000,1431,2297,1343,-6.80,-0.08,423.88
$IRIDIUM_FIX,6108.28,-2547.56,060897,131305
$TT8_MAMPS,0.026078
$HUMID,1779
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,14.90
$XPDR_PINGS,991
$24V_AH,19.3,61.656
$10V_AH,9.8,45.067
$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,23.475,95.625,662.675,0.000,0.000,28.271,34.430,272.974,247.750,0.000,0.000,29.271,2945.477,11638.715,765.868,3416.394,637.060,0.000,2289.764,0.000,3390.234,0.000,0.465
$DEVICE_MAMPS,258.479,112.749,1625.273,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1340.547,1355.017,673.777,1677.510,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136172,1894
$CAP_FILE_SIZE,162504,0
$CFSIZE,260165632,239292416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120508,234938,6120.474,-2550.268,33,1.8,33,-18.3