version: 66.03
glider: 142
mission: 5
dive: 180
start: 5 13 108 0 0 43
data:
$ID,142
$MISSION,5
$DIVE,180
$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,235
$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,-16521.029
$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,20
$R_STBD_OVSHOOT,23
$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
$GPS1,234938,6120.474,-2550.268,33,1.8,33,-18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-53.4
$GPS2,000026,6120.385,-2550.360,11,1.5,28,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6114.191,-2554.616
$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,253.3,20000,-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,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,150,0.00,0.00,-119.97,0.000,2,0.000,0.000,1431,2288,3464
$GC,152,-0.86,-194.7,3.4,-5.9,22,183,11.98,2.83,-11.40,0.000,4,0.255,0.055,2726,885,3862
$GC,324,-0.81,-194.7,28.5,-13.2,52,330,0.00,2.75,0.00,0.000,6,0.000,0.029,2726,2308,3864
$GC,468,-0.75,-194.7,46.7,-12.6,77,474,0.15,0.00,0.00,0.000,6,0.139,0.000,2749,2309,3864
$GC,611,-0.75,-194.7,62.3,-9.9,102,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2310,3864
$GC,954,-0.75,-194.7,95.3,-9.6,163,960,0.00,2.85,0.00,0.000,4,0.000,0.047,2749,885,3864
$GC,1012,-0.75,-194.7,100.9,-9.7,173,1018,0.00,2.70,0.00,0.000,6,0.000,0.029,2749,2295,3864
$GC,1356,-0.75,-194.7,135.3,-10.5,234,1362,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3864
$GC,1699,-0.75,-194.7,171.1,-10.3,295,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3864
$GC,2042,-0.75,-194.7,206.3,-10.5,356,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3864
$GC,2385,-0.75,-194.7,242.1,-10.8,417,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3864
$GC,2727,-0.75,-194.7,278.6,-10.6,478,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3864
$GC,3069,-0.75,-194.7,316.7,-11.7,539,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3863
$GC,3413,-0.75,-194.7,358.1,-12.3,595,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2295,3864
$GC,3732,-0.75,-194.7,397.6,-12.4,625,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3864
$GC,4051,-0.75,-194.7,435.7,-11.5,655,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3864
$GC,4369,-0.75,-194.7,471.5,-10.9,685,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3864
$GC,4687,-0.75,-194.7,506.0,-10.7,715,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3864
$GC,5006,-0.75,-194.7,538.6,-10.1,745,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2296,3863
$GC,5324,-0.75,-194.7,572.3,-10.5,775,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3864
$GC,5652,-0.75,-194.7,607.9,-11.0,803,5657,0.00,2.83,0.00,0.000,4,0.000,0.051,2749,3705,3863
$GC,5678,-0.75,-194.7,611.0,-11.2,804,5682,0.00,2.83,0.00,0.000,6,0.000,0.042,2749,2278,3863
$GC,5999,-0.75,-194.7,644.4,-10.0,820,6001,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2277,3863
$GC,6309,-0.75,-194.7,672.9,-8.8,835,6314,0.00,2.95,0.00,0.000,4,0.000,0.057,2750,3705,3863
$GC,6353,-0.75,-194.7,677.0,-9.4,837,6358,0.00,2.83,0.00,0.000,6,0.000,0.042,2749,2292,3863
$GC,6675,-0.75,-194.7,704.5,-8.1,853,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2291,3862
$GC,6984,-0.75,-194.7,728.7,-7.8,868,6988,0.00,2.97,0.00,0.000,4,0.000,0.065,2749,3703,3863
$GC,7005,-0.75,-194.7,730.6,-8.7,869,7009,0.00,2.88,0.00,0.000,6,0.000,0.049,2750,2292,3863
$GC,7326,-0.75,-194.7,759.0,-9.7,885,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2291,3863
$GC,7634,-0.75,-194.7,792.0,-10.4,900,7639,0.00,3.12,0.00,0.000,4,0.000,0.085,2749,3700,3862
$GC,7673,-0.75,-194.7,795.9,-10.5,902,7678,0.00,3.03,0.00,0.000,6,0.000,0.071,2749,2294,3862
$GC,7999,-0.75,-194.7,824.1,-8.1,918,8004,0.00,3.20,0.00,0.000,4,0.000,0.096,2749,3697,3862
$GC,8042,-0.75,-194.7,828.0,-8.6,920,8047,0.00,3.10,0.00,0.000,6,0.000,0.086,2749,2308,3862
$GC,8363,-0.75,-194.7,855.4,-8.9,936,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2307,3862
$GC,8672,-0.75,-194.7,884.0,-9.8,951,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2302,3861
$GC,8981,-0.75,-194.7,912.7,-9.1,966,8986,0.00,2.88,0.00,0.000,4,0.000,0.054,2749,3706,3861
$GC,9008,-0.75,-194.7,915.4,-10.4,967,9012,0.00,2.80,0.00,0.000,6,0.000,0.044,2749,2298,3861
$GC,9329,-0.75,-194.7,945.5,-8.9,983,9334,0.00,2.90,0.00,0.000,4,0.000,0.057,2749,3700,3861
$GC,9356,-0.75,-194.7,948.0,-10.0,984,9361,0.00,2.78,0.00,0.000,6,0.000,0.044,2750,2317,3861
$GC,9671,-0.75,-194.7,975.3,-8.2,999,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2316,3860
$STATE,9875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9875,begin apogee
$GC,9881,-0.21,0.0,991.5,7.5,1009,10092,0.73,0.00,206.98,1.627,6,0.117,0.000,2868,2749,3071
$STATE,10092,end apogee,CONTROL_FINISHED_OK
$STATE,10093,begin climb
$GC,10095,0.86,194.7,995.7,0.0,1019,10320,1.40,2.55,215.35,1.582,4,0.079,0.058,3100,3894,2277
$GC,10427,0.70,194.7,958.6,15.3,1034,10434,0.17,2.38,0.00,0.000,6,0.129,0.035,3077,2749,2274
$GC,10742,0.59,194.7,919.5,12.0,1050,10747,0.15,2.40,0.00,0.000,4,0.123,0.052,3052,3902,2274
$GC,10810,0.54,194.7,912.0,11.7,1053,10815,0.00,2.28,0.00,0.000,6,0.000,0.034,3052,2750,2273
$GC,11132,0.50,207.2,880.0,9.6,1069,11148,0.12,0.00,13.40,1.347,6,0.114,0.000,3033,2749,2226
$GC,11457,0.59,275.4,854.8,7.6,1084,11532,0.00,0.00,72.15,1.519,6,0.000,0.000,3033,2748,1948
$GC,11826,0.67,340.5,826.2,7.7,1102,11898,0.17,0.00,69.03,1.490,6,0.057,0.000,3070,2747,1682
$GC,12199,0.62,340.5,779.9,12.3,1120,12203,0.00,2.38,0.00,0.000,4,0.000,0.052,3070,3900,1676
$GC,12231,0.62,340.5,775.4,11.9,1121,12237,0.00,2.25,0.00,0.000,6,0.000,0.033,3070,2775,1675
$GC,12547,0.57,340.5,733.5,13.3,1137,12549,0.15,0.00,0.00,0.000,6,0.109,0.000,3047,2774,1674
$GC,12856,0.61,369.7,703.6,9.0,1152,12896,0.00,2.95,30.42,1.390,4,0.000,0.048,3047,1341,1562
$GC,12907,0.72,422.0,699.1,8.2,1154,12973,0.15,2.90,58.17,1.416,6,0.051,0.031,3077,2791,1349
$GC,13289,0.72,422.0,649.0,13.5,1173,13294,0.00,2.95,0.00,0.000,4,0.000,0.046,3077,1344,1341
$GC,13315,0.72,422.0,645.1,13.7,1174,13320,0.00,2.85,0.00,0.000,6,0.000,0.036,3077,2774,1340
$GC,13637,0.72,422.0,600.1,14.0,1190,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2772,1339
$GC,13955,0.72,422.0,557.2,13.4,1219,13956,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2772,1338
$GC,14274,0.72,422.0,513.3,13.8,1249,14278,0.00,2.90,0.00,0.000,4,0.000,0.045,3077,1335,1338
$GC,14312,0.72,422.0,508.1,12.8,1252,14317,0.00,2.80,0.00,0.000,6,0.000,0.031,3077,2766,1337
$GC,14638,0.72,422.0,464.2,13.8,1282,14639,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2766,1337
$GC,14955,0.72,422.0,420.3,13.4,1312,14956,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2766,1337
$GC,15273,0.72,422.0,380.4,11.9,1342,15274,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2766,1337
$GC,15595,0.72,422.0,341.2,12.2,1378,15601,0.00,2.85,0.00,0.000,4,0.000,0.044,3077,1344,1337
$GC,15630,0.72,422.0,336.8,12.1,1384,15636,0.00,2.78,0.00,0.000,6,0.000,0.031,3077,2771,1336
$GC,15974,0.72,422.0,292.3,13.0,1445,15979,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2770,1336
$GC,16316,0.72,422.0,247.8,13.0,1506,16323,0.00,2.88,0.00,0.000,4,0.000,0.044,3077,1335,1336
$GC,16346,0.72,422.0,244.1,12.4,1511,16352,0.00,2.75,0.00,0.000,6,0.000,0.031,3077,2753,1336
$GC,16690,0.72,422.0,202.0,12.3,1572,16696,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2754,1336
$GC,17034,0.72,422.0,160.4,11.9,1633,17040,0.00,2.83,0.00,0.000,4,0.000,0.044,3077,1344,1336
$GC,17070,0.72,422.0,156.2,11.8,1639,17076,0.00,2.72,0.00,0.000,6,0.000,0.030,3077,2750,1336
$GC,17413,0.72,422.0,115.7,12.9,1700,17419,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2750,1336
$GC,17758,0.72,422.0,74.6,11.8,1761,17764,0.00,2.83,0.00,0.000,4,0.000,0.044,3077,1337,1336
$GC,17786,0.72,422.0,71.3,11.9,1766,17793,0.00,2.72,0.00,0.000,6,0.000,0.030,3077,2745,1336
$GC,18130,0.72,422.0,32.4,10.5,1827,18137,0.00,2.30,0.00,0.000,4,0.000,0.048,3077,3893,1336
$GC,18160,0.72,422.0,28.7,11.6,1832,18166,0.00,2.28,0.00,0.000,6,0.000,0.032,3077,2729,1336
$GC,18302,0.72,422.0,13.1,10.7,1857,18309,0.00,2.75,0.00,0.000,4,0.000,0.047,3077,1338,1336
$GC,18332,0.72,422.0,9.6,11.0,1862,18339,0.00,2.65,0.00,0.000,6,0.000,0.030,3077,2719,1335
$STATE,18406,end climb,SURFACE_DEPTH_REACHED
$STATE,18406,begin surface coast
$FINISH,0.2,1.026205
$STATE,18423,end surface coast,CONTROL_FINISHED_OK
$STATE,18423,begin surface
$SM_CCo,18501,0.00,0.000,0,0,1334,426.09
$SM_GC,0.99,8.25,0.00,0.00,0.042,0.000,0.000,1433,2299,1334,-6.80,-0.03,426.09
$IRIDIUM_FIX,6054.92,-2547.83,070897,000034
$TT8_MAMPS,0.026845
$HUMID,1791
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,15.30
$XPDR_PINGS,932
$24V_AH,19.3,61.996
$10V_AH,9.8,45.229
$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,23.425,117.900,665.500,0.000,0.000,61.238,68.474,302.464,233.000,0.000,0.000,30.363,2946.954,11262.805,785.989,3406.130,728.814,0.000,2314.565,0.000,3368.477,0.000,0.466
$DEVICE_MAMPS,255.411,95.875,1626.807,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1325.653,1346.170,715.663,1666.122,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136173,1878
$CAP_FILE_SIZE,167906,0
$CFSIZE,260165632,239194112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130508,051008,6117.351,-2558.014,29,1.0,29,-18.3