version: 66.03
glider: 142
mission: 5
dive: 186
start: 5 14 108 7 45 59
data:
$ID,142
$MISSION,5
$DIVE,186
$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,100
$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,160
$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,-16610.428
$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,28
$R_STBD_OVSHOOT,43
$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
$GPS1,073828,6109.155,-2614.921,30,2.3,49,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-60.7
$GPS2,074538,6109.168,-2614.976,12,1.6,12,-18.4
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6059.020,-2613.184
$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,178.4,20000,-21.7,-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,-1.03,-97.3,0.0,0.0,0,100,0.00,0.00,-66.62,0.000,6,0.000,0.000,1436,2332,3463
$GC,103,-1.03,-97.3,3.4,-5.0,13,121,11.62,2.90,0.00,0.000,4,0.254,0.045,2686,886,3465
$GC,346,-0.97,-97.3,39.6,-13.4,56,354,0.12,2.70,0.00,0.000,6,0.146,0.029,2703,2293,3466
$GC,489,-0.97,-97.3,57.0,-12.3,81,495,0.00,2.83,0.00,0.000,4,0.000,0.048,2703,898,3466
$GC,574,-0.97,-97.3,68.1,-13.4,96,581,0.00,2.70,0.00,0.000,6,0.000,0.029,2702,2302,3466
$GC,920,-0.97,-97.3,109.2,-12.2,157,926,0.00,2.83,0.00,0.000,4,0.000,0.048,2702,898,3467
$GC,1096,-0.97,-97.3,131.1,-12.3,188,1102,0.00,2.67,0.00,0.000,6,0.000,0.030,2702,2289,3467
$GC,1441,-0.97,-97.3,171.7,-12.1,249,1447,0.00,2.80,0.00,0.000,4,0.000,0.048,2703,896,3467
$GC,1588,-0.97,-97.3,190.1,-12.1,275,1594,0.00,2.67,0.00,0.000,6,0.000,0.030,2702,2287,3467
$GC,1931,-0.97,-97.3,229.1,-11.3,336,1937,0.00,2.80,0.00,0.000,4,0.000,0.048,2703,891,3467
$GC,2084,-0.97,-97.3,247.5,-12.3,363,2090,0.00,2.65,0.00,0.000,6,0.000,0.030,2703,2269,3467
$GC,2429,-0.97,-97.3,283.9,-10.6,424,2436,0.00,2.78,0.00,0.000,4,0.000,0.048,2702,891,3467
$GC,2487,-0.97,-97.3,290.3,-10.9,434,2493,0.00,2.65,0.00,0.000,6,0.000,0.031,2703,2268,3467
$GC,2831,-0.97,-97.3,323.9,-9.2,495,2837,0.00,2.78,0.00,0.000,4,0.000,0.048,2703,889,3467
$GC,2983,-0.97,-97.3,340.1,-10.8,522,2990,0.00,2.62,0.00,0.000,6,0.000,0.031,2702,2254,3467
$GC,3319,-0.97,-97.3,374.2,-10.1,562,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2254,3467
$GC,3638,-0.97,-97.3,406.9,-10.2,592,3642,0.00,2.72,0.00,0.000,4,0.000,0.049,2703,898,3467
$GC,3687,-0.97,-97.3,412.3,-10.9,596,3692,0.00,2.58,0.00,0.000,6,0.000,0.030,2702,2238,3467
$GC,4013,-0.97,-97.3,446.5,-10.6,626,4018,0.00,2.70,0.00,0.000,4,0.000,0.049,2702,897,3467
$GC,4171,-0.97,-97.3,464.6,-11.2,639,4177,0.00,2.55,0.00,0.000,6,0.000,0.031,2702,2222,3467
$GC,4498,-0.97,-97.3,498.5,-10.4,670,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2223,3467
$GC,4813,-0.97,-97.3,531.8,-10.9,700,4817,0.00,2.67,0.00,0.000,4,0.000,0.050,2702,898,3467
$GC,4964,-0.97,-97.3,549.5,-11.6,713,4969,0.00,2.55,0.00,0.000,6,0.000,0.031,2702,2218,3467
$GC,5290,-0.97,-97.3,584.2,-10.5,743,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2219,3467
$GC,5602,-0.97,-97.3,618.4,-10.2,765,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2219,3467
$GC,5912,-0.97,-97.3,649.2,-9.9,780,5916,0.00,2.70,0.00,0.000,4,0.000,0.055,2703,900,3467
$GC,5989,-0.97,-97.3,657.5,-11.1,783,5995,0.00,2.55,0.00,0.000,6,0.000,0.033,2702,2207,3467
$GC,6305,-0.97,-97.3,688.9,-9.7,799,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2207,3466
$GC,6614,-0.97,-97.3,717.6,-9.3,814,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2208,3466
$GC,6924,-0.97,-97.3,746.8,-10.0,829,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2208,3466
$GC,7232,-0.97,-97.3,777.1,-9.9,844,7233,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2208,3466
$GC,7542,-0.97,-97.3,806.4,-9.4,859,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2208,3465
$GC,7851,-0.97,-97.3,834.7,-9.0,874,7856,0.00,3.12,0.00,0.000,4,0.000,0.114,2702,904,3465
$GC,7980,-0.97,-97.3,847.2,-10.0,880,7985,0.00,2.95,0.00,0.000,6,0.000,0.091,2702,2207,3465
$GC,8306,-0.97,-97.3,876.9,-9.2,896,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2213,3465
$GC,8615,-0.97,-97.3,906.8,-10.0,911,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2212,3465
$GC,8924,-0.97,-97.3,937.8,-9.9,926,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2212,3464
$GC,9234,-0.97,-97.3,968.7,-9.8,941,9238,0.00,2.70,0.00,0.000,4,0.000,0.058,2702,900,3464
$GC,9277,-0.97,-97.3,973.4,-10.5,943,9281,0.00,2.60,0.00,0.000,6,0.000,0.033,2702,2216,3464
$STATE,9457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9457,begin apogee
$GC,9463,-0.21,0.0,990.8,9.4,952,9570,1.10,0.00,102.55,1.623,6,0.146,0.000,2868,2741,3071
$STATE,9570,end apogee,CONTROL_FINISHED_OK
$STATE,9570,begin climb
$GC,9573,1.03,97.3,993.3,0.0,957,9689,1.55,2.65,106.85,1.597,4,0.081,0.058,3136,3893,2674
$GC,9864,0.89,97.3,960.2,13.4,970,9869,0.15,2.33,0.00,0.000,6,0.131,0.035,3117,2756,2673
$GC,10180,0.81,97.3,923.8,11.4,985,10182,0.12,0.00,0.00,0.000,6,0.125,0.000,3100,2756,2672
$GC,10489,0.76,99.3,892.7,9.9,1000,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2755,2672
$GC,10799,0.71,106.3,862.6,9.5,1015,10815,0.15,2.35,10.45,1.299,4,0.137,0.054,3076,3899,2636
$GC,10871,0.72,115.6,855.8,9.4,1017,10887,0.00,2.25,10.95,1.344,6,0.000,0.034,3076,2757,2599
$GC,11210,0.73,119.2,824.2,9.8,1034,11217,0.00,0.00,5.38,1.055,6,0.000,0.000,3076,2756,2585
$GC,11518,0.75,135.2,794.9,8.9,1049,11542,0.00,2.40,17.90,1.400,4,0.000,0.057,3076,3893,2519
$GC,11609,0.75,135.2,785.3,10.8,1053,11613,0.00,2.25,0.00,0.000,6,0.000,0.035,3076,2760,2518
$GC,11937,0.75,135.2,750.2,10.2,1069,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2757,2518
$GC,12245,0.75,135.2,718.4,10.2,1084,12246,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2756,2517
$GC,12555,0.75,135.2,687.4,10.1,1099,12556,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2755,2517
$GC,12864,0.75,139.1,656.8,9.7,1114,12874,0.00,2.33,5.30,0.980,4,0.000,0.054,3076,3903,2503
$GC,12980,0.75,139.1,644.6,10.7,1119,12984,0.00,2.22,0.00,0.000,6,0.000,0.037,3076,2778,2503
$GC,13302,0.77,151.7,613.8,9.1,1135,13323,0.00,2.30,14.15,1.256,4,0.000,0.051,3076,3899,2452
$GC,13379,0.77,151.7,606.2,10.0,1138,13383,0.00,2.17,0.00,0.000,6,0.000,0.031,3076,2785,2452
$GC,13709,0.77,156.9,574.8,9.6,1166,13718,0.00,0.00,6.88,1.052,6,0.000,0.000,3077,2783,2431
$GC,14038,0.77,156.9,543.0,10.1,1197,14039,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2781,2431
$GC,14357,0.78,162.7,510.8,9.6,1227,14371,0.00,2.33,7.70,1.053,4,0.000,0.050,3076,3905,2406
$GC,14416,0.78,162.7,504.2,10.5,1232,14422,0.00,2.20,0.00,0.000,6,0.000,0.031,3076,2783,2406
$GC,14742,0.78,162.7,468.8,11.1,1263,14744,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2781,2406
$GC,15059,0.78,162.7,432.8,11.0,1293,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2779,2406
$GC,15380,0.78,162.7,398.0,10.6,1323,15384,0.00,2.25,0.00,0.000,4,0.000,0.050,3076,3900,2407
$GC,15457,0.78,162.7,389.0,11.2,1329,15464,0.00,2.15,0.00,0.000,6,0.000,0.031,3077,2801,2406
$GC,15784,0.79,168.7,356.1,9.6,1360,15793,0.00,0.00,7.45,0.957,6,0.000,0.000,3076,2798,2383
$GC,16126,0.85,184.5,322.9,8.9,1416,16149,0.15,0.00,16.80,1.108,6,0.063,0.000,3109,2796,2317
$GC,16486,0.85,184.5,275.7,13.9,1480,16492,0.00,2.22,0.00,0.000,4,0.000,0.048,3109,3900,2316
$GC,16588,0.85,184.5,260.3,15.8,1498,16595,0.00,2.10,0.00,0.000,6,0.000,0.031,3109,2810,2316
$GC,16932,0.85,184.5,210.6,14.6,1559,16938,0.00,2.20,0.00,0.000,4,0.000,0.048,3109,3905,2316
$GC,17001,0.85,184.5,200.5,16.1,1571,17007,0.00,2.08,0.00,0.000,6,0.000,0.031,3109,2823,2316
$GC,17343,0.85,184.5,154.5,13.4,1632,17350,0.00,2.15,0.00,0.000,4,0.000,0.048,3109,3899,2316
$GC,17412,0.85,184.5,145.0,13.6,1644,17418,0.00,2.08,0.00,0.000,6,0.000,0.031,3109,2833,2316
$GC,17755,0.85,184.5,100.3,12.4,1705,17761,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2826,2316
$GC,18097,0.85,184.5,57.9,12.9,1766,18103,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2826,2316
$GC,18440,0.85,184.5,14.2,13.4,1827,18446,0.00,2.12,0.00,0.000,4,0.000,0.048,3109,3905,2317
$GC,18520,0.85,184.5,3.2,14.2,1841,18526,0.00,2.03,0.00,0.000,6,0.000,0.030,3110,2839,2317
$STATE,18532,end climb,SURFACE_DEPTH_REACHED
$STATE,18532,begin surface coast
$FINISH,0.5,1.026181
$STATE,18549,end surface coast,CONTROL_FINISHED_OK
$STATE,18549,begin surface
$SM_CCo,18568,13.70,0.877,0,0,2255,200.16
$SM_GC,2.13,0.00,0.00,13.70,0.000,0.000,0.877,1438,2287,2255,-6.82,-0.37,200.16
$IRIDIUM_FIX,6046.07,-2613.97,080897,020226
$TT8_MAMPS,0.026845
$HUMID,1786
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,14.90
$XPDR_PINGS,1036
$24V_AH,19.4,63.280
$10V_AH,9.8,46.176
$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,23.525,122.075,312.350,13.700,0.000,28.940,37.020,224.233,259.000,0.000,0.000,13.987,2962.666,11574.520,465.652,3383.470,612.932,0.000,1939.811,0.000,3379.616,0.000,0.466
$DEVICE_MAMPS,253.877,114.283,1622.972,877.448,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1286.460,1356.165,653.164,1627.352,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,133045,1846
$CAP_FILE_SIZE,165704,0
$CFSIZE,260165632,238632960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,125656,6107.074,-2613.245,37,1.2,37,-18.3