version: 66.03
glider: 142
mission: 5
dive: 199
start: 5 17 108 5 31 24
data:
$ID,142
$MISSION,5
$DIVE,199
$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,120
$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,-16839.15
$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,19
$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
$GPS1,052356,6131.829,-2625.561,39,1.1,39,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-59.2
$GPS2,053103,6131.876,-2625.609,10,1.0,10,-18.7
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6126.477,-2621.138
$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,138.7,20000,-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,-97.3,0.0,0.0,0,95,0.00,0.00,-66.40,0.000,2,0.000,0.000,1436,2287,3449
$GC,98,-1.03,-97.3,3.2,-4.9,12,117,11.40,2.83,-0.57,0.000,4,0.247,0.054,2687,885,3469
$GC,371,-0.97,-97.3,43.0,-13.3,60,378,0.00,2.72,0.00,0.000,6,0.000,0.028,2688,2307,3470
$GC,514,-0.93,-97.3,61.6,-13.2,85,520,0.15,2.85,0.00,0.000,4,0.147,0.045,2711,896,3470
$GC,639,-0.93,-97.3,76.8,-12.3,107,645,0.00,2.67,0.00,0.000,6,0.000,0.029,2710,2278,3470
$GC,983,-0.93,-97.3,116.5,-11.3,168,989,0.00,2.78,0.00,0.000,4,0.000,0.048,2711,896,3470
$GC,1024,-0.93,-97.3,121.5,-12.1,175,1030,0.00,2.67,0.00,0.000,6,0.000,0.030,2711,2281,3470
$GC,1369,-0.93,-97.3,160.6,-11.1,236,1376,0.00,2.80,0.00,0.000,4,0.000,0.048,2711,884,3471
$GC,1415,-0.93,-97.3,166.4,-12.3,244,1422,0.00,2.67,0.00,0.000,6,0.000,0.029,2712,2277,3471
$GC,1760,-0.93,-97.3,204.7,-11.0,305,1767,0.00,2.78,0.00,0.000,4,0.000,0.048,2711,889,3471
$GC,1818,-0.93,-97.3,211.5,-11.9,315,1824,0.00,2.67,0.00,0.000,6,0.000,0.031,2711,2277,3471
$GC,2163,-0.93,-97.3,249.3,-10.8,376,2169,0.00,2.78,0.00,0.000,4,0.000,0.048,2711,894,3471
$GC,2255,-0.93,-97.3,260.0,-11.3,392,2263,0.00,2.62,0.00,0.000,6,0.000,0.030,2711,2258,3471
$GC,2600,-0.93,-97.3,297.1,-10.6,453,2606,0.00,2.75,0.00,0.000,4,0.000,0.048,2711,887,3471
$GC,2707,-0.93,-97.3,309.2,-11.5,472,2714,0.00,2.62,0.00,0.000,6,0.000,0.030,2711,2250,3471
$GC,3052,-0.93,-97.3,345.2,-10.3,533,3058,0.00,2.72,0.00,0.000,4,0.000,0.048,2711,895,3471
$GC,3102,-0.93,-97.3,350.9,-11.2,541,3108,0.00,2.60,0.00,0.000,6,0.000,0.030,2711,2245,3471
$GC,3428,-0.93,-97.3,386.2,-11.1,572,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2246,3471
$GC,3745,-0.93,-97.3,421.2,-10.7,602,3750,0.00,2.72,0.00,0.000,4,0.000,0.048,2711,887,3471
$GC,3785,-0.93,-97.3,425.6,-11.8,605,3789,0.00,2.62,0.00,0.000,6,0.000,0.031,2711,2247,3471
$GC,4113,-0.93,-97.3,460.0,-10.4,635,4117,0.00,2.72,0.00,0.000,4,0.000,0.048,2711,895,3471
$GC,4167,-0.93,-97.3,466.5,-10.8,639,4173,0.00,2.60,0.00,0.000,6,0.000,0.031,2711,2242,3471
$GC,4493,-0.93,-97.3,499.4,-9.9,670,4498,0.00,2.72,0.00,0.000,4,0.000,0.049,2711,892,3471
$GC,4594,-0.93,-97.3,510.4,-11.0,678,4600,0.00,2.60,0.00,0.000,6,0.000,0.031,2711,2237,3471
$GC,4920,-0.93,-97.3,542.2,-9.7,709,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2238,3471
$GC,5238,-0.93,-97.3,573.5,-9.6,739,5242,0.00,2.72,0.00,0.000,4,0.000,0.050,2711,892,3471
$GC,5276,-0.93,-97.3,577.5,-10.4,742,5281,0.00,2.60,0.00,0.000,6,0.000,0.031,2711,2232,3471
$GC,5610,-0.93,-97.3,610.7,-9.8,768,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2233,3471
$GC,5918,-0.93,-97.3,639.2,-8.8,783,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2234,3471
$GC,6227,-0.93,-97.3,666.8,-9.0,798,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2233,3471
$GC,6536,-0.93,-97.3,696.5,-10.3,813,6541,0.00,3.05,0.00,0.000,4,0.000,0.062,2711,3701,3471
$GC,6547,-0.93,-97.3,697.7,-10.2,813,6553,0.00,2.97,0.00,0.000,6,0.000,0.047,2711,2231,3470
$GC,6863,-0.93,-97.3,729.8,-9.9,829,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2231,3470
$GC,7172,-0.93,-97.3,760.3,-9.7,844,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2232,3470
$GC,7482,-0.93,-97.3,791.0,-10.0,859,7483,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2232,3470
$GC,7790,-0.93,-97.3,821.6,-10.2,874,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2231,3470
$GC,8100,-0.93,-97.3,852.2,-9.4,889,8105,0.00,3.53,0.00,0.000,4,0.000,0.116,2711,3691,3469
$GC,8117,-0.93,-97.3,853.9,-9.2,890,8122,0.00,3.40,0.00,0.000,6,0.000,0.105,2711,2252,3469
$GC,8444,-0.93,-97.3,884.1,-9.3,906,8448,0.00,2.97,0.00,0.000,4,0.000,0.053,2711,3697,3469
$GC,8464,-0.93,-97.3,886.3,-9.6,907,8469,0.00,2.92,0.00,0.000,6,0.000,0.039,2711,2227,3469
$GC,8786,-0.93,-97.3,915.0,-8.7,923,8787,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2225,3469
$GC,9094,-0.93,-97.3,941.2,-9.0,938,9099,0.00,2.78,0.00,0.000,4,0.000,0.061,2710,874,3468
$GC,9133,-0.93,-97.3,945.0,-10.1,940,9138,0.00,2.65,0.00,0.000,6,0.000,0.033,2711,2230,3468
$GC,9460,-0.93,-97.3,976.6,-10.0,956,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2231,3468
$STATE,9602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9602,begin apogee
$GC,9608,-0.21,0.0,990.4,9.4,963,9715,1.02,0.00,103.68,1.630,6,0.136,0.000,2869,2741,3070
$STATE,9716,end apogee,CONTROL_FINISHED_OK
$STATE,9716,begin climb
$GC,9718,1.03,97.3,993.0,0.0,968,9833,1.55,2.67,107.12,1.604,4,0.079,0.060,3137,3894,2674
$GC,10020,0.89,97.3,959.6,13.6,982,10025,0.15,2.38,0.00,0.000,6,0.133,0.035,3117,2729,2674
$GC,10346,0.80,97.3,922.0,11.1,998,10351,0.15,2.42,0.00,0.000,4,0.130,0.053,3094,3894,2673
$GC,10412,0.74,97.3,914.8,10.3,1001,10416,0.00,2.25,0.00,0.000,6,0.000,0.035,3093,2759,2672
$GC,10740,0.74,97.3,879.7,10.6,1017,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2759,2672
$GC,11048,0.75,102.3,848.8,9.7,1032,11061,0.00,2.40,6.47,1.141,4,0.000,0.054,3093,3901,2652
$GC,11118,0.69,102.3,841.5,10.4,1035,11123,0.15,2.22,0.00,0.000,6,0.144,0.033,3074,2762,2652
$GC,11445,0.71,115.9,811.7,9.1,1051,11467,0.00,2.35,15.23,1.387,4,0.000,0.057,3074,3899,2598
$GC,11523,0.71,115.9,804.1,10.1,1054,11527,0.00,2.20,0.00,0.000,6,0.000,0.032,3073,2780,2597
$GC,11844,0.73,132.5,775.1,8.9,1070,11865,0.00,0.00,18.25,1.402,6,0.000,0.000,3073,2779,2530
$GC,12173,0.74,142.2,744.5,9.3,1086,12189,0.00,2.30,11.18,1.295,4,0.000,0.059,3073,3902,2492
$GC,12291,0.74,142.2,732.2,11.4,1090,12295,0.00,2.20,0.00,0.000,6,0.000,0.034,3073,2784,2491
$GC,12607,0.76,156.8,702.6,9.0,1105,12629,0.00,3.00,16.50,1.338,4,0.000,0.048,3073,1338,2431
$GC,12680,0.77,166.5,695.7,9.3,1108,12698,0.00,2.90,11.38,1.282,6,0.000,0.032,3073,2797,2392
$GC,13008,0.83,178.8,665.7,9.2,1124,13030,0.15,2.28,13.45,1.283,4,0.066,0.054,3105,3895,2342
$GC,13085,0.83,178.8,655.8,12.9,1127,13089,0.00,2.20,0.00,0.000,6,0.000,0.033,3105,2795,2341
$GC,13407,0.83,178.8,612.8,13.6,1143,13411,0.00,2.25,0.00,0.000,4,0.000,0.051,3105,3899,2341
$GC,13541,0.83,178.8,593.7,14.2,1150,13548,0.00,2.12,0.00,0.000,6,0.000,0.032,3105,2822,2341
$GC,13868,0.83,178.8,550.2,13.1,1181,13872,0.00,2.17,0.00,0.000,4,0.000,0.050,3105,3896,2341
$GC,13941,0.83,178.8,539.8,14.4,1187,13945,0.00,2.05,0.00,0.000,6,0.000,0.032,3105,2835,2341
$GC,14272,0.83,178.8,494.9,13.7,1218,14276,0.00,2.15,0.00,0.000,4,0.000,0.051,3105,3899,2341
$GC,14333,0.83,178.8,486.0,13.9,1223,14339,0.00,2.08,0.00,0.000,6,0.000,0.031,3105,2838,2341
$GC,14659,0.83,178.8,442.7,13.0,1254,14660,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2832,2341
$GC,14978,0.83,178.8,400.8,13.1,1284,14982,0.00,2.12,0.00,0.000,4,0.000,0.050,3106,3893,2341
$GC,15083,0.83,178.8,386.1,14.4,1293,15090,0.00,2.03,0.00,0.000,6,0.000,0.031,3105,2856,2341
$GC,15410,0.83,178.8,344.0,12.5,1328,15416,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2848,2342
$GC,15754,0.83,178.8,300.5,12.3,1389,15760,0.00,2.10,0.00,0.000,4,0.000,0.049,3105,3900,2342
$GC,15839,0.83,178.8,289.2,13.4,1404,15845,0.00,2.03,0.00,0.000,6,0.000,0.031,3105,2862,2342
$GC,16182,0.83,178.8,245.8,12.3,1465,16187,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2854,2342
$GC,16524,0.83,178.8,202.0,11.9,1526,16530,0.00,2.08,0.00,0.000,4,0.000,0.048,3105,3893,2342
$GC,16621,0.83,178.8,189.0,12.7,1543,16627,0.00,1.95,0.00,0.000,6,0.000,0.031,3105,2872,2342
$GC,16964,0.83,178.8,144.2,13.6,1604,16969,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2865,2342
$GC,17307,0.83,178.8,99.3,12.4,1665,17313,0.00,2.05,0.00,0.000,4,0.000,0.048,3105,3897,2342
$GC,17370,0.83,178.8,90.7,15.0,1676,17376,0.00,2.00,0.00,0.000,6,0.000,0.031,3105,2869,2342
$GC,17713,0.83,178.8,45.9,11.6,1737,17720,0.00,2.05,0.00,0.000,4,0.000,0.047,3105,3898,2343
$GC,17777,0.83,178.8,37.6,13.2,1748,17783,0.00,1.95,0.00,0.000,6,0.000,0.031,3105,2892,2343
$GC,17920,0.83,178.8,19.9,12.9,1773,17925,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2892,2343
$STATE,18059,end climb,SURFACE_DEPTH_REACHED
$STATE,18059,begin surface coast
$FINISH,0.2,1.011387
$STATE,18079,end surface coast,CONTROL_FINISHED_OK
$STATE,18079,begin surface
$SM_CCo,18097,20.88,0.909,0,0,2255,200.16
$SM_GC,1.20,0.00,0.00,20.88,0.000,0.000,0.909,1438,2290,2255,-6.82,-0.28,200.16
$IRIDIUM_FIX,6108.28,-2617.78,110897,000000
$TT8_MAMPS,0.026845
$HUMID,1775
$INTERNAL_PRESSURE,8.96564
$TCM_TEMP,16.40
$XPDR_PINGS,998
$24V_AH,19.3,65.693
$10V_AH,9.8,48.263
$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,23.125,158.350,303.250,20.875,0.000,29.495,34.858,226.429,249.500,0.000,0.000,12.053,2924.218,11153.452,496.620,3349.135,607.080,0.000,1972.861,0.000,3335.297,0.000,0.465
$DEVICE_MAMPS,246.974,115.817,1629.875,908.895,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1267.622,1302.822,647.646,1587.586,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129610,1801
$CAP_FILE_SIZE,169777,0
$CFSIZE,260165632,237371392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170508,103437,6131.969,-2621.149,37,1.0,37,-18.7