version: 66.03
glider: 142
mission: 5
dive: 208
start: 5 19 108 5 43 35
data:
$ID,142
$MISSION,5
$DIVE,208
$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,130
$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,-16972.406
$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,16
$R_STBD_OVSHOOT,17
$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
$GPS1,053531,6118.396,-2551.817,40,1.5,46,-18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.6
$GPS2,054315,6118.328,-2551.707,13,1.6,13,-18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,HEADING
$TGT_LATLONG,6111.386,-2547.720
$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,148.3,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-1.03,-97.3,0.0,0.0,0,99,0.00,0.00,-66.97,0.000,6,0.000,0.000,1433,2301,3467
$GC,102,-1.03,-97.3,3.6,-5.8,13,120,11.80,0.00,0.00,0.000,6,0.256,0.000,2688,2301,3469
$GC,258,-0.98,-97.3,28.2,-12.8,40,263,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2301,3470
$GC,399,-0.93,-97.3,46.5,-13.0,65,406,0.15,2.88,0.00,0.000,4,0.152,0.047,2711,877,3470
$GC,577,-0.93,-97.3,68.1,-12.1,96,583,0.00,2.75,0.00,0.000,6,0.000,0.028,2711,2310,3470
$GC,922,-0.93,-97.3,107.0,-11.0,157,928,0.00,2.88,0.00,0.000,4,0.000,0.046,2711,876,3471
$GC,1071,-0.93,-97.3,124.4,-11.6,183,1077,0.00,2.72,0.00,0.000,6,0.000,0.029,2711,2290,3471
$GC,1415,-0.93,-97.3,161.3,-11.1,244,1421,0.00,2.83,0.00,0.000,4,0.000,0.047,2711,876,3471
$GC,1551,-0.93,-97.3,177.4,-11.8,268,1558,0.00,2.70,0.00,0.000,6,0.000,0.030,2711,2283,3471
$GC,1895,-0.93,-97.3,215.5,-10.9,329,1901,0.00,2.80,0.00,0.000,4,0.000,0.047,2711,884,3471
$GC,1981,-0.93,-97.3,225.3,-11.5,344,1988,0.00,2.65,0.00,0.000,6,0.000,0.029,2711,2270,3471
$GC,2325,-0.93,-97.3,260.5,-10.1,405,2331,0.00,2.78,0.00,0.000,4,0.000,0.047,2711,886,3471
$GC,2495,-0.93,-97.3,278.8,-10.5,435,2501,0.00,2.65,0.00,0.000,6,0.000,0.029,2711,2265,3471
$GC,2838,-0.93,-97.3,313.8,-10.3,496,2844,0.00,2.78,0.00,0.000,4,0.000,0.047,2711,877,3471
$GC,2940,-0.93,-97.3,325.0,-10.7,514,2946,0.00,2.65,0.00,0.000,6,0.000,0.030,2711,2256,3471
$GC,3284,-0.93,-97.3,360.7,-10.7,567,3288,0.00,2.75,0.00,0.000,4,0.000,0.048,2712,883,3471
$GC,3322,-0.93,-97.3,365.1,-11.4,570,3327,0.00,2.65,0.00,0.000,6,0.000,0.030,2711,2261,3471
$GC,3648,-0.93,-97.3,398.6,-10.4,600,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2261,3471
$GC,3965,-0.93,-97.3,432.3,-10.5,630,3970,0.00,2.78,0.00,0.000,4,0.000,0.048,2711,877,3471
$GC,3998,-0.93,-97.3,436.1,-11.7,632,4005,0.00,2.67,0.00,0.000,6,0.000,0.030,2711,2251,3471
$GC,4325,-0.93,-97.3,470.6,-10.5,663,4329,0.00,2.75,0.00,0.000,4,0.000,0.048,2711,884,3471
$GC,4375,-0.93,-97.3,476.4,-11.6,667,4380,0.00,2.62,0.00,0.000,6,0.000,0.030,2711,2246,3471
$GC,4702,-0.93,-97.3,509.2,-9.8,697,4706,0.00,2.75,0.00,0.000,4,0.000,0.051,2711,885,3470
$GC,4735,-0.93,-97.3,512.7,-10.2,699,4741,0.00,2.62,0.00,0.000,6,0.000,0.031,2711,2249,3471
$GC,5063,-0.93,-97.3,542.9,-9.3,730,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2249,3470
$GC,5388,-0.93,-97.3,575.7,-10.1,761,5392,0.00,2.75,0.00,0.000,4,0.000,0.051,2711,885,3471
$GC,5426,-0.93,-97.3,579.9,-11.3,764,5431,0.00,2.62,0.00,0.000,6,0.000,0.031,2711,2239,3471
$GC,5747,-0.93,-97.3,613.1,-10.7,788,5752,0.00,2.75,0.00,0.000,4,0.000,0.052,2711,887,3471
$GC,5779,-0.93,-97.3,617.0,-11.4,789,5785,0.00,2.62,0.00,0.000,6,0.000,0.032,2711,2235,3470
$GC,6095,-0.93,-97.3,650.8,-10.6,805,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2235,3471
$GC,6404,-0.93,-97.3,683.4,-10.4,820,6409,0.00,2.80,0.00,0.000,4,0.000,0.060,2711,885,3471
$GC,6461,-0.93,-97.3,689.4,-10.8,822,6467,0.00,2.62,0.00,0.000,6,0.000,0.036,2711,2221,3470
$GC,6776,-0.93,-97.3,719.1,-8.9,838,6780,0.00,2.80,0.00,0.000,4,0.000,0.064,2711,887,3470
$GC,6840,-0.93,-97.3,724.8,-9.6,841,6844,0.00,2.67,0.00,0.000,6,0.000,0.044,2711,2219,3470
$GC,7166,-0.93,-97.3,753.9,-9.0,857,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2219,3469
$GC,7475,-0.93,-97.3,780.9,-8.7,872,7480,0.00,2.97,0.00,0.000,4,0.000,0.088,2711,889,3470
$GC,7519,-0.93,-97.3,785.0,-9.7,874,7523,0.00,2.80,0.00,0.000,6,0.000,0.063,2711,2218,3470
$GC,7840,-0.93,-97.3,811.7,-8.4,890,7845,0.00,3.03,0.00,0.000,4,0.000,0.096,2711,895,3469
$GC,7919,-0.93,-97.3,818.8,-9.1,893,7925,0.00,2.88,0.00,0.000,6,0.000,0.077,2711,2210,3469
$GC,8235,-0.93,-97.3,846.7,-8.9,909,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2210,3469
$GC,8544,-0.93,-97.3,873.7,-8.7,924,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2210,3468
$GC,8854,-0.93,-97.3,901.4,-9.1,939,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2215,3468
$GC,9162,-0.93,-97.3,928.8,-8.8,954,9167,0.00,3.05,0.00,0.000,4,0.000,0.055,2711,3703,3468
$GC,9172,-0.93,-97.3,929.7,-8.5,954,9178,0.00,3.00,0.00,0.000,6,0.000,0.041,2711,2203,3468
$GC,9488,-0.93,-97.3,958.7,-9.6,970,9489,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2203,3467
$GC,9797,-0.93,-97.3,988.3,-9.8,985,9802,0.00,3.12,0.00,0.000,4,0.000,0.058,2711,3703,3467
$GC,9807,-0.93,-97.3,989.2,-9.7,985,9813,0.00,3.00,0.00,0.000,6,0.000,0.043,2711,2214,3467
$STATE,9831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9831,begin apogee
$GC,9837,-0.21,0.0,991.9,10.1,987,9945,1.08,0.00,103.75,1.623,6,0.156,0.000,2867,2746,3071
$STATE,9945,end apogee,CONTROL_FINISHED_OK
$STATE,9945,begin climb
$GC,9948,1.03,97.3,995.2,0.0,992,10063,1.60,2.62,107.43,1.601,4,0.088,0.058,3138,3895,2674
$GC,10188,0.88,97.3,972.2,13.0,1004,10193,0.17,2.38,0.00,0.000,6,0.136,0.035,3115,2741,2673
$GC,10514,0.80,97.3,937.3,10.9,1020,10515,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2739,2673
$GC,10823,0.72,97.3,900.6,12.0,1035,10828,0.20,2.40,0.00,0.000,4,0.135,0.052,3083,3903,2672
$GC,10935,0.72,97.3,888.0,11.2,1040,10939,0.00,2.25,0.00,0.000,6,0.000,0.035,3083,2759,2672
$GC,11261,0.72,98.4,855.2,9.9,1056,11262,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2758,2671
$GC,11571,0.73,102.9,824.9,9.7,1071,11585,0.00,2.40,6.82,1.155,4,0.000,0.054,3083,3902,2651
$GC,11646,0.73,102.9,817.1,10.8,1074,11650,0.00,2.25,0.00,0.000,6,0.000,0.035,3083,2768,2650
$GC,11967,0.73,102.9,784.3,10.7,1090,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2767,2650
$GC,12278,0.73,102.9,752.2,10.1,1105,12282,0.00,2.88,0.00,0.000,4,0.000,0.049,3083,1336,2650
$GC,12339,0.73,102.9,745.6,10.5,1108,12343,0.00,2.85,0.00,0.000,6,0.000,0.034,3083,2782,2650
$GC,12664,0.74,114.3,714.5,9.2,1124,12686,0.00,2.28,12.70,1.291,4,0.000,0.054,3083,3892,2605
$GC,12755,0.74,117.2,705.8,9.8,1128,12764,0.00,2.20,4.68,0.966,6,0.000,0.034,3083,2769,2593
$GC,13086,0.76,126.8,675.7,9.3,1144,13099,0.00,0.00,11.50,1.259,6,0.000,0.000,3083,2768,2554
$GC,13396,0.76,129.4,646.0,9.8,1159,13402,0.00,0.00,4.60,0.914,6,0.000,0.000,3083,2767,2543
$GC,13704,0.76,129.4,614.7,10.0,1174,13708,0.00,2.30,0.00,0.000,4,0.000,0.052,3083,3897,2542
$GC,13803,0.76,129.4,603.6,12.0,1178,13810,0.00,2.20,0.00,0.000,6,0.000,0.034,3083,2783,2542
$GC,14129,0.76,131.4,570.9,9.9,1207,14131,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2778,2542
$GC,14448,0.76,133.3,539.3,9.9,1237,14456,0.00,0.00,5.57,0.951,6,0.000,0.000,3083,2776,2527
$GC,14776,0.78,144.6,508.7,9.2,1268,14797,0.00,2.33,12.85,1.185,4,0.000,0.051,3083,3894,2481
$GC,14866,0.78,144.9,499.6,10.0,1276,14870,0.00,2.17,0.00,0.000,6,0.000,0.031,3083,2777,2480
$GC,15190,0.79,159.0,469.9,9.0,1306,15210,0.00,0.00,15.73,1.193,6,0.000,0.000,3083,2773,2422
$GC,15530,0.80,166.5,438.1,9.5,1338,15541,0.00,0.00,8.85,1.062,6,0.000,0.000,3083,2771,2392
$GC,15857,0.81,172.4,407.2,9.6,1369,15869,0.00,2.35,7.53,0.993,4,0.000,0.050,3083,3903,2368
$GC,15931,0.81,172.4,399.6,10.1,1375,15937,0.00,2.17,0.00,0.000,6,0.000,0.031,3083,2780,2367
$GC,16257,0.82,177.1,368.6,9.7,1406,16266,0.00,0.00,6.12,0.903,6,0.000,0.000,3083,2772,2349
$GC,16592,0.83,190.5,336.6,9.1,1449,16614,0.00,2.33,14.77,1.093,4,0.000,0.049,3083,3900,2293
$GC,16693,0.83,190.5,325.4,10.9,1467,16699,0.00,2.17,0.00,0.000,6,0.000,0.031,3083,2781,2292
$GC,17035,0.83,190.5,287.5,10.7,1528,17041,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2775,2292
$GC,17378,0.83,190.5,250.7,11.0,1589,17384,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2774,2292
$GC,17720,0.83,190.5,214.7,10.5,1650,17726,0.00,2.25,0.00,0.000,4,0.000,0.048,3083,3900,2292
$GC,17800,0.88,190.5,206.0,11.4,1664,17807,0.15,2.10,0.00,0.000,6,0.065,0.031,3112,2802,2292
$GC,18145,0.88,190.5,162.3,12.2,1725,18151,0.00,2.20,0.00,0.000,4,0.000,0.048,3112,3902,2292
$GC,18208,0.88,190.5,154.1,11.7,1736,18214,0.00,2.08,0.00,0.000,6,0.000,0.031,3112,2814,2292
$GC,18552,0.88,190.5,111.5,12.7,1797,18557,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2807,2292
$GC,18894,0.88,190.5,68.3,13.3,1858,18901,0.00,2.17,0.00,0.000,4,0.000,0.048,3112,3903,2293
$GC,19003,0.88,190.5,54.2,11.9,1877,19009,0.00,2.08,0.00,0.000,6,0.000,0.031,3112,2819,2293
$GC,19346,0.83,190.5,10.8,11.1,1938,19352,0.00,2.15,0.00,0.000,4,0.000,0.048,3112,3899,2293
$STATE,19403,end climb,SURFACE_DEPTH_REACHED
$STATE,19403,begin surface coast
$FINISH,0.5,1.026193
$STATE,19414,end surface coast,CONTROL_FINISHED_OK
$STATE,19414,begin surface
$SM_CCo,19434,8.55,0.799,0,0,2255,200.16
$SM_GC,2.03,0.00,0.00,8.55,0.000,0.000,0.799,1434,2294,2255,-6.84,-0.14,200.16
$IRIDIUM_FIX,6054.92,-2607.86,130897,000044
$TT8_MAMPS,0.026845
$HUMID,1783
$INTERNAL_PRESSURE,8.95588
$TCM_TEMP,16.40
$XPDR_PINGS,1091
$24V_AH,19.3,67.329
$10V_AH,9.8,49.710
$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,23.700,162.025,322.900,8.550,0.000,22.928,33.533,263.666,272.750,0.000,0.000,15.484,3138.401,12006.902,528.746,3547.266,671.124,0.000,2085.473,0.000,3541.654,0.000,0.465
$DEVICE_MAMPS,256.178,95.875,1622.972,799.214,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1364.239,1433.670,681.802,1710.509,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,142449,1950
$CAP_FILE_SIZE,180323,0
$CFSIZE,260165632,236490752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190508,110856,6115.311,-2543.482,39,1.3,39,-18.2