version: 66.03
glider: 142
mission: 5
dive: 28
start: 4 9 108 10 52 49
data:
$ID,142
$MISSION,5
$DIVE,28
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51804
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,90
$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,-13112.819
$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,2250
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$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
$GPS1,104407,5910.647,-1837.661,28,1.7,28,-13.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-52.2
$GPS2,105227,5910.646,-1837.549,14,1.8,14,-13.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5910.646,-1832.016
$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,103.3,20000,-17.5,-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,-0.91,-146.0,0.0,0.0,0,144,0.00,0.00,-113.95,0.000,6,0.000,0.000,1437,2227,3667
$GC,147,-0.91,-146.0,3.6,-5.7,16,163,10.73,2.75,0.00,0.000,4,0.240,0.041,2711,840,3669
$GC,399,-0.83,-146.0,47.3,-13.3,63,408,0.12,2.75,0.00,0.000,6,0.137,0.028,2731,2255,3670
$GC,538,-0.83,-146.0,61.1,-7.9,88,547,0.00,2.85,0.00,0.000,4,0.000,0.048,2731,848,3670
$GC,705,-0.83,-146.0,77.2,-12.9,118,713,0.00,2.72,0.00,0.000,6,0.000,0.029,2731,2249,3670
$GC,844,-0.79,-146.0,95.6,-13.2,143,850,0.00,2.80,0.00,0.000,4,0.000,0.046,2731,843,3670
$GC,912,-0.79,-146.0,105.6,-14.5,155,918,0.00,2.65,0.00,0.000,6,0.000,0.028,2731,2224,3670
$GC,1047,-0.79,-146.0,124.1,-12.0,180,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2230,3670
$GC,1186,-0.79,-146.0,140.5,-11.8,205,1192,0.00,2.75,0.00,0.000,4,0.000,0.047,2731,842,3670
$GC,1213,-0.79,-146.0,144.1,-12.3,210,1221,0.00,2.65,0.00,0.000,6,0.000,0.028,2731,2213,3670
$GC,1353,-0.79,-146.0,159.9,-12.1,235,1359,0.00,2.72,0.00,0.000,4,0.000,0.047,2731,837,3670
$GC,1388,-0.79,-146.0,164.2,-12.3,241,1394,0.00,2.60,0.00,0.000,6,0.000,0.028,2731,2203,3670
$GC,1716,-0.79,-146.0,202.5,-11.3,302,1724,0.00,2.72,0.00,0.000,4,0.000,0.048,2731,842,3670
$GC,1742,-0.79,-146.0,205.2,-11.3,306,1750,0.00,2.62,0.00,0.000,6,0.000,0.028,2731,2205,3670
$GC,2076,-0.79,-146.0,243.0,-11.5,367,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2205,3670
$GC,2404,-0.79,-146.0,283.6,-12.7,428,2411,0.00,2.70,0.00,0.000,4,0.000,0.047,2731,850,3670
$GC,2458,-0.79,-146.0,290.0,-13.2,437,2464,0.00,2.55,0.00,0.000,6,0.000,0.028,2731,2196,3670
$GC,2789,-0.79,-146.0,331.4,-12.5,498,2797,0.00,2.70,0.00,0.000,4,0.000,0.048,2731,846,3669
$GC,2820,-0.79,-146.0,335.2,-13.1,503,2826,0.00,2.55,0.00,0.000,6,0.000,0.028,2731,2191,3670
$GC,3156,-0.79,-146.0,375.0,-11.4,564,3164,0.00,2.67,0.00,0.000,4,0.000,0.047,2731,849,3670
$GC,3175,-0.79,-146.0,377.3,-11.9,567,3182,0.00,2.55,0.00,0.000,6,0.000,0.028,2731,2203,3670
$GC,3519,-0.79,-146.0,416.4,-10.8,628,3525,0.00,2.67,0.00,0.000,4,0.000,0.047,2731,846,3670
$GC,3580,-0.79,-146.0,423.7,-12.0,639,3587,0.00,2.55,0.00,0.000,6,0.000,0.028,2731,2198,3670
$GC,3925,-0.79,-146.0,461.6,-10.7,700,3931,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2199,3670
$GC,4265,-0.79,-146.0,499.8,-11.8,761,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2199,3670
$GC,4604,-0.79,-146.0,538.6,-11.2,822,4611,0.00,2.65,0.00,0.000,4,0.000,0.048,2731,847,3670
$GC,4629,-0.79,-146.0,541.5,-12.3,826,4635,0.00,2.53,0.00,0.000,6,0.000,0.029,2731,2177,3670
$GC,4968,-0.79,-146.0,582.1,-12.2,887,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2179,3670
$GC,5299,-0.79,-146.0,622.5,-12.0,931,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2179,3670
$GC,5617,-0.79,-146.0,660.9,-12.1,961,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2179,3670
$GC,5936,-0.79,-146.0,698.2,-11.6,991,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2179,3669
$GC,6254,-0.79,-146.0,734.4,-11.1,1021,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2179,3670
$GC,6573,-0.79,-146.0,767.2,-10.1,1051,6578,0.00,3.08,0.00,0.000,4,0.000,0.078,2731,3648,3669
$GC,6584,-0.79,-146.0,768.2,-9.9,1051,6590,0.00,2.97,0.00,0.000,6,0.000,0.061,2731,2195,3669
$GC,6909,-0.79,-146.0,800.0,-9.8,1082,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2195,3669
$GC,7226,-0.79,-146.0,832.1,-10.4,1112,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2195,3669
$GC,7545,-0.79,-146.0,865.4,-10.5,1142,7546,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2195,3669
$GC,7863,-0.79,-146.0,898.5,-10.3,1172,7869,0.00,3.53,0.00,0.000,4,0.000,0.139,2731,3641,3668
$GC,7891,-0.79,-146.0,901.4,-11.0,1174,7896,0.00,3.42,0.00,0.000,6,0.000,0.132,2731,2217,3668
$GC,8216,-0.79,-146.0,934.1,-9.7,1204,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2216,3668
$GC,8534,-0.79,-146.0,966.1,-10.4,1234,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2210,3668
$STATE,8776,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8776,begin apogee
$GC,8782,-0.21,0.0,990.6,9.8,1257,8939,0.80,0.00,149.60,1.535,6,0.130,0.000,2866,2700,3071
$STATE,8940,end apogee,CONTROL_FINISHED_OK
$STATE,8940,begin climb
$GC,8942,0.91,146.0,994.6,0.0,1273,9107,1.42,2.67,152.15,1.489,4,0.084,0.059,3110,3890,2475
$GC,9179,0.75,146.0,969.6,14.9,1295,9186,0.17,2.47,0.00,0.000,6,0.129,0.036,3086,2694,2473
$GC,9504,0.63,146.0,929.6,12.2,1326,9509,0.15,2.50,0.00,0.000,4,0.127,0.052,3063,3892,2473
$GC,9604,0.58,146.0,918.1,10.5,1334,9610,0.00,2.30,0.00,0.000,6,0.000,0.034,3063,2730,2472
$GC,9930,0.55,160.1,886.7,9.3,1365,9949,0.15,0.00,14.95,1.319,6,0.129,0.000,3042,2728,2418
$GC,10267,0.60,199.4,859.8,8.2,1397,10313,0.00,2.50,40.50,1.419,4,0.000,0.058,3041,3901,2256
$GC,10340,0.62,218.0,853.2,9.1,1403,10368,0.00,2.33,19.55,1.343,6,0.000,0.031,3041,2742,2182
$GC,10685,0.65,241.7,822.1,8.9,1436,10717,0.00,2.45,25.55,1.361,4,0.000,0.052,3041,3899,2083
$GC,10740,0.66,252.4,816.8,9.5,1441,10762,0.12,2.30,12.70,1.262,6,0.065,0.032,3064,2752,2040
$GC,11079,0.66,252.4,776.6,11.6,1473,11083,0.00,2.35,0.00,0.000,4,0.000,0.051,3064,3891,2037
$GC,11111,0.66,252.4,772.6,11.3,1475,11117,0.00,2.22,0.00,0.000,6,0.000,0.031,3064,2771,2037
$GC,11437,0.66,252.4,734.8,11.7,1506,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2771,2036
$GC,11754,0.66,252.4,698.9,11.2,1536,11758,0.00,2.25,0.00,0.000,4,0.000,0.051,3064,3891,2036
$GC,11792,0.66,252.4,694.5,11.1,1539,11798,0.00,2.20,0.00,0.000,6,0.000,0.033,3064,2757,2035
$GC,12118,0.66,252.4,658.9,10.8,1570,12122,0.00,2.30,0.00,0.000,4,0.000,0.050,3064,3896,2035
$GC,12150,0.66,252.4,654.9,11.8,1572,12156,0.00,2.15,0.00,0.000,6,0.000,0.030,3064,2788,2036
$GC,12476,0.66,252.4,618.2,11.3,1603,12477,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2784,2035
$GC,12801,0.66,252.4,580.0,10.9,1648,12807,0.00,2.22,0.00,0.000,4,0.000,0.050,3064,3901,2035
$GC,12830,0.66,252.4,576.4,12.4,1653,12836,0.00,2.15,0.00,0.000,6,0.000,0.030,3064,2790,2035
$GC,13171,0.66,252.4,537.0,11.5,1714,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2782,2035
$GC,13511,0.66,252.4,497.7,11.5,1775,13517,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2781,2036
$GC,13852,0.66,252.4,460.3,10.2,1836,13860,0.00,2.22,0.00,0.000,4,0.000,0.050,3064,3892,2035
$GC,13888,0.66,252.4,456.1,10.6,1842,13895,0.00,2.12,0.00,0.000,6,0.000,0.029,3064,2790,2035
$GC,14230,0.66,252.4,420.5,10.5,1903,14235,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2781,2035
$GC,14570,0.66,252.4,384.3,11.2,1964,14575,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2781,2035
$GC,14912,0.66,252.4,347.4,10.8,2025,14918,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2782,2035
$GC,15241,0.66,252.4,310.3,11.4,2086,15249,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2781,2036
$GC,15573,0.66,252.4,274.3,11.0,2147,15579,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2782,2036
$GC,15903,0.66,252.4,237.6,11.5,2208,15911,0.00,2.20,0.00,0.000,4,0.000,0.048,3064,3890,2036
$GC,15935,0.66,252.4,233.9,12.0,2213,15941,0.00,2.08,0.00,0.000,6,0.000,0.029,3064,2789,2036
$GC,16265,0.66,252.4,196.7,11.1,2274,16273,0.00,2.92,0.00,0.000,4,0.000,0.044,3064,1303,2036
$GC,16299,0.66,252.4,193.4,10.7,2279,16305,0.00,2.90,0.00,0.000,6,0.000,0.029,3064,2816,2036
$GC,16631,0.67,260.0,158.2,9.6,2340,16644,0.00,2.10,8.05,0.829,4,0.000,0.046,3064,3893,2009
$GC,16685,0.67,260.0,151.9,11.7,2349,16691,0.00,2.12,0.00,0.000,6,0.000,0.031,3064,2795,2008
$GC,17016,0.67,260.0,115.1,10.3,2410,17024,0.00,2.95,0.00,0.000,4,0.000,0.046,3064,1305,2009
$GC,17059,0.67,260.0,110.3,11.0,2417,17065,0.00,2.88,0.00,0.000,6,0.000,0.029,3064,2800,2009
$GC,17194,0.67,260.0,94.3,11.2,2442,17202,0.00,2.15,0.00,0.000,4,0.000,0.048,3064,3890,2008
$GC,17237,0.67,260.0,89.3,12.8,2449,17243,0.00,2.10,0.00,0.000,6,0.000,0.031,3064,2788,2008
$GC,17372,0.67,260.0,73.0,11.1,2474,17380,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2786,2009
$GC,17512,0.71,287.2,59.1,8.7,2499,17542,0.00,0.00,26.17,0.921,6,0.000,0.000,3064,2786,1900
$GC,17674,0.71,287.2,43.2,10.1,2528,17681,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2786,1897
$GC,17807,0.71,287.2,27.1,12.5,2553,17815,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2786,1897
$GC,17942,0.71,287.2,12.2,10.9,2578,17950,0.00,2.97,0.00,0.000,4,0.000,0.048,3064,1305,1896
$GC,17984,0.81,313.7,7.9,8.8,2585,18022,0.12,2.95,25.10,0.884,6,0.041,0.031,3098,2807,1792
$STATE,18038,end climb,SURFACE_DEPTH_REACHED
$STATE,18038,begin surface coast
$FINISH,-0.1,1.009927
$STATE,18055,end surface coast,CONTROL_FINISHED_OK
$STATE,18055,begin surface
$SM_CCo,18133,0.00,0.000,0,0,1788,314.47
$SM_GC,0.57,8.48,0.00,0.00,0.044,0.000,0.000,1437,2240,1788,-6.79,-0.28,314.47
$IRIDIUM_FIX,5846.12,-1845.97,040797,050558
$TT8_MAMPS,0.026078
$HUMID,1730
$INTERNAL_PRESSURE,8.94611
$TCM_TEMP,11.80
$XPDR_PINGS,835
$24V_AH,20.2,13.299
$10V_AH,9.6,10.029
$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,22.275,145.950,474.325,0.000,0.000,22.694,32.722,295.355,208.750,0.000,0.000,16.157,3947.996,7650.267,647.390,5656.330,705.795,0.000,2653.461,0.000,5666.250,0.000,0.466
$DEVICE_MAMPS,240.071,138.827,1534.767,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1801.964,1887.771,1168.563,1069.631,2768.417,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,193090,2596
$CAP_FILE_SIZE,201352,0
$CFSIZE,260165632,255221760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090408,155607,5911.258,-1830.395,30,2.0,30,-13.3