version: 66.03
glider: 142
mission: 5
dive: 43
start: 4 12 108 7 41 39
data:
$ID,142
$MISSION,5
$DIVE,43
$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,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,-13361.184
$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,23
$R_STBD_OVSHOOT,20
$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
$GPS1,072907,5909.677,-1900.528,25,1.8,25,-13.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.51
$_SM_ANGLEo,-34.5
$GPS2,074120,5909.602,-1900.613,10,2.0,15,-13.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5909.602,-1906.149
$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,283.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,187,0.00,0.00,-157.68,0.000,2,0.000,0.000,1435,2241,3492
$GC,190,-0.86,-194.7,3.1,-3.9,22,221,10.93,2.88,-10.73,0.000,4,0.242,0.051,2723,3657,3866
$GC,364,-0.78,-194.7,30.7,-13.6,53,373,0.12,2.80,0.00,0.000,6,0.133,0.036,2743,2256,3867
$GC,501,-0.74,-194.7,47.6,-13.9,78,509,0.00,2.88,0.00,0.000,4,0.000,0.050,2744,835,3867
$GC,568,-0.74,-194.7,59.4,-17.7,90,576,0.00,2.78,0.00,0.000,6,0.000,0.029,2744,2256,3867
$GC,707,-0.74,-194.7,81.4,-15.3,115,712,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2262,3867
$GC,842,-0.70,-194.7,99.2,-12.5,140,850,0.12,0.00,0.00,0.000,6,0.140,0.000,2761,2262,3867
$GC,981,-0.70,-194.7,114.2,-10.8,165,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2262,3867
$GC,1117,-0.70,-194.7,128.6,-10.9,190,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2262,3867
$GC,1258,-0.70,-194.7,144.7,-11.5,215,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2262,3867
$GC,1392,-0.70,-194.7,160.4,-10.9,240,1400,0.00,2.78,0.00,0.000,4,0.000,0.043,2761,3655,3867
$GC,1435,-0.70,-194.7,165.0,-11.0,247,1441,0.00,2.72,0.00,0.000,6,0.000,0.033,2761,2243,3867
$GC,1765,-0.70,-194.7,199.0,-10.1,308,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2242,3867
$GC,2098,-0.70,-194.7,231.1,-9.8,369,2104,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2242,3867
$GC,2429,-0.70,-194.7,263.6,-9.3,430,2436,0.00,2.80,0.00,0.000,4,0.000,0.043,2761,3651,3867
$GC,2483,-0.70,-194.7,268.7,-9.7,439,2489,0.00,2.70,0.00,0.000,6,0.000,0.032,2761,2253,3867
$GC,2814,-0.70,-194.7,301.2,-10.4,500,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2252,3867
$GC,3147,-0.70,-194.7,334.8,-9.9,561,3153,0.00,2.78,0.00,0.000,4,0.000,0.043,2761,3661,3867
$GC,3205,-0.70,-194.7,340.5,-9.8,571,3211,0.00,2.70,0.00,0.000,6,0.000,0.032,2761,2258,3867
$GC,3542,-0.70,-194.7,375.2,-10.2,632,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2257,3867
$GC,3883,-0.70,-194.7,410.0,-10.1,693,3889,0.00,2.72,0.00,0.000,4,0.000,0.043,2761,3653,3867
$GC,3929,-0.70,-194.7,414.5,-9.6,701,3935,0.00,2.70,0.00,0.000,6,0.000,0.033,2761,2251,3867
$GC,4270,-0.70,-194.7,446.5,-9.4,762,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2250,3867
$GC,4611,-0.70,-194.7,480.1,-10.2,823,4617,0.00,2.78,0.00,0.000,4,0.000,0.044,2761,3658,3867
$GC,4668,-0.70,-194.7,486.1,-10.8,833,4674,0.00,2.70,0.00,0.000,6,0.000,0.034,2761,2262,3867
$GC,5008,-0.70,-194.7,520.0,-10.3,894,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2261,3867
$GC,5352,-0.70,-194.7,553.3,-9.2,955,5358,0.00,2.75,0.00,0.000,4,0.000,0.046,2761,3654,3867
$GC,5403,-0.70,-194.7,558.5,-9.9,964,5409,0.00,2.67,0.00,0.000,6,0.000,0.035,2761,2270,3867
$GC,5745,-0.70,-194.7,592.5,-9.7,1025,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2269,3866
$GC,6079,-0.70,-194.7,624.5,-9.6,1063,6084,0.00,2.78,0.00,0.000,4,0.000,0.051,2761,3657,3867
$GC,6122,-0.70,-194.7,628.9,-10.3,1066,6129,0.00,2.67,0.00,0.000,6,0.000,0.037,2761,2281,3867
$GC,6449,-0.70,-194.7,661.9,-9.8,1097,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3866
$GC,6767,-0.70,-194.7,691.9,-9.6,1127,6772,0.00,2.80,0.00,0.000,4,0.000,0.060,2761,3654,3867
$GC,6811,-0.70,-194.7,696.5,-9.8,1130,6818,0.00,2.72,0.00,0.000,6,0.000,0.045,2761,2282,3866
$GC,7137,-0.70,-194.7,726.3,-8.9,1161,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3866
$GC,7458,-0.70,-194.7,755.4,-9.5,1191,7462,0.00,2.88,0.00,0.000,4,0.000,0.074,2761,3648,3866
$GC,7512,-0.70,-194.7,760.8,-9.2,1195,7519,0.00,2.78,0.00,0.000,6,0.000,0.059,2761,2290,3866
$GC,7838,-0.70,-194.7,791.5,-9.8,1226,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2289,3866
$GC,8157,-0.70,-194.7,820.0,-8.7,1256,8161,0.00,3.03,0.00,0.000,4,0.000,0.100,2761,3646,3865
$GC,8207,-0.74,-194.7,824.4,-8.6,1260,8212,0.00,2.92,0.00,0.000,6,0.000,0.088,2761,2309,3865
$GC,8533,-0.74,-194.7,852.3,-8.9,1290,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2309,3865
$GC,8852,-0.74,-194.7,880.6,-9.1,1320,8857,0.00,3.17,0.00,0.000,4,0.000,0.128,2761,3643,3865
$GC,8896,-0.78,-194.7,884.9,-9.2,1323,8902,0.00,3.12,0.00,0.000,6,0.000,0.119,2761,2309,3865
$GC,9221,-0.78,-194.7,913.6,-8.8,1354,9226,0.00,2.95,0.00,0.000,4,0.000,0.056,2761,824,3864
$GC,9254,-0.83,-194.7,916.7,-9.5,1356,9260,0.00,2.85,0.00,0.000,6,0.000,0.031,2761,2311,3864
$GC,9581,-0.83,-194.7,944.6,-8.5,1387,9586,0.00,2.67,0.00,0.000,4,0.000,0.055,2761,3651,3864
$GC,9636,-0.83,-194.7,949.8,-8.4,1391,9643,0.00,2.65,0.00,0.000,6,0.000,0.041,2761,2308,3864
$GC,9963,-0.83,-194.7,977.2,-8.6,1422,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2307,3864
$STATE,10108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10108,begin apogee
$GC,10114,-0.21,0.0,990.1,8.9,1436,10321,0.62,0.00,200.12,1.555,6,0.120,0.000,2867,2711,3072
$STATE,10322,end apogee,CONTROL_FINISHED_OK
$STATE,10322,begin climb
$GC,10324,0.86,194.7,997.1,0.0,1457,10540,1.38,2.72,205.20,1.501,4,0.087,0.058,3099,3890,2276
$GC,10688,0.69,194.7,955.6,15.6,1491,10693,0.17,2.47,0.00,0.000,6,0.129,0.035,3076,2693,2273
$GC,11012,0.57,194.7,914.1,12.4,1521,11017,0.15,2.53,0.00,0.000,4,0.123,0.051,3050,3901,2273
$GC,11097,0.52,194.7,904.7,11.2,1528,11101,0.00,2.33,0.00,0.000,6,0.000,0.034,3050,2731,2272
$GC,11421,0.46,194.7,869.8,10.6,1558,11426,0.17,2.40,0.00,0.000,4,0.114,0.051,3022,3895,2272
$GC,11444,0.46,194.7,867.6,10.7,1559,11450,0.00,2.25,0.00,0.000,6,0.000,0.033,3022,2749,2272
$GC,11769,0.55,272.9,843.7,7.3,1590,11851,0.00,0.00,80.03,1.444,6,0.000,0.000,3022,2749,1958
$GC,12168,0.70,347.2,813.9,7.4,1628,12248,0.25,0.00,78.00,1.410,6,0.048,0.000,3071,2748,1655
$GC,12566,0.64,347.2,762.7,13.4,1666,12570,0.00,2.38,0.00,0.000,4,0.000,0.051,3071,3891,1647
$GC,12594,0.59,347.2,759.0,14.1,1668,12599,0.15,2.30,0.00,0.000,6,0.110,0.032,3049,2734,1646
$GC,12918,0.59,347.2,725.0,10.2,1698,12922,0.00,2.38,0.00,0.000,4,0.000,0.051,3049,3891,1645
$GC,12933,0.59,347.2,723.2,11.1,1699,12940,0.00,2.25,0.00,0.000,6,0.000,0.031,3048,2742,1645
$GC,13259,0.59,347.2,688.2,10.4,1730,13264,0.00,2.90,0.00,0.000,4,0.000,0.049,3049,1303,1644
$GC,13280,0.59,347.2,685.8,10.5,1731,13286,0.00,2.85,0.00,0.000,6,0.000,0.031,3048,2753,1644
$GC,13606,0.59,350.1,654.3,9.9,1762,13607,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2753,1644
$GC,13925,0.61,365.2,622.4,9.5,1792,13949,0.00,3.00,17.27,1.223,4,0.000,0.045,3049,1305,1582
$GC,13956,0.61,365.2,619.1,10.2,1795,13961,0.00,2.85,0.00,0.000,6,0.000,0.031,3049,2743,1581
$GC,14286,0.65,393.1,588.7,9.0,1835,14322,0.00,0.00,29.67,1.256,6,0.000,0.000,3048,2743,1469
$GC,14659,0.69,393.1,552.6,10.1,1901,14666,0.12,2.92,0.00,0.000,4,0.059,0.044,3076,1302,1465
$GC,14690,0.69,393.1,548.8,12.1,1906,14696,0.00,2.80,0.00,0.000,6,0.000,0.031,3076,2728,1464
$GC,15034,0.65,393.1,501.4,14.8,1967,15040,0.00,2.33,0.00,0.000,4,0.000,0.048,3076,3898,1463
$GC,15091,0.65,393.1,493.1,13.4,1977,15098,0.00,2.28,0.00,0.000,6,0.000,0.031,3075,2737,1463
$GC,15434,0.60,393.1,444.9,14.0,2038,15440,0.15,0.00,0.00,0.000,6,0.107,0.000,3049,2736,1463
$GC,15775,0.70,428.3,413.1,8.8,2099,15815,0.12,0.00,36.47,1.157,6,0.058,0.000,3074,2735,1324
$GC,16152,0.70,428.3,363.2,13.3,2166,16158,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2735,1319
$GC,16489,0.70,428.3,318.9,12.2,2227,16494,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2735,1318
$GC,16818,0.70,428.3,276.5,12.2,2288,16825,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2735,1317
$GC,17153,0.70,428.3,232.6,11.9,2349,17159,0.00,2.33,0.00,0.000,4,0.000,0.046,3075,3890,1317
$GC,17172,0.70,428.3,230.0,13.6,2352,17180,0.00,2.22,0.00,0.000,6,0.000,0.029,3075,2742,1317
$GC,17507,0.70,428.3,186.8,12.5,2413,17513,0.00,2.83,0.00,0.000,4,0.000,0.044,3074,1303,1317
$GC,17532,0.70,428.3,183.7,12.3,2417,17538,0.00,2.78,0.00,0.000,6,0.000,0.029,3075,2743,1316
$GC,17862,0.70,428.3,142.2,12.4,2478,17869,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2742,1316
$GC,18001,0.70,428.3,124.8,11.9,2503,18006,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2742,1316
$GC,18135,0.70,428.3,108.6,10.5,2528,18142,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2742,1316
$GC,18275,0.70,428.3,91.0,11.8,2553,18281,0.00,2.85,0.00,0.000,4,0.000,0.044,3075,1303,1316
$GC,18289,0.70,428.3,89.1,12.4,2555,18295,0.00,2.75,0.00,0.000,6,0.000,0.028,3075,2736,1316
$GC,18424,0.70,428.3,72.4,14.1,2580,18432,0.00,2.28,0.00,0.000,4,0.000,0.046,3074,3885,1316
$GC,18446,0.70,428.3,69.8,12.6,2583,18452,0.00,2.25,0.00,0.000,6,0.000,0.033,3075,2728,1315
$GC,18583,0.70,428.3,51.1,13.6,2608,18591,0.00,2.85,0.00,0.000,4,0.000,0.048,3075,1300,1315
$GC,18597,0.70,428.3,49.0,13.4,2610,18605,0.00,2.78,0.00,0.000,6,0.000,0.029,3074,2732,1315
$GC,18732,0.74,460.3,34.5,8.9,2635,18769,0.00,0.00,31.25,0.915,6,0.000,0.000,3074,2732,1193
$GC,18898,0.74,460.3,16.8,11.1,2664,18905,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2732,1189
$GC,19031,0.74,460.3,3.1,11.7,2689,19039,0.00,2.33,0.00,0.000,4,0.000,0.048,3074,3890,1188
$STATE,19045,end climb,SURFACE_DEPTH_REACHED
$STATE,19045,begin surface coast
$FINISH,0.2,1.026252
$STATE,19052,end surface coast,CONTROL_FINISHED_OK
$STATE,19052,begin surface
$SM_CCo,19132,0.00,0.000,0,0,1186,462.39
$SM_GC,0.73,8.25,0.00,0.00,0.042,0.000,0.000,1432,2248,1186,-6.79,-0.03,462.39
$IRIDIUM_FIX,5846.12,-1901.95,070797,070719
$TT8_MAMPS,0.026078
$HUMID,1737
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,12.30
$XPDR_PINGS,890
$24V_AH,19.8,16.598
$10V_AH,9.7,14.035
$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,22.725,162.400,678.025,0.000,0.000,48.079,63.961,394.462,222.500,0.000,0.000,17.102,4092.408,8105.905,849.065,5856.507,928.087,0.000,2998.773,0.000,5880.092,0.000,0.465
$DEVICE_MAMPS,241.605,128.089,1555.476,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1863.347,1975.638,1186.216,1095.548,2813.541,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,199330,2692
$CAP_FILE_SIZE,221504,0
$CFSIZE,260165632,253538304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,130138,5910.076,-1906.088,31,1.4,31,-13.6