version: 66.03
glider: 142
mission: 5
dive: 65
start: 4 17 108 6 8 3
data:
$ID,142
$MISSION,5
$DIVE,65
$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,215
$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,-13965.092
$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,17
$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
$GPS1,055458,5925.838,-2208.591,36,2.6,55,-15.3
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-47.0
$GPS2,060746,5925.933,-2208.929,12,2.4,31,-15.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5917.086,-2212.093
$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,230.3,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,188,0.00,0.00,-157.43,0.000,2,0.000,0.000,1436,2294,3729
$GC,191,-0.86,-194.7,3.7,-7.0,22,214,11.00,2.90,-3.50,0.000,4,0.243,0.061,2724,891,3868
$GC,414,-0.80,-194.7,35.0,-10.5,63,422,0.08,2.78,0.00,0.000,6,0.130,0.031,2738,2307,3868
$GC,551,-0.75,-194.7,48.7,-10.6,88,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2313,3868
$GC,690,-0.70,-194.7,62.8,-10.9,113,696,0.15,2.88,0.00,0.000,4,0.148,0.048,2761,878,3868
$GC,783,-0.70,-194.7,73.6,-9.8,130,791,0.00,2.75,0.00,0.000,6,0.000,0.030,2761,2289,3868
$GC,924,-0.70,-194.7,86.0,-13.0,155,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2294,3868
$GC,1058,-0.70,-194.7,103.2,-11.9,180,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2294,3868
$GC,1197,-0.70,-194.7,117.9,-10.9,205,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2294,3868
$GC,1332,-0.70,-194.7,131.8,-9.6,230,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2294,3869
$GC,1471,-0.70,-194.7,146.7,-11.1,255,1478,0.00,2.80,0.00,0.000,4,0.000,0.049,2762,884,3868
$GC,1531,-0.70,-194.7,154.0,-11.9,266,1539,0.00,2.70,0.00,0.000,6,0.000,0.029,2761,2279,3868
$GC,1865,-0.70,-194.7,188.5,-10.5,327,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,2197,-0.70,-194.7,225.8,-10.9,388,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,2531,-0.70,-194.7,261.9,-10.4,449,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,2861,-0.70,-194.7,295.2,-10.3,510,2868,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,3195,-0.70,-194.7,327.8,-9.6,571,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,3529,-0.70,-194.7,360.3,-9.6,632,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,3867,-0.70,-194.7,393.9,-10.1,693,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,4212,-0.70,-194.7,428.0,-9.9,754,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,4551,-0.70,-194.7,462.1,-10.2,815,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,4894,-0.70,-194.7,497.0,-10.2,876,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,5239,-0.70,-194.7,531.6,-10.2,937,5245,0.00,2.80,0.00,0.000,4,0.000,0.048,2761,3702,3868
$GC,5260,-0.70,-194.7,533.7,-9.6,940,5266,0.00,2.80,0.00,0.000,6,0.000,0.035,2761,2258,3868
$GC,5602,-0.70,-194.7,566.2,-9.0,1001,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2257,3868
$GC,5942,-0.70,-194.7,596.4,-9.2,1062,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2257,3868
$GC,6270,-0.70,-194.7,627.7,-10.2,1096,6274,0.00,2.92,0.00,0.000,4,0.000,0.054,2761,3706,3868
$GC,6290,-0.70,-194.7,630.1,-10.6,1097,6297,0.00,2.80,0.00,0.000,6,0.000,0.039,2761,2280,3868
$GC,6617,-0.70,-194.7,662.7,-9.7,1128,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2280,3868
$GC,6935,-0.70,-194.7,692.2,-9.1,1158,6940,0.00,2.92,0.00,0.000,4,0.000,0.061,2761,3703,3867
$GC,6968,-0.70,-194.7,695.4,-9.3,1160,6975,0.00,2.85,0.00,0.000,6,0.000,0.048,2761,2281,3867
$GC,7295,-0.70,-194.7,723.9,-9.0,1191,7299,0.00,2.95,0.00,0.000,4,0.000,0.066,2761,3701,3867
$GC,7327,-0.70,-194.7,727.0,-9.4,1193,7333,0.00,2.88,0.00,0.000,6,0.000,0.051,2761,2280,3867
$GC,7653,-0.70,-194.7,754.9,-8.2,1224,7658,0.00,3.00,0.00,0.000,4,0.000,0.073,2761,3700,3867
$GC,7669,-0.70,-194.7,756.4,-8.3,1225,7674,0.00,2.90,0.00,0.000,6,0.000,0.059,2761,2288,3867
$GC,7995,-0.70,-194.7,784.3,-8.9,1255,8000,0.00,3.05,0.00,0.000,4,0.000,0.084,2760,3697,3866
$GC,8016,-0.70,-194.7,786.4,-9.0,1256,8023,0.00,2.92,0.00,0.000,6,0.000,0.071,2761,2299,3866
$GC,8342,-0.70,-194.7,814.2,-8.8,1287,8347,0.00,3.12,0.00,0.000,4,0.000,0.097,2761,3699,3866
$GC,8359,-0.70,-194.7,815.8,-8.5,1288,8364,0.00,3.05,0.00,0.000,6,0.000,0.084,2761,2295,3866
$GC,8685,-0.70,-194.7,844.0,-8.5,1318,8686,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2295,3866
$GC,9003,-0.70,-194.7,871.1,-8.4,1348,9008,0.00,3.33,0.00,0.000,4,0.000,0.124,2761,3694,3865
$GC,9020,-0.70,-194.7,872.7,-8.4,1349,9025,0.00,3.17,0.00,0.000,6,0.000,0.107,2761,2291,3865
$GC,9346,-0.70,-194.7,900.9,-8.8,1379,9350,0.00,2.88,0.00,0.000,4,0.000,0.055,2761,3703,3865
$GC,9367,-0.70,-194.7,903.1,-9.5,1380,9373,0.00,2.75,0.00,0.000,6,0.000,0.041,2761,2312,3865
$GC,9693,-0.70,-194.7,931.9,-8.7,1411,9697,0.00,2.85,0.00,0.000,4,0.000,0.057,2761,3706,3864
$GC,9709,-0.70,-194.7,933.5,-8.6,1412,9714,0.00,2.75,0.00,0.000,6,0.000,0.041,2761,2318,3864
$GC,10036,-0.74,-194.7,961.9,-8.5,1442,10041,0.00,2.85,0.00,0.000,4,0.000,0.063,2760,3708,3864
$GC,10057,-0.78,-194.7,964.0,-8.4,1443,10063,0.00,2.75,0.00,0.000,6,0.000,0.041,2761,2319,3864
$STATE,10381,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10381,begin apogee
$GC,10387,-0.21,0.0,990.5,8.0,1474,10594,0.62,0.00,201.07,1.576,6,0.117,0.000,2868,2742,3071
$STATE,10595,end apogee,CONTROL_FINISHED_OK
$STATE,10595,begin climb
$GC,10598,0.86,194.7,996.6,0.0,1495,10816,1.38,2.65,208.10,1.517,4,0.083,0.058,3101,3893,2277
$GC,10973,0.69,194.7,950.5,16.4,1530,10980,0.20,2.38,0.00,0.000,6,0.125,0.035,3073,2746,2274
$GC,11297,0.58,194.7,909.0,12.8,1561,11302,0.15,2.42,0.00,0.000,4,0.123,0.053,3049,3902,2273
$GC,11341,0.54,194.7,903.7,11.4,1564,11347,0.00,2.30,0.00,0.000,6,0.000,0.035,3049,2751,2273
$GC,11667,0.50,194.7,869.7,10.7,1595,11668,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2750,2273
$GC,11986,0.45,194.7,835.3,10.6,1625,11988,0.17,0.00,0.00,0.000,6,0.118,0.000,3022,2750,2272
$GC,12304,0.50,231.4,807.2,8.7,1655,12343,0.00,0.00,37.03,1.427,6,0.000,0.000,3022,2750,2127
$GC,12661,0.55,276.4,776.5,8.4,1689,12712,0.00,0.00,46.90,1.414,6,0.000,0.000,3022,2750,1943
$GC,13031,0.66,316.5,745.5,8.6,1724,13075,0.22,0.00,42.12,1.383,6,0.050,0.000,3066,2750,1780
$GC,13389,0.62,316.5,699.4,12.9,1758,13394,0.00,2.38,0.00,0.000,4,0.000,0.052,3066,3897,1774
$GC,13429,0.62,316.5,694.2,12.8,1761,13433,0.00,2.25,0.00,0.000,6,0.000,0.032,3066,2759,1773
$GC,13753,0.57,316.5,653.5,12.5,1791,13754,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2758,1773
$GC,14072,0.57,316.5,613.7,12.2,1821,14073,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2758,1772
$GC,14401,0.57,316.5,574.8,11.0,1870,14407,0.12,0.00,0.00,0.000,6,0.114,0.000,3048,2758,1772
$GC,14744,0.60,339.6,543.8,9.2,1931,14773,0.00,0.00,22.90,1.239,6,0.000,0.000,3048,2758,1685
$GC,15108,0.66,384.2,511.4,8.5,1996,15165,0.00,3.03,46.83,1.256,4,0.000,0.048,3048,1338,1503
$GC,15200,0.77,420.8,503.4,8.7,2012,15247,0.20,2.90,39.12,1.223,6,0.048,0.030,3089,2773,1355
$GC,15584,0.71,420.8,447.0,15.9,2080,15591,0.00,2.28,0.00,0.000,4,0.000,0.050,3089,3897,1347
$GC,15638,0.71,420.8,438.8,14.8,2089,15645,0.00,2.20,0.00,0.000,6,0.000,0.031,3089,2767,1346
$GC,15979,0.66,420.8,386.1,15.4,2150,15985,0.15,0.00,0.00,0.000,6,0.110,0.000,3064,2765,1345
$GC,16321,0.66,420.8,345.2,11.4,2211,16327,0.00,2.85,0.00,0.000,4,0.000,0.048,3064,1346,1344
$GC,16361,0.71,420.8,340.5,10.3,2218,16369,0.00,2.83,0.00,0.000,6,0.000,0.030,3064,2778,1343
$GC,16694,0.71,420.8,303.5,10.6,2279,16700,0.00,2.90,0.00,0.000,4,0.000,0.045,3064,1336,1343
$GC,16732,0.75,420.8,299.4,12.4,2285,16738,0.00,2.78,0.00,0.000,6,0.000,0.030,3064,2764,1343
$GC,17062,0.75,420.8,260.9,11.4,2346,17069,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2764,1343
$GC,17396,0.75,420.8,222.7,11.8,2407,17403,0.00,2.83,0.00,0.000,4,0.000,0.044,3063,1345,1343
$GC,17444,0.81,420.8,217.4,13.3,2415,17451,0.17,2.72,0.00,0.000,6,0.048,0.030,3103,2752,1342
$GC,17775,0.73,420.8,161.0,17.9,2476,17784,0.15,2.28,0.00,0.000,4,0.113,0.048,3077,3896,1342
$GC,17822,0.73,420.8,154.0,11.7,2484,17830,0.00,2.22,0.00,0.000,6,0.000,0.033,3077,2755,1342
$GC,18157,0.73,420.8,113.9,11.8,2545,18163,0.00,2.80,0.00,0.000,4,0.000,0.047,3077,1338,1342
$GC,18195,0.73,420.8,108.8,12.0,2552,18203,0.00,2.75,0.00,0.000,6,0.000,0.030,3077,2749,1342
$GC,18336,0.73,420.8,92.5,13.8,2577,18342,0.00,2.28,0.00,0.000,4,0.000,0.048,3077,3891,1342
$GC,18371,0.73,420.8,87.8,10.5,2583,18378,0.00,2.22,0.00,0.000,6,0.000,0.033,3077,2731,1341
$GC,18509,0.73,420.8,71.3,12.2,2608,18517,0.00,2.78,0.00,0.000,4,0.000,0.048,3077,1342,1341
$GC,18552,0.73,420.8,66.3,10.7,2615,18558,0.00,2.70,0.00,0.000,6,0.000,0.030,3077,2746,1341
$GC,18690,0.73,420.8,49.4,12.7,2640,18698,0.00,2.28,0.00,0.000,4,0.000,0.048,3077,3887,1341
$GC,18726,0.73,420.8,44.6,13.1,2646,18735,0.00,2.28,0.00,0.000,6,0.000,0.033,3077,2721,1341
$GC,18861,0.73,420.8,29.2,11.2,2671,18870,0.00,2.75,0.00,0.000,4,0.000,0.049,3077,1346,1341
$GC,18893,0.73,420.8,25.6,11.6,2676,18901,0.00,2.67,0.00,0.000,6,0.000,0.030,3077,2723,1341
$GC,19028,0.73,420.8,9.5,13.4,2701,19036,0.00,2.33,0.00,0.000,4,0.000,0.048,3077,3888,1341
$GC,19064,0.73,420.8,5.3,11.2,2707,19072,0.00,2.25,0.00,0.000,6,0.000,0.032,3077,2732,1342
$STATE,19094,end climb,SURFACE_DEPTH_REACHED
$STATE,19094,begin surface coast
$FINISH,0.3,1.026251
$STATE,19111,end surface coast,CONTROL_FINISHED_OK
$STATE,19111,begin surface
$SM_CCo,19189,0.00,0.000,0,0,1340,424.61
$SM_GC,0.57,8.25,0.00,0.00,0.047,0.000,0.000,1432,2290,1340,-6.80,-0.28,424.61
$IRIDIUM_FIX,5902.83,-2210.85,120797,060609
$TT8_MAMPS,0.026845
$HUMID,1749
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,11.60
$XPDR_PINGS,987
$24V_AH,19.6,23.947
$10V_AH,9.7,20.115
$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,23.025,159.125,644.075,0.000,0.000,60.603,70.006,399.216,246.750,0.000,0.000,33.798,4118.377,8117.708,821.051,5916.304,951.786,0.000,2961.108,0.000,5920.983,0.000,0.465
$DEVICE_MAMPS,243.139,124.254,1576.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1878.250,2002.742,1217.514,1117.497,2875.924,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,202496,2715
$CAP_FILE_SIZE,220830,0
$CFSIZE,260165632,250875904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170408,112922,5922.464,-2218.076,35,2.9,54,-15.3