version: 66.03
glider: 142
mission: 5
dive: 90
start: 4 22 108 22 21 40
data:
$ID,142
$MISSION,5
$DIVE,90
$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,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,1
$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,-14456.559
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,220825,5934.668,-2210.341,25,1.2,42,-15.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-50.4
$GPS2,222123,5934.778,-2210.480,11,99.0,30,-15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5945.575,-2210.385
$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,16.4,20000,-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,-194.7,0.0,0.0,0,160,0.00,0.00,-130.00,0.000,2,0.000,0.000,1433,2285,3512
$GC,163,-0.86,-194.7,3.2,-4.9,18,194,11.45,2.90,-10.00,0.000,4,0.253,0.051,2725,3707,3866
$GC,415,-0.81,-194.7,43.9,-14.9,64,423,0.00,2.80,0.00,0.000,6,0.000,0.035,2725,2301,3867
$GC,555,-0.74,-194.7,63.3,-14.2,89,562,0.17,2.83,0.00,0.000,4,0.136,0.050,2754,890,3867
$GC,669,-0.74,-194.7,77.2,-11.1,110,678,0.00,2.72,0.00,0.000,6,0.000,0.029,2754,2287,3867
$GC,810,-0.74,-194.7,92.5,-10.7,135,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2287,3867
$GC,945,-0.74,-194.7,108.1,-11.3,160,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2287,3867
$GC,1085,-0.74,-194.7,122.8,-10.6,185,1091,0.00,2.80,0.00,0.000,4,0.000,0.048,2754,885,3867
$GC,1124,-0.74,-194.7,127.7,-11.6,192,1132,0.00,2.70,0.00,0.000,6,0.000,0.030,2754,2275,3867
$GC,1264,-0.74,-194.7,143.3,-11.3,217,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2276,3867
$GC,1399,-0.74,-194.7,158.1,-10.3,242,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2276,3867
$GC,1739,-0.74,-194.7,193.9,-10.5,303,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2276,3867
$GC,2077,-0.74,-194.7,227.0,-10.0,364,2085,0.00,2.83,0.00,0.000,4,0.000,0.045,2753,3697,3867
$GC,2132,-0.74,-194.7,232.5,-10.4,373,2138,0.00,2.80,0.00,0.000,6,0.000,0.034,2754,2256,3867
$GC,2470,-0.74,-194.7,268.6,-10.9,434,2476,0.00,2.70,0.00,0.000,4,0.000,0.051,2753,890,3868
$GC,2511,-0.74,-194.7,272.9,-11.1,441,2518,0.00,2.62,0.00,0.000,6,0.000,0.030,2754,2268,3867
$GC,2851,-0.74,-194.7,312.5,-11.7,502,2857,0.00,2.83,0.00,0.000,4,0.000,0.046,2754,3702,3867
$GC,2916,-0.74,-194.7,319.6,-11.5,513,2923,0.00,2.78,0.00,0.000,6,0.000,0.034,2753,2270,3868
$GC,3257,-0.74,-194.7,355.0,-9.6,574,3263,0.00,2.72,0.00,0.000,4,0.000,0.051,2754,891,3867
$GC,3297,-0.74,-194.7,359.1,-10.2,581,3303,0.00,2.65,0.00,0.000,6,0.000,0.030,2754,2280,3867
$GC,3637,-0.74,-194.7,392.6,-9.1,642,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2280,3867
$GC,3977,-0.74,-194.7,423.1,-9.4,703,3983,0.00,2.80,0.00,0.000,4,0.000,0.048,2753,3700,3867
$GC,4045,-0.74,-194.7,429.7,-9.8,715,4051,0.00,2.78,0.00,0.000,6,0.000,0.035,2753,2271,3867
$GC,4385,-0.74,-194.7,464.3,-11.4,776,4393,0.00,2.75,0.00,0.000,4,0.000,0.053,2754,897,3867
$GC,4434,-0.74,-194.7,469.9,-11.7,784,4442,0.00,2.70,0.00,0.000,6,0.000,0.031,2754,2291,3867
$GC,4778,-0.74,-194.7,506.9,-9.4,845,4784,0.00,2.80,0.00,0.000,4,0.000,0.048,2754,3706,3867
$GC,4835,-0.74,-194.7,512.3,-9.2,855,4842,0.00,2.78,0.00,0.000,6,0.000,0.035,2754,2279,3867
$GC,5178,-0.74,-194.7,542.6,-9.1,916,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2278,3867
$GC,5519,-0.74,-194.7,574.1,-9.2,977,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2279,3867
$GC,5860,-0.74,-194.7,607.1,-9.4,1032,5865,0.00,2.88,0.00,0.000,4,0.000,0.053,2754,3700,3866
$GC,5937,-0.74,-194.7,614.8,-9.8,1038,5944,0.00,2.75,0.00,0.000,6,0.000,0.038,2754,2289,3866
$GC,6263,-0.74,-194.7,647.1,-10.4,1069,6268,0.00,2.85,0.00,0.000,4,0.000,0.063,2753,884,3866
$GC,6314,-0.74,-194.7,652.7,-10.9,1073,6319,0.00,2.75,0.00,0.000,6,0.000,0.040,2753,2303,3866
$GC,6640,-0.74,-194.7,685.1,-9.3,1103,6644,0.00,2.88,0.00,0.000,4,0.000,0.063,2754,3710,3865
$GC,6701,-0.74,-194.7,691.1,-9.4,1108,6706,0.00,2.80,0.00,0.000,6,0.000,0.048,2754,2315,3865
$GC,7027,-0.74,-194.7,721.2,-9.4,1138,7032,0.00,2.97,0.00,0.000,4,0.000,0.077,2754,887,3864
$GC,7077,-0.74,-194.7,726.6,-10.9,1142,7082,0.00,2.85,0.00,0.000,6,0.000,0.045,2753,2319,3864
$GC,7403,-0.74,-194.7,761.7,-11.6,1172,7407,0.00,2.95,0.00,0.000,4,0.000,0.081,2753,3712,3864
$GC,7464,-0.74,-194.7,769.3,-12.3,1177,7469,0.00,2.92,0.00,0.000,6,0.000,0.066,2754,2315,3864
$GC,7790,-0.74,-194.7,808.7,-11.7,1207,7795,0.00,3.20,0.00,0.000,4,0.000,0.107,2754,890,3863
$GC,7840,-0.74,-194.7,814.7,-11.7,1211,7845,0.00,3.08,0.00,0.000,6,0.000,0.079,2754,2319,3863
$GC,8166,-0.74,-194.7,847.7,-9.5,1241,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2319,3863
$GC,8484,-0.74,-194.7,875.9,-8.4,1271,8489,0.00,3.30,0.00,0.000,4,0.000,0.128,2754,3717,3863
$GC,8539,-0.74,-194.7,881.1,-8.9,1275,8546,0.00,2.78,0.00,0.000,6,0.000,0.041,2753,2316,3862
$GC,8865,-0.74,-194.7,909.2,-8.5,1306,8870,0.00,2.90,0.00,0.000,4,0.000,0.061,2753,885,3863
$GC,8905,-0.74,-194.7,912.7,-9.3,1309,8909,0.00,2.85,0.00,0.000,6,0.000,0.034,2754,2349,3862
$GC,9230,-0.74,-194.7,940.4,-9.0,1339,9235,0.00,2.75,0.00,0.000,4,0.000,0.058,2753,3709,3862
$GC,9286,-0.74,-194.7,945.7,-9.8,1343,9292,0.00,2.72,0.00,0.000,6,0.000,0.041,2754,2334,3862
$GC,9612,-0.74,-194.7,977.1,-10.4,1374,9616,0.00,2.95,0.00,0.000,4,0.000,0.064,2754,885,3862
$GC,9655,-0.78,-194.7,982.1,-11.1,1377,9661,0.00,2.85,0.00,0.000,6,0.000,0.035,2754,2345,3862
$STATE,9733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9733,begin apogee
$GC,9740,-0.21,0.0,990.4,10.4,1385,9947,0.68,0.00,201.30,1.601,6,0.118,0.000,2867,2749,3071
$STATE,9948,end apogee,CONTROL_FINISHED_OK
$STATE,9948,begin climb
$GC,9950,0.86,194.7,999.6,0.0,1406,10174,1.40,2.55,210.73,1.545,4,0.081,0.061,3101,3890,2277
$GC,10269,0.69,194.7,966.3,15.8,1436,10276,0.20,2.40,0.00,0.000,6,0.125,0.035,3074,2747,2275
$GC,10594,0.58,194.7,926.1,12.8,1467,10598,0.15,2.42,0.00,0.000,4,0.125,0.053,3049,3897,2274
$GC,10648,0.53,194.7,919.4,12.5,1471,10655,0.00,2.28,0.00,0.000,6,0.000,0.035,3049,2761,2274
$GC,10975,0.48,194.7,882.4,11.5,1502,10977,0.15,0.00,0.00,0.000,6,0.113,0.000,3027,2761,2273
$GC,11293,0.52,225.8,852.9,8.9,1532,11326,0.00,0.00,31.67,1.449,6,0.000,0.000,3027,2761,2150
$GC,11640,0.59,286.1,824.1,7.9,1565,11711,0.12,0.00,63.55,1.471,6,0.063,0.000,3050,2761,1903
$GC,12029,0.59,286.1,782.6,11.3,1602,12030,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2760,1898
$GC,12347,0.59,286.1,747.4,11.0,1632,12349,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2761,1898
$GC,12666,0.59,286.1,711.6,11.3,1662,12670,0.00,2.33,0.00,0.000,4,0.000,0.054,3051,3894,1897
$GC,12687,0.59,286.1,709.0,11.0,1663,12693,0.00,2.22,0.00,0.000,6,0.000,0.034,3051,2772,1897
$GC,13013,0.59,286.1,675.2,10.5,1694,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2770,1896
$GC,13330,0.59,286.1,642.6,10.3,1724,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2771,1896
$GC,13650,0.60,288.5,610.7,9.9,1754,13654,0.00,2.28,0.00,0.000,4,0.000,0.054,3050,3893,1896
$GC,13666,0.60,288.5,608.9,10.2,1755,13670,0.00,2.17,0.00,0.000,6,0.000,0.033,3051,2772,1895
$GC,14001,0.60,288.5,572.4,10.6,1807,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2770,1895
$GC,14340,0.61,299.0,539.3,9.6,1868,14357,0.00,0.00,12.02,1.171,6,0.000,0.000,3051,2770,1852
$GC,14690,0.61,299.0,504.3,10.7,1931,14696,0.00,2.85,0.00,0.000,4,0.000,0.048,3050,1346,1851
$GC,14701,0.61,299.0,503.0,10.6,1933,14708,0.00,2.85,0.00,0.000,6,0.000,0.031,3051,2799,1851
$GC,15041,0.62,306.8,469.6,9.7,1994,15052,0.00,0.00,9.38,1.091,6,0.000,0.000,3050,2800,1820
$GC,15387,0.62,306.8,433.5,10.4,2056,15395,0.00,2.97,0.00,0.000,4,0.000,0.047,3051,1341,1818
$GC,15412,0.62,307.6,430.8,10.0,2060,15419,0.00,2.83,0.00,0.000,6,0.000,0.031,3051,2784,1818
$GC,15754,0.62,307.6,394.5,10.5,2121,15760,0.00,2.90,0.00,0.000,4,0.000,0.045,3050,1340,1818
$GC,15777,0.62,307.6,391.9,10.6,2125,15784,0.00,2.83,0.00,0.000,6,0.000,0.032,3050,2785,1818
$GC,16118,0.65,330.6,361.4,9.2,2186,16150,0.00,2.97,24.77,1.158,4,0.000,0.046,3051,1336,1723
$GC,16173,0.65,331.6,356.0,10.0,2196,16180,0.00,2.80,0.00,0.000,6,0.000,0.031,3051,2759,1722
$GC,16515,0.65,331.6,318.8,10.3,2257,16521,0.00,2.85,0.00,0.000,4,0.000,0.044,3050,1346,1720
$GC,16526,0.65,331.6,317.2,10.6,2259,16533,0.00,2.75,0.00,0.000,6,0.000,0.031,3051,2753,1720
$GC,16866,0.71,380.1,283.6,8.3,2320,16926,0.12,2.97,50.42,1.126,4,0.058,0.045,3077,1346,1520
$GC,16938,0.71,380.1,275.0,12.4,2332,16946,0.00,2.83,0.00,0.000,6,0.000,0.031,3077,2735,1517
$GC,17281,0.71,380.1,231.2,13.8,2393,17286,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,1514
$GC,17621,0.71,380.1,187.5,12.5,2454,17627,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,1513
$GC,17960,0.71,380.1,143.9,12.2,2515,17965,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,1513
$GC,18094,0.71,380.1,127.3,11.2,2540,18102,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,1513
$GC,18234,0.71,380.1,110.9,13.1,2565,18239,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,1513
$GC,18370,0.72,389.7,95.3,9.7,2590,18383,0.00,0.00,9.32,0.856,6,0.000,0.000,3077,2735,1482
$GC,18512,0.72,389.7,78.5,11.6,2616,18519,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,1480
$GC,18651,0.72,389.7,61.4,13.7,2641,18656,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,1480
$GC,18785,0.72,389.7,44.4,13.1,2666,18793,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,1480
$GC,18920,0.72,389.7,26.6,12.1,2691,18927,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2735,1480
$GC,19054,0.72,389.7,10.8,12.4,2716,19060,0.00,2.30,0.00,0.000,4,0.000,0.048,3077,3888,1480
$GC,19068,0.72,389.7,8.9,12.2,2718,19076,0.00,2.28,0.00,0.000,6,0.000,0.031,3077,2725,1480
$STATE,19128,end climb,SURFACE_DEPTH_REACHED
$STATE,19128,begin surface coast
$FINISH,0.1,1.026259
$STATE,19151,end surface coast,CONTROL_FINISHED_OK
$STATE,19151,begin surface
$SM_CCo,19229,0.00,0.000,0,0,1476,391.01
$SM_GC,0.58,8.25,0.00,0.00,0.045,0.000,0.000,1440,2284,1476,-6.79,-0.45,391.01
$IRIDIUM_FIX,5911.23,-2209.40,170797,222243
$TT8_MAMPS,0.026845
$HUMID,1739
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,11.80
$XPDR_PINGS,957
$24V_AH,19.5,32.172
$10V_AH,9.7,27.079
$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,22.700,172.550,613.175,0.000,0.000,60.249,79.007,401.245,239.250,0.000,0.000,32.989,4134.482,8569.289,792.892,5553.156,927.229,0.000,2936.938,0.000,5524.813,0.000,0.465
$DEVICE_MAMPS,253.110,128.089,1600.729,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1890.976,1984.010,947.229,1104.409,1933.554,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,196186,2733
$CAP_FILE_SIZE,219894,0
$CFSIZE,260165632,247812096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230408,034326,5939.005,-2212.331,41,1.4,41,-15.4