version: 66.03
glider: 142
mission: 5
dive: 96
start: 4 24 108 7 6 49
data:
$ID,142
$MISSION,5
$DIVE,96
$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,15
$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,-14583.993
$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,32
$R_STBD_OVSHOOT,10
$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
$GPS1,065855,5957.686,-2216.901,25,1.5,42,-15.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-45.6
$GPS2,070632,5957.696,-2217.024,12,1.5,30,-15.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6008.127,-2215.632
$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,30.6,20000,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,187,0.00,0.00,-157.75,0.000,2,0.000,0.000,1436,2285,3572
$GC,190,-0.86,-194.7,3.1,-4.6,22,214,11.25,2.97,-7.85,0.000,4,0.248,0.054,2724,3724,3865
$GC,451,-0.80,-194.7,43.5,-13.5,70,459,0.10,2.80,0.00,0.000,6,0.140,0.034,2740,2312,3867
$GC,593,-0.75,-194.7,62.3,-12.9,95,599,0.00,2.85,0.00,0.000,4,0.000,0.049,2740,882,3867
$GC,650,-0.75,-194.7,70.3,-13.4,105,656,0.00,2.72,0.00,0.000,6,0.000,0.030,2741,2295,3867
$GC,981,-0.75,-194.7,112.4,-12.4,166,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2295,3867
$GC,1313,-0.71,-194.7,152.7,-12.6,227,1320,0.15,2.80,0.00,0.000,4,0.129,0.046,2765,887,3867
$GC,1373,-0.75,-194.7,159.0,-10.6,237,1380,0.00,2.67,0.00,0.000,6,0.000,0.030,2765,2284,3867
$GC,1713,-0.75,-194.7,194.7,-10.9,298,1719,0.00,2.80,0.00,0.000,4,0.000,0.044,2765,3706,3867
$GC,1769,-0.75,-194.7,200.7,-10.8,308,1777,0.00,2.83,0.00,0.000,6,0.000,0.033,2765,2266,3867
$GC,2113,-0.75,-194.7,236.1,-10.2,369,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2265,3867
$GC,2450,-0.75,-194.7,269.1,-9.7,430,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2265,3867
$GC,2789,-0.75,-194.7,301.3,-9.6,491,2795,0.00,2.85,0.00,0.000,4,0.000,0.045,2765,3700,3867
$GC,2849,-0.75,-194.7,306.6,-9.6,501,2856,0.00,2.75,0.00,0.000,6,0.000,0.034,2765,2282,3867
$GC,3190,-0.75,-194.7,340.5,-10.1,562,3196,0.00,2.75,0.00,0.000,4,0.000,0.050,2765,887,3867
$GC,3231,-0.80,-194.7,344.5,-10.3,569,3237,0.00,2.67,0.00,0.000,6,0.000,0.029,2765,2292,3868
$GC,3564,-0.80,-194.7,377.3,-9.3,605,3569,0.00,2.78,0.00,0.000,4,0.000,0.046,2765,3703,3867
$GC,3630,-0.80,-194.7,383.5,-9.4,610,3636,0.00,2.75,0.00,0.000,6,0.000,0.034,2765,2284,3867
$GC,3958,-0.80,-194.7,413.8,-9.9,641,3963,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2284,3867
$GC,4284,-0.80,-194.7,445.2,-9.5,672,4289,0.00,2.83,0.00,0.000,4,0.000,0.047,2765,3702,3867
$GC,4328,-0.84,-194.7,449.5,-9.3,675,4335,0.15,2.72,0.00,0.000,6,0.065,0.034,2737,2294,3867
$GC,4652,-0.84,-194.7,485.2,-11.0,706,4657,0.00,2.78,0.00,0.000,4,0.000,0.051,2737,885,3867
$GC,4729,-0.84,-194.7,494.3,-11.9,712,4736,0.00,2.72,0.00,0.000,6,0.000,0.030,2737,2297,3867
$GC,5055,-0.84,-194.7,532.6,-12.0,743,5060,0.00,2.80,0.00,0.000,4,0.000,0.049,2737,890,3867
$GC,5105,-0.84,-194.7,538.9,-12.5,747,5109,0.00,2.67,0.00,0.000,6,0.000,0.031,2737,2287,3867
$GC,5432,-0.84,-194.7,577.0,-11.5,777,5437,0.00,2.83,0.00,0.000,4,0.000,0.051,2737,3703,3867
$GC,5493,-0.84,-194.7,584.6,-11.8,782,5498,0.00,2.78,0.00,0.000,6,0.000,0.037,2737,2283,3866
$GC,5822,-0.84,-194.7,621.4,-10.8,804,5827,0.00,2.80,0.00,0.000,4,0.000,0.058,2737,890,3866
$GC,5929,-0.84,-194.7,633.5,-11.8,809,5934,0.00,2.70,0.00,0.000,6,0.000,0.034,2737,2288,3866
$GC,6255,-0.84,-194.7,670.5,-11.4,825,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2288,3866
$GC,6565,-0.84,-194.7,705.2,-11.6,840,6569,0.00,2.88,0.00,0.000,4,0.000,0.064,2737,897,3865
$GC,6604,-0.84,-194.7,709.7,-12.2,842,6608,0.00,2.75,0.00,0.000,6,0.000,0.042,2737,2288,3865
$GC,6929,-0.84,-194.7,746.3,-11.0,858,6934,0.00,3.00,0.00,0.000,4,0.000,0.077,2737,3712,3865
$GC,6978,-0.84,-194.7,751.7,-11.0,860,6982,0.00,2.92,0.00,0.000,6,0.000,0.059,2737,2294,3865
$GC,7293,-0.84,-194.7,784.9,-10.7,875,7298,0.00,3.08,0.00,0.000,4,0.000,0.096,2737,885,3865
$GC,7325,-0.84,-194.7,788.6,-11.7,876,7332,0.00,2.95,0.00,0.000,6,0.000,0.069,2737,2294,3864
$GC,7641,-0.84,-194.7,821.2,-10.3,892,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2295,3864
$GC,7950,-0.84,-194.7,852.5,-10.0,907,7952,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2295,3864
$GC,8259,-0.84,-194.7,884.2,-10.6,922,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2295,3863
$GC,8569,-0.84,-194.7,917.9,-11.0,937,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2295,3863
$GC,8878,-0.84,-194.7,951.5,-10.6,952,8879,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2297,3863
$GC,9187,-0.84,-194.7,983.6,-10.2,967,9188,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2297,3862
$STATE,9249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9249,begin apogee
$GC,9255,-0.21,0.0,990.1,10.3,970,9460,0.80,0.00,201.70,1.601,6,0.122,0.000,2868,2758,3071
$STATE,9461,end apogee,CONTROL_FINISHED_OK
$STATE,9461,begin climb
$GC,9463,0.86,194.7,996.9,0.0,980,9688,1.38,2.65,210.77,1.544,4,0.082,0.058,3099,3891,2277
$GC,9825,0.69,194.7,954.2,15.7,997,9830,0.17,2.40,0.00,0.000,6,0.127,0.035,3075,2733,2275
$GC,10151,0.57,194.7,911.2,13.4,1013,10156,0.17,2.45,0.00,0.000,4,0.121,0.053,3048,3903,2274
$GC,10213,0.52,194.7,903.8,11.8,1016,10217,0.00,2.25,0.00,0.000,6,0.000,0.035,3048,2767,2274
$GC,10545,0.47,194.7,868.1,10.6,1032,10550,0.15,2.33,0.00,0.000,4,0.119,0.053,3022,3904,2273
$GC,10566,0.48,206.5,865.8,9.6,1033,10583,0.00,2.22,12.48,1.318,6,0.000,0.034,3022,2771,2229
$GC,10892,0.54,252.9,838.8,8.4,1049,10946,0.00,2.47,48.53,1.466,4,0.000,0.061,3022,3899,2038
$GC,10958,0.67,322.6,833.1,7.6,1052,11039,0.22,2.28,74.43,1.466,6,0.053,0.032,3064,2782,1755
$GC,11366,0.62,322.6,782.1,12.3,1072,11367,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2780,1748
$GC,11675,0.57,322.6,743.5,12.3,1087,11679,0.00,2.30,0.00,0.000,4,0.000,0.053,3063,3894,1746
$GC,11694,0.53,322.6,741.3,12.5,1088,11699,0.17,2.17,0.00,0.000,6,0.108,0.033,3037,2786,1746
$GC,12020,0.56,346.8,711.2,9.2,1104,12050,0.00,2.97,24.27,1.350,4,0.000,0.055,3037,1345,1656
$GC,12056,0.63,370.5,707.8,9.2,1106,12090,0.00,2.92,26.67,1.361,6,0.000,0.032,3037,2794,1560
$GC,12409,0.75,412.0,677.0,8.6,1123,12460,0.20,3.10,44.62,1.366,4,0.050,0.048,3082,1343,1390
$GC,12482,0.75,412.0,667.2,13.8,1126,12489,0.00,2.95,0.00,0.000,6,0.000,0.033,3082,2781,1388
$GC,12798,0.68,412.0,618.8,15.8,1142,12802,0.00,2.28,0.00,0.000,4,0.000,0.052,3082,3901,1384
$GC,12819,0.62,412.0,615.2,15.8,1143,12824,0.17,2.22,0.00,0.000,6,0.108,0.031,3055,2778,1383
$GC,13142,0.62,412.0,580.5,10.3,1167,13146,0.00,2.90,0.00,0.000,4,0.000,0.048,3055,1339,1382
$GC,13172,0.66,412.0,577.5,10.3,1169,13177,0.00,2.83,0.00,0.000,6,0.000,0.031,3055,2774,1381
$GC,13497,0.72,424.6,545.7,9.6,1199,13521,0.00,2.95,12.65,1.173,4,0.000,0.046,3055,1347,1339
$GC,13526,0.76,424.6,542.6,10.5,1201,13533,0.12,2.75,0.00,0.000,6,0.044,0.031,3088,2747,1338
$GC,13851,0.70,424.6,493.0,15.4,1232,13855,0.00,2.30,0.00,0.000,4,0.000,0.051,3088,3894,1337
$GC,13890,0.66,424.6,486.7,16.4,1235,13895,0.15,2.20,0.00,0.000,6,0.104,0.032,3065,2763,1336
$GC,14216,0.66,424.6,449.1,10.9,1265,14221,0.00,2.83,0.00,0.000,4,0.000,0.048,3065,1346,1335
$GC,14237,0.66,424.6,446.5,10.6,1266,14243,0.00,2.75,0.00,0.000,6,0.000,0.030,3065,2758,1335
$GC,14565,0.66,424.6,411.8,10.4,1297,14570,0.00,2.85,0.00,0.000,4,0.000,0.045,3065,1336,1335
$GC,14582,0.66,424.6,409.6,10.6,1298,14586,0.00,2.75,0.00,0.000,6,0.000,0.031,3065,2748,1335
$GC,14908,0.66,424.6,374.9,10.8,1328,14909,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2748,1335
$GC,15228,0.66,424.6,339.8,10.6,1366,15234,0.00,2.83,0.00,0.000,4,0.000,0.045,3065,1336,1335
$GC,15248,0.66,424.6,337.8,11.4,1369,15254,0.00,2.72,0.00,0.000,6,0.000,0.030,3065,2744,1335
$GC,15587,0.66,427.5,302.8,9.9,1430,15593,0.00,2.80,0.00,0.000,4,0.000,0.046,3065,1338,1334
$GC,15602,0.67,430.3,301.6,9.9,1432,15615,0.00,2.72,6.90,0.901,6,0.000,0.030,3065,2735,1316
$GC,15948,0.67,430.3,266.2,10.6,1494,15954,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2735,1315
$GC,16287,0.67,430.3,230.7,10.3,1555,16293,0.00,2.78,0.00,0.000,4,0.000,0.045,3065,1342,1315
$GC,16302,0.71,430.3,229.4,10.6,1557,16308,0.00,2.70,0.00,0.000,6,0.000,0.029,3065,2741,1314
$GC,16642,0.76,437.0,194.6,9.8,1618,16653,0.00,0.00,8.18,0.889,6,0.000,0.000,3065,2741,1289
$GC,16987,0.83,452.6,160.3,9.5,1680,17012,0.15,2.83,17.52,0.990,4,0.054,0.044,3101,1343,1225
$GC,17034,0.83,452.6,154.1,14.5,1688,17042,0.00,2.72,0.00,0.000,6,0.000,0.030,3101,2723,1224
$GC,17370,0.74,452.6,98.9,18.5,1749,17377,0.00,2.33,0.00,0.000,4,0.000,0.047,3102,3902,1222
$GC,17417,0.69,452.6,90.8,17.0,1757,17424,0.17,2.25,0.00,0.000,6,0.104,0.032,3074,2740,1222
$GC,17748,0.72,473.5,52.3,9.3,1818,17775,0.00,2.88,22.08,0.932,4,0.000,0.047,3074,1339,1139
$GC,17784,0.76,473.5,48.6,11.1,1823,17792,0.00,2.78,0.00,0.000,6,0.000,0.030,3074,2739,1138
$GC,17921,0.81,473.5,34.1,11.5,1848,17929,0.12,0.00,0.00,0.000,6,0.057,0.000,3100,2739,1137
$GC,18056,0.73,473.5,12.3,17.9,1873,18064,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2740,1137
$STATE,18131,end climb,SURFACE_DEPTH_REACHED
$STATE,18131,begin surface coast
$FINISH,0.0,1.013537
$STATE,18149,end surface coast,CONTROL_FINISHED_OK
$STATE,18149,begin surface
$SM_CCo,18227,0.00,0.000,0,0,1134,475.15
$SM_GC,0.54,8.48,0.00,0.00,0.048,0.000,0.000,1438,2286,1134,-6.79,-0.40,475.15
$IRIDIUM_FIX,5932.39,-2222.34,190797,010137
$TT8_MAMPS,0.026845
$HUMID,1745
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,12.20
$XPDR_PINGS,815
$24V_AH,19.6,34.141
$10V_AH,9.7,28.424
$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,24.300,185.450,710.800,0.000,0.000,29.343,30.738,245.666,203.750,0.000,0.000,32.016,3000.002,9885.026,834.489,4310.095,634.047,0.000,2526.131,0.000,4290.392,0.000,0.465
$DEVICE_MAMPS,247.741,95.875,1600.729,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1307.177,1368.385,704.710,952.240,1716.547,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139356,1890
$CAP_FILE_SIZE,182949,0
$CFSIZE,260165632,247218176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240408,121155,6000.480,-2218.220,26,1.1,43,-15.6