version: 66.03
glider: 142
mission: 5
dive: 121
start: 4 29 108 23 17 20
data:
$ID,142
$MISSION,5
$DIVE,121
$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,240
$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,-15101.197
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,230528,6101.868,-2349.861,28,99.0,47,-17.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-44.2
$GPS2,231703,6101.814,-2349.973,12,2.0,31,-17.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6056.415,-2354.515
$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,257.0,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-0.86,-194.7,0.0,0.0,0,161,0.00,0.00,-129.98,0.000,2,0.000,0.000,1433,2287,3637
$GC,164,-0.86,-194.7,3.2,-4.8,18,188,11.60,2.85,-6.15,0.000,4,0.254,0.051,2727,3709,3865
$GC,379,-0.81,-194.7,36.6,-14.1,57,387,0.00,2.78,0.00,0.000,6,0.000,0.033,2726,2305,3867
$GC,513,-0.74,-194.7,54.8,-12.8,82,521,0.15,0.00,0.00,0.000,6,0.147,0.000,2750,2306,3867
$GC,848,-0.74,-194.7,92.9,-11.2,143,854,0.00,2.83,0.00,0.000,4,0.000,0.050,2750,885,3867
$GC,918,-0.74,-194.7,100.8,-11.0,155,924,0.00,2.70,0.00,0.000,6,0.000,0.030,2750,2290,3867
$GC,1248,-0.74,-194.7,137.0,-10.4,216,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2290,3867
$GC,1586,-0.74,-194.7,172.7,-10.8,277,1592,0.00,2.80,0.00,0.000,4,0.000,0.048,2750,884,3867
$GC,1634,-0.74,-194.7,178.1,-11.3,285,1640,0.00,2.67,0.00,0.000,6,0.000,0.030,2750,2283,3867
$GC,1974,-0.74,-194.7,215.0,-10.6,346,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3867
$GC,2310,-0.74,-194.7,250.7,-10.7,407,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3867
$GC,2649,-0.74,-194.7,286.5,-10.5,468,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2284,3867
$GC,2991,-0.74,-194.7,323.1,-10.6,529,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3867
$GC,3327,-0.74,-194.7,359.7,-11.0,582,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3867
$GC,3645,-0.74,-194.7,394.2,-10.8,612,3647,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3867
$GC,3964,-0.74,-194.7,428.2,-10.4,642,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3867
$GC,4283,-0.74,-194.7,461.8,-10.5,672,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3867
$GC,4601,-0.74,-194.7,495.4,-10.4,702,4602,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3867
$GC,4920,-0.74,-194.7,528.2,-10.2,732,4921,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3867
$GC,5240,-0.74,-194.7,560.6,-10.0,762,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3867
$GC,5557,-0.74,-194.7,592.7,-10.2,792,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3867
$GC,5878,-0.74,-194.7,624.7,-9.8,811,5880,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3867
$GC,6188,-0.74,-194.7,654.8,-9.8,826,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3867
$GC,6497,-0.74,-194.7,684.5,-9.8,841,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3867
$GC,6806,-0.74,-194.7,714.9,-9.8,856,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3866
$GC,7115,-0.74,-194.7,745.2,-9.6,871,7120,0.00,2.97,0.00,0.000,4,0.000,0.071,2750,3703,3866
$GC,7155,-0.74,-194.7,749.0,-9.9,873,7159,0.00,2.90,0.00,0.000,6,0.000,0.054,2750,2284,3866
$GC,7481,-0.74,-194.7,780.3,-9.5,889,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3866
$GC,7790,-0.74,-194.7,810.1,-9.7,904,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3866
$GC,8099,-0.74,-194.7,839.5,-9.4,919,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3866
$GC,8408,-0.74,-194.7,867.1,-8.9,934,8413,0.00,3.35,0.00,0.000,4,0.000,0.120,2750,3693,3865
$GC,8447,-0.74,-194.7,870.6,-9.3,936,8453,0.00,3.30,0.00,0.000,6,0.000,0.110,2749,2278,3865
$GC,8774,-0.74,-194.7,901.1,-9.6,952,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2278,3865
$GC,9083,-0.74,-194.7,930.4,-9.3,967,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2278,3865
$GC,9392,-0.74,-194.7,959.1,-9.5,982,9397,0.00,2.92,0.00,0.000,4,0.000,0.056,2750,3707,3864
$GC,9454,-0.74,-194.7,965.1,-9.6,985,9458,0.00,2.85,0.00,0.000,6,0.000,0.041,2750,2269,3864
$STATE,9715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9715,begin apogee
$GC,9721,-0.21,0.0,990.1,9.4,998,9927,0.75,0.00,202.18,1.582,6,0.129,0.000,2871,2743,3071
$STATE,9928,end apogee,CONTROL_FINISHED_OK
$STATE,9928,begin climb
$GC,9930,0.86,194.7,996.8,0.0,1008,10154,1.38,2.60,210.18,1.529,4,0.082,0.056,3100,3890,2276
$GC,10301,0.69,194.7,952.5,15.3,1025,10306,0.20,2.35,0.00,0.000,6,0.126,0.035,3073,2747,2274
$GC,10617,0.58,194.7,913.5,12.2,1040,10622,0.15,2.40,0.00,0.000,4,0.130,0.053,3052,3898,2273
$GC,10685,0.53,194.7,906.0,10.5,1043,10689,0.00,2.25,0.00,0.000,6,0.000,0.033,3052,2758,2273
$GC,11005,0.47,194.7,872.2,10.7,1059,11007,0.17,0.00,0.00,0.000,6,0.117,0.000,3026,2757,2273
$GC,11314,0.55,257.3,847.1,7.8,1074,11380,0.00,0.00,63.58,1.461,6,0.000,0.000,3025,2757,2022
$GC,11684,0.63,320.3,818.4,7.8,1092,11753,0.17,0.00,66.10,1.441,6,0.055,0.000,3059,2757,1765
$GC,12053,0.63,320.3,776.9,11.5,1110,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2757,1759
$GC,12362,0.63,320.3,741.0,11.3,1125,12366,0.00,2.33,0.00,0.000,4,0.000,0.052,3059,3902,1757
$GC,12395,0.63,320.3,737.2,11.0,1126,12399,0.00,2.25,0.00,0.000,6,0.000,0.031,3059,2764,1757
$GC,12716,0.63,320.3,703.4,10.5,1142,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2762,1756
$GC,13025,0.63,320.3,670.1,11.1,1157,13027,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2762,1756
$GC,13334,0.63,320.3,634.8,11.6,1172,13338,0.00,2.30,0.00,0.000,4,0.000,0.051,3060,3900,1756
$GC,13367,0.63,320.3,630.9,11.1,1173,13374,0.00,2.20,0.00,0.000,6,0.000,0.031,3060,2770,1755
$GC,13684,0.63,320.3,595.2,11.6,1191,13685,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2769,1755
$GC,14003,0.63,320.3,558.9,11.3,1221,14004,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2768,1755
$GC,14322,0.63,320.3,522.3,11.7,1251,14323,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2767,1755
$GC,14643,0.63,320.3,485.2,11.6,1281,14648,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2766,1755
$GC,14967,0.63,320.3,446.8,11.8,1312,14968,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2765,1755
$GC,15285,0.63,320.3,409.5,11.6,1342,15287,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2764,1755
$GC,15604,0.63,320.3,373.9,10.7,1372,15605,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2763,1755
$GC,15926,0.63,320.3,339.2,10.4,1411,15931,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2762,1755
$GC,16263,0.63,320.3,302.8,11.3,1472,16272,0.00,2.28,0.00,0.000,4,0.000,0.048,3059,3892,1755
$GC,16297,0.63,320.3,299.2,11.7,1477,16303,0.00,2.12,0.00,0.000,6,0.000,0.031,3060,2777,1754
$GC,16635,0.63,320.3,261.8,11.3,1538,16641,0.00,2.83,0.00,0.000,4,0.000,0.046,3060,1348,1755
$GC,16677,0.63,320.3,257.5,11.4,1545,16684,0.00,2.78,0.00,0.000,6,0.000,0.030,3060,2795,1755
$GC,17018,0.63,320.3,220.4,11.3,1606,17023,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2795,1754
$GC,17356,0.64,332.9,183.9,9.6,1667,17375,0.00,2.90,11.88,0.920,4,0.000,0.044,3060,1347,1712
$GC,17403,0.64,332.9,178.9,10.0,1675,17409,0.00,2.78,0.00,0.000,6,0.000,0.031,3060,2772,1712
$GC,17741,0.64,332.9,143.6,10.6,1736,17750,0.00,2.88,0.00,0.000,4,0.000,0.044,3060,1348,1711
$GC,17766,0.64,332.9,141.0,10.4,1740,17774,0.00,2.75,0.00,0.000,6,0.000,0.031,3060,2750,1711
$GC,18099,0.64,332.9,107.6,11.6,1801,18105,0.00,2.25,0.00,0.000,4,0.000,0.048,3060,3900,1711
$GC,18127,0.64,332.9,104.5,11.2,1806,18135,0.00,2.22,0.00,0.000,6,0.000,0.032,3060,2756,1711
$GC,18462,0.68,360.5,74.2,9.0,1867,18500,0.00,2.88,27.92,0.961,4,0.000,0.046,3060,1341,1599
$GC,18536,0.74,373.3,67.1,9.6,1879,18556,0.00,2.78,13.82,0.910,6,0.000,0.030,3060,2755,1549
$GC,18877,0.74,373.3,32.1,12.4,1942,18884,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2755,1545
$GC,19012,0.86,432.8,19.4,7.9,1967,19079,0.20,0.00,58.80,0.930,6,0.046,0.000,3106,2756,1306
$STATE,19121,end climb,SURFACE_DEPTH_REACHED
$STATE,19121,begin surface coast
$FINISH,0.3,1.026328
$STATE,19135,end surface coast,CONTROL_FINISHED_OK
$STATE,19135,begin surface
$SM_CCo,19212,0.00,0.000,0,0,1297,435.16
$SM_GC,0.62,8.70,0.00,0.00,0.048,0.000,0.000,1438,2284,1297,-6.79,-0.45,435.16
$IRIDIUM_FIX,6037.25,-2346.92,240797,232320
$TT8_MAMPS,0.026845
$HUMID,1726
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.80
$XPDR_PINGS,892
$24V_AH,19.6,42.359
$10V_AH,9.7,33.610
$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,23.475,87.000,654.450,0.000,0.000,51.274,62.205,359.899,223.000,0.000,0.000,32.924,3074.556,10925.830,733.533,4374.167,779.083,0.000,2341.760,0.000,4357.748,0.000,0.465
$DEVICE_MAMPS,253.877,119.652,1581.554,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1384.636,1418.771,745.528,991.085,1845.159,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145458,1986
$CAP_FILE_SIZE,167850,0
$CFSIZE,260165632,244785152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,043837,6059.976,-2400.639,30,1.5,30,-17.1