version: 66.03
glider: 142
mission: 5
dive: 122
start: 4 30 108 4 46 17
data:
$ID,142
$MISSION,5
$DIVE,122
$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,-15134.734
$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,22
$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
$GPS1,043837,6059.976,-2400.639,30,1.5,30,-17.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-41.2
$GPS2,044559,6059.953,-2400.748,11,4.9,30,-17.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6054.553,-2405.295
$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,257.1,20000,-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,26,-0.86,-194.7,0.0,0.0,0,158,0.00,0.00,-129.00,0.000,2,0.000,0.000,1438,2282,3586
$GC,161,-0.86,-194.7,3.7,-5.5,18,185,11.48,2.92,-7.28,0.000,4,0.251,0.051,2726,3709,3866
$GC,329,-0.81,-194.7,31.7,-16.1,48,337,0.00,2.80,0.00,0.000,6,0.000,0.034,2726,2304,3868
$GC,465,-0.74,-194.7,55.7,-14.9,73,472,0.17,2.83,0.00,0.000,4,0.175,0.048,2750,887,3868
$GC,548,-0.74,-194.7,65.0,-10.5,88,556,0.00,2.72,0.00,0.000,6,0.000,0.030,2750,2283,3868
$GC,884,-0.74,-194.7,102.5,-11.6,149,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2289,3868
$GC,1211,-0.74,-194.7,139.3,-10.5,210,1218,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2289,3868
$GC,1547,-0.74,-194.7,175.5,-11.3,271,1553,0.00,2.78,0.00,0.000,4,0.000,0.048,2751,887,3868
$GC,1627,-0.74,-194.7,184.4,-11.2,285,1633,0.00,2.67,0.00,0.000,6,0.000,0.030,2751,2283,3868
$GC,1966,-0.74,-194.7,221.2,-10.7,346,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2284,3868
$GC,2301,-0.74,-194.7,257.8,-11.3,407,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3868
$GC,2640,-0.74,-194.7,295.4,-10.7,468,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2284,3868
$GC,2983,-0.74,-194.7,332.8,-11.0,529,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2284,3867
$GC,3319,-0.74,-194.7,369.9,-10.9,574,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3868
$GC,3638,-0.74,-194.7,404.5,-10.9,604,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3868
$GC,3956,-0.74,-194.7,439.0,-10.5,634,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3868
$GC,4275,-0.74,-194.7,472.3,-10.2,664,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3868
$GC,4593,-0.74,-194.7,503.9,-9.4,694,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3868
$GC,4912,-0.74,-194.7,535.4,-10.0,724,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3868
$GC,5232,-0.74,-194.7,566.8,-9.9,754,5236,0.00,2.83,0.00,0.000,4,0.000,0.048,2750,3704,3868
$GC,5260,-0.74,-194.7,569.8,-10.7,756,5264,0.00,2.78,0.00,0.000,6,0.000,0.035,2750,2280,3868
$GC,5594,-0.74,-194.7,604.7,-10.5,785,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2278,3867
$GC,5903,-0.74,-194.7,635.3,-9.7,800,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2278,3868
$GC,6213,-0.74,-194.7,665.2,-9.7,815,6217,0.00,2.90,0.00,0.000,4,0.000,0.056,2751,3701,3868
$GC,6256,-0.74,-194.7,669.6,-9.5,817,6261,0.00,2.80,0.00,0.000,6,0.000,0.041,2750,2288,3867
$GC,6577,-0.74,-194.7,699.7,-9.4,833,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3867
$GC,6887,-0.74,-194.7,729.6,-9.7,848,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3867
$GC,7195,-0.74,-194.7,759.0,-9.4,863,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2287,3867
$GC,7505,-0.74,-194.7,788.6,-9.8,878,7510,0.00,3.10,0.00,0.000,4,0.000,0.088,2750,3694,3866
$GC,7544,-0.74,-194.7,792.6,-10.4,880,7549,0.00,2.97,0.00,0.000,6,0.000,0.072,2751,2299,3866
$GC,7870,-0.74,-194.7,824.5,-9.6,896,7871,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2298,3866
$GC,8179,-0.74,-194.7,853.5,-9.4,911,8184,0.00,3.28,0.00,0.000,4,0.000,0.113,2751,3699,3866
$GC,8211,-0.74,-194.7,856.7,-9.6,912,8218,0.00,3.20,0.00,0.000,6,0.000,0.103,2751,2302,3866
$GC,8527,-0.74,-194.7,885.4,-9.1,928,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2301,3865
$GC,8836,-0.74,-194.7,912.6,-8.9,943,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2300,3866
$GC,9145,-0.74,-194.7,940.3,-9.2,958,9150,0.00,2.85,0.00,0.000,4,0.000,0.054,2751,3700,3865
$GC,9194,-0.74,-194.7,945.2,-10.4,960,9199,0.00,2.80,0.00,0.000,6,0.000,0.041,2751,2288,3865
$GC,9510,-0.74,-194.7,976.5,-10.2,975,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,2285,3865
$STATE,9652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9652,begin apogee
$GC,9658,-0.21,0.0,991.1,10.1,982,9864,0.75,0.00,202.27,1.585,6,0.134,0.000,2869,2747,3071
$STATE,9865,end apogee,CONTROL_FINISHED_OK
$STATE,9865,begin climb
$GC,9867,0.86,194.7,999.7,0.0,992,10088,1.38,2.60,210.45,1.538,4,0.083,0.058,3099,3893,2277
$GC,10201,0.70,194.7,965.9,14.1,1007,10206,0.17,2.38,0.00,0.000,6,0.127,0.035,3076,2741,2274
$GC,10527,0.59,194.7,928.2,11.6,1023,10532,0.15,2.42,0.00,0.000,4,0.123,0.053,3050,3903,2273
$GC,10582,0.55,198.0,922.2,9.9,1025,10592,0.00,2.28,4.12,0.851,6,0.000,0.035,3050,2759,2264
$GC,10921,0.52,214.2,890.4,9.4,1042,10941,0.00,0.00,18.02,1.381,6,0.000,0.000,3051,2759,2197
$GC,11249,0.49,226.8,858.9,9.6,1058,11269,0.15,0.00,14.12,1.342,6,0.113,0.000,3028,2758,2146
$GC,11578,0.57,288.0,832.5,7.9,1074,11644,0.00,0.00,64.18,1.464,6,0.000,0.000,3028,2759,1896
$GC,11948,0.68,340.7,802.8,8.2,1092,12011,0.17,3.03,55.25,1.431,4,0.056,0.054,3064,1334,1681
$GC,12038,0.68,340.7,792.4,11.8,1096,12043,0.00,2.97,0.00,0.000,6,0.000,0.033,3064,2780,1679
$GC,12359,0.68,340.7,752.2,12.8,1112,12363,0.00,2.28,0.00,0.000,4,0.000,0.054,3064,3903,1675
$GC,12398,0.68,340.7,747.0,12.7,1114,12402,0.00,2.22,0.00,0.000,6,0.000,0.032,3064,2770,1674
$GC,12724,0.68,340.7,704.4,13.2,1130,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2770,1673
$GC,13033,0.68,340.7,666.0,11.9,1145,13034,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2770,1673
$GC,13342,0.68,340.7,630.1,11.8,1160,13343,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2770,1672
$GC,13655,0.68,340.7,592.4,12.1,1177,13659,0.00,2.28,0.00,0.000,4,0.000,0.051,3064,3896,1672
$GC,13687,0.68,340.7,588.1,11.5,1179,13693,0.00,2.17,0.00,0.000,6,0.000,0.031,3064,2780,1671
$GC,14013,0.68,340.7,549.4,11.7,1210,14017,0.00,2.88,0.00,0.000,4,0.000,0.047,3064,1337,1671
$GC,14040,0.68,340.7,546.1,11.0,1212,14045,0.00,2.85,0.00,0.000,6,0.000,0.032,3064,2797,1670
$GC,14364,0.68,340.7,509.1,11.5,1242,14368,0.00,2.17,0.00,0.000,4,0.000,0.051,3064,3895,1670
$GC,14394,0.68,340.7,505.9,11.3,1244,14398,0.00,2.15,0.00,0.000,6,0.000,0.031,3064,2774,1670
$GC,14718,0.68,340.7,468.6,11.6,1274,14722,0.00,2.85,0.00,0.000,4,0.000,0.046,3064,1338,1670
$GC,14738,0.68,340.7,466.0,12.2,1275,14746,0.00,2.80,0.00,0.000,6,0.000,0.031,3064,2769,1670
$GC,15067,0.68,340.7,429.0,11.3,1306,15070,0.00,2.22,0.00,0.000,4,0.000,0.049,3064,3894,1670
$GC,15094,0.68,340.7,425.3,11.5,1308,15098,0.00,2.15,0.00,0.000,6,0.000,0.031,3064,2772,1670
$GC,15418,0.68,340.7,389.6,10.7,1338,15423,0.00,2.83,0.00,0.000,4,0.000,0.046,3064,1348,1670
$GC,15446,0.68,340.7,386.5,11.0,1340,15451,0.00,2.78,0.00,0.000,6,0.000,0.031,3064,2777,1670
$GC,15770,0.68,340.7,350.9,11.0,1370,15771,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2778,1670
$GC,16103,0.68,340.7,313.9,11.6,1429,16108,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2777,1670
$GC,16440,0.68,340.7,276.2,12.2,1490,16445,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2778,1670
$GC,16780,0.68,340.7,238.8,10.4,1551,16786,0.00,2.85,0.00,0.000,4,0.000,0.044,3064,1348,1670
$GC,16816,0.68,340.7,235.2,10.9,1557,16823,0.00,2.75,0.00,0.000,6,0.000,0.031,3064,2774,1670
$GC,17159,0.68,342.0,199.0,10.0,1618,17164,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2774,1670
$GC,17497,0.68,342.0,164.1,10.2,1679,17502,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2774,1670
$GC,17828,0.70,361.5,128.3,9.3,1740,17854,0.00,2.88,19.42,0.949,4,0.000,0.044,3064,1348,1597
$GC,17876,0.71,370.2,123.2,9.7,1748,17897,0.00,2.83,10.43,0.920,6,0.000,0.031,3064,2772,1561
$GC,18227,0.89,519.3,86.1,4.8,1811,18381,0.22,0.00,148.00,0.973,6,0.046,0.000,3116,2772,952
$GC,18701,0.84,519.3,4.4,16.8,1896,18708,0.00,2.25,0.00,0.000,4,0.000,0.041,3117,3898,943
$STATE,18725,end climb,SURFACE_DEPTH_REACHED
$STATE,18725,begin surface coast
$FINISH,0.3,1.026353
$STATE,18742,end surface coast,CONTROL_FINISHED_OK
$STATE,18742,begin surface
$SM_CCo,18823,0.00,0.000,0,0,939,522.98
$SM_GC,0.47,8.68,0.00,0.00,0.048,0.000,0.000,1434,2289,939,-6.79,-0.31,522.98
$IRIDIUM_FIX,6037.25,-2349.19,240797,232311
$TT8_MAMPS,0.026078
$HUMID,1745
$INTERNAL_PRESSURE,8.84845
$TCM_TEMP,11.10
$XPDR_PINGS,854
$24V_AH,19.6,42.691
$10V_AH,9.7,33.807
$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,23.325,114.275,746.275,0.000,0.000,25.376,28.674,232.876,213.500,0.000,0.000,32.911,2957.196,10722.509,791.721,4186.586,588.009,0.000,2402.122,0.000,4164.220,0.000,0.465
$DEVICE_MAMPS,250.809,112.749,1585.389,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1323.424,1365.760,669.051,907.977,1658.854,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139116,1903
$CAP_FILE_SIZE,166247,0
$CFSIZE,260165632,244699136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,100107,6058.063,-2411.893,32,1.6,32,-17.2