version: 66.03
glider: 142
mission: 5
dive: 139
start: 5 4 108 0 34 16
data:
$ID,142
$MISSION,5
$DIVE,139
$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,230
$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,-15522.038
$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,25
$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
$GPS1,001207,6103.284,-2556.930,39,1.9,39,-18.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-27.6
$GPS2,003359,6103.225,-2557.810,13,2.2,32,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6056.283,-2601.828
$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,248.2,20000,-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,-194.7,0.0,0.0,0,210,0.00,0.00,-179.68,0.000,2,0.000,0.000,1436,2297,3650
$GC,213,-0.86,-194.7,3.0,-4.3,25,237,11.57,2.83,-5.90,0.000,4,0.252,0.054,2726,883,3862
$GC,474,-0.81,-194.7,38.5,-8.6,73,482,0.00,2.78,0.00,0.000,6,0.000,0.031,2726,2298,3863
$GC,609,-0.74,-194.7,55.6,-12.2,98,618,0.15,2.88,0.00,0.000,4,0.138,0.047,2750,883,3863
$GC,835,-0.74,-194.7,80.5,-12.8,139,841,0.00,2.72,0.00,0.000,6,0.000,0.029,2750,2298,3863
$GC,1163,-0.74,-194.7,116.2,-10.5,200,1171,0.00,2.85,0.00,0.000,4,0.000,0.047,2750,884,3863
$GC,1249,-0.74,-194.7,126.3,-12.7,215,1255,0.00,2.67,0.00,0.000,6,0.000,0.029,2750,2279,3863
$GC,1582,-0.74,-194.7,167.3,-12.6,276,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2279,3863
$GC,1924,-0.74,-194.7,206.7,-10.8,337,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2279,3863
$GC,2263,-0.74,-194.7,244.0,-11.2,398,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2280,3863
$GC,2602,-0.74,-194.7,284.8,-13.0,459,2609,0.00,2.78,0.00,0.000,4,0.000,0.048,2750,884,3863
$GC,2669,-0.74,-194.7,293.8,-13.2,471,2676,0.00,2.67,0.00,0.000,6,0.000,0.030,2750,2282,3863
$GC,3011,-0.74,-194.7,338.8,-12.9,532,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3863
$GC,3347,-0.74,-194.7,379.7,-11.4,571,3348,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3863
$GC,3667,-0.74,-194.7,414.6,-10.8,601,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3863
$GC,3984,-0.74,-194.7,448.0,-10.5,631,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3863
$GC,4303,-0.74,-194.7,481.9,-10.4,661,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3863
$GC,4623,-0.74,-194.7,514.5,-10.1,691,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3862
$GC,4942,-0.74,-194.7,545.2,-9.4,721,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3863
$GC,5258,-0.74,-194.7,575.9,-9.8,751,5259,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3863
$GC,5584,-0.74,-194.7,609.2,-10.4,778,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3862
$GC,5893,-0.74,-194.7,640.8,-10.0,793,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3862
$GC,6203,-0.74,-194.7,669.3,-8.8,808,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3862
$GC,6512,-0.74,-194.7,695.6,-8.5,823,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3861
$GC,6821,-0.74,-194.7,723.8,-9.6,838,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3861
$GC,7130,-0.74,-194.7,757.2,-11.1,853,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3861
$GC,7440,-0.74,-194.7,788.6,-9.9,868,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3861
$GC,7749,-0.74,-194.7,818.1,-9.5,883,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3861
$GC,8058,-0.74,-194.7,847.7,-9.6,898,8063,0.00,3.28,0.00,0.000,4,0.000,0.114,2750,3697,3861
$GC,8085,-0.74,-194.7,850.3,-9.9,899,8090,0.00,3.20,0.00,0.000,6,0.000,0.098,2750,2289,3861
$GC,8400,-0.74,-194.7,877.9,-8.5,914,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2288,3861
$GC,8710,-0.74,-194.7,905.9,-9.5,929,8711,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3860
$GC,9019,-0.74,-194.7,935.8,-9.7,944,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3860
$GC,9328,-0.74,-194.7,964.8,-8.9,959,9333,0.00,2.90,0.00,0.000,4,0.000,0.057,2750,3700,3860
$GC,9372,-0.74,-194.7,969.0,-9.8,961,9376,0.00,2.83,0.00,0.000,6,0.000,0.040,2750,2277,3860
$STATE,9629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9629,begin apogee
$GC,9635,-0.21,0.0,991.7,9.1,974,9840,0.75,0.00,201.80,1.608,6,0.127,0.000,2871,2750,3071
$STATE,9841,end apogee,CONTROL_FINISHED_OK
$STATE,9841,begin climb
$GC,9843,0.86,194.7,999.4,0.0,984,10068,1.38,2.62,211.38,1.559,4,0.081,0.056,3099,3890,2277
$GC,10228,0.70,194.7,958.2,14.3,1002,10233,0.17,2.35,0.00,0.000,6,0.127,0.035,3076,2742,2274
$GC,10554,0.59,194.7,917.0,13.1,1018,10559,0.17,2.40,0.00,0.000,4,0.120,0.052,3048,3897,2273
$GC,10609,0.59,194.7,910.3,10.9,1020,10615,0.00,2.28,0.00,0.000,6,0.000,0.033,3048,2760,2273
$GC,10925,0.56,206.1,879.5,9.6,1036,10939,0.00,0.00,12.25,1.314,6,0.000,0.000,3048,2760,2230
$GC,11234,0.58,221.0,850.2,9.5,1051,11255,0.00,2.42,16.52,1.383,4,0.000,0.053,3049,3900,2168
$GC,11282,0.59,231.2,845.3,9.6,1053,11300,0.00,2.22,11.85,1.337,6,0.000,0.032,3048,2774,2128
$GC,11608,0.67,293.4,817.4,7.8,1069,11679,0.00,3.05,64.60,1.473,4,0.000,0.048,3048,1339,1875
$GC,11701,0.78,386.8,810.4,6.8,1073,11809,0.22,2.97,100.28,1.450,6,0.051,0.032,3091,2786,1494
$GC,12117,0.70,386.8,749.0,16.8,1094,12121,0.00,2.28,0.00,0.000,4,0.000,0.052,3091,3895,1485
$GC,12184,0.65,386.8,737.5,15.8,1097,12188,0.17,2.20,0.00,0.000,6,0.111,0.031,3065,2779,1483
$GC,12511,0.65,386.8,696.4,11.9,1113,12515,0.00,2.90,0.00,0.000,4,0.000,0.048,3065,1346,1482
$GC,12537,0.65,386.8,693.3,10.5,1114,12541,0.00,2.85,0.00,0.000,6,0.000,0.031,3065,2788,1481
$GC,12858,0.65,386.8,657.8,11.2,1130,12859,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2789,1481
$GC,13167,0.65,386.8,623.5,11.3,1145,13172,0.00,2.90,0.00,0.000,4,0.000,0.045,3065,1346,1481
$GC,13194,0.65,386.8,620.2,11.1,1146,13198,0.00,2.83,0.00,0.000,6,0.000,0.035,3066,2784,1480
$GC,13522,0.65,386.8,580.2,13.0,1169,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2785,1480
$GC,13840,0.65,386.8,541.5,11.2,1199,13845,0.00,2.90,0.00,0.000,4,0.000,0.045,3065,1343,1480
$GC,13871,0.65,386.8,537.7,10.4,1201,13878,0.00,2.80,0.00,0.000,6,0.000,0.032,3065,2772,1480
$GC,14198,0.65,387.0,504.3,10.0,1232,14199,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2773,1480
$GC,14516,0.66,391.5,471.7,9.8,1262,14521,0.00,2.85,0.00,0.000,4,0.000,0.044,3065,1345,1480
$GC,14544,0.66,395.2,468.8,9.9,1264,14558,0.00,2.78,7.18,0.979,6,0.000,0.031,3065,2771,1459
$GC,14873,0.66,395.2,436.6,10.1,1295,14874,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2773,1458
$GC,15192,0.66,395.2,403.9,10.6,1325,15196,0.00,2.85,0.00,0.000,4,0.000,0.044,3065,1346,1458
$GC,15235,0.67,397.7,399.4,9.9,1328,15243,0.00,2.78,0.00,0.000,6,0.000,0.031,3065,2759,1457
$GC,15561,0.69,413.9,368.2,9.4,1359,15584,0.00,0.00,20.50,1.135,6,0.000,0.000,3065,2760,1383
$GC,15906,0.71,428.8,335.8,9.5,1404,15930,0.00,2.90,16.77,1.093,4,0.000,0.044,3065,1340,1322
$GC,15961,0.78,452.4,330.8,9.2,1413,15996,0.12,2.78,25.85,1.135,6,0.054,0.031,3092,2747,1227
$GC,16332,0.74,452.4,277.9,14.7,1479,16338,0.00,2.28,0.00,0.000,4,0.000,0.048,3091,3891,1221
$GC,16382,0.74,452.4,270.2,13.6,1488,16390,0.00,2.25,0.00,0.000,6,0.000,0.031,3092,2743,1221
$GC,16727,0.69,452.4,217.0,15.2,1549,16733,0.12,0.00,0.00,0.000,6,0.110,0.000,3074,2737,1220
$GC,17066,0.69,452.4,175.2,11.4,1610,17072,0.00,2.78,0.00,0.000,4,0.000,0.044,3073,1339,1219
$GC,17100,0.73,455.9,171.5,9.9,1616,17108,0.00,2.80,0.00,0.000,6,0.000,0.030,3073,2764,1219
$GC,17440,0.73,455.9,135.8,11.0,1677,17446,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2764,1219
$GC,17768,0.73,455.9,105.4,10.8,1738,17776,0.00,2.85,0.00,0.000,4,0.000,0.044,3074,1349,1219
$GC,17822,0.79,455.9,100.1,11.9,1747,17828,0.00,2.72,0.00,0.000,6,0.000,0.031,3074,2751,1219
$GC,18151,0.79,456.9,65.4,10.0,1808,18159,0.00,0.00,4.43,0.638,6,0.000,0.000,3073,2752,1208
$GC,18480,0.79,456.9,30.2,12.1,1869,18488,0.00,2.83,0.00,0.000,4,0.000,0.045,3074,1351,1207
$GC,18511,0.84,456.9,26.5,12.1,1874,18519,0.10,2.70,0.00,0.000,6,0.042,0.031,3102,2734,1207
$GC,18648,0.84,456.9,5.5,15.8,1899,18656,0.00,2.30,0.00,0.000,4,0.000,0.047,3102,3893,1207
$GC,18669,0.84,456.9,2.8,13.2,1902,18677,0.00,2.22,0.00,0.000,6,0.000,0.031,3102,2749,1206
$STATE,18684,end climb,SURFACE_DEPTH_REACHED
$STATE,18684,begin surface coast
$FINISH,0.3,1.026295
$STATE,18702,end surface coast,CONTROL_FINISHED_OK
$STATE,18702,begin surface
$SM_CCo,18780,0.00,0.000,0,0,1202,458.22
$SM_GC,0.40,8.50,0.00,0.00,0.051,0.000,0.000,1438,2283,1202,-6.79,-0.48,458.22
$IRIDIUM_FIX,6037.25,-2558.16,290797,000021
$TT8_MAMPS,0.026845
$HUMID,1766
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.30
$XPDR_PINGS,882
$24V_AH,19.5,48.371
$10V_AH,9.8,37.262
$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,23.450,120.900,693.400,0.000,0.000,143.797,214.710,541.172,220.500,0.000,0.000,35.074,2975.393,10783.916,791.381,4284.789,1237.438,0.000,2425.458,0.000,4270.193,0.000,0.465
$DEVICE_MAMPS,252.343,113.516,1607.632,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1327.188,1372.672,730.742,961.128,1797.656,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139229,1907
$CAP_FILE_SIZE,181021,0
$CFSIZE,260165632,243056640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,054832,6059.973,-2608.727,41,1.3,41,-18.2