version: 66.03
glider: 142
mission: 5
dive: 141
start: 5 4 108 11 3 51
data:
$ID,142
$MISSION,5
$DIVE,141
$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,-15554.46
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,105537,6056.601,-2618.215,36,1.1,36,-18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-49.0
$GPS2,110333,6056.525,-2618.375,15,1.1,15,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6049.583,-2622.407
$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,248.3,20000,-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,28,-0.86,-194.7,0.0,0.0,0,168,0.00,0.00,-137.18,0.000,2,0.000,0.000,1435,2284,3485
$GC,170,-0.86,-194.7,3.4,-6.8,19,201,11.60,2.83,-10.48,0.000,4,0.252,0.055,2726,898,3865
$GC,438,-0.81,-194.7,44.3,-15.0,68,447,0.05,2.75,0.00,0.000,6,0.133,0.031,2735,2298,3866
$GC,579,-0.75,-194.7,64.0,-12.8,93,586,0.00,2.80,0.00,0.000,4,0.000,0.046,2735,892,3866
$GC,693,-0.75,-194.7,79.7,-13.8,114,701,0.00,2.72,0.00,0.000,6,0.000,0.031,2735,2285,3866
$GC,1027,-0.71,-194.7,120.0,-13.2,175,1032,0.15,0.00,0.00,0.000,6,0.136,0.000,2759,2285,3866
$GC,1358,-0.71,-194.7,158.6,-11.4,236,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2285,3866
$GC,1700,-0.71,-194.7,198.0,-11.5,297,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2285,3866
$GC,2038,-0.71,-194.7,235.4,-9.9,358,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2286,3866
$GC,2374,-0.71,-194.7,265.9,-8.3,419,2380,0.00,2.78,0.00,0.000,4,0.000,0.047,2759,887,3866
$GC,2447,-0.71,-194.7,272.2,-8.7,432,2455,0.00,2.72,0.00,0.000,6,0.000,0.031,2759,2292,3865
$GC,2790,-0.71,-194.7,302.3,-8.9,493,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2292,3865
$GC,3129,-0.71,-194.7,333.0,-8.6,554,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2292,3866
$GC,3468,-0.71,-194.7,364.2,-9.1,602,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2292,3866
$GC,3785,-0.71,-194.7,392.0,-8.6,632,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2292,3866
$GC,4103,-0.71,-194.7,422.2,-10.3,662,4107,0.00,2.80,0.00,0.000,4,0.000,0.046,2759,3708,3866
$GC,4135,-0.71,-194.7,425.7,-10.7,664,4143,0.00,2.78,0.00,0.000,6,0.000,0.033,2759,2293,3866
$GC,4461,-0.71,-194.7,458.0,-9.9,695,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2293,3865
$GC,4780,-0.71,-194.7,487.3,-8.9,725,4784,0.00,2.83,0.00,0.000,4,0.000,0.046,2759,3710,3865
$GC,4808,-0.71,-194.7,490.0,-9.4,727,4813,0.00,2.75,0.00,0.000,6,0.000,0.034,2759,2295,3865
$GC,5134,-0.71,-194.7,519.6,-8.9,757,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2294,3865
$GC,5451,-0.71,-194.7,546.9,-8.8,787,5453,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2294,3865
$GC,5774,-0.71,-194.7,577.2,-10.2,817,5778,0.00,2.85,0.00,0.000,4,0.000,0.050,2759,3705,3865
$GC,5813,-0.71,-194.7,581.8,-10.8,820,5817,0.00,2.75,0.00,0.000,6,0.000,0.035,2759,2295,3865
$GC,6132,-0.71,-194.7,617.2,-11.4,843,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2294,3865
$GC,6441,-0.71,-194.7,652.2,-11.1,858,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2294,3865
$GC,6751,-0.71,-194.7,684.1,-10.0,873,6756,0.00,2.90,0.00,0.000,4,0.000,0.059,2758,3699,3865
$GC,6795,-0.76,-194.7,688.7,-10.3,875,6800,0.00,2.78,0.00,0.000,6,0.000,0.042,2759,2307,3865
$GC,7116,-0.76,-194.7,720.5,-9.8,891,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2306,3865
$GC,7425,-0.76,-194.7,752.4,-10.8,906,7430,0.00,2.97,0.00,0.000,4,0.000,0.071,2759,3706,3866
$GC,7452,-0.76,-194.7,755.5,-12.0,907,7456,0.00,2.88,0.00,0.000,6,0.000,0.054,2759,2304,3865
$GC,7767,-0.80,-194.7,792.9,-12.0,922,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2302,3865
$GC,8077,-0.80,-194.7,825.5,-9.4,937,8082,0.00,3.17,0.00,0.000,4,0.000,0.098,2759,3701,3865
$GC,8110,-0.84,-194.7,828.4,-8.7,938,8116,0.12,3.08,0.00,0.000,6,0.072,0.087,2737,2312,3865
$GC,8425,-0.84,-194.7,855.1,-8.4,954,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2311,3865
$GC,8734,-0.84,-194.7,887.8,-12.4,969,8735,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2306,3864
$GC,9043,-0.84,-194.7,927.8,-11.8,984,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2306,3864
$GC,9352,-0.84,-194.7,953.3,-7.3,999,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2306,3864
$GC,9662,-0.84,-194.7,976.6,-8.4,1014,9663,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2306,3864
$STATE,9804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9804,begin apogee
$GC,9810,-0.21,0.0,990.4,9.9,1021,10017,0.82,0.00,203.52,1.601,6,0.121,0.000,2871,2745,3071
$STATE,10017,end apogee,CONTROL_FINISHED_OK
$STATE,10018,begin climb
$GC,10020,0.86,194.7,998.3,0.0,1031,10245,1.38,2.67,210.70,1.548,4,0.078,0.057,3101,3894,2276
$GC,10403,0.69,194.7,949.5,19.2,1049,10408,0.20,2.38,0.00,0.000,6,0.127,0.035,3074,2736,2274
$GC,10729,0.57,194.7,899.1,14.7,1065,10734,0.17,2.40,0.00,0.000,4,0.122,0.051,3049,3893,2274
$GC,10796,0.53,194.7,890.4,12.5,1068,10800,0.00,2.25,0.00,0.000,6,0.000,0.032,3048,2752,2274
$GC,11117,0.48,194.7,853.6,11.3,1084,11118,0.15,0.00,0.00,0.000,6,0.119,0.000,3026,2751,2273
$GC,11425,0.49,208.7,822.9,9.5,1099,11445,0.00,0.00,14.32,1.328,6,0.000,0.000,3026,2751,2220
$GC,11755,0.68,361.9,801.2,4.7,1115,11923,0.20,2.53,159.80,1.469,4,0.054,0.051,3068,3896,1594
$GC,11967,0.74,407.7,784.4,8.4,1125,12023,0.00,2.33,50.40,1.399,6,0.000,0.031,3069,2766,1408
$GC,12344,0.74,407.7,744.2,12.6,1144,12349,0.00,2.92,0.00,0.000,4,0.000,0.048,3068,1342,1399
$GC,12387,0.74,407.7,738.6,11.8,1146,12392,0.00,2.85,0.00,0.000,6,0.000,0.031,3068,2767,1398
$GC,12709,0.74,407.7,693.6,15.0,1162,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2769,1397
$GC,13018,0.74,407.7,647.5,13.9,1177,13022,0.00,2.90,0.00,0.000,4,0.000,0.046,3069,1338,1396
$GC,13044,0.74,407.7,643.8,13.1,1178,13049,0.00,2.80,0.00,0.000,6,0.000,0.031,3068,2761,1396
$GC,13360,0.74,407.7,606.0,11.4,1193,13364,0.00,2.28,0.00,0.000,4,0.000,0.051,3068,3900,1395
$GC,13386,0.74,407.7,602.7,11.2,1194,13391,0.00,2.25,0.00,0.000,6,0.000,0.031,3068,2751,1395
$GC,13718,0.74,407.7,564.6,12.2,1224,13723,0.00,2.80,0.00,0.000,4,0.000,0.048,3068,1343,1395
$GC,13749,0.74,407.7,560.4,11.8,1226,13756,0.00,2.75,0.00,0.000,6,0.000,0.030,3068,2755,1394
$GC,14077,0.74,407.7,517.4,13.6,1257,14083,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2756,1394
$GC,14402,0.74,407.7,475.6,11.4,1288,14403,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2756,1394
$GC,14720,0.74,407.7,440.8,11.0,1318,14725,0.00,2.85,0.00,0.000,4,0.000,0.045,3068,1337,1394
$GC,14748,0.74,407.7,437.8,11.1,1320,14752,0.00,2.75,0.00,0.000,6,0.000,0.031,3068,2750,1394
$GC,15072,0.74,407.7,402.6,10.5,1350,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2750,1394
$GC,15392,0.74,407.7,370.4,10.2,1380,15397,0.00,2.83,0.00,0.000,4,0.000,0.045,3068,1339,1394
$GC,15420,0.74,407.7,367.3,10.6,1382,15425,0.00,2.72,0.00,0.000,6,0.000,0.031,3068,2742,1394
$GC,15751,0.75,421.0,334.8,9.5,1426,15769,0.00,0.00,11.98,1.023,6,0.000,0.000,3068,2742,1353
$GC,16106,0.81,466.6,301.1,8.4,1489,16165,0.15,2.95,48.53,1.143,4,0.054,0.046,3104,1342,1167
$GC,16187,0.74,466.6,290.4,13.5,1503,16194,0.15,2.78,0.00,0.000,6,0.104,0.030,3082,2731,1165
$GC,16527,0.74,466.6,254.5,10.4,1564,16536,0.00,2.35,0.00,0.000,4,0.000,0.048,3082,3891,1161
$GC,16561,0.74,466.6,251.1,11.3,1569,16567,0.00,2.28,0.00,0.000,6,0.000,0.031,3082,2721,1162
$GC,16901,0.74,466.6,208.8,13.8,1630,16908,0.00,2.75,0.00,0.000,4,0.000,0.044,3082,1339,1161
$GC,16931,0.74,466.6,204.7,13.9,1635,16938,0.00,2.72,0.00,0.000,6,0.000,0.031,3082,2738,1161
$GC,17271,0.74,466.6,153.3,14.8,1696,17278,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2738,1160
$GC,17606,0.74,466.6,103.6,12.5,1757,17612,0.00,2.80,0.00,0.000,4,0.000,0.044,3082,1340,1160
$GC,17630,0.74,466.6,100.1,14.6,1761,17637,0.00,2.67,0.00,0.000,6,0.000,0.031,3082,2729,1159
$GC,17963,0.74,466.6,54.6,11.5,1822,17970,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2728,1159
$GC,18286,0.74,466.6,13.2,12.3,1883,18294,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2728,1159
$STATE,18378,end climb,SURFACE_DEPTH_REACHED
$STATE,18378,begin surface coast
$FINISH,0.0,1.026272
$STATE,18395,end surface coast,CONTROL_FINISHED_OK
$STATE,18395,begin surface
$SM_CCo,18473,0.00,0.000,0,0,1158,469.26
$SM_GC,0.53,8.23,0.00,0.00,0.041,0.000,0.000,1434,2296,1158,-6.80,-0.11,469.26
$IRIDIUM_FIX,6037.25,-2608.09,290797,060621
$TT8_MAMPS,0.026078
$HUMID,1780
$INTERNAL_PRESSURE,8.87775
$TCM_TEMP,11.40
$XPDR_PINGS,845
$24V_AH,19.5,49.031
$10V_AH,9.8,37.654
$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,23.375,121.500,699.250,0.000,0.000,25.509,30.205,286.034,211.250,0.000,0.000,16.851,2977.446,10272.031,775.838,4261.886,645.177,0.000,2403.201,0.000,4250.844,0.000,0.466
$DEVICE_MAMPS,251.576,98.176,1600.729,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1326.955,1355.709,670.595,954.088,1721.472,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139552,1903
$CAP_FILE_SIZE,169434,0
$CFSIZE,260165632,242872320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040508,161301,6053.435,-2628.350,36,1.4,42,-18.3