version: 66.03
glider: 142
mission: 5
dive: 171
start: 5 10 108 23 4 45
data:
$ID,142
$MISSION,5
$DIVE,171
$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,80
$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,-16332.091
$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,34
$R_STBD_OVSHOOT,19
$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
$GPS1,224538,6131.839,-2634.871,33,1.0,33,-18.8
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-51.3
$GPS2,230427,6131.917,-2635.000,13,1.7,13,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6133.792,-2629.935
$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,98.8,20000,-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,27,-0.86,-194.7,0.0,0.0,0,166,0.00,0.00,-136.12,0.000,2,0.000,0.000,1433,2281,3590
$GC,168,-0.86,-194.7,3.4,-4.6,19,200,11.95,2.92,-7.30,0.000,4,0.255,0.052,2725,3709,3867
$GC,259,-0.82,-194.7,21.0,-14.4,34,268,0.00,2.80,0.00,0.000,6,0.000,0.034,2725,2307,3868
$GC,395,-0.76,-194.7,42.3,-15.0,59,403,0.15,0.00,0.00,0.000,6,0.142,0.000,2749,2307,3868
$GC,530,-0.76,-194.7,59.8,-12.4,84,538,0.00,2.88,0.00,0.000,4,0.000,0.051,2749,892,3868
$GC,584,-0.76,-194.7,66.4,-12.1,93,590,0.00,2.72,0.00,0.000,6,0.000,0.030,2749,2298,3868
$GC,916,-0.76,-194.7,104.6,-12.0,154,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2299,3868
$GC,1250,-0.76,-194.7,145.9,-12.1,215,1256,0.00,2.85,0.00,0.000,4,0.000,0.049,2749,883,3868
$GC,1289,-0.76,-194.7,151.0,-12.5,222,1295,0.00,2.70,0.00,0.000,6,0.000,0.030,2748,2289,3868
$GC,1628,-0.76,-194.7,190.3,-11.2,283,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3868
$GC,1964,-0.76,-194.7,227.3,-10.4,344,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2289,3868
$GC,2306,-0.76,-194.7,262.7,-10.5,405,2312,0.00,2.80,0.00,0.000,4,0.000,0.049,2749,891,3868
$GC,2346,-0.76,-194.7,267.2,-10.6,412,2353,0.00,2.70,0.00,0.000,6,0.000,0.031,2749,2279,3868
$GC,2690,-0.76,-194.7,302.1,-10.5,473,2696,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2280,3867
$GC,3029,-0.76,-194.7,335.1,-9.6,534,3034,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2279,3867
$GC,3365,-0.76,-194.7,367.9,-9.8,579,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2280,3868
$GC,3686,-0.76,-194.7,400.8,-10.2,609,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2280,3868
$GC,4002,-0.76,-194.7,432.0,-10.0,639,4003,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2280,3868
$GC,4321,-0.76,-194.7,463.5,-9.7,669,4325,0.00,2.85,0.00,0.000,4,0.000,0.047,2749,3710,3868
$GC,4338,-0.76,-194.7,465.2,-9.8,670,4343,0.00,2.80,0.00,0.000,6,0.000,0.035,2749,2280,3868
$GC,4664,-0.76,-194.7,495.9,-9.5,700,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2279,3868
$GC,4983,-0.76,-194.7,528.4,-10.4,730,4987,0.00,2.88,0.00,0.000,4,0.000,0.048,2749,3703,3868
$GC,5014,-0.76,-194.7,532.1,-11.2,732,5021,0.00,2.78,0.00,0.000,6,0.000,0.035,2749,2287,3868
$GC,5341,-0.76,-194.7,566.3,-10.6,763,5345,0.00,2.88,0.00,0.000,4,0.000,0.049,2749,3708,3868
$GC,5357,-0.76,-194.7,568.2,-10.5,764,5361,0.00,2.80,0.00,0.000,6,0.000,0.036,2749,2285,3868
$GC,5682,-0.76,-194.7,602.9,-11.2,793,5686,0.00,2.90,0.00,0.000,4,0.000,0.051,2749,3706,3867
$GC,5708,-0.76,-194.7,606.1,-11.4,794,5712,0.00,2.80,0.00,0.000,6,0.000,0.042,2749,2295,3867
$GC,6029,-0.76,-194.7,639.9,-10.3,810,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2294,3867
$GC,6339,-0.76,-194.7,671.0,-9.8,825,6344,0.00,2.92,0.00,0.000,4,0.000,0.058,2749,3705,3867
$GC,6355,-0.76,-194.7,672.6,-9.8,826,6360,0.00,2.83,0.00,0.000,6,0.000,0.044,2749,2296,3867
$GC,6681,-0.76,-194.7,705.5,-10.4,842,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3866
$GC,6991,-0.76,-194.7,735.3,-9.3,857,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3866
$GC,7300,-0.76,-194.7,762.4,-8.7,872,7304,0.00,3.05,0.00,0.000,4,0.000,0.077,2749,3701,3866
$GC,7338,-0.76,-194.7,765.7,-8.8,874,7343,0.00,2.95,0.00,0.000,6,0.000,0.061,2749,2297,3866
$GC,7665,-0.76,-194.7,793.0,-8.6,890,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3866
$GC,7974,-0.76,-194.7,820.0,-9.2,905,7975,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2296,3866
$GC,8283,-0.76,-194.7,847.6,-8.8,920,8288,0.00,3.33,0.00,0.000,4,0.000,0.110,2749,3700,3866
$GC,8300,-0.76,-194.7,849.2,-9.0,921,8305,0.00,3.22,0.00,0.000,6,0.000,0.100,2749,2308,3866
$GC,8626,-0.76,-194.7,876.8,-8.3,937,8631,0.00,3.40,0.00,0.000,4,0.000,0.123,2749,3698,3865
$GC,8659,-0.76,-194.7,879.6,-8.8,938,8665,0.00,3.20,0.00,0.000,6,0.000,0.097,2749,2290,3865
$GC,8974,-0.76,-194.7,907.6,-9.1,954,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2290,3865
$GC,9284,-0.76,-194.7,936.6,-9.7,969,9288,0.00,2.92,0.00,0.000,4,0.000,0.057,2749,3704,3865
$GC,9310,-0.76,-194.7,939.4,-10.0,970,9314,0.00,2.75,0.00,0.000,6,0.000,0.041,2749,2322,3865
$GC,9632,-0.76,-194.7,967.9,-8.1,986,9636,0.00,2.88,0.00,0.000,4,0.000,0.058,2749,3709,3864
$GC,9658,-0.76,-194.7,970.5,-9.5,987,9663,0.00,2.80,0.00,0.000,6,0.000,0.041,2749,2314,3864
$STATE,9910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9910,begin apogee
$GC,9916,-0.21,0.0,991.4,8.1,999,10127,0.77,0.00,208.10,1.636,6,0.136,0.000,2869,2747,3071
$STATE,10128,end apogee,CONTROL_FINISHED_OK
$STATE,10128,begin climb
$GC,10131,0.86,194.7,997.6,0.0,1009,10356,1.42,2.67,215.73,1.594,4,0.087,0.057,3100,3890,2277
$GC,10519,0.69,194.7,951.7,15.1,1027,10524,0.20,2.35,0.00,0.000,6,0.129,0.035,3073,2747,2275
$GC,10839,0.59,194.7,913.6,11.1,1043,10844,0.15,2.40,0.00,0.000,4,0.121,0.054,3048,3893,2275
$GC,10924,0.61,245.1,906.1,8.3,1047,10986,0.00,2.25,52.58,1.519,6,0.000,0.034,3048,2757,2071
$GC,11296,0.61,245.1,870.4,10.0,1065,11297,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2755,2068
$GC,11604,0.63,257.9,840.6,9.6,1080,11626,0.00,2.40,13.98,1.359,4,0.000,0.057,3048,3887,2018
$GC,11681,0.63,261.1,832.8,9.9,1083,11693,0.00,2.22,5.03,1.029,6,0.000,0.034,3048,2775,2006
$GC,12002,0.66,286.6,803.4,9.1,1099,12032,0.00,0.00,27.95,1.451,6,0.000,0.000,3048,2772,1902
$GC,12331,0.69,310.4,773.3,9.2,1115,12360,0.12,0.00,25.95,1.426,6,0.066,0.000,3072,2772,1805
$GC,12661,0.64,310.4,733.6,11.8,1131,12665,0.00,2.30,0.00,0.000,4,0.000,0.053,3071,3893,1801
$GC,12716,0.64,310.4,726.8,11.6,1133,12722,0.00,2.20,0.00,0.000,6,0.000,0.032,3071,2768,1800
$GC,13032,0.59,310.4,688.4,12.6,1149,13036,0.15,2.30,0.00,0.000,4,0.109,0.051,3046,3892,1800
$GC,13075,0.59,310.4,683.2,10.9,1151,13079,0.00,2.17,0.00,0.000,6,0.000,0.032,3046,2788,1799
$GC,13402,0.61,324.5,651.0,9.5,1167,13424,0.00,2.92,15.05,1.283,4,0.000,0.048,3046,1345,1747
$GC,13457,0.67,334.0,645.5,9.7,1169,13476,0.00,2.90,11.48,1.264,6,0.000,0.032,3046,2805,1709
$GC,13798,0.70,364.9,614.5,8.9,1186,13838,0.15,0.00,33.95,1.351,6,0.056,0.000,3075,2804,1583
$GC,14155,0.70,364.9,570.6,12.4,1214,14159,0.00,2.20,0.00,0.000,4,0.000,0.053,3075,3894,1579
$GC,14197,0.70,364.9,565.6,12.1,1217,14200,0.00,2.17,0.00,0.000,6,0.000,0.032,3075,2781,1578
$GC,14522,0.70,364.9,526.8,11.8,1247,14523,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2780,1578
$GC,14839,0.70,364.9,488.1,12.6,1277,14843,0.00,2.28,0.00,0.000,4,0.000,0.051,3075,3903,1577
$GC,14892,0.70,364.9,481.6,12.6,1281,14896,0.00,2.15,0.00,0.000,6,0.000,0.032,3076,2790,1577
$GC,15217,0.70,364.9,440.5,12.2,1311,15218,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2784,1577
$GC,15535,0.70,364.9,403.8,11.2,1341,15537,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2782,1577
$GC,15854,0.70,364.9,369.7,10.9,1371,15858,0.00,2.22,0.00,0.000,4,0.000,0.051,3075,3893,1577
$GC,15886,0.70,364.9,366.0,10.6,1373,15892,0.00,2.10,0.00,0.000,6,0.000,0.031,3075,2799,1576
$GC,16220,0.70,364.9,329.4,11.9,1420,16228,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2797,1576
$GC,16564,0.70,364.9,288.5,11.4,1481,16569,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2796,1576
$GC,16904,0.70,364.9,246.9,13.7,1542,16910,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2793,1576
$GC,17244,0.70,364.9,207.1,11.3,1603,17249,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2792,1576
$GC,17583,0.70,364.9,167.9,12.2,1664,17590,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2792,1576
$GC,17921,0.70,364.9,127.4,11.6,1725,17926,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2792,1576
$GC,18249,0.70,364.9,84.1,15.7,1786,18257,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2791,1576
$GC,18578,0.70,364.9,37.8,13.2,1847,18586,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2791,1576
$GC,18713,0.70,364.9,19.3,13.8,1872,18721,0.00,2.90,0.00,0.000,4,0.000,0.046,3075,1348,1576
$GC,18744,0.70,364.9,15.1,13.3,1877,18752,0.00,2.88,0.00,0.000,6,0.000,0.031,3075,2815,1576
$STATE,18856,end climb,SURFACE_DEPTH_REACHED
$STATE,18857,begin surface coast
$FINISH,0.1,1.002967
$STATE,18876,end surface coast,CONTROL_FINISHED_OK
$STATE,18876,begin surface
$SM_CCo,18953,0.00,0.000,0,0,1574,367.21
$SM_GC,0.77,8.30,0.00,0.00,0.046,0.000,0.000,1434,2278,1574,-6.79,-0.62,367.21
$IRIDIUM_FIX,6108.28,-2639.96,040897,232307
$TT8_MAMPS,0.026845
$HUMID,1790
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,10.70
$XPDR_PINGS,935
$24V_AH,19.3,58.993
$10V_AH,9.8,43.665
$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,23.375,131.250,609.775,0.000,0.000,112.296,145.696,533.806,233.750,0.000,0.000,15.442,3004.765,10938.267,750.259,4247.686,1120.109,0.000,2367.773,0.000,4237.968,0.000,0.465
$DEVICE_MAMPS,255.411,122.720,1636.011,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1332.826,1352.386,668.765,923.046,1685.948,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139259,1901
$CAP_FILE_SIZE,181963,0
$CFSIZE,260165632,240046080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,110508,042155,6133.040,-2629.645,24,1.0,41,-18.7