version: 66.03
glider: 142
mission: 5
dive: 173
start: 5 11 108 10 15 21
data:
$ID,142
$MISSION,5
$DIVE,173
$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,90
$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,-16361.713
$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,20
$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
$GPS1,100738,6133.102,-2623.143,33,1.1,33,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-45.5
$GPS2,101503,6133.129,-2623.175,11,1.0,11,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6133.129,-2618.030
$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,108.7,20000,-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,-194.7,0.0,0.0,0,152,0.00,0.00,-122.88,0.000,2,0.000,0.000,1430,2283,3534
$GC,155,-0.86,-194.7,3.3,-4.6,17,186,12.15,2.90,-9.05,0.000,4,0.259,0.052,2724,3703,3867
$GC,299,-0.81,-194.7,26.7,-11.9,42,307,0.00,2.78,0.00,0.000,6,0.000,0.035,2724,2313,3868
$GC,434,-0.74,-194.7,44.4,-13.1,67,442,0.15,0.00,0.00,0.000,6,0.139,0.000,2748,2313,3868
$GC,569,-0.74,-194.7,59.8,-10.8,92,577,0.00,2.88,0.00,0.000,4,0.000,0.051,2748,892,3868
$GC,622,-0.74,-194.7,65.6,-11.2,101,629,0.00,2.70,0.00,0.000,6,0.000,0.031,2748,2286,3868
$GC,951,-0.74,-194.7,99.7,-10.3,162,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2287,3868
$GC,1282,-0.74,-194.7,133.8,-10.3,223,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2287,3868
$GC,1616,-0.74,-194.7,171.7,-11.4,284,1624,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2287,3868
$GC,1957,-0.74,-194.7,207.9,-10.3,345,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2287,3868
$GC,2294,-0.74,-194.7,243.8,-10.7,406,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2287,3868
$GC,2629,-0.74,-194.7,280.1,-11.1,467,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2287,3868
$GC,2968,-0.74,-194.7,317.3,-11.2,528,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2287,3868
$GC,3308,-0.74,-194.7,354.9,-11.1,585,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2287,3868
$GC,3625,-0.74,-194.7,390.5,-11.1,615,3626,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3868
$GC,3943,-0.74,-194.7,424.9,-10.9,645,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2287,3868
$GC,4262,-0.74,-194.7,458.1,-10.1,675,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3868
$GC,4583,-0.74,-194.7,491.1,-10.5,705,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3868
$GC,4899,-0.74,-194.7,525.2,-11.1,735,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3868
$GC,5217,-0.74,-194.7,560.4,-10.9,765,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2289,3868
$GC,5536,-0.74,-194.7,595.1,-10.6,795,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2289,3868
$GC,5857,-0.74,-194.7,627.7,-9.6,813,5862,0.00,2.88,0.00,0.000,4,0.000,0.054,2748,3706,3868
$GC,5883,-0.74,-194.7,630.4,-10.2,814,5888,0.00,2.85,0.00,0.000,6,0.000,0.044,2748,2274,3868
$GC,6205,-0.74,-194.7,659.7,-9.4,830,6210,0.00,2.95,0.00,0.000,4,0.000,0.056,2748,3705,3868
$GC,6232,-0.74,-194.7,662.3,-9.9,831,6237,0.00,2.83,0.00,0.000,6,0.000,0.041,2748,2290,3868
$GC,6547,-0.74,-194.7,694.6,-10.6,846,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2289,3868
$GC,6857,-0.74,-194.7,725.3,-9.5,861,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2289,3868
$GC,7166,-0.74,-194.7,753.6,-8.9,876,7171,0.00,3.05,0.00,0.000,4,0.000,0.074,2748,3703,3867
$GC,7182,-0.74,-194.7,755.0,-8.9,877,7187,0.00,2.95,0.00,0.000,6,0.000,0.058,2748,2284,3867
$GC,7509,-0.74,-194.7,784.2,-9.9,893,7514,0.00,3.10,0.00,0.000,4,0.000,0.082,2748,3695,3867
$GC,7541,-0.74,-194.7,787.7,-10.4,894,7547,0.00,3.00,0.00,0.000,6,0.000,0.068,2748,2289,3867
$GC,7856,-0.74,-194.7,820.7,-10.8,910,7857,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3867
$GC,8166,-0.74,-194.7,851.2,-9.2,925,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2288,3866
$GC,8475,-0.74,-194.7,877.2,-8.4,940,8480,0.00,2.95,0.00,0.000,4,0.000,0.070,2748,882,3866
$GC,8514,-0.79,-194.7,880.8,-9.7,942,8519,0.00,2.72,0.00,0.000,6,0.000,0.031,2748,2284,3866
$GC,8840,-0.79,-194.7,912.5,-9.9,958,8842,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2285,3866
$GC,9149,-0.79,-194.7,942.9,-9.5,973,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2284,3865
$GC,9459,-0.79,-194.7,972.1,-9.1,988,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2285,3865
$STATE,9683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9683,begin apogee
$GC,9689,-0.21,0.0,991.3,7.9,999,9905,0.77,0.00,208.45,1.631,6,0.136,0.000,2869,2746,3071
$STATE,9906,end apogee,CONTROL_FINISHED_OK
$STATE,9906,begin climb
$GC,9908,0.86,194.7,995.9,0.0,1010,10134,1.40,2.70,215.75,1.586,4,0.080,0.058,3099,3897,2277
$GC,10319,0.70,194.7,944.6,15.1,1029,10324,0.17,2.38,0.00,0.000,6,0.128,0.034,3075,2733,2274
$GC,10640,0.58,194.7,906.6,11.1,1045,10645,0.15,2.42,0.00,0.000,4,0.126,0.053,3050,3897,2274
$GC,10735,0.54,202.4,897.0,9.7,1049,10749,0.00,2.22,8.93,1.240,6,0.000,0.033,3050,2771,2246
$GC,11078,0.50,211.8,866.0,9.7,1066,11095,0.00,0.00,11.10,1.315,6,0.000,0.000,3050,2769,2207
$GC,11405,0.46,211.8,833.3,10.2,1082,11410,0.15,2.33,0.00,0.000,4,0.118,0.053,3025,3900,2206
$GC,11460,0.50,244.4,828.2,8.9,1084,11500,0.00,2.17,34.53,1.481,6,0.000,0.033,3025,2785,2074
$GC,11817,0.59,284.7,798.0,8.6,1102,11867,0.12,3.05,42.42,1.473,4,0.060,0.048,3049,1349,1910
$GC,11901,0.59,284.7,789.2,10.9,1106,11906,0.00,2.95,0.00,0.000,6,0.000,0.034,3049,2796,1908
$GC,12227,0.59,284.7,754.2,10.8,1122,12231,0.00,2.22,0.00,0.000,4,0.000,0.054,3049,3894,1905
$GC,12270,0.59,284.7,749.4,10.3,1124,12275,0.00,2.20,0.00,0.000,6,0.000,0.033,3049,2787,1904
$GC,12598,0.60,296.6,717.3,9.6,1140,12617,0.00,0.00,13.02,1.290,6,0.000,0.000,3049,2786,1861
$GC,12926,0.63,316.1,686.3,9.3,1156,12954,0.00,2.38,21.38,1.359,4,0.000,0.053,3049,3900,1782
$GC,12982,0.66,346.3,681.0,9.0,1158,13022,0.00,2.17,33.47,1.395,6,0.000,0.032,3049,2796,1658
$GC,13339,0.68,364.1,647.9,9.4,1176,13364,0.00,3.03,19.40,1.311,4,0.000,0.054,3049,1336,1585
$GC,13392,0.77,389.2,642.5,9.1,1178,13427,0.20,2.95,28.38,1.348,6,0.048,0.032,3091,2808,1483
$GC,13740,0.69,389.2,589.6,15.7,1198,13744,0.00,2.20,0.00,0.000,4,0.000,0.052,3091,3898,1478
$GC,13846,0.64,389.2,573.1,15.4,1207,13851,0.20,2.10,0.00,0.000,6,0.110,0.032,3061,2822,1476
$GC,14170,0.64,389.2,536.3,10.6,1237,14175,0.00,2.97,0.00,0.000,4,0.000,0.048,3060,1343,1476
$GC,14209,0.64,392.4,532.3,9.9,1240,14214,0.00,2.92,0.00,0.000,6,0.000,0.031,3061,2830,1475
$GC,14535,0.64,392.4,497.4,10.9,1270,14536,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2830,1475
$GC,14852,0.64,392.4,463.6,10.7,1300,14857,0.00,3.00,0.00,0.000,4,0.000,0.045,3061,1337,1474
$GC,14884,0.64,392.4,460.1,10.2,1302,14890,0.00,2.90,0.00,0.000,6,0.000,0.031,3061,2822,1474
$GC,15210,0.64,392.4,426.6,10.3,1333,15211,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2822,1474
$GC,15527,0.64,392.4,394.1,10.2,1363,15532,0.00,2.97,0.00,0.000,4,0.000,0.045,3060,1340,1474
$GC,15560,0.68,392.4,390.6,10.2,1365,15566,0.00,2.88,0.00,0.000,6,0.000,0.033,3061,2809,1474
$GC,15886,0.69,397.9,357.9,9.8,1396,15901,0.00,3.00,8.27,0.989,4,0.000,0.046,3061,1343,1448
$GC,15931,0.74,398.9,353.4,10.0,1400,15935,0.00,2.85,0.00,0.000,6,0.000,0.032,3060,2794,1448
$GC,16270,0.74,398.9,317.9,10.2,1457,16276,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2795,1447
$GC,16609,0.79,406.7,282.4,9.7,1518,16629,0.17,2.95,10.82,1.018,4,0.054,0.044,3101,1346,1413
$GC,16654,0.75,406.7,276.7,13.1,1525,16661,0.00,2.83,0.00,0.000,6,0.000,0.031,3101,2783,1411
$GC,16995,0.66,406.7,220.9,16.1,1586,17001,0.20,2.22,0.00,0.000,4,0.107,0.049,3067,3902,1410
$GC,17081,0.71,406.7,210.7,11.1,1601,17088,0.00,2.12,0.00,0.000,6,0.000,0.031,3067,2795,1410
$GC,17420,0.71,406.7,174.5,10.5,1662,17426,0.00,2.88,0.00,0.000,4,0.000,0.045,3067,1348,1409
$GC,17471,0.76,406.7,169.1,10.4,1671,17478,0.00,2.85,0.00,0.000,6,0.000,0.031,3067,2812,1409
$GC,17808,0.80,438.5,136.0,8.9,1732,17847,0.12,0.00,33.78,1.048,6,0.059,0.000,3093,2812,1282
$GC,18173,0.75,438.5,84.9,14.7,1798,18180,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2812,1278
$GC,18503,0.70,438.5,36.4,13.8,1859,18511,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2813,1277
$GC,18638,0.70,438.5,18.3,13.5,1884,18645,0.00,2.97,0.00,0.000,4,0.000,0.046,3093,1349,1276
$GC,18669,0.70,438.5,14.2,13.1,1889,18676,0.08,2.88,0.00,0.000,6,0.095,0.032,3079,2801,1275
$STATE,18786,end climb,SURFACE_DEPTH_REACHED
$STATE,18786,begin surface coast
$FINISH,0.2,1.026141
$STATE,18810,end surface coast,CONTROL_FINISHED_OK
$STATE,18810,begin surface
$SM_CCo,18888,0.00,0.000,0,0,1273,441.05
$SM_GC,0.83,8.38,0.00,0.00,0.048,0.000,0.000,1436,2282,1273,-6.79,-0.51,441.05
$IRIDIUM_FIX,6108.28,-2635.92,050897,040450
$TT8_MAMPS,0.026845
$HUMID,1782
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,11.20
$XPDR_PINGS,916
$24V_AH,19.3,59.645
$10V_AH,9.7,44.092
$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,24.425,127.175,689.700,0.000,0.000,30.424,32.508,239.588,229.000,0.000,0.000,12.603,3021.175,10581.370,775.216,4311.207,621.481,0.000,2424.320,0.000,4306.775,0.000,0.465
$DEVICE_MAMPS,259.246,82.069,1631.409,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1349.365,1367.928,696.343,944.076,1742.983,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139115,1915
$CAP_FILE_SIZE,174683,0
$CFSIZE,260165632,239857664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110508,153126,6133.730,-2617.313,41,1.7,41,-18.6