version: 66.03
glider: 142
mission: 5
dive: 229
start: 5 23 108 21 47 40
data:
$ID,142
$MISSION,5
$DIVE,229
$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,310
$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,-17312.416
$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,35
$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
$GPS1,214008,6129.861,-2606.013,28,1.6,28,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-52.9
$GPS2,214720,6129.902,-2606.052,10,1.8,10,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6136.843,-2609.985
$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,328.5,20000,-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,-194.7,0.0,0.0,0,167,0.00,0.00,-136.62,0.000,2,0.000,0.000,1431,2275,3540
$GC,170,-0.86,-194.7,3.2,-4.0,25,200,12.00,2.80,-8.95,0.000,4,0.254,0.056,2724,909,3866
$GC,453,-0.86,-194.7,46.1,-13.3,75,459,0.00,2.70,0.00,0.000,6,0.000,0.030,2724,2312,3868
$GC,596,-0.80,-194.7,65.0,-12.8,100,603,0.12,2.83,0.00,0.000,4,0.140,0.047,2740,905,3868
$GC,756,-0.80,-194.7,82.6,-10.8,128,762,0.00,2.67,0.00,0.000,6,0.000,0.030,2740,2294,3868
$GC,1100,-0.80,-194.7,120.3,-10.7,189,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2295,3868
$GC,1442,-0.80,-194.7,158.4,-11.3,250,1449,0.00,2.80,0.00,0.000,4,0.000,0.049,2740,897,3868
$GC,1506,-0.80,-194.7,166.0,-11.8,261,1512,0.00,2.67,0.00,0.000,6,0.000,0.031,2740,2287,3868
$GC,1849,-0.80,-194.7,206.8,-12.5,322,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2288,3868
$GC,2193,-0.80,-194.7,248.2,-11.6,383,2199,0.00,2.78,0.00,0.000,4,0.000,0.048,2740,900,3868
$GC,2244,-0.80,-194.7,254.6,-11.9,392,2250,0.00,2.62,0.00,0.000,6,0.000,0.031,2740,2269,3868
$GC,2588,-0.80,-194.7,294.0,-11.1,453,2594,0.00,2.85,0.00,0.000,4,0.000,0.045,2741,3708,3868
$GC,2645,-0.80,-194.7,300.3,-10.6,463,2651,0.00,2.80,0.00,0.000,6,0.000,0.033,2740,2268,3868
$GC,2990,-0.80,-194.7,337.8,-11.1,524,2996,0.00,2.72,0.00,0.000,4,0.000,0.048,2741,893,3868
$GC,3064,-0.80,-194.7,346.4,-11.0,537,3070,0.00,2.65,0.00,0.000,6,0.000,0.030,2740,2273,3868
$GC,3398,-0.80,-194.7,380.7,-9.9,571,3403,0.00,2.85,0.00,0.000,4,0.000,0.048,2740,3707,3868
$GC,3459,-0.80,-194.7,386.8,-9.7,576,3464,0.00,2.83,0.00,0.000,6,0.000,0.034,2740,2259,3868
$GC,3785,-0.80,-194.7,418.5,-9.5,606,3790,0.00,2.72,0.00,0.000,4,0.000,0.049,2740,886,3868
$GC,3851,-0.80,-194.7,425.1,-9.6,611,3858,0.00,2.65,0.00,0.000,6,0.000,0.030,2740,2266,3868
$GC,4178,-0.80,-194.7,456.6,-9.9,642,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2268,3868
$GC,4494,-0.80,-194.7,489.4,-10.5,672,4496,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2267,3868
$GC,4813,-0.80,-194.7,523.1,-11.1,702,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2267,3868
$GC,5131,-0.80,-194.7,558.6,-11.2,732,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2268,3868
$GC,5450,-0.80,-194.7,592.5,-10.5,762,5454,0.00,2.78,0.00,0.000,4,0.000,0.051,2740,896,3868
$GC,5505,-0.80,-194.7,598.3,-10.4,766,5511,0.00,2.65,0.00,0.000,6,0.000,0.031,2740,2264,3867
$GC,5821,-0.80,-194.7,630.1,-9.9,783,5826,0.00,2.92,0.00,0.000,4,0.000,0.054,2740,3709,3867
$GC,5887,-0.80,-194.7,637.2,-10.2,786,5892,0.00,2.85,0.00,0.000,6,0.000,0.039,2740,2268,3867
$GC,6209,-0.80,-194.7,670.9,-10.4,802,6213,0.00,2.83,0.00,0.000,4,0.000,0.062,2740,890,3867
$GC,6252,-0.80,-194.7,675.6,-10.6,804,6256,0.00,2.70,0.00,0.000,6,0.000,0.035,2741,2275,3867
$GC,6579,-0.80,-194.7,709.6,-10.3,820,6583,0.00,2.97,0.00,0.000,4,0.000,0.064,2741,3707,3867
$GC,6642,-0.80,-194.7,716.1,-11.1,823,6646,0.00,2.88,0.00,0.000,6,0.000,0.048,2740,2294,3867
$GC,6968,-0.80,-194.7,751.3,-11.3,839,6972,0.00,3.05,0.00,0.000,4,0.000,0.084,2740,888,3867
$GC,7052,-0.80,-194.7,760.7,-11.0,843,7057,0.00,2.88,0.00,0.000,6,0.000,0.054,2740,2287,3866
$GC,7378,-0.80,-194.7,793.9,-9.9,859,7383,0.00,3.15,0.00,0.000,4,0.000,0.089,2740,3712,3866
$GC,7463,-0.80,-194.7,801.7,-9.2,863,7468,0.00,3.10,0.00,0.000,6,0.000,0.075,2740,2287,3866
$GC,7790,-0.80,-194.7,831.2,-8.8,879,7795,0.00,3.25,0.00,0.000,4,0.000,0.108,2740,883,3866
$GC,7862,-0.80,-194.7,837.9,-9.3,882,7867,0.00,3.12,0.00,0.000,6,0.000,0.086,2740,2284,3865
$GC,8178,-0.80,-194.7,865.5,-8.9,897,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2285,3865
$GC,8486,-0.80,-194.7,893.1,-8.6,912,8491,0.00,2.92,0.00,0.000,4,0.000,0.054,2740,3721,3865
$GC,8564,-0.80,-194.7,900.1,-8.9,915,8570,0.00,2.88,0.00,0.000,6,0.000,0.039,2741,2278,3865
$GC,8880,-0.80,-194.7,929.5,-9.2,931,8884,0.00,2.85,0.00,0.000,4,0.000,0.060,2740,884,3864
$GC,8957,-0.85,-194.7,936.8,-8.6,934,8963,0.00,2.78,0.00,0.000,6,0.000,0.034,2741,2306,3864
$GC,9272,-0.85,-194.7,964.3,-9.0,950,9277,0.00,2.90,0.00,0.000,4,0.000,0.059,2741,3716,3864
$GC,9344,-0.85,-194.7,970.7,-8.9,953,9349,0.00,2.83,0.00,0.000,6,0.000,0.041,2740,2302,3863
$STATE,9575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9575,begin apogee
$GC,9581,-0.21,0.0,990.9,9.1,964,9798,0.80,0.00,209.52,1.616,6,0.119,0.000,2870,2752,3071
$STATE,9799,end apogee,CONTROL_FINISHED_OK
$STATE,9799,begin climb
$GC,9801,0.86,194.7,997.7,0.0,975,10029,1.38,2.67,216.15,1.556,4,0.081,0.058,3098,3899,2277
$GC,10192,0.71,194.7,953.2,14.5,993,10197,0.15,2.33,0.00,0.000,6,0.127,0.035,3078,2748,2274
$GC,10512,0.60,194.7,917.8,10.4,1009,10517,0.15,2.40,0.00,0.000,4,0.127,0.054,3053,3902,2274
$GC,10575,0.57,208.0,911.9,9.5,1012,10596,0.00,2.22,14.40,1.352,6,0.000,0.035,3053,2766,2223
$GC,10907,0.53,219.9,881.6,9.6,1028,10929,0.00,2.38,13.90,1.364,4,0.000,0.055,3053,3888,2174
$GC,10940,0.50,227.0,878.1,9.8,1029,10955,0.15,2.17,9.18,1.285,6,0.114,0.034,3032,2792,2145
$GC,11283,0.55,272.2,849.8,8.4,1046,11338,0.00,3.05,48.42,1.497,4,0.000,0.049,3031,1336,1960
$GC,11343,0.67,336.0,844.5,7.8,1048,11422,0.20,2.97,69.62,1.478,6,0.047,0.033,3071,2789,1701
$GC,11730,0.67,336.0,797.0,12.6,1067,11734,0.00,2.28,0.00,0.000,4,0.000,0.054,3071,3900,1694
$GC,11746,0.67,336.0,794.8,13.0,1068,11750,0.00,2.17,0.00,0.000,6,0.000,0.033,3071,2798,1693
$GC,12072,0.67,336.0,750.1,14.3,1084,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2797,1691
$GC,12381,0.67,336.0,709.4,12.4,1099,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2796,1690
$GC,12690,0.67,336.0,671.6,12.6,1114,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2794,1690
$GC,13000,0.67,336.0,635.1,11.1,1129,13004,0.00,2.22,0.00,0.000,4,0.000,0.052,3071,3893,1689
$GC,13017,0.67,336.0,633.2,10.9,1130,13021,0.00,2.15,0.00,0.000,6,0.000,0.033,3071,2780,1689
$GC,13342,0.67,336.0,597.9,11.1,1146,13347,0.00,2.85,0.00,0.000,4,0.000,0.048,3071,1342,1689
$GC,13352,0.67,336.0,596.6,11.3,1146,13359,0.00,2.85,0.00,0.000,6,0.000,0.031,3071,2800,1688
$GC,13679,0.67,336.0,557.4,12.1,1177,13680,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2800,1688
$GC,13996,0.67,336.0,519.7,11.4,1207,13997,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2800,1688
$GC,14314,0.67,336.0,484.3,10.7,1237,14315,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2800,1688
$GC,14633,0.67,336.0,447.1,12.3,1267,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2800,1688
$GC,14951,0.67,336.0,409.1,11.9,1297,14956,0.00,2.92,0.00,0.000,4,0.000,0.044,3071,1345,1688
$GC,14961,0.67,336.0,407.8,11.5,1297,14967,0.00,2.83,0.00,0.000,6,0.000,0.031,3071,2792,1688
$GC,15287,0.67,336.0,370.6,11.6,1328,15288,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2793,1688
$GC,15613,0.67,336.0,331.9,11.7,1371,15619,0.00,2.92,0.00,0.000,4,0.000,0.044,3071,1335,1688
$GC,15625,0.67,336.0,330.4,11.7,1373,15631,0.00,2.83,0.00,0.000,6,0.000,0.031,3071,2783,1688
$GC,15969,0.67,336.0,288.4,11.8,1434,15975,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2783,1688
$GC,16313,0.70,361.8,252.3,9.1,1495,16341,0.00,0.00,25.23,1.085,6,0.000,0.000,3071,2783,1595
$GC,16679,0.70,361.8,215.9,10.5,1560,16685,0.00,2.90,0.00,0.000,4,0.000,0.044,3071,1341,1592
$GC,16691,0.71,366.2,214.6,9.8,1562,16703,0.00,2.85,5.38,0.788,6,0.000,0.031,3071,2794,1578
$GC,17041,0.71,366.2,177.0,11.3,1624,17046,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2794,1577
$GC,17384,0.71,366.2,135.7,13.8,1685,17390,0.00,2.90,0.00,0.000,4,0.000,0.044,3071,1345,1577
$GC,17401,0.71,366.2,133.1,15.3,1688,17408,0.00,2.80,0.00,0.000,6,0.000,0.031,3071,2782,1577
$GC,17748,0.71,366.2,89.8,12.1,1749,17754,0.00,2.88,0.00,0.000,4,0.000,0.044,3071,1345,1577
$GC,17760,0.71,366.2,88.1,13.3,1751,17767,0.00,2.75,0.00,0.000,6,0.000,0.031,3071,2767,1576
$GC,18104,0.71,366.2,50.5,10.6,1812,18109,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2767,1577
$GC,18447,0.71,366.2,15.0,10.4,1873,18454,0.00,2.83,0.00,0.000,4,0.000,0.044,3071,1342,1576
$GC,18460,0.72,371.9,13.6,9.8,1875,18473,0.00,2.75,7.30,0.777,6,0.000,0.030,3071,2758,1554
$STATE,18579,end climb,SURFACE_DEPTH_REACHED
$STATE,18579,begin surface coast
$FINISH,0.3,1.012920
$STATE,18597,end surface coast,CONTROL_FINISHED_OK
$STATE,18597,begin surface
$SM_CCo,18675,0.00,0.000,0,0,1550,372.86
$SM_GC,1.09,8.32,0.00,0.00,0.048,0.000,0.000,1438,2294,1550,-6.79,-0.20,372.86
$IRIDIUM_FIX,6103.81,-2609.76,170897,161606
$TT8_MAMPS,0.026078
$HUMID,1794
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,16.40
$XPDR_PINGS,1025
$24V_AH,19.1,72.057
$10V_AH,9.8,53.080
$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,23.275,173.000,619.100,0.000,0.000,30.996,30.981,229.657,256.250,0.000,0.000,12.073,3008.895,11133.267,776.911,3553.502,617.328,0.000,2400.656,0.000,3528.476,0.000,0.465
$DEVICE_MAMPS,253.877,108.147,1616.069,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1331.942,1364.832,705.806,1686.028,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,138975,1899
$CAP_FILE_SIZE,176989,0
$CFSIZE,260165632,234471424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240508,030008,6132.529,-2613.588,37,0.9,37,-18.6