version: 66.03
glider: 142
mission: 5
dive: 250
start: 5 28 108 2 58 15
data:
$ID,142
$MISSION,5
$DIVE,250
$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,265
$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,-17724.273
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,025032,6158.904,-2655.546,42,1.2,42,-19.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-46.2
$GPS2,025757,6158.961,-2655.553,14,1.5,14,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6158.020,-2700.609
$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,284.2,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,172,0.00,0.00,-142.38,0.000,2,0.000,0.000,1434,2283,3446
$GC,175,-0.86,-194.7,3.2,-4.7,26,205,11.65,2.80,-11.93,0.000,4,0.249,0.056,2724,885,3866
$GC,459,-0.80,-194.7,47.6,-14.7,76,466,0.12,2.72,0.00,0.000,6,0.129,0.030,2741,2308,3867
$GC,604,-0.75,-194.7,66.5,-12.2,101,610,0.00,2.83,0.00,0.000,4,0.000,0.046,2741,894,3867
$GC,650,-0.75,-194.7,72.6,-12.6,109,656,0.00,2.72,0.00,0.000,6,0.000,0.030,2741,2311,3867
$GC,994,-0.71,-194.7,115.1,-12.7,170,1000,0.15,0.00,0.00,0.000,6,0.144,0.000,2764,2311,3867
$GC,1338,-0.71,-194.7,146.5,-8.3,231,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2311,3867
$GC,1681,-0.71,-194.7,177.2,-9.0,292,1687,0.00,2.83,0.00,0.000,4,0.000,0.048,2765,896,3867
$GC,1725,-0.76,-194.7,181.1,-9.3,299,1731,0.00,2.70,0.00,0.000,6,0.000,0.030,2765,2301,3867
$GC,2068,-0.76,-194.7,213.8,-9.6,360,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2302,3867
$GC,2411,-0.76,-194.7,247.2,-9.6,421,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2302,3867
$GC,2754,-0.76,-194.7,280.3,-9.4,482,2759,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,2302,3867
$GC,3096,-0.76,-194.7,313.3,-9.6,543,3102,0.00,2.83,0.00,0.000,4,0.000,0.048,2765,889,3867
$GC,3143,-0.83,-194.7,317.9,-9.9,551,3150,0.15,2.70,0.00,0.000,6,0.060,0.031,2736,2295,3867
$GC,3488,-0.78,-194.7,360.8,-12.5,605,3492,0.00,2.80,0.00,0.000,4,0.000,0.045,2736,3709,3867
$GC,3527,-0.78,-194.7,365.8,-12.8,608,3532,0.00,2.75,0.00,0.000,6,0.000,0.033,2736,2292,3867
$GC,3855,-0.74,-194.7,406.0,-11.9,638,3860,0.12,2.78,0.00,0.000,4,0.139,0.048,2752,895,3867
$GC,3905,-0.74,-194.7,411.9,-10.1,642,3909,0.00,2.70,0.00,0.000,6,0.000,0.030,2752,2299,3867
$GC,4231,-0.74,-194.7,442.7,-9.0,672,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2300,3867
$GC,4549,-0.74,-194.7,469.9,-8.5,702,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2300,3867
$GC,4866,-0.74,-194.7,497.0,-8.7,732,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2300,3866
$GC,5185,-0.74,-194.7,527.2,-9.8,762,5190,0.00,2.85,0.00,0.000,4,0.000,0.050,2752,883,3866
$GC,5229,-0.74,-194.7,531.8,-10.6,765,5236,0.00,2.72,0.00,0.000,6,0.000,0.031,2752,2296,3866
$GC,5557,-0.74,-194.7,563.9,-10.0,796,5558,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,5872,-0.74,-194.7,597.6,-10.9,826,5874,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,6193,-0.74,-194.7,631.4,-10.3,843,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2296,3866
$GC,6502,-0.74,-194.7,661.5,-9.9,858,6507,0.00,2.85,0.00,0.000,4,0.000,0.056,2752,3701,3866
$GC,6546,-0.74,-194.7,666.0,-10.3,860,6550,0.00,2.80,0.00,0.000,6,0.000,0.040,2752,2285,3865
$GC,6866,-0.74,-194.7,696.0,-9.2,876,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2284,3865
$GC,7177,-0.74,-194.7,723.6,-9.2,891,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2283,3865
$GC,7485,-0.74,-194.7,750.1,-8.7,906,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2284,3865
$GC,7794,-0.74,-194.7,776.7,-9.1,921,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2283,3865
$GC,8104,-0.74,-194.7,805.3,-8.9,936,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2284,3864
$GC,8413,-0.74,-194.7,831.4,-8.4,951,8418,0.00,3.30,0.00,0.000,4,0.000,0.105,2752,3701,3864
$GC,8484,-0.74,-194.7,838.7,-10.8,954,8489,0.00,3.17,0.00,0.000,6,0.000,0.091,2752,2296,3864
$GC,8802,-1.15,-194.7,846.9,0.0,969,8807,0.43,3.30,0.00,0.000,4,0.069,0.111,2671,881,3864
$STATE,8895,end dive,NO_VERTICAL_VELOCITY
$STATE,8895,begin apogee
$GC,8904,-0.21,0.0,846.9,0.0,973,9116,1.08,0.00,204.57,1.512,6,0.074,0.000,2870,2741,3070
$STATE,9117,end apogee,CONTROL_FINISHED_OK
$STATE,9117,begin climb
$GC,9119,0.86,194.7,846.8,0.0,984,9340,1.38,2.95,209.65,1.446,4,0.078,0.099,3099,3894,2277
$GC,9463,0.71,194.7,808.8,15.2,1000,9469,0.15,2.58,0.00,0.000,6,0.121,0.073,3078,2746,2274
$GC,9784,0.62,194.7,770.1,12.2,1016,9789,0.15,2.53,0.00,0.000,4,0.117,0.074,3053,3909,2273
$GC,9811,0.58,194.7,767.0,10.8,1017,9815,0.00,2.40,0.00,0.000,6,0.000,0.059,3053,2751,2274
$GC,10133,0.58,194.7,735.3,10.1,1033,10137,0.00,2.42,0.00,0.000,4,0.000,0.067,3053,3904,2274
$GC,10160,0.58,194.7,732.3,10.5,1034,10165,0.00,2.33,0.00,0.000,6,0.000,0.046,3053,2768,2273
$GC,10482,0.59,203.6,700.8,9.7,1050,10493,0.00,0.00,9.88,1.170,6,0.000,0.000,3053,2767,2241
$GC,10792,0.61,224.3,671.7,9.3,1065,10816,0.00,0.00,22.30,1.328,6,0.000,0.000,3053,2767,2156
$GC,11120,0.62,233.4,640.6,9.7,1081,11136,0.00,2.38,10.70,1.197,4,0.000,0.055,3053,3914,2118
$GC,11152,0.62,233.4,637.4,10.0,1081,11159,0.00,2.30,0.00,0.000,6,0.000,0.033,3053,2743,2118
$GC,11469,0.66,265.4,608.9,8.9,1097,11508,0.00,0.00,33.72,1.332,6,0.000,0.000,3053,2743,1987
$GC,11826,0.70,294.8,577.2,9.0,1126,11863,0.00,2.47,30.62,1.299,4,0.000,0.053,3053,3906,1868
$GC,11882,0.73,324.7,571.9,9.0,1131,11925,0.15,2.25,32.33,1.285,6,0.057,0.031,3082,2766,1746
$GC,12243,0.69,324.7,526.2,13.0,1165,12247,0.00,2.33,0.00,0.000,4,0.000,0.051,3082,3910,1741
$GC,12264,0.65,324.7,523.1,12.7,1166,12271,0.00,2.17,0.00,0.000,6,0.000,0.031,3082,2783,1741
$GC,12591,0.60,324.7,483.0,11.9,1197,12595,0.15,2.28,0.00,0.000,4,0.105,0.049,3056,3907,1740
$GC,12612,0.60,324.7,480.4,11.5,1198,12619,0.00,2.12,0.00,0.000,6,0.000,0.031,3056,2804,1739
$GC,12941,0.69,356.5,452.7,8.9,1229,12983,0.00,3.00,32.42,1.226,4,0.000,0.045,3055,1346,1616
$GC,13007,0.78,379.7,446.4,9.2,1235,13040,0.17,2.92,25.95,1.205,6,0.049,0.031,3092,2817,1522
$GC,13358,0.73,379.7,399.7,13.5,1268,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2817,1516
$GC,13678,0.69,379.7,355.3,13.9,1298,13679,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2817,1515
$GC,14009,0.69,379.7,309.6,13.0,1354,14016,0.00,2.95,0.00,0.000,4,0.000,0.044,3092,1344,1514
$GC,14033,0.69,379.7,306.4,13.7,1358,14039,0.00,2.85,0.00,0.000,6,0.000,0.032,3092,2805,1514
$GC,14377,0.65,379.7,261.8,13.1,1419,14382,0.15,0.00,0.00,0.000,6,0.105,0.000,3065,2805,1514
$GC,14720,0.74,409.1,230.9,9.0,1480,14759,0.00,3.00,29.58,1.085,4,0.000,0.044,3065,1350,1402
$GC,14789,0.86,438.0,224.7,9.0,1492,14828,0.22,2.85,31.17,1.086,6,0.044,0.031,3113,2791,1285
$GC,15166,0.78,438.0,165.1,15.9,1559,15172,0.15,2.17,0.00,0.000,4,0.106,0.047,3088,3890,1278
$GC,15201,0.78,438.0,159.9,13.3,1565,15207,0.00,2.17,0.00,0.000,6,0.000,0.031,3088,2763,1278
$GC,15545,0.78,438.0,121.0,11.4,1626,15551,0.00,2.83,0.00,0.000,4,0.000,0.046,3088,1345,1276
$GC,15580,0.78,438.0,116.7,12.6,1632,15586,0.00,2.75,0.00,0.000,6,0.000,0.031,3087,2762,1276
$GC,15924,0.78,438.0,75.7,11.2,1693,15929,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2762,1276
$GC,16267,0.78,438.0,38.8,10.9,1754,16274,0.00,2.83,0.00,0.000,4,0.000,0.045,3088,1347,1275
$GC,16297,0.78,438.0,35.5,11.1,1759,16304,0.00,2.72,0.00,0.000,6,0.000,0.031,3088,2757,1275
$GC,16441,0.85,463.6,22.0,9.1,1784,16469,0.00,0.00,25.40,0.941,6,0.000,0.000,3087,2758,1180
$GC,16608,0.94,491.0,5.9,9.1,1813,16643,0.15,2.90,28.95,0.946,4,0.053,0.047,3125,1343,1068
$STATE,16648,end climb,SURFACE_DEPTH_REACHED
$STATE,16648,begin surface coast
$FINISH,0.1,1.004182
$STATE,16662,end surface coast,CONTROL_FINISHED_OK
$STATE,16662,begin surface
$SM_CCo,16742,0.00,0.000,0,0,1064,492.32
$SM_GC,0.69,8.70,0.00,0.00,0.044,0.000,0.000,1432,2328,1064,-6.80,0.79,492.32
$IRIDIUM_FIX,6135.28,-2650.28,210897,222204
$TT8_MAMPS,0.026845
$HUMID,1806
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,16.50
$XPDR_PINGS,867
$24V_AH,19.2,78.719
$10V_AH,9.8,56.351
$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,25.225,129.775,727.250,0.000,0.000,24.835,35.606,243.235,216.750,0.000,0.000,15.836,2826.917,9561.948,837.098,3317.212,626.879,0.000,2359.097,0.000,3297.577,0.000,0.465
$DEVICE_MAMPS,249.275,111.215,1511.757,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1279.162,1306.290,709.191,1706.396,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132964,1822
$CAP_FILE_SIZE,164877,0
$CFSIZE,260165632,232558592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280508,073833,6159.501,-2700.442,39,1.5,40,-19.3