version: 66.03
glider: 142
mission: 5
dive: 155
start: 5 7 108 7 11 51
data:
$ID,142
$MISSION,5
$DIVE,155
$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,70
$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,-15992.852
$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,26
$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
$GPS1,070426,6106.774,-2709.475,38,1.8,38,-18.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-57.5
$GPS2,071133,6106.791,-2709.429,10,1.2,10,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6110.484,-2704.536
$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,88.8,20000,-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,26,-0.86,-194.7,0.0,0.0,0,165,0.00,0.00,-136.48,0.000,2,0.000,0.000,1438,2293,3657
$GC,168,-0.86,-194.7,3.5,-4.5,19,192,11.90,2.85,-5.35,0.000,4,0.256,0.052,2727,3709,3865
$GC,201,-0.13,-194.7,13.5,-28.4,23,209,0.95,2.83,0.00,0.000,6,0.139,0.035,2884,2304,3866
$GC,338,-0.55,-194.7,22.0,-7.0,48,347,0.43,2.88,0.00,0.000,4,0.074,0.042,2804,3712,3867
$GC,376,-0.72,-194.7,25.7,-9.9,54,385,0.17,2.75,0.00,0.000,6,0.053,0.033,2766,2329,3867
$GC,513,-0.76,-194.7,38.6,-8.6,79,521,0.00,2.90,0.00,0.000,4,0.000,0.050,2766,898,3866
$GC,555,-0.83,-194.7,43.0,-10.3,86,564,0.12,2.80,0.00,0.000,6,0.050,0.030,2738,2325,3866
$GC,694,-0.83,-194.7,59.0,-12.0,111,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2325,3866
$GC,1025,-0.83,-194.7,94.6,-10.4,172,1033,0.00,2.90,0.00,0.000,4,0.000,0.048,2738,897,3866
$GC,1081,-0.83,-194.7,101.1,-11.2,182,1090,0.00,2.78,0.00,0.000,6,0.000,0.031,2738,2316,3866
$GC,1416,-0.83,-194.7,139.2,-11.9,243,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2316,3866
$GC,1752,-0.83,-194.7,178.9,-11.2,304,1760,0.00,2.88,0.00,0.000,4,0.000,0.048,2738,897,3866
$GC,1816,-0.83,-194.7,186.4,-11.2,315,1822,0.00,2.72,0.00,0.000,6,0.000,0.030,2738,2312,3866
$GC,2157,-0.83,-194.7,223.5,-11.5,376,2165,0.00,2.88,0.00,0.000,4,0.000,0.048,2738,892,3866
$GC,2204,-0.83,-194.7,229.3,-12.2,384,2212,0.00,2.75,0.00,0.000,6,0.000,0.031,2737,2304,3866
$GC,2547,-0.83,-194.7,269.0,-12.4,445,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2304,3866
$GC,2886,-0.83,-194.7,310.3,-12.0,506,2892,0.00,2.83,0.00,0.000,4,0.000,0.048,2738,896,3866
$GC,2920,-0.83,-194.7,314.4,-12.4,512,2928,0.00,2.72,0.00,0.000,6,0.000,0.031,2738,2297,3867
$GC,3263,-0.83,-194.7,352.5,-11.1,571,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2297,3866
$GC,3583,-0.83,-194.7,385.9,-9.7,601,3588,0.00,2.83,0.00,0.000,4,0.000,0.048,2738,884,3866
$GC,3622,-0.83,-194.7,390.2,-10.5,604,3626,0.00,2.72,0.00,0.000,6,0.000,0.031,2738,2299,3866
$GC,3948,-0.83,-194.7,420.7,-9.0,634,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2300,3866
$GC,4265,-0.83,-194.7,449.9,-9.3,664,4266,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2300,3866
$GC,4585,-0.83,-194.7,478.9,-9.1,694,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2300,3866
$GC,4902,-0.83,-194.7,508.0,-9.3,724,4903,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2300,3866
$GC,5221,-0.83,-194.7,538.6,-9.8,754,5225,0.00,2.83,0.00,0.000,4,0.000,0.049,2737,894,3867
$GC,5264,-0.83,-194.7,543.2,-10.3,757,5270,0.00,2.70,0.00,0.000,6,0.000,0.031,2738,2291,3866
$GC,5590,-0.83,-194.7,577.5,-11.4,788,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2292,3866
$GC,5914,-0.83,-194.7,613.9,-10.9,813,5919,0.00,2.85,0.00,0.000,4,0.000,0.052,2738,885,3866
$GC,5940,-0.83,-194.7,616.9,-11.1,814,5945,0.00,2.70,0.00,0.000,6,0.000,0.032,2737,2277,3866
$GC,6262,-0.83,-194.7,650.5,-10.4,830,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2278,3866
$GC,6571,-0.83,-194.7,682.1,-10.1,845,6575,0.00,2.92,0.00,0.000,4,0.000,0.060,2738,3705,3866
$GC,6597,-0.83,-194.7,684.9,-10.5,846,6601,0.00,2.85,0.00,0.000,6,0.000,0.044,2737,2289,3866
$GC,6918,-0.83,-194.7,717.3,-10.3,862,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2288,3866
$GC,7227,-0.83,-194.7,749.3,-10.4,877,7232,0.00,3.03,0.00,0.000,4,0.000,0.071,2737,3703,3866
$GC,7248,-0.83,-194.7,751.6,-10.8,878,7253,0.00,2.92,0.00,0.000,6,0.000,0.056,2737,2289,3866
$GC,7569,-0.83,-194.7,785.6,-10.8,894,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2288,3866
$GC,7878,-0.83,-194.7,816.3,-10.0,909,7883,0.00,3.20,0.00,0.000,4,0.000,0.094,2737,3701,3866
$GC,7905,-0.83,-194.7,819.1,-10.6,910,7910,0.00,3.12,0.00,0.000,6,0.000,0.085,2737,2296,3865
$GC,8221,-0.83,-194.7,848.3,-9.2,925,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2296,3865
$GC,8530,-0.83,-194.7,877.3,-9.4,940,8535,0.00,2.88,0.00,0.000,4,0.000,0.052,2737,3704,3865
$GC,8551,-0.83,-194.7,879.5,-9.4,941,8556,0.00,2.80,0.00,0.000,6,0.000,0.038,2737,2288,3865
$GC,8873,-0.83,-194.7,910.3,-9.7,957,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2286,3865
$GC,9181,-0.83,-194.7,940.3,-9.6,972,9186,0.00,2.92,0.00,0.000,4,0.000,0.056,2737,3703,3864
$GC,9213,-0.83,-194.7,943.6,-10.4,973,9220,0.00,2.78,0.00,0.000,6,0.000,0.041,2737,2311,3864
$GC,9529,-0.83,-194.7,974.8,-10.2,989,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2310,3864
$STATE,9691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9692,begin apogee
$GC,9698,-0.21,0.0,991.2,10.0,997,9908,0.82,0.00,206.45,1.633,6,0.127,0.000,2868,2752,3071
$STATE,9909,end apogee,CONTROL_FINISHED_OK
$STATE,9909,begin climb
$GC,9911,0.86,194.7,998.1,0.0,1007,10137,1.42,2.58,214.95,1.589,4,0.085,0.059,3101,3902,2276
$GC,10289,0.69,194.7,953.9,15.2,1024,10296,0.20,2.38,0.00,0.000,6,0.133,0.035,3073,2743,2274
$GC,10605,0.58,194.7,916.5,11.6,1040,10609,0.15,2.42,0.00,0.000,4,0.123,0.053,3048,3905,2273
$GC,10644,0.53,194.7,912.2,10.2,1042,10648,0.00,2.30,0.00,0.000,6,0.000,0.034,3048,2748,2273
$GC,10970,0.52,222.2,882.3,9.0,1058,11000,0.00,0.00,28.30,1.473,6,0.000,0.000,3048,2747,2165
$GC,11299,0.55,245.4,851.6,9.2,1074,11329,0.00,2.45,24.90,1.453,4,0.000,0.060,3049,3906,2070
$GC,11357,0.57,262.0,846.1,9.4,1077,11381,0.00,2.30,18.55,1.422,6,0.000,0.032,3049,2757,2004
$GC,11710,0.62,305.4,814.9,8.5,1094,11758,0.00,0.00,46.65,1.476,6,0.000,0.000,3048,2756,1825
$GC,12059,0.63,311.4,781.6,9.8,1111,12072,0.00,2.42,6.78,1.121,4,0.000,0.052,3048,3899,1801
$GC,12089,0.63,311.4,778.3,10.1,1112,12093,0.00,2.25,0.00,0.000,6,0.000,0.033,3048,2762,1800
$GC,12410,0.63,311.4,745.8,10.2,1128,12411,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2760,1799
$GC,12719,0.63,311.4,713.1,10.9,1143,12724,0.00,2.85,0.00,0.000,4,0.000,0.049,3048,1342,1798
$GC,12751,0.63,311.4,709.5,10.4,1144,12758,0.00,2.83,0.00,0.000,6,0.000,0.032,3048,2773,1798
$GC,13066,0.63,311.4,677.1,10.1,1160,13070,0.00,2.25,0.00,0.000,4,0.000,0.053,3048,3899,1798
$GC,13105,0.63,311.4,673.1,10.3,1162,13110,0.00,2.20,0.00,0.000,6,0.000,0.032,3048,2763,1796
$GC,13432,0.65,325.9,642.1,9.5,1178,13452,0.00,0.00,15.88,1.288,6,0.000,0.000,3048,2762,1742
$GC,13761,0.66,338.7,610.2,9.6,1194,13783,0.00,2.90,14.43,1.261,4,0.000,0.054,3048,1340,1690
$GC,13810,0.66,338.7,605.0,10.0,1196,13815,0.00,2.85,0.00,0.000,6,0.000,0.036,3048,2774,1689
$GC,14143,0.68,353.5,573.0,9.5,1225,14170,0.00,2.95,17.05,1.260,4,0.000,0.051,3048,1337,1627
$GC,14186,0.71,377.0,568.4,9.2,1229,14218,0.15,2.85,26.08,1.306,6,0.056,0.032,3080,2762,1533
$GC,14537,0.66,377.0,520.5,14.1,1262,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2763,1529
$GC,14857,0.61,377.0,477.7,13.2,1292,14862,0.15,2.28,0.00,0.000,4,0.104,0.050,3054,3897,1528
$GC,14885,0.61,377.0,474.3,11.8,1294,14889,0.00,2.22,0.00,0.000,6,0.000,0.032,3054,2753,1528
$GC,15209,0.61,377.0,442.3,10.2,1324,15213,0.00,2.83,0.00,0.000,4,0.000,0.047,3054,1337,1527
$GC,15241,0.66,377.0,438.9,10.2,1326,15247,0.00,2.78,0.00,0.000,6,0.000,0.031,3054,2759,1527
$GC,15567,0.72,428.6,408.2,8.2,1357,15626,0.12,0.00,54.15,1.236,6,0.061,0.000,3079,2759,1322
$GC,15946,0.72,428.6,359.8,12.7,1393,15947,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2759,1316
$GC,16274,0.72,428.6,316.9,12.7,1445,16279,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2759,1315
$GC,16614,0.72,428.6,272.3,12.4,1506,16621,0.00,2.88,0.00,0.000,4,0.000,0.045,3079,1335,1314
$GC,16645,0.72,428.6,268.6,13.7,1511,16651,0.00,2.78,0.00,0.000,6,0.000,0.031,3079,2752,1313
$GC,16985,0.72,428.6,222.1,16.3,1572,16992,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2752,1313
$GC,17326,0.72,428.6,174.2,13.8,1633,17331,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2752,1312
$GC,17662,0.72,428.6,126.8,13.5,1694,17670,0.00,2.85,0.00,0.000,4,0.000,0.046,3079,1346,1312
$GC,17694,0.72,428.6,122.7,12.4,1699,17700,0.00,2.72,0.00,0.000,6,0.000,0.031,3079,2749,1312
$GC,18024,0.72,428.6,79.8,13.7,1760,18031,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2749,1312
$GC,18356,0.72,428.6,39.0,12.3,1821,18364,0.00,2.85,0.00,0.000,4,0.000,0.046,3079,1345,1312
$GC,18382,0.72,428.6,35.9,11.3,1825,18390,0.00,2.72,0.00,0.000,6,0.000,0.031,3079,2733,1311
$GC,18517,0.72,428.6,20.3,10.3,1850,18525,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2733,1311
$GC,18651,0.72,428.6,4.2,12.0,1875,18659,0.00,2.33,0.00,0.000,4,0.000,0.048,3079,3898,1312
$STATE,18670,end climb,SURFACE_DEPTH_REACHED
$STATE,18670,begin surface coast
$FINISH,0.2,1.026309
$STATE,18687,end surface coast,CONTROL_FINISHED_OK
$STATE,18688,begin surface
$SM_CCo,18768,0.00,0.000,0,0,1310,431.97
$SM_GC,0.76,8.32,0.00,0.00,0.047,0.000,0.000,1433,2292,1310,-6.80,-0.25,431.97
$IRIDIUM_FIX,6041.65,-2713.64,010897,010126
$TT8_MAMPS,0.026845
$HUMID,1780
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,11.20
$XPDR_PINGS,933
$24V_AH,19.4,53.602
$10V_AH,9.8,40.346
$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,24.925,159.650,674.150,0.000,0.000,23.690,27.019,243.834,233.250,0.000,0.000,13.224,2966.578,10559.512,812.235,4219.010,619.081,0.000,2433.517,0.000,4223.705,0.000,0.466
$DEVICE_MAMPS,256.178,94.341,1632.943,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1322.106,1335.312,698.588,956.018,1764.974,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139112,1881
$CAP_FILE_SIZE,174073,0
$CFSIZE,260165632,241623040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,122556,6108.676,-2703.010,41,1.6,41,-18.8