version: 66.03
glider: 142
mission: 5
dive: 156
start: 5 7 108 12 33 23
data:
$ID,142
$MISSION,5
$DIVE,156
$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,-16004.605
$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,17
$R_STBD_OVSHOOT,21
$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
$GPS1,122556,6108.676,-2703.010,41,1.6,41,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-51.7
$GPS2,123303,6108.670,-2702.947,9,1.9,9,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.364,-2658.059
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,26,-0.86,-194.7,0.0,0.0,0,158,0.00,0.00,-129.40,0.000,2,0.000,0.000,1433,2291,3491
$GC,161,-0.86,-194.7,3.0,-4.3,18,192,11.55,2.88,-10.98,0.000,4,0.249,0.052,2726,3702,3865
$GC,290,-0.81,-194.7,21.7,-13.1,40,298,0.00,2.80,0.00,0.000,6,0.000,0.035,2726,2295,3866
$GC,425,-0.75,-194.7,39.3,-12.9,65,433,0.15,0.00,0.00,0.000,6,0.139,0.000,2750,2295,3866
$GC,558,-0.75,-194.7,55.1,-11.0,90,566,0.00,2.85,0.00,0.000,4,0.000,0.050,2750,885,3866
$GC,633,-0.75,-194.7,63.3,-11.1,103,639,0.00,2.72,0.00,0.000,6,0.000,0.029,2750,2298,3866
$GC,963,-0.75,-194.7,99.1,-10.9,164,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2298,3866
$GC,1296,-0.75,-194.7,135.1,-11.0,225,1303,0.00,2.83,0.00,0.000,4,0.000,0.048,2750,883,3866
$GC,1336,-0.75,-194.7,139.5,-11.4,232,1343,0.00,2.72,0.00,0.000,6,0.000,0.031,2750,2285,3866
$GC,1677,-0.75,-194.7,176.1,-10.7,293,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2285,3866
$GC,2015,-0.75,-194.7,211.6,-10.1,354,2021,0.00,2.80,0.00,0.000,4,0.000,0.048,2750,884,3866
$GC,2045,-0.75,-194.7,214.5,-10.8,359,2051,0.00,2.70,0.00,0.000,6,0.000,0.031,2750,2286,3866
$GC,2383,-0.75,-194.7,249.0,-10.2,420,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2286,3866
$GC,2725,-0.75,-194.7,282.6,-10.4,481,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2286,3866
$GC,3063,-0.75,-194.7,318.5,-11.0,542,3069,0.00,2.80,0.00,0.000,4,0.000,0.046,2750,3700,3866
$GC,3093,-0.75,-194.7,321.5,-11.2,547,3100,0.00,2.78,0.00,0.000,6,0.000,0.033,2750,2274,3866
$GC,3432,-0.75,-194.7,358.3,-10.9,601,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2273,3866
$GC,3757,-0.75,-194.7,395.2,-11.5,632,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2273,3866
$GC,4075,-0.75,-194.7,431.5,-11.4,662,4080,0.00,2.88,0.00,0.000,4,0.000,0.046,2750,3707,3866
$GC,4096,-0.75,-194.7,434.2,-11.9,663,4103,0.00,2.78,0.00,0.000,6,0.000,0.034,2750,2283,3866
$GC,4423,-0.75,-194.7,471.2,-10.9,694,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3866
$GC,4740,-0.75,-194.7,504.3,-9.6,724,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2283,3866
$GC,5059,-0.75,-194.7,535.2,-9.8,754,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2282,3866
$GC,5377,-0.75,-194.7,564.9,-9.2,784,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2282,3866
$GC,5696,-0.75,-194.7,593.9,-8.9,814,5701,0.00,2.88,0.00,0.000,4,0.000,0.051,2750,3699,3866
$GC,5724,-0.75,-194.7,596.5,-9.4,816,5729,0.00,2.78,0.00,0.000,6,0.000,0.036,2750,2288,3866
$GC,6041,-0.75,-194.7,625.8,-9.5,833,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2288,3866
$GC,6350,-0.75,-194.7,655.4,-10.1,848,6354,0.00,2.90,0.00,0.000,4,0.000,0.056,2750,3697,3866
$GC,6398,-0.75,-194.7,660.7,-10.6,850,6403,0.00,2.80,0.00,0.000,6,0.000,0.041,2750,2291,3865
$GC,6720,-0.75,-194.7,692.0,-9.9,866,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2291,3866
$GC,7030,-0.75,-194.7,723.4,-9.7,881,7034,0.00,2.97,0.00,0.000,4,0.000,0.067,2750,3699,3865
$GC,7056,-0.75,-194.7,726.2,-10.2,882,7061,0.00,2.85,0.00,0.000,6,0.000,0.050,2750,2304,3865
$GC,7377,-0.75,-194.7,755.6,-8.9,898,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2303,3865
$GC,7687,-0.75,-194.7,783.8,-9.0,913,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3865
$GC,7996,-0.75,-194.7,807.8,-7.5,928,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2304,3865
$GC,8305,-0.75,-194.7,832.5,-8.2,943,8310,0.00,3.22,0.00,0.000,4,0.000,0.105,2750,3692,3864
$GC,8345,-0.75,-194.7,836.0,-9.6,945,8350,0.00,3.10,0.00,0.000,6,0.000,0.092,2750,2321,3864
$GC,8671,-0.75,-194.7,867.1,-9.6,961,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2320,3864
$GC,8980,-0.75,-194.7,895.9,-9.0,976,8985,0.00,3.42,0.00,0.000,4,0.000,0.131,2750,3695,3864
$GC,9030,-0.75,-194.7,900.4,-8.5,978,9034,0.00,2.78,0.00,0.000,6,0.000,0.039,2750,2296,3864
$GC,9345,-0.75,-194.7,926.7,-8.1,993,9350,0.00,2.88,0.00,0.000,4,0.000,0.054,2750,3699,3864
$GC,9372,-0.75,-194.7,929.0,-8.8,994,9376,0.00,2.72,0.00,0.000,6,0.000,0.038,2750,2325,3864
$GC,9688,-0.75,-194.7,954.2,-8.2,1009,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2324,3864
$GC,9996,-0.75,-194.7,980.6,-8.6,1024,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2324,3863
$STATE,10118,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10118,begin apogee
$GC,10124,-0.21,0.0,991.7,9.0,1030,10334,0.73,0.00,206.25,1.632,6,0.119,0.000,2868,2746,3071
$STATE,10334,end apogee,CONTROL_FINISHED_OK
$STATE,10335,begin climb
$GC,10337,0.86,194.7,998.2,0.0,1040,10563,1.40,2.53,214.98,1.591,4,0.078,0.058,3099,3887,2276
$GC,10747,0.70,194.7,950.1,15.0,1059,10752,0.17,2.35,0.00,0.000,6,0.126,0.034,3075,2739,2273
$GC,11068,0.59,194.7,911.0,12.6,1075,11073,0.17,2.42,0.00,0.000,4,0.121,0.052,3048,3903,2273
$GC,11123,0.59,194.7,904.6,10.4,1077,11129,0.00,2.28,0.00,0.000,6,0.000,0.033,3048,2770,2272
$GC,11439,0.57,216.9,874.6,9.2,1093,11464,0.00,0.00,22.88,1.446,6,0.000,0.000,3048,2770,2186
$GC,11768,0.57,216.9,842.0,10.4,1109,11772,0.00,2.33,0.00,0.000,4,0.000,0.053,3047,3900,2184
$GC,11811,0.57,216.9,837.0,11.7,1111,11815,0.00,2.25,0.00,0.000,6,0.000,0.032,3048,2770,2184
$GC,12138,0.57,216.9,802.9,10.4,1127,12142,0.00,2.88,0.00,0.000,4,0.000,0.048,3047,1340,2184
$GC,12181,0.58,226.0,798.3,9.7,1129,12198,0.00,2.83,10.38,1.280,6,0.000,0.033,3047,2773,2149
$GC,12507,0.61,245.9,766.3,9.3,1145,12530,0.00,0.00,21.45,1.408,6,0.000,0.000,3047,2773,2068
$GC,12836,0.62,256.7,735.3,9.6,1161,12851,0.00,0.00,12.65,1.302,6,0.000,0.000,3047,2773,2024
$GC,13145,0.62,256.7,702.8,10.8,1176,13150,0.00,2.92,0.00,0.000,4,0.000,0.046,3048,1338,2022
$GC,13177,0.62,256.7,699.2,10.8,1177,13183,0.00,2.83,0.00,0.000,6,0.000,0.034,3048,2765,2022
$GC,13493,0.62,256.7,664.6,10.8,1193,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2765,2022
$GC,13802,0.65,279.7,634.3,9.2,1208,13828,0.00,0.00,24.40,1.340,6,0.000,0.000,3047,2765,1930
$GC,14131,0.67,299.9,603.4,9.3,1224,14160,0.00,3.00,21.48,1.302,4,0.000,0.046,3047,1340,1848
$GC,14184,0.70,321.9,598.5,9.2,1227,14216,0.12,2.85,24.40,1.318,6,0.059,0.032,3072,2762,1758
$GC,14533,0.65,321.9,554.4,12.9,1260,14537,0.00,2.30,0.00,0.000,4,0.000,0.051,3072,3902,1753
$GC,14566,0.65,321.9,549.8,13.5,1262,14572,0.00,2.28,0.00,0.000,6,0.000,0.031,3072,2753,1752
$GC,14892,0.60,321.9,506.6,13.3,1293,14897,0.12,2.33,0.00,0.000,4,0.112,0.048,3054,3896,1752
$GC,14924,0.60,321.9,502.2,11.7,1295,14931,0.00,2.25,0.00,0.000,6,0.000,0.032,3054,2755,1752
$GC,15251,0.60,321.9,466.4,10.8,1326,15255,0.00,2.83,0.00,0.000,4,0.000,0.047,3054,1339,1752
$GC,15282,0.60,321.9,462.7,10.8,1328,15291,0.00,2.80,0.00,0.000,6,0.000,0.031,3054,2751,1752
$GC,15609,0.60,321.9,428.1,10.9,1359,15610,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2753,1751
$GC,15926,0.60,321.9,393.3,10.7,1389,15927,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2752,1751
$GC,16245,0.60,321.9,359.7,10.4,1419,16246,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2753,1751
$GC,16576,0.60,321.9,326.6,10.3,1469,16581,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2752,1751
$GC,16914,0.62,342.4,292.8,9.3,1530,16944,0.00,2.92,20.23,1.105,4,0.000,0.045,3054,1339,1674
$GC,16967,0.67,342.8,287.6,10.0,1539,16973,0.00,2.80,0.00,0.000,6,0.000,0.031,3054,2759,1673
$GC,17306,0.69,362.3,256.8,9.3,1600,17330,0.00,0.00,21.30,1.093,6,0.000,0.000,3054,2759,1593
$GC,17663,0.75,414.9,227.4,8.2,1664,17722,0.15,0.00,54.12,1.112,6,0.056,0.000,3084,2759,1378
$GC,18056,0.75,414.9,178.1,13.8,1734,18061,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2759,1371
$GC,18393,0.75,414.9,134.4,12.5,1795,18398,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2759,1370
$GC,18720,0.75,414.9,91.3,12.9,1856,18729,0.00,2.90,0.00,0.000,4,0.000,0.046,3085,1338,1369
$GC,18755,0.75,414.9,87.4,12.1,1861,18761,0.00,2.75,0.00,0.000,6,0.000,0.031,3085,2748,1368
$GC,19084,0.75,414.9,44.8,12.5,1922,19092,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2749,1368
$GC,19219,0.75,414.9,27.2,13.0,1947,19226,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2749,1368
$GC,19353,0.75,414.9,9.7,12.2,1972,19360,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2748,1368
$STATE,19413,end climb,SURFACE_DEPTH_REACHED
$STATE,19413,begin surface coast
$FINISH,0.1,1.016319
$STATE,19430,end surface coast,CONTROL_FINISHED_OK
$STATE,19430,begin surface
$SM_CCo,19508,0.00,0.000,0,0,1365,418.48
$SM_GC,0.74,8.32,0.00,0.00,0.044,0.000,0.000,1434,2286,1365,-6.79,-0.40,418.48
$IRIDIUM_FIX,6041.65,-2705.73,010897,070715
$TT8_MAMPS,0.026845
$HUMID,1771
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,11.20
$XPDR_PINGS,934
$24V_AH,19.4,53.918
$10V_AH,9.8,40.554
$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,22.900,128.250,654.500,0.000,0.000,28.943,32.520,228.751,233.500,0.000,0.000,11.125,3104.002,11032.727,773.346,4403.239,604.990,0.000,2437.875,0.000,4399.876,0.000,0.466
$DEVICE_MAMPS,249.275,131.157,1632.176,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1394.363,1409.847,711.519,981.609,1798.578,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145451,1986
$CAP_FILE_SIZE,174644,0
$CFSIZE,260165632,241516544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070508,175938,6110.157,-2654.712,31,1.6,31,-18.7