version: 66.03
glider: 142
mission: 5
dive: 167
start: 5 10 108 0 59 49
data:
$ID,142
$MISSION,5
$DIVE,167
$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,325
$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,-16265.23
$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,18
$R_STBD_OVSHOOT,25
$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
$GPS1,005039,6117.732,-2629.306,38,1.6,38,-18.6
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-41.7
$GPS2,005932,6117.830,-2629.071,13,1.8,30,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6126.676,-2632.032
$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,343.6,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-0.86,-194.7,0.0,0.0,0,202,0.00,0.00,-172.23,0.000,2,0.000,0.000,1433,2288,3632
$GC,206,-0.86,-194.7,3.3,-4.2,24,230,11.93,2.85,-6.07,0.000,4,0.257,0.056,2727,881,3866
$GC,467,-0.79,-194.7,47.7,-11.5,72,475,0.00,2.78,0.00,0.000,6,0.000,0.030,2726,2298,3866
$GC,607,-0.74,-194.7,66.3,-12.6,97,612,0.17,0.00,0.00,0.000,6,0.143,0.000,2754,2304,3867
$GC,934,-0.74,-194.7,104.1,-11.9,158,942,0.00,2.85,0.00,0.000,4,0.000,0.048,2754,888,3867
$GC,1010,-0.74,-194.7,113.1,-12.4,171,1017,0.00,2.72,0.00,0.000,6,0.000,0.030,2754,2307,3867
$GC,1340,-0.74,-194.7,150.5,-10.8,232,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2307,3867
$GC,1683,-0.74,-194.7,186.5,-10.6,293,1689,0.00,2.85,0.00,0.000,4,0.000,0.048,2754,880,3867
$GC,1739,-0.74,-194.7,192.8,-10.8,303,1745,0.00,2.70,0.00,0.000,6,0.000,0.030,2754,2288,3867
$GC,2081,-0.74,-194.7,229.2,-10.7,364,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2288,3867
$GC,2425,-0.74,-194.7,266.5,-10.5,425,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2289,3867
$GC,2764,-0.74,-194.7,303.4,-10.7,486,2770,0.00,2.80,0.00,0.000,4,0.000,0.048,2754,885,3867
$GC,2815,-0.78,-194.7,308.9,-10.8,495,2821,0.00,2.67,0.00,0.000,6,0.000,0.031,2754,2280,3867
$GC,3155,-0.78,-194.7,345.4,-10.9,556,3164,0.00,2.85,0.00,0.000,4,0.000,0.046,2754,3704,3866
$GC,3229,-0.78,-194.7,353.7,-11.0,566,3236,0.00,2.80,0.00,0.000,6,0.000,0.035,2754,2269,3866
$GC,3555,-0.78,-194.7,387.3,-10.2,597,3560,0.00,2.75,0.00,0.000,4,0.000,0.050,2754,883,3866
$GC,3617,-0.82,-194.7,393.9,-10.6,602,3621,0.00,2.67,0.00,0.000,6,0.000,0.029,2754,2280,3866
$GC,3944,-0.82,-194.7,426.6,-10.1,632,3948,0.00,2.83,0.00,0.000,4,0.000,0.045,2755,3706,3866
$GC,4020,-0.82,-194.7,434.8,-10.4,638,4027,0.00,2.80,0.00,0.000,6,0.000,0.035,2754,2269,3866
$GC,4346,-0.82,-194.7,467.7,-10.2,669,4350,0.00,2.75,0.00,0.000,4,0.000,0.051,2754,884,3866
$GC,4407,-0.87,-194.7,474.4,-10.5,674,4412,0.12,2.67,0.00,0.000,6,0.061,0.029,2730,2279,3866
$GC,4731,-0.87,-194.7,514.3,-12.1,704,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2280,3866
$GC,5050,-0.87,-194.7,553.3,-12.7,734,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2280,3866
$GC,5368,-0.87,-194.7,593.6,-12.8,764,5373,0.00,2.80,0.00,0.000,4,0.000,0.051,2729,891,3866
$GC,5456,-0.87,-194.7,605.4,-13.3,770,5460,0.00,2.67,0.00,0.000,6,0.000,0.032,2729,2272,3865
$GC,5783,-0.87,-194.7,647.2,-13.0,786,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2274,3866
$GC,6092,-0.87,-194.7,686.3,-12.2,801,6097,0.00,2.85,0.00,0.000,4,0.000,0.059,2729,888,3865
$GC,6164,-0.87,-194.7,695.1,-11.9,804,6168,0.00,2.70,0.00,0.000,6,0.000,0.044,2729,2254,3865
$GC,6485,-0.87,-194.7,731.3,-11.0,820,6490,0.00,3.05,0.00,0.000,4,0.000,0.069,2729,3707,3865
$GC,6562,-0.87,-194.7,740.1,-11.1,823,6569,0.00,2.92,0.00,0.000,6,0.000,0.052,2729,2277,3865
$GC,6878,-0.87,-194.7,775.7,-11.5,839,6883,0.00,3.05,0.00,0.000,4,0.000,0.091,2729,891,3865
$GC,6977,-0.87,-194.7,787.5,-11.7,843,6984,0.00,2.88,0.00,0.000,6,0.000,0.064,2729,2261,3864
$GC,7293,-0.87,-194.7,821.8,-10.7,859,7298,0.00,3.28,0.00,0.000,4,0.000,0.099,2729,3710,3865
$GC,7355,-0.87,-194.7,828.5,-11.1,862,7360,0.00,3.20,0.00,0.000,6,0.000,0.089,2729,2279,3864
$GC,7681,-0.87,-194.7,861.6,-9.7,878,7686,0.00,3.05,0.00,0.000,4,0.000,0.089,2729,880,3864
$GC,7724,-0.87,-194.7,866.0,-10.1,880,7729,0.00,2.75,0.00,0.000,6,0.000,0.031,2729,2298,3864
$GC,8052,-0.87,-194.7,898.2,-9.9,896,8053,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2298,3864
$GC,8360,-0.87,-194.7,928.7,-9.7,911,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2300,3863
$GC,8670,-0.87,-194.7,959.0,-9.5,926,8671,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2300,3863
$GC,8979,-0.87,-194.7,989.7,-10.5,941,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2300,3863
$STATE,8997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8997,begin apogee
$GC,9003,-0.21,0.0,992.0,10.8,942,9214,0.88,0.00,206.68,1.631,6,0.130,0.000,2867,2746,3071
$STATE,9214,end apogee,CONTROL_FINISHED_OK
$STATE,9214,begin climb
$GC,9216,0.86,194.7,999.5,0.0,952,9442,1.40,2.60,214.75,1.589,4,0.079,0.058,3099,3891,2277
$GC,9561,0.70,194.7,962.7,15.5,968,9566,0.17,2.40,0.00,0.000,6,0.127,0.035,3076,2730,2275
$GC,9882,0.59,194.7,923.0,11.5,984,9887,0.17,2.45,0.00,0.000,4,0.119,0.054,3047,3903,2274
$GC,9954,0.56,208.7,915.8,9.5,987,9974,0.00,2.25,14.93,1.371,6,0.000,0.033,3047,2768,2221
$GC,10292,0.55,229.9,885.4,9.3,1004,10317,0.00,0.00,23.20,1.457,6,0.000,0.000,3047,2765,2133
$GC,10619,0.55,229.9,850.6,11.1,1020,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2763,2131
$GC,10928,0.55,229.9,816.7,10.6,1035,10932,0.00,2.30,0.00,0.000,4,0.000,0.053,3048,3899,2130
$GC,10966,0.55,229.9,812.5,11.5,1036,10972,0.00,2.22,0.00,0.000,6,0.000,0.032,3047,2760,2130
$GC,11281,0.55,229.9,780.1,10.0,1052,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2758,2130
$GC,11591,0.58,261.0,751.3,8.9,1067,11632,0.00,2.45,32.38,1.440,4,0.000,0.052,3047,3903,2004
$GC,11643,0.65,311.5,746.6,8.2,1069,11703,0.00,2.28,53.92,1.454,6,0.000,0.031,3047,2761,1800
$GC,12026,0.65,311.5,711.1,10.1,1088,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2760,1794
$GC,12334,0.65,311.5,678.3,10.6,1103,12338,0.00,2.33,0.00,0.000,4,0.000,0.051,3047,3901,1793
$GC,12351,0.65,311.5,676.5,10.8,1104,12355,0.00,2.22,0.00,0.000,6,0.000,0.031,3047,2760,1792
$GC,12677,0.65,314.1,642.9,9.9,1120,12678,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2759,1792
$GC,12987,0.72,374.6,616.0,7.9,1135,13060,0.15,2.47,65.45,1.378,4,0.060,0.051,3077,3897,1542
$GC,13067,0.68,374.6,607.6,10.9,1139,13071,0.00,2.28,0.00,0.000,6,0.000,0.031,3077,2769,1541
$GC,13392,0.64,374.6,570.6,12.7,1166,13393,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2766,1536
$GC,13710,0.59,374.6,528.7,13.7,1196,13715,0.15,2.30,0.00,0.000,4,0.109,0.049,3050,3899,1534
$GC,13742,0.59,374.6,524.5,10.7,1198,13749,0.00,2.17,0.00,0.000,6,0.000,0.031,3050,2778,1534
$GC,14069,0.67,394.8,493.9,9.3,1229,14095,0.00,2.92,20.62,1.225,4,0.000,0.048,3050,1338,1460
$GC,14107,0.75,415.5,490.2,9.3,1232,14141,0.17,2.85,23.10,1.244,6,0.049,0.030,3087,2776,1376
$GC,14460,0.68,415.5,441.6,13.7,1265,14461,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,2776,1372
$GC,14778,0.62,415.5,396.6,14.3,1295,14783,0.15,2.20,0.00,0.000,4,0.110,0.048,3061,3891,1371
$GC,14809,0.62,415.5,392.3,11.2,1297,14816,0.00,2.17,0.00,0.000,6,0.000,0.031,3061,2783,1371
$GC,15137,0.68,419.8,361.0,9.9,1328,15150,0.00,2.92,4.85,0.801,4,0.000,0.048,3061,1341,1359
$GC,15162,0.73,419.8,358.3,10.2,1330,15167,0.00,2.80,0.00,0.000,6,0.000,0.031,3061,2774,1358
$GC,15498,0.80,438.3,326.3,9.4,1382,15528,0.17,2.95,20.75,1.128,4,0.052,0.045,3100,1345,1283
$GC,15542,0.74,438.3,320.9,14.0,1389,15549,0.00,2.80,0.00,0.000,6,0.000,0.031,3100,2758,1283
$GC,15884,0.65,438.3,265.2,16.4,1450,15890,0.20,2.28,0.00,0.000,4,0.110,0.048,3066,3901,1281
$GC,15918,0.65,438.3,260.2,12.6,1456,15926,0.00,2.22,0.00,0.000,6,0.000,0.031,3066,2766,1280
$GC,16262,0.70,438.3,225.1,10.5,1517,16268,0.00,2.83,0.00,0.000,4,0.000,0.045,3066,1345,1279
$GC,16288,0.75,438.3,222.4,11.0,1521,16294,0.00,2.78,0.00,0.000,6,0.000,0.031,3066,2765,1279
$GC,16631,0.81,441.8,187.7,9.9,1582,16643,0.15,2.88,4.55,0.712,4,0.054,0.044,3097,1335,1269
$GC,16654,0.81,441.8,184.8,11.4,1586,16661,0.00,2.75,0.00,0.000,6,0.000,0.031,3097,2750,1268
$GC,16994,0.74,441.8,131.9,16.0,1647,17000,0.00,2.28,0.00,0.000,4,0.000,0.048,3097,3888,1268
$GC,17022,0.69,441.8,127.0,15.5,1652,17029,0.12,2.20,0.00,0.000,6,0.097,0.032,3074,2765,1268
$GC,17356,0.69,441.8,89.5,10.1,1713,17362,0.00,2.83,0.00,0.000,4,0.000,0.047,3074,1336,1268
$GC,17373,0.69,441.8,87.4,11.9,1716,17381,0.00,2.78,0.00,0.000,6,0.000,0.031,3074,2749,1268
$GC,17708,0.69,441.8,52.2,13.0,1777,17714,0.00,2.83,0.00,0.000,4,0.000,0.045,3074,1338,1268
$GC,17732,0.69,441.8,49.5,11.2,1781,17740,0.00,2.75,0.00,0.000,6,0.000,0.031,3074,2742,1268
$GC,17870,0.75,459.5,36.3,9.4,1806,17900,0.00,2.85,19.42,0.943,4,0.000,0.045,3074,1349,1196
$GC,17909,0.79,459.5,32.1,10.4,1811,17917,0.00,2.72,0.00,0.000,6,0.000,0.031,3074,2725,1195
$GC,18046,0.85,459.6,18.6,10.0,1836,18054,0.15,0.00,0.00,0.000,6,0.052,0.000,3111,2725,1195
$STATE,18148,end climb,SURFACE_DEPTH_REACHED
$STATE,18148,begin surface coast
$FINISH,0.0,1.012994
$STATE,18160,end surface coast,CONTROL_FINISHED_OK
$STATE,18160,begin surface
$SM_CCo,18238,0.00,0.000,0,0,1192,460.92
$SM_GC,0.61,8.70,0.00,0.00,0.054,0.000,0.000,1436,2301,1192,-6.80,0.03,460.92
$IRIDIUM_FIX,6050.49,-2631.91,030897,191902
$TT8_MAMPS,0.026078
$HUMID,1770
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,11.50
$XPDR_PINGS,861
$24V_AH,19.4,57.660
$10V_AH,9.7,42.837
$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,24.975,172.675,704.600,0.000,0.000,24.286,36.399,317.425,215.250,0.000,0.000,32.391,2941.019,9993.190,845.999,4268.984,701.531,0.000,2515.015,0.000,4242.687,0.000,0.465
$DEVICE_MAMPS,256.945,98.943,1631.409,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1293.413,1324.894,691.465,933.012,1725.942,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,136272,1857
$CAP_FILE_SIZE,180455,0
$CFSIZE,260165632,240443392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100508,060503,6121.703,-2630.608,39,1.7,40,-18.6