version: 66.03
glider: 142
mission: 5
dive: 68
start: 4 17 108 22 31 41
data:
$ID,142
$MISSION,5
$DIVE,68
$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,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,359
$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,-14029.354
$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,21
$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
$GPS1,222218,5913.294,-2234.135,42,1.4,52,-15.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-43.7
$GPS2,223123,5913.203,-2234.267,11,99.0,30,-15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5924.000,-2234.363
$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,14.4,20000,-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,-136.30,0.000,2,0.000,0.000,1435,2284,3674
$GC,168,-0.86,-194.7,3.6,-5.2,19,192,10.98,2.85,-4.78,0.000,4,0.242,0.048,2730,3713,3862
$GC,428,-0.80,-194.7,48.2,-14.8,67,436,0.00,2.80,0.00,0.000,6,0.000,0.034,2730,2302,3863
$GC,566,-0.74,-194.7,66.6,-12.9,92,574,0.17,2.85,0.00,0.000,4,0.142,0.049,2756,886,3863
$GC,705,-0.74,-194.7,81.7,-11.1,117,712,0.00,2.67,0.00,0.000,6,0.000,0.028,2756,2279,3864
$GC,843,-0.74,-194.7,96.5,-11.3,142,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2279,3863
$GC,982,-0.74,-194.7,111.9,-10.9,167,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2279,3863
$GC,1116,-0.74,-194.7,127.2,-11.5,192,1124,0.00,2.80,0.00,0.000,4,0.000,0.047,2756,887,3863
$GC,1170,-0.74,-194.7,133.4,-11.3,201,1176,0.00,2.62,0.00,0.000,6,0.000,0.029,2756,2261,3863
$GC,1307,-0.74,-194.7,149.1,-11.6,226,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2262,3863
$GC,1447,-0.74,-194.7,165.2,-11.5,251,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2261,3863
$GC,1774,-0.74,-194.7,202.0,-10.5,312,1781,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2262,3863
$GC,2108,-0.74,-194.7,236.4,-10.7,373,2115,0.00,2.83,0.00,0.000,4,0.000,0.044,2756,3700,3863
$GC,2158,-0.74,-194.7,241.8,-10.7,382,2166,0.00,2.85,0.00,0.000,6,0.000,0.033,2756,2244,3863
$GC,2492,-0.74,-194.7,274.6,-9.8,443,2498,0.00,2.67,0.00,0.000,4,0.000,0.049,2756,884,3863
$GC,2527,-0.74,-194.7,278.4,-10.4,449,2533,0.00,2.62,0.00,0.000,6,0.000,0.028,2756,2264,3863
$GC,2856,-0.74,-194.7,311.0,-10.1,510,2864,0.00,2.85,0.00,0.000,4,0.000,0.044,2756,3704,3863
$GC,2909,-0.74,-194.7,316.2,-10.2,519,2916,0.00,2.83,0.00,0.000,6,0.000,0.033,2756,2243,3863
$GC,3241,-0.74,-194.7,350.0,-10.5,580,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2243,3863
$GC,3582,-0.74,-194.7,386.8,-10.7,641,3588,0.00,2.90,0.00,0.000,4,0.000,0.045,2756,3708,3863
$GC,3632,-0.74,-194.7,392.4,-10.9,650,3638,0.00,2.80,0.00,0.000,6,0.000,0.033,2756,2259,3863
$GC,3973,-0.74,-194.7,429.4,-10.9,711,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2257,3863
$GC,4314,-0.74,-194.7,466.9,-11.2,772,4320,0.00,2.88,0.00,0.000,4,0.000,0.046,2756,3707,3863
$GC,4368,-0.74,-194.7,472.7,-11.1,781,4374,0.00,2.80,0.00,0.000,6,0.000,0.034,2756,2260,3863
$GC,4707,-0.74,-194.7,509.1,-10.4,842,4713,0.00,2.70,0.00,0.000,4,0.000,0.051,2756,892,3863
$GC,4747,-0.74,-194.7,513.4,-10.5,849,4754,0.00,2.62,0.00,0.000,6,0.000,0.030,2756,2276,3863
$GC,5090,-0.74,-194.7,548.1,-9.6,910,5096,0.00,2.83,0.00,0.000,4,0.000,0.049,2756,3705,3863
$GC,5159,-0.74,-194.7,555.0,-9.8,922,5165,0.00,2.80,0.00,0.000,6,0.000,0.035,2756,2266,3863
$GC,5498,-0.74,-194.7,588.7,-9.9,983,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2265,3863
$GC,5827,-0.74,-194.7,620.5,-9.6,1024,5832,0.00,2.90,0.00,0.000,4,0.000,0.053,2756,3703,3863
$GC,5883,-0.74,-194.7,626.1,-10.0,1028,5889,0.00,2.78,0.00,0.000,6,0.000,0.039,2756,2288,3863
$GC,6209,-0.74,-194.7,656.4,-9.2,1059,6213,0.00,2.83,0.00,0.000,4,0.000,0.063,2756,890,3862
$GC,6259,-0.78,-194.7,661.5,-10.1,1063,6264,0.00,2.70,0.00,0.000,6,0.000,0.035,2756,2286,3862
$GC,6585,-0.78,-194.7,691.3,-9.1,1093,6589,0.00,2.90,0.00,0.000,4,0.000,0.063,2756,3709,3862
$GC,6658,-0.78,-194.7,698.0,-9.5,1099,6662,0.00,2.85,0.00,0.000,6,0.000,0.048,2756,2288,3861
$GC,6983,-0.78,-194.7,726.0,-8.7,1129,6988,0.00,2.92,0.00,0.000,4,0.000,0.076,2756,883,3861
$GC,7015,-0.78,-194.7,729.1,-9.6,1131,7022,0.00,2.80,0.00,0.000,6,0.000,0.046,2756,2292,3861
$GC,7343,-0.78,-194.7,757.8,-9.0,1162,7348,0.00,3.00,0.00,0.000,4,0.000,0.084,2756,3714,3860
$GC,7409,-0.78,-194.7,764.2,-9.3,1167,7416,0.00,2.92,0.00,0.000,6,0.000,0.061,2756,2301,3861
$GC,7736,-0.78,-194.7,792.3,-8.3,1198,7740,0.00,3.10,0.00,0.000,4,0.000,0.097,2756,884,3860
$GC,7775,-0.82,-194.7,795.8,-9.2,1201,7780,0.00,2.97,0.00,0.000,6,0.000,0.071,2756,2301,3859
$GC,8101,-0.82,-194.7,822.4,-8.1,1231,8106,0.00,3.15,0.00,0.000,4,0.000,0.102,2756,3717,3860
$GC,8167,-0.82,-194.7,828.2,-8.7,1236,8173,0.00,3.10,0.00,0.000,6,0.000,0.089,2756,2309,3859
$GC,8493,-0.82,-194.7,855.8,-8.8,1267,8498,0.00,3.20,0.00,0.000,4,0.000,0.106,2756,870,3859
$GC,8525,-0.82,-194.7,859.0,-9.9,1269,8532,0.00,2.83,0.00,0.000,6,0.000,0.031,2756,2336,3859
$GC,8852,-0.82,-194.7,886.9,-8.4,1300,8856,0.00,2.75,0.00,0.000,4,0.000,0.056,2756,3705,3859
$GC,8906,-0.82,-194.7,891.9,-8.9,1304,8913,0.00,2.78,0.00,0.000,6,0.000,0.041,2756,2301,3858
$GC,9233,-0.82,-194.7,920.1,-8.7,1335,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2299,3859
$GC,9550,-0.82,-194.7,948.5,-8.9,1365,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2299,3858
$GC,9869,-0.82,-194.7,976.1,-8.4,1395,9873,0.00,2.88,0.00,0.000,4,0.000,0.058,2756,3703,3858
$GC,9941,-0.82,-194.7,982.4,-8.5,1401,9946,0.00,2.75,0.00,0.000,6,0.000,0.043,2756,2320,3857
$STATE,10029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10030,begin apogee
$GC,10036,-0.21,0.0,990.1,8.7,1409,10243,0.65,0.00,199.30,1.582,6,0.119,0.000,2867,2751,3071
$STATE,10244,end apogee,CONTROL_FINISHED_OK
$STATE,10244,begin climb
$GC,10246,0.86,194.7,995.8,0.0,1430,10464,1.38,2.62,208.02,1.519,4,0.082,0.058,3099,3897,2277
$GC,10628,0.69,194.7,949.2,15.9,1466,10633,0.17,2.40,0.00,0.000,6,0.129,0.035,3076,2740,2275
$GC,10952,0.57,194.7,906.2,12.9,1496,10957,0.17,2.45,0.00,0.000,4,0.124,0.054,3047,3904,2274
$GC,11018,0.52,194.7,898.4,11.3,1501,11025,0.00,2.28,0.00,0.000,6,0.000,0.035,3047,2766,2274
$GC,11345,0.47,194.7,864.9,10.1,1532,11346,0.15,0.00,0.00,0.000,6,0.115,0.000,3025,2765,2273
$GC,11663,0.53,245.2,838.0,8.2,1562,11716,0.00,0.00,51.53,1.457,6,0.000,0.000,3025,2765,2071
$GC,12030,0.59,290.2,806.3,8.4,1597,12085,0.12,3.08,47.35,1.427,4,0.064,0.050,3048,1339,1886
$GC,12091,0.59,290.2,799.9,11.3,1603,12096,0.00,2.95,0.00,0.000,6,0.000,0.033,3048,2763,1885
$GC,12415,0.59,290.2,765.8,10.4,1633,12416,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2764,1882
$GC,12734,0.59,290.2,732.6,10.3,1663,12735,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2764,1880
$GC,13053,0.59,290.2,699.6,10.0,1693,13057,0.00,2.90,0.00,0.000,4,0.000,0.048,3048,1335,1880
$GC,13062,0.59,290.2,698.5,10.2,1693,13069,0.00,2.83,0.00,0.000,6,0.000,0.032,3048,2768,1879
$GC,13390,0.59,293.9,665.8,9.9,1724,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2770,1879
$GC,13707,0.59,293.9,632.9,10.6,1754,13708,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2770,1879
$GC,14027,0.60,303.0,600.0,9.7,1784,14044,0.00,0.00,12.38,1.192,6,0.000,0.000,3048,2770,1835
$GC,14380,0.61,311.1,565.2,9.7,1847,14399,0.00,2.95,9.90,1.142,4,0.000,0.046,3048,1339,1801
$GC,14405,0.63,321.2,562.8,9.7,1851,14423,0.00,2.83,12.12,1.193,6,0.000,0.032,3048,2770,1761
$GC,14758,0.64,337.1,529.2,9.4,1914,14782,0.00,0.00,17.40,1.210,6,0.000,0.000,3048,2770,1695
$GC,15116,0.65,342.1,493.2,9.8,1978,15128,0.00,2.92,6.22,0.963,4,0.000,0.046,3048,1337,1675
$GC,15136,0.65,342.1,491.2,10.5,1981,15142,0.00,2.80,0.00,0.000,6,0.000,0.031,3048,2752,1675
$GC,15477,0.68,364.8,457.8,9.2,2042,15506,0.00,0.00,24.75,1.190,6,0.000,0.000,3048,2752,1583
$GC,15841,0.70,382.7,422.5,9.4,2107,15865,0.12,0.00,19.20,1.138,6,0.058,0.000,3074,2752,1510
$GC,16200,0.70,382.7,377.0,12.4,2171,16206,0.00,2.28,0.00,0.000,4,0.000,0.049,3074,3893,1506
$GC,16216,0.70,382.7,375.2,12.5,2173,16222,0.00,2.25,0.00,0.000,6,0.000,0.030,3074,2737,1506
$GC,16552,0.70,382.7,333.3,12.9,2234,16559,0.00,2.35,0.00,0.000,4,0.000,0.048,3074,3888,1506
$GC,16583,0.70,382.7,329.5,12.2,2239,16589,0.00,2.17,0.00,0.000,6,0.000,0.031,3074,2761,1506
$GC,16911,0.70,382.7,288.3,12.2,2300,16919,0.00,2.30,0.00,0.000,4,0.000,0.048,3074,3894,1505
$GC,16933,0.70,382.7,285.7,13.3,2303,16938,0.00,2.15,0.00,0.000,6,0.000,0.030,3074,2773,1505
$GC,17261,0.70,382.7,244.6,13.0,2364,17268,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2770,1504
$GC,17593,0.70,382.7,205.4,10.9,2425,17599,0.00,2.25,0.00,0.000,4,0.000,0.048,3074,3904,1505
$GC,17628,0.70,382.7,201.2,10.8,2431,17634,0.00,2.15,0.00,0.000,6,0.000,0.030,3074,2775,1504
$GC,17958,0.70,382.7,162.0,11.1,2492,17966,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2772,1504
$GC,18291,0.70,382.7,120.7,11.9,2553,18297,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2769,1504
$GC,18426,0.70,382.7,103.8,12.7,2578,18434,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2768,1504
$GC,18567,0.70,382.7,86.6,13.0,2603,18573,0.00,2.80,0.00,0.000,4,0.000,0.044,3074,1343,1504
$GC,18581,0.70,382.7,84.8,11.9,2605,18587,0.00,2.78,0.00,0.000,6,0.000,0.029,3074,2785,1504
$GC,18716,0.71,394.2,68.5,9.6,2630,18730,0.00,0.00,11.50,0.857,6,0.000,0.000,3074,2785,1464
$GC,18862,0.73,407.9,54.4,9.5,2656,18882,0.00,0.00,15.45,0.910,6,0.000,0.000,3074,2785,1407
$GC,19010,0.76,434.8,40.4,9.1,2683,19047,0.00,2.97,27.75,0.932,4,0.000,0.044,3074,1351,1297
$GC,19055,0.76,434.8,35.7,11.4,2689,19063,0.00,2.85,0.00,0.000,6,0.000,0.029,3074,2772,1296
$GC,19189,0.88,526.6,23.6,6.8,2714,19285,0.15,0.00,91.78,0.914,6,0.055,0.000,3109,2772,923
$STATE,19317,end climb,SURFACE_DEPTH_REACHED
$STATE,19317,begin surface coast
$FINISH,0.5,1.026256
$STATE,19331,end surface coast,CONTROL_FINISHED_OK
$STATE,19331,begin surface
$SM_CCo,19409,0.00,0.000,0,0,916,528.38
$SM_GC,0.62,8.85,0.00,0.00,0.049,0.000,0.000,1435,2290,916,-6.80,-0.14,528.38
$IRIDIUM_FIX,5854.46,-2228.77,120797,171725
$TT8_MAMPS,0.026845
$HUMID,1722
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,12.10
$XPDR_PINGS,922
$24V_AH,19.6,24.943
$10V_AH,9.6,20.955
$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,22.925,177.900,754.650,0.000,0.000,25.718,33.536,314.603,230.500,0.000,0.000,32.603,4136.720,8206.682,850.777,5968.162,761.021,0.000,3062.218,0.000,5952.444,0.000,0.465
$DEVICE_MAMPS,242.372,105.846,1582.321,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1895.806,2000.958,1200.273,1084.768,2811.704,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,205408,2735
$CAP_FILE_SIZE,219539,0
$CFSIZE,260165632,250507264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180408,035626,5913.433,-2237.975,41,1.4,41,-15.4