version: 66.03
glider: 142
mission: 5
dive: 164
start: 5 9 108 8 36 50
data:
$ID,142
$MISSION,5
$DIVE,164
$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,340
$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,-16200.625
$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,22
$R_STBD_OVSHOOT,23
$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
$GPS1,082856,6107.412,-2621.007,40,1.2,40,-18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.55
$_SM_ANGLEo,-39.7
$GPS2,083632,6107.411,-2621.178,13,1.3,30,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6117.559,-2622.952
$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,358.4,20000,-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,27,-0.86,-194.7,0.0,0.0,0,166,0.00,0.00,-137.00,0.000,2,0.000,0.000,1436,2293,3603
$GC,169,-0.86,-194.7,3.2,-6.3,19,201,11.93,2.92,-7.07,0.000,4,0.257,0.054,2724,3709,3867
$GC,334,-0.80,-194.7,28.6,-15.0,48,342,0.00,2.80,0.00,0.000,6,0.000,0.035,2725,2302,3868
$GC,469,-0.73,-194.7,47.3,-15.2,73,478,0.17,2.88,0.00,0.000,4,0.137,0.050,2753,885,3868
$GC,571,-0.73,-194.7,62.3,-13.0,91,578,0.00,2.75,0.00,0.000,6,0.000,0.029,2753,2307,3868
$GC,901,-0.73,-194.7,98.7,-10.4,152,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2307,3868
$GC,1236,-0.73,-194.7,131.3,-9.2,213,1242,0.00,2.83,0.00,0.000,4,0.000,0.048,2753,890,3868
$GC,1276,-0.73,-194.7,135.2,-9.3,220,1284,0.00,2.72,0.00,0.000,6,0.000,0.031,2753,2292,3868
$GC,1615,-0.73,-194.7,167.7,-10.2,281,1621,0.00,2.80,0.00,0.000,4,0.000,0.044,2753,3706,3868
$GC,1686,-0.73,-194.7,175.1,-10.6,293,1692,0.00,2.75,0.00,0.000,6,0.000,0.034,2753,2297,3868
$GC,2025,-0.73,-194.7,211.7,-10.6,354,2031,0.00,2.80,0.00,0.000,4,0.000,0.049,2753,885,3868
$GC,2111,-0.73,-194.7,221.0,-10.7,369,2117,0.00,2.72,0.00,0.000,6,0.000,0.030,2753,2303,3868
$GC,2450,-0.73,-194.7,257.6,-10.3,430,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2303,3868
$GC,2789,-0.73,-194.7,293.3,-10.8,491,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2302,3868
$GC,3127,-0.73,-194.7,330.1,-11.1,552,3134,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2303,3868
$GC,3466,-0.73,-194.7,369.7,-11.6,599,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2304,3868
$GC,3783,-0.73,-194.7,404.8,-10.6,629,3785,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2304,3868
$GC,4103,-0.73,-194.7,435.9,-9.6,659,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2304,3868
$GC,4423,-0.73,-194.7,465.8,-9.0,689,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2304,3868
$GC,4740,-0.73,-194.7,493.0,-8.2,719,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2304,3868
$GC,5057,-0.73,-194.7,520.2,-8.4,749,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2304,3868
$GC,5376,-0.73,-194.7,549.5,-8.8,779,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2304,3868
$GC,5697,-0.73,-194.7,575.5,-7.8,809,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2304,3868
$GC,6014,-0.73,-194.7,600.2,-7.6,839,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2304,3868
$GC,6321,-0.73,-194.7,624.2,-8.0,854,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2304,3867
$GC,6631,-0.73,-194.7,649.9,-8.9,869,6636,0.00,2.83,0.00,0.000,4,0.000,0.054,2753,3699,3868
$GC,6697,-0.73,-194.7,656.1,-8.7,872,6702,0.00,2.78,0.00,0.000,6,0.000,0.039,2753,2302,3868
$GC,7018,-0.73,-194.7,683.4,-9.0,888,7023,0.00,2.90,0.00,0.000,4,0.000,0.063,2753,887,3867
$GC,7068,-0.78,-194.7,688.3,-10.0,890,7072,0.00,2.75,0.00,0.000,6,0.000,0.035,2752,2295,3867
$GC,7383,-0.78,-194.7,718.2,-9.9,905,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2295,3867
$GC,7692,-0.78,-194.7,747.1,-9.3,920,7697,0.00,2.97,0.00,0.000,4,0.000,0.071,2753,3706,3867
$GC,7783,-0.82,-194.7,755.5,-9.7,924,7788,0.00,2.88,0.00,0.000,6,0.000,0.055,2753,2311,3867
$GC,8103,-0.82,-194.7,786.2,-9.9,940,8108,0.00,3.15,0.00,0.000,4,0.000,0.094,2753,891,3867
$GC,8147,-0.88,-194.7,790.8,-10.2,942,8153,0.12,2.97,0.00,0.000,6,0.061,0.064,2728,2304,3866
$GC,8468,-0.88,-194.7,826.4,-10.9,958,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2305,3867
$GC,8778,-0.88,-194.7,860.7,-11.5,973,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2305,3867
$GC,9087,-0.88,-194.7,896.4,-11.4,988,9092,0.00,2.97,0.00,0.000,4,0.000,0.063,2728,878,3866
$GC,9126,-0.88,-194.7,901.0,-11.5,990,9130,0.00,2.80,0.00,0.000,6,0.000,0.031,2728,2322,3866
$GC,9451,-0.88,-194.7,935.5,-10.5,1006,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2323,3866
$GC,9761,-0.88,-194.7,967.8,-10.6,1021,9765,0.00,2.95,0.00,0.000,4,0.000,0.057,2728,885,3866
$GC,9809,-0.88,-194.7,973.4,-11.0,1023,9814,0.00,2.78,0.00,0.000,6,0.000,0.035,2728,2299,3865
$STATE,9964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9964,begin apogee
$GC,9970,-0.21,0.0,990.1,10.7,1031,10180,0.88,0.00,206.48,1.618,6,0.123,0.000,2869,2749,3071
$STATE,10180,end apogee,CONTROL_FINISHED_OK
$STATE,10181,begin climb
$GC,10183,0.86,194.7,997.7,0.0,1041,10408,1.40,2.55,214.05,1.572,4,0.080,0.063,3101,3894,2276
$GC,10550,0.70,194.7,956.6,15.5,1058,10555,0.17,2.38,0.00,0.000,6,0.129,0.035,3077,2737,2274
$GC,10870,0.58,194.7,915.7,12.8,1074,10875,0.15,2.42,0.00,0.000,4,0.127,0.053,3053,3900,2273
$GC,10925,0.53,194.7,909.2,11.5,1076,10932,0.00,2.25,0.00,0.000,6,0.000,0.033,3053,2762,2273
$GC,11241,0.48,196.1,876.4,10.0,1092,11246,0.15,2.35,0.00,0.000,4,0.114,0.053,3027,3903,2273
$GC,11268,0.52,231.5,873.8,8.8,1093,11312,0.00,2.20,37.58,1.481,6,0.000,0.032,3027,2778,2127
$GC,11630,0.60,294.9,844.9,7.8,1111,11699,0.12,0.00,66.80,1.499,6,0.062,0.000,3051,2777,1868
$GC,12002,0.62,309.5,809.3,9.5,1129,12020,0.00,0.00,15.65,1.348,6,0.000,0.000,3051,2777,1809
$GC,12329,0.62,309.5,774.4,10.8,1145,12333,0.00,2.30,0.00,0.000,4,0.000,0.053,3051,3898,1805
$GC,12347,0.62,309.5,772.6,10.7,1146,12351,0.00,2.17,0.00,0.000,6,0.000,0.032,3051,2787,1805
$GC,12673,0.62,309.5,738.9,10.1,1162,12678,0.00,2.90,0.00,0.000,4,0.000,0.048,3051,1343,1804
$GC,12683,0.62,309.5,737.7,10.0,1162,12690,0.00,2.85,0.00,0.000,6,0.000,0.032,3051,2791,1804
$GC,12999,0.65,333.9,707.6,9.2,1178,13027,0.00,0.00,25.60,1.376,6,0.000,0.000,3051,2791,1710
$GC,13328,0.65,333.9,673.8,11.1,1194,13333,0.00,2.95,0.00,0.000,4,0.000,0.046,3051,1339,1707
$GC,13349,0.65,333.9,671.4,11.2,1195,13354,0.00,2.85,0.00,0.000,6,0.000,0.033,3051,2778,1706
$GC,13676,0.65,333.9,635.8,11.1,1211,13681,0.00,2.90,0.00,0.000,4,0.000,0.045,3051,1343,1706
$GC,13685,0.65,333.9,634.6,11.0,1211,13692,0.00,2.80,0.00,0.000,6,0.000,0.031,3051,2768,1706
$GC,14001,0.65,333.9,599.0,11.4,1227,14002,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2769,1705
$GC,14323,0.65,333.9,563.1,11.6,1257,14327,0.00,2.88,0.00,0.000,4,0.000,0.045,3051,1337,1706
$GC,14332,0.65,333.9,561.4,11.5,1257,14339,0.00,2.80,0.00,0.000,6,0.000,0.031,3051,2771,1705
$GC,14658,0.65,333.9,524.7,11.3,1288,14659,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2771,1705
$GC,14975,0.65,333.9,491.2,10.0,1318,14980,0.00,2.85,0.00,0.000,4,0.000,0.045,3051,1345,1705
$GC,14985,0.65,333.9,490.1,10.1,1318,14991,0.00,2.75,0.00,0.000,6,0.000,0.032,3051,2756,1705
$GC,15311,0.65,333.9,455.8,10.8,1349,15312,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2757,1705
$GC,15630,0.65,333.9,422.4,10.4,1379,15634,0.00,2.85,0.00,0.000,4,0.000,0.045,3051,1336,1705
$GC,15639,0.65,333.9,421.0,10.6,1379,15646,0.00,2.75,0.00,0.000,6,0.000,0.031,3051,2750,1705
$GC,15966,0.66,344.0,389.5,9.6,1410,15979,0.00,0.00,11.07,1.062,6,0.000,0.000,3051,2750,1668
$GC,16296,0.69,371.1,359.8,9.1,1441,16327,0.00,0.00,29.08,1.180,6,0.000,0.000,3051,2750,1558
$GC,16652,0.76,387.9,325.9,9.4,1496,16677,0.15,2.88,18.52,1.108,4,0.054,0.044,3088,1343,1488
$GC,16685,0.76,387.9,322.1,12.8,1501,16691,0.00,2.80,0.00,0.000,6,0.000,0.031,3088,2750,1487
$GC,17026,0.70,387.9,272.3,14.2,1562,17032,0.00,2.28,0.00,0.000,4,0.000,0.048,3088,3893,1485
$GC,17068,0.70,387.9,266.7,13.3,1569,17074,0.00,2.22,0.00,0.000,6,0.000,0.031,3087,2759,1485
$GC,17411,0.64,387.9,220.9,13.9,1630,17418,0.15,2.30,0.00,0.000,4,0.103,0.048,3061,3900,1484
$GC,17435,0.64,387.9,218.1,12.5,1634,17442,0.00,2.20,0.00,0.000,6,0.000,0.030,3061,2758,1484
$GC,17775,0.66,400.0,187.9,9.6,1695,17795,0.00,2.83,12.68,0.974,4,0.000,0.045,3061,1344,1439
$GC,17801,0.75,438.9,185.5,8.6,1699,17849,0.10,2.78,41.55,1.078,6,0.060,0.030,3083,2763,1281
$GC,18181,0.75,438.9,138.3,10.8,1767,18187,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2764,1274
$GC,18513,0.75,438.9,98.0,11.8,1828,18521,0.00,2.90,0.00,0.000,4,0.000,0.045,3083,1344,1272
$GC,18527,0.75,438.9,96.1,12.2,1830,18535,0.00,2.78,0.00,0.000,6,0.000,0.031,3083,2750,1271
$GC,18861,0.75,438.9,53.5,12.6,1891,18867,0.00,2.83,0.00,0.000,4,0.000,0.045,3083,1343,1271
$GC,18875,0.75,438.9,51.8,12.8,1893,18882,0.00,2.72,0.00,0.000,6,0.000,0.030,3083,2750,1271
$GC,19197,0.75,438.9,11.0,15.3,1954,19204,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2750,1271
$STATE,19278,end climb,SURFACE_DEPTH_REACHED
$STATE,19278,begin surface coast
$FINISH,0.3,1.026259
$STATE,19290,end surface coast,CONTROL_FINISHED_OK
$STATE,19290,begin surface
$SM_CCo,19368,0.00,0.000,0,0,1268,442.03
$SM_GC,0.48,8.35,0.00,0.00,0.046,0.000,0.000,1437,2287,1268,-6.79,-0.37,442.03
$IRIDIUM_FIX,6041.65,-2610.04,030897,030345
$TT8_MAMPS,0.026078
$HUMID,1763
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,11.80
$XPDR_PINGS,971
$24V_AH,19.4,56.617
$10V_AH,9.8,42.221
$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,23.850,148.800,679.050,0.000,0.000,31.730,29.811,240.096,242.750,0.000,0.000,33.514,3091.640,10901.087,791.483,4381.625,638.717,0.000,2454.839,0.000,4370.699,0.000,0.465
$DEVICE_MAMPS,256.945,93.574,1618.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1372.854,1421.485,713.504,971.050,1781.505,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145302,1971
$CAP_FILE_SIZE,177066,0
$CFSIZE,260165632,240734208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090508,140055,6110.062,-2624.150,24,1.0,41,-18.5