version: 66.03
glider: 142
mission: 5
dive: 357
start: 6 18 108 1 39 59
data:
$ID,142
$MISSION,5
$DIVE,357
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-19694.01
$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,19
$R_STBD_OVSHOOT,24
$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
$GPS1,013201,6144.861,-2556.782,40,1.2,40,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-54.0
$GPS2,013938,6144.848,-2556.722,8,1.2,13,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6156.130,-2622.980
$TGT_RADIUS,2000.000
$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,338.9,30984,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.86,-194.7,0.0,0.0,0,117,0.00,0.00,-91.93,0.000,2,0.000,0.000,1433,2288,3424
$GC,120,-0.86,-194.7,3.2,-4.7,13,156,11.90,2.88,-12.68,0.000,4,0.247,0.050,2725,3703,3868
$GC,245,-0.79,-194.7,20.7,-11.3,33,253,0.12,2.72,0.00,0.000,6,0.133,0.032,2742,2297,3868
$GC,390,-0.74,-194.7,35.4,-9.6,58,398,0.00,2.80,0.00,0.000,4,0.000,0.048,2742,882,3868
$GC,474,-0.74,-194.7,43.2,-9.3,72,482,0.00,2.62,0.00,0.000,6,0.000,0.028,2742,2257,3868
$GC,619,-0.69,-194.7,57.6,-10.7,97,627,0.15,2.85,0.00,0.000,4,0.133,0.041,2766,3699,3869
$GC,673,-0.69,-194.7,62.6,-8.5,106,681,0.00,2.90,0.00,0.000,6,0.000,0.033,2766,2208,3869
$GC,1020,-0.69,-194.7,91.9,-8.4,167,1027,0.00,3.00,0.00,0.000,4,0.000,0.044,2766,3707,3869
$GC,1080,-0.69,-194.7,97.0,-8.3,177,1087,0.00,2.88,0.00,0.000,6,0.000,0.034,2766,2237,3869
$GC,1428,-0.69,-194.7,130.3,-9.7,238,1435,0.00,2.92,0.00,0.000,4,0.000,0.044,2766,3700,3869
$GC,1489,-0.69,-194.7,136.3,-9.5,248,1497,0.00,2.80,0.00,0.000,6,0.000,0.034,2766,2265,3869
$GC,1835,-0.69,-194.7,170.1,-9.2,309,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2264,3869
$GC,2179,-0.69,-194.7,201.9,-9.2,370,2186,0.00,2.88,0.00,0.000,4,0.000,0.044,2766,3699,3869
$GC,2284,-0.73,-194.7,211.2,-8.7,388,2292,0.00,2.75,0.00,0.000,6,0.000,0.033,2766,2286,3869
$GC,2631,-0.73,-194.7,241.4,-8.4,449,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2285,3869
$GC,2975,-0.73,-194.7,271.1,-8.7,510,2982,0.00,2.85,0.00,0.000,4,0.000,0.046,2766,3702,3869
$GC,3063,-0.78,-194.7,278.6,-8.4,525,3070,0.00,2.72,0.00,0.000,6,0.000,0.033,2766,2309,3869
$GC,3410,-0.78,-194.7,310.5,-9.5,586,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2308,3869
$GC,3755,-0.78,-194.7,344.2,-9.7,647,3762,0.00,2.80,0.00,0.000,4,0.000,0.045,2766,3699,3869
$GC,3818,-0.82,-194.7,350.6,-9.5,657,3826,0.15,2.70,0.00,0.000,6,0.064,0.033,2738,2312,3869
$GC,4146,-0.82,-194.7,388.9,-11.9,688,4150,0.00,2.85,0.00,0.000,4,0.000,0.050,2738,886,3869
$GC,4186,-0.82,-194.7,393.9,-12.3,691,4191,0.00,2.78,0.00,0.000,6,0.000,0.029,2738,2325,3868
$GC,4513,-0.82,-194.7,432.4,-11.6,721,4518,0.00,2.75,0.00,0.000,4,0.000,0.046,2738,3706,3868
$GC,4599,-0.82,-194.7,442.6,-11.7,728,4603,0.00,2.67,0.00,0.000,6,0.000,0.034,2738,2336,3868
$GC,4926,-0.82,-194.7,480.6,-11.6,758,4930,0.00,2.90,0.00,0.000,4,0.000,0.051,2738,891,3868
$GC,4977,-0.82,-194.7,486.7,-11.9,762,4982,0.00,2.80,0.00,0.000,6,0.000,0.030,2738,2336,3868
$GC,5304,-0.82,-194.7,524.7,-11.5,792,5308,0.00,2.75,0.00,0.000,4,0.000,0.048,2738,3709,3868
$GC,5381,-0.82,-194.7,534.1,-11.5,798,5389,0.00,2.70,0.00,0.000,6,0.000,0.034,2738,2333,3868
$GC,5710,-0.82,-194.7,571.2,-11.5,829,5714,0.00,2.92,0.00,0.000,4,0.000,0.053,2738,884,3868
$GC,5742,-0.82,-194.7,575.4,-11.7,831,5749,0.00,2.85,0.00,0.000,6,0.000,0.029,2738,2353,3867
$GC,6075,-0.82,-194.7,611.2,-10.5,858,6080,0.00,2.72,0.00,0.000,4,0.000,0.052,2738,3703,3868
$GC,6152,-0.82,-194.7,619.7,-10.5,861,6160,0.00,2.67,0.00,0.000,6,0.000,0.036,2738,2349,3868
$GC,6469,-0.82,-194.7,654.0,-11.3,877,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2348,3868
$GC,6778,-0.82,-194.7,689.3,-11.7,892,6779,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2348,3868
$GC,7087,-0.82,-194.7,725.7,-11.8,907,7092,0.00,2.88,0.00,0.000,4,0.000,0.067,2738,3699,3868
$GC,7149,-0.82,-194.7,733.0,-11.5,910,7154,0.00,2.75,0.00,0.000,6,0.000,0.050,2738,2357,3867
$GC,7477,-0.82,-194.7,771.6,-11.4,926,7482,0.00,3.25,0.00,0.000,4,0.000,0.088,2738,892,3867
$GC,7532,-0.82,-194.7,778.7,-12.9,928,7540,0.00,3.08,0.00,0.000,6,0.000,0.064,2738,2345,3867
$GC,7848,-0.82,-194.7,819.6,-12.6,944,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2345,3867
$GC,8158,-0.82,-194.7,860.9,-13.2,959,8163,0.00,3.58,0.00,0.000,4,0.000,0.123,2738,899,3866
$GC,8191,-0.82,-194.7,865.7,-14.0,960,8199,0.00,3.42,0.00,0.000,6,0.000,0.104,2738,2349,3866
$GC,8507,-0.82,-194.7,907.9,-13.4,976,8512,0.00,3.53,0.00,0.000,4,0.000,0.144,2738,3711,3866
$GC,8572,-0.82,-194.7,916.0,-13.1,979,8577,0.00,3.47,0.00,0.000,6,0.000,0.136,2738,2363,3866
$GC,8898,-0.82,-194.7,958.5,-13.2,995,8903,0.00,3.00,0.00,0.000,4,0.000,0.056,2738,888,3865
$GC,8965,-0.82,-194.7,967.5,-13.2,998,8970,0.00,2.90,0.00,0.000,6,0.000,0.035,2738,2362,3865
$STATE,9139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9139,begin apogee
$GC,9147,-0.21,0.0,990.9,13.5,1007,9363,0.85,0.00,212.65,1.580,6,0.140,0.000,2867,2762,3071
$STATE,9364,end apogee,CONTROL_FINISHED_OK
$STATE,9364,begin climb
$GC,9366,0.86,194.7,1005.1,0.0,1018,9595,1.45,2.60,216.95,1.519,4,0.093,0.060,3101,3900,2277
$GC,9662,0.72,194.7,986.0,11.2,1031,9667,0.15,2.38,0.00,0.000,6,0.118,0.035,3081,2748,2274
$GC,9980,0.64,202.0,956.0,9.7,1046,9991,0.12,0.00,8.68,1.212,6,0.115,0.000,3063,2747,2247
$GC,10288,0.65,244.9,929.0,8.5,1061,10336,0.00,0.00,46.30,1.483,6,0.000,0.000,3063,2747,2072
$GC,10637,0.72,300.9,900.4,8.1,1078,10699,0.00,0.00,60.40,1.486,6,0.000,0.000,3063,2746,1844
$GC,11006,0.75,328.7,868.5,9.0,1096,11039,0.00,0.00,30.42,1.441,6,0.000,0.000,3063,2744,1731
$GC,11359,0.77,343.5,835.9,9.5,1113,11384,0.12,2.92,16.40,1.366,4,0.061,0.048,3088,1341,1670
$GC,11400,0.77,343.5,830.9,11.2,1114,11408,0.00,2.80,0.00,0.000,6,0.000,0.033,3088,2747,1668
$GC,11717,0.77,343.5,793.2,11.4,1130,11721,0.00,2.85,0.00,0.000,4,0.000,0.046,3088,1338,1666
$GC,11734,0.77,343.5,791.1,11.4,1131,11739,0.00,2.75,0.00,0.000,6,0.000,0.034,3088,2733,1666
$GC,12062,0.77,343.5,753.8,11.3,1147,12066,0.00,2.83,0.00,0.000,4,0.000,0.047,3088,1332,1665
$GC,12080,0.77,343.5,751.9,11.1,1148,12084,0.00,2.75,0.00,0.000,6,0.000,0.033,3088,2733,1666
$GC,12407,0.77,347.0,717.4,9.9,1164,12413,0.00,0.00,4.43,0.890,6,0.000,0.000,3088,2734,1656
$GC,12716,0.77,347.0,686.5,10.2,1179,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2733,1655
$GC,13025,0.78,350.3,655.4,9.9,1194,13032,0.00,0.00,5.30,0.962,6,0.000,0.000,3088,2733,1642
$GC,13335,0.78,352.3,624.0,9.9,1209,13340,0.00,2.83,0.00,0.000,4,0.000,0.052,3088,1333,1641
$GC,13353,0.78,352.3,622.1,10.0,1210,13357,0.00,2.75,0.00,0.000,6,0.000,0.032,3088,2738,1641
$GC,13672,0.78,352.3,589.2,10.8,1230,13677,0.00,2.80,0.00,0.000,4,0.000,0.045,3088,1340,1641
$GC,13683,0.78,352.3,587.8,10.9,1230,13690,0.00,2.70,0.00,0.000,6,0.000,0.031,3088,2724,1641
$GC,14009,0.78,352.3,552.8,10.9,1261,14013,0.00,2.78,0.00,0.000,4,0.000,0.045,3088,1340,1641
$GC,14019,0.78,352.3,551.4,11.1,1261,14026,0.00,2.65,0.00,0.000,6,0.000,0.031,3088,2705,1640
$GC,14348,0.78,352.3,516.4,10.6,1292,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2705,1640
$GC,14675,0.78,352.3,482.1,10.1,1323,14676,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2705,1641
$GC,14992,0.78,352.3,449.9,10.0,1353,14997,0.00,2.75,0.00,0.000,4,0.000,0.045,3088,1333,1641
$GC,15004,0.78,352.3,448.6,10.1,1353,15011,0.00,2.65,0.00,0.000,6,0.000,0.031,3088,2698,1641
$GC,15333,0.79,358.9,416.0,9.8,1384,15350,0.00,0.00,10.88,1.054,6,0.000,0.000,3089,2698,1606
$GC,15670,0.80,370.5,382.7,9.6,1416,15688,0.00,0.00,13.57,1.084,6,0.000,0.000,3088,2698,1560
$GC,16008,0.81,380.3,350.0,9.7,1448,16029,0.00,2.78,11.88,1.042,4,0.000,0.045,3088,1334,1519
$GC,16036,0.83,394.4,347.1,9.5,1452,16063,0.00,2.67,16.67,1.099,6,0.000,0.031,3089,2699,1463
$GC,16405,0.91,421.4,313.1,9.1,1516,16441,0.15,2.85,29.80,1.108,4,0.052,0.045,3125,1337,1352
$GC,16454,0.91,421.4,307.2,12.0,1523,16461,0.00,2.67,0.00,0.000,6,0.000,0.031,3125,2689,1350
$GC,16799,0.91,421.4,265.3,11.6,1584,16807,0.00,2.72,0.00,0.000,4,0.000,0.044,3125,1331,1346
$GC,16820,0.91,421.4,262.8,11.9,1587,16827,0.00,2.60,0.00,0.000,6,0.000,0.030,3125,2667,1346
$GC,17165,0.91,421.4,220.0,12.3,1648,17172,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2667,1346
$GC,17510,0.91,421.4,178.0,11.3,1709,17517,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2667,1345
$GC,17855,0.91,421.4,135.3,12.4,1770,17861,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2667,1345
$GC,18200,0.91,421.4,95.2,11.9,1831,18207,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2667,1345
$GC,18544,0.91,421.4,57.1,11.6,1892,18552,0.00,2.67,0.00,0.000,4,0.000,0.046,3125,1331,1345
$GC,18558,0.91,421.4,55.4,11.4,1894,18566,0.00,2.58,0.00,0.000,6,0.000,0.031,3125,2666,1344
$GC,18903,0.93,440.9,17.7,9.3,1955,18925,0.00,0.00,19.95,0.900,6,0.000,0.000,3125,2667,1273
$STATE,19048,end climb,SURFACE_DEPTH_REACHED
$STATE,19048,begin surface coast
$FINISH,0.2,1.013466
$STATE,19067,end surface coast,CONTROL_FINISHED_OK
$STATE,19067,begin surface
$SM_CCo,19147,0.00,0.000,0,0,1268,442.28
$SM_GC,0.74,8.62,0.00,0.00,0.046,0.000,0.000,1432,2284,1268,-6.79,-0.45,442.28
$IRIDIUM_FIX,6121.73,-2603.39,110997,202038
$TT8_MAMPS,0.026078
$HUMID,1847
$INTERNAL_PRESSURE,8.90705
$TCM_TEMP,16.50
$XPDR_PINGS,980
$24V_AH,18.9,110.858
$10V_AH,9.8,73.193
$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,23.800,177.225,704.275,0.000,0.000,27.463,30.985,239.879,245.000,0.000,0.000,15.189,4045.857,10315.004,925.588,3559.313,742.344,0.000,2532.926,0.000,3548.044,0.000,0.466
$DEVICE_MAMPS,246.974,144.196,1580.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1374.470,1492.514,758.212,1754.753,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,145544,1983
$CAP_FILE_SIZE,180297,0
$CFSIZE,260165632,222978048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,201.0,1
$GPS,180608,070026,6146.215,-2601.266,42,1.5,42,-18.6