version: 66.03
glider: 142
mission: 5
dive: 281
start: 6 3 108 5 12 5
data:
$ID,142
$MISSION,5
$DIVE,281
$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,-18315.752
$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,40
$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
$GPS1,050402,6147.311,-2606.247,41,1.8,41,-18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-43.5
$GPS2,051145,6147.278,-2606.426,13,1.2,13,-18.7
$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,352.1,21836,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.86,-194.7,0.0,0.0,0,170,0.00,0.00,-146.48,0.000,2,0.000,0.000,1436,2266,3551
$GC,173,-0.86,-194.7,3.3,-4.3,20,203,11.95,2.90,-8.10,0.000,4,0.252,0.054,2724,3707,3867
$GC,355,-0.79,-194.7,37.3,-16.9,51,363,0.12,2.70,0.00,0.000,6,0.144,0.034,2741,2318,3868
$GC,501,-0.73,-194.7,56.0,-11.1,76,509,0.00,2.83,0.00,0.000,4,0.000,0.048,2741,891,3869
$GC,623,-0.73,-194.7,69.4,-11.0,97,630,0.00,2.75,0.00,0.000,6,0.000,0.031,2741,2312,3868
$GC,969,-0.68,-194.7,112.4,-12.6,158,976,0.15,0.00,0.00,0.000,6,0.156,0.000,2763,2313,3869
$GC,1312,-0.68,-194.7,148.8,-10.1,219,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2313,3869
$GC,1656,-0.68,-194.7,182.4,-9.8,280,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2313,3868
$GC,2001,-0.68,-194.7,216.5,-9.5,341,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2313,3869
$GC,2345,-0.68,-194.7,250.2,-9.9,402,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2313,3868
$GC,2691,-0.68,-194.7,284.4,-9.9,463,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2313,3869
$GC,3034,-0.68,-194.7,318.3,-9.7,524,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2314,3869
$GC,3383,-0.68,-194.7,353.8,-10.5,583,3388,0.00,2.78,0.00,0.000,4,0.000,0.046,2763,3713,3868
$GC,3445,-0.68,-194.7,360.2,-10.4,588,3450,0.00,2.78,0.00,0.000,6,0.000,0.033,2763,2287,3868
$GC,3772,-0.68,-194.7,393.7,-10.2,618,3776,0.00,2.78,0.00,0.000,4,0.000,0.049,2763,890,3868
$GC,3814,-0.73,-194.7,398.0,-10.8,621,3819,0.00,2.72,0.00,0.000,6,0.000,0.030,2763,2306,3868
$GC,4143,-0.73,-194.7,430.7,-9.9,651,4147,0.00,2.78,0.00,0.000,4,0.000,0.046,2763,3703,3868
$GC,4243,-0.77,-194.7,441.1,-10.0,659,4251,0.00,2.72,0.00,0.000,6,0.000,0.033,2763,2305,3868
$GC,4572,-0.77,-194.7,472.6,-9.8,690,4576,0.00,2.83,0.00,0.000,4,0.000,0.050,2763,883,3867
$GC,4616,-0.84,-194.7,477.2,-9.0,693,4623,0.15,2.75,0.00,0.000,6,0.055,0.031,2732,2312,3867
$GC,4943,-0.79,-194.7,514.1,-11.5,724,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2314,3867
$GC,5261,-0.74,-194.7,549.2,-10.8,754,5263,0.15,0.00,0.00,0.000,6,0.131,0.000,2753,2314,3867
$GC,5579,-0.74,-194.7,580.0,-9.7,784,5583,0.00,2.80,0.00,0.000,4,0.000,0.050,2753,3707,3867
$GC,5641,-0.74,-194.7,586.1,-9.7,789,5646,0.00,2.80,0.00,0.000,6,0.000,0.035,2753,2283,3867
$GC,5963,-0.74,-194.7,616.5,-9.8,811,5967,0.00,2.83,0.00,0.000,4,0.000,0.057,2753,889,3866
$GC,6048,-0.78,-194.7,625.4,-10.4,815,6052,0.00,2.70,0.00,0.000,6,0.000,0.032,2753,2279,3866
$GC,6376,-0.78,-194.7,657.8,-9.8,831,6380,0.00,2.92,0.00,0.000,4,0.000,0.057,2753,3712,3866
$GC,6476,-0.78,-194.7,667.6,-9.6,835,6483,0.00,2.85,0.00,0.000,6,0.000,0.042,2753,2289,3866
$GC,6793,-0.78,-194.7,696.9,-9.2,851,6797,0.00,2.92,0.00,0.000,4,0.000,0.068,2753,884,3866
$GC,6833,-0.78,-194.7,700.7,-9.8,853,6838,0.00,2.80,0.00,0.000,6,0.000,0.038,2753,2300,3866
$GC,7160,-0.78,-194.7,730.1,-8.9,869,7165,0.00,2.95,0.00,0.000,4,0.000,0.067,2753,3708,3866
$GC,7246,-0.78,-194.7,737.8,-9.1,873,7250,0.00,2.85,0.00,0.000,6,0.000,0.051,2753,2315,3865
$GC,7573,-0.78,-194.7,767.3,-8.7,889,7578,0.00,3.12,0.00,0.000,4,0.000,0.088,2754,890,3865
$GC,7636,-0.83,-194.7,772.8,-9.1,892,7641,0.00,2.95,0.00,0.000,6,0.000,0.058,2753,2311,3865
$GC,7963,-0.83,-194.7,799.7,-8.0,908,7968,0.00,3.10,0.00,0.000,4,0.000,0.089,2753,3712,3865
$GC,8040,-0.83,-194.7,806.5,-8.5,911,8047,0.00,3.05,0.00,0.000,6,0.000,0.074,2753,2308,3864
$GC,8357,-0.83,-194.7,832.1,-7.7,927,8362,0.00,3.30,0.00,0.000,4,0.000,0.113,2753,882,3864
$GC,8412,-0.89,-194.7,837.0,-8.7,929,8420,0.15,3.17,0.00,0.000,6,0.056,0.085,2721,2312,3864
$GC,8729,-0.83,-194.7,875.4,-12.9,945,8734,0.00,3.38,0.00,0.000,4,0.000,0.122,2721,3711,3863
$GC,8801,-0.83,-194.7,884.9,-13.0,948,8806,0.00,2.83,0.00,0.000,6,0.000,0.040,2721,2297,3864
$GC,9117,-0.78,-194.7,925.3,-12.8,963,9122,0.17,2.90,0.00,0.000,4,0.140,0.061,2747,888,3863
$GC,9184,-0.82,-194.7,932.8,-10.1,966,9189,0.00,2.80,0.00,0.000,6,0.000,0.035,2747,2318,3863
$GC,9506,-0.82,-194.7,963.1,-9.3,982,9510,0.00,2.85,0.00,0.000,4,0.000,0.059,2747,3707,3863
$GC,9572,-0.82,-194.7,969.4,-9.3,985,9576,0.00,2.83,0.00,0.000,6,0.000,0.042,2747,2299,3863
$STATE,9808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9808,begin apogee
$GC,9815,-0.21,0.0,991.4,9.4,997,10032,0.80,0.00,212.75,1.608,6,0.143,0.000,2869,2752,3071
$STATE,10032,end apogee,CONTROL_FINISHED_OK
$STATE,10032,begin climb
$GC,10035,0.86,194.7,999.5,0.0,1008,10264,1.45,2.62,217.98,1.544,4,0.094,0.058,3099,3894,2276
$GC,10405,0.73,194.7,964.2,13.1,1024,10412,0.00,2.35,0.00,0.000,6,0.000,0.035,3099,2740,2274
$GC,10722,0.59,194.7,924.0,13.1,1040,10727,0.28,2.40,0.00,0.000,4,0.114,0.053,3055,3902,2274
$GC,10762,0.59,194.7,919.6,10.4,1042,10766,0.00,2.25,0.00,0.000,6,0.000,0.034,3055,2757,2273
$GC,11090,0.65,241.4,892.3,8.4,1058,11147,0.00,2.97,48.88,1.495,4,0.000,0.052,3055,1338,2086
$GC,11299,0.68,265.9,873.7,9.2,1067,11334,0.00,2.85,26.62,1.451,6,0.000,0.033,3055,2765,1987
$GC,11641,0.71,291.4,843.7,9.1,1084,11675,0.00,2.97,28.02,1.443,4,0.000,0.048,3054,1341,1882
$GC,11774,0.83,353.1,832.6,7.9,1090,11849,0.25,2.85,67.15,1.473,6,0.048,0.035,3104,2762,1630
$GC,12173,0.73,353.1,776.2,14.5,1109,12178,0.15,2.30,0.00,0.000,4,0.113,0.054,3079,3893,1623
$GC,12200,0.68,353.1,772.0,12.8,1110,12204,0.00,2.17,0.00,0.000,6,0.000,0.032,3079,2771,1623
$GC,12522,0.68,353.1,732.6,12.5,1126,12526,0.00,2.88,0.00,0.000,4,0.000,0.049,3079,1344,1622
$GC,12532,0.68,353.1,731.1,12.3,1126,12540,0.00,2.83,0.00,0.000,6,0.000,0.034,3079,2782,1622
$GC,12849,0.68,353.1,695.8,10.7,1142,12854,0.00,2.92,0.00,0.000,4,0.000,0.047,3079,1337,1621
$GC,12859,0.68,353.1,694.4,10.6,1142,12867,0.00,2.83,0.00,0.000,6,0.000,0.034,3079,2772,1621
$GC,13175,0.68,353.1,662.2,10.4,1158,13180,0.00,2.90,0.00,0.000,4,0.000,0.047,3079,1337,1620
$GC,13186,0.68,353.1,660.9,10.6,1158,13194,0.00,2.78,0.00,0.000,6,0.000,0.034,3079,2756,1620
$GC,13502,0.68,353.1,630.3,10.0,1174,13503,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2756,1620
$GC,13812,0.68,353.1,597.5,11.1,1190,13813,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2756,1620
$GC,14132,0.68,353.1,560.9,11.0,1220,14137,0.00,2.85,0.00,0.000,4,0.000,0.047,3079,1342,1619
$GC,14141,0.68,353.1,559.5,10.9,1220,14150,0.00,2.80,0.00,0.000,6,0.000,0.033,3079,2754,1619
$GC,14469,0.68,353.1,526.2,10.1,1251,14473,0.00,2.85,0.00,0.000,4,0.000,0.048,3079,1346,1619
$GC,14478,0.68,353.1,524.8,10.2,1251,14486,0.00,2.75,0.00,0.000,6,0.000,0.033,3079,2753,1619
$GC,14806,0.70,363.7,493.0,9.6,1282,14821,0.00,2.88,10.18,1.090,4,0.000,0.047,3079,1341,1588
$GC,14829,0.70,363.7,490.4,10.1,1284,14834,0.00,2.75,0.00,0.000,6,0.000,0.033,3079,2741,1587
$GC,15156,0.72,379.2,459.8,9.5,1314,15181,0.00,2.92,18.12,1.195,4,0.000,0.048,3079,1339,1524
$GC,15187,0.74,397.3,456.6,9.4,1316,15218,0.00,2.78,20.83,1.213,6,0.000,0.033,3079,2740,1450
$GC,15536,0.75,403.1,423.7,9.8,1349,15549,0.00,2.90,7.18,0.976,4,0.000,0.046,3079,1341,1427
$GC,15555,0.75,408.8,421.7,9.8,1350,15568,0.00,2.72,8.00,1.019,6,0.000,0.032,3079,2726,1404
$GC,15887,0.83,436.2,390.8,9.0,1381,15923,0.00,2.85,30.48,1.184,4,0.000,0.045,3079,1345,1291
$GC,15930,0.93,471.1,386.9,8.8,1384,15975,0.22,2.75,38.78,1.172,6,0.046,0.032,3125,2724,1150
$GC,16296,0.84,471.1,330.9,17.0,1428,16304,0.15,2.35,0.00,0.000,4,0.112,0.049,3100,3895,1143
$GC,16329,0.84,471.1,326.3,14.7,1433,16336,0.00,2.25,0.00,0.000,6,0.000,0.031,3100,2737,1142
$GC,16674,0.84,471.8,286.7,10.0,1494,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2736,1141
$GC,17019,0.84,471.8,249.6,11.5,1555,17026,0.00,2.78,0.00,0.000,4,0.000,0.046,3100,1342,1140
$GC,17033,0.84,471.8,248.0,10.9,1557,17040,0.00,2.72,0.00,0.000,6,0.000,0.031,3100,2742,1139
$GC,17379,0.84,471.8,208.8,11.4,1618,17386,0.00,2.83,0.00,0.000,4,0.000,0.046,3100,1336,1139
$GC,17392,0.84,471.8,207.2,11.9,1620,17400,0.00,2.70,0.00,0.000,6,0.000,0.031,3100,2728,1139
$GC,17737,0.84,471.8,168.0,11.2,1681,17744,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2729,1139
$GC,18081,0.84,471.8,126.7,11.6,1742,18089,0.00,2.78,0.00,0.000,4,0.000,0.046,3100,1345,1138
$GC,18095,0.84,471.8,124.7,11.9,1744,18103,0.00,2.65,0.00,0.000,6,0.000,0.031,3100,2716,1138
$GC,18443,0.84,471.8,78.5,14.2,1805,18449,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2716,1138
$GC,18787,0.89,474.0,39.5,9.9,1866,18794,0.00,2.75,0.00,0.000,4,0.000,0.045,3100,1334,1138
$GC,18802,0.93,474.0,37.7,10.7,1868,18810,0.12,2.67,0.00,0.000,6,0.055,0.031,3128,2721,1138
$GC,18946,0.93,474.0,17.2,12.1,1893,18953,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2721,1138
$STATE,19058,end climb,SURFACE_DEPTH_REACHED
$STATE,19058,begin surface coast
$FINISH,0.1,1.026046
$STATE,19070,end surface coast,CONTROL_FINISHED_OK
$STATE,19070,begin surface
$SM_CCo,19150,0.00,0.000,0,0,1136,474.66
$SM_GC,0.62,8.52,0.00,0.00,0.042,0.000,0.000,1433,2279,1136,-6.80,-0.59,474.66
$IRIDIUM_FIX,6121.73,-2557.31,280897,000024
$TT8_MAMPS,0.026078
$HUMID,1806
$INTERNAL_PRESSURE,8.85822
$TCM_TEMP,16.00
$XPDR_PINGS,1031
$24V_AH,18.9,88.394
$10V_AH,9.8,61.200
$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,24.800,203.000,734.950,0.000,0.000,22.271,33.623,256.959,257.750,0.000,0.000,14.851,3952.808,10319.045,956.852,3653.500,713.390,0.000,2664.017,0.000,3636.331,0.000,0.466
$DEVICE_MAMPS,252.343,121.953,1607.632,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1348.458,1416.322,671.354,1673.344,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139279,1915
$CAP_FILE_SIZE,190636,0
$CFSIZE,260165632,229761024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,214.4,1
$GPS,030608,103232,6148.606,-2610.462,40,1.2,40,-18.7