version: 66.03
glider: 142
mission: 5
dive: 307
start: 6 8 108 5 9 24
data:
$ID,142
$MISSION,5
$DIVE,307
$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,-18724.205
$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,35
$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
$GPS1,050125,6149.488,-2607.359,39,1.5,39,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-49.0
$GPS2,050903,6149.456,-2607.311,12,1.4,12,-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,330.5,18417,-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,-194.7,0.0,0.0,0,178,0.00,0.00,-153.80,0.000,2,0.000,0.000,1435,2328,3715
$GC,181,-0.86,-194.7,4.0,-6.5,20,205,12.02,2.88,-3.55,0.000,4,0.250,0.053,2726,886,3866
$GC,263,-0.80,-194.7,22.7,-13.5,33,270,0.00,2.70,0.00,0.000,6,0.000,0.029,2726,2293,3867
$GC,407,-0.71,-194.7,41.9,-13.7,58,415,0.20,2.80,0.00,0.000,4,0.146,0.043,2757,3709,3867
$GC,505,-0.71,-194.7,53.5,-11.2,75,512,0.00,2.72,0.00,0.000,6,0.000,0.033,2757,2313,3867
$GC,850,-0.71,-194.7,91.6,-11.2,136,858,0.00,2.83,0.00,0.000,4,0.000,0.050,2757,890,3867
$GC,905,-0.77,-194.7,97.6,-10.7,145,912,0.00,2.78,0.00,0.000,6,0.000,0.029,2757,2334,3868
$GC,1249,-0.77,-194.7,134.3,-10.9,206,1256,0.00,2.70,0.00,0.000,4,0.000,0.044,2757,3709,3868
$GC,1337,-0.77,-194.7,143.7,-10.5,221,1345,0.00,2.67,0.00,0.000,6,0.000,0.034,2757,2335,3868
$GC,1683,-0.77,-194.7,178.4,-9.4,282,1690,0.00,2.90,0.00,0.000,4,0.000,0.050,2757,882,3868
$GC,1736,-0.82,-194.7,183.5,-9.3,291,1743,0.00,2.80,0.00,0.000,6,0.000,0.030,2757,2336,3868
$GC,2080,-0.82,-194.7,215.3,-9.2,352,2088,0.00,2.70,0.00,0.000,4,0.000,0.045,2757,3703,3868
$GC,2134,-0.82,-194.7,220.1,-8.4,361,2141,0.00,2.67,0.00,0.000,6,0.000,0.034,2757,2328,3868
$GC,2480,-0.82,-194.7,250.8,-8.8,422,2487,0.00,2.88,0.00,0.000,4,0.000,0.050,2757,884,3868
$GC,2535,-0.88,-194.7,255.8,-9.3,431,2542,0.15,2.80,0.00,0.000,6,0.057,0.031,2726,2336,3868
$GC,2880,-0.81,-194.7,296.9,-12.2,492,2888,0.00,2.72,0.00,0.000,4,0.000,0.045,2726,3711,3868
$GC,2957,-0.76,-194.7,306.2,-12.1,505,2965,0.15,2.70,0.00,0.000,6,0.143,0.034,2746,2326,3867
$GC,3302,-0.76,-194.7,346.1,-11.8,566,3310,0.00,2.88,0.00,0.000,4,0.000,0.051,2746,889,3867
$GC,3361,-0.76,-194.7,352.8,-11.3,574,3366,0.00,2.80,0.00,0.000,6,0.000,0.031,2746,2339,3867
$GC,3687,-0.76,-194.7,389.0,-10.7,604,3692,0.00,2.70,0.00,0.000,4,0.000,0.046,2746,3701,3867
$GC,3754,-0.76,-194.7,396.4,-10.2,609,3761,0.00,2.67,0.00,0.000,6,0.000,0.035,2746,2333,3867
$GC,4080,-0.76,-194.7,430.1,-11.2,640,4085,0.00,2.90,0.00,0.000,4,0.000,0.051,2746,884,3866
$GC,4135,-0.76,-194.7,436.6,-11.1,644,4143,0.00,2.80,0.00,0.000,6,0.000,0.029,2746,2335,3867
$GC,4464,-0.76,-194.7,475.1,-12.0,675,4469,0.00,2.72,0.00,0.000,4,0.000,0.047,2746,3703,3866
$GC,4526,-0.76,-194.7,482.9,-11.9,680,4531,0.00,2.67,0.00,0.000,6,0.000,0.035,2746,2333,3866
$GC,4853,-0.76,-194.7,521.0,-11.8,710,4858,0.00,2.90,0.00,0.000,4,0.000,0.052,2746,891,3866
$GC,4926,-0.76,-194.7,529.4,-10.8,716,4931,0.00,2.78,0.00,0.000,6,0.000,0.030,2746,2327,3866
$GC,5253,-0.76,-194.7,564.8,-11.2,746,5258,0.00,2.75,0.00,0.000,4,0.000,0.049,2746,3703,3866
$GC,5341,-0.76,-194.7,575.1,-11.5,753,5349,0.00,2.70,0.00,0.000,6,0.000,0.035,2746,2327,3866
$GC,5675,-0.76,-194.7,611.7,-10.9,780,5679,0.00,2.92,0.00,0.000,4,0.000,0.058,2746,891,3865
$GC,5737,-0.80,-194.7,618.4,-10.3,783,5742,0.00,2.83,0.00,0.000,6,0.000,0.033,2746,2335,3866
$GC,6064,-0.80,-194.7,652.8,-10.3,799,6069,0.00,2.80,0.00,0.000,4,0.000,0.057,2746,3708,3865
$GC,6135,-0.80,-194.7,660.2,-10.3,802,6140,0.00,2.75,0.00,0.000,6,0.000,0.041,2746,2330,3865
$GC,6451,-0.80,-194.7,694.2,-10.9,817,6456,0.00,3.00,0.00,0.000,4,0.000,0.067,2746,886,3865
$GC,6500,-0.80,-194.7,699.9,-11.6,819,6504,0.00,2.88,0.00,0.000,6,0.000,0.038,2746,2333,3865
$GC,6818,-0.80,-194.7,733.2,-10.6,834,6823,0.00,2.90,0.00,0.000,4,0.000,0.074,2746,3710,3865
$GC,6906,-0.80,-194.7,743.4,-10.7,838,6911,0.00,2.85,0.00,0.000,6,0.000,0.052,2746,2326,3865
$GC,7228,-0.80,-194.7,772.4,-8.3,854,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2325,3865
$GC,7538,-0.80,-194.7,797.0,-7.6,869,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2325,3864
$GC,7846,-0.80,-194.7,823.1,-8.7,884,7851,0.00,3.22,0.00,0.000,4,0.000,0.102,2746,3713,3864
$GC,7924,-0.80,-194.7,830.0,-8.6,887,7931,0.00,3.12,0.00,0.000,6,0.000,0.088,2746,2326,3864
$GC,8240,-0.80,-194.7,858.3,-10.3,903,8246,0.00,3.50,0.00,0.000,4,0.000,0.126,2746,882,3864
$GC,8303,-0.85,-194.7,864.8,-10.4,906,8308,0.00,3.35,0.00,0.000,6,0.000,0.100,2746,2327,3863
$GC,8630,-0.85,-194.7,898.1,-10.5,922,8635,0.00,3.10,0.00,0.000,4,0.000,0.092,2746,3721,3863
$GC,8888,-1.13,-194.7,906.4,0.1,933,8895,0.40,2.80,0.00,0.000,6,0.056,0.041,2671,2320,3863
$STATE,8995,end dive,NO_VERTICAL_VELOCITY
$STATE,8995,begin apogee
$GC,9002,-0.21,0.0,906.5,0.0,939,9218,1.17,0.00,207.62,1.531,6,0.099,0.000,2871,2770,3072
$STATE,9219,end apogee,CONTROL_FINISHED_OK
$STATE,9219,begin climb
$GC,9221,0.86,194.7,906.4,0.0,950,9446,1.45,3.28,214.20,1.457,4,0.089,0.048,3103,1331,2276
$GC,9454,0.70,194.7,889.8,11.2,961,9460,0.20,3.08,0.00,0.000,6,0.115,0.033,3077,2750,2276
$GC,9776,0.61,194.7,856.0,10.6,977,9778,0.15,0.00,0.00,0.000,6,0.117,0.000,3055,2750,2273
$GC,10085,0.64,212.4,826.9,9.4,992,10107,0.00,0.00,18.88,1.344,6,0.000,0.000,3054,2751,2205
$GC,10415,0.64,213.5,795.0,10.0,1008,10416,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2750,2203
$GC,10724,0.66,235.2,765.3,9.2,1023,10750,0.00,0.00,24.25,1.376,6,0.000,0.000,3054,2750,2112
$GC,11054,0.68,244.4,734.4,9.7,1039,11075,0.00,2.90,11.10,1.248,4,0.000,0.047,3054,1334,2073
$GC,11081,0.69,252.1,731.5,9.7,1040,11099,0.00,2.80,9.50,1.216,6,0.000,0.034,3054,2746,2043
$GC,11407,0.71,270.8,700.6,9.3,1056,11429,0.00,0.00,20.50,1.331,6,0.000,0.000,3054,2746,1967
$GC,11737,0.73,286.9,669.4,9.4,1072,11762,0.12,2.90,18.05,1.295,4,0.061,0.048,3080,1330,1900
$GC,11768,0.73,286.9,665.9,10.8,1073,11772,0.00,2.83,0.00,0.000,6,0.000,0.034,3080,2745,1900
$GC,12090,0.70,301.5,633.3,9.5,1089,12109,0.00,0.00,16.30,1.261,6,0.000,0.000,3080,2746,1841
$GC,12419,0.73,324.5,602.2,9.2,1105,12449,0.00,2.92,25.00,1.292,4,0.000,0.052,3080,1333,1747
$GC,12455,0.75,339.9,598.5,9.5,1106,12478,0.00,2.83,17.45,1.236,6,0.000,0.033,3080,2746,1685
$GC,12804,0.76,351.3,565.6,9.6,1139,12825,0.00,0.00,13.30,1.181,6,0.000,0.000,3080,2746,1637
$GC,13144,0.76,351.3,530.5,10.5,1171,13149,0.00,2.85,0.00,0.000,4,0.000,0.046,3080,1331,1634
$GC,13162,0.76,351.3,528.6,10.5,1172,13166,0.00,2.78,0.00,0.000,6,0.000,0.032,3080,2746,1634
$GC,13488,0.77,353.7,495.3,9.9,1202,13493,0.00,2.85,0.00,0.000,4,0.000,0.046,3080,1328,1633
$GC,13499,0.79,370.0,494.0,9.4,1202,13530,0.00,2.75,20.33,1.203,6,0.000,0.032,3080,2738,1561
$GC,13848,0.83,406.3,462.0,8.7,1235,13897,0.00,2.88,39.42,1.230,4,0.000,0.050,3080,1336,1413
$GC,13903,0.88,447.0,457.0,8.6,1239,13959,0.17,2.78,44.58,1.205,6,0.047,0.031,3117,2726,1247
$GC,14275,0.88,447.0,413.6,11.4,1274,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2726,1240
$GC,14596,0.88,447.0,375.1,12.2,1304,14598,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2726,1239
$GC,14918,0.88,447.0,335.9,11.7,1344,14925,0.00,2.80,0.00,0.000,4,0.000,0.046,3117,1334,1238
$GC,14938,0.88,447.0,333.6,12.2,1347,14946,0.00,2.70,0.00,0.000,6,0.000,0.031,3117,2724,1236
$GC,15284,0.88,447.0,291.5,12.0,1408,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2724,1236
$GC,15628,0.88,447.0,247.5,13.2,1469,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2723,1236
$GC,15971,0.88,447.0,203.6,12.5,1530,15979,0.00,2.78,0.00,0.000,4,0.000,0.045,3117,1336,1235
$GC,15986,0.88,447.0,201.8,12.2,1532,15993,0.00,2.67,0.00,0.000,6,0.000,0.031,3117,2717,1235
$GC,16331,0.88,447.0,159.9,12.1,1593,16337,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2717,1235
$GC,16673,0.88,447.0,119.0,10.8,1654,16680,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2717,1235
$GC,17018,0.88,447.0,77.0,13.6,1715,17025,0.00,2.78,0.00,0.000,4,0.000,0.045,3117,1334,1235
$GC,17050,0.88,447.0,72.9,13.5,1720,17058,0.00,2.65,0.00,0.000,6,0.000,0.031,3117,2708,1235
$GC,17394,0.88,447.0,35.1,11.0,1781,17401,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2708,1234
$GC,17537,0.88,447.0,19.6,10.4,1806,17544,0.00,2.75,0.00,0.000,4,0.000,0.046,3117,1328,1234
$GC,17557,0.88,447.0,17.3,10.6,1809,17564,0.00,2.62,0.00,0.000,6,0.000,0.030,3117,2692,1234
$STATE,17698,end climb,SURFACE_DEPTH_REACHED
$STATE,17698,begin surface coast
$FINISH,0.0,1.020373
$STATE,17722,end surface coast,CONTROL_FINISHED_OK
$STATE,17722,begin surface
$SM_CCo,17802,0.00,0.000,0,0,1233,450.86
$SM_GC,0.69,8.52,0.00,0.00,0.044,0.000,0.000,1430,2274,1233,-6.80,-0.74,450.86
$IRIDIUM_FIX,6121.73,-2607.48,010997,232314
$TT8_MAMPS,0.026845
$HUMID,1834
$INTERNAL_PRESSURE,8.88752
$TCM_TEMP,16.50
$XPDR_PINGS,954
$24V_AH,19.0,96.201
$10V_AH,9.9,65.231
$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,24.725,183.475,700.475,0.000,0.000,29.374,32.608,243.322,238.500,0.000,0.000,15.727,3755.858,9432.376,979.411,3375.850,698.250,0.000,2514.860,0.000,3369.727,0.000,0.465
$DEVICE_MAMPS,250.042,125.788,1530.932,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1287.918,1368.146,690.849,1680.919,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135996,1838
$CAP_FILE_SIZE,172943,0
$CFSIZE,260165632,227479552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,270.1,1
$GPS,080608,100707,6151.294,-2611.625,24,2.0,24,-18.8