version: 66.03
glider: 142
mission: 5
dive: 354
start: 6 17 108 10 29 17
data:
$ID,142
$MISSION,5
$DIVE,354
$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,-19630.711
$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,25
$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
$GPS1,102101,6145.575,-2604.762,36,1.1,41,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-57.9
$GPS2,102857,6145.562,-2604.758,13,1.1,13,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6145.370,-2600.200
$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,129.0,4011,-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,19,begin dive
$GC,22,-0.86,-194.7,0.0,0.0,0,138,0.00,0.00,-113.20,0.000,2,0.000,0.000,1435,2269,3457
$GC,141,-0.86,-194.7,3.3,-5.4,15,172,12.07,2.78,-11.07,0.000,4,0.252,0.057,2726,894,3866
$GC,244,-0.81,-194.7,20.3,-13.0,31,251,0.00,2.70,0.00,0.000,6,0.000,0.029,2726,2304,3867
$GC,387,-0.73,-194.7,41.0,-14.2,56,394,0.17,0.00,0.00,0.000,6,0.147,0.000,2753,2304,3867
$GC,530,-0.73,-194.7,57.9,-11.5,81,538,0.00,2.78,0.00,0.000,4,0.000,0.044,2753,3707,3867
$GC,550,-0.73,-194.7,60.2,-11.4,84,558,0.00,2.78,0.00,0.000,6,0.000,0.032,2753,2280,3867
$GC,895,-0.73,-194.7,99.0,-11.1,145,902,0.00,2.85,0.00,0.000,4,0.000,0.044,2753,3705,3868
$GC,937,-0.73,-194.7,103.6,-10.5,152,944,0.00,2.75,0.00,0.000,6,0.000,0.034,2753,2295,3868
$GC,1286,-0.73,-194.7,138.1,-9.4,213,1293,0.00,2.83,0.00,0.000,4,0.000,0.044,2753,3706,3868
$GC,1328,-0.73,-194.7,142.4,-9.3,220,1335,0.00,2.72,0.00,0.000,6,0.000,0.034,2753,2307,3868
$GC,1674,-0.73,-194.7,175.2,-9.4,281,1681,0.00,2.80,0.00,0.000,4,0.000,0.044,2753,3705,3867
$GC,1711,-0.73,-194.7,178.9,-9.7,287,1718,0.00,2.70,0.00,0.000,6,0.000,0.033,2753,2319,3868
$GC,2057,-0.73,-194.7,212.3,-9.9,348,2064,0.00,2.78,0.00,0.000,4,0.000,0.045,2752,3704,3868
$GC,2078,-0.73,-194.7,214.3,-9.9,351,2085,0.00,2.70,0.00,0.000,6,0.000,0.034,2753,2321,3868
$GC,2424,-0.73,-194.7,249.8,-10.5,412,2431,0.00,2.78,0.00,0.000,4,0.000,0.045,2753,3704,3868
$GC,2455,-0.73,-194.7,253.0,-10.4,417,2462,0.00,2.67,0.00,0.000,6,0.000,0.034,2752,2334,3867
$GC,2801,-0.73,-194.7,288.3,-9.9,478,2809,0.00,2.75,0.00,0.000,4,0.000,0.045,2753,3702,3867
$GC,2821,-0.73,-194.7,290.2,-10.0,481,2828,0.00,2.65,0.00,0.000,6,0.000,0.033,2753,2345,3868
$GC,3167,-0.73,-194.7,324.0,-9.9,542,3175,0.00,2.72,0.00,0.000,4,0.000,0.046,2753,3700,3867
$GC,3182,-0.73,-194.7,325.4,-9.6,544,3190,0.00,2.65,0.00,0.000,6,0.000,0.034,2753,2343,3868
$GC,3523,-0.73,-194.7,358.2,-9.4,597,3527,0.00,2.72,0.00,0.000,4,0.000,0.046,2753,3700,3867
$GC,3541,-0.73,-194.7,360.0,-9.4,598,3545,0.00,2.65,0.00,0.000,6,0.000,0.034,2753,2344,3867
$GC,3868,-0.73,-194.7,390.8,-9.5,628,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2344,3867
$GC,4185,-0.73,-194.7,421.9,-9.9,658,4189,0.00,2.75,0.00,0.000,4,0.000,0.048,2753,3706,3867
$GC,4206,-0.73,-194.7,424.3,-9.9,659,4213,0.00,2.65,0.00,0.000,6,0.000,0.035,2753,2350,3867
$GC,4533,-0.73,-194.7,456.5,-9.9,690,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2349,3867
$GC,4850,-0.73,-194.7,488.7,-10.1,720,4854,0.00,2.75,0.00,0.000,4,0.000,0.048,2753,3709,3867
$GC,4867,-0.73,-194.7,490.5,-10.2,721,4872,0.00,2.65,0.00,0.000,6,0.000,0.034,2753,2355,3866
$GC,5195,-0.73,-194.7,523.1,-10.0,751,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2353,3866
$GC,5520,-0.73,-194.7,556.1,-10.1,782,5525,0.00,2.72,0.00,0.000,4,0.000,0.049,2753,3699,3866
$GC,5531,-0.73,-194.7,557.3,-10.0,782,5539,0.00,2.65,0.00,0.000,6,0.000,0.035,2753,2348,3866
$GC,5861,-0.73,-194.7,591.0,-10.8,813,5867,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2347,3866
$GC,6189,-0.73,-194.7,629.7,-12.2,833,6194,0.00,2.78,0.00,0.000,4,0.000,0.054,2753,3698,3866
$GC,6217,-0.73,-194.7,633.4,-13.3,834,6222,0.00,2.62,0.00,0.000,6,0.000,0.036,2753,2365,3866
$GC,6533,-0.73,-194.7,674.8,-12.7,849,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2364,3866
$GC,6842,-0.73,-194.7,717.1,-13.7,864,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2364,3865
$GC,7153,-0.73,-194.7,753.8,-11.0,879,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2363,3865
$GC,7462,-0.73,-194.7,787.4,-10.9,894,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2364,3865
$GC,7771,-0.73,-194.7,819.3,-9.2,909,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2363,3865
$GC,8082,-0.73,-194.7,847.5,-9.3,924,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2364,3865
$GC,8390,-0.73,-194.7,877.3,-9.4,939,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2364,3865
$GC,8698,-0.73,-194.7,906.7,-9.9,954,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2364,3865
$GC,9008,-0.73,-194.7,937.8,-10.3,969,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2363,3864
$GC,9316,-0.73,-194.7,969.8,-10.5,984,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,2363,3863
$STATE,9520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9520,begin apogee
$GC,9527,-0.21,0.0,991.4,10.7,994,9743,0.75,0.00,211.65,1.587,6,0.135,0.000,2868,2725,3071
$STATE,9744,end apogee,CONTROL_FINISHED_OK
$STATE,9744,begin climb
$GC,9747,0.86,194.7,1001.9,0.0,1005,9976,1.48,3.88,216.30,1.519,4,0.102,0.190,3099,3900,2277
$GC,10122,0.72,194.7,968.7,11.8,1022,10128,0.15,3.12,0.00,0.000,6,0.129,0.157,3081,2766,2274
$GC,10444,0.63,194.7,935.4,10.2,1038,10446,0.15,0.00,0.00,0.000,6,0.120,0.000,3058,2764,2274
$GC,10754,0.68,230.1,908.2,8.8,1053,10797,0.00,3.72,37.05,1.473,4,0.000,0.140,3058,1335,2133
$GC,10831,0.73,273.9,901.2,8.5,1056,10887,0.00,3.47,47.88,1.465,6,0.000,0.118,3058,2750,1954
$GC,11197,0.77,301.2,869.6,9.1,1074,11229,0.15,0.00,29.65,1.430,6,0.061,0.000,3088,2750,1842
$GC,11526,0.72,301.2,832.0,11.3,1090,11531,0.00,3.28,0.00,0.000,4,0.000,0.100,3087,1331,1839
$GC,11558,0.72,301.2,828.0,11.1,1091,11566,0.00,3.12,0.00,0.000,6,0.000,0.081,3088,2749,1838
$GC,11875,0.67,301.2,792.8,10.5,1107,11880,0.12,2.50,0.00,0.000,4,0.110,0.091,3070,3905,1837
$GC,11917,0.69,321.8,788.8,9.3,1109,11944,0.00,2.45,22.55,1.377,6,0.000,0.065,3070,2727,1759
$GC,12268,0.72,345.6,757.0,9.2,1126,12300,0.00,3.03,26.40,1.388,4,0.000,0.075,3070,1334,1662
$GC,12346,0.77,345.6,749.1,10.7,1129,12354,0.00,2.90,0.00,0.000,6,0.000,0.047,3069,2751,1660
$GC,12662,0.85,413.8,721.5,7.6,1145,12744,0.15,3.10,75.00,1.405,4,0.053,0.059,3104,1334,1384
$GC,12795,0.85,415.4,708.8,9.9,1150,12799,0.00,2.88,0.00,0.000,6,0.000,0.038,3104,2736,1379
$GC,13121,0.89,444.2,678.2,9.0,1166,13162,0.00,0.00,33.03,1.334,6,0.000,0.000,3104,2736,1259
$GC,13472,0.92,470.9,646.7,9.1,1183,13507,0.00,2.95,29.95,1.311,4,0.000,0.051,3104,1332,1150
$GC,13548,0.94,488.1,639.6,9.4,1186,13574,0.00,2.78,19.90,1.261,6,0.000,0.033,3104,2724,1082
$GC,13896,1.05,534.3,611.0,8.4,1203,13955,0.17,2.95,51.10,1.311,4,0.051,0.048,3146,1336,891
$GC,14001,1.05,534.3,597.8,12.7,1208,14009,0.00,2.72,0.00,0.000,6,0.000,0.031,3146,2703,889
$GC,14331,1.05,534.3,557.5,12.5,1239,14337,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2702,886
$GC,14656,1.05,534.3,517.2,12.0,1270,14660,0.00,2.78,0.00,0.000,4,0.000,0.047,3145,1328,884
$GC,14722,1.05,534.3,508.5,12.7,1275,14729,0.00,2.62,0.00,0.000,6,0.000,0.031,3146,2680,884
$GC,15051,1.05,534.3,468.8,12.4,1306,15058,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2681,884
$GC,15377,1.05,534.3,429.4,11.6,1337,15381,0.00,2.72,0.00,0.000,4,0.000,0.046,3146,1324,884
$GC,15429,1.05,534.3,423.1,12.3,1341,15433,0.00,2.60,0.00,0.000,6,0.000,0.030,3146,2667,883
$GC,15754,1.05,534.3,384.8,11.9,1371,15755,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2667,882
$GC,16075,1.05,534.3,347.5,11.2,1402,16082,0.00,2.70,0.00,0.000,4,0.000,0.047,3146,1325,883
$GC,16129,1.05,534.3,340.6,13.1,1411,16136,0.00,2.58,0.00,0.000,6,0.000,0.031,3146,2655,882
$GC,16475,1.05,534.3,299.8,10.8,1472,16481,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2655,882
$GC,16820,1.05,534.3,257.5,11.1,1533,16827,0.00,2.67,0.00,0.000,4,0.000,0.046,3146,1325,882
$GC,16868,1.05,534.3,251.5,13.3,1541,16875,0.00,2.55,0.00,0.000,6,0.000,0.031,3146,2643,882
$GC,17214,1.05,534.3,211.1,11.8,1602,17221,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2643,882
$GC,17559,1.05,534.3,168.6,12.1,1663,17566,0.00,2.65,0.00,0.000,4,0.000,0.047,3146,1328,882
$GC,17607,1.05,534.3,162.3,13.2,1671,17614,0.00,2.53,0.00,0.000,6,0.000,0.031,3146,2636,882
$GC,17953,1.05,534.3,119.7,12.0,1732,17959,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2636,882
$GC,18299,1.05,534.3,77.3,13.1,1793,18307,0.00,2.62,0.00,0.000,4,0.000,0.047,3146,1332,882
$GC,18348,1.05,534.3,70.8,14.4,1801,18355,0.00,2.50,0.00,0.000,6,0.000,0.031,3146,2627,882
$GC,18693,1.05,534.3,32.3,10.6,1862,18700,0.00,0.00,0.00,0.000,6,0.000,0.000,3146,2627,882
$GC,18835,1.05,534.3,18.0,10.4,1887,18843,0.00,2.60,0.00,0.000,4,0.000,0.046,3145,1328,882
$GC,18867,1.06,544.6,14.6,9.6,1892,18883,0.00,2.47,10.02,0.815,6,0.000,0.029,3146,2620,850
$STATE,18982,end climb,SURFACE_DEPTH_REACHED
$STATE,18982,begin surface coast
$FINISH,0.2,1.025959
$STATE,19003,end surface coast,CONTROL_FINISHED_OK
$STATE,19003,begin surface
$SM_CCo,19083,0.00,0.000,0,0,848,545.30
$SM_GC,0.60,8.77,0.00,0.00,0.048,0.000,0.000,1430,2271,848,-6.80,-0.82,545.30
$IRIDIUM_FIX,6121.73,-2605.48,110997,040423
$TT8_MAMPS,0.027612
$HUMID,1847
$INTERNAL_PRESSURE,8.86798
$TCM_TEMP,15.10
$XPDR_PINGS,980
$24V_AH,18.9,110.082
$10V_AH,9.8,72.711
$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,24.150,163.625,810.475,0.000,0.000,27.271,29.454,253.173,245.000,0.000,0.000,14.512,3887.965,10445.249,992.995,3474.256,735.662,0.000,2597.271,0.000,3458.623,0.000,0.468
$DEVICE_MAMPS,251.576,190.216,1586.923,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1325.916,1432.764,701.096,1684.141,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139152,1915
$CAP_FILE_SIZE,176771,0
$CFSIZE,260165632,223268864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.074,274.4,1
$GPS,170608,154838,6144.306,-2600.725,40,1.0,40,-18.6