version: 66.03
glider: 142
mission: 5
dive: 384
start: 6 23 108 15 6 54
data:
$ID,142
$MISSION,5
$DIVE,384
$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,-20190.238
$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,23
$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
$GPS1,145756,6147.841,-2604.539,40,1.7,40,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-52.5
$GPS2,150635,6147.835,-2604.352,10,2.1,29,-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,329.4,22348,-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,23,-0.86,-194.7,0.0,0.0,0,154,0.00,0.00,-128.25,0.000,2,0.000,0.000,1430,2291,3460
$GC,157,-0.86,-194.7,3.4,-5.9,17,188,12.27,2.80,-10.90,0.000,4,0.253,0.054,2726,891,3866
$GC,269,-0.86,-194.7,20.1,-12.3,35,276,0.00,2.72,0.00,0.000,6,0.000,0.028,2726,2310,3867
$GC,413,-0.78,-194.7,37.9,-12.9,60,421,0.15,2.75,0.00,0.000,4,0.147,0.041,2749,3709,3867
$GC,468,-0.78,-194.7,44.0,-10.5,69,475,0.00,2.72,0.00,0.000,6,0.000,0.031,2749,2301,3867
$GC,610,-0.78,-194.7,59.7,-12.0,94,617,0.00,2.78,0.00,0.000,4,0.000,0.046,2749,895,3867
$GC,636,-0.78,-194.7,62.7,-11.7,98,644,0.00,2.78,0.00,0.000,6,0.000,0.029,2749,2336,3867
$GC,982,-0.78,-194.7,101.7,-11.8,159,989,0.00,2.70,0.00,0.000,4,0.000,0.044,2749,3705,3868
$GC,1092,-0.78,-194.7,114.8,-11.5,178,1099,0.00,2.62,0.00,0.000,6,0.000,0.032,2749,2352,3868
$GC,1438,-0.78,-194.7,155.7,-11.7,239,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2351,3868
$GC,1783,-0.78,-194.7,195.3,-11.6,300,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2351,3868
$GC,2126,-0.78,-194.7,233.6,-11.0,361,2134,0.00,2.72,0.00,0.000,4,0.000,0.044,2749,3710,3868
$GC,2180,-0.78,-194.7,239.5,-10.5,370,2187,0.00,2.65,0.00,0.000,6,0.000,0.033,2749,2352,3868
$GC,2526,-0.78,-194.7,277.1,-10.8,431,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2351,3868
$GC,2871,-0.78,-194.7,312.8,-10.3,492,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2351,3868
$GC,3215,-0.78,-194.7,348.4,-10.4,553,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2351,3868
$GC,3543,-0.78,-194.7,383.8,-11.1,585,3547,0.00,2.72,0.00,0.000,4,0.000,0.048,2749,3703,3867
$GC,3609,-0.78,-194.7,391.2,-10.7,590,3616,0.00,2.60,0.00,0.000,6,0.000,0.034,2749,2370,3867
$GC,3939,-0.78,-194.7,423.9,-9.5,621,3944,0.00,2.97,0.00,0.000,4,0.000,0.049,2749,884,3867
$GC,3979,-0.78,-194.7,428.2,-9.6,624,3984,0.00,2.90,0.00,0.000,6,0.000,0.031,2749,2375,3866
$GC,4307,-0.78,-194.7,459.6,-9.6,654,4311,0.00,2.65,0.00,0.000,4,0.000,0.047,2749,3703,3866
$GC,4373,-0.78,-194.7,466.5,-10.1,659,4380,0.00,2.60,0.00,0.000,6,0.000,0.033,2749,2371,3866
$GC,4701,-0.78,-194.7,498.6,-10.1,690,4706,0.00,2.97,0.00,0.000,4,0.000,0.050,2749,891,3866
$GC,4744,-0.82,-194.7,503.4,-10.3,693,4752,0.00,2.90,0.00,0.000,6,0.000,0.031,2749,2380,3865
$GC,5072,-0.82,-194.7,535.6,-9.7,724,5076,0.00,2.65,0.00,0.000,4,0.000,0.048,2750,3704,3866
$GC,5146,-0.82,-194.7,542.9,-10.0,730,5150,0.00,2.60,0.00,0.000,6,0.000,0.034,2749,2370,3865
$GC,5473,-0.82,-194.7,575.6,-10.3,760,5477,0.00,2.97,0.00,0.000,4,0.000,0.052,2749,897,3865
$GC,5516,-0.86,-194.7,580.0,-10.6,763,5520,0.00,2.90,0.00,0.000,6,0.000,0.031,2749,2379,3865
$GC,5838,-0.86,-194.7,613.9,-10.5,787,5842,0.00,2.67,0.00,0.000,4,0.000,0.052,2749,3706,3865
$GC,5904,-0.86,-194.7,621.0,-10.4,790,5908,0.00,2.62,0.00,0.000,6,0.000,0.038,2749,2378,3865
$GC,6225,-0.86,-194.7,653.7,-10.3,806,6230,0.00,3.08,0.00,0.000,4,0.000,0.061,2749,891,3865
$GC,6275,-0.91,-194.7,659.1,-10.7,808,6281,0.15,2.90,0.00,0.000,6,0.056,0.035,2717,2370,3864
$GC,6593,-0.85,-194.7,698.4,-12.7,823,6597,0.00,2.75,0.00,0.000,4,0.000,0.061,2717,3700,3863
$GC,6656,-0.79,-194.7,706.5,-12.4,826,6661,0.17,2.67,0.00,0.000,6,0.137,0.045,2740,2377,3864
$GC,6983,-0.79,-194.7,742.7,-10.9,842,6988,0.00,3.17,0.00,0.000,4,0.000,0.076,2740,897,3863
$GC,7027,-0.79,-194.7,747.6,-11.0,844,7032,0.00,3.03,0.00,0.000,6,0.000,0.051,2740,2365,3863
$GC,7349,-0.79,-194.7,779.8,-9.8,860,7353,0.00,2.92,0.00,0.000,4,0.000,0.084,2740,3700,3863
$GC,7427,-0.79,-194.7,787.6,-9.2,863,7434,0.00,2.78,0.00,0.000,6,0.000,0.067,2740,2392,3863
$GC,7744,-0.79,-194.7,817.1,-9.2,879,7749,0.00,3.45,0.00,0.000,4,0.000,0.102,2740,897,3863
$GC,7807,-0.79,-194.7,823.1,-9.5,882,7812,0.00,3.25,0.00,0.000,6,0.000,0.082,2740,2356,3863
$GC,8134,-0.79,-194.7,854.1,-9.7,898,8139,0.00,3.17,0.00,0.000,4,0.000,0.114,2740,3695,3862
$GC,8212,-0.79,-194.7,861.7,-9.6,901,8220,0.00,3.08,0.00,0.000,6,0.000,0.103,2740,2382,3862
$GC,8529,-0.79,-194.7,893.4,-10.3,917,8533,0.00,3.03,0.00,0.000,4,0.000,0.054,2740,897,3862
$GC,8584,-0.79,-194.7,899.2,-10.5,919,8591,0.00,2.90,0.00,0.000,6,0.000,0.034,2740,2369,3862
$GC,8901,-0.79,-194.7,931.7,-10.1,935,8905,0.00,2.75,0.00,0.000,4,0.000,0.060,2740,3705,3862
$GC,8956,-0.79,-194.7,937.3,-9.6,937,8963,0.00,2.67,0.00,0.000,6,0.000,0.041,2740,2371,3862
$GC,9272,-0.79,-194.7,967.8,-9.6,953,9277,0.00,3.05,0.00,0.000,4,0.000,0.061,2740,897,3861
$GC,9328,-0.79,-194.7,973.3,-9.2,955,9336,0.00,2.88,0.00,0.000,6,0.000,0.035,2740,2350,3861
$STATE,9518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9518,begin apogee
$GC,9525,-0.21,0.0,991.7,9.7,965,9742,0.82,0.00,212.02,1.600,6,0.139,0.000,2866,2759,3071
$STATE,9742,end apogee,CONTROL_FINISHED_OK
$STATE,9742,begin climb
$GC,9746,0.86,194.7,998.9,0.0,976,9975,1.45,2.62,218.20,1.537,4,0.092,0.060,3100,3901,2277
$GC,10054,0.72,194.7,969.9,12.4,990,10059,0.15,2.38,0.00,0.000,6,0.121,0.035,3081,2745,2275
$GC,10377,0.63,194.7,936.7,10.1,1006,10381,0.15,2.38,0.00,0.000,4,0.117,0.054,3055,3895,2274
$GC,10389,0.55,194.7,935.3,10.2,1006,10396,0.00,2.22,0.00,0.000,6,0.000,0.034,3055,2756,2274
$GC,10706,0.61,237.9,908.6,8.5,1022,10753,0.00,0.00,45.70,1.494,6,0.000,0.000,3055,2755,2101
$GC,11055,0.68,302.2,880.8,7.8,1039,11130,0.00,3.00,68.88,1.495,4,0.000,0.050,3054,1343,1838
$GC,11137,0.75,358.7,874.1,8.0,1043,11209,0.15,2.90,63.45,1.452,6,0.055,0.033,3083,2755,1606
$GC,11536,0.75,358.7,833.4,10.2,1062,11541,0.00,2.90,0.00,0.000,4,0.000,0.048,3084,1337,1599
$GC,11557,0.75,358.7,831.1,10.6,1063,11562,0.00,2.80,0.00,0.000,6,0.000,0.034,3084,2748,1599
$GC,11880,0.75,358.7,797.2,10.8,1079,11884,0.00,2.88,0.00,0.000,4,0.000,0.048,3083,1332,1598
$GC,11897,0.75,358.7,795.1,10.2,1080,11901,0.00,2.75,0.00,0.000,6,0.000,0.033,3083,2730,1597
$GC,12223,0.75,358.7,760.3,10.8,1096,12228,0.00,2.83,0.00,0.000,4,0.000,0.048,3083,1337,1597
$GC,12234,0.75,358.7,758.9,10.8,1096,12242,0.00,2.70,0.00,0.000,6,0.000,0.034,3084,2714,1597
$GC,12550,0.75,358.7,724.0,10.8,1112,12551,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2714,1596
$GC,12860,0.75,358.7,691.7,10.1,1127,12865,0.00,2.78,0.00,0.000,4,0.000,0.048,3084,1343,1596
$GC,12873,0.75,359.2,690.4,10.0,1127,12880,0.00,2.67,0.00,0.000,6,0.000,0.033,3083,2710,1595
$GC,13189,0.77,371.8,659.9,9.6,1143,13212,0.00,2.85,12.50,1.216,4,0.000,0.047,3083,1338,1555
$GC,13217,0.78,377.4,657.0,9.8,1144,13235,0.00,2.67,8.15,1.137,6,0.000,0.033,3083,2695,1531
$GC,13544,0.80,396.9,626.9,9.3,1160,13569,0.00,0.00,22.95,1.341,6,0.000,0.000,3084,2696,1452
$GC,13874,0.83,418.9,595.6,9.2,1178,13910,0.00,2.85,25.02,1.320,4,0.000,0.047,3083,1343,1362
$GC,13924,0.93,453.3,590.9,8.8,1182,13973,0.20,2.67,39.88,1.323,6,0.048,0.032,3122,2687,1222
$GC,14290,0.93,453.3,544.4,12.8,1216,14294,0.00,2.72,0.00,0.000,4,0.000,0.047,3123,1342,1216
$GC,14300,0.93,453.3,542.9,12.9,1216,14307,0.00,2.58,0.00,0.000,6,0.000,0.031,3123,2661,1214
$GC,14629,0.93,453.3,501.4,12.6,1247,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2661,1213
$GC,14954,0.93,453.3,460.8,11.9,1278,14959,0.00,2.67,0.00,0.000,4,0.000,0.047,3123,1333,1213
$GC,14965,0.93,453.3,459.4,11.6,1278,14973,0.00,2.58,0.00,0.000,6,0.000,0.031,3123,2660,1212
$GC,15293,0.93,453.3,421.0,11.9,1309,15299,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2660,1212
$GC,15618,0.93,453.3,382.3,11.7,1340,15623,0.00,2.67,0.00,0.000,4,0.000,0.046,3123,1335,1212
$GC,15628,0.93,453.3,380.9,11.6,1340,15636,0.00,2.58,0.00,0.000,6,0.000,0.030,3123,2660,1211
$GC,15957,0.93,453.3,342.7,11.2,1376,15964,0.00,2.67,0.00,0.000,4,0.000,0.045,3123,1332,1211
$GC,15971,0.93,453.3,340.9,11.5,1378,15979,0.00,2.58,0.00,0.000,6,0.000,0.036,3123,2654,1211
$GC,16318,0.93,453.3,299.6,11.5,1439,16325,0.00,2.65,0.00,0.000,4,0.000,0.045,3123,1335,1211
$GC,16332,0.93,453.3,297.7,11.8,1441,16339,0.00,2.55,0.00,0.000,6,0.000,0.030,3123,2651,1210
$GC,16677,0.93,453.3,258.6,11.0,1502,16684,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2651,1210
$GC,17023,0.93,453.3,220.2,11.6,1563,17030,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2651,1210
$GC,17369,0.93,453.3,181.7,11.9,1624,17377,0.00,2.65,0.00,0.000,4,0.000,0.045,3122,1332,1210
$GC,17384,0.93,453.3,179.9,11.3,1626,17391,0.00,2.55,0.00,0.000,6,0.000,0.031,3123,2646,1210
$GC,17729,0.93,453.3,142.5,10.4,1687,17736,0.00,2.65,0.00,0.000,4,0.000,0.046,3123,1332,1210
$GC,17743,0.93,453.3,140.7,10.4,1689,17751,0.00,2.53,0.00,0.000,6,0.000,0.031,3123,2634,1211
$GC,18086,0.93,453.3,104.3,11.4,1750,18092,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2634,1210
$GC,18430,0.93,453.3,65.7,10.8,1811,18436,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2634,1210
$GC,18774,0.95,475.5,29.2,9.2,1872,18803,0.00,2.70,22.30,0.932,4,0.000,0.045,3123,1338,1132
$GC,18811,1.00,475.5,25.5,10.7,1877,18819,0.00,2.50,0.00,0.000,6,0.000,0.029,3123,2627,1131
$GC,18957,1.04,475.5,11.4,11.6,1902,18964,0.12,0.00,0.00,0.000,6,0.059,0.000,3151,2626,1129
$STATE,19036,end climb,SURFACE_DEPTH_REACHED
$STATE,19036,begin surface coast
$FINISH,0.2,1.001589
$STATE,19055,end surface coast,CONTROL_FINISHED_OK
$STATE,19055,begin surface
$SM_CCo,19135,0.00,0.000,0,0,1127,476.62
$SM_GC,0.86,8.80,0.00,0.00,0.047,0.000,0.000,1433,2291,1127,-6.80,-0.25,476.62
$IRIDIUM_FIX,6126.23,-2559.30,170997,090905
$TT8_MAMPS,0.026078
$HUMID,1881
$INTERNAL_PRESSURE,8.89728
$TCM_TEMP,14.90
$XPDR_PINGS,1003
$24V_AH,18.8,119.161
$10V_AH,9.8,77.641
$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,24.600,211.750,739.050,0.000,0.000,29.161,38.277,262.406,250.750,0.000,0.000,32.125,3934.833,10303.557,995.746,3581.986,814.650,0.000,2665.116,0.000,3558.821,0.000,0.466
$DEVICE_MAMPS,253.110,113.516,1599.962,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,Optode,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,1338.605,1438.760,711.560,1696.392,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$DATA_FILE_SIZE,139390,1919
$CAP_FILE_SIZE,186306,0
$CFSIZE,260165632,220463104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,131.8,1
$GPS,230608,202707,6149.445,-2607.996,40,1.9,40,-18.7