version: 66.03
glider: 140
mission: 5
dive: 111
start: 4 29 108 14 43 27
data:
$ID,140
$MISSION,5
$DIVE,111
$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,390
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,51662
$NAV_MODE,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,280
$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,-15264.723
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,592
$PITCH_MAX,3894
$C_PITCH,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.2
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,2
$ROLL_MIN,157
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2235
$C_ROLL_CLIMB,2330
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,520
$VBD_MAX,3978
$C_VBD,3085
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PRESSURE_YINT,-1.4601949
$PRESSURE_SLOPE,9.0994887e-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,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,53
$DEVICE5,-1
$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
$GPS1,143537,6056.895,-2408.312,39,1.2,39,-17.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-57.2
$GPS2,144309,6056.895,-2408.580,14,1.3,14,-17.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6058.770,-2413.740
$TGT_RADIUS,1852.000
$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,297.1,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-65.47,0.000,2,0.000,0.000,590,2225,3449
$GC,98,-1.29,-194.7,3.2,-5.9,12,127,12.77,2.78,-9.45,0.000,4,0.200,0.112,2670,3649,3880
$GC,352,-1.29,-194.7,33.8,-8.8,57,359,0.00,2.62,0.00,0.000,6,0.000,0.082,2670,2235,3881
$GC,496,-1.29,-194.7,46.7,-9.4,82,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,638,-1.29,-194.7,61.8,-11.5,107,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,980,-1.29,-194.7,96.3,-9.9,168,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,1323,-1.29,-194.7,130.9,-10.0,229,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3881
$GC,1665,-1.29,-194.7,162.5,-9.0,290,1671,0.00,2.75,0.00,0.000,4,0.000,0.106,2670,820,3882
$GC,1700,-1.29,-194.7,165.8,-9.8,296,1707,0.00,2.70,0.00,0.000,6,0.000,0.089,2670,2243,3881
$GC,2045,-1.29,-194.7,196.8,-8.7,357,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3881
$GC,2387,-1.29,-194.7,227.6,-9.9,418,2393,0.00,2.78,0.00,0.000,4,0.000,0.107,2670,826,3882
$GC,2432,-1.29,-194.7,232.2,-10.1,426,2438,0.00,2.70,0.00,0.000,6,0.000,0.092,2670,2243,3882
$GC,2776,-1.29,-194.7,265.0,-9.4,487,2781,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3882
$GC,3118,-1.29,-194.7,297.7,-9.5,548,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3882
$GC,3462,-1.29,-194.7,328.9,-8.8,609,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3881
$GC,3799,-1.29,-194.7,358.8,-8.7,661,3800,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3882
$GC,4118,-1.29,-194.7,387.3,-8.8,691,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3882
$GC,4439,-1.29,-194.7,415.0,-8.7,721,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2244,3882
$GC,4754,-1.29,-194.7,441.2,-8.1,751,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3882
$GC,5073,-1.29,-194.7,467.4,-8.1,781,5077,0.00,2.83,0.00,0.000,4,0.000,0.117,2670,825,3882
$GC,5105,-1.29,-194.7,470.2,-8.2,783,5111,0.00,2.72,0.00,0.000,6,0.000,0.102,2670,2236,3882
$GC,5432,-1.29,-194.7,496.1,-8.0,814,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,5748,-1.29,-194.7,523.2,-9.0,844,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,6068,-1.29,-194.7,553.3,-9.7,874,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,6385,-1.29,-194.7,582.8,-9.1,904,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,6711,-1.29,-194.7,610.4,-8.4,929,6715,0.00,2.80,0.00,0.000,4,0.000,0.121,2670,3645,3881
$GC,6750,-1.29,-194.7,613.8,-8.8,931,6754,0.00,2.67,0.00,0.000,6,0.000,0.096,2670,2239,3881
$GC,7076,-1.29,-194.7,641.0,-8.8,947,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3881
$GC,7385,-1.29,-194.7,668.8,-9.0,962,7387,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3880
$GC,7694,-1.29,-194.7,696.4,-8.7,977,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3880
$GC,8004,-1.29,-194.7,722.1,-8.2,992,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3880
$GC,8313,-1.29,-194.7,746.7,-8.0,1007,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3879
$GC,8622,-1.29,-194.7,771.5,-8.1,1022,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3879
$GC,8931,-1.29,-194.7,796.9,-8.1,1037,8936,0.00,2.88,0.00,0.000,4,0.000,0.130,2670,3651,3879
$GC,8964,-1.29,-194.7,799.7,-8.8,1038,8970,0.00,2.75,0.00,0.000,6,0.000,0.104,2670,2229,3879
$GC,9279,-1.29,-194.7,826.1,-8.3,1054,9284,0.00,2.90,0.00,0.000,4,0.000,0.135,2670,817,3879
$GC,9318,-1.29,-194.7,829.4,-8.4,1056,9323,0.00,2.80,0.00,0.000,6,0.000,0.112,2670,2236,3879
$GC,9645,-1.29,-194.7,853.3,-7.2,1072,9649,0.00,2.88,0.00,0.000,4,0.000,0.135,2670,3644,3878
$GC,9684,-1.29,-194.7,856.2,-8.0,1074,9688,0.00,2.75,0.00,0.000,6,0.000,0.104,2670,2228,3878
$GC,10010,-1.29,-194.7,881.0,-7.8,1090,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3878
$GC,10319,-1.29,-194.7,906.8,-8.6,1105,10324,0.00,2.90,0.00,0.000,4,0.000,0.130,2670,3651,3877
$GC,10363,-1.29,-194.7,910.8,-9.3,1107,10367,0.00,2.78,0.00,0.000,6,0.000,0.107,2670,2227,3877
$GC,10683,-1.29,-194.7,938.3,-8.5,1123,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3877
$GC,10993,-1.29,-194.7,964.1,-8.2,1138,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3876
$STATE,11299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11300,begin apogee
$GC,11305,-0.35,0.0,990.0,8.5,1153,11475,1.05,0.00,166.05,1.448,6,0.106,0.000,2880,2327,3085
$STATE,11476,end apogee,CONTROL_FINISHED_OK
$STATE,11476,begin climb
$GC,11479,1.29,194.7,996.9,0.0,1161,11652,1.62,3.05,162.80,1.411,4,0.061,0.137,3238,916,2291
$GC,11674,1.21,194.7,983.8,11.6,1170,11680,0.00,2.90,0.00,0.000,6,0.000,0.118,3238,2332,2289
$GC,11990,1.13,194.7,944.0,12.5,1186,11995,0.15,2.95,0.00,0.000,4,0.115,0.134,3207,3740,2287
$GC,12023,1.05,194.7,939.7,11.2,1187,12029,0.00,2.80,0.00,0.000,6,0.000,0.108,3207,2335,2287
$GC,12339,1.00,194.7,903.9,11.2,1203,12340,0.15,0.00,0.00,0.000,6,0.114,0.000,3180,2336,2287
$GC,12648,1.00,195.0,872.7,10.0,1218,12649,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2336,2286
$GC,12957,1.01,204.5,842.4,9.7,1233,12972,0.00,2.97,9.32,1.235,4,0.000,0.129,3180,3739,2250
$GC,12995,1.02,208.5,838.5,9.9,1234,13006,0.00,2.83,5.25,0.995,6,0.000,0.106,3180,2333,2234
$GC,13321,1.03,216.1,806.4,9.7,1250,13331,0.00,0.00,8.10,1.185,6,0.000,0.000,3180,2333,2204
$GC,13630,1.04,223.8,775.7,9.7,1265,13644,0.00,2.95,8.50,1.184,4,0.000,0.129,3180,917,2172
$GC,13674,1.04,223.8,771.1,10.8,1267,13679,0.00,2.85,0.00,0.000,6,0.000,0.109,3180,2345,2172
$GC,14000,1.04,223.8,736.0,10.7,1283,14005,0.00,2.88,0.00,0.000,4,0.000,0.130,3180,3740,2171
$GC,14026,1.04,223.8,732.8,11.8,1284,14031,0.00,2.72,0.00,0.000,6,0.000,0.101,3180,2344,2171
$GC,14342,1.04,223.8,699.4,10.4,1299,14344,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2345,2171
$GC,14651,1.04,223.8,666.3,10.8,1314,14656,0.00,2.85,0.00,0.000,4,0.000,0.123,3180,917,2171
$GC,14690,1.04,223.8,661.7,11.8,1316,14695,0.00,2.83,0.00,0.000,6,0.000,0.104,3180,2359,2171
$GC,15017,1.05,239.5,628.1,9.5,1332,15036,0.00,0.00,14.82,1.190,6,0.000,0.000,3180,2359,2107
$GC,15346,1.08,259.0,596.3,9.3,1349,15366,0.00,0.00,17.92,1.156,6,0.000,0.000,3180,2359,2029
$GC,15687,1.08,260.9,563.5,9.9,1381,15688,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2359,2027
$GC,16002,1.08,260.9,530.6,10.7,1411,16007,0.00,2.85,0.00,0.000,4,0.000,0.110,3180,917,2026
$GC,16041,1.08,260.9,526.4,10.8,1414,16046,0.00,2.78,0.00,0.000,6,0.000,0.100,3180,2345,2027
$GC,16365,1.08,260.9,490.6,10.7,1444,16367,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2345,2027
$GC,16686,1.09,266.5,457.1,9.8,1474,16696,0.00,0.00,7.70,0.989,6,0.000,0.000,3180,2345,1998
$GC,17014,1.09,266.5,422.7,10.4,1505,17018,0.00,2.80,0.00,0.000,4,0.000,0.109,3180,915,1997
$GC,17046,1.11,281.9,419.0,9.5,1507,17066,0.00,2.72,14.88,1.032,6,0.000,0.097,3180,2332,1935
$GC,17386,1.11,281.9,382.5,11.3,1539,17390,0.00,2.78,0.00,0.000,4,0.000,0.107,3180,917,1933
$GC,17414,1.15,281.9,379.4,11.3,1541,17419,0.12,2.70,0.00,0.000,6,0.064,0.095,3213,2326,1933
$GC,17742,1.15,281.9,337.3,13.9,1579,17747,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2326,1932
$GC,18085,1.15,281.9,293.3,13.0,1640,18091,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2326,1932
$GC,18429,1.15,281.9,251.1,11.5,1701,18435,0.00,2.75,0.00,0.000,4,0.000,0.105,3213,910,1933
$GC,18458,1.15,281.9,247.4,14.2,1706,18464,0.00,2.70,0.00,0.000,6,0.000,0.092,3212,2332,1933
$GC,18801,1.15,281.9,207.5,10.9,1767,18806,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2332,1933
$GC,19143,1.15,281.9,168.3,11.3,1828,19148,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2332,1933
$GC,19486,1.15,281.9,127.4,11.7,1889,19492,0.00,2.72,0.00,0.000,4,0.000,0.102,3213,915,1933
$GC,19526,1.15,281.9,122.4,12.3,1896,19532,0.00,2.65,0.00,0.000,6,0.000,0.091,3213,2318,1933
$GC,19870,1.15,281.9,78.3,12.4,1957,19875,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2318,1933
$GC,20212,1.15,281.9,34.7,14.0,2018,20217,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2318,1934
$GC,20353,1.15,284.8,16.5,9.9,2043,20366,0.00,2.80,3.92,0.562,4,0.000,0.104,3213,3732,1923
$GC,20385,1.15,284.8,13.1,11.9,2048,20392,0.00,2.60,0.00,0.000,6,0.000,0.081,3213,2337,1923
$STATE,20469,end climb,SURFACE_DEPTH_REACHED
$STATE,20469,begin surface coast
$FINISH,0.3,1.027811
$STATE,20482,end surface coast,CONTROL_FINISHED_OK
$STATE,20482,begin surface
$SM_CCo,20564,0.00,0.000,0,0,1920,285.53
$SM_GC,1.13,11.52,0.00,0.00,0.046,0.000,0.000,592,2225,1920,-10.84,-0.28,285.53
$IRIDIUM_FIX,6032.86,-2355.50,240797,080858
$TT8_MAMPS,0.02301
$HUMID,1613
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.80
$XPDR_PINGS,58
$24V_AH,23.4,28.616
$10V_AH,10.7,22.184
$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,27.400,117.850,419.275,0.000,0.000,28.142,28.549,254.798,14.500,0.000,0.000,14.313,3221.782,13130.276,568.323,3422.525,654.745,0.000,2148.362,0.000,3412.364,0.000,0.467
$DEVICE_MAMPS,200.187,151.866,1448.096,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1434.413,1539.283,936.337,568.619,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116772,2065
$CAP_FILE_SIZE,179019,0
$CFSIZE,260165632,245358592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290408,202745,6057.516,-2420.670,39,99.0,58,-17.2