version: 66.03
glider: 140
mission: 5
dive: 181
start: 5 16 108 9 6 32
data:
$ID,140
$MISSION,5
$DIVE,181
$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,340
$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,-16676.578
$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,12
$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
$GPS1,085827,6121.306,-2621.264,25,3.1,44,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.7
$GPS2,090614,6121.404,-2621.274,9,1.2,15,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6131.552,-2623.035
$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,358.6,20000,-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,-65.53,0.000,2,0.000,0.000,590,2225,3437
$GC,98,-1.29,-194.7,3.3,-6.7,12,127,12.30,0.00,-10.10,0.000,6,0.186,0.000,2668,2225,3880
$GC,266,-1.29,-194.7,22.5,-9.4,41,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3881
$GC,408,-1.29,-194.7,36.0,-8.8,66,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3882
$GC,550,-1.29,-194.7,48.3,-8.6,91,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3881
$GC,691,-1.29,-194.7,60.9,-9.2,116,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3881
$GC,1034,-1.29,-194.7,92.0,-9.3,177,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3881
$GC,1377,-1.29,-194.7,123.9,-9.3,238,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3881
$GC,1721,-1.29,-194.7,155.0,-9.1,299,1727,0.00,2.75,0.00,0.000,4,0.000,0.102,2668,3644,3882
$GC,1762,-1.29,-194.7,158.9,-9.7,306,1768,0.00,2.65,0.00,0.000,6,0.000,0.083,2668,2229,3882
$GC,2106,-1.29,-194.7,191.0,-9.2,367,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3882
$GC,2449,-1.29,-194.7,223.2,-9.5,428,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3882
$GC,2793,-1.29,-194.7,255.6,-9.3,489,2799,0.00,2.78,0.00,0.000,4,0.000,0.105,2668,3648,3882
$GC,2833,-1.29,-194.7,259.6,-9.8,496,2840,0.00,2.67,0.00,0.000,6,0.000,0.087,2668,2230,3882
$GC,3177,-1.29,-194.7,290.8,-9.1,557,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3882
$GC,3519,-1.29,-194.7,320.9,-8.8,618,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3882
$GC,3868,-1.29,-194.7,351.4,-8.3,679,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3882
$GC,4188,-1.29,-194.7,379.2,-9.1,709,4192,0.00,2.78,0.00,0.000,4,0.000,0.108,2668,3645,3882
$GC,4227,-1.29,-194.7,383.0,-9.3,712,4232,0.00,2.67,0.00,0.000,6,0.000,0.090,2668,2233,3882
$GC,4553,-1.29,-194.7,410.7,-8.3,742,4558,0.00,2.78,0.00,0.000,4,0.000,0.107,2668,3646,3882
$GC,4582,-1.29,-194.7,413.3,-9.1,744,4586,0.00,2.65,0.00,0.000,6,0.000,0.089,2668,2248,3882
$GC,4908,-1.29,-194.7,442.2,-9.3,774,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2248,3882
$GC,5225,-1.29,-194.7,472.9,-9.9,804,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2248,3882
$GC,5543,-1.29,-194.7,503.9,-9.5,834,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2248,3882
$GC,5862,-1.29,-194.7,531.1,-8.0,864,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3881
$GC,6180,-1.29,-194.7,556.0,-7.8,894,6181,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3881
$GC,6499,-1.29,-194.7,580.4,-7.4,924,6504,0.00,2.78,0.00,0.000,4,0.000,0.112,2668,3647,3881
$GC,6521,-1.29,-194.7,582.2,-7.5,925,6527,0.00,2.65,0.00,0.000,6,0.000,0.092,2668,2254,3881
$GC,6846,-1.29,-194.7,605.2,-7.6,953,6851,0.00,2.75,0.00,0.000,4,0.000,0.113,2668,3650,3881
$GC,6873,-1.29,-194.7,607.7,-8.6,954,6878,0.00,2.67,0.00,0.000,6,0.000,0.094,2668,2251,3880
$GC,7189,-1.29,-194.7,637.2,-10.4,969,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3880
$GC,7498,-1.29,-194.7,670.6,-10.6,984,7502,0.00,2.78,0.00,0.000,4,0.000,0.116,2668,3643,3880
$GC,7530,-1.29,-194.7,674.1,-11.1,985,7536,0.00,2.65,0.00,0.000,6,0.000,0.095,2668,2260,3880
$GC,7846,-1.29,-194.7,703.2,-8.3,1001,7847,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3880
$GC,8155,-1.29,-194.7,727.2,-7.4,1016,8159,0.00,2.90,0.00,0.000,4,0.000,0.127,2668,824,3880
$GC,8187,-1.29,-194.7,729.8,-7.9,1017,8194,0.00,2.83,0.00,0.000,6,0.000,0.106,2668,2267,3879
$GC,8503,-1.29,-194.7,756.0,-8.8,1033,8508,0.00,2.80,0.00,0.000,4,0.000,0.129,2668,3654,3880
$GC,8530,-1.29,-194.7,758.6,-9.7,1034,8535,0.00,2.67,0.00,0.000,6,0.000,0.098,2668,2266,3880
$GC,8846,-1.29,-194.7,788.6,-9.9,1049,8848,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2266,3879
$GC,9155,-1.29,-194.7,817.9,-9.1,1064,9160,0.00,2.80,0.00,0.000,4,0.000,0.123,2668,3651,3879
$GC,9194,-1.29,-194.7,821.6,-9.8,1066,9199,0.00,2.67,0.00,0.000,6,0.000,0.102,2668,2275,3878
$GC,9521,-1.29,-194.7,848.8,-8.0,1082,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2275,3879
$GC,9830,-1.29,-194.7,871.6,-7.3,1097,9835,0.00,2.97,0.00,0.000,4,0.000,0.135,2668,826,3878
$GC,9852,-1.29,-194.7,873.4,-7.9,1098,9856,0.00,2.85,0.00,0.000,6,0.000,0.107,2668,2284,3878
$GC,10172,-1.29,-194.7,897.9,-7.9,1114,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2284,3878
$GC,10481,-1.29,-194.7,924.4,-8.4,1129,10486,0.00,2.97,0.00,0.000,4,0.000,0.130,2668,826,3878
$GC,10502,-1.29,-194.7,926.4,-8.9,1130,10507,0.00,2.85,0.00,0.000,6,0.000,0.108,2668,2278,3878
$GC,10823,-1.29,-194.7,953.8,-9.1,1146,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2279,3877
$GC,11132,-1.29,-194.7,980.9,-8.5,1161,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2279,3877
$STATE,11253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11253,begin apogee
$GC,11259,-0.35,0.0,991.2,8.2,1167,11429,1.05,0.00,166.02,1.429,6,0.101,0.000,2880,2329,3085
$STATE,11430,end apogee,CONTROL_FINISHED_OK
$STATE,11430,begin climb
$GC,11432,1.29,194.7,997.7,0.0,1175,11601,1.62,0.00,163.02,1.397,6,0.062,0.000,3237,2329,2291
$GC,11904,1.19,194.7,942.9,15.4,1198,11906,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2328,2288
$GC,12214,1.10,194.7,897.1,14.0,1213,12216,0.20,0.00,0.00,0.000,6,0.112,0.000,3201,2328,2287
$GC,12522,1.06,194.7,863.5,10.1,1228,12527,0.00,2.92,0.00,0.000,4,0.000,0.129,3201,914,2287
$GC,12577,1.06,194.7,857.5,11.3,1230,12584,0.00,2.83,0.00,0.000,6,0.000,0.110,3201,2333,2286
$GC,12893,1.01,194.7,823.2,11.3,1246,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2333,2286
$GC,13203,0.97,194.7,787.9,11.0,1261,13205,0.15,0.00,0.00,0.000,6,0.110,0.000,3174,2333,2286
$GC,13512,1.00,217.0,759.3,9.2,1276,13533,0.00,0.00,19.58,1.259,6,0.000,0.000,3174,2333,2200
$GC,13842,1.00,217.0,725.3,10.9,1292,13843,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2333,2198
$GC,14152,1.04,250.3,696.2,8.8,1307,14183,0.00,0.00,29.85,1.218,6,0.000,0.000,3174,2333,2064
$GC,14481,1.06,265.3,665.6,9.5,1323,14503,0.00,2.92,14.00,1.158,4,0.000,0.117,3173,917,2002
$GC,14554,1.06,265.3,658.0,10.6,1326,14559,0.00,2.75,0.00,0.000,6,0.000,0.100,3173,2326,2001
$GC,14875,1.06,265.3,622.8,11.3,1342,14876,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2326,2000
$GC,15187,1.06,265.3,586.8,11.5,1362,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2326,1999
$GC,15505,1.06,265.3,549.6,11.5,1392,15507,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2326,1999
$GC,15824,1.06,265.3,514.3,10.8,1422,15825,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2326,1999
$GC,16142,1.06,265.3,480.9,10.4,1452,16147,0.00,2.78,0.00,0.000,4,0.000,0.110,3173,916,1999
$GC,16182,1.10,265.3,476.6,11.0,1455,16187,0.12,2.70,0.00,0.000,6,0.066,0.095,3206,2322,1999
$GC,16507,1.10,265.3,437.0,12.1,1485,16508,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2322,1999
$GC,16826,1.10,265.3,398.6,11.5,1515,16827,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2322,1999
$GC,17144,1.10,265.3,361.0,11.8,1545,17145,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2322,1999
$GC,17475,1.10,265.3,320.8,12.2,1596,17480,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2322,2000
$GC,17818,1.10,265.3,278.8,12.2,1657,17824,0.00,2.75,0.00,0.000,4,0.000,0.106,3206,910,2000
$GC,17853,1.10,265.3,274.4,12.7,1663,17859,0.00,2.67,0.00,0.000,6,0.000,0.090,3206,2321,2000
$GC,18197,1.10,265.3,232.7,10.5,1724,18202,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2321,2000
$GC,18540,1.10,265.3,192.8,11.1,1785,18545,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2321,2001
$GC,18883,1.10,265.3,152.5,12.2,1846,18889,0.00,2.72,0.00,0.000,4,0.000,0.104,3206,913,2001
$GC,18917,1.10,265.3,148.2,12.5,1852,18924,0.00,2.62,0.00,0.000,6,0.000,0.084,3206,2317,2000
$GC,19261,1.10,265.3,107.8,12.2,1913,19266,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2317,2001
$GC,19603,1.10,265.3,67.8,11.6,1974,19609,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2317,2001
$GC,19947,1.10,265.3,27.5,10.5,2035,19952,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2317,2001
$GC,20088,1.10,265.3,11.0,10.7,2060,20095,0.00,2.70,0.00,0.000,4,0.000,0.099,3206,911,2001
$GC,20124,1.10,265.3,6.9,11.4,2066,20130,0.00,2.60,0.00,0.000,6,0.000,0.083,3206,2311,2001
$STATE,20168,end climb,SURFACE_DEPTH_REACHED
$STATE,20168,begin surface coast
$FINISH,0.3,1.014857
$STATE,20186,end surface coast,CONTROL_FINISHED_OK
$STATE,20186,begin surface
$SM_CCo,20268,0.00,0.000,0,0,1999,266.40
$SM_GC,1.13,11.50,0.00,0.00,0.046,0.000,0.000,587,2229,1999,-10.86,-0.20,266.40
$IRIDIUM_FIX,6054.92,-2625.90,100897,030357
$TT8_MAMPS,0.022243
$HUMID,1652
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.70
$XPDR_PINGS,100
$24V_AH,23.4,41.629
$10V_AH,10.7,32.758
$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,26.950,99.600,392.475,0.000,0.000,30.669,33.145,256.247,25.000,0.000,0.000,15.987,3227.665,12632.673,548.480,3641.899,664.195,0.000,2113.534,0.000,3624.068,0.000,0.467
$DEVICE_MAMPS,185.614,154.167,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1444.696,1542.779,1850.923,596.588,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123304,2077
$CAP_FILE_SIZE,173962,0
$CFSIZE,260165632,238698496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160508,144542,6126.735,-2622.887,37,1.8,47,-18.6