version: 66.03
glider: 140
mission: 5
dive: 157
start: 5 10 108 12 46 33
data:
$ID,140
$MISSION,5
$DIVE,157
$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,-16251.212
$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,9
$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
$GPS1,123837,6123.562,-2629.712,37,1.0,37,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.1
$GPS2,124615,6123.665,-2629.622,16,1.0,16,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6125.540,-2634.709
$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,298.6,20000,-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,-194.7,0.0,0.0,0,100,0.00,0.00,-70.90,0.000,2,0.000,0.000,587,2222,3500
$GC,103,-1.29,-194.7,3.3,-6.8,13,133,12.40,2.75,-8.50,0.000,4,0.188,0.110,2670,821,3881
$GC,364,-1.29,-194.7,33.2,-9.8,59,371,0.00,2.67,0.00,0.000,6,0.000,0.086,2670,2240,3882
$GC,507,-1.29,-194.7,46.8,-9.3,84,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,649,-1.29,-194.7,59.9,-9.7,109,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,992,-1.29,-194.7,91.8,-8.8,170,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,1335,-1.29,-194.7,122.6,-9.1,231,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,1678,-1.29,-194.7,152.9,-8.7,292,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,2021,-1.29,-194.7,184.6,-9.7,353,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,2362,-1.29,-194.7,217.8,-10.0,414,2368,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3882
$GC,2705,-1.29,-194.7,251.0,-10.0,475,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,3048,-1.29,-194.7,283.9,-9.6,536,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3883
$GC,3391,-1.29,-194.7,317.4,-9.8,597,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,3734,-1.29,-194.7,350.0,-9.5,658,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,4053,-1.29,-194.7,379.6,-9.3,688,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,4371,-1.29,-194.7,408.2,-8.8,718,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,4690,-1.29,-194.7,434.9,-8.1,748,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,5008,-1.29,-194.7,460.2,-8.0,778,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,5327,-1.29,-194.7,485.8,-8.5,808,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,5645,-1.29,-194.7,514.2,-9.2,838,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,5964,-1.29,-194.7,543.9,-9.2,868,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,6282,-1.29,-194.7,573.3,-9.2,898,6287,0.00,2.83,0.00,0.000,4,0.000,0.120,2670,827,3882
$GC,6333,-1.29,-194.7,578.0,-9.5,902,6337,0.00,2.70,0.00,0.000,6,0.000,0.104,2670,2218,3882
$GC,6656,-1.29,-194.7,608.3,-9.8,928,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3881
$GC,6964,-1.29,-194.7,638.5,-9.8,943,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2218,3881
$GC,7274,-1.29,-194.7,668.5,-9.6,958,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3881
$GC,7583,-1.29,-194.7,697.7,-9.3,973,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2218,3881
$GC,7892,-1.29,-194.7,725.4,-9.1,988,7896,0.00,2.88,0.00,0.000,4,0.000,0.127,2670,3645,3881
$GC,7931,-1.29,-194.7,729.2,-9.8,990,7936,0.00,2.72,0.00,0.000,6,0.000,0.098,2670,2222,3880
$GC,8258,-1.29,-194.7,760.9,-10.2,1006,8262,0.00,2.83,0.00,0.000,4,0.000,0.127,2669,822,3880
$GC,8312,-1.29,-194.7,767.0,-11.1,1008,8318,0.00,2.75,0.00,0.000,6,0.000,0.108,2670,2228,3880
$GC,8628,-1.29,-194.7,799.2,-9.7,1024,8633,0.00,2.88,0.00,0.000,4,0.000,0.130,2670,3648,3880
$GC,8660,-1.29,-194.7,802.3,-10.1,1025,8667,0.00,2.72,0.00,0.000,6,0.000,0.101,2670,2234,3880
$GC,8976,-1.29,-194.7,830.6,-9.1,1041,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3880
$GC,9286,-1.29,-194.7,858.2,-8.6,1056,9290,0.00,2.88,0.00,0.000,4,0.000,0.133,2670,823,3879
$GC,9329,-1.29,-194.7,862.3,-8.9,1058,9334,0.00,2.80,0.00,0.000,6,0.000,0.112,2670,2243,3879
$GC,9650,-1.29,-194.7,889.4,-8.2,1074,9655,0.00,2.88,0.00,0.000,4,0.000,0.133,2670,3652,3879
$GC,9700,-1.29,-194.7,893.6,-8.8,1076,9704,0.00,2.75,0.00,0.000,6,0.000,0.104,2670,2237,3879
$GC,10015,-1.29,-194.7,915.7,-6.8,1091,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3879
$GC,10325,-1.29,-194.7,942.1,-9.1,1106,10326,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3878
$GC,10634,-1.29,-194.7,970.6,-9.0,1121,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3878
$STATE,10878,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10878,begin apogee
$GC,10884,-0.35,0.0,991.7,8.3,1133,11054,1.02,0.00,166.05,1.427,6,0.100,0.000,2878,2333,3085
$STATE,11055,end apogee,CONTROL_FINISHED_OK
$STATE,11055,begin climb
$GC,11057,1.29,194.7,997.2,0.0,1141,11229,1.62,3.05,163.65,1.394,4,0.061,0.132,3241,3738,2290
$GC,11253,1.16,194.7,982.4,12.9,1151,11258,0.15,2.88,0.00,0.000,6,0.117,0.110,3216,2331,2289
$GC,11569,1.09,194.7,943.3,12.1,1166,11570,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2331,2288
$GC,11878,1.04,194.7,907.7,10.9,1181,11883,0.15,2.95,0.00,0.000,4,0.114,0.128,3184,3738,2287
$GC,11905,0.98,195.2,904.8,10.0,1182,11910,0.00,2.83,0.00,0.000,6,0.000,0.107,3184,2334,2287
$GC,12221,0.99,202.1,874.5,9.8,1197,12230,0.00,0.00,7.38,1.155,6,0.000,0.000,3184,2335,2262
$GC,12530,0.99,204.8,843.6,9.9,1212,12536,0.00,0.00,4.28,0.896,6,0.000,0.000,3184,2335,2249
$GC,12840,1.00,209.3,814.4,9.8,1227,12851,0.00,2.92,5.80,1.056,4,0.000,0.131,3184,917,2231
$GC,12879,1.01,215.4,810.2,9.8,1229,12894,0.00,2.80,6.95,1.101,6,0.000,0.107,3184,2331,2206
$GC,13209,1.01,215.4,777.2,10.1,1245,13214,0.00,2.92,0.00,0.000,4,0.000,0.128,3184,3738,2205
$GC,13276,0.96,215.4,770.0,11.5,1248,13281,0.00,2.80,0.00,0.000,6,0.000,0.102,3184,2327,2205
$GC,13596,0.96,215.4,736.3,10.7,1264,13601,0.00,2.85,0.00,0.000,4,0.000,0.127,3184,918,2205
$GC,13623,0.96,215.4,733.2,11.2,1265,13627,0.00,2.78,0.00,0.000,6,0.000,0.104,3185,2335,2205
$GC,13939,0.97,220.7,701.3,9.8,1280,13952,0.00,2.92,6.07,1.035,4,0.000,0.125,3184,3738,2184
$GC,13991,0.97,220.7,695.4,10.8,1282,13996,0.00,2.75,0.00,0.000,6,0.000,0.097,3184,2336,2184
$GC,14307,0.98,226.2,663.7,9.8,1297,14316,0.00,0.00,6.62,1.048,6,0.000,0.000,3184,2337,2162
$GC,14617,0.99,232.6,633.2,9.8,1312,14631,0.00,2.92,7.12,1.055,4,0.000,0.117,3184,3734,2136
$GC,14683,0.99,232.6,626.1,11.3,1315,14687,0.00,2.72,0.00,0.000,6,0.000,0.097,3184,2342,2135
$GC,15000,0.99,232.6,592.9,10.6,1333,15001,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2342,2136
$GC,15318,0.99,232.6,556.6,11.6,1363,15323,0.00,2.83,0.00,0.000,4,0.000,0.114,3184,3738,2135
$GC,15350,0.99,232.6,552.6,12.0,1365,15356,0.00,2.70,0.00,0.000,6,0.000,0.093,3184,2346,2135
$GC,15677,0.99,232.6,514.9,11.6,1396,15678,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2346,2135
$GC,15993,0.99,232.6,480.6,10.6,1426,15994,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2346,2135
$GC,16313,0.99,240.1,448.4,9.7,1456,16323,0.00,0.00,7.75,0.976,6,0.000,0.000,3184,2346,2106
$GC,16642,1.04,273.1,418.7,8.9,1487,16673,0.00,0.00,29.25,1.025,6,0.000,0.000,3185,2346,1971
$GC,16989,1.04,279.3,386.1,9.8,1520,16999,0.00,0.00,6.38,0.879,6,0.000,0.000,3184,2346,1946
$GC,17319,1.04,279.3,351.7,10.7,1551,17320,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2346,1944
$GC,17653,1.04,279.3,316.3,10.5,1609,17658,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2346,1944
$GC,17995,1.05,286.7,281.6,9.7,1670,18006,0.00,0.00,7.82,0.884,6,0.000,0.000,3184,2346,1915
$GC,18343,1.06,289.8,246.9,9.9,1732,18350,0.00,0.00,4.47,0.702,6,0.000,0.000,3184,2346,1903
$GC,18688,1.06,289.8,211.1,11.3,1793,18694,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2346,1902
$GC,19031,1.06,289.8,171.1,11.9,1854,19036,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2345,1902
$GC,19374,1.06,289.8,132.5,12.1,1915,19379,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2346,1902
$GC,19716,1.06,289.8,95.6,10.3,1976,19722,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2346,1902
$GC,20060,1.06,289.8,60.2,10.5,2037,20065,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2346,1902
$GC,20402,1.06,289.8,19.7,10.6,2098,20408,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2346,1902
$GC,20545,1.10,289.8,3.7,10.3,2123,20551,0.00,2.75,0.00,0.000,4,0.000,0.102,3184,911,1902
$STATE,20561,end climb,SURFACE_DEPTH_REACHED
$STATE,20561,begin surface coast
$FINISH,0.9,1.027813
$STATE,20573,end surface coast,CONTROL_FINISHED_OK
$STATE,20573,begin surface
$SM_CCo,20656,0.00,0.000,0,0,1899,290.93
$SM_GC,0.95,11.43,0.00,0.00,0.048,0.000,0.000,591,2246,1899,-10.85,0.31,290.93
$IRIDIUM_FIX,6054.92,-2629.89,040897,060611
$TT8_MAMPS,0.02301
$HUMID,1628
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,17.60
$XPDR_PINGS,127
$24V_AH,23.4,37.184
$10V_AH,10.7,28.725
$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,26.775,90.175,429.600,0.000,0.000,30.210,32.788,249.687,31.750,0.000,0.000,17.716,3305.443,13029.689,593.497,3517.751,647.884,0.000,2173.915,0.000,3503.791,0.000,0.467
$DEVICE_MAMPS,187.915,146.497,1426.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1480.595,1577.624,1004.918,608.126,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119864,2128
$CAP_FILE_SIZE,176526,0
$CFSIZE,260165632,241041408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,100508,183202,6125.095,-2635.175,38,1.7,38,-18.7