version: 66.03
glider: 140
mission: 5
dive: 324
start: 6 18 108 14 27 46
data:
$ID,140
$MISSION,5
$DIVE,324
$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,2
$FERRY_MAX,0
$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,-19154.582
$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,13
$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
$GPS1,141901,6152.069,-2550.773,38,1.3,38,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-61.6
$GPS2,142727,6152.034,-2550.802,12,1.9,12,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6137.290,-2640.070
$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,256.4,51249,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-71.20,0.000,2,0.000,0.000,585,2233,3480
$GC,98,-1.29,-194.7,3.3,-6.1,10,128,12.35,2.78,-8.55,0.000,4,0.183,0.109,2673,3651,3881
$GC,385,-1.29,-194.7,35.6,-9.6,59,392,0.00,2.65,0.00,0.000,6,0.000,0.079,2673,2227,3882
$GC,528,-1.29,-194.7,49.4,-9.1,84,535,0.00,2.75,0.00,0.000,4,0.000,0.097,2673,3651,3882
$GC,575,-1.29,-194.7,54.2,-10.2,92,582,0.00,2.67,0.00,0.000,6,0.000,0.080,2673,2222,3882
$GC,921,-1.29,-194.7,85.8,-8.7,153,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2222,3882
$GC,1263,-1.29,-194.7,117.7,-9.7,214,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2222,3883
$GC,1608,-1.29,-194.7,154.1,-10.7,275,1615,0.00,2.72,0.00,0.000,4,0.000,0.104,2673,824,3883
$GC,1645,-1.29,-194.7,158.1,-10.7,281,1652,0.00,2.67,0.00,0.000,6,0.000,0.088,2673,2229,3883
$GC,1992,-1.29,-194.7,191.5,-9.3,342,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2229,3883
$GC,2338,-1.29,-194.7,223.6,-9.1,403,2345,0.00,2.75,0.00,0.000,4,0.000,0.105,2674,826,3883
$GC,2368,-1.29,-194.7,226.6,-10.0,408,2376,0.00,2.67,0.00,0.000,6,0.000,0.093,2673,2222,3883
$GC,2715,-1.29,-194.7,258.7,-9.0,469,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2222,3883
$GC,3059,-1.29,-194.7,290.0,-8.9,530,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2222,3883
$GC,3405,-1.29,-194.7,320.4,-8.9,591,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2222,3883
$GC,3750,-1.29,-194.7,351.1,-9.3,651,3751,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2222,3883
$GC,4068,-1.29,-194.7,379.6,-8.7,681,4072,0.00,2.78,0.00,0.000,4,0.000,0.110,2673,820,3882
$GC,4101,-1.29,-194.7,382.8,-9.3,683,4108,0.00,2.70,0.00,0.000,6,0.000,0.096,2673,2221,3882
$GC,4428,-1.29,-194.7,412.5,-9.1,714,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2221,3882
$GC,4747,-1.29,-194.7,441.3,-9.1,744,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2221,3882
$GC,5073,-1.29,-194.7,471.5,-9.2,775,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2221,3882
$GC,5392,-1.29,-194.7,499.7,-8.5,805,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2221,3882
$GC,5710,-1.29,-194.7,525.8,-8.0,835,5711,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2222,3881
$GC,6029,-1.29,-194.7,549.8,-7.2,865,6034,0.00,2.78,0.00,0.000,4,0.000,0.114,2673,826,3881
$GC,6063,-1.29,-194.7,552.5,-7.7,867,6070,0.00,2.70,0.00,0.000,6,0.000,0.100,2673,2220,3881
$GC,6390,-1.29,-194.7,575.5,-7.3,898,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2220,3881
$GC,6707,-1.29,-194.7,600.7,-7.9,928,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2221,3881
$GC,7016,-1.29,-194.7,626.0,-8.4,943,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3881
$GC,7325,-1.29,-194.7,651.1,-8.0,958,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2221,3881
$GC,7634,-1.29,-194.7,676.1,-8.0,973,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2221,3880
$GC,7943,-1.29,-194.7,700.9,-7.6,988,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2220,3880
$GC,8253,-1.29,-194.7,722.9,-7.2,1003,8258,0.00,2.83,0.00,0.000,4,0.000,0.121,2674,823,3880
$GC,8280,-1.29,-194.7,725.2,-8.2,1004,8285,0.00,2.72,0.00,0.000,6,0.000,0.105,2673,2216,3880
$GC,8597,-1.29,-194.7,750.1,-8.1,1019,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3880
$GC,8906,-1.29,-194.7,773.6,-7.9,1034,8907,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3880
$GC,9215,-1.29,-194.7,798.6,-7.9,1049,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3880
$GC,9524,-1.29,-194.7,824.2,-8.7,1064,9529,0.00,2.85,0.00,0.000,4,0.000,0.127,2673,820,3879
$GC,9575,-1.29,-194.7,828.8,-8.9,1066,9579,0.00,2.72,0.00,0.000,6,0.000,0.109,2673,2210,3879
$GC,9891,-1.29,-194.7,856.4,-8.4,1081,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2210,3879
$GC,10200,-1.29,-194.7,880.2,-7.4,1096,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3878
$GC,10510,-1.29,-194.7,903.4,-7.7,1111,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3878
$GC,10819,-1.29,-194.7,927.5,-7.8,1126,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2210,3878
$GC,11128,-1.29,-194.7,952.2,-7.8,1141,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2210,3877
$GC,11438,-1.29,-194.7,979.1,-9.0,1156,11442,0.00,2.85,0.00,0.000,4,0.000,0.134,2674,827,3876
$GC,11478,-1.29,-194.7,983.0,-9.2,1158,11482,0.00,2.75,0.00,0.000,6,0.000,0.114,2673,2207,3877
$STATE,11554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11554,begin apogee
$GC,11561,-0.35,0.0,990.1,8.9,1162,11737,1.02,0.00,169.12,1.427,6,0.098,0.000,2881,2331,3084
$STATE,11738,end apogee,CONTROL_FINISHED_OK
$STATE,11738,begin climb
$GC,11741,1.29,194.7,998.2,0.0,1171,11911,1.62,0.00,165.43,1.394,6,0.059,0.000,3240,2331,2291
$GC,12218,1.20,194.7,951.9,12.4,1194,12222,0.00,2.92,0.00,0.000,4,0.000,0.130,3240,921,2289
$GC,12245,1.13,194.7,948.3,13.0,1195,12251,0.17,2.83,0.00,0.000,6,0.110,0.113,3209,2328,2289
$GC,12561,1.08,194.7,912.9,11.6,1210,12566,0.00,3.00,0.00,0.000,4,0.000,0.138,3209,3738,2288
$GC,12583,1.02,194.7,910.1,12.4,1211,12588,0.15,2.83,0.00,0.000,6,0.112,0.107,3182,2332,2288
$GC,12906,1.04,207.6,877.2,9.6,1227,12925,0.00,0.00,12.65,1.269,6,0.000,0.000,3182,2332,2237
$GC,13235,1.05,218.5,845.8,9.6,1243,13247,0.00,0.00,11.00,1.230,6,0.000,0.000,3181,2332,2194
$GC,13544,1.07,237.0,816.7,9.4,1258,13567,0.00,3.03,17.80,1.259,4,0.000,0.128,3182,917,2118
$GC,13591,1.11,264.7,812.1,9.0,1260,13622,0.00,2.80,25.60,1.253,6,0.000,0.105,3181,2326,2005
$GC,13947,1.11,265.7,777.3,10.0,1277,13948,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2326,2000
$GC,14257,1.12,276.1,747.5,9.6,1292,14280,0.10,2.90,10.95,1.190,4,0.072,0.116,3208,917,1958
$GC,14285,1.12,276.1,744.1,11.3,1293,14290,0.00,2.83,0.00,0.000,6,0.000,0.103,3207,2339,1958
$GC,14607,1.12,276.8,709.6,10.0,1309,14608,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2339,1956
$GC,14915,1.12,276.8,677.0,10.9,1324,14916,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2339,1956
$GC,15225,1.12,276.8,644.3,10.4,1339,15230,0.00,2.85,0.00,0.000,4,0.000,0.112,3207,910,1956
$GC,15258,1.12,276.8,640.6,10.3,1340,15266,0.00,2.75,0.00,0.000,6,0.000,0.099,3207,2328,1956
$GC,15573,1.12,276.8,607.5,10.7,1356,15575,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2328,1956
$GC,15889,1.12,276.8,573.5,10.7,1382,15894,0.00,2.80,0.00,0.000,4,0.000,0.110,3207,916,1956
$GC,15921,1.12,276.8,569.9,10.6,1384,15929,0.00,2.72,0.00,0.000,6,0.000,0.097,3207,2327,1955
$GC,16249,1.12,276.8,536.3,10.8,1415,16250,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2327,1956
$GC,16569,1.12,276.8,503.6,10.4,1445,16575,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2327,1956
$GC,16894,1.12,276.8,468.9,10.6,1476,16895,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2327,1956
$GC,17213,1.12,276.8,436.1,10.3,1506,17214,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2327,1956
$GC,17533,1.12,277.1,403.6,10.0,1536,17537,0.00,2.78,0.00,0.000,4,0.000,0.107,3207,915,1956
$GC,17560,1.12,277.1,400.5,12.2,1538,17565,0.00,2.70,0.00,0.000,6,0.000,0.093,3207,2322,1956
$GC,17885,1.12,277.1,366.2,10.6,1568,17886,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2322,1956
$GC,18213,1.12,277.1,331.4,10.2,1613,18219,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2322,1956
$GC,18557,1.12,277.1,294.8,10.2,1674,18564,0.00,2.72,0.00,0.000,4,0.000,0.102,3207,915,1956
$GC,18577,1.12,277.1,292.5,10.8,1677,18584,0.00,2.65,0.00,0.000,6,0.000,0.089,3207,2310,1956
$GC,18922,1.12,277.1,253.6,11.7,1738,18929,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2310,1956
$GC,19268,1.13,286.6,215.4,9.7,1799,19282,0.00,0.00,10.30,0.881,6,0.000,0.000,3207,2310,1915
$GC,19622,1.15,304.0,179.9,9.4,1861,19642,0.00,0.00,16.42,0.862,6,0.000,0.000,3207,2310,1845
$GC,19980,1.15,304.0,143.5,10.1,1924,19987,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2310,1843
$GC,20325,1.15,304.0,104.9,11.4,1985,20332,0.00,2.70,0.00,0.000,4,0.000,0.100,3207,915,1842
$GC,20351,1.15,304.0,101.9,13.0,1989,20358,0.00,2.62,0.00,0.000,6,0.000,0.084,3207,2307,1842
$GC,20697,1.17,316.1,67.1,9.6,2050,20711,0.00,0.00,11.38,0.802,6,0.000,0.000,3207,2308,1796
$GC,21048,1.25,381.4,36.6,7.7,2112,21110,0.10,0.00,55.55,0.772,6,0.069,0.000,3235,2308,1528
$GC,21248,1.26,393.0,16.7,9.6,2145,21262,0.00,0.00,10.52,0.726,6,0.000,0.000,3235,2308,1481
$STATE,21380,end climb,SURFACE_DEPTH_REACHED
$STATE,21380,begin surface coast
$FINISH,0.2,1.027469
$STATE,21394,end surface coast,CONTROL_FINISHED_OK
$STATE,21394,begin surface
$SM_CCo,21476,0.00,0.000,0,0,1475,395.18
$SM_GC,1.06,11.68,0.00,0.00,0.044,0.000,0.000,588,2224,1475,-10.85,-0.31,395.18
$IRIDIUM_FIX,6135.28,-2607.32,120997,080855
$TT8_MAMPS,0.022243
$HUMID,1702
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,18.10
$XPDR_PINGS,696
$24V_AH,23.0,69.450
$10V_AH,10.6,57.434
$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,27.200,100.225,516.725,0.000,0.000,31.196,32.967,282.089,174.000,0.000,0.000,12.593,4381.316,12364.538,697.797,3742.677,771.217,0.000,2315.758,0.000,3749.971,0.000,0.468
$DEVICE_MAMPS,182.546,138.060,1426.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1504.012,1664.132,1921.663,611.296,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129616,2170
$CAP_FILE_SIZE,181790,0
$CFSIZE,260165632,224849920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,142.3,1
$GPS,180608,202656,6149.221,-2554.479,38,1.3,38,-18.6