version: 66.03
glider: 140
mission: 5
dive: 355
start: 6 25 108 13 35 33
data:
$ID,140
$MISSION,5
$DIVE,355
$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,-19721.83
$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,13
$R_STBD_OVSHOOT,16
$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
$GPS1,132658,6137.688,-2545.869,32,4.1,51,-18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-65.0
$GPS2,133514,6137.668,-2546.001,10,1.2,15,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6137.290,-2543.110
$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,123.8,2639,-27.2,-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,22,-2.00,-63.0,0.0,0.0,0,69,0.00,0.00,-43.80,0.000,6,0.000,0.000,587,2233,3343
$GC,72,-2.03,-86.6,3.6,-7.5,6,95,11.32,2.75,-2.28,0.000,4,0.182,0.104,2511,823,3441
$GC,199,-1.97,-86.6,23.4,-14.0,27,206,0.00,2.62,0.00,0.000,6,0.000,0.080,2511,2234,3442
$GC,344,-1.97,-86.6,43.3,-12.8,52,352,0.00,2.67,0.00,0.000,4,0.000,0.091,2511,3645,3443
$GC,370,-1.97,-86.6,47.0,-13.2,56,377,0.00,2.70,0.00,0.000,6,0.000,0.076,2511,2188,3442
$GC,514,-1.97,-86.6,64.9,-12.4,81,521,0.00,2.60,0.00,0.000,4,0.000,0.091,2511,817,3443
$GC,557,-1.92,-86.6,70.4,-13.3,88,565,0.15,2.55,0.00,0.000,6,0.137,0.081,2536,2183,3443
$GC,903,-1.92,-86.6,111.7,-11.6,149,910,0.00,2.60,0.00,0.000,4,0.000,0.094,2536,828,3444
$GC,945,-1.92,-86.6,116.9,-11.9,156,953,0.00,2.53,0.00,0.000,6,0.000,0.082,2536,2173,3444
$GC,1290,-1.92,-86.6,157.1,-11.5,217,1297,0.00,2.62,0.00,0.000,4,0.000,0.100,2536,822,3444
$GC,1338,-1.92,-86.6,162.9,-11.9,225,1345,0.00,2.53,0.00,0.000,6,0.000,0.085,2536,2161,3444
$GC,1684,-1.92,-86.6,205.3,-11.8,286,1691,0.00,2.55,0.00,0.000,4,0.000,0.093,2536,827,3444
$GC,1732,-1.92,-86.6,211.0,-11.8,294,1739,0.00,2.45,0.00,0.000,6,0.000,0.073,2536,2151,3444
$GC,2077,-1.92,-86.6,251.3,-11.8,355,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2152,3444
$GC,2421,-1.92,-86.6,292.8,-11.9,416,2429,0.00,2.60,0.00,0.000,4,0.000,0.107,2536,829,3444
$GC,2469,-1.92,-86.6,298.8,-12.6,424,2476,0.00,2.47,0.00,0.000,6,0.000,0.086,2536,2136,3444
$GC,2815,-1.92,-86.6,339.2,-11.4,485,2822,0.00,2.58,0.00,0.000,4,0.000,0.102,2536,820,3444
$GC,2846,-1.92,-86.6,342.8,-12.2,490,2853,0.00,2.50,0.00,0.000,6,0.000,0.092,2536,2127,3444
$GC,3176,-1.92,-86.6,380.2,-11.4,526,3180,0.00,2.58,0.00,0.000,4,0.000,0.109,2536,823,3444
$GC,3220,-1.92,-86.6,385.5,-12.0,529,3227,0.00,2.47,0.00,0.000,6,0.000,0.093,2536,2119,3444
$GC,3547,-1.92,-86.6,421.8,-11.0,560,3548,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2121,3444
$GC,3863,-1.92,-86.6,456.7,-10.4,590,3867,0.00,2.55,0.00,0.000,4,0.000,0.110,2536,828,3443
$GC,3907,-1.92,-86.6,461.6,-11.3,593,3914,0.00,2.47,0.00,0.000,6,0.000,0.096,2536,2116,3443
$GC,4235,-1.92,-86.6,496.5,-10.6,624,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2117,3443
$GC,4560,-1.92,-86.6,532.1,-11.0,655,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2117,3443
$GC,4880,-1.92,-86.6,568.7,-11.8,685,4884,0.00,2.58,0.00,0.000,4,0.000,0.114,2536,823,3443
$GC,4923,-1.92,-86.6,574.1,-11.8,688,4931,0.00,2.47,0.00,0.000,6,0.000,0.097,2536,2110,3443
$GC,5257,-1.92,-86.6,613.3,-12.0,715,5262,0.00,2.55,0.00,0.000,4,0.000,0.114,2536,830,3443
$GC,5307,-1.92,-86.6,620.0,-12.9,717,5311,0.00,2.42,0.00,0.000,6,0.000,0.098,2536,2082,3442
$GC,5629,-1.92,-86.6,661.0,-13.1,733,5634,0.00,3.03,0.00,0.000,4,0.000,0.103,2536,3644,3442
$GC,5647,-1.92,-86.6,663.4,-13.0,734,5652,0.00,3.00,0.00,0.000,6,0.000,0.091,2536,2073,3442
$GC,5973,-1.92,-86.6,704.4,-12.3,750,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2072,3442
$GC,6283,-1.92,-86.6,741.0,-11.8,765,6287,0.00,2.50,0.00,0.000,4,0.000,0.122,2536,827,3442
$GC,6350,-1.92,-86.6,749.7,-12.9,768,6354,0.00,2.40,0.00,0.000,6,0.000,0.100,2536,2065,3441
$GC,6671,-1.92,-86.6,791.8,-13.1,784,6676,0.00,3.17,0.00,0.000,4,0.000,0.123,2536,3639,3441
$GC,6692,-1.92,-86.6,794.9,-13.9,785,6697,0.00,3.05,0.00,0.000,6,0.000,0.098,2536,2064,3441
$GC,7016,-1.92,-86.6,837.0,-13.2,801,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2063,3441
$GC,7324,-1.92,-86.6,875.7,-11.8,816,7328,0.00,2.50,0.00,0.000,4,0.000,0.125,2536,827,3440
$GC,7374,-1.92,-86.6,882.1,-12.0,818,7378,0.00,2.40,0.00,0.000,6,0.000,0.103,2536,2054,3440
$GC,7691,-1.92,-86.6,916.4,-10.7,833,7696,0.00,3.22,0.00,0.000,4,0.000,0.125,2536,3641,3440
$GC,7724,-1.92,-86.6,920.3,-11.4,834,7731,0.00,3.10,0.00,0.000,6,0.000,0.104,2536,2061,3440
$GC,8040,-1.92,-86.7,952.6,-10.0,850,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2060,3440
$GC,8349,-1.92,-86.7,985.3,-10.8,865,8354,0.00,3.22,0.00,0.000,4,0.000,0.123,2536,3642,3439
$GC,8382,-1.92,-86.7,989.1,-11.9,866,8389,0.00,3.10,0.00,0.000,6,0.000,0.109,2536,2077,3439
$STATE,8407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8407,begin apogee
$GC,8413,-0.35,0.0,992.0,11.1,868,8495,1.77,0.00,77.18,1.417,6,0.120,0.000,2880,2324,3086
$STATE,8495,end apogee,CONTROL_FINISHED_OK
$STATE,8495,begin climb
$GC,8498,2.03,86.7,993.8,0.0,872,8585,2.35,3.00,76.35,1.378,4,0.060,0.130,3404,922,2730
$GC,8603,1.95,86.7,986.0,11.7,876,8610,0.00,2.83,0.00,0.000,6,0.000,0.107,3404,2330,2730
$GC,8919,1.88,86.7,938.3,15.3,892,8924,0.17,2.90,0.00,0.000,4,0.130,0.120,3372,3737,2729
$GC,8998,1.79,86.7,926.2,14.7,895,9006,0.12,2.80,0.00,0.000,6,0.137,0.103,3353,2340,2729
$GC,9316,1.79,86.7,883.7,13.5,911,9320,0.00,2.92,0.00,0.000,4,0.000,0.129,3352,917,2728
$GC,9356,1.79,86.7,878.1,13.4,913,9360,0.00,2.80,0.00,0.000,6,0.000,0.104,3352,2334,2728
$GC,9684,1.79,86.7,837.2,12.3,929,9688,0.00,2.92,0.00,0.000,4,0.000,0.127,3352,3738,2728
$GC,9747,1.73,86.7,828.7,13.7,932,9751,0.00,2.80,0.00,0.000,6,0.000,0.102,3352,2330,2728
$GC,10073,1.73,86.7,790.7,11.0,948,10078,0.00,2.90,0.00,0.000,4,0.000,0.128,3352,913,2727
$GC,10095,1.73,86.7,788.2,10.8,949,10099,0.00,2.78,0.00,0.000,6,0.000,0.100,3352,2338,2727
$GC,10418,1.73,87.1,756.1,10.0,965,10423,0.00,2.90,0.00,0.000,4,0.000,0.125,3352,3737,2727
$GC,10518,1.67,87.1,744.9,11.1,969,10526,0.15,2.78,0.00,0.000,6,0.132,0.100,3326,2338,2727
$GC,10835,1.67,87.1,712.4,11.3,985,10836,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,2338,2727
$GC,11143,1.67,87.1,673.9,12.6,1000,11148,0.00,2.85,0.00,0.000,4,0.000,0.120,3326,920,2726
$GC,11187,1.67,87.1,668.0,13.2,1002,11192,0.00,2.75,0.00,0.000,6,0.000,0.098,3326,2340,2726
$GC,11509,1.67,87.1,632.3,10.4,1018,11513,0.00,2.85,0.00,0.000,4,0.000,0.118,3326,3737,2726
$GC,11586,1.67,87.1,623.5,11.5,1021,11593,0.00,2.72,0.00,0.000,6,0.000,0.095,3326,2335,2726
$GC,11904,1.69,98.9,593.6,8.8,1040,11920,0.00,2.90,11.07,1.124,4,0.000,0.110,3326,3737,2682
$GC,11944,1.70,108.2,589.8,9.0,1043,11964,0.00,2.78,9.48,1.045,6,0.000,0.096,3326,2333,2644
$GC,12281,1.71,114.7,559.3,9.3,1075,12291,0.00,0.00,7.10,1.008,6,0.000,0.000,3326,2332,2616
$GC,12611,1.71,115.5,527.2,9.9,1106,12616,0.00,2.85,0.00,0.000,4,0.000,0.110,3326,3738,2616
$GC,12639,1.71,115.5,523.9,11.1,1108,12644,0.00,2.75,0.00,0.000,6,0.000,0.091,3326,2331,2616
$GC,12965,1.71,115.5,488.9,11.0,1138,12969,0.00,2.83,0.00,0.000,4,0.000,0.107,3326,3738,2616
$GC,13006,1.71,115.5,484.3,11.6,1141,13011,0.00,2.72,0.00,0.000,6,0.000,0.090,3326,2340,2616
$GC,13332,1.71,115.5,447.5,11.6,1171,13337,0.00,2.80,0.00,0.000,4,0.000,0.107,3326,3737,2616
$GC,13383,1.71,115.5,441.1,12.1,1175,13388,0.00,2.67,0.00,0.000,6,0.000,0.088,3326,2358,2616
$GC,13709,1.75,115.5,402.1,12.2,1205,13714,0.00,2.83,0.00,0.000,4,0.000,0.109,3326,916,2617
$GC,13749,1.80,115.5,397.1,12.4,1208,13755,0.10,2.75,0.00,0.000,6,0.077,0.091,3351,2357,2616
$GC,14074,1.80,115.5,356.7,12.6,1238,14079,0.00,2.75,0.00,0.000,4,0.000,0.107,3351,3737,2617
$GC,14114,1.80,115.5,351.6,12.6,1241,14118,0.00,2.67,0.00,0.000,6,0.000,0.088,3350,2354,2617
$GC,14457,1.80,115.5,310.7,11.3,1300,14464,0.00,2.75,0.00,0.000,4,0.000,0.106,3351,3736,2617
$GC,14505,1.80,115.5,304.7,11.8,1308,14512,0.00,2.62,0.00,0.000,6,0.000,0.087,3351,2376,2618
$GC,14850,1.80,115.5,264.3,11.8,1369,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2376,2618
$GC,15195,1.80,115.5,222.0,11.8,1430,15202,0.00,2.83,0.00,0.000,4,0.000,0.102,3351,916,2618
$GC,15220,1.80,115.5,219.0,11.9,1434,15227,0.00,2.78,0.00,0.000,6,0.000,0.086,3351,2379,2618
$GC,15565,1.80,115.5,176.5,12.5,1495,15572,0.00,2.65,0.00,0.000,4,0.000,0.097,3351,3737,2618
$GC,15595,1.80,115.5,172.4,13.7,1500,15603,0.00,2.62,0.00,0.000,6,0.000,0.083,3351,2364,2619
$GC,15941,1.80,115.5,128.4,13.4,1561,15947,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2364,2619
$GC,16284,1.80,115.5,84.3,11.7,1622,16290,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2364,2619
$GC,16629,1.80,116.3,45.6,9.9,1683,16638,0.00,2.78,3.67,0.537,4,0.000,0.100,3351,3735,2609
$GC,16679,1.80,117.3,40.6,9.9,1691,16687,0.00,2.60,0.00,0.000,6,0.000,0.083,3351,2377,2609
$GC,16823,1.84,149.2,29.4,6.6,1716,16858,0.00,2.67,27.48,0.769,4,0.000,0.087,3351,3736,2475
$GC,16946,1.84,149.2,16.9,10.7,1736,16953,0.00,2.50,0.00,0.000,6,0.000,0.081,3351,2426,2475
$STATE,17069,end climb,SURFACE_DEPTH_REACHED
$STATE,17069,begin surface coast
$FINISH,0.3,1.002232
$STATE,17089,end surface coast,CONTROL_FINISHED_OK
$STATE,17089,begin surface
$SM_CCo,17112,39.12,0.736,0,0,2269,200.16
$SM_GC,1.09,0.00,0.00,39.12,0.000,0.000,0.736,589,2224,2269,-10.91,-0.31,200.16
$IRIDIUM_FIX,6117.23,-2549.26,190997,080834
$TT8_MAMPS,0.02301
$HUMID,1742
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,18.00
$XPDR_PINGS,690
$24V_AH,23.0,75.710
$10V_AH,10.6,62.788
$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,28.250,202.650,212.325,39.125,0.000,30.357,34.492,272.821,172.500,0.000,0.000,15.278,3621.729,9526.752,514.256,3203.265,766.003,0.000,1937.872,0.000,3202.813,0.000,0.467
$DEVICE_MAMPS,181.779,130.390,1416.649,735.553,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1221.014,1352.067,1570.609,508.540,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107251,1761
$CAP_FILE_SIZE,170650,0
$CFSIZE,260165632,221892608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.158,178.4,1
$GPS,250608,182255,6135.873,-2542.157,34,1.1,51,-18.3