version: 66.03
glider: 140
mission: 5
dive: 13
start: 4 6 108 10 28 54
data:
$ID,140
$MISSION,5
$DIVE,13
$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,360
$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,150
$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,30
$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,-13422.405
$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,2200
$C_ROLL_CLIMB,2290
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,8
$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
$GPS1,101701,5930.424,-1951.834,37,1.6,42,-14.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-61.1
$GPS2,102833,5930.404,-1951.551,14,1.5,14,-14.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5939.756,-1948.824
$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,44.1,20000,-17.5,-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,-1.41,-146.0,0.0,0.0,0,84,0.00,0.00,-54.47,0.000,2,0.000,0.000,590,2190,3521
$GC,87,-1.41,-146.0,3.1,-6.1,10,111,12.40,2.75,-3.97,0.000,4,0.193,0.121,2643,788,3683
$GC,151,-1.41,-146.0,11.8,-11.0,21,158,0.00,2.67,0.00,0.000,6,0.000,0.092,2643,2210,3683
$GC,295,-1.41,-146.0,23.6,-7.8,46,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2210,3684
$GC,436,-1.41,-146.0,36.1,-10.1,71,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2210,3683
$GC,578,-1.41,-146.0,51.4,-10.4,96,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2210,3684
$GC,719,-1.41,-146.0,67.3,-11.7,121,725,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2210,3684
$GC,861,-1.41,-146.0,80.6,-9.6,146,867,0.00,2.67,0.00,0.000,4,0.000,0.104,2643,3618,3684
$GC,879,-1.41,-146.0,82.4,-9.8,149,886,0.00,2.65,0.00,0.000,6,0.000,0.090,2643,2199,3683
$GC,1023,-1.41,-146.0,97.4,-10.5,174,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,3683
$GC,1164,-1.41,-146.0,112.6,-10.9,199,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,3684
$GC,1306,-1.41,-146.0,126.8,-10.3,224,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2199,3684
$GC,1447,-1.41,-146.0,140.6,-10.1,249,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2198,3684
$GC,1588,-1.41,-146.0,153.6,-9.1,274,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2198,3683
$GC,1931,-1.41,-146.0,185.5,-9.2,335,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2198,3684
$GC,2274,-1.41,-146.0,220.0,-10.9,396,2280,0.00,2.72,0.00,0.000,4,0.000,0.108,2643,3617,3684
$GC,2303,-1.41,-146.0,223.1,-10.7,401,2309,0.00,2.62,0.00,0.000,6,0.000,0.093,2643,2212,3684
$GC,2646,-1.41,-146.0,255.4,-11.1,462,2653,0.00,2.80,0.00,0.000,4,0.000,0.121,2643,791,3684
$GC,2670,-1.41,-146.0,257.9,-10.9,466,2676,0.00,2.67,0.00,0.000,6,0.000,0.100,2643,2207,3684
$GC,3014,-1.41,-146.0,290.4,-9.3,527,3020,0.00,2.70,0.00,0.000,4,0.000,0.109,2643,3617,3684
$GC,3043,-1.41,-146.0,293.2,-9.5,532,3049,0.00,2.62,0.00,0.000,6,0.000,0.090,2643,2202,3684
$GC,3387,-1.41,-146.0,326.3,-8.8,593,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2202,3684
$GC,3729,-1.41,-146.0,360.5,-10.3,654,3735,0.00,2.72,0.00,0.000,4,0.000,0.109,2643,3619,3684
$GC,3758,-1.41,-146.0,363.6,-11.2,659,3764,0.00,2.62,0.00,0.000,6,0.000,0.093,2643,2214,3684
$GC,4103,-1.41,-146.0,397.2,-9.5,720,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2214,3684
$GC,4447,-1.41,-146.0,429.9,-9.5,781,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2214,3684
$GC,4789,-1.41,-146.0,462.9,-9.6,842,4795,0.00,2.70,0.00,0.000,4,0.000,0.110,2643,3614,3684
$GC,4829,-1.41,-146.0,467.0,-10.2,849,4835,0.00,2.62,0.00,0.000,6,0.000,0.094,2643,2214,3684
$GC,5173,-1.41,-146.0,501.3,-9.7,910,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2214,3684
$GC,5515,-1.41,-146.0,533.6,-9.3,971,5521,0.00,2.70,0.00,0.000,4,0.000,0.110,2643,3615,3684
$GC,5544,-1.41,-146.0,536.4,-9.3,976,5550,0.00,2.60,0.00,0.000,6,0.000,0.094,2643,2225,3684
$GC,5883,-1.41,-146.0,566.3,-8.7,1021,5888,0.00,2.67,0.00,0.000,4,0.000,0.111,2643,3610,3684
$GC,5912,-1.41,-146.0,568.9,-9.6,1023,5916,0.00,2.60,0.00,0.000,6,0.000,0.094,2643,2222,3684
$GC,6238,-1.41,-146.0,597.6,-8.8,1053,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2223,3684
$GC,6555,-1.41,-146.0,626.5,-9.3,1083,6559,0.00,2.70,0.00,0.000,4,0.000,0.114,2643,3615,3684
$GC,6587,-1.41,-146.0,629.7,-9.8,1085,6593,0.00,2.62,0.00,0.000,6,0.000,0.098,2643,2223,3684
$GC,6913,-1.41,-146.0,658.3,-8.9,1116,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2224,3684
$GC,7230,-1.41,-146.0,686.9,-9.1,1146,7235,0.00,2.70,0.00,0.000,4,0.000,0.117,2643,3613,3684
$GC,7262,-1.41,-146.0,690.1,-10.0,1148,7269,0.00,2.60,0.00,0.000,6,0.000,0.100,2643,2237,3684
$GC,7591,-1.41,-146.0,719.9,-9.4,1179,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2237,3684
$GC,7915,-1.41,-146.0,750.7,-9.5,1210,7920,0.00,2.70,0.00,0.000,4,0.000,0.118,2643,3615,3684
$GC,7948,-1.41,-146.0,754.0,-9.8,1212,7955,0.00,2.62,0.00,0.000,6,0.000,0.102,2643,2233,3684
$GC,8275,-1.41,-146.0,783.6,-8.9,1243,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2234,3683
$GC,8593,-1.41,-146.0,811.9,-9.0,1273,8598,0.00,2.70,0.00,0.000,4,0.000,0.120,2643,3608,3683
$GC,8626,-1.41,-146.0,815.2,-10.0,1275,8632,0.00,2.60,0.00,0.000,6,0.000,0.104,2643,2246,3683
$GC,8952,-1.41,-146.0,844.6,-8.9,1306,8957,0.00,3.00,0.00,0.000,4,0.000,0.143,2643,786,3683
$GC,8974,-1.41,-146.0,846.8,-9.1,1307,8980,0.00,2.85,0.00,0.000,6,0.000,0.114,2643,2251,3683
$GC,9300,-1.41,-146.0,875.8,-8.8,1338,9304,0.00,2.72,0.00,0.000,4,0.000,0.131,2643,3611,3683
$GC,9343,-1.41,-146.0,880.2,-9.6,1341,9350,0.00,2.60,0.00,0.000,6,0.000,0.107,2643,2259,3683
$GC,9670,-1.41,-146.0,908.9,-8.5,1372,9675,0.00,3.05,0.00,0.000,4,0.000,0.147,2643,788,3683
$GC,9702,-1.41,-146.0,912.0,-9.6,1374,9709,0.00,2.88,0.00,0.000,6,0.000,0.117,2643,2250,3683
$GC,10029,-1.41,-146.0,940.3,-8.9,1405,10030,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2250,3683
$GC,10347,-1.41,-146.0,968.4,-8.5,1435,10351,0.00,2.75,0.00,0.000,4,0.000,0.137,2643,3611,3683
$GC,10381,-1.41,-146.0,971.5,-8.7,1437,10387,0.00,2.65,0.00,0.000,6,0.000,0.113,2643,2245,3683
$STATE,10597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10597,begin apogee
$GC,10602,-0.35,0.0,990.6,9.0,1458,10732,1.15,0.00,125.80,1.442,6,0.105,0.000,2877,2292,3085
$STATE,10733,end apogee,CONTROL_FINISHED_OK
$STATE,10733,begin climb
$GC,10735,1.41,146.0,994.8,0.0,1471,10865,1.75,0.00,124.78,1.394,6,0.062,0.000,3267,2292,2489
$GC,11180,1.33,146.0,948.3,12.7,1514,11185,0.00,2.88,0.00,0.000,4,0.000,0.130,3267,3704,2487
$GC,11231,1.20,146.0,941.6,13.6,1518,11236,0.22,2.80,0.00,0.000,6,0.114,0.114,3226,2288,2487
$GC,11555,1.20,146.0,906.6,10.2,1548,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2288,2486
$GC,11874,1.20,146.0,873.2,11.0,1578,11875,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2288,2486
$GC,12192,1.20,146.0,837.6,11.0,1608,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2288,2486
$GC,12511,1.20,146.0,802.3,11.3,1638,12515,0.00,2.83,0.00,0.000,4,0.000,0.120,3226,3709,2485
$GC,12554,1.14,146.0,797.1,11.6,1641,12560,0.00,2.75,0.00,0.000,6,0.000,0.107,3226,2291,2486
$GC,12880,1.14,146.0,760.8,11.1,1672,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2291,2485
$GC,13197,1.14,146.0,727.6,10.3,1702,13202,0.00,2.78,0.00,0.000,4,0.000,0.116,3226,3711,2485
$GC,13248,1.07,146.0,722.2,10.2,1706,13253,0.17,2.70,0.00,0.000,6,0.114,0.103,3193,2304,2485
$GC,13573,1.10,170.2,692.9,8.9,1736,13595,0.00,0.00,20.98,1.236,6,0.000,0.000,3193,2304,2391
$GC,13911,1.10,170.2,659.1,10.0,1768,13916,0.00,2.75,0.00,0.000,4,0.000,0.112,3193,3707,2390
$GC,13954,1.10,170.2,654.3,10.5,1771,13961,0.00,2.67,0.00,0.000,6,0.000,0.100,3193,2309,2390
$GC,14281,1.10,170.2,621.4,10.2,1802,14282,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2310,2390
$GC,14598,1.10,170.2,589.0,10.3,1832,14602,0.00,2.70,0.00,0.000,4,0.000,0.111,3193,3704,2390
$GC,14641,1.10,170.2,584.3,10.5,1835,14647,0.00,2.62,0.00,0.000,6,0.000,0.098,3193,2318,2390
$GC,14968,1.11,176.1,553.1,9.7,1866,14976,0.00,0.00,6.70,0.988,6,0.000,0.000,3193,2319,2366
$GC,15311,1.13,196.5,520.0,9.1,1924,15339,0.00,2.78,18.10,1.087,4,0.000,0.108,3193,3698,2283
$GC,15378,1.13,196.5,513.4,10.3,1936,15385,0.00,2.62,0.00,0.000,6,0.000,0.095,3193,2318,2282
$GC,15724,1.13,197.5,479.8,10.0,1997,15729,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2318,2282
$GC,16066,1.14,198.9,446.4,9.9,2058,16072,0.00,2.67,0.00,0.000,4,0.000,0.108,3193,3705,2282
$GC,16106,1.14,198.9,442.1,10.6,2065,16112,0.00,2.60,0.00,0.000,6,0.000,0.094,3193,2327,2282
$GC,16450,1.14,198.9,407.0,10.6,2126,16455,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2327,2282
$GC,16793,1.14,198.9,372.5,10.8,2187,16798,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2328,2282
$GC,17135,1.14,205.6,337.8,9.7,2248,17152,0.00,2.72,9.07,0.949,4,0.000,0.106,3193,3706,2246
$GC,17198,1.14,205.6,331.0,11.4,2259,17204,0.00,2.60,0.00,0.000,6,0.000,0.093,3193,2329,2246
$GC,17541,1.15,207.5,295.2,9.9,2320,17547,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2329,2246
$GC,17884,1.15,207.5,259.4,10.3,2381,17890,0.00,2.65,0.00,0.000,4,0.000,0.107,3193,3707,2247
$GC,17913,1.15,207.5,256.2,11.7,2386,17919,0.00,2.55,0.00,0.000,6,0.000,0.091,3193,2339,2246
$GC,18257,1.15,209.7,220.9,9.9,2447,18269,0.00,0.00,5.25,0.748,6,0.000,0.000,3193,2339,2229
$GC,18606,1.15,209.7,185.3,10.4,2509,18612,0.00,2.62,0.00,0.000,4,0.000,0.104,3193,3710,2229
$GC,18663,1.15,209.7,179.2,10.3,2519,18669,0.00,2.53,0.00,0.000,6,0.000,0.088,3193,2351,2229
$GC,19007,1.16,215.9,146.6,9.7,2580,19018,0.00,0.00,7.05,0.802,6,0.000,0.000,3194,2351,2203
$GC,19157,1.24,248.5,132.5,8.5,2606,19191,0.15,0.00,27.42,0.848,6,0.063,0.000,3236,2351,2070
$GC,19327,1.24,248.5,111.2,13.2,2636,19332,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2351,2068
$GC,19468,1.24,248.5,92.5,12.6,2661,19474,0.00,2.58,0.00,0.000,4,0.000,0.102,3235,3706,2068
$GC,19498,1.24,248.5,88.4,15.3,2666,19504,0.00,2.50,0.00,0.000,6,0.000,0.087,3236,2361,2067
$GC,19640,1.24,248.5,69.0,12.3,2691,19646,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2360,2067
$GC,19783,1.24,248.5,50.1,12.3,2716,19789,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2361,2067
$GC,19924,1.24,248.5,30.5,14.0,2741,19930,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2361,2067
$GC,20066,1.24,248.5,10.5,13.5,2766,20071,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2360,2067
$STATE,20128,end climb,SURFACE_DEPTH_REACHED
$STATE,20128,begin surface coast
$FINISH,0.4,1.018090
$STATE,20138,end surface coast,CONTROL_FINISHED_OK
$STATE,20139,begin surface
$SM_CCo,20219,0.00,0.000,0,0,2066,249.96
$SM_GC,1.11,11.57,0.00,0.00,0.044,0.000,0.000,592,2195,2066,-10.84,-0.14,249.96
$IRIDIUM_FIX,5907.03,-1949.21,010797,101007
$TT8_MAMPS,0.02301
$HUMID,1572
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.40
$XPDR_PINGS,13
$24V_AH,23.4,11.235
$10V_AH,10.7,3.588
$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,27.425,151.250,345.150,0.000,0.000,59.097,65.419,353.803,3.250,0.000,0.000,16.162,4210.752,10655.740,584.295,4577.074,857.279,0.000,2605.052,0.000,4564.527,0.000,0.468
$DEVICE_MAMPS,193.284,154.934,1441.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1922.169,2081.159,1737.475,1243.652,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,157766,2779
$CAP_FILE_SIZE,219464,0
$CFSIZE,260165632,256073728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060408,160708,5931.257,-1939.200,41,1.1,41,-14.0