version: 66.03
glider: 140
mission: 5
dive: 17
start: 4 7 108 9 26 41
data:
$ID,140
$MISSION,5
$DIVE,17
$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,0
$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,-13506.567
$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,10
$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
$GPS1,091738,5931.478,-1912.969,42,1.3,42,-13.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-62.2
$GPS2,092620,5931.346,-1912.756,10,1.3,15,-13.8
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5942.146,-1912.756
$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,13.8,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.41,-146.0,0.0,0.0,0,85,0.00,0.00,-54.50,0.000,2,0.000,0.000,592,2224,3594
$GC,88,-1.41,-146.0,3.3,-5.7,10,112,12.48,2.78,-1.98,0.000,4,0.196,0.114,2642,3646,3683
$GC,186,-1.41,-146.0,19.3,-14.0,27,192,0.00,2.65,0.00,0.000,6,0.000,0.090,2642,2226,3684
$GC,330,-1.41,-146.0,33.5,-8.8,52,335,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2226,3684
$GC,471,-1.41,-146.0,47.5,-9.0,77,477,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2226,3684
$GC,613,-1.41,-146.0,60.8,-9.6,102,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2225,3685
$GC,755,-1.41,-146.0,75.5,-9.7,127,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2225,3684
$GC,896,-1.41,-146.0,90.0,-10.2,152,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2225,3684
$GC,1037,-1.41,-146.0,104.6,-10.3,177,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2225,3684
$GC,1180,-1.41,-146.0,118.0,-9.8,202,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2225,3684
$GC,1321,-1.41,-146.0,131.8,-10.1,227,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2225,3684
$GC,1463,-1.41,-146.0,145.6,-9.8,252,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2225,3684
$GC,1604,-1.41,-146.0,158.8,-9.7,277,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2225,3684
$GC,1947,-1.41,-146.0,192.5,-10.1,338,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2225,3684
$GC,2290,-1.41,-146.0,226.1,-9.8,399,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2224,3685
$GC,2633,-1.41,-146.0,260.5,-10.2,460,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2224,3685
$GC,2975,-1.41,-146.0,295.8,-10.4,521,2981,0.00,2.75,0.00,0.000,4,0.000,0.110,2642,3649,3685
$GC,3004,-1.41,-146.0,299.0,-11.5,526,3011,0.00,2.62,0.00,0.000,6,0.000,0.094,2642,2241,3685
$GC,3348,-1.41,-146.0,335.1,-10.6,587,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3685
$GC,3690,-1.41,-146.0,370.2,-10.0,648,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3685
$GC,4033,-1.41,-146.0,403.6,-9.8,709,4039,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3685
$GC,4377,-1.41,-146.0,437.7,-9.7,770,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3685
$GC,4719,-1.41,-146.0,469.8,-9.4,831,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3685
$GC,5062,-1.41,-146.0,502.6,-9.9,892,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3685
$GC,5406,-1.41,-146.0,534.6,-9.2,953,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3684
$GC,5748,-1.41,-146.0,565.2,-9.2,1014,5753,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3685
$GC,6091,-1.41,-146.0,597.3,-9.8,1075,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3685
$GC,6419,-1.41,-146.0,629.7,-9.6,1108,6420,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3685
$GC,6735,-1.41,-146.0,659.6,-9.0,1138,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2242,3684
$GC,7053,-1.41,-146.0,688.5,-9.3,1168,7058,0.00,2.78,0.00,0.000,4,0.000,0.125,2642,3645,3684
$GC,7074,-1.41,-146.0,690.7,-9.7,1169,7081,0.00,2.67,0.00,0.000,6,0.000,0.105,2642,2232,3684
$GC,7401,-1.41,-146.0,720.8,-9.3,1200,7405,0.00,2.80,0.00,0.000,4,0.000,0.122,2642,3653,3685
$GC,7428,-1.41,-146.0,723.6,-10.2,1202,7432,0.00,2.70,0.00,0.000,6,0.000,0.106,2642,2243,3684
$GC,7754,-1.41,-146.0,754.1,-9.5,1232,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2243,3684
$GC,8071,-1.41,-146.0,783.5,-9.3,1262,8076,0.00,2.90,0.00,0.000,4,0.000,0.143,2642,826,3684
$GC,8092,-1.41,-146.0,785.5,-9.1,1263,8098,0.00,2.75,0.00,0.000,6,0.000,0.114,2642,2243,3684
$GC,8418,-1.41,-146.0,814.6,-9.0,1294,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2243,3684
$GC,8736,-1.41,-146.0,843.9,-9.4,1324,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2243,3684
$GC,9056,-1.41,-146.0,872.7,-8.8,1354,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2243,3683
$GC,9373,-1.41,-146.0,899.4,-8.6,1384,9377,0.00,2.85,0.00,0.000,4,0.000,0.137,2642,3651,3683
$GC,9434,-1.41,-146.0,905.0,-9.0,1389,9439,0.00,2.75,0.00,0.000,6,0.000,0.113,2642,2233,3683
$GC,9762,-1.41,-146.0,934.0,-9.2,1419,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2234,3683
$GC,10087,-1.41,-146.0,963.3,-9.0,1450,10088,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2234,3683
$STATE,10392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10392,begin apogee
$GC,10398,-0.35,0.0,990.4,8.5,1479,10527,1.15,0.00,125.57,1.441,6,0.110,0.000,2875,2329,3085
$STATE,10528,end apogee,CONTROL_FINISHED_OK
$STATE,10528,begin climb
$GC,10530,1.41,146.0,993.5,0.0,1492,10667,1.77,2.97,124.25,1.394,4,0.065,0.134,3270,3740,2488
$GC,10719,1.27,146.0,977.2,14.3,1510,10726,0.17,2.80,0.00,0.000,6,0.118,0.114,3239,2332,2487
$GC,11043,1.22,146.0,938.8,11.3,1541,11045,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2332,2487
$GC,11363,1.16,146.0,903.7,10.9,1571,11365,0.12,0.00,0.00,0.000,6,0.120,0.000,3216,2333,2486
$GC,11681,1.16,146.0,871.3,10.3,1601,11686,0.00,2.85,0.00,0.000,4,0.000,0.128,3216,3741,2486
$GC,11720,1.10,146.0,866.8,11.9,1604,11725,0.00,2.80,0.00,0.000,6,0.000,0.113,3216,2320,2485
$GC,12046,1.10,146.0,832.1,10.8,1634,12047,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2320,2485
$GC,12363,1.10,146.0,796.1,11.4,1664,12367,0.00,2.85,0.00,0.000,4,0.000,0.125,3216,3741,2485
$GC,12413,1.05,146.0,790.1,12.5,1668,12418,0.15,2.75,0.00,0.000,6,0.118,0.108,3189,2325,2485
$GC,12737,1.05,146.0,756.7,10.0,1698,12739,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2325,2484
$GC,13058,1.08,177.0,726.9,8.6,1728,13089,0.00,0.00,26.42,1.256,6,0.000,0.000,3189,2325,2363
$GC,13407,1.10,187.6,693.7,9.5,1761,13419,0.00,0.00,10.30,1.150,6,0.000,0.000,3189,2325,2320
$GC,13737,1.10,189.6,661.2,9.9,1792,13742,0.00,2.80,0.00,0.000,4,0.000,0.117,3189,3741,2319
$GC,13769,1.10,189.6,657.7,10.4,1794,13776,0.00,2.70,0.00,0.000,6,0.000,0.100,3189,2334,2320
$GC,14095,1.10,189.6,625.1,10.5,1825,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2335,2319
$GC,14417,1.10,192.8,591.7,9.9,1862,14427,0.00,0.00,6.25,0.988,6,0.000,0.000,3189,2334,2297
$GC,14765,1.10,192.8,555.6,10.9,1924,14770,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2335,2297
$GC,15109,1.10,192.8,519.3,10.9,1985,15114,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2335,2297
$GC,15450,1.10,192.8,482.8,10.9,2046,15456,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2335,2297
$GC,15792,1.10,192.8,445.8,10.4,2107,15797,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2335,2297
$GC,16134,1.10,192.8,410.6,10.3,2168,16140,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2335,2298
$GC,16477,1.11,199.8,374.8,9.7,2229,16488,0.00,0.00,7.32,0.921,6,0.000,0.000,3189,2335,2270
$GC,16825,1.11,199.8,338.1,11.2,2291,16831,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2335,2270
$GC,17168,1.16,199.8,301.2,10.0,2352,17174,0.10,0.00,0.00,0.000,6,0.074,0.000,3215,2334,2270
$GC,17512,1.16,199.8,261.3,11.1,2413,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2335,2270
$GC,17854,1.16,199.8,222.2,11.4,2474,17860,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2335,2271
$GC,18198,1.16,199.8,181.8,10.6,2535,18203,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2335,2271
$GC,18540,1.16,199.8,143.3,11.6,2596,18546,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2335,2271
$GC,18683,1.16,199.8,127.2,11.9,2621,18689,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2334,2271
$GC,18824,1.16,199.8,111.2,11.9,2646,18830,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2334,2270
$GC,18966,1.16,199.8,94.8,11.7,2671,18972,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2334,2271
$GC,19107,1.16,199.8,78.9,10.8,2696,19113,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2334,2271
$GC,19249,1.16,199.8,64.5,10.2,2721,19255,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2334,2271
$GC,19390,1.16,199.8,48.2,11.6,2746,19396,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2334,2271
$GC,19532,1.16,199.8,33.0,10.6,2771,19537,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2334,2271
$GC,19673,1.16,199.8,18.9,10.0,2796,19680,0.00,2.70,0.00,0.000,4,0.000,0.105,3214,3745,2271
$GC,19720,1.16,199.8,13.2,10.9,2804,19726,0.00,2.60,0.00,0.000,6,0.000,0.087,3214,2334,2272
$STATE,19809,end climb,SURFACE_DEPTH_REACHED
$STATE,19809,begin surface coast
$FINISH,0.3,1.014200
$STATE,19822,end surface coast,CONTROL_FINISHED_OK
$STATE,19822,begin surface
$SM_CCo,19843,0.08,0.170,0,0,2270,200.16
$SM_GC,1.65,0.00,0.00,0.08,0.000,0.000,0.170,590,2236,2270,-10.90,0.03,200.16
$IRIDIUM_FIX,5907.03,-1926.40,020797,030327
$TT8_MAMPS,0.02301
$HUMID,1577
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,17.00
$XPDR_PINGS,50
$24V_AH,23.4,11.811
$10V_AH,10.7,4.404
$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,27.400,61.250,300.125,0.075,0.000,30.158,39.090,299.444,12.500,0.000,0.000,15.964,4231.950,10248.271,486.996,4636.934,737.873,0.000,2487.242,0.000,4635.592,0.000,0.468
$DEVICE_MAMPS,196.352,150.332,1441.193,169.507,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1954.740,2117.142,1807.883,1170.284,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,157640,2822
$CAP_FILE_SIZE,201315,0
$CFSIZE,260165632,255627264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,145837,5930.350,-1903.583,35,1.6,35,-13.7