version: 66.03
glider: 140
mission: 5
dive: 19
start: 4 7 108 20 56 36
data:
$ID,140
$MISSION,5
$DIVE,19
$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,-13534.896
$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,7
$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
$GPS1,204108,5930.261,-1855.357,41,1.1,41,-13.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.4
$GPS2,205615,5930.107,-1855.183,13,1.2,13,-13.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5940.906,-1855.183
$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,13.6,20000,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-65.53,0.000,2,0.000,0.000,592,2229,3614
$GC,98,-1.41,-146.0,3.5,-7.4,12,122,12.50,2.78,-1.48,0.000,4,0.196,0.121,2643,830,3684
$GC,218,-1.41,-146.0,18.7,-9.6,33,225,0.00,2.65,0.00,0.000,6,0.000,0.095,2643,2239,3684
$GC,361,-1.41,-146.0,31.4,-9.4,58,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2240,3684
$GC,503,-1.41,-146.0,48.1,-10.8,83,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2240,3684
$GC,645,-1.41,-146.0,63.1,-9.1,108,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3684
$GC,787,-1.41,-146.0,76.4,-9.5,133,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2240,3684
$GC,928,-1.41,-146.0,89.8,-10.2,158,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2240,3685
$GC,1069,-1.41,-146.0,103.6,-10.1,183,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2240,3685
$GC,1211,-1.41,-146.0,117.3,-9.5,208,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2240,3685
$GC,1353,-1.41,-146.0,131.4,-10.0,233,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2240,3684
$GC,1494,-1.41,-146.0,145.1,-10.0,258,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,1635,-1.41,-146.0,158.3,-10.1,283,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2240,3684
$GC,1978,-1.41,-146.0,190.9,-9.0,344,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,2321,-1.41,-146.0,225.1,-10.4,405,2327,0.00,2.72,0.00,0.000,4,0.000,0.109,2643,3657,3685
$GC,2344,-1.41,-146.0,227.2,-9.0,409,2351,0.00,2.65,0.00,0.000,6,0.000,0.093,2643,2241,3685
$GC,2688,-1.41,-146.0,259.0,-9.6,470,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2241,3685
$GC,3031,-1.41,-146.0,291.0,-9.6,531,3036,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,3373,-1.41,-146.0,322.6,-9.6,592,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,3717,-1.41,-146.0,355.7,-9.6,653,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,4059,-1.41,-146.0,389.2,-9.6,714,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,4401,-1.41,-146.0,421.4,-9.7,775,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,4744,-1.41,-146.0,454.4,-9.4,836,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,5088,-1.41,-146.0,488.3,-9.8,897,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,5430,-1.41,-146.0,521.5,-9.7,958,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,5772,-1.41,-146.0,554.4,-9.2,1019,5778,0.00,2.75,0.00,0.000,4,0.000,0.119,2643,3645,3684
$GC,5807,-1.41,-146.0,557.9,-10.7,1025,5813,0.00,2.65,0.00,0.000,6,0.000,0.100,2643,2246,3685
$GC,6151,-1.41,-146.0,591.1,-9.9,1086,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2246,3685
$GC,6480,-1.41,-146.0,622.7,-9.8,1125,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2246,3684
$GC,6799,-1.41,-146.0,653.1,-9.1,1155,6800,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2246,3685
$GC,7119,-1.41,-146.0,680.6,-8.5,1185,7123,0.00,2.78,0.00,0.000,4,0.000,0.123,2643,3650,3685
$GC,7158,-1.41,-146.0,684.4,-9.7,1188,7162,0.00,2.70,0.00,0.000,6,0.000,0.106,2643,2240,3685
$GC,7484,-1.41,-146.0,714.7,-9.5,1218,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,7803,-1.41,-146.0,743.9,-8.6,1248,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2241,3685
$GC,8121,-1.41,-146.0,770.8,-8.5,1278,8126,0.00,2.80,0.00,0.000,4,0.000,0.127,2643,3645,3684
$GC,8149,-1.41,-146.0,773.4,-9.3,1280,8154,0.00,2.70,0.00,0.000,6,0.000,0.109,2643,2243,3684
$GC,8477,-1.41,-146.0,801.2,-8.5,1310,8481,0.00,2.80,0.00,0.000,4,0.000,0.127,2643,3645,3683
$GC,8504,-1.41,-146.0,803.9,-9.4,1312,8509,0.00,2.72,0.00,0.000,6,0.000,0.109,2643,2235,3684
$GC,8832,-1.41,-146.0,829.7,-8.0,1342,8837,0.00,2.83,0.00,0.000,4,0.000,0.129,2643,3647,3684
$GC,8864,-1.41,-146.0,832.8,-9.1,1344,8871,0.00,2.70,0.00,0.000,6,0.000,0.111,2643,2249,3684
$GC,9191,-1.41,-146.0,862.0,-8.9,1375,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2249,3683
$GC,9508,-1.41,-146.0,890.7,-8.9,1405,9513,0.00,2.83,0.00,0.000,4,0.000,0.133,2643,3645,3683
$GC,9530,-1.41,-146.0,892.9,-9.1,1406,9536,0.00,2.72,0.00,0.000,6,0.000,0.114,2643,2248,3683
$GC,9856,-1.41,-146.0,920.0,-8.0,1437,9857,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2248,3683
$GC,10175,-1.41,-146.0,944.2,-7.4,1467,10180,0.00,2.83,0.00,0.000,4,0.000,0.134,2643,3643,3682
$GC,10203,-1.41,-146.0,946.6,-8.9,1469,10207,0.00,2.72,0.00,0.000,6,0.000,0.117,2643,2257,3682
$GC,10529,-1.41,-146.0,972.2,-8.2,1499,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2257,3682
$STATE,10737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10737,begin apogee
$GC,10743,-0.35,0.0,990.0,8.4,1519,10873,1.15,0.00,125.70,1.442,6,0.110,0.000,2875,2327,3085
$STATE,10874,end apogee,CONTROL_FINISHED_OK
$STATE,10874,begin climb
$GC,10876,1.41,146.0,993.1,0.0,1532,11013,1.77,3.00,124.22,1.393,4,0.064,0.137,3269,3740,2487
$GC,11060,1.28,146.0,977.3,14.6,1550,11066,0.17,2.85,0.00,0.000,6,0.119,0.120,3239,2331,2487
$GC,11385,1.23,146.0,936.3,12.5,1580,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2331,2486
$GC,11705,1.18,146.0,897.3,11.9,1610,11707,0.12,0.00,0.00,0.000,6,0.121,0.000,3217,2331,2486
$GC,12023,1.18,146.0,861.6,11.4,1640,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2331,2485
$GC,12340,1.18,146.0,825.7,11.1,1670,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2331,2485
$GC,12659,1.18,146.0,791.8,10.4,1700,12660,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2331,2485
$GC,12978,1.18,146.9,759.5,10.0,1730,12982,0.00,2.85,0.00,0.000,4,0.000,0.126,3218,3744,2484
$GC,13021,1.12,146.9,754.5,10.8,1733,13027,0.00,2.78,0.00,0.000,6,0.000,0.110,3218,2328,2485
$GC,13347,1.12,146.9,719.1,11.3,1764,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2328,2484
$GC,13664,1.12,146.9,684.6,10.1,1794,13669,0.00,2.83,0.00,0.000,4,0.000,0.122,3217,3744,2484
$GC,13697,1.06,146.9,681.0,10.6,1796,13704,0.12,2.72,0.00,0.000,6,0.122,0.107,3195,2337,2484
$GC,14022,1.08,163.8,651.2,9.2,1827,14042,0.00,0.00,15.55,1.201,6,0.000,0.000,3195,2338,2417
$GC,14362,1.08,163.8,617.9,10.4,1859,14363,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2337,2416
$GC,14687,1.10,175.0,584.2,9.5,1902,14703,0.00,0.00,10.95,1.110,6,0.000,0.000,3195,2337,2371
$GC,15042,1.13,201.2,550.4,8.8,1965,15068,0.00,0.00,23.02,1.117,6,0.000,0.000,3195,2337,2264
$GC,15406,1.13,203.8,514.0,9.9,2030,15411,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2338,2262
$GC,15748,1.13,203.8,479.6,10.0,2091,15760,0.00,2.80,3.65,0.681,4,0.000,0.112,3195,3737,2254
$GC,15788,1.13,203.8,475.4,10.6,2098,15794,0.00,2.67,0.00,0.000,6,0.000,0.097,3195,2338,2254
$GC,16132,1.14,209.5,440.8,9.7,2159,16143,0.00,0.00,6.75,0.933,6,0.000,0.000,3195,2338,2230
$GC,16480,1.16,225.8,404.3,9.2,2221,16502,0.00,0.00,15.20,1.005,6,0.000,0.000,3195,2338,2163
$GC,16840,1.16,225.8,365.2,12.0,2285,16845,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2338,2162
$GC,17182,1.16,225.8,329.1,10.5,2346,17187,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2338,2162
$GC,17525,1.16,225.8,291.9,11.5,2407,17531,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2338,2162
$GC,17867,1.16,225.8,256.1,10.2,2468,17873,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2338,2163
$GC,18210,1.16,225.8,218.5,11.0,2529,18215,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2339,2163
$GC,18552,1.20,225.8,180.9,12.2,2590,18558,0.12,0.00,0.00,0.000,6,0.068,0.000,3227,2338,2163
$GC,18896,1.20,225.8,136.3,14.1,2651,18902,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2338,2163
$GC,19039,1.20,225.8,117.9,13.0,2676,19045,0.00,2.72,0.00,0.000,4,0.000,0.108,3227,3747,2163
$GC,19074,1.20,225.8,113.5,11.6,2682,19081,0.00,2.62,0.00,0.000,6,0.000,0.091,3227,2347,2163
$GC,19219,1.21,229.2,98.2,9.8,2707,19232,0.00,2.80,4.57,0.650,4,0.000,0.110,3227,919,2149
$GC,19261,1.21,229.2,93.2,11.6,2714,19267,0.00,2.70,0.00,0.000,6,0.000,0.094,3227,2357,2149
$GC,19403,1.21,229.2,76.9,12.9,2739,19409,0.00,2.67,0.00,0.000,4,0.000,0.107,3227,3744,2149
$GC,19438,1.21,229.2,72.2,14.4,2745,19445,0.00,2.60,0.00,0.000,6,0.000,0.090,3227,2347,2149
$GC,19580,1.21,229.2,53.3,13.2,2770,19586,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2348,2150
$GC,19723,1.21,229.2,37.3,11.7,2795,19729,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2348,2150
$GC,19864,1.21,229.2,22.6,12.2,2820,19871,0.00,2.67,0.00,0.000,4,0.000,0.107,3227,3739,2150
$GC,19917,1.21,229.2,16.3,12.8,2829,19923,0.00,2.58,0.00,0.000,6,0.000,0.090,3227,2362,2150
$STATE,20034,end climb,SURFACE_DEPTH_REACHED
$STATE,20034,begin surface coast
$FINISH,0.5,1.027874
$STATE,20049,end surface coast,CONTROL_FINISHED_OK
$STATE,20049,begin surface
$SM_CCo,20130,0.00,0.000,0,0,2148,229.85
$SM_GC,0.93,11.65,0.00,0.00,0.051,0.000,0.000,594,2234,2148,-10.84,-0.03,229.85
$IRIDIUM_FIX,5907.03,-1850.21,020797,202043
$TT8_MAMPS,0.02301
$HUMID,1577
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,16.90
$XPDR_PINGS,46
$24V_AH,23.4,12.124
$10V_AH,10.7,4.814
$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,27.625,93.625,329.625,0.000,0.000,85.642,100.033,435.249,11.500,0.000,0.000,13.344,4283.112,10511.159,522.187,4689.960,1004.949,0.000,2563.159,0.000,4681.371,0.000,0.468
$DEVICE_MAMPS,196.352,161.837,1441.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1974.757,2137.185,1821.174,1177.704,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160877,2852
$CAP_FILE_SIZE,214135,0
$CFSIZE,260165632,255381504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,023325,5931.022,-1849.947,28,1.4,45,-13.6