version: 66.03
glider: 140
mission: 5
dive: 104
start: 4 27 108 21 23 8
data:
$ID,140
$MISSION,5
$DIVE,104
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,280
$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,-15156.442
$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,14
$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
$GPS1,211228,6054.111,-2246.259,31,99.0,50,-16.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-51.1
$GPS2,212250,6054.039,-2246.321,18,2.0,35,-16.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6055.914,-2251.488
$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,296.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,155,0.00,0.00,-124.72,0.000,2,0.000,0.000,589,2222,3464
$GC,158,-1.29,-194.7,3.1,-5.9,23,188,13.12,2.80,-9.55,0.000,4,0.209,0.112,2670,3653,3880
$GC,303,-1.29,-194.7,21.7,-10.9,48,309,0.00,2.65,0.00,0.000,6,0.000,0.082,2670,2234,3880
$GC,445,-1.29,-194.7,35.3,-10.0,73,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3880
$GC,588,-1.29,-194.7,48.9,-9.7,98,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3880
$GC,730,-1.29,-194.7,62.1,-8.9,123,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3880
$GC,1073,-1.29,-194.7,93.5,-9.4,184,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3880
$GC,1416,-1.29,-194.7,125.7,-9.6,245,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3880
$GC,1760,-1.29,-194.7,158.1,-9.2,306,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3880
$GC,2102,-1.29,-194.7,191.1,-9.6,367,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3880
$GC,2445,-1.29,-194.7,223.2,-9.3,428,2451,0.00,2.75,0.00,0.000,4,0.000,0.106,2670,3647,3880
$GC,2475,-1.29,-194.7,226.0,-9.4,433,2481,0.00,2.62,0.00,0.000,6,0.000,0.084,2670,2247,3880
$GC,2819,-1.29,-194.7,256.9,-8.8,494,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3880
$GC,3162,-1.29,-194.7,288.2,-8.9,555,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3880
$GC,3505,-1.29,-194.7,321.1,-10.0,616,3512,0.00,2.80,0.00,0.000,4,0.000,0.114,2670,825,3880
$GC,3535,-1.29,-194.7,324.3,-10.8,621,3541,0.00,2.72,0.00,0.000,6,0.000,0.097,2670,2239,3880
$GC,3873,-1.29,-194.7,358.7,-10.0,674,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,4191,-1.29,-194.7,390.3,-10.0,704,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,4510,-1.29,-194.7,421.5,-9.6,734,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,4829,-1.29,-194.7,451.1,-9.2,764,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3880
$GC,5147,-1.29,-194.7,480.3,-9.2,794,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3880
$GC,5466,-1.29,-194.7,507.7,-8.3,824,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3879
$GC,5784,-1.29,-194.7,535.7,-9.1,854,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3879
$GC,6103,-1.29,-194.7,566.0,-9.6,884,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3879
$GC,6423,-1.29,-194.7,595.4,-9.1,914,6428,0.00,2.80,0.00,0.000,4,0.000,0.117,2670,3649,3879
$GC,6451,-1.29,-194.7,598.2,-9.6,916,6455,0.00,2.67,0.00,0.000,6,0.000,0.093,2670,2242,3879
$GC,6767,-1.29,-194.7,625.2,-8.4,932,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3878
$GC,7076,-1.29,-194.7,651.5,-8.5,947,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3878
$GC,7385,-1.29,-194.7,678.2,-8.9,962,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3879
$GC,7695,-1.29,-194.7,706.0,-8.9,977,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3878
$GC,8004,-1.29,-194.7,733.2,-8.6,992,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3878
$GC,8313,-1.29,-194.7,757.0,-7.6,1007,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3878
$GC,8623,-1.29,-194.7,781.4,-8.3,1022,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3878
$GC,8932,-1.29,-194.7,807.4,-8.5,1037,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3877
$GC,9241,-1.29,-194.7,834.2,-8.7,1052,9242,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3877
$GC,9550,-1.29,-194.7,861.8,-8.9,1067,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3877
$GC,9859,-1.29,-194.7,887.5,-8.0,1082,9864,0.00,2.90,0.00,0.000,4,0.000,0.133,2670,3651,3876
$GC,9898,-1.29,-194.7,890.8,-8.6,1084,9903,0.00,2.72,0.00,0.000,6,0.000,0.106,2670,2251,3876
$GC,10225,-1.29,-194.7,917.0,-8.3,1100,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3876
$GC,10534,-1.29,-194.7,943.3,-8.3,1115,10535,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3875
$GC,10843,-1.29,-194.7,968.1,-8.3,1130,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3875
$STATE,11108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11108,begin apogee
$GC,11114,-0.35,0.0,990.8,8.4,1143,11283,1.05,0.00,165.25,1.439,6,0.110,0.000,2878,2336,3085
$STATE,11284,end apogee,CONTROL_FINISHED_OK
$STATE,11284,begin climb
$GC,11286,1.29,194.7,997.0,0.0,1151,11454,1.62,0.00,163.35,1.400,6,0.063,0.000,3241,2336,2291
$GC,11764,1.19,194.7,945.5,13.2,1175,11766,0.12,0.00,0.00,0.000,6,0.120,0.000,3220,2336,2287
$GC,12071,1.12,194.7,909.9,11.2,1190,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2336,2287
$GC,12381,1.06,194.7,874.0,12.0,1205,12383,0.15,0.00,0.00,0.000,6,0.116,0.000,3193,2336,2287
$GC,12690,1.06,194.7,840.6,10.8,1220,12691,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2336,2286
$GC,12999,1.06,194.7,808.1,10.7,1235,13000,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2336,2286
$GC,13308,1.06,194.7,775.4,10.3,1250,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2336,2285
$GC,13617,1.06,194.7,743.3,10.2,1265,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2336,2285
$GC,13927,1.06,194.7,710.8,10.3,1280,13931,0.00,2.85,0.00,0.000,4,0.000,0.120,3193,3738,2285
$GC,13953,1.01,194.7,707.8,11.2,1281,13958,0.00,2.72,0.00,0.000,6,0.000,0.098,3193,2334,2285
$GC,14269,1.01,194.7,674.2,11.1,1296,14273,0.00,2.85,0.00,0.000,4,0.000,0.120,3193,913,2285
$GC,14301,1.01,194.7,670.3,10.8,1297,14307,0.00,2.78,0.00,0.000,6,0.000,0.100,3192,2342,2285
$GC,14616,1.01,194.7,635.9,10.7,1313,14618,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2342,2285
$GC,14926,1.01,194.7,604.4,10.1,1328,14931,0.00,2.83,0.00,0.000,4,0.000,0.112,3192,914,2285
$GC,14948,1.01,194.7,602.0,10.8,1329,14952,0.00,2.72,0.00,0.000,6,0.000,0.098,3193,2329,2285
$GC,15274,1.01,197.2,569.7,9.9,1358,15276,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2330,2285
$GC,15593,1.02,206.3,538.7,9.7,1388,15605,0.00,0.00,10.38,1.075,6,0.000,0.000,3193,2330,2243
$GC,15919,1.02,206.3,504.9,10.9,1419,15923,0.00,2.80,0.00,0.000,4,0.000,0.113,3193,3738,2243
$GC,15947,0.98,206.3,501.8,11.4,1421,15951,0.00,2.70,0.00,0.000,6,0.000,0.089,3193,2324,2243
$GC,16271,0.98,206.3,467.0,10.6,1451,16275,0.00,2.75,0.00,0.000,4,0.000,0.110,3193,919,2243
$GC,16298,0.98,206.3,463.9,11.3,1453,16303,0.00,2.70,0.00,0.000,6,0.000,0.094,3193,2326,2243
$GC,16622,0.98,206.3,429.1,10.5,1483,16624,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2326,2244
$GC,16943,0.98,206.3,395.7,10.7,1513,16945,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2326,2244
$GC,17261,1.01,227.4,364.4,9.3,1543,17282,0.00,0.00,19.23,1.006,6,0.000,0.000,3193,2326,2157
$GC,17609,1.01,227.4,328.2,12.2,1593,17615,0.00,2.80,0.00,0.000,4,0.000,0.110,3192,3739,2156
$GC,17638,1.01,227.4,325.0,11.4,1598,17644,0.00,2.70,0.00,0.000,6,0.000,0.087,3193,2325,2155
$GC,17981,1.06,266.6,290.5,8.6,1659,18018,0.00,0.00,32.92,0.953,6,0.000,0.000,3192,2325,1998
$GC,18355,1.06,266.6,251.5,11.3,1726,18361,0.00,2.75,0.00,0.000,4,0.000,0.105,3192,916,1994
$GC,18390,1.06,266.6,247.5,11.2,1732,18397,0.00,2.70,0.00,0.000,6,0.000,0.091,3193,2333,1993
$GC,18735,1.06,266.6,210.3,10.8,1793,18740,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2333,1993
$GC,19077,1.06,266.6,174.3,10.6,1854,19082,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2333,1993
$GC,19419,1.06,266.6,138.9,11.5,1915,19425,0.00,2.75,0.00,0.000,4,0.000,0.101,3192,911,1993
$GC,19448,1.06,266.6,135.7,10.9,1920,19454,0.00,2.67,0.00,0.000,6,0.000,0.092,3193,2329,1993
$GC,19792,1.06,266.6,99.6,10.3,1981,19798,0.00,2.72,0.00,0.000,4,0.000,0.103,3192,3736,1994
$GC,19832,1.06,266.6,94.8,11.6,1988,19838,0.00,2.65,0.00,0.000,6,0.000,0.082,3192,2321,1994
$GC,20176,1.06,266.6,58.2,10.8,2049,20181,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2321,1994
$GC,20518,1.06,266.6,21.1,10.3,2110,20524,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2322,1993
$GC,20659,1.06,266.6,4.6,12.6,2135,20665,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2321,1993
$STATE,20681,end climb,SURFACE_DEPTH_REACHED
$STATE,20681,begin surface coast
$FINISH,0.1,1.012715
$STATE,20699,end surface coast,CONTROL_FINISHED_OK
$STATE,20699,begin surface
$SM_CCo,20781,0.00,0.000,0,0,1991,268.36
$SM_GC,0.87,11.73,0.00,0.00,0.061,0.000,0.000,593,2233,1991,-10.85,-0.06,268.36
$IRIDIUM_FIX,6028.48,-2240.59,220797,151521
$TT8_MAMPS,0.02301
$HUMID,1620
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,16.90
$XPDR_PINGS,70
$24V_AH,23.4,27.367
$10V_AH,10.7,21.179
$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,27.800,77.275,391.125,0.000,0.000,33.231,31.752,401.889,17.500,0.000,0.000,35.184,3273.692,13273.711,593.466,3464.655,779.739,0.000,2142.099,0.000,3428.834,0.000,0.467
$DEVICE_MAMPS,208.624,148.798,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1483.613,1587.568,1025.898,618.965,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119899,2142
$CAP_FILE_SIZE,175467,0
$CFSIZE,260165632,246022144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280408,031038,6053.869,-2256.542,34,1.5,34,-16.5