version: 66.03
glider: 140
mission: 5
dive: 109
start: 4 29 108 2 58 15
data:
$ID,140
$MISSION,5
$DIVE,109
$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,-15231.838
$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,12
$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
$GPS1,025025,6057.375,-2341.649,29,1.2,46,-16.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-58.7
$GPS2,025757,6057.318,-2341.838,11,1.9,11,-16.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6059.194,-2346.997
$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,296.9,20000,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-60.17,0.000,2,0.000,0.000,584,2232,3406
$GC,92,-1.29,-194.7,3.0,-7.1,11,123,12.93,2.75,-11.07,0.000,4,0.204,0.113,2668,3645,3879
$GC,237,-1.29,-194.7,20.1,-10.5,36,244,0.00,2.65,0.00,0.000,6,0.000,0.082,2668,2230,3881
$GC,379,-1.29,-194.7,34.9,-11.6,61,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2229,3881
$GC,522,-1.29,-194.7,49.7,-11.8,86,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3881
$GC,664,-1.29,-194.7,63.8,-8.8,111,669,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2230,3881
$GC,1007,-1.29,-194.7,94.3,-8.4,172,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2230,3881
$GC,1350,-1.29,-194.7,125.1,-9.0,233,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3881
$GC,1693,-1.29,-194.7,156.6,-9.9,294,1699,0.00,2.75,0.00,0.000,4,0.000,0.104,2667,3644,3881
$GC,1728,-1.29,-194.7,160.1,-9.9,300,1734,0.00,2.62,0.00,0.000,6,0.000,0.084,2667,2244,3882
$GC,2072,-1.29,-194.7,193.2,-9.4,361,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2243,3881
$GC,2415,-1.29,-194.7,226.9,-9.8,422,2421,0.00,2.78,0.00,0.000,4,0.000,0.107,2668,821,3881
$GC,2449,-1.29,-194.7,230.4,-10.1,428,2456,0.00,2.70,0.00,0.000,6,0.000,0.093,2668,2242,3881
$GC,2794,-1.29,-194.7,264.2,-10.0,489,2799,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2242,3881
$GC,3136,-1.29,-194.7,298.5,-9.9,550,3142,0.00,2.75,0.00,0.000,4,0.000,0.110,2668,3654,3881
$GC,3171,-1.29,-194.7,302.1,-10.9,556,3177,0.00,2.62,0.00,0.000,6,0.000,0.087,2668,2246,3881
$GC,3516,-1.29,-194.7,336.7,-9.5,617,3522,0.00,2.80,0.00,0.000,4,0.000,0.114,2667,825,3881
$GC,3550,-1.29,-194.7,340.3,-10.2,623,3556,0.00,2.75,0.00,0.000,6,0.000,0.097,2668,2255,3881
$GC,3886,-1.29,-194.7,372.8,-9.6,663,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2255,3881
$GC,4206,-1.29,-194.7,402.8,-9.2,693,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2256,3881
$GC,4523,-1.29,-194.7,431.7,-9.1,723,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2256,3881
$GC,4842,-1.29,-194.7,460.6,-9.1,753,4844,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2256,3881
$GC,5160,-1.29,-194.7,489.4,-8.9,783,5165,0.00,2.85,0.00,0.000,4,0.000,0.116,2668,821,3881
$GC,5200,-1.29,-194.7,493.1,-9.6,786,5205,0.00,2.75,0.00,0.000,6,0.000,0.101,2667,2241,3881
$GC,5526,-1.29,-194.7,521.7,-8.9,816,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3881
$GC,5844,-1.29,-194.7,550.4,-9.1,846,5845,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3880
$GC,6163,-1.29,-194.7,579.6,-9.0,876,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3880
$GC,6478,-1.29,-194.7,608.5,-9.3,902,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3880
$GC,6787,-1.29,-194.7,635.8,-8.7,917,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2242,3880
$GC,7097,-1.29,-194.7,661.7,-8.4,932,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2242,3880
$GC,7406,-1.29,-194.7,687.7,-8.9,947,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2242,3880
$GC,7715,-1.29,-194.7,715.5,-9.3,962,7720,0.00,2.83,0.00,0.000,4,0.000,0.127,2667,3646,3879
$GC,7741,-1.29,-194.7,718.2,-10.1,963,7746,0.00,2.70,0.00,0.000,6,0.000,0.099,2668,2240,3879
$GC,8058,-1.29,-194.7,746.5,-9.0,978,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3879
$GC,8366,-1.29,-194.7,772.2,-7.9,993,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3879
$GC,8676,-1.29,-194.7,796.8,-8.0,1008,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3878
$GC,8985,-1.29,-194.7,821.6,-8.1,1023,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3878
$GC,9294,-1.29,-194.7,846.8,-8.1,1038,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3878
$GC,9604,-1.29,-194.7,872.5,-8.3,1053,9605,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3878
$GC,9913,-1.29,-194.7,897.6,-8.2,1068,9914,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3877
$GC,10222,-1.29,-194.7,922.2,-8.1,1083,10227,0.00,2.90,0.00,0.000,4,0.000,0.134,2667,3652,3877
$GC,10249,-1.29,-194.7,924.5,-8.8,1084,10254,0.00,2.75,0.00,0.000,6,0.000,0.107,2668,2243,3877
$GC,10565,-1.29,-194.7,949.4,-8.0,1099,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3876
$GC,10874,-1.29,-194.7,974.2,-7.9,1114,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3875
$STATE,11077,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11077,begin apogee
$GC,11083,-0.35,0.0,990.5,7.9,1124,11252,1.05,0.00,165.90,1.439,6,0.109,0.000,2877,2329,3085
$STATE,11253,end apogee,CONTROL_FINISHED_OK
$STATE,11253,begin climb
$GC,11256,1.29,194.7,996.2,0.0,1132,11424,1.62,0.00,164.07,1.401,6,0.065,0.000,3240,2329,2291
$GC,11733,1.20,194.7,944.8,13.0,1156,11734,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2330,2287
$GC,12041,1.11,194.7,903.8,13.5,1171,12046,0.17,2.92,0.00,0.000,4,0.114,0.128,3204,3739,2287
$GC,12069,1.03,194.7,899.9,13.4,1172,12073,0.00,2.80,0.00,0.000,6,0.000,0.107,3204,2328,2287
$GC,12384,0.99,194.7,862.4,12.1,1187,12386,0.15,0.00,0.00,0.000,6,0.113,0.000,3177,2329,2287
$GC,12693,0.99,194.7,829.8,10.5,1202,12694,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2329,2286
$GC,13002,0.99,194.7,798.2,10.1,1217,13004,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2329,2286
$GC,13312,1.00,204.0,767.2,9.7,1232,13326,0.00,2.95,8.73,1.188,4,0.000,0.122,3177,3739,2253
$GC,13349,1.01,208.0,763.4,9.9,1233,13359,0.00,2.80,5.20,0.979,6,0.000,0.102,3178,2326,2237
$GC,13680,1.03,225.3,731.6,9.4,1250,13702,0.00,3.00,16.50,1.233,4,0.000,0.126,3177,916,2166
$GC,13726,1.03,225.3,727.0,10.0,1252,13730,0.00,2.80,0.00,0.000,6,0.000,0.105,3177,2326,2165
$GC,14051,1.03,225.3,692.3,10.9,1268,14052,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2326,2164
$GC,14361,1.03,225.3,657.6,10.9,1283,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2327,2164
$GC,14670,1.03,229.3,625.9,9.9,1298,14680,0.00,2.88,4.88,0.910,4,0.000,0.120,3177,3739,2150
$GC,14702,1.03,229.3,622.5,10.3,1299,14709,0.00,2.78,0.00,0.000,6,0.000,0.097,3177,2313,2150
$GC,15020,1.05,242.1,592.4,9.6,1318,15035,0.00,0.00,12.60,1.136,6,0.000,0.000,3177,2313,2097
$GC,15348,1.05,242.1,559.3,10.3,1349,15350,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2313,2096
$GC,15667,1.05,242.1,525.3,10.5,1379,15668,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2313,2096
$GC,15986,1.05,242.1,490.9,10.8,1409,15991,0.00,2.85,0.00,0.000,4,0.000,0.111,3177,3739,2096
$GC,16014,1.05,242.1,487.7,10.5,1411,16018,0.00,2.75,0.00,0.000,6,0.000,0.090,3177,2304,2095
$GC,16339,1.05,242.1,453.5,10.5,1441,16340,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2304,2096
$GC,16656,1.05,242.1,419.5,10.8,1471,16658,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2304,2096
$GC,16977,1.05,242.1,385.9,10.3,1501,16981,0.00,2.85,0.00,0.000,4,0.000,0.109,3177,3740,2096
$GC,17009,1.05,242.1,382.1,10.6,1503,17015,0.00,2.70,0.00,0.000,6,0.000,0.087,3177,2315,2097
$GC,17334,1.05,242.1,348.4,10.1,1535,17339,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2316,2097
$GC,17677,1.09,271.6,314.0,9.0,1596,17708,0.00,0.00,26.08,0.975,6,0.000,0.000,3177,2316,1976
$GC,18046,1.09,271.6,276.4,10.2,1662,18051,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2315,1973
$GC,18388,1.09,271.6,241.3,10.3,1723,18393,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2315,1973
$GC,18732,1.09,271.6,205.5,10.1,1784,18738,0.00,2.80,0.00,0.000,4,0.000,0.105,3177,3740,1972
$GC,18789,1.09,271.6,199.0,11.2,1794,18795,0.00,2.70,0.00,0.000,6,0.000,0.085,3177,2318,1972
$GC,19132,1.09,271.6,163.6,10.7,1855,19138,0.00,2.72,0.00,0.000,4,0.000,0.104,3177,912,1972
$GC,19167,1.14,271.6,160.0,10.6,1861,19174,0.15,2.65,0.00,0.000,6,0.059,0.086,3216,2318,1972
$GC,19511,1.14,271.6,117.3,13.3,1922,19518,0.00,2.78,0.00,0.000,4,0.000,0.105,3216,3739,1972
$GC,19546,1.09,271.6,112.6,13.0,1928,19553,0.00,2.70,0.00,0.000,6,0.000,0.082,3216,2308,1972
$GC,19891,1.09,271.6,67.5,11.4,1989,19896,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2309,1973
$GC,20234,1.09,271.6,24.3,11.1,2050,20240,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2308,1973
$GC,20376,1.09,271.6,7.3,11.2,2075,20382,0.00,2.78,0.00,0.000,4,0.000,0.100,3216,3739,1972
$GC,20400,1.09,271.6,3.9,14.7,2079,20406,0.00,2.67,0.00,0.000,6,0.000,0.081,3216,2310,1973
$STATE,20422,end climb,SURFACE_DEPTH_REACHED
$STATE,20422,begin surface coast
$FINISH,0.3,1.025701
$STATE,20451,end surface coast,CONTROL_FINISHED_OK
$STATE,20451,begin surface
$SM_CCo,20533,0.00,0.000,0,0,1972,273.26
$SM_GC,0.97,11.55,0.00,0.00,0.048,0.000,0.000,592,2232,1972,-10.84,-0.08,273.26
$IRIDIUM_FIX,6037.25,-2323.55,230797,212111
$TT8_MAMPS,0.02301
$HUMID,1605
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.20
$XPDR_PINGS,62
$24V_AH,23.4,28.246
$10V_AH,10.7,21.899
$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,27.625,100.175,403.950,0.000,0.000,30.358,32.637,251.152,15.500,0.000,0.000,11.498,3226.424,13152.471,577.141,3363.268,646.965,0.000,2099.991,0.000,3358.285,0.000,0.468
$DEVICE_MAMPS,204.022,151.099,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1445.755,1556.325,967.304,586.544,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116856,2088
$CAP_FILE_SIZE,173987,0
$CFSIZE,260165632,245547008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290408,084137,6056.741,-2354.781,34,1.7,34,-17.0