version: 66.03
glider: 140
mission: 5
dive: 118
start: 5 1 108 7 58 3
data:
$ID,140
$MISSION,5
$DIVE,118
$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,320
$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,-15397.84
$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,11
$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
$GPS1,075008,6114.438,-2502.163,40,1.1,40,-17.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-55.3
$GPS2,075745,6114.396,-2502.339,12,2.0,12,-17.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6122.669,-2505.665
$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,337.8,20000,-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,-194.7,0.0,0.0,0,106,0.00,0.00,-76.20,0.000,2,0.000,0.000,594,2232,3363
$GC,109,-1.29,-194.7,3.1,-7.0,14,144,12.82,2.80,-12.20,0.000,4,0.202,0.112,2669,3649,3881
$GC,218,-1.29,-194.7,18.3,-12.2,33,224,0.00,2.62,0.00,0.000,6,0.000,0.081,2669,2234,3882
$GC,362,-1.29,-194.7,28.6,-5.2,58,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,504,-1.29,-194.7,40.2,-8.8,83,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,645,-1.29,-194.7,56.6,-13.6,108,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,987,-1.29,-194.7,91.8,-11.6,169,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,1329,-1.29,-194.7,124.3,-8.5,230,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,1672,-1.29,-194.7,151.4,-8.0,291,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,2015,-1.29,-194.7,182.5,-9.8,352,2022,0.00,2.75,0.00,0.000,4,0.000,0.106,2669,817,3882
$GC,2050,-1.29,-194.7,186.0,-10.2,358,2056,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2226,3883
$GC,2393,-1.29,-194.7,217.2,-9.3,419,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3883
$GC,2737,-1.29,-194.7,251.5,-10.0,480,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3883
$GC,3080,-1.29,-194.7,286.2,-10.0,541,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3883
$GC,3423,-1.29,-194.7,318.7,-8.9,602,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3883
$GC,3766,-1.29,-194.7,348.9,-9.3,663,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,4092,-1.29,-194.7,377.9,-8.9,695,4097,0.00,2.78,0.00,0.000,4,0.000,0.110,2669,3649,3882
$GC,4125,-1.29,-194.7,381.1,-9.5,697,4131,0.00,2.67,0.00,0.000,6,0.000,0.090,2669,2227,3882
$GC,4451,-1.29,-194.7,409.1,-8.7,728,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,4770,-1.29,-194.7,436.1,-8.5,758,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,5087,-1.29,-194.7,464.2,-8.8,788,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,5405,-1.29,-194.7,492.0,-8.9,818,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,5724,-1.29,-194.7,519.2,-8.1,848,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,6042,-1.29,-194.7,544.6,-7.9,878,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,6361,-1.29,-194.7,571.6,-8.9,908,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,6679,-1.29,-194.7,600.6,-9.0,938,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,6989,-1.29,-194.7,625.3,-7.1,953,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,7298,-1.29,-194.7,651.7,-8.5,968,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3881
$GC,7607,-1.29,-194.7,678.0,-9.5,983,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3881
$GC,7917,-1.29,-194.7,705.8,-9.5,998,7922,0.00,2.85,0.00,0.000,4,0.000,0.123,2669,3645,3881
$GC,7949,-1.29,-194.7,709.3,-10.3,999,7955,0.00,2.70,0.00,0.000,6,0.000,0.096,2669,2230,3881
$GC,8265,-1.29,-194.7,737.7,-8.0,1015,8269,0.00,2.83,0.00,0.000,4,0.000,0.120,2669,3643,3881
$GC,8292,-1.29,-194.7,739.9,-7.9,1016,8296,0.00,2.70,0.00,0.000,6,0.000,0.100,2669,2236,3881
$GC,8607,-1.29,-194.7,766.1,-9.1,1031,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,8917,-1.29,-194.7,791.3,-7.4,1046,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,9226,-1.29,-194.7,816.3,-9.3,1061,9231,0.00,2.85,0.00,0.000,4,0.000,0.124,2669,3652,3880
$GC,9270,-1.29,-194.7,820.6,-9.4,1063,9274,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2240,3880
$GC,9591,-1.29,-194.7,849.3,-8.2,1079,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3880
$GC,9900,-1.29,-194.7,873.6,-7.7,1094,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3880
$GC,10209,-1.29,-194.7,897.2,-7.8,1109,10213,0.00,2.83,0.00,0.000,4,0.000,0.128,2668,3643,3880
$GC,10264,-1.29,-194.7,901.7,-8.6,1111,10270,0.00,2.72,0.00,0.000,6,0.000,0.107,2669,2241,3880
$GC,10579,-1.29,-194.7,926.4,-8.2,1127,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3879
$GC,10889,-1.29,-194.7,951.5,-7.6,1142,10890,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3879
$GC,11198,-1.29,-194.7,975.1,-7.6,1157,11203,0.00,2.85,0.00,0.000,4,0.000,0.130,2669,3644,3879
$GC,11226,-1.29,-194.7,977.4,-8.8,1158,11230,0.00,2.72,0.00,0.000,6,0.000,0.108,2669,2246,3878
$STATE,11394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11394,begin apogee
$GC,11400,-0.35,0.0,990.6,7.8,1166,11570,1.05,0.00,165.90,1.439,6,0.107,0.000,2878,2330,3085
$STATE,11570,end apogee,CONTROL_FINISHED_OK
$STATE,11571,begin climb
$GC,11573,1.29,194.7,996.9,0.0,1174,11746,1.62,3.03,162.48,1.400,4,0.062,0.130,3242,3738,2291
$GC,11768,1.17,194.7,983.4,12.8,1184,11774,0.15,2.85,0.00,0.000,6,0.114,0.109,3216,2330,2290
$GC,12084,1.11,194.7,946.5,11.7,1199,12085,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2330,2288
$GC,12393,1.06,194.7,909.5,11.9,1214,12395,0.12,0.00,0.00,0.000,6,0.116,0.000,3193,2330,2288
$GC,12702,1.06,194.7,876.0,11.3,1229,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2330,2287
$GC,13011,1.06,194.7,839.9,11.4,1244,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2330,2287
$GC,13321,1.06,194.7,807.6,10.3,1259,13322,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2330,2287
$GC,13630,1.06,194.7,770.8,13.0,1274,13631,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2330,2286
$GC,13939,1.06,194.7,730.9,11.9,1289,13943,0.00,2.88,0.00,0.000,4,0.000,0.121,3193,3738,2286
$GC,13971,1.00,194.7,727.3,10.8,1290,13977,0.00,2.72,0.00,0.000,6,0.000,0.098,3193,2331,2286
$GC,14287,1.04,223.5,697.2,9.0,1306,14314,0.00,0.00,25.25,1.230,6,0.000,0.000,3193,2331,2173
$GC,14616,1.06,242.6,667.9,9.3,1322,14640,0.00,2.95,17.45,1.180,4,0.000,0.116,3193,3735,2094
$GC,14669,1.07,251.5,662.7,9.7,1324,14683,0.00,2.75,9.07,1.071,6,0.000,0.096,3193,2325,2059
$GC,15011,1.07,251.5,628.5,10.4,1341,15016,0.00,2.83,0.00,0.000,4,0.000,0.119,3193,914,2057
$GC,15032,1.07,251.5,626.1,11.5,1342,15037,0.00,2.75,0.00,0.000,6,0.000,0.097,3193,2340,2057
$GC,15357,1.07,251.5,590.7,11.1,1361,15359,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2340,2057
$GC,15674,1.07,251.5,556.5,11.3,1391,15675,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2341,2056
$GC,15992,1.07,251.5,520.1,11.7,1421,15997,0.00,2.80,0.00,0.000,4,0.000,0.110,3193,912,2057
$GC,16032,1.07,251.5,515.3,12.3,1424,16036,0.00,2.72,0.00,0.000,6,0.000,0.095,3193,2334,2057
$GC,16356,1.07,251.5,478.1,11.5,1454,16357,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2335,2057
$GC,16675,1.07,251.5,441.5,11.5,1484,16676,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2335,2057
$GC,16993,1.07,251.5,407.4,10.1,1514,16994,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2335,2057
$GC,17312,1.07,251.5,373.8,10.6,1544,17317,0.00,2.78,0.00,0.000,4,0.000,0.107,3193,909,2058
$GC,17355,1.07,251.5,368.8,10.8,1547,17362,0.00,2.70,0.00,0.000,6,0.000,0.094,3193,2332,2058
$GC,17689,1.07,251.5,331.3,12.7,1592,17694,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2332,2058
$GC,18032,1.10,274.3,295.9,9.2,1653,18058,0.00,0.00,20.23,0.953,6,0.000,0.000,3193,2332,1965
$GC,18396,1.10,274.3,259.2,10.5,1718,18402,0.00,2.78,0.00,0.000,4,0.000,0.105,3193,909,1963
$GC,18424,1.10,274.3,256.0,12.5,1723,18431,0.00,2.65,0.00,0.000,6,0.000,0.091,3193,2315,1963
$GC,18768,1.10,274.3,217.1,10.5,1784,18774,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2315,1962
$GC,19113,1.11,279.2,181.3,9.8,1845,19123,0.00,0.00,5.45,0.744,6,0.000,0.000,3193,2315,1945
$GC,19461,1.11,279.2,146.6,10.6,1907,19466,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2316,1945
$GC,19804,1.13,299.7,112.6,9.3,1968,19832,0.00,2.80,18.45,0.837,4,0.000,0.100,3193,912,1863
$GC,19861,1.18,299.7,106.2,12.1,1978,19868,0.10,2.67,0.00,0.000,6,0.070,0.087,3221,2324,1862
$GC,20206,1.18,299.7,65.8,13.3,2039,20212,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2324,1860
$GC,20550,1.18,299.7,19.6,15.0,2100,20555,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2324,1860
$STATE,20678,end climb,SURFACE_DEPTH_REACHED
$STATE,20678,begin surface coast
$FINISH,0.3,1.020288
$STATE,20690,end surface coast,CONTROL_FINISHED_OK
$STATE,20690,begin surface
$SM_CCo,20771,0.00,0.000,0,0,1856,301.23
$SM_GC,0.98,11.52,0.00,0.00,0.044,0.000,0.000,592,2229,1856,-10.84,-0.17,301.23
$IRIDIUM_FIX,6050.49,-2452.12,260797,020253
$TT8_MAMPS,0.022243
$HUMID,1618
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,18.00
$XPDR_PINGS,73
$24V_AH,23.4,29.958
$10V_AH,10.7,23.196
$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,27.400,89.125,424.275,0.000,0.000,30.339,30.745,255.786,18.250,0.000,0.000,12.700,3275.824,13232.362,573.171,3490.043,637.289,0.000,2171.323,0.000,3474.214,0.000,0.467
$DEVICE_MAMPS,201.721,143.429,1438.892,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1470.164,1581.055,994.652,601.836,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119911,2125
$CAP_FILE_SIZE,175967,0
$CFSIZE,260165632,244686848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,010508,134531,6116.862,-2511.383,37,1.0,42,-17.9