version: 66.03
glider: 140
mission: 5
dive: 129
start: 5 4 108 0 34 40
data:
$ID,140
$MISSION,5
$DIVE,129
$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,240
$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,-15588.715
$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
$GPS1,001537,6054.008,-2616.765,42,1.7,42,-18.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-49.6
$GPS2,003423,6053.915,-2617.417,15,2.2,34,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6048.516,-2621.978
$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,258.2,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,107,0.00,0.00,-75.68,0.000,2,0.000,0.000,591,2222,3502
$GC,110,-1.29,-194.7,3.2,-7.9,14,139,12.57,2.80,-8.45,0.000,4,0.194,0.109,2668,3649,3879
$GC,146,-0.93,-194.7,10.2,-15.9,20,153,0.43,2.65,0.00,0.000,6,0.097,0.080,2752,2227,3880
$GC,293,-1.02,-194.7,19.2,-7.5,45,299,0.00,2.72,0.00,0.000,4,0.000,0.096,2753,3652,3880
$GC,531,-1.14,-194.7,40.4,-5.5,87,539,0.20,2.58,0.00,0.000,6,0.052,0.081,2702,2262,3880
$GC,676,-1.14,-194.7,50.8,-7.3,112,682,0.00,2.75,0.00,0.000,4,0.000,0.101,2702,826,3880
$GC,744,-1.14,-194.7,56.8,-10.0,124,751,0.00,2.65,0.00,0.000,6,0.000,0.084,2702,2246,3881
$GC,1088,-1.14,-194.7,86.7,-6.6,185,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2246,3880
$GC,1431,-1.14,-194.7,118.6,-9.5,246,1437,0.00,2.75,0.00,0.000,4,0.000,0.105,2702,826,3881
$GC,1461,-1.14,-194.7,121.2,-8.7,251,1467,0.00,2.62,0.00,0.000,6,0.000,0.086,2702,2230,3880
$GC,1804,-1.14,-194.7,145.6,-8.6,312,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2231,3881
$GC,2147,-1.14,-194.7,175.6,-8.6,373,2153,0.00,2.70,0.00,0.000,4,0.000,0.100,2702,3646,3881
$GC,2177,-1.19,-194.7,178.3,-9.0,378,2183,0.00,2.65,0.00,0.000,6,0.000,0.085,2702,2227,3881
$GC,2520,-1.19,-194.7,207.6,-7.4,439,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2228,3881
$GC,2863,-1.19,-194.7,236.9,-9.6,500,2869,0.00,2.75,0.00,0.000,4,0.000,0.104,2702,3650,3881
$GC,2915,-1.25,-194.7,242.0,-10.3,509,2921,0.00,2.67,0.00,0.000,6,0.000,0.088,2702,2225,3881
$GC,3259,-1.25,-194.7,272.9,-8.5,570,3265,0.00,2.75,0.00,0.000,4,0.000,0.104,2702,3650,3881
$GC,3294,-1.31,-194.7,276.0,-9.1,576,3302,0.12,2.65,0.00,0.000,6,0.064,0.087,2669,2228,3881
$GC,3640,-1.31,-194.7,309.2,-9.2,637,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,3982,-1.31,-194.7,342.2,-10.1,698,3988,0.00,2.75,0.00,0.000,4,0.000,0.106,2669,3645,3881
$GC,4016,-1.31,-194.7,345.9,-11.3,704,4023,0.00,2.65,0.00,0.000,6,0.000,0.088,2668,2233,3881
$GC,4346,-1.31,-194.7,379.7,-10.4,738,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3881
$GC,4662,-1.31,-194.7,412.7,-10.1,768,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3881
$GC,4980,-1.31,-194.7,444.1,-9.4,798,4985,0.00,2.75,0.00,0.000,4,0.000,0.108,2669,3647,3881
$GC,5013,-1.31,-194.7,447.4,-9.9,800,5019,0.00,2.65,0.00,0.000,6,0.000,0.091,2669,2237,3881
$GC,5339,-1.31,-194.7,475.6,-8.5,831,5340,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3880
$GC,5658,-1.31,-194.7,502.6,-8.6,861,5659,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3881
$GC,5975,-1.31,-194.7,528.5,-7.9,891,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2238,3881
$GC,6294,-1.31,-194.7,553.3,-7.6,921,6298,0.00,2.72,0.00,0.000,4,0.000,0.109,2669,3644,3880
$GC,6333,-1.31,-194.7,556.5,-8.5,924,6338,0.00,2.65,0.00,0.000,6,0.000,0.092,2668,2239,3880
$GC,6659,-1.31,-194.7,583.3,-8.4,954,6661,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3880
$GC,6984,-1.31,-194.7,610.8,-8.5,979,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2240,3880
$GC,7293,-1.31,-194.7,636.5,-8.1,994,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3880
$GC,7602,-1.31,-194.7,661.6,-8.3,1009,7606,0.00,2.78,0.00,0.000,4,0.000,0.115,2669,3649,3880
$GC,7634,-1.31,-194.7,664.6,-9.0,1010,7640,0.00,2.65,0.00,0.000,6,0.000,0.095,2668,2250,3880
$GC,7950,-1.31,-194.7,692.5,-9.2,1026,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2250,3880
$GC,8259,-1.31,-194.7,721.0,-9.0,1041,8260,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2251,3879
$GC,8569,-1.31,-194.7,744.7,-6.8,1056,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2251,3879
$GC,8877,-1.31,-194.7,769.3,-8.7,1071,8882,0.00,2.88,0.00,0.000,4,0.000,0.127,2668,822,3879
$GC,8932,-1.31,-194.7,774.6,-10.2,1073,8938,0.00,2.78,0.00,0.000,6,0.000,0.103,2669,2260,3880
$GC,9248,-1.31,-194.7,806.2,-10.6,1089,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3879
$GC,9557,-1.31,-194.7,836.0,-8.9,1104,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2261,3879
$GC,9866,-1.31,-194.7,861.1,-8.1,1119,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2261,3879
$GC,10176,-1.31,-194.7,888.1,-8.9,1134,10180,0.00,2.80,0.00,0.000,4,0.000,0.131,2668,3646,3879
$GC,10225,-1.31,-194.7,892.7,-8.9,1136,10230,0.00,2.65,0.00,0.000,6,0.000,0.104,2668,2274,3878
$GC,10541,-1.31,-194.7,920.8,-9.0,1151,10545,0.00,2.95,0.00,0.000,4,0.000,0.133,2668,823,3878
$GC,10584,-1.31,-194.7,924.9,-9.1,1153,10589,0.00,2.83,0.00,0.000,6,0.000,0.108,2668,2275,3878
$GC,10905,-1.31,-194.7,952.1,-8.2,1169,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2276,3878
$GC,11214,-1.31,-194.7,975.1,-7.1,1184,11219,0.00,2.78,0.00,0.000,4,0.000,0.128,2668,3654,3877
$GC,11241,-1.31,-194.7,977.1,-7.2,1185,11246,0.00,2.70,0.00,0.000,6,0.000,0.107,2668,2263,3878
$STATE,11472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11472,begin apogee
$GC,11478,-0.35,0.0,991.0,5.9,1196,11646,1.05,0.00,165.18,1.420,6,0.100,0.000,2880,2336,3085
$STATE,11647,end apogee,CONTROL_FINISHED_OK
$STATE,11648,begin climb
$GC,11650,1.29,194.7,992.7,0.0,1204,11821,1.62,2.97,162.75,1.379,4,0.061,0.125,3237,3737,2291
$GC,11833,1.18,194.7,975.6,13.8,1214,11837,0.00,2.85,0.00,0.000,6,0.000,0.106,3237,2329,2290
$GC,12159,1.09,194.7,930.4,12.2,1230,12165,0.17,2.92,0.00,0.000,4,0.113,0.123,3203,3738,2288
$GC,12187,1.01,194.7,927.0,11.4,1231,12192,0.12,2.80,0.00,0.000,6,0.116,0.106,3181,2331,2289
$GC,12502,1.04,215.1,896.8,9.3,1246,12522,0.00,0.00,18.58,1.285,6,0.000,0.000,3180,2332,2208
$GC,12831,1.04,215.1,859.8,11.7,1262,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2331,2206
$GC,13141,1.05,226.4,827.7,9.6,1277,13161,0.00,2.92,11.35,1.223,4,0.000,0.120,3181,3737,2160
$GC,13185,1.05,228.3,823.2,9.9,1279,13189,0.00,2.80,0.00,0.000,6,0.000,0.104,3181,2337,2160
$GC,13511,1.10,268.7,792.5,8.6,1295,13556,0.00,3.00,37.10,1.261,4,0.000,0.123,3180,915,1989
$GC,13584,1.14,297.2,785.8,9.0,1298,13617,0.12,2.80,26.35,1.225,6,0.064,0.101,3212,2341,1873
$GC,13927,1.14,297.2,747.5,12.2,1315,13928,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2342,1867
$GC,14234,1.14,297.2,710.1,12.1,1330,14236,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2342,1866
$GC,14543,1.14,297.2,675.1,10.5,1345,14544,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2342,1866
$GC,14853,1.14,297.2,638.6,12.4,1360,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2342,1865
$GC,15162,1.14,297.2,598.3,12.8,1375,15166,0.00,2.80,0.00,0.000,4,0.000,0.110,3212,914,1865
$GC,15183,1.14,297.2,595.4,12.8,1376,15190,0.00,2.72,0.00,0.000,6,0.000,0.095,3212,2323,1865
$GC,15509,1.14,297.2,557.1,11.9,1407,15514,0.00,2.83,0.00,0.000,4,0.000,0.111,3212,3739,1865
$GC,15530,1.14,297.2,554.2,12.6,1408,15537,0.00,2.70,0.00,0.000,6,0.000,0.092,3212,2329,1864
$GC,15857,1.14,297.2,513.0,13.8,1439,15858,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2330,1864
$GC,16174,1.14,297.2,469.7,13.5,1469,16175,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2329,1864
$GC,16494,1.14,297.2,427.8,13.4,1499,16495,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2329,1864
$GC,16811,1.14,297.2,386.5,13.2,1529,16812,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2329,1864
$GC,17134,1.14,297.2,344.3,13.0,1562,17139,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2329,1864
$GC,17476,1.14,297.2,299.8,11.9,1623,17482,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2329,1864
$GC,17819,1.14,297.2,260.2,11.3,1684,17825,0.00,2.78,0.00,0.000,4,0.000,0.104,3212,3738,1864
$GC,17843,1.14,297.2,257.4,12.5,1688,17849,0.00,2.67,0.00,0.000,6,0.000,0.087,3212,2330,1864
$GC,18188,1.14,297.2,217.6,10.6,1749,18194,0.00,2.75,0.00,0.000,4,0.000,0.107,3212,916,1865
$GC,18211,1.14,297.2,214.7,12.0,1753,18218,0.00,2.67,0.00,0.000,6,0.000,0.087,3212,2338,1865
$GC,18555,1.14,297.2,173.6,12.1,1814,18560,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2338,1865
$GC,18898,1.14,297.2,132.0,11.3,1875,18903,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2338,1865
$GC,19240,1.14,297.2,85.9,15.3,1936,19246,0.00,2.70,0.00,0.000,4,0.000,0.100,3212,3736,1865
$GC,19270,1.14,297.2,81.3,15.9,1941,19276,0.00,2.65,0.00,0.000,6,0.000,0.083,3212,2330,1864
$GC,19614,1.15,306.9,36.9,9.7,2002,19626,0.00,0.00,8.38,0.739,6,0.000,0.000,3212,2331,1832
$GC,19763,1.15,306.9,19.9,10.3,2028,19769,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2331,1831
$GC,19904,1.15,306.9,2.7,13.8,2053,19910,0.00,2.72,0.00,0.000,4,0.000,0.104,3212,914,1831
$STATE,19915,end climb,SURFACE_DEPTH_REACHED
$STATE,19915,begin surface coast
$FINISH,0.6,1.027840
$STATE,19922,end surface coast,CONTROL_FINISHED_OK
$STATE,19922,begin surface
$SM_CCo,20006,0.00,0.000,0,0,1827,308.59
$SM_GC,0.73,11.55,0.00,0.00,0.047,0.000,0.000,589,2243,1827,-10.86,0.23,308.59
$IRIDIUM_FIX,6028.48,-2618.11,290797,000027
$TT8_MAMPS,0.02301
$HUMID,1610
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.60
$XPDR_PINGS,86
$24V_AH,23.4,32.005
$10V_AH,10.7,24.781
$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,27.975,137.400,429.675,0.000,0.000,93.141,119.917,558.843,21.500,0.000,0.000,35.395,3196.639,12760.287,627.632,3406.360,1122.549,0.000,2179.554,0.000,3370.375,0.000,0.467
$DEVICE_MAMPS,194.051,145.730,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1426.630,1523.965,1007.851,608.803,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116725,2056
$CAP_FILE_SIZE,186516,0
$CFSIZE,260165632,243638272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$GPS,040508,060907,6050.486,-2627.146,26,1.2,26,-18.3