version: 66.03
glider: 140
mission: 5
dive: 130
start: 5 4 108 6 17 0
data:
$ID,140
$MISSION,5
$DIVE,130
$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,-15608.907
$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,15
$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
$GPS1,060907,6050.486,-2627.146,26,1.2,26,-18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-56.6
$GPS2,061643,6050.500,-2627.336,15,1.2,19,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6045.101,-2631.906
$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,258.3,20000,-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,-76.68,0.000,2,0.000,0.000,589,2243,3637
$GC,109,-1.29,-194.7,3.6,-6.3,14,133,12.48,2.75,-4.95,0.000,4,0.191,0.110,2670,823,3879
$GC,325,-1.29,-194.7,28.4,-5.0,52,331,0.00,2.62,0.00,0.000,6,0.000,0.084,2670,2233,3880
$GC,469,-1.29,-194.7,40.3,-7.9,77,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,610,-1.29,-194.7,56.9,-13.5,102,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,953,-1.29,-194.7,91.8,-9.7,163,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3881
$GC,1296,-1.29,-194.7,127.8,-8.8,224,1302,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,1639,-1.29,-194.7,157.6,-8.8,285,1645,0.00,2.72,0.00,0.000,4,0.000,0.102,2670,3650,3881
$GC,1674,-1.29,-194.7,161.0,-9.5,291,1680,0.00,2.62,0.00,0.000,6,0.000,0.083,2670,2241,3881
$GC,2017,-1.29,-194.7,198.0,-10.9,352,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3881
$GC,2361,-1.29,-194.7,233.0,-9.7,413,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3881
$GC,2703,-1.29,-194.7,268.8,-10.1,474,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3881
$GC,3046,-1.29,-194.7,303.4,-9.7,535,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3881
$GC,3389,-1.29,-194.7,335.5,-9.0,596,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3881
$GC,3725,-1.29,-194.7,364.2,-8.7,642,3726,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3881
$GC,4042,-1.29,-194.7,391.8,-8.3,672,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3881
$GC,4360,-1.29,-194.7,416.5,-8.2,702,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3881
$GC,4679,-1.29,-194.7,443.6,-8.7,732,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3881
$GC,4997,-1.29,-194.7,466.8,-6.9,762,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3881
$GC,5316,-1.29,-194.7,491.2,-7.1,792,5317,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3881
$GC,5634,-1.29,-194.7,515.8,-8.0,822,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3881
$GC,5953,-1.29,-194.7,545.0,-10.4,852,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3881
$GC,6272,-1.29,-194.7,579.2,-10.1,882,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3881
$GC,6597,-1.29,-194.7,612.6,-10.2,907,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3881
$GC,6906,-1.29,-194.7,642.5,-9.1,922,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,7215,-1.29,-194.7,672.8,-10.3,937,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,7525,-1.29,-194.7,700.3,-7.9,952,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,7834,-1.29,-194.7,724.6,-8.5,967,7838,0.00,2.83,0.00,0.000,4,0.000,0.123,2670,3648,3880
$GC,7877,-1.29,-194.7,728.9,-9.8,969,7882,0.00,2.67,0.00,0.000,6,0.000,0.098,2670,2252,3880
$GC,8198,-1.29,-194.7,756.9,-8.1,985,8203,0.00,2.88,0.00,0.000,4,0.000,0.127,2670,824,3879
$GC,8237,-1.29,-194.7,760.1,-8.0,987,8242,0.00,2.75,0.00,0.000,6,0.000,0.102,2670,2245,3880
$GC,8564,-1.29,-194.7,786.0,-7.9,1003,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3879
$GC,8873,-1.29,-194.7,812.2,-9.2,1018,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3879
$GC,9182,-1.29,-194.7,842.5,-9.7,1033,9186,0.00,2.80,0.00,0.000,4,0.000,0.127,2670,3645,3879
$GC,9214,-1.29,-194.7,845.8,-9.8,1034,9220,0.00,2.70,0.00,0.000,6,0.000,0.100,2670,2241,3879
$GC,9530,-1.29,-194.7,872.7,-8.6,1050,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3879
$GC,9839,-1.29,-194.7,899.1,-9.0,1065,9844,0.00,2.83,0.00,0.000,4,0.000,0.123,2670,3653,3878
$GC,9878,-1.29,-194.7,903.0,-10.8,1067,9882,0.00,2.70,0.00,0.000,6,0.000,0.103,2670,2252,3878
$GC,10204,-1.29,-194.7,935.4,-9.7,1083,10209,0.00,2.92,0.00,0.000,4,0.000,0.134,2670,821,3878
$GC,10236,-1.29,-194.7,938.8,-10.4,1084,10243,0.00,2.80,0.00,0.000,6,0.000,0.109,2670,2252,3878
$GC,10552,-1.29,-194.7,964.3,-7.2,1100,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3877
$GC,10861,-1.29,-194.7,984.6,-6.1,1115,10866,0.00,2.83,0.00,0.000,4,0.000,0.132,2670,3653,3877
$GC,10889,-1.29,-194.7,986.5,-7.1,1116,10893,0.00,2.75,0.00,0.000,6,0.000,0.108,2670,2246,3877
$STATE,10954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10954,begin apogee
$GC,10960,-0.35,0.0,990.6,6.2,1119,11129,1.05,0.00,164.88,1.420,6,0.104,0.000,2880,2333,3085
$STATE,11129,end apogee,CONTROL_FINISHED_OK
$STATE,11129,begin climb
$GC,11132,1.29,194.7,992.8,0.0,1127,11299,1.62,0.00,163.02,1.381,6,0.061,0.000,3238,2333,2291
$GC,11609,1.20,194.7,937.8,12.8,1151,11614,0.00,2.90,0.00,0.000,4,0.000,0.124,3237,3739,2289
$GC,11626,1.09,194.7,935.3,13.1,1152,11631,0.20,2.85,0.00,0.000,6,0.112,0.107,3202,2321,2289
$GC,11955,1.07,207.0,902.0,9.6,1168,11976,0.00,3.00,11.77,1.241,4,0.000,0.130,3201,917,2240
$GC,11999,1.08,218.5,897.2,9.6,1170,12020,0.00,2.80,11.43,1.196,6,0.000,0.107,3201,2326,2194
$GC,12329,1.08,218.5,862.2,10.8,1186,12334,0.00,2.92,0.00,0.000,4,0.000,0.129,3201,3737,2193
$GC,12379,1.02,218.5,856.1,12.3,1188,12383,0.00,2.80,0.00,0.000,6,0.000,0.104,3201,2318,2192
$GC,12694,1.02,218.5,818.6,11.7,1203,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2319,2192
$GC,13003,1.02,218.5,784.7,10.4,1218,13008,0.00,2.88,0.00,0.000,4,0.000,0.119,3202,3739,2191
$GC,13035,0.95,218.5,781.1,10.9,1219,13042,0.17,2.80,0.00,0.000,6,0.110,0.104,3169,2314,2191
$GC,13351,0.95,218.5,749.9,11.2,1235,13352,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2315,2191
$GC,13660,0.95,218.5,710.4,13.4,1250,13664,0.00,2.85,0.00,0.000,4,0.000,0.114,3169,3739,2191
$GC,13681,0.95,218.5,707.5,13.6,1251,13685,0.00,2.78,0.00,0.000,6,0.000,0.098,3169,2310,2191
$GC,14002,0.96,222.2,671.8,9.9,1267,14008,0.00,0.00,4.45,0.866,6,0.000,0.000,3169,2310,2179
$GC,14311,1.06,303.3,647.5,7.2,1282,14383,0.00,0.00,70.85,1.182,6,0.000,0.000,3169,2310,1848
$GC,14681,1.20,389.9,622.0,7.0,1300,14761,0.22,0.00,74.95,1.143,6,0.055,0.000,3223,2310,1494
$GC,15078,1.20,389.9,569.7,15.4,1328,15079,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2310,1484
$GC,15393,1.20,389.9,515.0,18.1,1358,15394,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2310,1482
$GC,15711,1.20,389.9,456.8,17.3,1388,15716,0.00,2.85,0.00,0.000,4,0.000,0.109,3223,3740,1482
$GC,15732,1.20,389.9,452.9,18.2,1389,15738,0.00,2.75,0.00,0.000,6,0.000,0.091,3223,2308,1481
$GC,16060,1.20,389.9,398.7,16.6,1420,16065,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2307,1481
$GC,16387,1.20,389.9,345.5,15.8,1453,16393,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2307,1481
$GC,16730,1.20,389.9,299.0,10.9,1514,16735,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2308,1481
$GC,17073,1.20,389.9,260.2,10.9,1575,17078,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2307,1480
$GC,17415,1.24,419.0,225.1,9.0,1636,17442,0.00,0.00,23.60,0.897,6,0.000,0.000,3223,2307,1376
$GC,17781,1.24,419.0,182.0,14.4,1701,17786,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2307,1371
$GC,18124,1.24,419.0,132.8,14.5,1762,18129,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2308,1370
$GC,18466,1.24,419.0,81.8,15.8,1823,18471,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2308,1370
$GC,18810,1.24,419.0,32.4,13.5,1884,18816,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2307,1370
$GC,18951,1.24,419.0,12.3,13.2,1909,18958,0.00,2.65,0.00,0.000,4,0.000,0.103,3223,918,1370
$GC,18970,1.24,419.0,9.6,13.5,1912,18977,0.00,2.60,0.00,0.000,6,0.000,0.081,3223,2324,1370
$STATE,19020,end climb,SURFACE_DEPTH_REACHED
$STATE,19020,begin surface coast
$FINISH,0.2,1.027844
$STATE,19033,end surface coast,CONTROL_FINISHED_OK
$STATE,19033,begin surface
$SM_CCo,19115,0.00,0.000,0,0,1365,421.67
$SM_GC,0.77,11.55,0.00,0.00,0.044,0.000,0.000,588,2229,1365,-10.85,-0.17,421.67
$IRIDIUM_FIX,6032.86,-2616.10,290797,000047
$TT8_MAMPS,0.02301
$HUMID,1624
$INTERNAL_PRESSURE,8.36946
$TCM_TEMP,16.80
$XPDR_PINGS,111
$24V_AH,23.4,32.219
$10V_AH,10.7,24.914
$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,27.300,84.000,524.950,0.000,0.000,31.331,26.874,249.925,27.750,0.000,0.000,19.564,2972.521,12136.144,693.982,3141.940,604.832,0.000,2121.124,0.000,3120.028,0.000,0.467
$DEVICE_MAMPS,190.983,134.225,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1336.059,1427.428,888.883,537.330,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107358,1923
$CAP_FILE_SIZE,161042,0
$CFSIZE,260165632,243576832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,040508,113658,6047.559,-2636.570,29,4.3,48,-18.3