version: 66.03
glider: 140
mission: 5
dive: 138
start: 5 5 108 21 25 15
data:
$ID,140
$MISSION,5
$DIVE,138
$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,5
$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,-15915.915
$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,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
$GPS1,211737,6046.108,-2720.925,38,1.2,43,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-63.0
$GPS2,212457,6046.138,-2721.141,10,1.3,10,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6056.896,-2720.684
$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,23.7,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-64.85,0.000,2,0.000,0.000,587,2230,3451
$GC,98,-1.29,-194.7,3.3,-6.9,12,128,12.57,2.72,-9.85,0.000,4,0.194,0.110,2668,3647,3880
$GC,297,-1.29,-194.7,26.2,-9.9,47,303,0.00,2.62,0.00,0.000,6,0.000,0.084,2668,2235,3881
$GC,439,-1.29,-194.7,39.5,-9.8,72,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3882
$GC,581,-1.29,-194.7,53.2,-9.4,97,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3882
$GC,924,-1.29,-194.7,85.9,-10.0,158,930,0.00,2.72,0.00,0.000,4,0.000,0.102,2668,3649,3882
$GC,959,-1.29,-194.7,89.4,-10.2,164,965,0.00,2.65,0.00,0.000,6,0.000,0.084,2668,2228,3881
$GC,1303,-1.29,-194.7,121.4,-9.2,225,1309,0.00,2.75,0.00,0.000,4,0.000,0.102,2668,3651,3882
$GC,1328,-1.29,-194.7,123.7,-9.2,229,1334,0.00,2.65,0.00,0.000,6,0.000,0.084,2668,2234,3882
$GC,1672,-1.29,-194.7,154.4,-9.0,290,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3882
$GC,2014,-1.29,-194.7,184.0,-8.6,351,2020,0.00,2.75,0.00,0.000,4,0.000,0.104,2668,3651,3882
$GC,2050,-1.29,-194.7,187.1,-9.3,357,2056,0.00,2.65,0.00,0.000,6,0.000,0.085,2668,2235,3882
$GC,2394,-1.29,-194.7,216.2,-8.3,418,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3882
$GC,2736,-1.29,-194.7,245.0,-7.9,479,2742,0.00,2.75,0.00,0.000,4,0.000,0.107,2668,3650,3882
$GC,2772,-1.29,-194.7,248.0,-8.8,485,2778,0.00,2.65,0.00,0.000,6,0.000,0.087,2668,2240,3882
$GC,3116,-1.29,-194.7,275.4,-7.8,546,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3882
$GC,3459,-1.29,-194.7,303.4,-8.7,607,3464,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3882
$GC,3802,-1.29,-194.7,334.6,-9.0,668,3808,0.00,2.72,0.00,0.000,4,0.000,0.108,2668,3647,3882
$GC,3826,-1.29,-194.7,336.8,-9.3,672,3832,0.00,2.65,0.00,0.000,6,0.000,0.089,2668,2240,3882
$GC,4164,-1.29,-194.7,367.3,-8.8,716,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3882
$GC,4483,-1.29,-194.7,396.5,-9.1,746,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3882
$GC,4801,-1.29,-194.7,426.0,-9.2,776,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2241,3882
$GC,5122,-1.29,-194.7,456.8,-9.7,806,5126,0.00,2.75,0.00,0.000,4,0.000,0.111,2668,3644,3882
$GC,5149,-1.29,-194.7,459.8,-10.4,808,5154,0.00,2.62,0.00,0.000,6,0.000,0.091,2668,2253,3882
$GC,5475,-1.29,-194.7,491.5,-10.1,838,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3882
$GC,5792,-1.29,-194.7,523.7,-9.9,868,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3882
$GC,6111,-1.29,-194.7,554.4,-9.3,898,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3882
$GC,6430,-1.29,-194.7,584.3,-9.4,928,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3882
$GC,6744,-1.29,-194.7,611.2,-8.6,952,6749,0.00,2.75,0.00,0.000,4,0.000,0.115,2668,3651,3881
$GC,6771,-1.29,-194.7,613.8,-9.7,953,6775,0.00,2.65,0.00,0.000,6,0.000,0.094,2668,2251,3881
$GC,7086,-1.29,-194.7,643.0,-9.4,968,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3881
$GC,7395,-1.29,-194.7,673.9,-10.4,983,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3881
$GC,7705,-1.29,-194.7,703.0,-8.4,998,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3881
$GC,8014,-1.29,-194.7,727.7,-8.1,1013,8015,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3881
$GC,8323,-1.29,-194.7,755.2,-9.7,1028,8328,0.00,2.78,0.00,0.000,4,0.000,0.123,2668,3644,3881
$GC,8350,-1.29,-194.7,758.0,-10.3,1029,8354,0.00,2.65,0.00,0.000,6,0.000,0.099,2668,2260,3881
$GC,8666,-1.29,-194.7,788.9,-10.3,1044,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2261,3880
$GC,8974,-1.29,-194.7,824.4,-12.0,1059,8979,0.00,2.80,0.00,0.000,4,0.000,0.127,2668,3645,3880
$GC,9006,-1.29,-194.7,828.4,-12.9,1060,9013,0.00,2.67,0.00,0.000,6,0.000,0.102,2668,2259,3880
$GC,9322,-1.29,-194.7,865.8,-11.8,1076,9327,0.00,2.80,0.00,0.000,4,0.000,0.126,2668,3646,3880
$GC,9349,-1.29,-194.7,869.3,-12.8,1077,9353,0.00,2.65,0.00,0.000,6,0.000,0.104,2668,2272,3880
$GC,9671,-1.29,-194.7,906.7,-11.3,1093,9675,0.00,2.78,0.00,0.000,4,0.000,0.127,2668,3646,3879
$GC,9697,-1.29,-194.7,910.0,-13.1,1094,9702,0.00,2.67,0.00,0.000,6,0.000,0.107,2668,2274,3879
$GC,10012,-1.29,-194.7,948.9,-13.0,1109,10017,0.00,2.97,0.00,0.000,4,0.000,0.137,2668,823,3879
$GC,10033,-1.29,-194.7,951.8,-13.7,1110,10038,0.00,2.85,0.00,0.000,6,0.000,0.110,2667,2281,3879
$GC,10354,-1.29,-194.7,989.4,-11.8,1126,10355,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2281,3879
$STATE,10372,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10372,begin apogee
$GC,10378,-0.35,0.0,991.8,11.8,1127,10547,1.05,0.00,165.20,1.429,6,0.104,0.000,2878,2332,3085
$STATE,10547,end apogee,CONTROL_FINISHED_OK
$STATE,10547,begin climb
$GC,10550,1.29,194.7,1003.2,0.0,1135,10717,1.65,0.00,163.27,1.396,6,0.060,0.000,3247,2331,2291
$GC,11027,1.19,194.7,957.3,13.4,1159,11033,0.15,2.92,0.00,0.000,4,0.116,0.130,3221,3738,2288
$GC,11055,1.09,194.7,953.2,13.7,1160,11060,0.12,2.83,0.00,0.000,6,0.120,0.107,3199,2327,2288
$GC,11370,1.09,194.7,917.2,11.6,1175,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2328,2287
$GC,11679,1.09,194.7,879.9,11.9,1190,11680,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2329,2287
$GC,11989,1.09,194.7,842.4,11.9,1205,11993,0.00,2.92,0.00,0.000,4,0.000,0.125,3199,3739,2287
$GC,12044,1.02,194.7,835.4,12.8,1207,12050,0.00,2.78,0.00,0.000,6,0.000,0.104,3199,2339,2287
$GC,12359,1.02,194.7,799.7,11.0,1223,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2339,2286
$GC,12668,1.04,209.4,768.7,9.5,1238,12689,0.00,2.95,13.32,1.246,4,0.000,0.120,3199,3732,2231
$GC,12723,0.99,217.2,763.3,9.7,1240,12738,0.12,2.75,8.52,1.125,6,0.117,0.100,3177,2342,2198
$GC,13067,1.05,269.7,734.5,8.2,1257,13115,0.00,0.00,46.12,1.242,6,0.000,0.000,3177,2342,1985
$GC,13415,1.12,325.5,705.0,8.1,1274,13467,0.12,0.00,49.42,1.212,6,0.067,0.000,3207,2343,1757
$GC,13764,1.12,325.5,667.3,12.0,1291,13768,0.00,2.85,0.00,0.000,4,0.000,0.121,3207,920,1751
$GC,13790,1.12,325.5,663.8,13.1,1292,13795,0.00,2.78,0.00,0.000,6,0.000,0.100,3208,2353,1751
$GC,14106,1.12,325.5,623.6,13.6,1307,14111,0.00,2.80,0.00,0.000,4,0.000,0.119,3208,3738,1750
$GC,14138,1.12,325.5,618.8,13.8,1308,14144,0.00,2.70,0.00,0.000,6,0.000,0.094,3208,2345,1749
$GC,14459,1.12,325.5,574.2,13.6,1332,14463,0.00,2.80,0.00,0.000,4,0.000,0.112,3208,918,1749
$GC,14491,1.12,325.5,569.5,14.4,1334,14497,0.00,2.75,0.00,0.000,6,0.000,0.096,3208,2355,1749
$GC,14819,1.12,325.5,523.4,13.9,1365,14820,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2355,1748
$GC,15134,1.12,325.5,480.2,13.5,1395,15135,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2355,1748
$GC,15452,1.12,325.5,439.4,12.2,1425,15457,0.00,2.80,0.00,0.000,4,0.000,0.106,3208,918,1748
$GC,15484,1.12,325.5,435.3,12.0,1427,15491,0.00,2.72,0.00,0.000,6,0.000,0.093,3207,2354,1749
$GC,15812,1.12,325.5,397.7,11.4,1458,15814,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2354,1748
$GC,16127,1.12,325.5,360.5,11.9,1488,16128,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2354,1748
$GC,16459,1.12,325.5,321.6,11.9,1539,16464,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2354,1748
$GC,16801,1.12,325.5,279.6,11.4,1600,16808,0.00,2.78,0.00,0.000,4,0.000,0.105,3208,918,1748
$GC,16836,1.12,325.5,275.1,13.1,1606,16842,0.00,2.70,0.00,0.000,6,0.000,0.091,3208,2344,1748
$GC,17179,1.12,325.5,233.2,11.6,1667,17185,0.00,2.72,0.00,0.000,4,0.000,0.107,3207,3738,1748
$GC,17214,1.12,325.5,228.9,13.8,1673,17220,0.00,2.67,0.00,0.000,6,0.000,0.086,3207,2331,1748
$GC,17558,1.12,325.5,187.7,11.7,1734,17564,0.00,2.72,0.00,0.000,4,0.000,0.105,3208,919,1748
$GC,17592,1.12,325.5,183.4,12.5,1740,17599,0.00,2.65,0.00,0.000,6,0.000,0.087,3208,2339,1748
$GC,17936,1.12,325.5,141.4,12.3,1801,17942,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2339,1748
$GC,18279,1.12,325.5,98.4,12.2,1862,18285,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2339,1748
$GC,18622,1.12,325.5,57.7,11.5,1923,18628,0.00,2.72,0.00,0.000,4,0.000,0.101,3208,3737,1747
$GC,18650,1.12,325.5,54.0,12.7,1928,18657,0.00,2.65,0.00,0.000,6,0.000,0.082,3208,2325,1748
$GC,18994,1.12,325.5,10.0,11.8,1989,19000,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2326,1748
$STATE,19060,end climb,SURFACE_DEPTH_REACHED
$STATE,19060,begin surface coast
$FINISH,0.2,1.014682
$STATE,19079,end surface coast,CONTROL_FINISHED_OK
$STATE,19079,begin surface
$SM_CCo,19160,0.00,0.000,0,0,1746,328.46
$SM_GC,0.98,11.40,0.00,0.00,0.041,0.000,0.000,588,2227,1746,-10.85,-0.23,328.46
$IRIDIUM_FIX,6019.75,-2717.09,300797,151559
$TT8_MAMPS,0.02301
$HUMID,1620
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.90
$XPDR_PINGS,90
$24V_AH,23.4,33.636
$10V_AH,10.7,25.947
$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,27.200,132.000,445.875,0.000,0.000,29.587,27.928,244.813,22.500,0.000,0.000,12.283,3105.671,11922.003,646.476,3287.201,618.954,0.000,2139.032,0.000,3273.579,0.000,0.467
$DEVICE_MAMPS,194.051,152.633,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1389.794,1482.616,964.008,579.018,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113802,2004
$CAP_FILE_SIZE,169744,0
$CFSIZE,260165632,242900992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,060508,024538,6048.646,-2721.146,28,1.4,28,-18.7