version: 66.03
glider: 140
mission: 5
dive: 141
start: 5 6 108 14 18 16
data:
$ID,140
$MISSION,5
$DIVE,141
$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,-15979.99
$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,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
$GPS1,141031,6054.411,-2718.253,37,1.0,43,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.9
$GPS2,141756,6054.451,-2718.158,9,1.1,14,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6105.209,-2717.703
$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,23.8,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.72,0.000,2,0.000,0.000,589,2231,3409
$GC,98,-1.29,-194.7,3.0,-6.8,12,128,12.55,2.78,-11.38,0.000,4,0.193,0.110,2670,823,3881
$GC,381,-1.29,-194.7,32.6,-10.0,62,388,0.00,2.62,0.00,0.000,6,0.000,0.084,2670,2237,3883
$GC,524,-1.29,-194.7,45.8,-9.2,87,530,0.00,2.72,0.00,0.000,4,0.000,0.099,2669,818,3882
$GC,571,-1.29,-194.7,50.3,-9.3,95,577,0.00,2.65,0.00,0.000,6,0.000,0.085,2670,2236,3882
$GC,915,-1.29,-194.7,83.1,-9.5,156,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,1257,-1.29,-194.7,118.1,-10.4,217,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3883
$GC,1600,-1.29,-194.7,154.0,-9.8,278,1606,0.00,2.70,0.00,0.000,4,0.000,0.103,2669,3644,3883
$GC,1623,-1.29,-194.7,156.5,-10.6,282,1629,0.00,2.60,0.00,0.000,6,0.000,0.083,2669,2245,3883
$GC,1966,-1.29,-194.7,189.5,-9.8,343,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3883
$GC,2309,-1.29,-194.7,221.7,-9.7,404,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3883
$GC,2653,-1.29,-194.7,255.5,-9.3,465,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3883
$GC,2997,-1.29,-194.7,287.7,-9.3,526,3003,0.00,2.75,0.00,0.000,4,0.000,0.108,2670,3652,3883
$GC,3031,-1.29,-194.7,291.1,-10.0,532,3038,0.00,2.62,0.00,0.000,6,0.000,0.087,2669,2248,3883
$GC,3376,-1.29,-194.7,321.3,-8.3,593,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3883
$GC,3719,-1.29,-194.7,348.9,-7.8,654,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3883
$GC,4044,-1.29,-194.7,378.1,-8.9,686,4049,0.00,2.72,0.00,0.000,4,0.000,0.110,2670,3644,3883
$GC,4099,-1.29,-194.7,383.5,-9.9,690,4105,0.00,2.62,0.00,0.000,6,0.000,0.088,2670,2247,3882
$GC,4426,-1.29,-194.7,413.5,-8.9,721,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3882
$GC,4742,-1.29,-194.7,442.3,-8.7,751,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3882
$GC,5063,-1.29,-194.7,468.9,-8.2,781,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3883
$GC,5379,-1.29,-194.7,494.8,-8.0,811,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3883
$GC,5699,-1.29,-194.7,520.2,-8.2,841,5703,0.00,2.72,0.00,0.000,4,0.000,0.111,2670,3646,3882
$GC,5720,-1.29,-194.7,522.2,-8.6,842,5726,0.00,2.62,0.00,0.000,6,0.000,0.090,2670,2245,3882
$GC,6048,-1.29,-194.7,548.8,-8.6,873,6053,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3883
$GC,6373,-1.29,-194.7,578.1,-9.4,904,6378,0.00,2.75,0.00,0.000,4,0.000,0.112,2669,3648,3882
$GC,6394,-1.29,-194.7,580.2,-9.3,905,6400,0.00,2.65,0.00,0.000,6,0.000,0.092,2670,2245,3882
$GC,6726,-1.29,-194.7,612.8,-10.3,931,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,7035,-1.29,-194.7,644.5,-10.5,946,7039,0.00,2.78,0.00,0.000,4,0.000,0.115,2670,3650,3882
$GC,7074,-1.29,-194.7,648.8,-11.2,948,7078,0.00,2.65,0.00,0.000,6,0.000,0.094,2670,2251,3882
$GC,7400,-1.29,-194.7,681.5,-9.8,964,7401,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3882
$GC,7709,-1.29,-194.7,709.8,-8.9,979,7713,0.00,2.85,0.00,0.000,4,0.000,0.122,2670,821,3882
$GC,7736,-1.29,-194.7,712.4,-9.7,980,7740,0.00,2.75,0.00,0.000,6,0.000,0.100,2669,2252,3882
$GC,8052,-1.29,-194.7,739.0,-8.1,995,8056,0.00,2.78,0.00,0.000,4,0.000,0.123,2670,3644,3881
$GC,8091,-1.29,-194.7,742.2,-8.5,997,8095,0.00,2.65,0.00,0.000,6,0.000,0.097,2670,2251,3882
$GC,8417,-1.29,-194.7,766.6,-7.5,1013,8418,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3882
$GC,8726,-1.29,-194.7,790.1,-7.6,1028,8731,0.00,2.88,0.00,0.000,4,0.000,0.127,2669,825,3881
$GC,8747,-1.29,-194.7,791.8,-7.5,1029,8752,0.00,2.78,0.00,0.000,6,0.000,0.105,2670,2254,3881
$GC,9069,-1.29,-194.7,817.1,-8.3,1045,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2255,3881
$GC,9378,-1.29,-194.7,845.2,-9.4,1060,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2255,3881
$GC,9687,-1.29,-194.7,875.1,-9.5,1075,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2255,3880
$GC,9996,-1.29,-194.7,905.0,-9.8,1090,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2255,3880
$GC,10305,-1.29,-194.7,934.7,-9.3,1105,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2255,3880
$GC,10615,-1.29,-194.7,959.3,-6.8,1120,10616,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2255,3880
$GC,10924,-1.29,-194.7,978.2,-5.7,1135,10929,0.00,2.85,0.00,0.000,4,0.000,0.137,2670,3648,3879
$GC,10952,-1.29,-194.7,980.1,-6.6,1136,10956,0.00,2.72,0.00,0.000,6,0.000,0.109,2669,2250,3879
$STATE,11120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11120,begin apogee
$GC,11126,-0.35,0.0,990.8,6.8,1144,11295,1.02,0.00,165.77,1.424,6,0.100,0.000,2878,2336,3085
$STATE,11296,end apogee,CONTROL_FINISHED_OK
$STATE,11296,begin climb
$GC,11299,1.29,194.7,995.3,0.0,1152,11470,1.65,3.03,163.00,1.388,4,0.060,0.130,3246,3739,2290
$GC,11506,1.15,194.7,976.2,16.4,1163,11511,0.17,2.85,0.00,0.000,6,0.114,0.108,3215,2331,2289
$GC,11833,1.09,194.7,935.1,11.9,1179,11837,0.00,2.95,0.00,0.000,4,0.000,0.127,3215,3739,2288
$GC,11872,1.00,194.7,930.0,13.3,1181,11877,0.17,2.80,0.00,0.000,6,0.112,0.107,3180,2338,2288
$GC,12199,1.00,194.7,895.2,10.7,1197,12203,0.00,2.92,0.00,0.000,4,0.000,0.133,3181,916,2288
$GC,12238,1.00,194.7,890.7,11.2,1199,12242,0.00,2.83,0.00,0.000,6,0.000,0.107,3180,2353,2288
$GC,12563,1.00,194.7,855.3,10.5,1215,12568,0.00,2.88,0.00,0.000,4,0.000,0.130,3180,3739,2288
$GC,12636,0.95,194.7,847.2,11.7,1218,12640,0.00,2.75,0.00,0.000,6,0.000,0.103,3181,2351,2287
$GC,12950,0.95,194.7,813.8,10.8,1233,12955,0.00,2.90,0.00,0.000,4,0.000,0.125,3181,915,2287
$GC,12989,0.95,194.7,809.4,11.4,1235,12994,0.00,2.83,0.00,0.000,6,0.000,0.105,3181,2360,2287
$GC,13315,0.95,194.7,774.9,10.7,1251,13320,0.00,2.83,0.00,0.000,4,0.000,0.127,3181,3739,2286
$GC,13364,0.91,194.7,769.3,11.1,1253,13370,0.12,2.70,0.00,0.000,6,0.116,0.100,3159,2358,2286
$GC,13680,0.93,209.9,739.9,9.5,1268,13701,0.00,2.95,13.68,1.229,4,0.000,0.121,3159,920,2229
$GC,13729,0.94,224.9,735.1,9.5,1270,13749,0.00,2.80,14.30,1.175,6,0.000,0.100,3159,2360,2168
$GC,14077,0.94,224.9,701.8,10.1,1287,14081,0.00,2.83,0.00,0.000,4,0.000,0.123,3159,3739,2166
$GC,14143,0.94,224.9,694.3,12.0,1290,14147,0.00,2.70,0.00,0.000,6,0.000,0.097,3159,2359,2166
$GC,14463,0.94,224.9,660.6,10.1,1306,14467,0.00,2.85,0.00,0.000,4,0.000,0.117,3159,918,2166
$GC,14507,1.00,235.6,656.2,9.6,1308,14523,0.00,2.80,10.50,1.137,6,0.000,0.098,3159,2372,2124
$GC,14833,1.01,241.0,624.3,9.8,1324,14841,0.00,0.00,6.35,0.997,6,0.000,0.000,3159,2372,2102
$GC,15143,1.02,248.8,594.7,9.7,1341,15154,0.10,0.00,8.40,1.056,6,0.072,0.000,3185,2372,2070
$GC,15471,1.02,248.8,558.3,11.3,1372,15472,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2372,2069
$GC,15791,1.02,248.8,523.8,10.7,1402,15795,0.00,2.72,0.00,0.000,4,0.000,0.112,3185,3738,2068
$GC,15830,1.02,248.8,519.1,11.5,1405,15834,0.00,2.67,0.00,0.000,6,0.000,0.089,3185,2348,2068
$GC,16156,1.02,248.8,483.7,10.9,1435,16160,0.00,2.75,0.00,0.000,4,0.000,0.109,3185,3738,2068
$GC,16199,1.02,248.8,478.4,11.0,1438,16205,0.00,2.60,0.00,0.000,6,0.000,0.087,3185,2368,2069
$GC,16527,1.02,248.8,443.6,10.7,1469,16532,0.00,2.72,0.00,0.000,4,0.000,0.110,3185,3738,2068
$GC,16560,1.02,248.8,439.5,10.4,1471,16566,0.00,2.60,0.00,0.000,6,0.000,0.088,3185,2374,2068
$GC,16887,1.02,251.1,406.4,9.9,1502,16888,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2375,2069
$GC,17204,1.02,251.1,375.0,10.1,1532,17205,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2375,2069
$GC,17524,1.02,251.1,342.2,10.4,1568,17531,0.00,2.70,0.00,0.000,4,0.000,0.109,3185,3738,2069
$GC,17582,1.02,251.1,336.0,12.4,1578,17588,0.00,2.60,0.00,0.000,6,0.000,0.087,3185,2376,2069
$GC,17925,1.02,253.2,299.7,9.9,1639,17936,0.00,0.00,5.55,0.790,6,0.000,0.000,3185,2376,2052
$GC,18274,1.02,253.2,263.0,10.3,1701,18280,0.00,2.70,0.00,0.000,4,0.000,0.107,3185,3738,2051
$GC,18314,1.02,253.2,258.5,10.8,1708,18320,0.00,2.58,0.00,0.000,6,0.000,0.084,3185,2383,2051
$GC,18658,1.02,253.2,224.1,10.3,1769,18664,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2384,2051
$GC,19001,1.02,253.2,189.9,10.9,1830,19006,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2384,2051
$GC,19343,1.07,293.3,153.9,8.6,1891,19380,0.00,0.00,34.30,0.852,6,0.000,0.000,3185,2384,1889
$GC,19718,1.08,299.8,115.9,9.8,1958,19729,0.00,0.00,6.60,0.748,6,0.000,0.000,3185,2384,1862
$GC,20066,1.10,315.4,78.9,9.5,2020,20083,0.00,0.00,14.23,0.795,6,0.000,0.000,3185,2384,1798
$GC,20422,1.10,315.4,41.9,10.2,2083,20428,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2384,1796
$GC,20563,1.10,315.4,26.2,11.6,2108,20569,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2385,1796
$GC,20705,1.10,315.4,9.7,10.5,2133,20710,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2385,1795
$STATE,20771,end climb,SURFACE_DEPTH_REACHED
$STATE,20771,begin surface coast
$FINISH,0.2,1.027833
$STATE,20789,end surface coast,CONTROL_FINISHED_OK
$STATE,20789,begin surface
$SM_CCo,20870,0.00,0.000,0,0,1790,317.42
$SM_GC,1.07,11.43,0.00,0.00,0.047,0.000,0.000,593,2232,1790,-10.84,-0.08,317.42
$IRIDIUM_FIX,6028.48,-2721.26,310797,080805
$TT8_MAMPS,0.02301
$HUMID,1618
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.80
$XPDR_PINGS,121
$24V_AH,23.4,34.195
$10V_AH,10.7,26.379
$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,27.225,143.550,442.675,0.000,0.000,24.995,33.980,247.219,30.250,0.000,0.000,14.744,3345.976,13074.202,628.557,3600.253,648.988,0.000,2276.233,0.000,3580.723,0.000,0.467
$DEVICE_MAMPS,193.284,139.594,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1491.112,1590.241,1014.668,613.598,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122946,2148
$CAP_FILE_SIZE,186351,0
$CFSIZE,260165632,242593792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,060508,200707,6057.829,-2715.342,26,1.1,26,-18.8