version: 66.03
glider: 140
mission: 5
dive: 150
start: 5 8 108 19 11 53
data:
$ID,140
$MISSION,5
$DIVE,150
$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,50
$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,-16143.188
$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
$GPS1,190008,6109.527,-2614.420,32,1.4,32,-18.4
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-45.0
$GPS2,191135,6109.517,-2614.635,10,3.1,29,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6116.458,-2610.660
$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,68.4,20000,-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,-194.7,0.0,0.0,0,155,0.00,0.00,-124.75,0.000,2,0.000,0.000,589,2224,3451
$GC,158,-1.29,-194.7,3.2,-6.5,23,188,12.35,2.70,-10.07,0.000,4,0.186,0.110,2671,823,3879
$GC,211,-1.29,-194.7,10.6,-8.9,32,218,0.00,2.65,0.00,0.000,6,0.000,0.083,2671,2244,3880
$GC,355,-1.29,-194.7,24.0,-9.5,57,361,0.00,2.67,0.00,0.000,4,0.000,0.098,2671,3646,3880
$GC,397,-1.29,-194.7,28.0,-9.7,64,403,0.00,2.60,0.00,0.000,6,0.000,0.081,2670,2252,3880
$GC,539,-1.29,-194.7,41.7,-9.8,89,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2251,3880
$GC,680,-1.29,-194.7,55.5,-10.1,114,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2251,3880
$GC,1024,-1.29,-194.7,87.6,-8.8,175,1030,0.00,2.75,0.00,0.000,4,0.000,0.101,2670,822,3880
$GC,1048,-1.29,-194.7,89.8,-9.2,179,1054,0.00,2.67,0.00,0.000,6,0.000,0.085,2671,2246,3880
$GC,1391,-1.29,-194.7,125.4,-10.7,240,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3880
$GC,1734,-1.29,-194.7,155.0,-9.3,301,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3880
$GC,2077,-1.29,-194.7,185.1,-8.5,362,2083,0.00,2.78,0.00,0.000,4,0.000,0.105,2671,819,3880
$GC,2112,-1.29,-194.7,188.0,-8.8,368,2118,0.00,2.67,0.00,0.000,6,0.000,0.088,2670,2238,3880
$GC,2456,-1.29,-194.7,217.5,-9.2,429,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3880
$GC,2799,-1.29,-194.7,249.8,-9.7,490,2805,0.00,2.75,0.00,0.000,4,0.000,0.108,2671,825,3880
$GC,2822,-1.29,-194.7,252.1,-9.7,494,2828,0.00,2.67,0.00,0.000,6,0.000,0.092,2671,2234,3880
$GC,3166,-1.29,-194.7,284.0,-7.9,555,3172,0.00,2.75,0.00,0.000,4,0.000,0.108,2670,3649,3880
$GC,3183,-1.29,-194.7,285.5,-8.4,558,3190,0.00,2.65,0.00,0.000,6,0.000,0.087,2671,2239,3880
$GC,3527,-1.29,-194.7,316.4,-9.0,619,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,3869,-1.29,-194.7,347.1,-9.2,680,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,4203,-1.29,-194.7,376.1,-9.4,714,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3880
$GC,4519,-1.29,-194.7,403.9,-8.8,744,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,4839,-1.29,-194.7,432.1,-8.6,774,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,5156,-1.29,-194.7,461.6,-9.3,804,5157,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3879
$GC,5475,-1.29,-194.7,491.1,-8.9,834,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3879
$GC,5793,-1.29,-194.7,519.3,-9.1,864,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3879
$GC,6112,-1.29,-194.7,548.7,-9.4,894,6116,0.00,2.80,0.00,0.000,4,0.000,0.118,2670,825,3879
$GC,6133,-1.29,-194.7,550.9,-9.8,895,6139,0.00,2.75,0.00,0.000,6,0.000,0.100,2670,2252,3879
$GC,6459,-1.29,-194.7,582.4,-9.7,926,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3878
$GC,6783,-1.29,-194.7,614.3,-9.6,950,6784,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2253,3878
$GC,7092,-1.29,-194.7,643.6,-9.5,965,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3879
$GC,7401,-1.29,-194.7,672.4,-9.1,980,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3878
$GC,7711,-1.29,-194.7,699.4,-8.6,995,7712,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3878
$GC,8020,-1.29,-194.7,729.0,-9.9,1010,8024,0.00,2.80,0.00,0.000,4,0.000,0.124,2671,3649,3878
$GC,8052,-1.29,-194.7,732.6,-11.2,1011,8058,0.00,2.67,0.00,0.000,6,0.000,0.095,2671,2244,3878
$GC,8368,-1.29,-194.7,763.0,-9.4,1027,8373,0.00,2.80,0.00,0.000,4,0.000,0.120,2671,3648,3878
$GC,8385,-1.29,-194.7,764.6,-9.2,1028,8389,0.00,2.67,0.00,0.000,6,0.000,0.097,2670,2250,3878
$GC,8711,-1.29,-194.7,793.9,-8.9,1044,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3878
$GC,9020,-1.29,-194.7,821.2,-9.1,1059,9025,0.00,2.80,0.00,0.000,4,0.000,0.122,2670,3645,3877
$GC,9038,-1.29,-194.7,822.8,-9.4,1060,9042,0.00,2.65,0.00,0.000,6,0.000,0.098,2671,2265,3877
$GC,9364,-1.29,-194.7,851.9,-8.7,1076,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2266,3877
$GC,9674,-1.29,-194.7,877.9,-8.2,1091,9675,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2266,3877
$GC,9983,-1.29,-194.7,900.5,-6.8,1106,9984,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2266,3876
$GC,10292,-1.29,-194.7,920.8,-6.7,1121,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2266,3876
$GC,10601,-1.29,-194.7,942.4,-7.1,1136,10606,0.00,2.80,0.00,0.000,4,0.000,0.126,2671,3648,3876
$GC,10634,-1.29,-194.7,944.9,-7.5,1137,10640,0.00,2.65,0.00,0.000,6,0.000,0.103,2671,2275,3876
$GC,10949,-1.29,-194.7,966.9,-7.2,1153,10951,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2274,3875
$GC,11259,-1.29,-194.7,989.8,-7.4,1168,11263,0.00,2.50,0.00,0.000,3,0.000,0.127,2670,3517,3875
$STATE,11264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11264,begin apogee
$GC,11271,-0.35,0.0,990.2,7.3,1168,11440,1.00,0.00,165.18,1.412,6,0.104,0.000,2874,2325,3085
$STATE,11441,end apogee,CONTROL_FINISHED_OK
$STATE,11441,begin climb
$GC,11443,1.29,194.7,995.5,0.0,1176,11615,1.65,3.05,162.75,1.379,4,0.062,0.130,3243,3736,2290
$GC,11639,1.16,194.7,980.2,13.4,1186,11644,0.17,2.85,0.00,0.000,6,0.113,0.107,3213,2333,2290
$GC,11954,1.11,194.7,940.9,12.4,1201,11959,0.00,2.92,0.00,0.000,4,0.000,0.125,3213,3737,2288
$GC,11981,1.02,194.7,937.3,11.6,1202,11986,0.15,2.78,0.00,0.000,6,0.113,0.105,3186,2343,2288
$GC,12296,1.02,194.7,902.4,11.4,1217,12297,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,2287
$GC,12606,1.02,194.7,868.9,10.5,1232,12611,0.00,2.92,0.00,0.000,4,0.000,0.131,3186,916,2287
$GC,12638,1.02,194.7,865.3,10.8,1233,12644,0.00,2.80,0.00,0.000,6,0.000,0.107,3186,2340,2287
$GC,12953,1.02,194.7,832.7,10.1,1249,12955,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2340,2287
$GC,13263,1.03,200.9,802.8,9.8,1264,13272,0.00,0.00,6.57,1.094,6,0.000,0.000,3186,2340,2265
$GC,13572,1.03,200.9,771.6,10.0,1279,13576,0.00,2.90,0.00,0.000,4,0.000,0.127,3186,3739,2264
$GC,13644,0.98,200.9,764.0,11.1,1282,13648,0.00,2.75,0.00,0.000,6,0.000,0.097,3186,2331,2264
$GC,13959,0.98,205.0,732.9,9.9,1297,13966,0.00,0.00,5.03,0.945,6,0.000,0.000,3186,2332,2249
$GC,14268,1.01,224.1,703.2,9.3,1312,14292,0.00,2.92,17.90,1.191,4,0.000,0.118,3186,919,2170
$GC,14315,1.01,224.1,698.4,10.2,1314,14320,0.00,2.78,0.00,0.000,6,0.000,0.098,3185,2342,2170
$GC,14637,1.01,227.4,666.5,9.9,1330,14647,0.00,2.88,4.55,0.870,4,0.000,0.120,3186,3739,2157
$GC,14669,1.02,233.4,663.0,9.8,1331,14682,0.00,2.72,6.80,1.022,6,0.000,0.094,3186,2335,2133
$GC,15005,1.02,233.4,629.6,10.0,1348,15009,0.00,2.80,0.00,0.000,4,0.000,0.115,3186,919,2132
$GC,15044,1.02,233.4,625.3,11.2,1350,15048,0.00,2.75,0.00,0.000,6,0.000,0.097,3186,2349,2132
$GC,15362,1.02,233.4,591.4,10.6,1369,15366,0.00,2.78,0.00,0.000,4,0.000,0.114,3186,3737,2132
$GC,15423,1.02,233.4,584.4,11.1,1374,15428,0.00,2.70,0.00,0.000,6,0.000,0.092,3186,2344,2131
$GC,15749,1.02,233.4,550.1,10.7,1404,15754,0.00,2.80,0.00,0.000,4,0.000,0.111,3185,912,2131
$GC,15789,1.02,233.4,545.5,11.7,1407,15793,0.00,2.75,0.00,0.000,6,0.000,0.095,3186,2353,2132
$GC,16115,1.02,233.4,511.0,10.4,1437,16119,0.00,2.80,0.00,0.000,4,0.000,0.110,3186,919,2132
$GC,16147,1.02,233.4,507.1,10.9,1439,16153,0.00,2.72,0.00,0.000,6,0.000,0.096,3185,2345,2132
$GC,16473,1.02,233.4,472.6,10.9,1470,16478,0.00,2.78,0.00,0.000,4,0.000,0.112,3186,3737,2132
$GC,16505,1.02,233.4,468.8,11.7,1472,16512,0.00,2.65,0.00,0.000,6,0.000,0.089,3186,2342,2132
$GC,16832,1.02,233.4,434.4,10.3,1503,16837,0.00,2.78,0.00,0.000,4,0.000,0.110,3186,916,2132
$GC,16871,1.02,233.4,429.8,10.8,1506,16875,0.00,2.72,0.00,0.000,6,0.000,0.094,3186,2346,2132
$GC,17197,1.02,233.4,394.0,11.2,1536,17201,0.00,2.78,0.00,0.000,4,0.000,0.111,3186,3739,2132
$GC,17224,1.02,233.4,390.6,13.4,1538,17229,0.00,2.70,0.00,0.000,6,0.000,0.089,3186,2333,2132
$GC,17549,1.02,233.4,353.5,11.6,1568,17550,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2333,2132
$GC,17884,1.02,233.4,316.6,10.1,1625,17890,0.00,2.75,0.00,0.000,4,0.000,0.110,3185,915,2133
$GC,17913,1.02,233.4,313.4,11.4,1630,17919,0.00,2.72,0.00,0.000,6,0.000,0.093,3186,2349,2132
$GC,18255,1.02,233.4,277.9,10.4,1691,18261,0.00,2.75,0.00,0.000,4,0.000,0.109,3186,3738,2132
$GC,18284,1.02,233.4,274.7,11.4,1696,18290,0.00,2.65,0.00,0.000,6,0.000,0.087,3186,2345,2132
$GC,18629,1.03,240.4,238.9,9.8,1757,18646,0.00,2.83,7.62,0.837,4,0.000,0.105,3186,917,2103
$GC,18669,1.03,240.7,234.7,10.0,1764,18676,0.00,2.72,0.00,0.000,6,0.000,0.090,3185,2350,2103
$GC,19014,1.05,254.2,198.9,9.5,1825,19036,0.00,2.80,12.68,0.868,4,0.000,0.104,3186,3731,2047
$GC,19093,1.05,254.2,190.1,10.2,1839,19099,0.00,2.65,0.00,0.000,6,0.000,0.085,3186,2347,2046
$GC,19436,1.05,254.2,154.3,10.2,1900,19443,0.00,2.75,0.00,0.000,4,0.000,0.104,3186,917,2046
$GC,19505,1.05,254.2,147.0,10.4,1912,19511,0.00,2.67,0.00,0.000,6,0.000,0.088,3186,2339,2046
$GC,19848,1.05,254.2,112.8,10.7,1973,19854,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2339,2046
$GC,20192,1.05,258.9,78.0,9.8,2034,20204,0.00,2.78,5.32,0.688,4,0.000,0.104,3186,3737,2028
$GC,20244,1.05,258.9,72.2,12.6,2043,20250,0.00,2.67,0.00,0.000,6,0.000,0.084,3185,2334,2028
$GC,20589,1.05,258.9,34.5,12.3,2104,20595,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2335,2028
$GC,20731,1.05,258.9,17.4,12.2,2129,20738,0.00,2.72,0.00,0.000,4,0.000,0.101,3186,3738,2028
$GC,20789,1.05,258.9,9.7,14.1,2139,20796,0.00,2.65,0.00,0.000,6,0.000,0.083,3186,2332,2029
$STATE,20856,end climb,SURFACE_DEPTH_REACHED
$STATE,20856,begin surface coast
$FINISH,0.2,1.027761
$STATE,20875,end surface coast,CONTROL_FINISHED_OK
$STATE,20875,begin surface
$SM_CCo,20956,0.00,0.000,0,0,2027,259.53
$SM_GC,1.08,11.35,0.00,0.00,0.044,0.000,0.000,588,2235,2027,-10.85,-0.03,259.53
$IRIDIUM_FIX,6046.07,-2617.97,020897,131327
$TT8_MAMPS,0.02301
$HUMID,1626
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,134
$24V_AH,23.4,35.908
$10V_AH,10.7,27.698
$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,26.675,175.700,394.400,0.000,0.000,27.769,32.185,470.665,33.500,0.000,0.000,30.333,3343.974,13154.816,646.495,3588.793,891.084,0.000,2317.515,0.000,3553.934,0.000,0.467
$DEVICE_MAMPS,185.614,131.157,1412.047,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1492.036,1603.842,1031.608,625.899,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122938,2154
$CAP_FILE_SIZE,196991,0
$CFSIZE,260165632,241696768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,090508,010225,6110.379,-2610.808,41,0.9,41,-18.3