version: 66.03
glider: 140
mission: 5
dive: 172
start: 5 14 108 4 28 50
data:
$ID,140
$MISSION,5
$DIVE,172
$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,10
$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,-16546.986
$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
$GPS1,042037,6104.067,-2617.685,30,1.7,30,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.0
$GPS2,042832,6104.053,-2617.742,12,1.7,12,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6114.688,-2616.840
$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,28.3,20000,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-60.03,0.000,2,0.000,0.000,589,2226,3437
$GC,92,-1.29,-194.7,3.5,-8.1,11,122,12.30,2.75,-10.07,0.000,4,0.186,0.107,2669,3650,3881
$GC,163,-1.29,-194.7,13.5,-9.8,23,169,0.00,2.62,0.00,0.000,6,0.000,0.080,2669,2235,3881
$GC,307,-1.29,-194.7,27.2,-10.0,48,312,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,448,-1.29,-194.7,41.3,-9.5,73,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3881
$GC,590,-1.29,-194.7,55.5,-9.8,98,596,0.00,2.72,0.00,0.000,4,0.000,0.100,2670,3645,3881
$GC,614,-1.29,-194.7,57.8,-9.8,102,620,0.00,2.65,0.00,0.000,6,0.000,0.081,2669,2229,3881
$GC,958,-1.29,-194.7,89.7,-8.7,163,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,1301,-1.29,-194.7,120.5,-9.2,224,1307,0.00,2.72,0.00,0.000,4,0.000,0.104,2669,821,3882
$GC,1324,-1.29,-194.7,122.8,-9.4,228,1331,0.00,2.65,0.00,0.000,6,0.000,0.087,2669,2231,3882
$GC,1669,-1.29,-194.7,154.8,-8.9,289,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3882
$GC,2011,-1.29,-194.7,185.3,-9.0,350,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,2354,-1.29,-194.7,215.5,-8.8,411,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3882
$GC,2697,-1.29,-194.7,246.3,-9.3,472,2703,0.00,2.78,0.00,0.000,4,0.000,0.109,2670,3651,3882
$GC,2727,-1.29,-194.7,249.0,-9.6,477,2733,0.00,2.67,0.00,0.000,6,0.000,0.086,2669,2231,3882
$GC,3071,-1.29,-194.7,280.8,-9.4,538,3076,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3882
$GC,3414,-1.29,-194.7,312.2,-8.8,599,3420,0.00,2.78,0.00,0.000,4,0.000,0.110,2670,3645,3882
$GC,3438,-1.29,-194.7,314.4,-9.3,603,3444,0.00,2.67,0.00,0.000,6,0.000,0.087,2669,2229,3882
$GC,3781,-1.29,-194.7,345.3,-8.8,664,3787,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,4116,-1.29,-194.7,372.8,-8.1,700,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,4433,-1.29,-194.7,400.9,-9.2,730,4437,0.00,2.80,0.00,0.000,4,0.000,0.109,2669,3651,3882
$GC,4465,-1.29,-194.7,404.1,-9.7,732,4472,0.00,2.67,0.00,0.000,6,0.000,0.090,2669,2236,3882
$GC,4792,-1.29,-194.7,433.1,-9.1,763,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,5109,-1.29,-194.7,461.9,-9.2,793,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,5427,-1.29,-194.7,492.4,-9.9,823,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,5746,-1.29,-194.7,524.0,-10.0,853,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,6064,-1.29,-194.7,551.9,-8.2,883,6069,0.00,2.78,0.00,0.000,4,0.000,0.112,2670,3643,3882
$GC,6086,-1.29,-194.7,553.9,-9.3,884,6092,0.00,2.65,0.00,0.000,6,0.000,0.091,2669,2245,3882
$GC,6413,-1.29,-194.7,584.0,-9.3,915,6414,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3882
$GC,6726,-1.29,-194.7,612.1,-9.0,939,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3881
$GC,7035,-1.29,-194.7,638.8,-9.1,954,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3881
$GC,7344,-1.29,-194.7,666.0,-8.6,969,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3881
$GC,7653,-1.29,-194.7,691.4,-8.4,984,7658,0.00,2.80,0.00,0.000,4,0.000,0.120,2670,3643,3881
$GC,7692,-1.29,-194.7,695.0,-9.2,986,7697,0.00,2.67,0.00,0.000,6,0.000,0.097,2669,2248,3881
$GC,8019,-1.29,-194.7,723.2,-8.5,1002,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,8329,-1.29,-194.7,746.2,-6.9,1017,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,8638,-1.29,-194.7,768.2,-7.6,1032,8642,0.00,2.83,0.00,0.000,4,0.000,0.124,2670,3647,3880
$GC,8670,-1.29,-194.7,771.0,-8.5,1033,8676,0.00,2.70,0.00,0.000,6,0.000,0.099,2670,2247,3881
$GC,8986,-1.29,-194.7,796.2,-8.4,1049,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3880
$GC,9295,-1.29,-194.7,821.8,-8.1,1064,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3880
$GC,9605,-1.29,-194.7,845.9,-7.6,1079,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3880
$GC,9913,-1.29,-194.7,869.8,-7.9,1094,9918,0.00,2.92,0.00,0.000,4,0.000,0.136,2670,825,3879
$GC,9935,-1.29,-194.7,871.8,-8.5,1095,9940,0.00,2.80,0.00,0.000,6,0.000,0.108,2669,2257,3879
$GC,10256,-1.29,-194.7,900.2,-9.1,1111,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2258,3879
$GC,10565,-1.29,-194.7,928.1,-8.6,1126,10566,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2257,3879
$GC,10874,-1.29,-194.7,956.4,-9.8,1141,10875,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2258,3878
$GC,11183,-1.29,-194.7,986.9,-9.9,1156,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2258,3878
$STATE,11222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11222,begin apogee
$GC,11227,-0.35,0.0,990.9,9.8,1158,11397,1.02,0.00,165.95,1.428,6,0.100,0.000,2878,2334,3085
$STATE,11398,end apogee,CONTROL_FINISHED_OK
$STATE,11398,begin climb
$GC,11400,1.29,194.7,999.4,0.0,1166,11574,1.62,3.08,162.75,1.397,4,0.061,0.136,3238,3739,2290
$GC,11613,1.16,194.7,986.6,12.3,1176,11619,0.12,2.88,0.00,0.000,6,0.123,0.109,3217,2330,2289
$GC,11929,1.10,194.7,952.1,10.9,1191,11930,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2329,2288
$GC,12238,1.04,194.7,918.0,11.1,1206,12240,0.15,0.00,0.00,0.000,6,0.115,0.000,3189,2329,2287
$GC,12547,1.04,194.7,886.1,11.0,1221,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2330,2287
$GC,12856,1.04,194.7,852.0,10.8,1236,12857,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2329,2286
$GC,13166,1.04,194.7,820.3,10.3,1251,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2329,2286
$GC,13475,1.04,194.7,787.9,10.1,1266,13476,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2329,2285
$GC,13784,1.06,214.4,758.5,9.3,1281,13804,0.00,0.00,17.65,1.261,6,0.000,0.000,3189,2330,2210
$GC,14113,1.06,214.4,725.4,10.5,1297,14118,0.00,2.92,0.00,0.000,4,0.000,0.121,3189,3739,2209
$GC,14153,1.02,214.4,720.9,11.0,1299,14158,0.00,2.80,0.00,0.000,6,0.000,0.100,3189,2328,2209
$GC,14479,1.02,214.4,686.9,10.2,1315,14481,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2329,2208
$GC,14788,1.02,215.4,655.6,10.0,1330,14793,0.00,2.88,0.00,0.000,4,0.000,0.116,3189,3739,2208
$GC,14821,0.97,215.4,652.1,10.4,1331,14827,0.00,2.72,0.00,0.000,6,0.000,0.094,3189,2341,2208
$GC,15137,0.97,215.4,619.9,10.4,1347,15141,0.00,2.83,0.00,0.000,4,0.000,0.117,3189,920,2208
$GC,15180,0.97,215.4,614.8,11.1,1349,15184,0.00,2.75,0.00,0.000,6,0.000,0.097,3189,2344,2208
$GC,15502,0.97,215.4,579.3,11.4,1373,15503,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2345,2208
$GC,15820,0.97,215.4,544.2,11.4,1403,15822,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2345,2208
$GC,16141,0.97,215.4,508.9,10.6,1433,16142,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2345,2208
$GC,16457,0.97,215.4,471.9,12.2,1463,16458,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2345,2208
$GC,16776,0.97,215.4,434.4,11.4,1493,16777,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2345,2209
$GC,17094,0.97,215.4,398.9,11.1,1523,17095,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2345,2209
$GC,17415,0.98,221.6,367.2,9.8,1553,17429,0.00,2.88,7.50,0.907,4,0.000,0.107,3189,916,2181
$GC,17458,0.98,221.6,362.7,10.2,1557,17463,0.00,2.72,0.00,0.000,6,0.000,0.094,3189,2337,2180
$GC,17794,1.02,256.9,330.3,8.8,1605,17831,0.00,2.85,30.42,0.966,4,0.000,0.107,3189,3736,2036
$GC,17854,1.02,256.9,324.1,10.3,1616,17861,0.00,2.72,0.00,0.000,6,0.000,0.087,3189,2333,2035
$GC,18198,1.02,256.9,288.9,10.4,1677,18203,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2334,2033
$GC,18540,1.02,256.9,252.7,10.5,1738,18546,0.00,2.75,0.00,0.000,4,0.000,0.107,3189,919,2033
$GC,18569,1.02,256.9,249.1,13.6,1743,18575,0.00,2.70,0.00,0.000,6,0.000,0.090,3189,2339,2033
$GC,18913,1.02,256.9,208.3,11.6,1804,18919,0.00,2.78,0.00,0.000,4,0.000,0.107,3189,3739,2032
$GC,18942,1.02,256.9,204.7,13.8,1809,18948,0.00,2.70,0.00,0.000,6,0.000,0.084,3189,2329,2032
$GC,19285,1.02,256.9,165.3,10.5,1870,19292,0.00,2.72,0.00,0.000,4,0.000,0.104,3189,919,2033
$GC,19315,1.02,256.9,162.0,12.7,1875,19321,0.00,2.70,0.00,0.000,6,0.000,0.088,3189,2346,2033
$GC,19658,1.02,256.9,123.3,10.2,1936,19664,0.00,2.75,0.00,0.000,4,0.000,0.105,3189,3738,2033
$GC,19693,1.02,256.9,119.1,11.2,1942,19700,0.00,2.67,0.00,0.000,6,0.000,0.084,3189,2334,2033
$GC,20038,1.02,256.9,79.5,10.6,2003,20044,0.00,2.72,0.00,0.000,4,0.000,0.103,3189,917,2033
$GC,20078,1.02,256.9,74.7,11.6,2010,20085,0.00,2.70,0.00,0.000,6,0.000,0.087,3189,2352,2034
$GC,20422,1.02,256.9,34.1,11.4,2071,20428,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2352,2033
$GC,20565,1.02,256.9,19.0,10.5,2096,20571,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2352,2034
$GC,20707,1.02,256.9,3.5,11.7,2121,20713,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2352,2033
$STATE,20717,end climb,SURFACE_DEPTH_REACHED
$STATE,20717,begin surface coast
$FINISH,0.4,1.025688
$STATE,20735,end surface coast,CONTROL_FINISHED_OK
$STATE,20735,begin surface
$SM_CCo,20816,0.00,0.000,0,0,2031,258.30
$SM_GC,1.21,11.27,0.00,0.00,0.040,0.000,0.000,590,2231,2031,-10.84,-0.11,258.30
$IRIDIUM_FIX,6041.65,-2610.04,070897,222206
$TT8_MAMPS,0.02301
$HUMID,1636
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.80
$XPDR_PINGS,123
$24V_AH,23.4,39.965
$10V_AH,10.7,31.212
$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,26.500,116.300,384.275,0.000,0.000,28.916,31.367,264.146,30.750,0.000,0.000,12.018,3293.380,13066.398,542.213,3690.051,677.716,0.000,2144.544,0.000,3678.054,0.000,0.467
$DEVICE_MAMPS,185.614,143.429,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1477.430,1583.829,1883.570,603.236,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126434,2126
$CAP_FILE_SIZE,178582,0
$CFSIZE,260165632,239562752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140508,101701,6105.954,-2614.594,40,1.4,40,-18.3