version: 66.03
glider: 140
mission: 5
dive: 173
start: 5 14 108 10 25 8
data:
$ID,140
$MISSION,5
$DIVE,173
$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,30
$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,-16563.609
$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,11
$R_STBD_OVSHOOT,13
$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
$GPS1,101701,6105.954,-2614.594,40,1.4,40,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.3
$GPS2,102450,6105.930,-2614.708,9,1.3,15,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6115.282,-2612.111
$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,48.3,20000,-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,-60.10,0.000,2,0.000,0.000,590,2230,3481
$GC,92,-1.29,-194.7,3.5,-6.5,11,117,12.35,0.00,-9.00,0.000,6,0.187,0.000,2669,2230,3880
$GC,254,-1.29,-194.7,23.0,-10.1,39,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3882
$GC,395,-1.29,-194.7,38.0,-10.6,64,401,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3882
$GC,536,-1.29,-194.7,53.0,-10.4,89,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3882
$GC,879,-1.29,-194.7,87.0,-9.6,150,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3882
$GC,1222,-1.29,-194.7,120.4,-9.6,211,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,1565,-1.29,-194.7,152.2,-9.1,272,1571,0.00,2.75,0.00,0.000,4,0.000,0.104,2669,3644,3882
$GC,1606,-1.29,-194.7,156.2,-9.9,279,1612,0.00,2.65,0.00,0.000,6,0.000,0.084,2669,2233,3883
$GC,1949,-1.29,-194.7,188.6,-9.3,340,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3883
$GC,2294,-1.29,-194.7,221.9,-9.7,401,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3883
$GC,2638,-1.29,-194.7,254.4,-9.5,462,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3883
$GC,2981,-1.29,-194.7,286.2,-8.8,523,2987,0.00,2.78,0.00,0.000,4,0.000,0.108,2669,3643,3883
$GC,3011,-1.29,-194.7,288.9,-9.3,528,3017,0.00,2.67,0.00,0.000,6,0.000,0.088,2669,2229,3883
$GC,3355,-1.29,-194.7,318.6,-8.5,589,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,3698,-1.29,-194.7,350.2,-9.1,650,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,4017,-1.29,-194.7,377.9,-8.9,680,4022,0.00,2.80,0.00,0.000,4,0.000,0.110,2669,3649,3882
$GC,4050,-1.29,-194.7,381.0,-9.0,682,4057,0.00,2.67,0.00,0.000,6,0.000,0.089,2669,2232,3883
$GC,4377,-1.29,-194.7,412.0,-9.5,713,4382,0.00,2.80,0.00,0.000,4,0.000,0.117,2669,822,3883
$GC,4405,-1.29,-194.7,415.0,-10.2,715,4410,0.00,2.72,0.00,0.000,6,0.000,0.097,2669,2239,3882
$GC,4732,-1.29,-194.7,445.6,-9.2,745,4733,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,5048,-1.29,-194.7,474.2,-9.2,775,5049,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,5367,-1.29,-194.7,503.7,-9.1,805,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,5685,-1.29,-194.7,534.2,-10.1,835,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3882
$GC,6004,-1.29,-194.7,565.1,-9.3,865,6008,0.00,2.78,0.00,0.000,4,0.000,0.114,2669,3647,3882
$GC,6032,-1.29,-194.7,567.8,-10.0,867,6036,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2235,3882
$GC,6358,-1.29,-194.7,598.8,-9.3,897,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,6667,-1.29,-194.7,627.1,-9.0,913,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,6976,-1.29,-194.7,656.0,-9.7,928,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3882
$GC,7285,-1.29,-194.7,686.2,-10.1,943,7290,0.00,2.83,0.00,0.000,4,0.000,0.119,2669,3648,3881
$GC,7311,-1.29,-194.7,689.1,-10.6,944,7316,0.00,2.70,0.00,0.000,6,0.000,0.094,2669,2234,3881
$GC,7628,-1.29,-194.7,721.2,-10.4,959,7632,0.00,2.85,0.00,0.000,4,0.000,0.124,2669,817,3881
$GC,7654,-1.29,-194.7,724.1,-10.8,960,7659,0.00,2.75,0.00,0.000,6,0.000,0.103,2669,2235,3881
$GC,7971,-1.29,-194.7,755.3,-9.9,975,7976,0.00,2.85,0.00,0.000,4,0.000,0.127,2669,3648,3881
$GC,7997,-1.29,-194.7,758.2,-10.5,976,8002,0.00,2.72,0.00,0.000,6,0.000,0.098,2669,2231,3881
$GC,8314,-1.29,-194.7,785.9,-8.6,991,8319,0.00,2.85,0.00,0.000,4,0.000,0.121,2669,3647,3881
$GC,8370,-1.29,-194.7,791.1,-9.1,993,8376,0.00,2.67,0.00,0.000,6,0.000,0.100,2669,2255,3881
$GC,8687,-1.29,-194.7,816.1,-7.3,1009,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2257,3881
$GC,8995,-1.29,-194.7,838.6,-7.4,1024,9000,0.00,2.92,0.00,0.000,4,0.000,0.133,2669,821,3880
$GC,9039,-1.29,-194.7,842.3,-8.8,1026,9044,0.00,2.80,0.00,0.000,6,0.000,0.110,2669,2253,3880
$GC,9359,-1.29,-194.7,868.0,-8.3,1042,9364,0.00,2.85,0.00,0.000,4,0.000,0.132,2669,3653,3880
$GC,9381,-1.29,-194.7,870.0,-9.1,1043,9385,0.00,2.72,0.00,0.000,6,0.000,0.103,2669,2252,3880
$GC,9702,-1.29,-194.7,896.2,-7.7,1059,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2253,3879
$GC,10010,-1.29,-194.7,919.3,-7.4,1074,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2252,3879
$GC,10320,-1.29,-194.7,943.0,-7.7,1089,10324,0.00,2.85,0.00,0.000,4,0.000,0.127,2669,3651,3879
$GC,10353,-1.29,-194.7,945.7,-8.4,1090,10359,0.00,2.72,0.00,0.000,6,0.000,0.106,2669,2256,3879
$GC,10668,-1.29,-194.7,969.7,-7.5,1106,10673,0.00,2.83,0.00,0.000,4,0.000,0.127,2669,3646,3878
$GC,10695,-1.29,-194.7,971.9,-8.4,1107,10699,0.00,2.70,0.00,0.000,6,0.000,0.105,2669,2267,3878
$STATE,10925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10925,begin apogee
$GC,10931,-0.35,0.0,990.9,8.0,1118,11101,1.05,0.00,166.07,1.433,6,0.103,0.000,2880,2330,3085
$STATE,11102,end apogee,CONTROL_FINISHED_OK
$STATE,11102,begin climb
$GC,11104,1.29,194.7,997.0,0.0,1126,11278,1.62,3.05,162.62,1.396,4,0.061,0.130,3240,3737,2291
$GC,11305,1.16,194.7,981.9,13.7,1135,11312,0.15,2.85,0.00,0.000,6,0.119,0.105,3214,2330,2289
$GC,11621,1.10,194.7,942.5,12.8,1151,11626,0.00,2.97,0.00,0.000,4,0.000,0.127,3214,3738,2288
$GC,11660,1.00,194.7,937.8,12.0,1153,11666,0.17,2.83,0.00,0.000,6,0.114,0.106,3181,2338,2288
$GC,11987,1.00,194.7,903.0,11.0,1169,11991,0.00,2.95,0.00,0.000,4,0.000,0.137,3181,919,2287
$GC,12030,1.00,194.7,897.9,11.6,1171,12035,0.00,2.83,0.00,0.000,6,0.000,0.110,3181,2338,2287
$GC,12352,1.00,194.7,864.0,10.1,1187,12357,0.00,2.92,0.00,0.000,4,0.000,0.131,3181,3738,2287
$GC,12384,0.96,194.7,860.4,10.2,1188,12391,0.00,2.78,0.00,0.000,6,0.000,0.102,3181,2332,2287
$GC,12700,0.99,218.0,830.3,9.2,1204,12726,0.00,2.97,20.83,1.295,4,0.000,0.129,3182,914,2195
$GC,12748,1.02,249.6,825.6,8.9,1206,12783,0.00,2.80,28.62,1.269,6,0.000,0.107,3181,2326,2066
$GC,13112,1.02,249.6,789.0,10.7,1224,13113,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2326,2062
$GC,13420,1.02,249.6,753.9,11.8,1239,13425,0.00,2.92,0.00,0.000,4,0.000,0.127,3181,3737,2061
$GC,13493,1.02,249.6,744.3,13.0,1242,13498,0.00,2.80,0.00,0.000,6,0.000,0.100,3181,2322,2060
$GC,13809,1.02,249.6,706.8,12.0,1257,13813,0.00,2.83,0.00,0.000,4,0.000,0.122,3181,918,2061
$GC,13875,1.02,249.6,698.5,12.4,1260,13879,0.00,2.72,0.00,0.000,6,0.000,0.103,3181,2314,2060
$GC,14195,1.02,249.6,661.5,11.4,1276,14200,0.00,2.92,0.00,0.000,4,0.000,0.123,3181,3737,2060
$GC,14234,1.02,249.6,656.8,11.9,1278,14238,0.00,2.78,0.00,0.000,6,0.000,0.095,3181,2321,2060
$GC,14560,1.02,249.6,622.3,10.1,1294,14565,0.00,2.80,0.00,0.000,4,0.000,0.116,3181,911,2060
$GC,14599,1.02,249.6,618.2,10.4,1296,14603,0.00,2.72,0.00,0.000,6,0.000,0.099,3181,2319,2060
$GC,14918,1.03,257.2,586.7,9.7,1317,14930,0.00,2.97,6.82,1.008,4,0.000,0.118,3181,3738,2036
$GC,14958,1.03,257.2,582.5,10.1,1320,14965,0.00,2.75,0.00,0.000,6,0.000,0.091,3181,2314,2035
$GC,15284,1.06,279.1,552.1,9.2,1351,15310,0.00,2.85,20.30,1.108,4,0.000,0.113,3181,911,1947
$GC,15338,1.10,279.1,546.6,10.2,1355,15344,0.00,2.72,0.00,0.000,6,0.000,0.097,3181,2317,1946
$GC,15664,1.14,310.0,516.2,8.9,1386,15698,0.12,2.97,28.05,1.083,4,0.066,0.112,3213,3736,1820
$GC,15722,1.14,310.0,509.8,11.7,1391,15726,0.00,2.78,0.00,0.000,6,0.000,0.089,3213,2314,1818
$GC,16048,1.14,310.0,472.4,11.2,1421,16052,0.00,2.75,0.00,0.000,4,0.000,0.110,3213,917,1817
$GC,16087,1.14,310.0,467.6,11.9,1424,16091,0.00,2.70,0.00,0.000,6,0.000,0.096,3213,2318,1817
$GC,16413,1.14,310.0,428.3,12.4,1454,16414,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2318,1816
$GC,16729,1.14,310.0,388.5,12.6,1484,16734,0.00,2.85,0.00,0.000,4,0.000,0.112,3213,3736,1816
$GC,16761,1.14,310.0,384.2,13.9,1486,16768,0.00,2.72,0.00,0.000,6,0.000,0.088,3213,2309,1815
$GC,17089,1.14,310.0,342.5,12.4,1522,17094,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2310,1816
$GC,17431,1.14,310.0,299.4,13.1,1583,17437,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2310,1815
$GC,17774,1.14,310.0,256.2,12.9,1644,17780,0.00,2.85,0.00,0.000,4,0.000,0.108,3213,3736,1815
$GC,17809,1.14,310.0,251.5,13.0,1650,17815,0.00,2.72,0.00,0.000,6,0.000,0.086,3213,2317,1815
$GC,18153,1.14,310.0,208.1,12.8,1711,18159,0.00,2.72,0.00,0.000,4,0.000,0.105,3213,914,1815
$GC,18176,1.14,310.0,205.0,13.4,1715,18182,0.00,2.67,0.00,0.000,6,0.000,0.090,3213,2322,1815
$GC,18519,1.14,310.0,161.0,12.2,1776,18525,0.00,2.80,0.00,0.000,4,0.000,0.108,3213,3737,1815
$GC,18560,1.14,310.0,155.5,13.8,1783,18566,0.00,2.72,0.00,0.000,6,0.000,0.084,3213,2308,1815
$GC,18903,1.14,310.0,111.5,12.0,1844,18909,0.00,2.67,0.00,0.000,4,0.000,0.105,3213,919,1815
$GC,18933,1.14,310.0,107.6,11.8,1849,18939,0.00,2.62,0.00,0.000,6,0.000,0.087,3213,2320,1815
$GC,19276,1.14,310.0,64.9,11.8,1910,19283,0.00,2.78,0.00,0.000,4,0.000,0.105,3213,3736,1815
$GC,19334,1.14,310.0,57.4,13.0,1920,19340,0.00,2.65,0.00,0.000,6,0.000,0.082,3213,2332,1814
$GC,19678,1.14,310.0,14.2,11.6,1981,19684,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2332,1815
$STATE,19778,end climb,SURFACE_DEPTH_REACHED
$STATE,19778,begin surface coast
$FINISH,0.4,1.027698
$STATE,19796,end surface coast,CONTROL_FINISHED_OK
$STATE,19796,begin surface
$SM_CCo,19877,0.00,0.000,0,0,1811,312.27
$SM_GC,1.17,11.48,0.00,0.00,0.044,0.000,0.000,592,2232,1811,-10.84,-0.08,312.27
$IRIDIUM_FIX,6037.25,-2618.02,080897,040440
$TT8_MAMPS,0.02301
$HUMID,1635
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,120
$24V_AH,23.4,40.156
$10V_AH,10.7,31.379
$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,26.950,179.025,433.325,0.000,0.000,26.019,35.763,260.993,30.000,0.000,0.000,15.994,3162.545,12250.783,595.885,3639.409,676.581,0.000,2217.710,0.000,3611.042,0.000,0.467
$DEVICE_MAMPS,187.148,144.196,1432.756,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1392.584,1479.514,1761.565,561.312,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116839,2002
$CAP_FILE_SIZE,183914,0
$CFSIZE,260165632,239468544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,140508,155737,6106.818,-2611.164,37,0.9,37,-18.3