version: 66.03
glider: 140
mission: 5
dive: 198
start: 5 20 108 14 12 35
data:
$ID,140
$MISSION,5
$DIVE,198
$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,350
$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,-17053.697
$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,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
$GPS1,140221,6116.648,-2511.457,41,2.6,60,-17.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-59.1
$GPS2,141217,6116.707,-2511.538,15,2.7,34,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6127.341,-2512.434
$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,7.9,20000,-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,-65.35,0.000,2,0.000,0.000,591,2232,3400
$GC,98,-1.29,-194.7,3.4,-7.4,12,128,12.25,2.75,-10.95,0.000,4,0.183,0.109,2670,3646,3880
$GC,202,-1.29,-194.7,16.0,-8.2,30,209,0.00,2.65,0.00,0.000,6,0.000,0.081,2670,2226,3881
$GC,347,-1.29,-194.7,29.1,-7.9,55,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,488,-1.29,-194.7,41.6,-8.9,80,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,630,-1.29,-194.7,54.1,-9.2,105,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,972,-1.29,-194.7,85.3,-10.3,166,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3881
$GC,1315,-1.29,-194.7,117.7,-8.6,227,1321,0.00,2.72,0.00,0.000,4,0.000,0.101,2671,818,3881
$GC,1356,-1.29,-194.7,121.4,-9.1,234,1362,0.00,2.67,0.00,0.000,6,0.000,0.086,2670,2235,3881
$GC,1701,-1.29,-194.7,149.5,-8.4,295,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,2043,-1.29,-194.7,178.9,-8.9,356,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,2387,-1.29,-194.7,211.1,-9.9,417,2393,0.00,2.78,0.00,0.000,4,0.000,0.105,2670,817,3881
$GC,2422,-1.29,-194.7,214.7,-10.0,423,2428,0.00,2.67,0.00,0.000,6,0.000,0.090,2670,2225,3881
$GC,2765,-1.29,-194.7,245.3,-8.5,484,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3881
$GC,3109,-1.29,-194.7,272.8,-8.0,545,3115,0.00,2.78,0.00,0.000,4,0.000,0.107,2670,3646,3881
$GC,3144,-1.29,-194.7,275.8,-8.6,551,3150,0.00,2.67,0.00,0.000,6,0.000,0.085,2670,2223,3881
$GC,3488,-1.29,-194.7,303.9,-8.3,612,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3881
$GC,3831,-1.29,-194.7,332.7,-8.4,673,3837,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3881
$GC,4172,-1.29,-194.7,362.4,-8.8,722,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3881
$GC,4491,-1.29,-194.7,390.6,-9.2,752,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3881
$GC,4809,-1.29,-194.7,418.6,-9.0,782,4810,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3881
$GC,5128,-1.29,-194.7,448.3,-9.5,812,5132,0.00,2.80,0.00,0.000,4,0.000,0.109,2670,3647,3881
$GC,5168,-1.29,-194.7,452.2,-10.3,815,5173,0.00,2.70,0.00,0.000,6,0.000,0.090,2670,2223,3881
$GC,5497,-1.29,-194.7,482.9,-9.1,845,5502,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3881
$GC,5822,-1.29,-194.7,513.2,-9.1,876,5823,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3880
$GC,6140,-1.29,-194.7,540.6,-8.6,906,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3880
$GC,6460,-1.29,-194.7,568.1,-8.5,936,6465,0.00,2.83,0.00,0.000,4,0.000,0.112,2670,3651,3880
$GC,6481,-1.29,-194.7,570.3,-9.3,937,6488,0.00,2.70,0.00,0.000,6,0.000,0.091,2670,2229,3880
$GC,6808,-1.29,-194.7,598.5,-9.2,968,6809,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3880
$GC,7116,-1.29,-194.7,626.3,-9.4,984,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3880
$GC,7426,-1.29,-194.7,652.8,-8.3,999,7430,0.00,2.83,0.00,0.000,4,0.000,0.117,2671,3646,3880
$GC,7466,-1.29,-194.7,656.2,-8.6,1001,7470,0.00,2.70,0.00,0.000,6,0.000,0.094,2670,2231,3879
$GC,7795,-1.29,-194.7,684.7,-9.0,1017,7799,0.00,2.85,0.00,0.000,4,0.000,0.123,2670,818,3880
$GC,7827,-1.29,-194.7,688.1,-9.9,1018,7834,0.00,2.72,0.00,0.000,6,0.000,0.102,2670,2226,3879
$GC,8143,-1.29,-194.7,716.1,-8.7,1034,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,8452,-1.29,-194.7,741.8,-8.0,1049,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3879
$GC,8761,-1.29,-194.7,765.8,-7.8,1064,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3879
$GC,9071,-1.29,-194.7,790.7,-8.0,1079,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3879
$GC,9380,-1.29,-194.7,816.0,-8.4,1094,9384,0.00,2.90,0.00,0.000,4,0.000,0.130,2670,3648,3878
$GC,9412,-1.29,-194.7,819.0,-9.4,1095,9418,0.00,2.75,0.00,0.000,6,0.000,0.100,2670,2225,3879
$GC,9728,-1.29,-194.7,848.0,-9.3,1111,9733,0.00,2.88,0.00,0.000,4,0.000,0.123,2670,3646,3878
$GC,9755,-1.29,-194.7,850.8,-10.4,1112,9759,0.00,2.75,0.00,0.000,6,0.000,0.103,2670,2230,3878
$GC,10071,-1.29,-194.7,878.4,-8.2,1127,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3878
$GC,10380,-1.29,-194.7,902.0,-7.6,1142,10385,0.00,2.88,0.00,0.000,4,0.000,0.126,2670,3644,3877
$GC,10413,-1.29,-194.7,904.7,-9.0,1143,10419,0.00,2.75,0.00,0.000,6,0.000,0.106,2670,2237,3877
$GC,10729,-1.29,-194.7,931.8,-9.1,1159,10733,0.00,2.92,0.00,0.000,4,0.000,0.137,2670,825,3877
$GC,10761,-1.29,-194.7,935.0,-9.6,1160,10767,0.00,2.78,0.00,0.000,6,0.000,0.111,2670,2233,3877
$GC,11077,-1.29,-194.7,962.7,-8.5,1176,11078,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3876
$GC,11386,-1.29,-194.7,988.1,-8.2,1191,11391,0.00,2.90,0.00,0.000,4,0.000,0.134,2670,3646,3876
$STATE,11411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11411,begin apogee
$GC,11419,-0.35,0.0,990.5,8.9,1192,11590,1.00,0.00,165.35,1.423,6,0.100,0.000,2875,2328,3085
$STATE,11591,end apogee,CONTROL_FINISHED_OK
$STATE,11591,begin climb
$GC,11593,1.29,194.7,996.5,0.0,1201,11761,1.67,0.00,163.50,1.387,6,0.060,0.000,3241,2327,2291
$GC,12062,1.20,194.7,945.2,13.0,1224,12067,0.00,3.00,0.00,0.000,4,0.000,0.132,3242,3738,2288
$GC,12106,1.07,194.7,938.8,13.7,1226,12111,0.25,2.83,0.00,0.000,6,0.108,0.107,3195,2333,2288
$GC,12427,1.07,194.7,905.9,10.3,1242,12432,0.00,2.95,0.00,0.000,4,0.000,0.136,3195,914,2288
$GC,12476,1.07,194.7,900.4,11.1,1244,12480,0.00,2.83,0.00,0.000,6,0.000,0.110,3195,2331,2288
$GC,12792,1.07,194.7,868.2,10.2,1259,12796,0.00,2.95,0.00,0.000,4,0.000,0.133,3195,3738,2286
$GC,12825,1.01,194.7,864.5,10.5,1260,12831,0.00,2.83,0.00,0.000,6,0.000,0.104,3195,2321,2286
$GC,13139,1.01,194.7,831.7,10.6,1276,13141,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2320,2285
$GC,13449,1.01,194.7,798.7,10.9,1291,13450,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2320,2285
$GC,13759,1.01,194.7,765.6,10.8,1306,13763,0.00,2.92,0.00,0.000,4,0.000,0.120,3195,3739,2285
$GC,13798,0.95,194.7,761.0,12.3,1308,13803,0.15,2.80,0.00,0.000,6,0.112,0.102,3168,2332,2285
$GC,14124,0.98,218.4,729.3,9.2,1324,14150,0.00,2.97,20.75,1.236,4,0.000,0.128,3168,918,2194
$GC,14190,0.99,222.4,723.1,9.9,1327,14200,0.00,2.78,5.10,0.930,6,0.000,0.103,3168,2333,2178
$GC,14510,1.00,236.6,692.4,9.5,1342,14530,0.00,0.00,13.62,1.171,6,0.000,0.000,3167,2334,2120
$GC,14839,1.02,254.5,660.4,9.4,1358,14862,0.00,2.90,16.83,1.159,4,0.000,0.111,3168,910,2046
$GC,14896,1.10,280.0,654.9,9.1,1360,14928,0.15,2.78,23.48,1.141,6,0.061,0.097,3205,2330,1942
$GC,15239,1.10,280.0,613.9,12.9,1377,15240,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2331,1938
$GC,15552,1.10,280.0,572.6,13.0,1401,15553,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2331,1937
$GC,15870,1.10,280.0,532.3,12.3,1431,15871,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2331,1937
$GC,16189,1.10,280.0,493.6,12.1,1461,16194,0.00,2.78,0.00,0.000,4,0.000,0.109,3205,917,1937
$GC,16219,1.10,280.0,490.1,12.7,1463,16224,0.00,2.72,0.00,0.000,6,0.000,0.094,3205,2332,1937
$GC,16545,1.10,280.0,450.6,12.0,1493,16550,0.00,2.80,0.00,0.000,4,0.000,0.110,3205,3737,1936
$GC,16584,1.10,280.0,445.5,12.9,1496,16589,0.00,2.72,0.00,0.000,6,0.000,0.087,3205,2319,1936
$GC,16908,1.10,280.0,405.7,12.1,1526,16913,0.00,2.75,0.00,0.000,4,0.000,0.110,3205,917,1937
$GC,16948,1.10,280.0,400.7,13.0,1529,16952,0.00,2.70,0.00,0.000,6,0.000,0.094,3205,2325,1936
$GC,17272,1.10,280.0,360.1,13.1,1559,17277,0.00,2.80,0.00,0.000,4,0.000,0.109,3205,3738,1936
$GC,17305,1.10,280.0,355.6,14.6,1561,17311,0.00,2.70,0.00,0.000,6,0.000,0.086,3205,2321,1936
$GC,17645,1.10,280.0,312.0,11.8,1618,17650,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2322,1936
$GC,17988,1.10,280.0,270.4,12.2,1679,17993,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2322,1936
$GC,18330,1.10,280.0,229.4,12.0,1740,18336,0.00,2.72,0.00,0.000,4,0.000,0.105,3205,918,1936
$GC,18365,1.10,280.0,225.1,11.6,1746,18371,0.00,2.67,0.00,0.000,6,0.000,0.088,3205,2329,1936
$GC,18709,1.10,280.0,182.7,12.2,1807,18715,0.00,2.78,0.00,0.000,4,0.000,0.106,3205,3736,1936
$GC,18744,1.10,280.0,178.1,12.1,1813,18750,0.00,2.70,0.00,0.000,6,0.000,0.083,3205,2318,1936
$GC,19087,1.10,280.0,135.8,11.7,1874,19092,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2318,1936
$GC,19430,1.10,280.0,92.1,11.8,1935,19435,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2318,1936
$GC,19772,1.10,280.0,52.0,10.5,1996,19777,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2318,1936
$GC,20116,1.10,280.0,13.1,15.2,2057,20122,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2318,1937
$STATE,20216,end climb,SURFACE_DEPTH_REACHED
$STATE,20216,begin surface coast
$FINISH,0.3,1.024680
$STATE,20240,end surface coast,CONTROL_FINISHED_OK
$STATE,20240,begin surface
$SM_CCo,20321,0.00,0.000,0,0,1936,281.85
$SM_GC,1.02,11.43,0.00,0.00,0.044,0.000,0.000,587,2230,1936,-10.85,-0.14,281.85
$IRIDIUM_FIX,6050.49,-2519.92,140897,080834
$TT8_MAMPS,0.02301
$HUMID,1639
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,16.90
$XPDR_PINGS,123
$24V_AH,22.9,44.934
$10V_AH,10.7,35.770
$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,26.900,139.500,408.625,0.000,0.000,30.433,33.351,364.330,30.750,0.000,0.000,35.168,3245.377,12556.386,618.231,3680.692,795.804,0.000,2199.800,0.000,3649.286,0.000,0.468
$DEVICE_MAMPS,183.313,137.293,1422.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1442.482,1555.815,1852.561,604.611,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123012,2079
$CAP_FILE_SIZE,180743,0
$CFSIZE,260165632,236969984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,200508,195232,6121.153,-2509.305,41,1.8,41,-17.9