version: 66.03
glider: 140
mission: 5
dive: 233
start: 5 28 108 11 35 27
data:
$ID,140
$MISSION,5
$DIVE,233
$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,270
$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,-17604.402
$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,10
$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
$GPS1,112038,6146.054,-2653.058,40,0.9,40,-19.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.1
$GPS2,113509,6146.212,-2653.231,15,0.9,15,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6146.212,-2658.339
$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,289.1,20000,-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,-65.47,0.000,2,0.000,0.000,585,2232,3420
$GC,98,-1.29,-194.7,3.5,-7.8,12,128,12.45,2.75,-10.10,0.000,4,0.188,0.106,2672,3648,3878
$GC,382,-1.29,-194.7,37.5,-11.9,62,389,0.00,2.65,0.00,0.000,6,0.000,0.081,2672,2226,3879
$GC,525,-1.29,-194.7,54.7,-11.8,87,531,0.00,2.75,0.00,0.000,4,0.000,0.098,2672,3647,3879
$GC,571,-1.29,-194.7,60.1,-11.5,95,577,0.00,2.67,0.00,0.000,6,0.000,0.081,2672,2219,3879
$GC,914,-1.29,-194.7,98.3,-11.1,156,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2218,3879
$GC,1257,-1.29,-194.7,134.7,-10.4,217,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2218,3880
$GC,1600,-1.29,-194.7,170.0,-10.3,278,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2218,3880
$GC,1944,-1.29,-194.7,206.9,-10.6,339,1950,0.00,2.80,0.00,0.000,4,0.000,0.105,2672,3647,3880
$GC,2003,-1.29,-194.7,213.2,-10.7,349,2009,0.00,2.70,0.00,0.000,6,0.000,0.086,2672,2218,3880
$GC,2346,-1.29,-194.7,253.0,-11.9,410,2352,0.00,2.80,0.00,0.000,4,0.000,0.106,2672,3646,3879
$GC,2398,-1.29,-194.7,259.4,-12.7,419,2404,0.00,2.70,0.00,0.000,6,0.000,0.088,2671,2221,3880
$GC,2743,-1.29,-194.7,298.0,-10.6,480,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3880
$GC,3086,-1.29,-194.7,333.5,-9.9,541,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3880
$GC,3421,-1.29,-194.7,364.5,-8.5,587,3425,0.00,2.80,0.00,0.000,4,0.000,0.108,2671,3645,3879
$GC,3464,-1.29,-194.7,368.4,-8.5,590,3471,0.00,2.67,0.00,0.000,6,0.000,0.091,2672,2231,3879
$GC,3791,-1.29,-194.7,391.8,-6.6,621,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3879
$GC,4108,-1.29,-194.7,414.2,-7.6,651,4109,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3879
$GC,4426,-1.29,-194.7,439.0,-8.2,681,4431,0.00,2.78,0.00,0.000,4,0.000,0.110,2672,3647,3879
$GC,4465,-1.29,-194.7,442.5,-8.8,684,4470,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2240,3879
$GC,4791,-1.29,-194.7,469.1,-8.6,714,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2241,3879
$GC,5109,-1.29,-194.7,496.6,-8.8,744,5114,0.00,2.83,0.00,0.000,4,0.000,0.119,2672,824,3879
$GC,5141,-1.29,-194.7,499.6,-9.0,746,5148,0.00,2.75,0.00,0.000,6,0.000,0.100,2672,2245,3879
$GC,5470,-1.29,-194.7,529.7,-9.8,777,5475,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3878
$GC,5795,-1.29,-194.7,559.3,-8.8,808,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3878
$GC,6114,-1.29,-194.7,587.3,-8.8,838,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3878
$GC,6427,-1.29,-194.7,615.0,-9.0,860,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3878
$GC,6737,-1.29,-194.7,643.1,-8.7,875,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3878
$GC,7046,-1.29,-194.7,669.4,-8.6,890,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3877
$GC,7355,-1.29,-194.7,698.1,-9.6,905,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3877
$GC,7664,-1.29,-194.7,727.1,-9.5,920,7665,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3877
$GC,7974,-1.29,-194.7,756.9,-9.4,935,7979,0.00,2.90,0.00,0.000,4,0.000,0.129,2672,825,3877
$GC,8006,-1.29,-194.7,760.2,-10.0,936,8013,0.00,2.75,0.00,0.000,6,0.000,0.105,2672,2239,3877
$GC,8322,-1.29,-194.7,790.2,-9.6,952,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3877
$GC,8632,-1.29,-194.7,817.2,-8.4,967,8637,0.00,2.85,0.00,0.000,4,0.000,0.130,2672,3645,3877
$GC,8664,-1.29,-194.7,820.1,-8.6,968,8671,0.00,2.70,0.00,0.000,6,0.000,0.100,2672,2240,3877
$GC,8980,-1.29,-194.7,845.0,-8.1,984,8981,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3876
$GC,9290,-1.29,-194.7,869.5,-8.0,999,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2240,3876
$GC,9598,-1.29,-194.7,895.1,-8.5,1014,9603,0.00,2.85,0.00,0.000,4,0.000,0.125,2672,3647,3876
$GC,9648,-1.29,-194.7,899.6,-9.3,1016,9652,0.00,2.75,0.00,0.000,6,0.000,0.103,2672,2232,3875
$GC,9964,-1.29,-194.7,927.1,-8.6,1031,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3875
$GC,10272,-1.29,-194.7,953.1,-9.7,1046,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3875
$GC,10582,-1.29,-194.7,976.4,-7.7,1061,10583,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3873
$STATE,10724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10724,begin apogee
$GC,10730,-0.35,0.0,990.2,10.2,1068,10899,1.02,0.00,165.65,1.424,6,0.100,0.000,2879,2331,3085
$STATE,10900,end apogee,CONTROL_FINISHED_OK
$STATE,10900,begin climb
$GC,10902,1.29,194.7,997.9,0.0,1076,11076,1.62,3.03,162.60,1.385,4,0.061,0.130,3237,3736,2291
$GC,11115,1.17,194.7,981.6,13.9,1086,11120,0.12,2.83,0.00,0.000,6,0.120,0.105,3217,2332,2289
$GC,11431,1.11,194.7,942.2,11.5,1101,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2333,2288
$GC,11740,1.05,194.7,906.0,11.1,1116,11745,0.12,2.92,0.00,0.000,4,0.117,0.123,3193,3738,2288
$GC,11768,1.00,194.7,902.6,11.3,1117,11772,0.00,2.80,0.00,0.000,6,0.000,0.103,3193,2328,2288
$GC,12083,1.00,194.7,870.1,10.6,1132,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2328,2288
$GC,12393,1.00,194.7,837.2,10.5,1147,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2328,2287
$GC,12701,1.00,194.7,803.2,11.3,1162,12702,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2329,2287
$GC,13011,1.00,194.7,768.0,11.2,1177,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2329,2287
$GC,13320,1.00,194.7,733.9,11.4,1192,13321,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2329,2286
$GC,13630,1.00,194.7,698.9,10.7,1207,13634,0.00,2.88,0.00,0.000,4,0.000,0.125,3193,913,2286
$GC,13673,1.00,194.7,694.2,10.2,1209,13677,0.00,2.75,0.00,0.000,6,0.000,0.102,3193,2333,2286
$GC,14000,1.00,194.7,660.7,11.0,1225,14005,0.00,2.88,0.00,0.000,4,0.000,0.123,3193,3738,2286
$GC,14040,0.94,194.7,656.2,11.8,1227,14045,0.15,2.78,0.00,0.000,6,0.112,0.097,3166,2320,2285
$GC,14367,0.99,231.4,625.5,8.7,1243,14408,0.00,2.92,31.62,1.181,4,0.000,0.118,3166,920,2141
$GC,14424,1.00,241.0,619.9,9.7,1245,14439,0.00,2.78,9.73,1.050,6,0.000,0.098,3166,2333,2101
$GC,14760,1.00,241.0,585.7,10.1,1268,14761,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2333,2099
$GC,15079,1.04,276.6,556.4,8.8,1298,15116,0.00,0.00,31.30,1.115,6,0.000,0.000,3166,2333,1956
$GC,15436,1.10,286.7,522.9,9.6,1332,15448,0.15,0.00,9.68,1.033,6,0.061,0.000,3204,2333,1916
$GC,15763,1.10,286.7,482.8,11.5,1363,15764,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2333,1914
$GC,16082,1.10,286.7,445.1,11.8,1393,16083,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2333,1913
$GC,16400,1.10,286.7,407.4,11.6,1423,16405,0.00,2.80,0.00,0.000,4,0.000,0.112,3204,3736,1913
$GC,16440,1.10,286.7,402.6,13.3,1426,16444,0.00,2.72,0.00,0.000,6,0.000,0.090,3204,2323,1913
$GC,16764,1.10,286.7,365.8,10.6,1456,16765,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2324,1913
$GC,17092,1.10,286.7,329.6,11.7,1502,17098,0.00,2.83,0.00,0.000,4,0.000,0.109,3204,3737,1913
$GC,17132,1.10,286.7,324.6,12.4,1509,17139,0.00,2.70,0.00,0.000,6,0.000,0.089,3204,2332,1912
$GC,17476,1.10,286.7,286.4,12.3,1570,17481,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2332,1912
$GC,17819,1.10,286.7,247.2,12.2,1631,17824,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2332,1912
$GC,18162,1.10,286.7,209.1,10.6,1692,18167,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2332,1912
$GC,18504,1.10,286.7,172.2,12.3,1753,18509,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2332,1912
$GC,18846,1.10,286.7,133.0,12.9,1814,18852,0.00,2.78,0.00,0.000,4,0.000,0.105,3204,3737,1912
$GC,18881,1.10,286.7,128.6,12.4,1820,18887,0.00,2.67,0.00,0.000,6,0.000,0.086,3204,2336,1912
$GC,19225,1.10,286.7,88.4,12.3,1881,19230,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2335,1912
$GC,19568,1.10,286.7,47.8,14.5,1942,19573,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2336,1913
$GC,19709,1.10,286.7,26.5,12.3,1967,19715,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2336,1913
$GC,19851,1.10,286.7,9.9,10.9,1992,19858,0.00,2.75,0.00,0.000,4,0.000,0.102,3204,3738,1912
$GC,19911,1.10,286.7,3.1,12.2,2002,19917,0.00,2.67,0.00,0.000,6,0.000,0.082,3204,2323,1912
$STATE,19922,end climb,SURFACE_DEPTH_REACHED
$STATE,19922,begin surface coast
$FINISH,0.2,1.027587
$STATE,19939,end surface coast,CONTROL_FINISHED_OK
$STATE,19939,begin surface
$SM_CCo,20021,0.00,0.000,0,0,1910,287.98
$SM_GC,1.10,11.45,0.00,0.00,0.044,0.000,0.000,589,2235,1910,-10.85,0.03,287.98
$IRIDIUM_FIX,6121.73,-2652.19,220897,111144
$TT8_MAMPS,0.02301
$HUMID,1670
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.60
$XPDR_PINGS,98
$24V_AH,23.3,51.531
$10V_AH,10.6,41.632
$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,27.100,106.000,410.575,0.000,0.000,82.621,171.285,351.888,24.500,0.000,0.000,15.509,3129.778,12715.887,557.268,3524.233,948.935,0.000,2085.230,0.000,3500.129,0.000,0.467
$DEVICE_MAMPS,187.915,131.157,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1392.296,1488.107,1766.203,547.884,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119971,2007
$CAP_FILE_SIZE,174484,0
$CFSIZE,260165632,233684992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,280508,171025,6147.270,-2659.573,24,1.1,42,-19.2