version: 66.03
glider: 140
mission: 5
dive: 306
start: 6 14 108 4 28 40
data:
$ID,140
$MISSION,5
$DIVE,306
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-18868.254
$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,14
$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
$GPS1,042025,6138.721,-2544.309,30,1.5,47,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-63.3
$GPS2,042821,6138.676,-2544.298,15,1.2,15,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6204.210,-2543.110
$TGT_RADIUS,2000.000
$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,19.6,47300,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.29,-194.7,0.0,0.0,0,97,0.00,0.00,-73.75,0.000,2,0.000,0.000,589,2231,3347
$GC,100,-1.29,-194.7,3.1,-6.0,10,131,12.27,2.78,-12.52,0.000,4,0.183,0.105,2672,825,3880
$GC,190,-1.25,-194.7,14.0,-9.5,24,198,0.00,2.65,0.00,0.000,6,0.000,0.086,2672,2242,3881
$GC,336,-1.25,-194.7,26.7,-8.7,49,342,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3881
$GC,479,-1.25,-194.7,39.0,-8.6,74,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3881
$GC,623,-1.25,-194.7,51.2,-8.4,99,629,0.00,2.75,0.00,0.000,4,0.000,0.095,2672,817,3882
$GC,648,-1.25,-194.7,53.5,-9.0,103,655,0.00,2.65,0.00,0.000,6,0.000,0.081,2672,2227,3882
$GC,993,-1.25,-194.7,82.1,-7.3,164,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3882
$GC,1339,-1.25,-194.7,107.8,-7.3,225,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3882
$GC,1682,-1.25,-194.7,134.0,-7.9,286,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3882
$GC,2027,-1.25,-194.7,162.6,-8.3,347,2033,0.00,2.75,0.00,0.000,4,0.000,0.103,2672,818,3882
$GC,2052,-1.25,-194.7,164.9,-8.8,351,2059,0.00,2.67,0.00,0.000,6,0.000,0.088,2672,2226,3882
$GC,2396,-1.25,-194.7,192.3,-7.4,412,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3882
$GC,2742,-1.25,-194.7,217.9,-7.9,473,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3882
$GC,3086,-1.25,-194.7,243.8,-7.1,534,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3882
$GC,3431,-1.25,-194.7,269.0,-7.2,595,3438,0.00,2.78,0.00,0.000,4,0.000,0.108,2672,820,3882
$GC,3456,-1.25,-194.7,270.8,-7.0,599,3463,0.00,2.67,0.00,0.000,6,0.000,0.091,2672,2220,3882
$GC,3802,-1.25,-194.7,294.3,-6.9,660,3808,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3882
$GC,4146,-1.25,-194.7,319.2,-7.2,721,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3882
$GC,4491,-1.25,-194.7,345.3,-8.1,782,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3882
$GC,4827,-1.25,-194.7,373.9,-9.2,818,4828,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3881
$GC,5144,-1.25,-194.7,403.8,-9.5,848,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2220,3881
$GC,5461,-1.25,-194.7,435.7,-10.6,878,5466,0.00,2.78,0.00,0.000,4,0.000,0.113,2672,827,3881
$GC,5489,-1.25,-194.7,438.7,-11.0,880,5494,0.00,2.70,0.00,0.000,6,0.000,0.098,2672,2222,3881
$GC,5816,-1.25,-194.7,473.8,-11.0,910,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3881
$GC,6132,-1.25,-194.7,509.7,-11.4,940,6133,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3880
$GC,6451,-1.25,-194.7,545.6,-11.0,970,6452,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3880
$GC,6770,-1.25,-194.7,578.2,-9.7,1000,6774,0.00,2.80,0.00,0.000,4,0.000,0.115,2672,821,3880
$GC,6810,-1.25,-194.7,582.1,-10.1,1003,6815,0.00,2.70,0.00,0.000,6,0.000,0.099,2672,2217,3880
$GC,7134,-1.25,-194.7,611.4,-8.8,1027,7138,0.00,2.83,0.00,0.000,4,0.000,0.112,2672,3651,3880
$GC,7161,-1.25,-194.7,614.1,-9.2,1028,7165,0.00,2.75,0.00,0.000,6,0.000,0.094,2672,2211,3880
$GC,7478,-1.25,-194.7,640.2,-8.0,1043,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3880
$GC,7786,-1.25,-194.7,665.1,-8.0,1058,7787,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3880
$GC,8096,-1.25,-194.7,689.5,-7.8,1073,8101,0.00,2.80,0.00,0.000,4,0.000,0.123,2672,824,3880
$GC,8123,-1.25,-194.7,691.8,-8.0,1074,8127,0.00,2.72,0.00,0.000,6,0.000,0.104,2672,2215,3880
$GC,8439,-1.25,-194.7,715.7,-7.3,1089,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3879
$GC,8749,-1.25,-194.7,739.2,-7.8,1104,8750,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3879
$GC,9058,-1.25,-194.7,765.3,-9.3,1119,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3879
$GC,9367,-1.25,-194.7,795.4,-9.7,1134,9368,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$GC,9677,-1.25,-194.7,823.8,-9.0,1149,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$GC,9985,-1.25,-194.7,851.9,-9.3,1164,9990,0.00,2.95,0.00,0.000,4,0.000,0.134,2672,3647,3878
$GC,10011,-1.25,-194.7,854.6,-10.3,1165,10016,0.00,2.80,0.00,0.000,6,0.000,0.103,2672,2211,3877
$GC,10328,-1.25,-194.7,883.6,-9.3,1180,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3877
$GC,10638,-1.25,-194.7,911.0,-8.7,1195,10639,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3877
$GC,10946,-1.25,-194.7,937.1,-8.2,1210,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3876
$GC,11256,-1.25,-194.7,961.8,-7.7,1225,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3876
$GC,11564,-1.25,-194.7,985.3,-7.6,1240,11569,0.00,2.95,0.00,0.000,4,0.000,0.130,2672,3651,3876
$GC,11591,-1.25,-194.7,987.7,-8.1,1241,11596,0.00,2.83,0.00,0.000,6,0.000,0.107,2672,2217,3876
$STATE,11637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11637,begin apogee
$GC,11643,-0.35,0.0,991.4,8.1,1243,11820,1.02,0.00,168.05,1.420,6,0.101,0.000,2878,2328,3085
$STATE,11820,end apogee,CONTROL_FINISHED_OK
$STATE,11820,begin climb
$GC,11823,1.29,194.7,998.2,0.0,1252,12000,1.62,3.10,164.07,1.384,4,0.059,0.140,3237,913,2291
$GC,12034,1.22,194.7,983.7,12.4,1261,12039,0.00,2.88,0.00,0.000,6,0.000,0.113,3237,2334,2290
$GC,12350,1.14,194.7,947.9,10.9,1276,12355,0.15,2.97,0.00,0.000,4,0.114,0.134,3210,3738,2289
$GC,12391,1.06,194.7,943.5,10.4,1278,12396,0.00,2.85,0.00,0.000,6,0.000,0.108,3210,2330,2289
$GC,12719,1.06,225.6,913.0,8.9,1294,12754,0.00,3.05,27.98,1.312,4,0.000,0.136,3210,924,2165
$GC,12785,1.08,246.5,906.8,9.3,1297,12811,0.00,2.83,19.62,1.268,6,0.000,0.108,3210,2333,2079
$GC,13140,1.12,272.8,874.1,9.1,1314,13166,0.00,0.00,24.27,1.289,6,0.000,0.000,3210,2333,1972
$GC,13469,1.12,272.8,842.1,10.0,1330,13470,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2333,1968
$GC,13778,1.12,274.7,811.3,9.9,1345,13779,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2333,1967
$GC,14087,1.12,274.7,778.9,10.3,1360,14092,0.00,2.88,0.00,0.000,4,0.000,0.121,3210,914,1967
$GC,14114,1.12,274.7,775.9,10.4,1361,14118,0.00,2.80,0.00,0.000,6,0.000,0.105,3210,2333,1967
$GC,14430,1.12,274.7,742.2,11.3,1376,14435,0.00,2.92,0.00,0.000,4,0.000,0.129,3210,3738,1966
$GC,14463,1.08,274.7,738.0,12.5,1377,14470,0.00,2.80,0.00,0.000,6,0.000,0.100,3210,2322,1966
$GC,14779,1.08,274.7,701.8,11.5,1393,14784,0.00,2.85,0.00,0.000,4,0.000,0.122,3210,913,1966
$GC,14835,1.08,274.7,694.7,11.7,1395,14842,0.00,2.75,0.00,0.000,6,0.000,0.100,3210,2321,1966
$GC,15152,1.08,274.7,658.9,11.1,1411,15156,0.00,2.90,0.00,0.000,4,0.000,0.123,3210,3738,1965
$GC,15184,1.04,274.7,654.8,11.6,1412,15192,0.12,2.80,0.00,0.000,6,0.113,0.097,3188,2308,1965
$GC,15500,1.05,281.8,623.0,9.8,1428,15514,0.00,2.85,8.27,1.083,4,0.000,0.116,3188,918,1936
$GC,15562,1.09,281.8,616.7,10.3,1430,15569,0.00,2.70,0.00,0.000,6,0.000,0.097,3188,2305,1935
$GC,15882,1.13,319.5,586.4,8.7,1453,15928,0.00,2.97,34.70,1.141,4,0.000,0.117,3188,3738,1780
$GC,15953,1.15,335.5,580.2,9.4,1459,15977,0.10,2.85,15.52,1.075,6,0.071,0.094,3214,2295,1716
$GC,16294,1.15,335.5,545.4,10.9,1491,16298,0.00,2.75,0.00,0.000,4,0.000,0.114,3214,918,1712
$GC,16338,1.15,335.5,540.4,11.6,1494,16345,0.00,2.67,0.00,0.000,6,0.000,0.097,3214,2301,1712
$GC,16666,1.15,335.5,505.2,10.6,1525,16671,0.00,2.90,0.00,0.000,4,0.000,0.114,3214,3737,1711
$GC,16699,1.15,335.5,500.9,10.4,1527,16707,0.00,2.80,0.00,0.000,6,0.000,0.093,3213,2296,1710
$GC,17026,1.15,335.5,467.5,10.4,1558,17031,0.00,2.72,0.00,0.000,4,0.000,0.113,3214,919,1711
$GC,17067,1.15,335.5,463.0,12.1,1561,17072,0.00,2.67,0.00,0.000,6,0.000,0.094,3213,2306,1711
$GC,17396,1.15,335.5,428.2,11.2,1591,17402,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2307,1710
$GC,17721,1.15,335.5,391.0,11.3,1622,17726,0.00,2.75,0.00,0.000,4,0.000,0.109,3214,912,1710
$GC,17749,1.15,335.5,387.7,11.0,1624,17754,0.00,2.65,0.00,0.000,6,0.000,0.092,3214,2294,1711
$GC,18076,1.15,335.5,349.7,12.2,1654,18083,0.00,2.88,0.00,0.000,4,0.000,0.110,3214,3737,1710
$GC,18101,1.15,335.5,346.3,12.8,1658,18109,0.00,2.80,0.00,0.000,6,0.000,0.090,3213,2292,1710
$GC,18447,1.15,335.5,304.9,11.7,1719,18454,0.00,2.70,0.00,0.000,4,0.000,0.109,3214,917,1711
$GC,18483,1.15,335.5,300.3,13.0,1725,18490,0.00,2.62,0.00,0.000,6,0.000,0.091,3214,2295,1711
$GC,18828,1.15,335.5,260.7,11.7,1786,18836,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2295,1710
$GC,19174,1.15,335.5,222.0,10.6,1847,19180,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2295,1711
$GC,19519,1.15,335.5,184.8,10.5,1908,19526,0.00,2.70,0.00,0.000,4,0.000,0.102,3214,911,1711
$GC,19550,1.15,335.5,181.4,10.2,1913,19557,0.00,2.62,0.00,0.000,6,0.000,0.087,3213,2293,1711
$GC,19896,1.15,335.5,145.3,10.3,1974,19903,0.00,2.83,0.00,0.000,4,0.000,0.103,3214,3735,1710
$GC,19927,1.15,335.5,142.0,10.8,1979,19934,0.00,2.78,0.00,0.000,6,0.000,0.085,3214,2282,1711
$GC,20273,1.20,371.5,107.7,8.7,2040,20312,0.00,2.75,30.65,0.828,4,0.000,0.101,3213,918,1569
$GC,20343,1.26,379.7,100.9,9.7,2051,20357,0.00,2.62,8.70,0.738,6,0.000,0.087,3213,2286,1536
$GC,20696,1.31,379.7,63.4,10.9,2113,20704,0.15,2.88,0.00,0.000,4,0.058,0.102,3258,3736,1531
$GC,20728,1.31,379.7,58.9,13.8,2118,20735,0.00,2.80,0.00,0.000,6,0.000,0.084,3258,2277,1532
$GC,21073,1.31,379.7,12.0,13.7,2179,21079,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2277,1531
$STATE,21153,end climb,SURFACE_DEPTH_REACHED
$STATE,21153,begin surface coast
$FINISH,0.4,1.027418
$STATE,21170,end surface coast,CONTROL_FINISHED_OK
$STATE,21170,begin surface
$SM_CCo,21252,0.00,0.000,0,0,1527,382.18
$SM_GC,1.21,11.62,0.00,0.00,0.040,0.000,0.000,589,2233,1527,-10.84,-0.06,382.18
$IRIDIUM_FIX,6112.75,-2543.35,070997,222218
$TT8_MAMPS,0.02301
$HUMID,1706
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.70
$XPDR_PINGS,578
$24V_AH,22.6,65.657
$10V_AH,10.6,54.207
$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,27.075,162.300,501.850,0.000,0.000,24.753,30.201,264.193,144.500,0.000,0.000,15.201,4381.827,11969.647,734.104,3888.135,733.346,0.000,2455.712,0.000,3876.041,0.000,0.467
$DEVICE_MAMPS,182.546,140.361,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1521.800,1679.721,1931.752,632.708,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,132222,2196
$CAP_FILE_SIZE,192211,0
$CFSIZE,260165632,226611200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.146,161.0,1
$GPS,140608,102408,6140.213,-2543.004,41,1.2,41,-18.4