version: 66.03
glider: 140
mission: 5
dive: 83
start: 4 22 108 17 3 4
data:
$ID,140
$MISSION,5
$DIVE,83
$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,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,-14642.469
$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,11
$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
$GPS1,165038,5936.808,-2146.788,29,1.2,29,-15.2
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-54.1
$GPS2,170245,5937.028,-2146.942,11,1.2,11,-15.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5947.825,-2146.847
$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,16.2,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-65.40,0.000,2,0.000,0.000,589,2233,3559
$GC,99,-1.29,-194.7,3.3,-5.0,12,129,13.10,2.83,-6.68,0.000,4,0.209,0.111,2671,3654,3882
$GC,234,-1.29,-194.7,19.6,-8.2,35,240,0.00,2.67,0.00,0.000,6,0.000,0.084,2671,2230,3882
$GC,376,-1.29,-194.7,32.1,-12.5,60,382,0.00,2.72,0.00,0.000,4,0.000,0.104,2671,818,3882
$GC,400,-1.29,-194.7,35.5,-13.9,64,406,0.00,2.67,0.00,0.000,6,0.000,0.088,2671,2232,3882
$GC,544,-1.29,-194.7,50.8,-9.4,89,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3882
$GC,685,-1.29,-194.7,65.7,-10.6,114,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3882
$GC,826,-1.29,-194.7,80.3,-11.2,139,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,968,-1.29,-194.7,93.6,-9.1,164,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,1110,-1.29,-194.7,107.1,-9.2,189,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,1252,-1.29,-194.7,120.4,-9.2,214,1258,0.00,2.72,0.00,0.000,4,0.000,0.106,2671,3645,3883
$GC,1276,-1.29,-194.7,122.8,-9.9,218,1283,0.00,2.65,0.00,0.000,6,0.000,0.085,2671,2233,3883
$GC,1420,-1.29,-194.7,135.9,-9.3,243,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,1562,-1.29,-194.7,149.5,-9.7,268,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3883
$GC,1704,-1.29,-194.7,163.2,-9.9,293,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,2046,-1.29,-194.7,196.0,-9.6,354,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3883
$GC,2389,-1.29,-194.7,229.2,-9.9,415,2395,0.00,2.78,0.00,0.000,4,0.000,0.108,2671,3650,3883
$GC,2413,-1.29,-194.7,231.7,-10.1,419,2419,0.00,2.65,0.00,0.000,6,0.000,0.087,2671,2241,3883
$GC,2756,-1.29,-194.7,265.3,-9.9,480,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3883
$GC,3099,-1.29,-194.7,300.3,-10.8,541,3105,0.00,2.78,0.00,0.000,4,0.000,0.110,2671,3650,3884
$GC,3128,-1.29,-194.7,303.5,-11.3,546,3134,0.00,2.65,0.00,0.000,6,0.000,0.090,2671,2244,3883
$GC,3471,-1.29,-194.7,338.5,-10.1,607,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,3816,-1.29,-194.7,372.2,-9.7,668,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,4160,-1.29,-194.7,406.4,-9.9,729,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3884
$GC,4502,-1.29,-194.7,440.6,-10.2,790,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,4843,-1.29,-194.7,475.7,-10.4,851,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3883
$GC,5186,-1.29,-194.7,509.3,-9.5,912,5192,0.00,2.78,0.00,0.000,4,0.000,0.117,2671,3644,3883
$GC,5215,-1.29,-194.7,512.2,-10.1,917,5221,0.00,2.67,0.00,0.000,6,0.000,0.094,2672,2239,3883
$GC,5558,-1.29,-194.7,542.2,-8.6,978,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3883
$GC,5901,-1.29,-194.7,571.7,-8.3,1039,5907,0.00,2.80,0.00,0.000,4,0.000,0.119,2671,3645,3883
$GC,5924,-1.29,-194.7,573.7,-9.2,1043,5930,0.00,2.67,0.00,0.000,6,0.000,0.096,2671,2243,3882
$GC,6265,-1.29,-194.7,602.9,-8.7,1101,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3882
$GC,6584,-1.29,-194.7,630.5,-8.5,1131,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3882
$GC,6904,-1.29,-194.7,657.2,-8.5,1161,6909,0.00,2.83,0.00,0.000,4,0.000,0.125,2671,3644,3882
$GC,6944,-1.29,-194.7,661.1,-9.8,1164,6948,0.00,2.67,0.00,0.000,6,0.000,0.100,2671,2254,3882
$GC,7270,-1.29,-194.7,690.3,-9.0,1194,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2255,3881
$GC,7587,-1.29,-194.7,718.3,-8.8,1224,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2255,3881
$GC,7906,-1.29,-194.7,746.2,-8.6,1254,7910,0.00,2.83,0.00,0.000,4,0.000,0.126,2671,3651,3881
$GC,7949,-1.29,-194.7,750.3,-9.1,1257,7956,0.00,2.70,0.00,0.000,6,0.000,0.104,2671,2259,3881
$GC,8276,-1.29,-194.7,778.4,-8.9,1288,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2259,3880
$GC,8592,-1.29,-194.7,805.8,-8.6,1318,8597,0.00,2.83,0.00,0.000,4,0.000,0.129,2672,3652,3880
$GC,8620,-1.29,-194.7,808.3,-9.3,1320,8624,0.00,2.70,0.00,0.000,6,0.000,0.106,2671,2262,3880
$GC,8946,-1.29,-194.7,835.8,-8.3,1350,8947,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2263,3879
$GC,9263,-1.29,-194.7,862.3,-8.4,1380,9268,0.00,2.83,0.00,0.000,4,0.000,0.130,2671,3645,3879
$GC,9296,-1.29,-194.7,865.3,-9.4,1382,9303,0.00,2.70,0.00,0.000,6,0.000,0.108,2671,2266,3879
$GC,9622,-1.29,-194.7,893.2,-8.8,1413,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2266,3878
$GC,9941,-1.29,-194.7,921.5,-8.7,1443,9946,0.00,2.83,0.00,0.000,4,0.000,0.132,2671,3643,3878
$GC,9974,-1.29,-194.7,924.8,-9.5,1445,9980,0.00,2.70,0.00,0.000,6,0.000,0.111,2671,2270,3878
$GC,10300,-1.29,-194.7,952.4,-8.2,1476,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2271,3878
$GC,10618,-1.29,-194.7,978.7,-8.3,1506,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2271,3877
$STATE,10763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10763,begin apogee
$GC,10769,-0.35,0.0,990.5,8.1,1520,10938,1.00,0.00,164.70,1.440,6,0.107,0.000,2875,2327,3085
$STATE,10939,end apogee,CONTROL_FINISHED_OK
$STATE,10939,begin climb
$GC,10941,1.29,194.7,996.5,0.0,1537,11116,1.65,3.10,162.25,1.401,4,0.065,0.144,3235,913,2290
$GC,11144,1.22,194.7,980.6,13.7,1556,11150,0.00,2.90,0.00,0.000,6,0.000,0.117,3236,2337,2289
$GC,11470,1.13,194.7,938.8,12.9,1587,11476,0.15,2.92,0.00,0.000,4,0.117,0.132,3210,3742,2288
$GC,11522,1.04,194.7,932.2,11.9,1591,11527,0.12,2.85,0.00,0.000,6,0.118,0.110,3188,2325,2288
$GC,11846,1.05,198.7,899.1,9.9,1621,11856,0.00,0.00,4.60,0.946,6,0.000,0.000,3188,2325,2275
$GC,12176,1.05,198.7,866.4,10.0,1652,12177,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2326,2274
$GC,12495,1.05,205.3,835.1,9.8,1682,12504,0.00,0.00,7.38,1.160,6,0.000,0.000,3188,2326,2248
$GC,12823,1.05,205.3,801.8,10.4,1713,12828,0.00,2.92,0.00,0.000,4,0.000,0.128,3188,3742,2247
$GC,12855,1.00,205.3,798.0,10.4,1715,12861,0.00,2.80,0.00,0.000,6,0.000,0.107,3188,2327,2247
$GC,13181,1.00,205.3,763.0,11.3,1746,13186,0.00,2.90,0.00,0.000,4,0.000,0.130,3188,911,2246
$GC,13213,1.00,205.3,759.0,11.6,1748,13220,0.00,2.83,0.00,0.000,6,0.000,0.109,3188,2339,2247
$GC,13540,1.00,205.3,723.3,10.6,1779,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2339,2246
$GC,13857,1.00,205.3,689.6,10.5,1809,13861,0.00,2.88,0.00,0.000,4,0.000,0.128,3187,3743,2246
$GC,13884,1.00,205.3,686.5,11.6,1811,13889,0.00,2.78,0.00,0.000,6,0.000,0.101,3188,2327,2246
$GC,14208,1.00,205.3,652.8,10.2,1841,14209,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2328,2246
$GC,14527,1.00,205.3,619.8,10.6,1871,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2328,2246
$GC,14853,1.00,205.3,585.3,10.5,1913,14859,0.00,2.80,0.00,0.000,4,0.000,0.118,3188,918,2246
$GC,14887,1.00,205.3,581.5,10.6,1919,14893,0.00,2.75,0.00,0.000,6,0.000,0.104,3188,2332,2246
$GC,15231,1.03,222.3,545.9,9.4,1980,15253,0.00,2.90,15.77,1.128,4,0.000,0.118,3187,3742,2177
$GC,15293,1.03,222.3,539.5,11.1,1991,15299,0.00,2.75,0.00,0.000,6,0.000,0.095,3187,2330,2176
$GC,15636,1.05,240.9,506.1,9.4,2052,15659,0.00,2.92,16.95,1.088,4,0.000,0.117,3188,918,2102
$GC,15693,1.05,240.9,500.4,10.3,2062,15699,0.00,2.75,0.00,0.000,6,0.000,0.100,3187,2325,2100
$GC,16037,1.05,240.9,467.7,10.4,2123,16043,0.00,2.83,0.00,0.000,4,0.000,0.116,3188,3738,2100
$GC,16082,1.05,240.9,462.6,11.5,2131,16088,0.00,2.72,0.00,0.000,6,0.000,0.094,3188,2328,2100
$GC,16425,1.05,240.9,427.2,11.6,2192,16432,0.00,2.78,0.00,0.000,4,0.000,0.114,3187,914,2100
$GC,16466,1.05,240.9,422.7,11.0,2199,16472,0.00,2.72,0.00,0.000,6,0.000,0.098,3187,2329,2101
$GC,16808,1.05,240.9,386.0,11.5,2260,16815,0.00,2.80,0.00,0.000,4,0.000,0.114,3188,3741,2100
$GC,16838,1.05,240.9,382.8,10.6,2265,16844,0.00,2.70,0.00,0.000,6,0.000,0.091,3187,2329,2101
$GC,17181,1.05,240.9,346.1,10.4,2326,17187,0.00,2.78,0.00,0.000,4,0.000,0.113,3188,913,2101
$GC,17227,1.05,240.9,341.2,10.6,2334,17233,0.00,2.72,0.00,0.000,6,0.000,0.097,3188,2330,2101
$GC,17571,1.05,240.9,305.7,10.8,2395,17577,0.00,2.78,0.00,0.000,4,0.000,0.110,3187,3739,2101
$GC,17606,1.05,240.9,302.0,10.2,2401,17612,0.00,2.72,0.00,0.000,6,0.000,0.091,3188,2312,2101
$GC,17949,1.05,245.0,266.2,9.9,2462,17955,0.00,0.00,4.88,0.740,6,0.000,0.000,3188,2312,2086
$GC,18293,1.07,262.0,231.4,9.4,2523,18315,0.00,0.00,15.70,0.910,6,0.000,0.000,3188,2312,2016
$GC,18652,1.07,262.0,190.5,12.0,2587,18657,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2312,2014
$GC,18994,1.07,262.0,151.9,10.9,2648,19000,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2312,2015
$GC,19338,1.10,280.4,114.0,9.4,2709,19361,0.00,2.75,16.55,0.840,4,0.000,0.102,3187,914,1940
$GC,19402,1.15,280.4,107.2,11.6,2720,19409,0.10,2.67,0.00,0.000,6,0.067,0.088,3216,2320,1939
$GC,19548,1.15,280.4,90.1,14.0,2745,19554,0.00,2.78,0.00,0.000,4,0.000,0.105,3216,3739,1937
$GC,19589,1.10,280.4,84.4,12.1,2752,19596,0.00,2.67,0.00,0.000,6,0.000,0.084,3216,2318,1937
$GC,19732,1.13,297.7,68.0,9.4,2777,19755,0.00,2.78,15.57,0.800,4,0.000,0.100,3216,919,1871
$GC,19778,1.13,297.7,62.7,10.7,2785,19785,0.00,2.67,0.00,0.000,6,0.000,0.088,3216,2326,1870
$GC,19922,1.13,297.7,45.1,11.9,2810,19928,0.00,2.75,0.00,0.000,4,0.000,0.105,3216,3737,1868
$GC,19957,1.13,297.7,40.2,12.8,2816,19964,0.00,2.67,0.00,0.000,6,0.000,0.084,3216,2323,1868
$GC,20101,1.13,297.7,21.8,12.6,2841,20107,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2323,1868
$GC,20243,1.13,297.7,3.5,14.6,2866,20248,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2324,1868
$STATE,20253,end climb,SURFACE_DEPTH_REACHED
$STATE,20253,begin surface coast
$FINISH,-0.0,1.003307
$STATE,20270,end surface coast,CONTROL_FINISHED_OK
$STATE,20270,begin surface
$SM_CCo,20352,0.00,0.000,0,0,1863,299.76
$SM_GC,0.90,11.55,0.00,0.00,0.046,0.000,0.000,593,2223,1863,-10.85,-0.34,299.76
$IRIDIUM_FIX,5915.45,-2144.13,170797,171752
$TT8_MAMPS,0.02301
$HUMID,1573
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,18.10
$XPDR_PINGS,87
$24V_AH,23.4,23.655
$10V_AH,10.6,17.852
$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,27.675,161.050,424.350,0.000,0.000,49.853,66.950,390.727,21.750,0.000,0.000,11.527,4319.483,10442.696,632.082,4728.137,927.002,0.000,2732.322,0.000,4720.762,0.000,0.467
$DEVICE_MAMPS,208.624,165.672,1439.659,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1987.341,2160.865,1820.615,1177.977,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,163872,2871
$CAP_FILE_SIZE,223884,0
$CFSIZE,260165632,248033280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,220408,224332,5943.331,-2144.353,42,1.1,42,-15.2