version: 66.03
glider: 140
mission: 5
dive: 113
start: 4 30 108 2 21 8
data:
$ID,140
$MISSION,5
$DIVE,113
$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,280
$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,-15293.646
$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,8
$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
$GPS1,021308,6057.944,-2431.492,38,1.3,38,-17.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-54.6
$GPS2,022050,6057.929,-2431.681,11,1.6,11,-17.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6059.805,-2436.838
$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,297.4,20000,-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,-194.7,0.0,0.0,0,106,0.00,0.00,-76.45,0.000,2,0.000,0.000,593,2231,3624
$GC,109,-1.29,-194.7,3.3,-5.3,14,134,12.85,2.78,-5.55,0.000,4,0.202,0.112,2669,3655,3880
$GC,291,-1.29,-194.7,26.3,-9.3,46,298,0.00,2.65,0.00,0.000,6,0.000,0.084,2668,2237,3881
$GC,436,-1.29,-194.7,41.5,-8.5,71,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,577,-1.29,-194.7,52.8,-6.1,96,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,920,-1.29,-194.7,83.9,-10.1,157,926,0.00,2.75,0.00,0.000,4,0.000,0.104,2668,817,3880
$GC,954,-1.29,-194.7,87.5,-10.4,163,961,0.00,2.67,0.00,0.000,6,0.000,0.088,2669,2231,3881
$GC,1298,-1.29,-194.7,119.3,-9.5,224,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3881
$GC,1642,-1.29,-194.7,152.3,-9.3,285,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3881
$GC,1984,-1.29,-194.7,182.5,-8.3,346,1989,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3881
$GC,2327,-1.29,-194.7,215.2,-9.5,407,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3881
$GC,2670,-1.29,-194.7,247.1,-9.3,468,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3881
$GC,3014,-1.29,-194.7,277.7,-8.7,529,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3881
$GC,3357,-1.29,-194.7,307.7,-9.2,590,3363,0.00,2.78,0.00,0.000,4,0.000,0.113,2669,825,3881
$GC,3398,-1.29,-194.7,311.8,-10.0,597,3405,0.00,2.67,0.00,0.000,6,0.000,0.100,2669,2221,3881
$GC,3744,-1.29,-194.7,345.2,-9.9,658,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2221,3881
$GC,4072,-1.29,-194.7,376.5,-9.2,693,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2221,3881
$GC,4389,-1.29,-194.7,404.3,-8.3,723,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3881
$GC,4708,-1.29,-194.7,432.2,-8.6,753,4713,0.00,2.80,0.00,0.000,4,0.000,0.114,2668,3649,3881
$GC,4741,-1.29,-194.7,435.3,-8.9,755,4747,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2227,3881
$GC,5067,-1.29,-194.7,462.7,-8.6,786,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3881
$GC,5384,-1.29,-194.7,489.7,-8.9,816,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,5702,-1.29,-194.7,518.3,-8.8,846,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,6021,-1.29,-194.7,546.4,-8.6,876,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3880
$GC,6341,-1.29,-194.7,572.9,-8.2,906,6345,0.00,2.80,0.00,0.000,4,0.000,0.116,2669,3646,3881
$GC,6391,-1.29,-194.7,577.4,-8.6,910,6396,0.00,2.70,0.00,0.000,6,0.000,0.095,2669,2227,3881
$GC,6716,-1.29,-194.7,603.9,-8.1,938,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,7024,-1.29,-194.7,629.3,-8.5,953,7025,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,7333,-1.29,-194.7,655.7,-8.4,968,7338,0.00,2.83,0.00,0.000,4,0.000,0.120,2669,3645,3880
$GC,7366,-1.29,-194.7,658.7,-9.1,969,7372,0.00,2.70,0.00,0.000,6,0.000,0.096,2669,2230,3880
$GC,7681,-1.29,-194.7,685.1,-8.3,985,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3880
$GC,7991,-1.29,-194.7,710.0,-8.1,1000,7995,0.00,2.85,0.00,0.000,4,0.000,0.123,2669,3649,3880
$GC,8034,-1.29,-194.7,714.0,-8.9,1002,8039,0.00,2.70,0.00,0.000,6,0.000,0.098,2669,2237,3879
$GC,8355,-1.29,-194.7,742.1,-8.9,1018,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3879
$GC,8665,-1.29,-194.7,769.0,-8.5,1033,8670,0.00,2.85,0.00,0.000,4,0.000,0.127,2669,3646,3879
$GC,8698,-1.29,-194.7,772.1,-9.3,1034,8704,0.00,2.72,0.00,0.000,6,0.000,0.101,2669,2232,3879
$GC,9014,-1.29,-194.7,797.9,-8.0,1050,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3879
$GC,9323,-1.29,-194.7,824.5,-8.5,1065,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3879
$GC,9632,-1.29,-194.7,850.9,-8.5,1080,9637,0.00,2.88,0.00,0.000,4,0.000,0.130,2669,3645,3878
$GC,9676,-1.29,-194.7,854.8,-9.0,1082,9681,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2240,3879
$GC,9997,-1.29,-194.7,882.4,-8.8,1098,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3878
$GC,10306,-1.29,-194.7,908.9,-8.7,1113,10310,0.00,2.88,0.00,0.000,4,0.000,0.130,2669,3652,3877
$GC,10361,-1.29,-194.7,914.2,-10.0,1115,10367,0.00,2.75,0.00,0.000,6,0.000,0.107,2669,2237,3877
$GC,10676,-1.29,-194.7,940.8,-8.3,1131,10678,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3878
$GC,10985,-1.29,-194.7,966.8,-8.4,1146,10990,0.00,2.88,0.00,0.000,4,0.000,0.133,2669,3645,3877
$GC,11029,-1.29,-194.7,970.9,-9.9,1148,11034,0.00,2.72,0.00,0.000,6,0.000,0.109,2669,2250,3877
$STATE,11245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11245,begin apogee
$GC,11250,-0.35,0.0,990.5,9.1,1159,11420,1.05,0.00,165.77,1.446,6,0.104,0.000,2879,2332,3085
$STATE,11421,end apogee,CONTROL_FINISHED_OK
$STATE,11421,begin climb
$GC,11423,1.29,194.7,997.7,0.0,1167,11591,1.62,0.00,163.98,1.405,6,0.063,0.000,3243,2332,2291
$GC,11901,1.20,194.7,946.4,13.9,1191,11906,0.12,2.95,0.00,0.000,4,0.119,0.133,3222,3739,2289
$GC,11941,1.10,194.7,940.5,15.0,1193,11946,0.10,2.83,0.00,0.000,6,0.122,0.107,3204,2332,2288
$GC,12267,1.10,194.7,901.3,11.6,1209,12268,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2332,2287
$GC,12576,1.10,194.7,865.8,11.1,1224,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2332,2287
$GC,12885,1.10,194.7,830.9,11.2,1239,12890,0.00,2.90,0.00,0.000,4,0.000,0.126,3204,3740,2286
$GC,12925,1.03,194.7,826.4,12.0,1241,12929,0.00,2.78,0.00,0.000,6,0.000,0.104,3204,2341,2286
$GC,13251,1.03,194.7,789.8,11.1,1257,13255,0.00,2.90,0.00,0.000,4,0.000,0.129,3204,917,2286
$GC,13277,1.03,194.7,786.7,11.0,1258,13281,0.00,2.80,0.00,0.000,6,0.000,0.107,3204,2340,2285
$GC,13593,1.03,194.7,752.4,10.8,1273,13597,0.00,2.88,0.00,0.000,4,0.000,0.128,3204,3740,2285
$GC,13632,0.97,194.7,748.0,11.7,1275,13637,0.17,2.75,0.00,0.000,6,0.110,0.101,3172,2343,2285
$GC,13959,0.98,205.9,717.1,9.6,1291,13975,0.00,2.92,10.52,1.203,4,0.000,0.123,3172,918,2244
$GC,13998,0.99,217.3,713.2,9.6,1292,14019,0.00,2.83,11.40,1.164,6,0.000,0.104,3171,2351,2198
$GC,14328,0.99,217.5,680.2,10.0,1308,14329,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2351,2197
$GC,14637,1.00,225.9,650.6,9.7,1323,14648,0.00,0.00,8.73,1.126,6,0.000,0.000,3172,2351,2164
$GC,14946,1.00,225.9,618.5,10.6,1338,14950,0.00,2.83,0.00,0.000,4,0.000,0.110,3172,919,2163
$GC,14978,1.00,225.9,614.9,11.0,1339,14984,0.00,2.78,0.00,0.000,6,0.000,0.101,3172,2343,2163
$GC,15299,1.01,228.1,581.7,9.9,1363,15300,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2343,2163
$GC,15620,1.01,232.2,549.7,9.9,1393,15629,0.00,0.00,7.12,1.012,6,0.000,0.000,3172,2343,2138
$GC,15945,1.01,232.2,516.9,10.0,1424,15950,0.00,2.80,0.00,0.000,4,0.000,0.112,3172,919,2138
$GC,15977,1.01,232.2,513.4,10.7,1426,15984,0.00,2.75,0.00,0.000,6,0.000,0.098,3172,2343,2137
$GC,16306,1.03,245.1,481.6,9.6,1457,16322,0.00,0.00,12.57,1.064,6,0.000,0.000,3172,2342,2085
$GC,16644,1.04,258.2,449.3,9.5,1489,16661,0.00,0.00,12.35,1.028,6,0.000,0.000,3172,2343,2032
$GC,16983,1.05,260.4,416.3,9.9,1521,16989,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2343,2030
$GC,17309,1.07,280.3,384.3,9.3,1552,17331,0.00,0.00,20.17,1.008,6,0.000,0.000,3172,2343,1942
$GC,17646,1.11,280.3,351.4,10.2,1584,17651,0.12,2.80,0.00,0.000,4,0.064,0.107,3204,918,1939
$GC,17674,1.11,280.3,348.0,12.4,1587,17680,0.00,2.72,0.00,0.000,6,0.000,0.095,3204,2336,1939
$GC,18017,1.11,280.3,307.0,10.8,1648,18023,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2336,1939
$GC,18360,1.11,280.3,266.8,12.6,1709,18366,0.00,2.75,0.00,0.000,4,0.000,0.108,3205,3738,1938
$GC,18389,1.11,280.3,263.2,12.9,1714,18395,0.00,2.67,0.00,0.000,6,0.000,0.086,3204,2331,1938
$GC,18732,1.11,280.3,221.7,12.8,1775,18738,0.00,2.75,0.00,0.000,4,0.000,0.107,3204,914,1938
$GC,18760,1.11,280.3,217.9,13.1,1780,18768,0.00,2.70,0.00,0.000,6,0.000,0.091,3204,2340,1938
$GC,19105,1.11,280.3,176.4,10.6,1841,19110,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2340,1938
$GC,19447,1.11,280.3,139.5,11.1,1902,19453,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2340,1938
$GC,19790,1.11,280.3,100.2,11.2,1963,19795,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2340,1938
$GC,20132,1.11,280.3,61.9,13.7,2024,20138,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2341,1938
$GC,20475,1.11,280.3,21.0,11.3,2085,20481,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2341,1939
$GC,20617,1.16,321.7,2.1,8.6,2110,20624,0.00,0.00,5.68,0.670,2,0.000,0.000,3204,2341,1920
$STATE,20625,end climb,SURFACE_DEPTH_REACHED
$STATE,20625,begin surface coast
$FINISH,0.2,1.028086
$STATE,20647,end surface coast,CONTROL_FINISHED_OK
$STATE,20647,begin surface
$SM_CCo,20729,0.00,0.000,0,0,1917,286.51
$SM_GC,0.95,11.65,0.00,0.00,0.051,0.000,0.000,586,2230,1917,-10.86,-0.14,286.51
$IRIDIUM_FIX,6032.86,-2425.17,240797,202038
$TT8_MAMPS,0.02301
$HUMID,1622
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.80
$XPDR_PINGS,59
$24V_AH,23.4,28.981
$10V_AH,10.7,22.470
$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,27.700,117.250,418.300,0.000,0.000,28.726,29.577,266.877,14.750,0.000,0.000,11.048,3296.403,13110.200,613.430,3477.132,675.667,0.000,2199.181,0.000,3468.203,0.000,0.467
$DEVICE_MAMPS,202.488,152.633,1445.795,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1467.012,1573.419,983.196,594.802,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120078,2115
$CAP_FILE_SIZE,181141,0
$CFSIZE,260165632,245157888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300408,080807,6058.395,-2440.851,49,1.4,55,-17.4