version: 66.03
glider: 140
mission: 5
dive: 144
start: 5 7 108 8 4 44
data:
$ID,140
$MISSION,5
$DIVE,144
$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,50
$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,-16031.978
$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,14
$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
$GPS1,075702,6103.012,-2701.695,38,1.4,38,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.5
$GPS2,080426,6103.059,-2701.593,11,1.3,16,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6110.000,-2657.604
$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,68.7,20000,-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,27,-1.29,-194.7,0.0,0.0,0,111,0.00,0.00,-81.15,0.000,2,0.000,0.000,588,2221,3740
$GC,114,-1.29,-194.7,3.9,-7.7,15,139,12.45,2.78,-2.70,0.000,4,0.190,0.109,2671,3640,3882
$GC,226,-1.29,-194.7,22.7,-9.8,34,232,0.00,2.62,0.00,0.000,6,0.000,0.087,2670,2238,3883
$GC,368,-1.29,-194.7,37.0,-9.4,59,375,0.00,2.72,0.00,0.000,4,0.000,0.103,2671,815,3883
$GC,398,-1.29,-194.7,39.8,-9.4,64,405,0.00,2.60,0.00,0.000,6,0.000,0.084,2670,2213,3883
$GC,543,-1.29,-194.7,53.1,-9.8,89,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3883
$GC,885,-1.29,-194.7,86.6,-9.4,150,891,0.00,2.67,0.00,0.000,4,0.000,0.102,2671,820,3883
$GC,920,-1.29,-194.7,90.0,-9.5,156,926,0.00,2.60,0.00,0.000,6,0.000,0.086,2671,2211,3883
$GC,1265,-1.29,-194.7,119.8,-8.2,217,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2211,3883
$GC,1608,-1.29,-194.7,150.6,-9.1,278,1614,0.00,2.75,0.00,0.000,4,0.000,0.100,2670,3647,3883
$GC,1627,-1.29,-194.7,152.3,-9.5,281,1633,0.00,2.70,0.00,0.000,6,0.000,0.085,2670,2203,3883
$GC,1971,-1.29,-194.7,185.0,-9.6,342,1977,0.00,2.67,0.00,0.000,4,0.000,0.106,2670,819,3883
$GC,2012,-1.29,-194.7,189.0,-9.5,349,2018,0.00,2.60,0.00,0.000,6,0.000,0.087,2670,2199,3883
$GC,2356,-1.29,-194.7,218.4,-8.2,410,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2199,3883
$GC,2699,-1.29,-194.7,246.4,-8.4,471,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2200,3883
$GC,3042,-1.29,-194.7,274.7,-8.2,532,3048,0.00,2.67,0.00,0.000,4,0.000,0.108,2670,827,3884
$GC,3060,-1.29,-194.7,276.2,-8.3,535,3066,0.00,2.60,0.00,0.000,6,0.000,0.092,2670,2197,3883
$GC,3404,-1.29,-194.7,304.4,-8.1,596,3411,0.00,2.80,0.00,0.000,4,0.000,0.104,2670,3655,3883
$GC,3435,-1.29,-194.7,306.9,-8.6,601,3441,0.00,2.75,0.00,0.000,6,0.000,0.090,2671,2192,3883
$GC,3779,-1.29,-194.7,336.1,-8.5,662,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2193,3883
$GC,4117,-1.29,-194.7,366.8,-9.6,707,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2193,3883
$GC,4438,-1.29,-194.7,397.8,-9.7,737,4442,0.00,2.83,0.00,0.000,4,0.000,0.107,2670,3648,3883
$GC,4458,-1.29,-194.7,400.3,-10.2,738,4465,0.00,2.72,0.00,0.000,6,0.000,0.091,2670,2203,3883
$GC,4786,-1.29,-194.7,431.6,-9.5,769,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2203,3883
$GC,5104,-1.29,-194.7,463.8,-10.0,799,5108,0.00,2.72,0.00,0.000,4,0.000,0.119,2670,821,3883
$GC,5135,-1.29,-194.7,467.4,-10.8,801,5142,0.00,2.62,0.00,0.000,6,0.000,0.096,2671,2201,3883
$GC,5462,-1.29,-194.7,499.4,-9.8,832,5464,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2201,3883
$GC,5780,-1.29,-194.7,530.0,-9.5,862,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2201,3883
$GC,6098,-1.29,-194.7,557.6,-8.2,892,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2201,3883
$GC,6418,-1.29,-194.7,583.4,-8.4,922,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2202,3882
$GC,6742,-1.29,-194.7,610.1,-8.2,947,6747,0.00,2.83,0.00,0.000,4,0.000,0.113,2671,3650,3882
$GC,6774,-1.29,-194.7,613.0,-8.9,948,6780,0.00,2.78,0.00,0.000,6,0.000,0.095,2670,2189,3882
$GC,7090,-1.29,-194.7,639.6,-8.7,964,7095,0.00,2.88,0.00,0.000,4,0.000,0.113,2671,3651,3882
$GC,7134,-1.29,-194.7,643.8,-9.6,966,7139,0.00,2.72,0.00,0.000,6,0.000,0.095,2671,2216,3882
$GC,7455,-1.29,-194.7,671.3,-8.9,982,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3882
$GC,7765,-1.29,-194.7,697.1,-8.1,997,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3882
$GC,8074,-1.29,-194.7,721.9,-8.0,1012,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2217,3881
$GC,8383,-1.29,-194.7,747.8,-8.7,1027,8388,0.00,2.80,0.00,0.000,4,0.000,0.124,2670,818,3882
$GC,8406,-1.29,-194.7,749.8,-8.6,1028,8410,0.00,2.70,0.00,0.000,6,0.000,0.101,2670,2217,3881
$GC,8727,-1.29,-194.7,778.6,-8.8,1044,8731,0.00,2.85,0.00,0.000,4,0.000,0.122,2671,3650,3881
$GC,8748,-1.29,-194.7,780.6,-8.5,1045,8752,0.00,2.75,0.00,0.000,6,0.000,0.100,2671,2219,3881
$GC,9068,-1.29,-194.7,807.1,-8.0,1061,9069,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2220,3881
$GC,9378,-1.29,-194.7,829.8,-7.0,1076,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2220,3881
$GC,9687,-1.29,-194.7,852.3,-7.4,1091,9691,0.00,2.83,0.00,0.000,4,0.000,0.129,2670,820,3881
$GC,9713,-1.29,-194.7,854.6,-8.8,1092,9718,0.00,2.70,0.00,0.000,6,0.000,0.104,2670,2218,3880
$GC,10029,-1.29,-194.7,880.0,-8.4,1107,10034,0.00,2.88,0.00,0.000,4,0.000,0.128,2670,3647,3880
$GC,10069,-1.29,-194.7,883.4,-8.4,1109,10073,0.00,2.75,0.00,0.000,6,0.000,0.104,2671,2224,3880
$GC,10395,-1.29,-194.7,910.6,-8.8,1125,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3880
$GC,10704,-1.29,-194.7,937.9,-9.2,1140,10708,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,3650,3880
$GC,10731,-1.29,-194.7,940.5,-9.8,1141,10735,0.00,2.78,0.00,0.000,6,0.000,0.105,2670,2217,3879
$GC,11047,-1.29,-194.7,970.1,-9.8,1156,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2218,3879
$STATE,11270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11270,begin apogee
$GC,11276,-0.35,0.0,991.4,9.1,1167,11446,1.02,0.00,165.93,1.427,6,0.100,0.000,2877,2330,3085
$STATE,11447,end apogee,CONTROL_FINISHED_OK
$STATE,11447,begin climb
$GC,11449,1.29,194.7,998.2,0.0,1175,11622,1.65,3.00,162.02,1.391,4,0.061,0.133,3239,921,2291
$GC,11656,1.21,194.7,982.8,12.8,1185,11661,0.00,2.83,0.00,0.000,6,0.000,0.110,3239,2331,2289
$GC,11983,1.12,194.7,937.2,14.6,1201,11988,0.15,2.92,0.00,0.000,4,0.114,0.128,3208,3739,2288
$GC,12090,1.03,194.7,921.7,13.8,1206,12095,0.12,2.80,0.00,0.000,6,0.119,0.107,3186,2343,2288
$GC,12416,1.03,194.7,882.4,11.7,1222,12421,0.00,2.88,0.00,0.000,4,0.000,0.123,3186,3739,2288
$GC,12449,0.98,194.7,878.3,12.2,1223,12455,0.00,2.78,0.00,0.000,6,0.000,0.106,3186,2352,2288
$GC,12764,0.98,194.7,844.1,10.5,1239,12769,0.00,2.83,0.00,0.000,4,0.000,0.119,3186,3738,2288
$GC,12836,0.92,194.7,835.7,12.7,1242,12841,0.12,2.70,0.00,0.000,6,0.117,0.104,3164,2379,2288
$GC,13152,0.96,221.7,805.2,9.1,1257,13181,0.00,3.05,23.77,1.277,4,0.000,0.126,3164,916,2181
$GC,13238,0.99,246.3,797.0,9.1,1261,13267,0.00,2.83,22.60,1.242,6,0.000,0.101,3164,2370,2080
$GC,13592,1.01,266.3,764.3,9.3,1278,13616,0.00,2.90,18.02,1.226,4,0.000,0.121,3164,3735,1998
$GC,13651,1.03,279.3,758.1,9.5,1280,13670,0.00,2.72,12.98,1.162,6,0.000,0.100,3164,2354,1946
$GC,13988,1.03,286.2,725.6,9.8,1297,14002,0.00,2.95,7.10,1.073,4,0.000,0.118,3164,917,1918
$GC,14031,1.11,297.8,721.4,9.6,1299,14053,0.17,2.80,12.50,1.135,6,0.059,0.098,3207,2359,1869
$GC,14362,1.11,297.8,681.1,12.1,1315,14366,0.00,2.78,0.00,0.000,4,0.000,0.116,3207,3738,1866
$GC,14450,1.11,297.8,669.5,12.4,1319,14455,0.00,2.67,0.00,0.000,6,0.000,0.097,3207,2363,1865
$GC,14771,1.11,297.8,630.3,12.2,1335,14772,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2363,1865
$GC,15083,1.11,297.8,591.9,12.3,1353,15087,0.00,2.72,0.00,0.000,4,0.000,0.109,3207,3737,1864
$GC,15123,1.11,297.8,586.9,13.2,1356,15128,0.00,2.67,0.00,0.000,6,0.000,0.093,3207,2361,1864
$GC,15447,1.11,297.8,547.4,11.8,1386,15452,0.00,2.85,0.00,0.000,4,0.000,0.113,3207,911,1865
$GC,15479,1.11,297.8,543.4,11.8,1388,15486,0.00,2.78,0.00,0.000,6,0.000,0.093,3207,2369,1864
$GC,15807,1.11,297.8,505.3,11.5,1419,15811,0.00,2.70,0.00,0.000,4,0.000,0.107,3207,3738,1864
$GC,15840,1.11,297.8,500.9,11.9,1421,15846,0.00,2.65,0.00,0.000,6,0.000,0.091,3207,2363,1864
$GC,16165,1.11,297.8,460.6,12.3,1452,16170,0.00,2.83,0.00,0.000,4,0.000,0.110,3207,911,1864
$GC,16193,1.11,297.8,456.9,12.9,1454,16197,0.00,2.78,0.00,0.000,6,0.000,0.093,3207,2373,1865
$GC,16519,1.11,297.8,415.3,12.9,1484,16520,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2374,1865
$GC,16835,1.11,297.8,372.2,13.6,1514,16837,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2374,1865
$GC,17162,1.11,297.8,328.6,12.3,1558,17168,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2374,1865
$GC,17505,1.11,297.8,285.3,12.5,1619,17510,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2374,1865
$GC,17847,1.11,297.8,241.1,13.8,1680,17853,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2374,1865
$GC,18190,1.11,297.8,196.4,13.2,1741,18195,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2373,1865
$GC,18532,1.11,297.8,152.6,11.3,1802,18538,0.00,2.83,0.00,0.000,4,0.000,0.103,3207,908,1865
$GC,18555,1.11,297.8,149.8,13.3,1806,18562,0.00,2.70,0.00,0.000,6,0.000,0.085,3207,2357,1865
$GC,18901,1.11,297.8,107.6,13.1,1867,18906,0.00,2.67,0.00,0.000,4,0.000,0.100,3207,3736,1864
$GC,18929,1.11,297.8,103.8,12.5,1872,18936,0.00,2.60,0.00,0.000,6,0.000,0.084,3206,2361,1864
$GC,19274,1.11,297.8,61.1,13.6,1933,19279,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2362,1865
$GC,19618,1.11,297.8,18.5,12.8,1994,19624,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2362,1865
$STATE,19751,end climb,SURFACE_DEPTH_REACHED
$STATE,19752,begin surface coast
$FINISH,0.2,1.027620
$STATE,19771,end surface coast,CONTROL_FINISHED_OK
$STATE,19771,begin surface
$SM_CCo,19852,0.00,0.000,0,0,1863,299.76
$SM_GC,0.94,11.38,0.00,0.00,0.041,0.000,0.000,583,2233,1863,-10.86,-0.06,299.76
$IRIDIUM_FIX,6037.25,-2707.66,010897,020228
$TT8_MAMPS,0.02301
$HUMID,1616
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.90
$XPDR_PINGS,131
$24V_AH,23.4,34.758
$10V_AH,10.7,26.814
$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,27.075,166.225,424.925,0.000,0.000,30.721,30.173,238.601,32.750,0.000,0.000,17.691,3183.621,12388.649,596.160,3468.698,638.157,0.000,2226.019,0.000,3433.040,0.000,0.467
$DEVICE_MAMPS,190.216,138.827,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1401.973,1494.005,948.844,571.791,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113617,2021
$CAP_FILE_SIZE,183872,0
$CFSIZE,260165632,242311168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,070508,133638,6104.475,-2652.096,27,1.3,27,-18.7