version: 66.03
glider: 140
mission: 5
dive: 147
start: 5 8 108 1 16 21
data:
$ID,140
$MISSION,5
$DIVE,147
$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,-16084.271
$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,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
$GPS1,010832,6107.307,-2634.399,42,0.8,42,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.1
$GPS2,011603,6107.329,-2634.268,15,1.0,15,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6114.270,-2630.288
$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,68.5,20000,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-59.85,0.000,2,0.000,0.000,588,2232,3386
$GC,92,-1.29,-194.7,3.2,-7.8,11,123,12.38,2.72,-11.68,0.000,4,0.187,0.109,2670,3649,3880
$GC,219,-1.29,-194.7,18.1,-10.1,33,226,0.00,2.62,0.00,0.000,6,0.000,0.081,2671,2235,3881
$GC,362,-1.29,-194.7,31.5,-9.3,58,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2235,3881
$GC,505,-1.29,-194.7,45.2,-9.9,83,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,646,-1.29,-194.7,58.5,-9.4,108,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,990,-1.29,-194.7,89.7,-8.8,169,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3881
$GC,1333,-1.29,-194.7,120.3,-9.3,230,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,1676,-1.29,-194.7,151.8,-9.4,291,1682,0.00,2.72,0.00,0.000,4,0.000,0.104,2671,824,3882
$GC,1722,-1.29,-194.7,156.1,-9.4,299,1728,0.00,2.67,0.00,0.000,6,0.000,0.089,2671,2242,3882
$GC,2068,-1.29,-194.7,187.4,-9.6,360,2074,0.00,2.75,0.00,0.000,4,0.000,0.107,2671,825,3882
$GC,2120,-1.29,-194.7,192.4,-9.7,369,2127,0.00,2.65,0.00,0.000,6,0.000,0.091,2671,2226,3881
$GC,2466,-1.29,-194.7,223.0,-8.6,430,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3882
$GC,2809,-1.29,-194.7,252.6,-8.8,491,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3882
$GC,3153,-1.29,-194.7,285.1,-10.0,552,3159,0.00,2.75,0.00,0.000,4,0.000,0.110,2671,818,3881
$GC,3200,-1.29,-194.7,290.0,-10.4,560,3207,0.00,2.67,0.00,0.000,6,0.000,0.095,2671,2225,3881
$GC,3545,-1.29,-194.7,325.9,-10.3,621,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3881
$GC,3888,-1.29,-194.7,358.9,-9.4,674,3892,0.00,2.75,0.00,0.000,4,0.000,0.113,2671,826,3881
$GC,3920,-1.29,-194.7,362.0,-9.6,676,3926,0.00,2.67,0.00,0.000,6,0.000,0.097,2671,2227,3882
$GC,4247,-1.29,-194.7,393.0,-9.8,707,4248,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3881
$GC,4566,-1.29,-194.7,423.3,-9.1,737,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3881
$GC,4882,-1.29,-194.7,453.2,-9.7,767,4887,0.00,2.78,0.00,0.000,4,0.000,0.114,2671,820,3881
$GC,4926,-1.29,-194.7,457.7,-10.5,770,4932,0.00,2.67,0.00,0.000,6,0.000,0.097,2671,2217,3882
$GC,5253,-1.29,-194.7,486.7,-8.4,801,5257,0.00,2.78,0.00,0.000,4,0.000,0.108,2671,3648,3881
$GC,5274,-1.29,-194.7,488.8,-8.3,802,5280,0.00,2.70,0.00,0.000,6,0.000,0.090,2671,2215,3881
$GC,5601,-1.29,-194.7,515.2,-8.2,833,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2215,3881
$GC,5918,-1.29,-194.7,541.4,-8.9,863,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3881
$GC,6238,-1.29,-194.7,572.0,-9.8,893,6242,0.00,2.72,0.00,0.000,4,0.000,0.117,2671,826,3881
$GC,6265,-1.29,-194.7,575.1,-10.6,895,6270,0.00,2.65,0.00,0.000,6,0.000,0.099,2671,2208,3881
$GC,6599,-1.29,-194.7,608.0,-9.8,922,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3881
$GC,6907,-1.29,-194.7,638.0,-9.6,937,6909,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3881
$GC,7216,-1.29,-194.7,667.0,-9.2,952,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3880
$GC,7527,-1.29,-194.7,695.3,-8.9,967,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3880
$GC,7835,-1.29,-194.7,721.3,-8.1,982,7840,0.00,2.85,0.00,0.000,4,0.000,0.120,2671,3646,3880
$GC,7856,-1.29,-194.7,723.2,-8.4,983,7861,0.00,2.75,0.00,0.000,6,0.000,0.096,2671,2202,3880
$GC,8178,-1.29,-194.7,749.3,-8.0,999,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2203,3880
$GC,8487,-1.29,-194.7,773.9,-7.9,1014,8491,0.00,2.88,0.00,0.000,4,0.000,0.118,2671,3648,3880
$GC,8514,-1.29,-194.7,776.2,-8.6,1015,8519,0.00,2.75,0.00,0.000,6,0.000,0.097,2671,2211,3880
$GC,8829,-1.29,-194.7,802.0,-8.1,1030,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3880
$GC,9139,-1.29,-194.7,826.0,-7.8,1045,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3879
$GC,9448,-1.29,-194.7,848.5,-7.3,1060,9449,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3879
$GC,9757,-1.29,-194.7,872.2,-8.0,1075,9762,0.00,2.88,0.00,0.000,4,0.000,0.122,2671,3647,3879
$GC,9796,-1.29,-194.7,875.5,-9.0,1077,9801,0.00,2.78,0.00,0.000,6,0.000,0.103,2671,2212,3879
$GC,10122,-1.29,-194.7,901.5,-8.0,1093,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2213,3879
$GC,10432,-1.29,-194.7,926.5,-8.4,1108,10436,0.00,2.83,0.00,0.000,4,0.000,0.132,2670,822,3878
$GC,10449,-1.29,-194.7,928.0,-8.2,1109,10453,0.00,2.70,0.00,0.000,6,0.000,0.107,2671,2211,3878
$GC,10775,-1.29,-194.7,954.6,-7.8,1125,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3879
$GC,11084,-1.29,-194.7,978.2,-7.7,1140,11085,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3878
$STATE,11226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11226,begin apogee
$GC,11232,-0.35,0.0,990.1,8.4,1147,11401,1.02,0.00,165.38,1.424,6,0.104,0.000,2878,2331,3085
$STATE,11401,end apogee,CONTROL_FINISHED_OK
$STATE,11402,begin climb
$GC,11404,1.29,194.7,997.1,0.0,1155,11575,1.65,3.00,162.57,1.386,4,0.061,0.125,3239,3738,2291
$GC,11611,1.16,194.7,982.5,13.4,1165,11616,0.15,2.85,0.00,0.000,6,0.114,0.106,3213,2327,2289
$GC,11938,1.10,194.7,944.4,11.6,1181,11939,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2328,2288
$GC,12248,1.05,194.7,907.7,12.2,1196,12253,0.12,2.92,0.00,0.000,4,0.115,0.123,3191,3739,2287
$GC,12310,0.99,194.7,900.3,12.3,1199,12314,0.00,2.80,0.00,0.000,6,0.000,0.104,3191,2333,2287
$GC,12635,0.99,194.7,865.8,10.5,1215,12640,0.00,2.88,0.00,0.000,4,0.000,0.119,3191,3739,2287
$GC,12702,0.94,194.7,858.1,12.0,1218,12707,0.15,2.78,0.00,0.000,6,0.113,0.104,3164,2345,2287
$GC,13023,0.96,212.5,827.5,9.4,1234,13045,0.00,2.90,16.17,1.271,4,0.000,0.117,3164,3738,2218
$GC,13083,0.96,212.5,821.2,11.9,1236,13090,0.00,2.72,0.00,0.000,6,0.000,0.100,3164,2363,2217
$GC,13399,0.97,218.9,790.2,9.8,1252,13408,0.00,0.00,6.97,1.104,6,0.000,0.000,3164,2364,2192
$GC,13708,0.98,229.9,759.9,9.6,1267,13729,0.00,2.85,11.32,1.192,4,0.000,0.114,3164,3738,2146
$GC,13774,0.98,229.9,753.2,10.4,1270,13779,0.00,2.70,0.00,0.000,6,0.000,0.097,3164,2373,2146
$GC,14101,1.00,243.1,722.1,9.5,1286,14115,0.00,0.00,12.82,1.180,6,0.000,0.000,3164,2373,2093
$GC,14410,1.00,249.1,691.5,9.8,1301,14419,0.00,0.00,6.50,1.034,6,0.000,0.000,3164,2373,2069
$GC,14720,1.01,258.2,661.3,9.7,1316,14731,0.00,0.00,9.48,1.105,6,0.000,0.000,3164,2373,2032
$GC,15028,1.01,258.2,630.0,10.1,1331,15030,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2372,2031
$GC,15338,1.01,258.2,598.8,10.2,1346,15339,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2372,2031
$GC,15658,1.02,262.0,566.8,9.9,1376,15667,0.00,0.00,5.05,0.874,6,0.000,0.000,3164,2372,2016
$GC,15987,1.04,280.4,535.8,9.4,1407,16007,0.10,0.00,17.45,1.079,6,0.072,0.000,3190,2372,1941
$GC,16323,1.04,280.4,496.9,12.0,1439,16328,0.00,2.72,0.00,0.000,4,0.000,0.107,3190,3738,1938
$GC,16352,1.04,280.4,493.4,12.5,1441,16356,0.00,2.65,0.00,0.000,6,0.000,0.088,3191,2369,1937
$GC,16678,1.04,280.4,454.7,11.9,1471,16682,0.00,2.85,0.00,0.000,4,0.000,0.109,3190,910,1938
$GC,16706,1.04,280.4,451.2,13.0,1473,16710,0.00,2.80,0.00,0.000,6,0.000,0.091,3190,2386,1938
$GC,17032,1.04,280.4,413.6,11.7,1503,17033,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2386,1937
$GC,17349,1.04,280.4,377.7,11.3,1533,17354,0.00,2.85,0.00,0.000,4,0.000,0.105,3190,917,1938
$GC,17377,1.04,280.4,374.3,12.5,1535,17382,0.00,2.75,0.00,0.000,6,0.000,0.091,3191,2370,1938
$GC,17708,1.04,280.4,336.7,11.2,1575,17714,0.00,2.67,0.00,0.000,4,0.000,0.104,3190,3736,1937
$GC,17743,1.04,280.4,332.5,11.1,1581,17749,0.00,2.62,0.00,0.000,6,0.000,0.087,3190,2362,1938
$GC,18087,1.04,280.4,293.1,11.7,1642,18093,0.00,2.80,0.00,0.000,4,0.000,0.107,3190,918,1937
$GC,18116,1.04,280.4,289.7,11.3,1647,18122,0.00,2.72,0.00,0.000,6,0.000,0.088,3190,2364,1938
$GC,18459,1.04,280.4,250.8,11.0,1708,18466,0.00,2.67,0.00,0.000,4,0.000,0.105,3190,3736,1938
$GC,18489,1.04,280.4,247.3,13.3,1713,18495,0.00,2.62,0.00,0.000,6,0.000,0.084,3190,2355,1938
$GC,18832,1.04,280.4,207.8,11.9,1774,18838,0.00,2.78,0.00,0.000,4,0.000,0.104,3190,913,1938
$GC,18873,1.04,280.4,202.7,12.7,1781,18879,0.00,2.70,0.00,0.000,6,0.000,0.086,3190,2354,1937
$GC,19216,1.04,280.4,160.9,11.7,1842,19222,0.00,2.70,0.00,0.000,4,0.000,0.103,3190,3737,1937
$GC,19250,1.04,280.4,156.6,13.0,1848,19257,0.00,2.62,0.00,0.000,6,0.000,0.084,3190,2351,1938
$GC,19594,1.04,280.4,116.8,12.5,1909,19600,0.00,2.75,0.00,0.000,4,0.000,0.103,3191,919,1938
$GC,19640,1.04,280.4,111.0,12.1,1917,19646,0.00,2.67,0.00,0.000,6,0.000,0.085,3190,2352,1938
$GC,19983,1.04,280.4,72.2,10.4,1978,19989,0.00,2.67,0.00,0.000,4,0.000,0.101,3190,3736,1937
$GC,20029,1.04,280.4,67.0,11.3,1986,20035,0.00,2.62,0.00,0.000,6,0.000,0.082,3190,2344,1938
$GC,20373,1.04,280.4,28.3,10.5,2047,20379,0.00,2.72,0.00,0.000,4,0.000,0.100,3190,911,1938
$GC,20414,1.04,280.4,23.5,12.1,2054,20420,0.00,2.65,0.00,0.000,6,0.000,0.083,3190,2343,1938
$GC,20558,1.04,280.4,7.2,11.2,2079,20564,0.00,2.70,0.00,0.000,4,0.000,0.100,3190,3737,1937
$STATE,20602,end climb,SURFACE_DEPTH_REACHED
$STATE,20602,begin surface coast
$FINISH,0.3,1.027771
$STATE,20614,end surface coast,CONTROL_FINISHED_OK
$STATE,20614,begin surface
$SM_CCo,20697,0.00,0.000,0,0,1937,281.85
$SM_GC,0.97,11.35,0.00,0.00,0.042,0.000,0.000,587,2232,1937,-10.86,-0.08,281.85
$IRIDIUM_FIX,6041.65,-2643.84,010897,191951
$TT8_MAMPS,0.02301
$HUMID,1629
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,118
$24V_AH,23.4,35.299
$10V_AH,10.7,27.246
$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,26.925,159.575,413.725,0.000,0.000,29.996,33.084,244.076,29.500,0.000,0.000,17.278,3274.455,13125.008,606.980,3473.699,647.404,0.000,2207.669,0.000,3444.529,0.000,0.467
$DEVICE_MAMPS,187.148,131.924,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1448.212,1547.104,983.269,593.016,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116893,2089
$CAP_FILE_SIZE,184766,0
$CFSIZE,260165632,242016256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,080508,070248,6108.638,-2626.259,38,1.3,55,-18.5