version: 66.03
glider: 140
mission: 5
dive: 171
start: 5 13 108 22 37 15
data:
$ID,140
$MISSION,5
$DIVE,171
$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,260
$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,-16534.342
$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,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
$GPS1,222502,6106.061,-2610.010,39,1.1,39,-18.3
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-65.0
$GPS2,223657,6105.993,-2610.194,13,1.0,13,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6104.118,-2615.338
$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,278.3,20000,-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,-60.08,0.000,2,0.000,0.000,592,2232,3387
$GC,92,-1.29,-194.7,3.2,-6.4,11,123,12.38,2.75,-11.82,0.000,4,0.188,0.109,2669,3652,3879
$GC,378,-1.29,-194.7,34.4,-9.9,61,384,0.00,2.62,0.00,0.000,6,0.000,0.080,2669,2237,3880
$GC,520,-1.29,-194.7,46.3,-7.7,86,527,0.00,2.75,0.00,0.000,4,0.000,0.100,2669,3653,3880
$GC,601,-1.29,-194.7,53.4,-9.3,100,607,0.00,2.65,0.00,0.000,6,0.000,0.083,2669,2235,3880
$GC,945,-1.29,-194.7,83.1,-8.6,161,950,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,1288,-1.29,-194.7,112.7,-9.0,222,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,1631,-1.29,-194.7,145.2,-9.9,283,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3881
$GC,1974,-1.29,-194.7,178.8,-9.7,344,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3881
$GC,2317,-1.29,-194.7,211.0,-9.4,405,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3881
$GC,2659,-1.29,-194.7,244.1,-9.4,466,2666,0.00,2.78,0.00,0.000,4,0.000,0.107,2669,3653,3881
$GC,2705,-1.29,-194.7,248.8,-10.2,474,2712,0.00,2.70,0.00,0.000,6,0.000,0.089,2669,2227,3881
$GC,3050,-1.29,-194.7,282.4,-9.8,535,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,3392,-1.29,-194.7,316.8,-9.4,596,3398,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3881
$GC,3738,-1.29,-194.7,348.9,-9.4,657,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3881
$GC,4070,-1.29,-194.7,379.0,-9.0,689,4074,0.00,2.80,0.00,0.000,4,0.000,0.110,2669,3651,3881
$GC,4102,-1.29,-194.7,382.3,-9.4,691,4108,0.00,2.70,0.00,0.000,6,0.000,0.091,2669,2226,3881
$GC,4429,-1.29,-194.7,412.8,-9.4,722,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3880
$GC,4745,-1.29,-194.7,442.1,-9.4,752,4747,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3880
$GC,5064,-1.29,-194.7,470.3,-8.6,782,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3880
$GC,5382,-1.29,-194.7,498.3,-9.2,812,5387,0.00,2.80,0.00,0.000,4,0.000,0.111,2669,3646,3880
$GC,5423,-1.29,-194.7,502.1,-9.9,815,5428,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2235,3880
$GC,5751,-1.29,-194.7,533.9,-9.9,845,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3880
$GC,6076,-1.29,-194.7,564.5,-8.7,876,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3880
$GC,6395,-1.29,-194.7,591.0,-8.4,906,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3879
$GC,6718,-1.29,-194.7,617.7,-8.2,927,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3879
$GC,7027,-1.29,-194.7,643.6,-8.8,942,7028,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3879
$GC,7337,-1.29,-194.7,671.0,-9.1,957,7342,0.00,2.83,0.00,0.000,4,0.000,0.117,2669,3650,3879
$GC,7411,-1.29,-194.7,678.2,-10.0,960,7415,0.00,2.70,0.00,0.000,6,0.000,0.097,2669,2239,3879
$GC,7726,-1.29,-194.7,711.3,-10.5,975,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3879
$GC,8036,-1.29,-194.7,735.6,-8.0,990,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3879
$GC,8345,-1.29,-194.7,760.5,-8.9,1005,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3879
$GC,8654,-1.29,-194.7,786.9,-8.2,1020,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3878
$GC,8964,-1.29,-194.7,813.2,-8.5,1035,8969,0.00,2.85,0.00,0.000,4,0.000,0.124,2669,3647,3878
$GC,9008,-1.29,-194.7,817.2,-8.8,1037,9012,0.00,2.72,0.00,0.000,6,0.000,0.100,2669,2236,3878
$GC,9329,-1.29,-194.7,841.8,-8.4,1053,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3878
$GC,9638,-1.29,-194.7,870.2,-9.1,1068,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3878
$GC,9947,-1.29,-194.7,898.0,-9.1,1083,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3877
$GC,10256,-1.29,-194.7,923.4,-8.2,1098,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3878
$GC,10566,-1.29,-194.7,949.4,-9.0,1113,10570,0.00,2.90,0.00,0.000,4,0.000,0.130,2669,3651,3877
$GC,10605,-1.29,-194.7,953.0,-9.8,1115,10609,0.00,2.78,0.00,0.000,6,0.000,0.107,2669,2235,3877
$GC,10931,-1.29,-194.7,976.6,-7.0,1131,10936,0.00,2.85,0.00,0.000,4,0.000,0.127,2669,3644,3876
$GC,10970,-1.29,-194.7,979.6,-8.7,1133,10975,0.00,2.75,0.00,0.000,6,0.000,0.106,2669,2239,3876
$STATE,11089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11089,begin apogee
$GC,11095,-0.35,0.0,990.2,8.6,1139,11264,1.02,0.00,165.62,1.431,6,0.099,0.000,2878,2329,3085
$STATE,11265,end apogee,CONTROL_FINISHED_OK
$STATE,11265,begin climb
$GC,11268,1.29,194.7,996.4,0.0,1147,11441,1.65,3.08,162.32,1.395,4,0.061,0.132,3239,3737,2291
$GC,11547,1.16,194.7,973.0,12.1,1160,11553,0.15,2.85,0.00,0.000,6,0.117,0.109,3213,2330,2289
$GC,11863,1.10,194.7,937.9,11.8,1175,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2329,2288
$GC,12172,1.05,194.7,900.9,11.9,1190,12177,0.12,2.95,0.00,0.000,4,0.117,0.127,3191,3738,2287
$GC,12206,0.99,194.7,897.0,10.7,1191,12212,0.00,2.80,0.00,0.000,6,0.000,0.104,3191,2342,2287
$GC,12521,0.99,194.7,863.8,10.9,1207,12526,0.00,2.97,0.00,0.000,4,0.000,0.137,3191,913,2287
$GC,12570,0.99,194.7,857.9,10.8,1209,12575,0.00,2.80,0.00,0.000,6,0.000,0.108,3191,2334,2287
$GC,12892,1.01,215.9,826.5,9.3,1225,12913,0.00,0.00,19.10,1.292,6,0.000,0.000,3191,2334,2204
$GC,13221,1.01,215.9,791.9,10.6,1241,13222,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2334,2202
$GC,13530,1.02,225.1,761.4,9.7,1256,13545,0.00,2.95,9.23,1.190,4,0.000,0.125,3191,3737,2167
$GC,13579,0.98,225.1,755.8,12.1,1258,13584,0.00,2.80,0.00,0.000,6,0.000,0.099,3191,2329,2167
$GC,13900,0.98,225.1,721.2,10.8,1274,13904,0.00,2.85,0.00,0.000,4,0.000,0.123,3191,915,2166
$GC,13932,0.98,225.1,717.5,11.4,1275,13938,0.00,2.75,0.00,0.000,6,0.000,0.101,3191,2329,2166
$GC,14248,0.98,225.1,683.4,11.0,1291,14249,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2329,2166
$GC,14556,0.98,225.1,649.0,11.2,1306,14561,0.00,2.88,0.00,0.000,4,0.000,0.120,3191,3737,2166
$GC,14583,0.98,225.1,645.6,12.1,1307,14587,0.00,2.75,0.00,0.000,6,0.000,0.094,3191,2326,2166
$GC,14899,0.98,225.1,609.0,11.2,1322,14900,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2326,2166
$GC,15214,0.98,225.1,571.4,11.7,1348,15215,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2326,2166
$GC,15533,0.98,225.1,535.3,11.3,1378,15534,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2326,2166
$GC,15851,0.98,225.1,498.2,11.6,1408,15856,0.00,2.85,0.00,0.000,4,0.000,0.111,3191,3738,2166
$GC,15891,0.98,225.1,493.5,12.1,1411,15895,0.00,2.72,0.00,0.000,6,0.000,0.088,3191,2327,2166
$GC,16215,0.98,225.1,456.8,11.6,1441,16216,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2327,2166
$GC,16534,0.98,225.1,420.7,11.3,1471,16538,0.00,2.83,0.00,0.000,4,0.000,0.107,3191,3738,2166
$GC,16566,0.98,225.1,416.6,11.6,1473,16572,0.00,2.70,0.00,0.000,6,0.000,0.087,3191,2335,2166
$GC,16892,0.98,225.1,379.6,11.2,1504,16893,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2335,2166
$GC,17212,0.98,225.1,343.4,11.7,1539,17217,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2335,2166
$GC,17555,0.98,226.2,307.2,10.0,1600,17560,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2335,2167
$GC,17898,1.00,240.7,270.2,9.5,1661,17915,0.00,0.00,14.45,0.942,6,0.000,0.000,3191,2336,2103
$GC,18252,1.00,240.7,232.2,10.1,1724,18258,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2336,2102
$GC,18595,1.00,240.7,195.2,11.1,1785,18600,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2336,2102
$GC,18937,1.00,240.7,159.1,10.9,1846,18943,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2335,2102
$GC,19280,1.00,240.7,122.3,10.8,1907,19285,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2336,2102
$GC,19622,1.01,253.2,86.8,9.6,1968,19639,0.00,0.00,11.82,0.823,6,0.000,0.000,3191,2336,2050
$GC,19977,1.01,253.2,49.7,12.0,2031,19983,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2335,2049
$GC,20119,1.02,262.1,34.9,9.7,2056,20132,0.00,2.83,8.48,0.761,4,0.000,0.100,3191,917,2015
$GC,20162,1.02,262.1,30.2,10.0,2063,20168,0.00,2.70,0.00,0.000,6,0.000,0.084,3191,2346,2015
$GC,20304,1.02,262.1,15.5,10.1,2088,20311,0.00,2.72,0.00,0.000,4,0.000,0.104,3191,3735,2014
$GC,20330,1.02,262.1,12.7,11.6,2092,20336,0.00,2.67,0.00,0.000,6,0.000,0.081,3191,2326,2014
$STATE,20430,end climb,SURFACE_DEPTH_REACHED
$STATE,20430,begin surface coast
$FINISH,0.3,1.014729
$STATE,20456,end surface coast,CONTROL_FINISHED_OK
$STATE,20456,begin surface
$SM_CCo,20537,0.00,0.000,0,0,2011,263.21
$SM_GC,1.16,11.48,0.00,0.00,0.047,0.000,0.000,589,2228,2011,-10.86,-0.20,263.21
$IRIDIUM_FIX,6041.65,-2612.01,070897,222200
$TT8_MAMPS,0.02301
$HUMID,1639
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,117
$24V_AH,23.4,39.793
$10V_AH,10.7,31.038
$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,26.800,106.450,391.025,0.000,0.000,51.516,68.682,387.072,29.250,0.000,0.000,13.886,3299.604,12795.989,530.732,3745.696,857.649,0.000,2140.126,0.000,3726.417,0.000,0.467
$DEVICE_MAMPS,187.915,137.293,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1466.258,1569.942,1879.889,617.785,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126113,2114
$CAP_FILE_SIZE,182782,0
$CFSIZE,260165632,239656960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,140508,042037,6104.067,-2617.685,30,1.7,30,-18.3