version: 66.03
glider: 140
mission: 5
dive: 202
start: 5 21 108 13 45 27
data:
$ID,140
$MISSION,5
$DIVE,202
$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,300
$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,-17114.838
$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
$GPS1,133215,6122.985,-2523.585,36,2.3,55,-18.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.0
$GPS2,134509,6123.062,-2523.734,11,1.8,11,-18.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6128.461,-2528.200
$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,318.1,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.28,0.000,2,0.000,0.000,588,2230,3422
$GC,98,-1.29,-194.7,3.2,-6.6,12,127,12.38,2.75,-10.35,0.000,4,0.186,0.110,2671,3646,3879
$GC,269,-1.29,-194.7,23.9,-9.5,42,275,0.00,2.62,0.00,0.000,6,0.000,0.081,2671,2234,3880
$GC,413,-1.29,-194.7,37.2,-9.3,67,419,0.00,2.70,0.00,0.000,4,0.000,0.100,2671,824,3880
$GC,471,-1.29,-194.7,43.3,-9.8,77,477,0.00,2.65,0.00,0.000,6,0.000,0.083,2671,2234,3880
$GC,613,-1.29,-194.7,56.7,-9.5,102,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3880
$GC,958,-1.29,-194.7,88.5,-9.3,163,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2235,3880
$GC,1300,-1.29,-194.7,119.9,-9.5,224,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3880
$GC,1644,-1.29,-194.7,153.1,-9.7,285,1650,0.00,2.72,0.00,0.000,4,0.000,0.103,2671,3645,3880
$GC,1702,-1.29,-194.7,159.2,-10.3,295,1708,0.00,2.70,0.00,0.000,6,0.000,0.084,2671,2210,3880
$GC,2045,-1.29,-194.7,192.0,-9.5,356,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2210,3880
$GC,2389,-1.29,-194.7,223.0,-8.7,417,2395,0.00,2.80,0.00,0.000,4,0.000,0.105,2671,3643,3880
$GC,2435,-1.29,-194.7,227.2,-9.2,425,2441,0.00,2.70,0.00,0.000,6,0.000,0.087,2671,2213,3880
$GC,2780,-1.29,-194.7,256.2,-8.3,486,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2213,3880
$GC,3123,-1.29,-194.7,286.0,-8.9,547,3128,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2213,3880
$GC,3465,-1.29,-194.7,317.9,-9.7,608,3472,0.00,2.80,0.00,0.000,4,0.000,0.110,2671,3643,3880
$GC,3496,-1.29,-194.7,320.9,-9.9,613,3502,0.00,2.70,0.00,0.000,6,0.000,0.088,2671,2217,3880
$GC,3838,-1.29,-194.7,353.0,-9.2,671,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2217,3880
$GC,4157,-1.29,-194.7,383.8,-10.2,701,4162,0.00,2.78,0.00,0.000,4,0.000,0.116,2671,817,3880
$GC,4208,-1.29,-194.7,389.4,-10.9,705,4213,0.00,2.70,0.00,0.000,6,0.000,0.096,2671,2225,3880
$GC,4537,-1.29,-194.7,422.1,-9.6,735,4542,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3880
$GC,4861,-1.29,-194.7,451.8,-8.6,766,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3880
$GC,5180,-1.29,-194.7,479.0,-8.4,796,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3880
$GC,5500,-1.29,-194.7,505.3,-8.2,826,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3879
$GC,5818,-1.29,-194.7,532.3,-8.8,856,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3879
$GC,6136,-1.29,-194.7,559.9,-8.3,886,6140,0.00,2.80,0.00,0.000,4,0.000,0.114,2671,3646,3879
$GC,6164,-1.29,-194.7,562.3,-9.0,888,6168,0.00,2.72,0.00,0.000,6,0.000,0.092,2671,2213,3879
$GC,6490,-1.29,-194.7,587.9,-7.9,918,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2213,3879
$GC,6803,-1.29,-194.7,613.7,-8.4,940,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2213,3879
$GC,7112,-1.29,-194.7,641.5,-9.1,955,7117,0.00,2.85,0.00,0.000,4,0.000,0.116,2671,3646,3879
$GC,7139,-1.29,-194.7,644.1,-9.5,956,7144,0.00,2.72,0.00,0.000,6,0.000,0.094,2671,2223,3878
$GC,7455,-1.29,-194.7,669.2,-7.5,971,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3878
$GC,7764,-1.29,-194.7,694.2,-8.9,986,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3878
$GC,8074,-1.29,-194.7,723.6,-9.9,1001,8078,0.00,2.88,0.00,0.000,4,0.000,0.121,2671,3650,3878
$GC,8117,-1.29,-194.7,728.2,-10.3,1003,8121,0.00,2.75,0.00,0.000,6,0.000,0.099,2671,2227,3878
$GC,8439,-1.29,-194.7,756.8,-8.6,1019,8440,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3878
$GC,8748,-1.29,-194.7,783.0,-8.4,1034,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3877
$GC,9058,-1.29,-194.7,808.1,-8.3,1049,9062,0.00,2.88,0.00,0.000,4,0.000,0.123,2671,3649,3877
$GC,9084,-1.29,-194.7,810.6,-9.1,1050,9089,0.00,2.75,0.00,0.000,6,0.000,0.102,2671,2232,3877
$GC,9400,-1.29,-194.7,837.4,-8.7,1065,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3877
$GC,9710,-1.29,-194.7,862.3,-7.6,1080,9714,0.00,2.88,0.00,0.000,4,0.000,0.125,2671,3651,3876
$GC,9749,-1.29,-194.7,865.4,-8.0,1082,9753,0.00,2.78,0.00,0.000,6,0.000,0.104,2671,2229,3876
$GC,10075,-1.29,-194.7,888.3,-7.2,1098,10076,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3876
$GC,10384,-1.29,-194.7,913.5,-8.6,1113,10385,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3876
$GC,10693,-1.29,-194.7,941.9,-9.5,1128,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3875
$GC,11002,-1.29,-194.7,970.8,-9.0,1143,11004,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3875
$STATE,11227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11227,begin apogee
$GC,11233,-0.35,0.0,990.1,8.4,1154,11402,1.02,0.00,165.35,1.424,6,0.099,0.000,2879,2327,3085
$STATE,11403,end apogee,CONTROL_FINISHED_OK
$STATE,11403,begin climb
$GC,11405,1.29,194.7,996.9,0.0,1162,11575,1.62,0.00,162.68,1.391,6,0.061,0.000,3237,2327,2291
$GC,11877,1.20,194.7,948.9,12.7,1185,11878,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2327,2288
$GC,12186,1.11,194.7,908.2,13.4,1200,12188,0.20,0.00,0.00,0.000,6,0.111,0.000,3201,2327,2287
$GC,12496,1.07,194.7,870.7,11.9,1215,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2327,2287
$GC,12806,1.03,199.5,837.5,9.8,1230,12813,0.00,0.00,5.15,0.995,6,0.000,0.000,3202,2327,2271
$GC,13114,1.03,199.5,806.6,10.9,1245,13119,0.00,2.92,0.00,0.000,4,0.000,0.125,3201,3738,2270
$GC,13164,0.96,199.5,800.6,11.9,1247,13169,0.17,2.80,0.00,0.000,6,0.111,0.106,3169,2336,2270
$GC,13478,0.96,199.5,769.0,10.6,1262,13480,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2337,2270
$GC,13789,0.96,201.5,736.3,9.9,1277,13794,0.00,2.90,0.00,0.000,4,0.000,0.129,3169,919,2270
$GC,13822,0.97,208.5,733.0,9.8,1278,13836,0.00,2.78,9.15,1.166,6,0.000,0.104,3169,2337,2235
$GC,14159,1.00,232.8,703.4,9.2,1295,14184,0.00,0.00,22.52,1.208,6,0.000,0.000,3169,2337,2135
$GC,14489,1.00,232.8,670.3,10.4,1311,14490,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2337,2132
$GC,14797,1.00,234.9,637.2,9.9,1326,14798,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2336,2132
$GC,15107,1.06,277.9,611.1,8.5,1341,15152,0.00,2.92,39.42,1.152,4,0.000,0.114,3169,918,1950
$GC,15171,1.12,293.9,605.1,9.4,1344,15194,0.15,2.78,15.52,1.071,6,0.060,0.097,3206,2333,1885
$GC,15509,1.12,293.9,560.0,13.0,1373,15514,0.00,2.85,0.00,0.000,4,0.000,0.117,3206,3739,1881
$GC,15539,1.12,293.9,556.2,13.8,1375,15544,0.00,2.75,0.00,0.000,6,0.000,0.092,3206,2330,1880
$GC,15864,1.12,293.9,515.4,11.9,1405,15869,0.00,2.78,0.00,0.000,4,0.000,0.113,3207,920,1880
$GC,15907,1.12,293.9,510.1,12.4,1408,15914,0.00,2.72,0.00,0.000,6,0.000,0.096,3206,2334,1880
$GC,16234,1.12,293.9,471.0,11.8,1439,16236,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2334,1880
$GC,16551,1.12,293.9,430.3,12.9,1469,16556,0.00,2.83,0.00,0.000,4,0.000,0.113,3207,3740,1879
$GC,16581,1.12,293.9,426.5,12.7,1471,16585,0.00,2.75,0.00,0.000,6,0.000,0.089,3206,2321,1878
$GC,16906,1.12,293.9,383.6,12.0,1501,16907,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2321,1879
$GC,17229,1.12,293.9,345.2,12.4,1534,17235,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2321,1878
$GC,17572,1.12,293.9,307.3,10.9,1595,17577,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2321,1879
$GC,17915,1.12,293.9,268.7,12.1,1656,17921,0.00,2.75,0.00,0.000,4,0.000,0.108,3206,914,1879
$GC,17950,1.12,293.9,264.0,13.5,1662,17956,0.00,2.70,0.00,0.000,6,0.000,0.092,3206,2329,1879
$GC,18294,1.12,293.9,220.4,11.8,1723,18299,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2329,1879
$GC,18637,1.12,293.9,177.0,12.5,1784,18642,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2329,1879
$GC,18980,1.12,293.9,134.2,13.0,1845,18986,0.00,2.75,0.00,0.000,4,0.000,0.105,3206,3735,1879
$GC,19009,1.12,293.9,130.1,13.3,1850,19015,0.00,2.70,0.00,0.000,6,0.000,0.084,3206,2313,1879
$GC,19353,1.12,293.9,84.4,13.8,1911,19358,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2313,1879
$GC,19696,1.12,293.9,42.9,14.6,1972,19702,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2313,1879
$GC,19838,1.12,293.9,24.8,11.2,1997,19844,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2313,1879
$GC,19980,1.22,375.0,11.1,7.2,2022,20052,0.00,0.00,65.75,0.745,6,0.000,0.000,3206,2313,1554
$STATE,20056,end climb,SURFACE_DEPTH_REACHED
$STATE,20056,begin surface coast
$FINISH,0.2,1.027695
$STATE,20070,end surface coast,CONTROL_FINISHED_OK
$STATE,20070,begin surface
$SM_CCo,20152,0.00,0.000,0,0,1547,377.27
$SM_GC,0.96,11.45,0.00,0.00,0.038,0.000,0.000,588,2226,1547,-10.85,-0.25,377.27
$IRIDIUM_FIX,6059.36,-2527.61,150897,131322
$TT8_MAMPS,0.02301
$HUMID,1646
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,18.00
$XPDR_PINGS,99
$24V_AH,22.8,45.702
$10V_AH,10.6,36.458
$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,27.000,105.700,485.550,0.000,0.000,60.006,65.717,437.611,24.750,0.000,0.000,13.373,3168.066,12633.876,603.351,3575.663,923.472,0.000,2169.383,0.000,3562.383,0.000,0.467
$DEVICE_MAMPS,186.381,142.662,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1412.225,1517.067,1809.111,577.062,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120040,2038
$CAP_FILE_SIZE,178317,0
$CFSIZE,260165632,236593152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210508,192231,6125.195,-2531.275,37,1.3,37,-18.1