version: 66.03
glider: 140
mission: 5
dive: 205
start: 5 22 108 7 18 56
data:
$ID,140
$MISSION,5
$DIVE,205
$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,-17164.156
$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,12
$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
$GPS1,071031,6127.247,-2546.298,35,1.5,41,-18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-61.2
$GPS2,071838,6127.255,-2546.376,12,1.3,17,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6132.654,-2550.832
$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,318.3,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.30,0.000,2,0.000,0.000,586,2223,3432
$GC,98,-1.29,-194.7,3.1,-5.7,12,128,12.38,2.78,-10.32,0.000,4,0.186,0.109,2670,3649,3879
$GC,325,-1.29,-194.7,32.0,-12.1,52,331,0.00,2.65,0.00,0.000,6,0.000,0.081,2670,2229,3881
$GC,467,-1.29,-194.7,48.3,-11.3,77,473,0.00,2.70,0.00,0.000,4,0.000,0.099,2670,824,3881
$GC,525,-1.29,-194.7,55.1,-12.1,87,531,0.00,2.65,0.00,0.000,6,0.000,0.084,2670,2225,3881
$GC,869,-1.29,-194.7,92.0,-8.8,148,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3881
$GC,1212,-1.29,-194.7,118.1,-8.3,209,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,1554,-1.29,-194.7,151.6,-10.0,270,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3881
$GC,1898,-1.29,-194.7,185.5,-9.5,331,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3882
$GC,2241,-1.29,-194.7,216.2,-8.9,392,2247,0.00,2.72,0.00,0.000,4,0.000,0.107,2670,828,3882
$GC,2282,-1.29,-194.7,220.1,-9.3,399,2288,0.00,2.67,0.00,0.000,6,0.000,0.094,2670,2223,3882
$GC,2627,-1.29,-194.7,249.2,-8.3,460,2633,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3881
$GC,2972,-1.29,-194.7,277.5,-8.4,521,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3882
$GC,3315,-1.29,-194.7,306.8,-8.7,582,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3881
$GC,3659,-1.29,-194.7,339.8,-9.8,643,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3882
$GC,3991,-1.29,-194.7,371.3,-9.2,683,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,4308,-1.29,-194.7,400.7,-8.8,713,4313,0.00,2.80,0.00,0.000,4,0.000,0.111,2670,3651,3881
$GC,4337,-1.29,-194.7,403.4,-9.5,715,4342,0.00,2.70,0.00,0.000,6,0.000,0.088,2670,2221,3881
$GC,4664,-1.29,-194.7,430.5,-8.3,745,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3881
$GC,4981,-1.29,-194.7,456.8,-8.4,775,4985,0.00,2.80,0.00,0.000,4,0.000,0.110,2670,3647,3881
$GC,5020,-1.29,-194.7,460.4,-9.1,778,5024,0.00,2.70,0.00,0.000,6,0.000,0.091,2670,2224,3881
$GC,5347,-1.29,-194.7,487.7,-8.2,808,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,5663,-1.29,-194.7,515.9,-8.8,838,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3881
$GC,5982,-1.29,-194.7,543.3,-8.2,868,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3881
$GC,6300,-1.29,-194.7,568.5,-7.8,898,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,6619,-1.29,-194.7,593.4,-7.7,928,6624,0.00,2.83,0.00,0.000,4,0.000,0.113,2670,3649,3880
$GC,6651,-1.29,-194.7,596.1,-8.1,930,6658,0.00,2.72,0.00,0.000,6,0.000,0.094,2670,2224,3880
$GC,6979,-1.29,-194.7,623.2,-8.8,949,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3880
$GC,7288,-1.29,-194.7,651.5,-9.0,964,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3880
$GC,7597,-1.29,-194.7,682.2,-11.0,979,7599,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3880
$GC,7907,-1.29,-194.7,714.8,-9.7,994,7911,0.00,2.85,0.00,0.000,4,0.000,0.120,2670,3644,3880
$GC,7946,-1.29,-194.7,718.5,-10.3,996,7950,0.00,2.72,0.00,0.000,6,0.000,0.098,2670,2229,3880
$GC,8272,-1.29,-194.7,746.9,-8.8,1012,8273,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3879
$GC,8582,-1.29,-194.7,770.8,-7.3,1027,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3879
$GC,8891,-1.29,-194.7,793.2,-6.8,1042,8895,0.00,2.85,0.00,0.000,4,0.000,0.123,2670,3643,3879
$GC,8923,-1.29,-194.7,795.6,-7.5,1043,8929,0.00,2.72,0.00,0.000,6,0.000,0.101,2670,2233,3879
$GC,9239,-1.29,-194.7,817.4,-7.2,1059,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3879
$GC,9549,-1.29,-194.7,839.7,-7.4,1074,9554,0.00,2.85,0.00,0.000,4,0.000,0.125,2670,3646,3878
$GC,9588,-1.29,-194.7,843.0,-8.6,1076,9593,0.00,2.72,0.00,0.000,6,0.000,0.103,2670,2245,3878
$GC,9915,-1.29,-194.7,871.5,-9.8,1092,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3878
$GC,10224,-1.29,-194.7,900.0,-8.9,1107,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3878
$GC,10533,-1.29,-194.7,926.7,-8.4,1122,10537,0.00,2.88,0.00,0.000,4,0.000,0.130,2670,3646,3877
$GC,10577,-1.29,-194.7,930.8,-8.8,1124,10581,0.00,2.75,0.00,0.000,6,0.000,0.108,2670,2244,3877
$GC,10897,-1.29,-194.7,956.2,-8.1,1140,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3877
$GC,11207,-1.29,-194.7,981.2,-7.9,1155,11211,0.00,2.88,0.00,0.000,4,0.000,0.130,2670,3645,3877
$GC,11239,-1.29,-194.7,984.0,-9.5,1156,11245,0.00,2.72,0.00,0.000,6,0.000,0.109,2670,2257,3877
$STATE,11325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11325,begin apogee
$GC,11331,-0.35,0.0,991.0,8.1,1161,11500,1.05,0.00,165.38,1.421,6,0.102,0.000,2882,2329,3085
$STATE,11501,end apogee,CONTROL_FINISHED_OK
$STATE,11501,begin climb
$GC,11503,1.29,194.7,996.5,0.0,1169,11671,1.62,0.00,163.68,1.385,6,0.058,0.000,3249,2328,2291
$GC,11981,1.19,194.7,940.6,13.8,1193,11983,0.15,0.00,0.00,0.000,6,0.113,0.000,3222,2328,2288
$GC,12288,1.12,194.7,899.6,13.5,1208,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2328,2288
$GC,12599,1.06,194.7,857.1,13.3,1223,12601,0.15,0.00,0.00,0.000,6,0.110,0.000,3194,2328,2287
$GC,12909,1.07,204.9,825.1,9.6,1238,12924,0.00,3.00,9.80,1.206,4,0.000,0.127,3194,3738,2248
$GC,12976,1.01,204.9,818.4,10.4,1240,12981,0.00,2.85,0.00,0.000,6,0.000,0.104,3194,2320,2248
$GC,13297,1.06,244.7,790.6,8.6,1256,13336,0.00,0.00,35.55,1.264,6,0.000,0.000,3194,2320,2086
$GC,13646,1.06,244.7,753.3,11.3,1273,13651,0.00,2.90,0.00,0.000,4,0.000,0.131,3194,916,2082
$GC,13678,1.06,244.7,749.5,11.2,1274,13685,0.00,2.80,0.00,0.000,6,0.000,0.106,3194,2334,2082
$GC,13993,1.06,244.7,714.2,11.6,1290,13998,0.00,2.92,0.00,0.000,4,0.000,0.129,3193,3738,2082
$GC,14033,1.02,244.7,709.6,11.8,1292,14037,0.00,2.80,0.00,0.000,6,0.000,0.099,3194,2321,2081
$GC,14359,1.02,244.7,671.1,12.0,1308,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2322,2081
$GC,14668,1.02,244.7,634.1,11.8,1323,14670,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2322,2081
$GC,14978,1.02,244.7,596.6,11.8,1339,14983,0.00,2.88,0.00,0.000,4,0.000,0.115,3194,3738,2081
$GC,15006,1.02,244.7,593.2,11.5,1341,15011,0.00,2.75,0.00,0.000,6,0.000,0.092,3194,2326,2081
$GC,15331,1.02,244.7,556.6,11.4,1371,15332,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2327,2081
$GC,15650,1.02,244.7,519.9,11.3,1401,15651,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2327,2081
$GC,15968,1.02,244.7,484.1,10.8,1431,15969,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2327,2081
$GC,16289,1.02,244.8,451.5,10.0,1461,16290,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2326,2082
$GC,16605,1.02,244.8,416.5,11.5,1491,16606,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2326,2082
$GC,16924,1.02,244.8,380.4,11.0,1521,16925,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2327,2082
$GC,17244,1.03,254.4,343.4,9.7,1556,17262,0.00,2.90,9.00,0.924,4,0.000,0.108,3194,3737,2046
$GC,17297,1.03,254.4,337.5,11.9,1565,17303,0.00,2.72,0.00,0.000,6,0.000,0.089,3194,2334,2046
$GC,17640,1.03,254.4,300.3,11.2,1626,17645,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2334,2046
$GC,17983,1.03,254.4,261.0,11.5,1687,17988,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2334,2046
$GC,18325,1.03,254.4,223.0,10.1,1748,18330,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2334,2046
$GC,18667,1.03,254.4,186.5,10.7,1809,18672,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2335,2047
$GC,19010,1.03,254.4,145.2,10.6,1870,19015,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2335,2046
$GC,19353,1.03,254.4,109.5,12.2,1931,19358,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2335,2046
$GC,19696,1.03,254.4,70.1,11.9,1992,19702,0.00,2.78,0.00,0.000,4,0.000,0.103,3194,3739,2047
$GC,19725,1.03,254.4,66.5,11.4,1997,19731,0.00,2.70,0.00,0.000,6,0.000,0.084,3194,2325,2047
$GC,20069,1.03,255.8,26.6,10.0,2058,20075,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2324,2047
$GC,20210,1.03,255.8,10.8,11.4,2083,20216,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2325,2047
$STATE,20299,end climb,SURFACE_DEPTH_REACHED
$STATE,20299,begin surface coast
$FINISH,0.2,1.013753
$STATE,20317,end surface coast,CONTROL_FINISHED_OK
$STATE,20317,begin surface
$SM_CCo,20398,0.00,0.000,0,0,2045,255.11
$SM_GC,1.23,11.40,0.00,0.00,0.045,0.000,0.000,592,2226,2045,-10.84,-0.25,255.11
$IRIDIUM_FIX,6103.81,-2533.60,160897,010129
$TT8_MAMPS,0.02301
$HUMID,1653
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.70
$XPDR_PINGS,111
$24V_AH,23.3,46.238
$10V_AH,10.7,36.974
$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,26.750,95.050,383.400,0.000,0.000,24.705,30.718,280.522,27.750,0.000,0.000,17.463,3267.377,12699.137,567.547,3641.958,689.292,0.000,2104.495,0.000,3627.336,0.000,0.467
$DEVICE_MAMPS,186.381,140.361,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1458.396,1567.072,1860.783,593.506,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123256,2102
$CAP_FILE_SIZE,173484,0
$CFSIZE,260165632,236306432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220508,130007,6128.198,-2553.530,38,1.1,38,-18.4