version: 66.03
glider: 140
mission: 5
dive: 264
start: 6 4 108 14 58 15
data:
$ID,140
$MISSION,5
$DIVE,264
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-18122.932
$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,13
$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
$GPS1,145008,6200.652,-2539.557,29,1.0,29,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-56.4
$GPS2,145756,6200.608,-2539.687,11,1.0,16,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6204.210,-2543.110
$TGT_RADIUS,2000.000
$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,354.6,7301,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.29,-194.7,0.0,0.0,0,102,0.00,0.00,-78.93,0.000,2,0.000,0.000,585,2224,3548
$GC,105,-1.29,-194.7,3.6,-7.8,11,135,12.43,2.80,-6.72,0.000,4,0.186,0.110,2675,3637,3881
$GC,176,-1.29,-194.7,16.5,-10.7,22,184,0.00,2.62,0.00,0.000,6,0.000,0.079,2675,2231,3881
$GC,322,-1.29,-194.7,29.6,-9.4,47,329,0.00,2.75,0.00,0.000,4,0.000,0.097,2674,3652,3882
$GC,387,-1.29,-194.7,36.1,-9.1,58,394,0.00,2.58,0.00,0.000,6,0.000,0.080,2674,2276,3882
$GC,532,-1.29,-194.7,49.7,-10.4,83,540,0.00,2.78,0.00,0.000,4,0.000,0.096,2675,824,3882
$GC,569,-1.29,-194.7,54.0,-11.2,89,576,0.00,2.72,0.00,0.000,6,0.000,0.083,2675,2271,3882
$GC,913,-1.29,-194.7,92.1,-10.8,150,920,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2271,3882
$GC,1259,-1.29,-194.7,125.7,-9.0,211,1266,0.00,2.83,0.00,0.000,4,0.000,0.100,2674,820,3882
$GC,1312,-1.29,-194.7,130.8,-9.6,220,1320,0.00,2.72,0.00,0.000,6,0.000,0.088,2674,2253,3882
$GC,1659,-1.29,-194.7,161.4,-8.5,281,1666,0.00,2.78,0.00,0.000,4,0.000,0.102,2674,827,3883
$GC,1695,-1.29,-194.7,164.5,-8.4,287,1702,0.00,2.70,0.00,0.000,6,0.000,0.089,2674,2246,3883
$GC,2041,-1.29,-194.7,193.2,-8.3,348,2048,0.00,2.78,0.00,0.000,4,0.000,0.104,2675,821,3883
$GC,2072,-1.29,-194.7,196.0,-8.9,353,2080,0.00,2.70,0.00,0.000,6,0.000,0.090,2674,2240,3883
$GC,2418,-1.29,-194.7,225.2,-8.8,414,2425,0.00,2.78,0.00,0.000,4,0.000,0.105,2674,822,3882
$GC,2443,-1.29,-194.7,227.4,-8.9,418,2450,0.00,2.70,0.00,0.000,6,0.000,0.091,2675,2237,3882
$GC,2789,-1.29,-194.7,258.2,-9.2,479,2796,0.00,2.78,0.00,0.000,4,0.000,0.107,2674,819,3882
$GC,2815,-1.29,-194.7,260.6,-9.1,483,2822,0.00,2.70,0.00,0.000,6,0.000,0.093,2674,2233,3883
$GC,3160,-1.29,-194.7,291.9,-9.3,544,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2233,3882
$GC,3505,-1.29,-194.7,324.6,-9.9,605,3512,0.00,2.78,0.00,0.000,4,0.000,0.109,2674,827,3882
$GC,3541,-1.29,-194.7,328.3,-10.2,611,3548,0.00,2.70,0.00,0.000,6,0.000,0.096,2674,2230,3882
$GC,3885,-1.29,-194.7,361.8,-9.5,662,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2230,3882
$GC,4206,-1.29,-194.7,391.8,-9.4,692,4211,0.00,2.80,0.00,0.000,4,0.000,0.113,2674,823,3882
$GC,4234,-1.29,-194.7,394.6,-9.8,694,4239,0.00,2.70,0.00,0.000,6,0.000,0.094,2674,2227,3882
$GC,4561,-1.29,-194.7,423.8,-8.7,724,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3882
$GC,4877,-1.29,-194.7,451.8,-8.8,754,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3882
$GC,5196,-1.29,-194.7,480.2,-9.1,784,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3882
$GC,5514,-1.29,-194.7,507.7,-8.7,814,5519,0.00,2.80,0.00,0.000,4,0.000,0.114,2674,823,3881
$GC,5536,-1.29,-194.7,509.7,-8.6,815,5543,0.00,2.72,0.00,0.000,6,0.000,0.099,2674,2230,3881
$GC,5864,-1.29,-194.7,537.5,-9.7,846,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2230,3881
$GC,6181,-1.29,-194.7,568.0,-9.7,876,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2230,3881
$GC,6498,-1.29,-194.7,596.9,-8.4,906,6503,0.00,2.80,0.00,0.000,4,0.000,0.116,2675,829,3881
$GC,6527,-1.29,-194.7,599.4,-9.0,908,6531,0.00,2.70,0.00,0.000,6,0.000,0.100,2674,2220,3881
$GC,6855,-1.29,-194.7,624.1,-7.0,924,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2221,3881
$GC,7163,-1.29,-194.7,646.4,-6.9,939,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3881
$GC,7474,-1.29,-194.7,666.7,-7.0,954,7478,0.00,2.85,0.00,0.000,4,0.000,0.121,2675,3646,3881
$GC,7517,-1.29,-194.7,670.2,-7.8,956,7522,0.00,2.70,0.00,0.000,6,0.000,0.094,2674,2231,3880
$GC,7840,-1.29,-194.7,698.0,-9.6,972,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2231,3880
$GC,8148,-1.29,-194.7,725.9,-8.7,987,8153,0.00,2.83,0.00,0.000,4,0.000,0.123,2674,823,3880
$GC,8176,-1.29,-194.7,728.4,-9.2,988,8180,0.00,2.72,0.00,0.000,6,0.000,0.104,2674,2224,3880
$GC,8492,-1.29,-194.7,756.1,-8.9,1003,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2224,3880
$GC,8801,-1.29,-194.7,785.4,-9.7,1018,8805,0.00,2.83,0.00,0.000,4,0.000,0.123,2674,824,3879
$GC,8828,-1.29,-194.7,788.0,-10.0,1019,8833,0.00,2.72,0.00,0.000,6,0.000,0.106,2674,2218,3879
$GC,9144,-1.29,-194.7,817.2,-8.6,1034,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3880
$GC,9454,-1.29,-194.7,844.9,-9.5,1049,9458,0.00,2.92,0.00,0.000,4,0.000,0.132,2674,3647,3879
$GC,9498,-1.29,-194.7,849.5,-9.6,1051,9502,0.00,2.75,0.00,0.000,6,0.000,0.100,2674,2219,3879
$GC,9819,-1.29,-194.7,881.2,-9.9,1067,9824,0.00,2.90,0.00,0.000,4,0.000,0.124,2675,3648,3879
$GC,9846,-1.29,-194.7,884.2,-10.9,1068,9850,0.00,2.78,0.00,0.000,6,0.000,0.103,2674,2223,3878
$GC,10164,-1.29,-194.7,915.1,-9.6,1083,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2223,3879
$GC,10471,-1.29,-194.7,944.3,-9.1,1098,10476,0.00,2.90,0.00,0.000,4,0.000,0.127,2674,3647,3878
$GC,10515,-1.29,-194.7,948.4,-9.7,1100,10520,0.00,2.78,0.00,0.000,6,0.000,0.105,2675,2227,3878
$GC,10837,-1.29,-194.7,975.6,-8.2,1116,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3878
$STATE,11060,end dive,NO_VERTICAL_VELOCITY
$STATE,11060,begin apogee
$GC,11066,-0.35,0.0,976.9,0.0,1127,11236,0.98,0.00,166.12,1.414,6,0.071,0.000,2885,2330,3085
$STATE,11236,end apogee,CONTROL_FINISHED_OK
$STATE,11237,begin climb
$GC,11239,1.29,194.7,976.7,0.0,1135,11410,1.60,3.03,163.70,1.374,4,0.061,0.130,3239,3737,2290
$GC,11439,1.17,194.7,961.5,13.3,1145,11444,0.12,2.85,0.00,0.000,6,0.118,0.104,3218,2323,2289
$GC,11755,1.11,194.7,925.5,11.3,1160,11756,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2322,2289
$GC,12065,1.05,194.7,891.0,11.2,1175,12067,0.15,0.00,0.00,0.000,6,0.112,0.000,3190,2322,2288
$GC,12373,1.06,199.2,860.8,9.8,1190,12384,0.00,2.97,5.15,0.992,4,0.000,0.127,3190,3738,2273
$GC,12436,1.01,199.2,854.1,10.8,1193,12441,0.00,2.83,0.00,0.000,6,0.000,0.105,3191,2331,2273
$GC,12765,1.01,199.2,819.2,11.0,1209,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2332,2272
$GC,13072,1.01,199.2,783.4,11.8,1224,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2331,2272
$GC,13382,1.01,199.2,747.6,11.4,1239,13384,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2331,2271
$GC,13691,1.01,199.2,713.2,11.0,1254,13695,0.00,2.88,0.00,0.000,4,0.000,0.120,3191,3738,2271
$GC,13757,0.96,199.2,705.2,12.8,1257,13762,0.00,2.75,0.00,0.000,6,0.000,0.098,3190,2333,2271
$GC,14081,0.96,199.2,670.6,10.4,1273,14086,0.12,2.85,0.00,0.000,4,0.112,0.120,3168,915,2271
$GC,14130,0.96,201.2,665.2,9.9,1275,14135,0.00,2.78,0.00,0.000,6,0.000,0.101,3168,2344,2271
$GC,14446,1.00,230.5,635.4,9.0,1290,14476,0.00,0.00,27.95,1.176,6,0.000,0.000,3168,2344,2144
$GC,14776,1.02,253.0,604.5,9.2,1306,14802,0.00,2.88,20.23,1.127,4,0.000,0.111,3168,3737,2052
$GC,14830,1.02,253.0,599.2,10.5,1308,14835,0.00,2.72,0.00,0.000,6,0.000,0.092,3168,2343,2051
$GC,15158,1.03,257.0,568.2,9.9,1338,15167,0.00,0.00,4.55,0.825,6,0.000,0.000,3168,2343,2037
$GC,15486,1.07,257.0,533.8,10.5,1369,15488,0.12,0.00,0.00,0.000,6,0.066,0.000,3200,2343,2037
$GC,15806,1.07,257.0,498.7,10.4,1399,15812,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2343,2036
$GC,16131,1.09,271.5,464.9,9.5,1430,16152,0.00,0.00,14.00,1.033,6,0.000,0.000,3200,2343,1977
$GC,16472,1.09,271.5,430.8,10.0,1462,16473,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2343,1976
$GC,16788,1.09,271.5,398.3,10.2,1492,16789,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2344,1976
$GC,17108,1.09,273.2,366.9,9.9,1522,17109,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2343,1976
$GC,17434,1.09,273.2,334.6,11.6,1565,17441,0.00,2.80,0.00,0.000,4,0.000,0.106,3200,910,1976
$GC,17464,1.09,273.2,331.3,11.1,1570,17471,0.00,2.78,0.00,0.000,6,0.000,0.091,3200,2363,1976
$GC,17810,1.09,273.2,293.9,11.1,1631,17817,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2363,1976
$GC,18154,1.09,273.2,254.2,12.5,1692,18160,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2363,1976
$GC,18498,1.09,273.2,217.2,11.2,1753,18505,0.00,2.80,0.00,0.000,4,0.000,0.103,3200,918,1976
$GC,18535,1.09,273.2,213.3,10.4,1759,18542,0.00,2.72,0.00,0.000,6,0.000,0.089,3200,2354,1976
$GC,18880,1.09,273.2,177.7,10.5,1820,18887,0.00,2.72,0.00,0.000,4,0.000,0.106,3200,3737,1976
$GC,18916,1.09,273.2,173.6,11.5,1826,18924,0.00,2.62,0.00,0.000,6,0.000,0.084,3200,2353,1975
$GC,19263,1.09,273.2,138.9,10.1,1887,19270,0.00,2.78,0.00,0.000,4,0.000,0.103,3200,913,1976
$GC,19318,1.09,273.2,133.3,10.2,1896,19325,0.00,2.72,0.00,0.000,6,0.000,0.088,3200,2354,1976
$GC,19664,1.15,321.3,97.6,8.3,1957,19710,0.00,0.00,42.70,0.813,6,0.000,0.000,3200,2354,1773
$GC,20049,1.19,351.6,61.3,8.9,2024,20081,0.00,0.00,25.85,0.774,6,0.000,0.000,3200,2354,1649
$GC,20419,1.25,351.6,21.4,10.5,2089,20427,0.15,2.78,0.00,0.000,4,0.058,0.097,3240,918,1645
$GC,20468,1.25,351.6,14.8,16.0,2097,20476,0.00,2.67,0.00,0.000,6,0.000,0.083,3240,2343,1644
$STATE,20565,end climb,SURFACE_DEPTH_REACHED
$STATE,20565,begin surface coast
$FINISH,0.1,1.005956
$STATE,20583,end surface coast,CONTROL_FINISHED_OK
$STATE,20583,begin surface
$SM_CCo,20665,0.00,0.000,0,0,1642,353.97
$SM_GC,0.81,11.52,0.00,0.00,0.038,0.000,0.000,587,2232,1642,-10.84,-0.08,353.97
$IRIDIUM_FIX,6135.28,-2538.63,290897,090914
$TT8_MAMPS,0.02301
$HUMID,1679
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.80
$XPDR_PINGS,143
$24V_AH,23.3,57.340
$10V_AH,10.6,46.936
$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,27.200,155.750,470.250,0.000,0.000,28.298,31.705,255.708,35.750,0.000,0.000,16.788,4298.125,11709.388,719.338,3686.609,699.996,0.000,2315.031,0.000,3684.373,0.000,0.467
$DEVICE_MAMPS,185.614,131.924,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1466.542,1609.893,1874.371,597.269,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126202,2117
$CAP_FILE_SIZE,186089,0
$CFSIZE,260165632,230690816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.073,326.7,1
$GPS,040608,204355,6204.054,-2543.219,40,1.9,40,-18.6