version: 66.03
glider: 140
mission: 5
dive: 218
start: 5 25 108 8 14 56
data:
$ID,140
$MISSION,5
$DIVE,218
$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,285
$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,-17356.656
$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,13
$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
$GPS1,080652,6144.788,-2644.189,39,2.1,58,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-61.7
$GPS2,081438,6144.871,-2644.249,10,1.3,15,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6147.666,-2649.179
$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,304.0,20000,-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,-194.7,0.0,0.0,0,100,0.00,0.00,-70.80,0.000,2,0.000,0.000,593,2227,3481
$GC,103,-1.29,-194.7,3.5,-6.7,13,133,12.30,2.78,-8.80,0.000,4,0.186,0.110,2668,821,3881
$GC,291,-1.29,-194.7,25.7,-10.2,46,297,0.00,2.65,0.00,0.000,6,0.000,0.084,2669,2237,3882
$GC,435,-1.29,-194.7,40.9,-10.9,71,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,576,-1.29,-194.7,54.8,-8.7,96,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3883
$GC,919,-1.29,-194.7,84.4,-9.1,157,925,0.00,2.75,0.00,0.000,4,0.000,0.102,2668,826,3883
$GC,949,-1.29,-194.7,87.2,-9.6,162,955,0.00,2.65,0.00,0.000,6,0.000,0.087,2669,2222,3883
$GC,1293,-1.29,-194.7,121.2,-10.6,223,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3883
$GC,1637,-1.29,-194.7,153.9,-8.5,284,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3883
$GC,1980,-1.29,-194.7,183.9,-8.5,345,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3883
$GC,2322,-1.29,-194.7,215.1,-9.4,406,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3883
$GC,2665,-1.29,-194.7,247.2,-9.7,467,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3883
$GC,3008,-1.29,-194.7,278.8,-8.9,528,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3883
$GC,3351,-1.29,-194.7,307.3,-8.4,589,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3883
$GC,3693,-1.29,-194.7,338.5,-9.7,650,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3883
$GC,4025,-1.29,-194.7,371.6,-9.9,691,4026,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3883
$GC,4343,-1.29,-194.7,401.9,-9.8,721,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3882
$GC,4662,-1.29,-194.7,430.6,-8.6,751,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3882
$GC,4981,-1.29,-194.7,457.9,-8.9,781,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3882
$GC,5299,-1.29,-194.7,485.1,-8.3,811,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3882
$GC,5619,-1.29,-194.7,513.5,-9.6,841,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3882
$GC,5935,-1.29,-194.7,545.4,-10.6,871,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3882
$GC,6254,-1.29,-194.7,578.6,-9.6,901,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3882
$GC,6570,-1.29,-194.7,604.8,-7.5,928,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3882
$GC,6880,-1.29,-194.7,628.7,-8.6,943,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3882
$GC,7189,-1.29,-194.7,656.2,-8.6,958,7190,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3881
$GC,7498,-1.29,-194.7,682.8,-8.6,973,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2222,3881
$GC,7807,-1.29,-194.7,709.5,-8.4,988,7812,0.00,2.85,0.00,0.000,4,0.000,0.127,2668,824,3881
$GC,7863,-1.29,-194.7,714.6,-9.6,990,7870,0.00,2.72,0.00,0.000,6,0.000,0.108,2669,2215,3881
$GC,8179,-1.29,-194.7,740.9,-7.4,1006,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2215,3880
$GC,8488,-1.29,-194.7,767.2,-8.9,1021,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2215,3880
$GC,8798,-1.29,-194.7,792.5,-8.8,1036,8802,0.00,2.92,0.00,0.000,4,0.000,0.133,2669,3646,3880
$GC,8847,-1.29,-194.7,796.8,-8.5,1038,8852,0.00,2.78,0.00,0.000,6,0.000,0.103,2669,2214,3880
$GC,9162,-1.29,-194.7,823.5,-11.0,1053,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2215,3879
$GC,9473,-1.29,-194.7,848.6,-1.1,1068,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2215,3879
$STATE,9614,end dive,NO_VERTICAL_VELOCITY
$STATE,9614,begin apogee
$GC,9620,-0.35,0.0,848.6,0.0,1075,9786,1.02,0.00,162.90,1.325,6,0.094,0.000,2879,2332,3085
$STATE,9787,end apogee,CONTROL_FINISHED_OK
$STATE,9787,begin climb
$GC,9789,1.29,194.7,848.4,0.0,1083,9961,1.65,3.10,160.95,1.283,4,0.068,0.135,3236,916,2290
$GC,9990,1.20,194.7,839.2,10.5,1092,9997,0.00,2.83,0.00,0.000,6,0.000,0.107,3236,2336,2289
$GC,10306,1.13,194.7,799.6,14.0,1108,10308,0.17,0.00,0.00,0.000,6,0.112,0.000,3204,2336,2288
$GC,10615,1.13,194.7,760.6,11.7,1123,10620,0.00,2.90,0.00,0.000,4,0.000,0.129,3204,3738,2288
$GC,10648,1.05,194.7,756.3,13.0,1124,10654,0.00,2.78,0.00,0.000,6,0.000,0.100,3204,2324,2288
$GC,10963,1.01,194.7,719.4,11.7,1140,10969,0.12,2.90,0.00,0.000,4,0.112,0.120,3182,3738,2287
$GC,11008,0.96,194.7,713.8,12.7,1142,11013,0.00,2.75,0.00,0.000,6,0.000,0.100,3182,2339,2287
$GC,11328,0.97,197.4,678.6,9.9,1158,11333,0.00,2.88,0.00,0.000,4,0.000,0.127,3182,919,2287
$GC,11361,0.97,202.3,675.3,9.8,1159,11375,0.00,2.78,7.55,1.065,6,0.000,0.101,3181,2343,2260
$GC,11697,0.97,202.3,642.8,10.3,1176,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2342,2259
$GC,12007,1.01,231.1,612.5,9.0,1191,12034,0.00,0.00,25.73,1.147,6,0.000,0.000,3181,2343,2143
$GC,12343,1.01,234.3,578.5,9.9,1216,12351,0.00,0.00,4.30,0.802,6,0.000,0.000,3182,2343,2129
$GC,12671,1.03,250.1,547.1,9.5,1247,12693,0.00,2.90,14.75,1.083,4,0.000,0.116,3182,3739,2064
$GC,12721,1.03,250.1,541.5,11.0,1251,12727,0.00,2.72,0.00,0.000,6,0.000,0.091,3181,2340,2064
$GC,13047,1.06,272.3,509.3,9.2,1282,13069,0.00,0.00,20.10,1.065,6,0.000,0.000,3181,2340,1975
$GC,13384,1.06,272.3,476.3,10.6,1314,13385,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2340,1971
$GC,13702,1.06,272.3,441.9,10.3,1344,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2339,1971
$GC,14021,1.06,272.3,409.2,10.6,1374,14022,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2339,1971
$GC,14339,1.06,272.3,375.1,10.8,1404,14344,0.00,2.80,0.00,0.000,4,0.000,0.108,3181,3738,1970
$GC,14372,1.06,272.3,371.3,11.7,1406,14379,0.00,2.67,0.00,0.000,6,0.000,0.088,3181,2341,1970
$GC,14706,1.07,281.8,335.7,9.7,1449,14718,0.00,0.00,9.23,0.930,6,0.000,0.000,3181,2342,1936
$GC,15055,1.10,304.2,301.4,9.2,1511,15082,0.00,0.00,20.83,0.935,6,0.000,0.000,3182,2342,1843
$GC,15419,1.10,304.2,265.7,10.8,1576,15425,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2341,1841
$GC,15762,1.10,304.2,226.2,11.4,1637,15767,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2342,1840
$GC,16105,1.17,366.3,194.7,7.8,1698,16165,0.15,2.85,52.62,0.870,4,0.060,0.104,3219,916,1590
$GC,16188,1.17,366.3,186.0,11.6,1713,16195,0.00,2.75,0.00,0.000,6,0.000,0.087,3220,2352,1587
$GC,16532,1.17,366.3,145.5,14.5,1774,16537,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2352,1583
$GC,16875,1.17,366.3,90.3,14.9,1835,16881,0.00,2.80,0.00,0.000,4,0.000,0.101,3220,918,1581
$GC,16903,1.17,366.3,85.6,15.9,1840,16910,0.00,2.67,0.00,0.000,6,0.000,0.086,3220,2331,1582
$GC,17247,1.17,366.3,39.5,10.7,1901,17253,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2332,1581
$GC,17389,1.17,366.3,23.0,12.0,1926,17395,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2331,1580
$GC,17530,1.17,366.3,4.1,14.3,1951,17536,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2331,1580
$STATE,17546,end climb,SURFACE_DEPTH_REACHED
$STATE,17546,begin surface coast
$FINISH,0.4,1.027655
$STATE,17564,end surface coast,CONTROL_FINISHED_OK
$STATE,17564,begin surface
$SM_CCo,17646,0.00,0.000,0,0,1577,369.91
$SM_GC,1.14,11.52,0.00,0.00,0.044,0.000,0.000,591,2223,1577,-10.85,-0.34,369.91
$IRIDIUM_FIX,6117.23,-2633.90,190897,020206
$TT8_MAMPS,0.02301
$HUMID,1659
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,17.90
$XPDR_PINGS,127
$24V_AH,23.4,48.573
$10V_AH,10.7,39.199
$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,26.950,67.650,478.950,0.000,0.000,30.522,31.348,256.732,31.750,0.000,0.000,15.477,2995.287,10456.571,603.668,3408.659,627.973,0.000,2059.859,0.000,3386.782,0.000,0.467
$DEVICE_MAMPS,185.614,134.992,1325.376,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1357.439,1450.257,1817.943,568.281,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116862,1957
$CAP_FILE_SIZE,156682,0
$CFSIZE,260165632,235085824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,250508,131008,6146.576,-2650.622,32,0.9,32,-19.1