version: 66.03
glider: 140
mission: 5
dive: 224
start: 5 26 108 16 16 39
data:
$ID,140
$MISSION,5
$DIVE,224
$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,145
$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,-17448.729
$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,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
$GPS1,160738,6148.729,-2637.461,42,1.0,42,-19.0
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-63.7
$GPS2,161621,6148.671,-2637.408,13,2.0,13,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6139.826,-2634.468
$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,164.0,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-65.10,0.000,2,0.000,0.000,591,2233,3342
$GC,99,-1.29,-194.7,3.1,-7.4,12,134,12.32,2.78,-12.93,0.000,4,0.186,0.110,2671,3643,3881
$GC,270,-1.29,-194.7,22.6,-10.3,42,276,0.00,2.60,0.00,0.000,6,0.000,0.078,2671,2235,3882
$GC,412,-1.29,-194.7,37.5,-10.4,67,418,0.00,2.70,0.00,0.000,4,0.000,0.097,2671,821,3882
$GC,459,-1.29,-194.7,42.5,-10.3,75,466,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2235,3882
$GC,601,-1.29,-194.7,57.1,-11.1,100,607,0.00,2.70,0.00,0.000,4,0.000,0.096,2671,823,3882
$GC,647,-1.29,-194.7,62.2,-11.3,108,654,0.00,2.53,0.00,0.000,6,0.000,0.084,2671,2172,3882
$GC,991,-1.29,-194.7,96.6,-9.5,169,997,0.00,2.83,0.00,0.000,4,0.000,0.099,2671,3644,3882
$GC,1027,-1.29,-194.7,100.1,-9.5,175,1033,0.00,2.75,0.00,0.000,6,0.000,0.081,2670,2173,3882
$GC,1371,-1.29,-194.7,129.3,-7.9,236,1377,0.00,2.85,0.00,0.000,4,0.000,0.102,2671,3643,3882
$GC,1390,-1.29,-194.7,130.9,-8.4,239,1396,0.00,2.75,0.00,0.000,6,0.000,0.083,2671,2178,3882
$GC,1733,-1.29,-194.7,161.3,-9.0,300,1740,0.00,2.85,0.00,0.000,4,0.000,0.104,2671,3641,3882
$GC,1758,-1.29,-194.7,163.6,-9.3,304,1764,0.00,2.72,0.00,0.000,6,0.000,0.085,2671,2194,3882
$GC,2102,-1.29,-194.7,194.9,-10.0,365,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2195,3882
$GC,2445,-1.29,-194.7,228.0,-8.9,426,2451,0.00,2.83,0.00,0.000,4,0.000,0.106,2670,3641,3882
$GC,2469,-1.29,-194.7,230.3,-9.9,430,2475,0.00,2.72,0.00,0.000,6,0.000,0.087,2670,2196,3882
$GC,2814,-1.29,-194.7,261.1,-9.3,491,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2197,3882
$GC,3157,-1.29,-194.7,292.5,-9.3,552,3164,0.00,2.83,0.00,0.000,4,0.000,0.109,2671,3641,3882
$GC,3188,-1.29,-194.7,295.4,-9.7,557,3194,0.00,2.70,0.00,0.000,6,0.000,0.088,2671,2217,3882
$GC,3531,-1.29,-194.7,327.3,-9.5,618,3538,0.00,2.75,0.00,0.000,4,0.000,0.114,2670,825,3882
$GC,3561,-1.29,-194.7,330.3,-10.1,623,3567,0.00,2.67,0.00,0.000,6,0.000,0.096,2671,2217,3882
$GC,3898,-1.29,-194.7,362.1,-9.0,672,3902,0.00,2.83,0.00,0.000,4,0.000,0.111,2671,3653,3882
$GC,3926,-1.29,-194.7,364.8,-9.7,674,3930,0.00,2.72,0.00,0.000,6,0.000,0.089,2671,2217,3882
$GC,4252,-1.29,-194.7,394.9,-9.4,704,4256,0.00,2.78,0.00,0.000,4,0.000,0.116,2671,816,3882
$GC,4280,-1.29,-194.7,397.8,-10.2,706,4284,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2220,3882
$GC,4606,-1.29,-194.7,428.2,-9.2,736,4610,0.00,2.83,0.00,0.000,4,0.000,0.114,2671,3651,3882
$GC,4627,-1.29,-194.7,430.5,-10.2,737,4633,0.00,2.72,0.00,0.000,6,0.000,0.090,2671,2213,3882
$GC,4954,-1.29,-194.7,461.3,-9.6,768,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2213,3882
$GC,5270,-1.29,-194.7,491.9,-9.6,798,5274,0.00,2.83,0.00,0.000,4,0.000,0.110,2671,3648,3882
$GC,5291,-1.29,-194.7,494.2,-10.2,799,5297,0.00,2.70,0.00,0.000,6,0.000,0.090,2671,2224,3882
$GC,5617,-1.29,-194.7,526.5,-10.5,830,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3881
$GC,5934,-1.29,-194.7,559.8,-10.4,860,5939,0.00,2.80,0.00,0.000,4,0.000,0.120,2671,821,3881
$GC,5966,-1.29,-194.7,563.4,-11.2,862,5973,0.00,2.78,0.00,0.000,6,0.000,0.101,2671,2235,3881
$GC,6295,-1.29,-194.7,597.7,-10.6,893,6300,0.00,2.80,0.00,0.000,4,0.000,0.117,2671,3646,3881
$GC,6339,-1.29,-194.7,603.0,-10.8,896,6343,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2240,3881
$GC,6660,-1.29,-194.7,634.9,-9.7,912,6665,0.00,2.83,0.00,0.000,4,0.000,0.120,2671,826,3881
$GC,6700,-1.29,-194.7,638.8,-9.9,914,6705,0.00,2.75,0.00,0.000,6,0.000,0.101,2670,2242,3881
$GC,7026,-1.29,-194.7,668.9,-8.9,930,7031,0.00,2.83,0.00,0.000,4,0.000,0.121,2671,3653,3880
$GC,7059,-1.29,-194.7,671.8,-8.9,931,7065,0.00,2.70,0.00,0.000,6,0.000,0.093,2671,2239,3881
$GC,7375,-1.29,-194.7,697.5,-8.4,947,7380,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,821,3881
$GC,7407,-1.29,-194.7,700.4,-9.1,948,7414,0.00,2.78,0.00,0.000,6,0.000,0.103,2670,2253,3881
$GC,7723,-1.29,-194.7,727.8,-9.2,964,7728,0.00,2.83,0.00,0.000,4,0.000,0.126,2670,3650,3880
$GC,7749,-1.29,-194.7,730.6,-10.2,965,7754,0.00,2.70,0.00,0.000,6,0.000,0.096,2670,2246,3880
$GC,8066,-1.29,-194.7,761.1,-9.5,980,8070,0.00,2.88,0.00,0.000,4,0.000,0.124,2670,819,3880
$GC,8092,-1.29,-194.7,764.0,-10.2,981,8097,0.00,2.78,0.00,0.000,6,0.000,0.104,2670,2242,3880
$GC,8409,-1.29,-194.7,793.4,-9.4,996,8413,0.00,2.85,0.00,0.000,4,0.000,0.127,2670,3648,3880
$GC,8435,-1.29,-194.7,796.2,-10.8,997,8440,0.00,2.70,0.00,0.000,6,0.000,0.097,2670,2245,3880
$GC,8751,-1.29,-194.7,825.1,-9.2,1012,8756,0.00,2.90,0.00,0.000,4,0.000,0.130,2670,824,3880
$GC,8772,-1.29,-194.7,827.1,-9.1,1013,8777,0.00,2.78,0.00,0.000,6,0.000,0.105,2670,2241,3880
$GC,9094,-1.29,-194.7,857.4,-9.5,1029,9099,0.00,2.88,0.00,0.000,4,0.000,0.132,2670,3649,3879
$GC,9121,-1.29,-194.7,860.2,-10.3,1030,9125,0.00,2.72,0.00,0.000,6,0.000,0.100,2670,2242,3879
$GC,9443,-1.29,-194.7,889.9,-8.7,1046,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3879
$GC,9752,-1.29,-194.7,916.9,-9.1,1061,9756,0.00,2.92,0.00,0.000,4,0.000,0.133,2670,818,3879
$GC,9801,-1.29,-194.7,921.4,-9.4,1063,9805,0.00,2.80,0.00,0.000,6,0.000,0.107,2671,2245,3879
$GC,10117,-1.55,-194.7,932.2,0.0,1078,10123,0.20,2.88,0.00,0.000,4,0.067,0.132,2622,3646,3878
$STATE,10132,end dive,NO_VERTICAL_VELOCITY
$STATE,10132,begin apogee
$GC,10141,-0.35,0.0,932.1,0.0,1079,10309,1.17,0.00,164.52,1.374,6,0.059,0.000,2883,2328,3085
$STATE,10310,end apogee,CONTROL_FINISHED_OK
$STATE,10310,begin climb
$GC,10312,1.29,194.7,932.1,0.0,1087,10485,1.60,3.05,161.40,1.339,4,0.055,0.125,3239,3734,2290
$GC,10520,1.16,194.7,915.6,13.9,1097,10525,0.15,2.83,0.00,0.000,6,0.115,0.101,3214,2327,2289
$GC,10848,1.11,194.7,876.4,11.9,1113,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2327,2288
$GC,11155,1.06,194.7,856.1,10.7,1128,11161,0.12,2.92,0.00,0.000,4,0.114,0.132,3192,915,2287
$GC,11218,1.06,194.7,848.8,12.0,1131,11222,0.00,2.83,0.00,0.000,6,0.000,0.107,3191,2344,2287
$GC,11544,1.06,194.7,817.6,11.9,1147,11549,0.00,2.88,0.00,0.000,4,0.000,0.121,3192,919,2287
$GC,11622,1.08,218.2,808.0,9.2,1150,11649,0.00,2.78,20.83,1.257,6,0.000,0.106,3191,2331,2195
$GC,11960,1.60,506.0,802.9,0.0,1167,12214,0.47,2.85,246.35,1.265,4,0.044,0.102,3312,916,1022
$GC,12394,1.66,623.3,778.1,5.9,1187,12503,0.00,2.83,101.22,1.218,6,0.000,0.110,3313,2332,543
$GC,12811,1.61,623.3,713.1,21.7,1208,12816,0.00,2.90,0.00,0.000,4,0.000,0.123,3313,916,535
$GC,12905,1.61,623.3,691.5,21.9,1212,12910,0.00,2.75,0.00,0.000,6,0.000,0.103,3313,2321,534
$GC,13227,1.55,623.3,621.7,22.1,1228,13231,0.00,2.83,0.00,0.000,4,0.000,0.114,3313,914,533
$GC,13254,1.51,623.3,615.2,22.7,1229,13259,0.12,2.70,0.00,0.000,6,0.113,0.098,3291,2307,532
$GC,13578,1.51,623.3,549.4,20.7,1255,13582,0.00,2.78,0.00,0.000,4,0.000,0.112,3290,915,531
$GC,13617,1.51,623.3,540.8,20.8,1258,13621,0.00,2.62,0.00,0.000,6,0.000,0.096,3291,2274,531
$GC,13941,1.51,623.3,473.2,21.5,1288,13945,0.00,2.70,0.00,0.000,4,0.000,0.110,3290,913,531
$GC,13973,1.51,623.3,465.9,21.0,1290,13980,0.00,2.62,0.00,0.000,6,0.000,0.096,3291,2257,531
$GC,14300,1.51,623.3,397.2,21.9,1321,14304,0.00,2.65,0.00,0.000,4,0.000,0.109,3290,914,531
$GC,14321,1.51,623.3,391.8,21.5,1322,14328,0.00,2.58,0.00,0.000,6,0.000,0.092,3290,2242,531
$GC,14654,1.51,623.3,321.5,22.0,1365,14660,0.00,2.62,0.00,0.000,4,0.000,0.110,3290,915,531
$GC,14671,1.51,623.3,317.5,21.6,1368,14678,0.00,2.53,0.00,0.000,6,0.000,0.092,3290,2236,531
$GC,15016,1.51,623.3,245.6,21.3,1429,15022,0.00,2.60,0.00,0.000,4,0.000,0.107,3290,917,531
$GC,15034,1.51,623.3,241.5,22.3,1432,15040,0.00,2.47,0.00,0.000,6,0.000,0.088,3290,2222,531
$GC,15377,1.51,623.3,170.9,19.4,1493,15383,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2222,531
$GC,15720,1.51,623.3,101.6,20.7,1554,15726,0.00,2.58,0.00,0.000,4,0.000,0.103,3290,910,531
$GC,15738,1.51,623.3,97.6,21.8,1557,15744,0.00,2.47,0.00,0.000,6,0.000,0.084,3291,2219,531
$GC,16082,1.51,623.3,23.7,19.7,1618,16088,0.00,2.97,0.00,0.000,4,0.000,0.102,3291,3737,531
$GC,16095,1.51,623.3,21.0,21.0,1620,16101,0.00,2.90,0.00,0.000,6,0.000,0.083,3290,2209,530
$STATE,16191,end climb,SURFACE_DEPTH_REACHED
$STATE,16191,begin surface coast
$FINISH,0.3,1.027652
$STATE,16197,end surface coast,CONTROL_FINISHED_OK
$STATE,16197,begin surface
$SM_CCo,16279,0.00,0.000,0,0,528,627.23
$SM_GC,0.88,11.82,0.00,0.00,0.043,0.000,0.000,592,2237,528,-10.84,0.06,627.23
$IRIDIUM_FIX,6126.23,-2635.94,200897,101023
$TT8_MAMPS,0.02301
$HUMID,1671
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,17.60
$XPDR_PINGS,117
$24V_AH,23.4,49.879
$10V_AH,10.6,40.190
$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,28.000,209.575,694.325,0.000,0.000,28.176,32.876,315.196,29.250,0.000,0.000,13.385,2620.735,9515.261,796.104,3111.732,735.284,0.000,2279.914,0.000,3098.952,0.000,0.467
$DEVICE_MAMPS,185.614,133.458,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1135.625,1218.920,1475.982,464.014,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97912,1638
$CAP_FILE_SIZE,169557,0
$CFSIZE,260165632,234512384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260508,204907,6147.098,-2632.618,34,1.1,34,-18.9