version: 66.03
glider: 140
mission: 5
dive: 230
start: 5 27 108 20 38 21
data:
$ID,140
$MISSION,5
$DIVE,230
$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,270
$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,-17537.045
$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,11
$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
$GPS1,203037,6144.013,-2638.084,35,1.0,41,-18.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.2
$GPS2,203803,6144.050,-2638.108,12,1.3,12,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6144.050,-2643.222
$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,288.9,20000,-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,-194.7,0.0,0.0,0,101,0.00,0.00,-71.05,0.000,2,0.000,0.000,592,2232,3512
$GC,104,-1.29,-194.7,3.6,-6.9,13,134,12.38,2.78,-7.90,0.000,4,0.188,0.108,2668,820,3882
$GC,280,-1.29,-194.7,26.7,-10.2,44,287,0.00,2.67,0.00,0.000,6,0.000,0.085,2667,2236,3882
$GC,422,-1.29,-194.7,41.8,-11.9,69,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3883
$GC,563,-1.29,-194.7,58.7,-12.2,94,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3882
$GC,907,-1.29,-194.7,93.1,-8.9,155,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3883
$GC,1248,-1.29,-194.7,126.6,-10.6,216,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3883
$GC,1592,-1.29,-194.7,161.6,-9.7,277,1598,0.00,2.78,0.00,0.000,4,0.000,0.104,2667,818,3883
$GC,1616,-1.29,-194.7,164.1,-10.2,281,1622,0.00,2.65,0.00,0.000,6,0.000,0.087,2667,2217,3883
$GC,1959,-1.29,-194.7,197.0,-9.1,342,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2218,3883
$GC,2302,-1.29,-194.7,229.4,-10.1,403,2308,0.00,2.78,0.00,0.000,4,0.000,0.104,2668,3650,3883
$GC,2331,-1.29,-194.7,232.3,-10.0,408,2337,0.00,2.70,0.00,0.000,6,0.000,0.087,2668,2219,3883
$GC,2674,-1.29,-194.7,265.1,-9.0,469,2680,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2219,3883
$GC,3017,-1.29,-194.7,294.6,-7.8,530,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2219,3883
$GC,3361,-1.29,-194.7,321.5,-7.6,591,3367,0.00,2.80,0.00,0.000,4,0.000,0.108,2667,3644,3883
$GC,3390,-1.29,-194.7,323.8,-7.8,596,3397,0.00,2.70,0.00,0.000,6,0.000,0.089,2667,2222,3883
$GC,3735,-1.29,-194.7,347.5,-6.7,657,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3883
$GC,4068,-1.29,-194.7,372.5,-7.7,691,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3883
$GC,4385,-1.29,-194.7,399.2,-8.9,721,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2222,3882
$GC,4703,-1.29,-194.7,429.2,-9.6,751,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3883
$GC,5022,-1.29,-194.7,459.7,-9.9,781,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3882
$GC,5340,-1.29,-194.7,489.9,-8.8,811,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2222,3882
$GC,5659,-1.29,-194.7,519.6,-9.7,841,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2222,3882
$GC,5977,-1.29,-194.7,550.2,-9.9,871,5982,0.00,2.80,0.00,0.000,4,0.000,0.112,2667,3643,3882
$GC,6017,-1.29,-194.7,554.3,-10.7,874,6022,0.00,2.72,0.00,0.000,6,0.000,0.093,2668,2214,3882
$GC,6343,-1.29,-194.7,586.7,-10.1,904,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2214,3882
$GC,6665,-1.29,-194.7,619.5,-10.1,926,6670,0.00,2.83,0.00,0.000,4,0.000,0.114,2668,3643,3882
$GC,6697,-1.29,-194.7,622.9,-10.4,927,6704,0.00,2.70,0.00,0.000,6,0.000,0.092,2667,2222,3882
$GC,7014,-1.29,-194.7,656.3,-11.6,943,7015,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2222,3881
$GC,7323,-1.29,-194.7,689.2,-9.9,958,7328,0.00,2.83,0.00,0.000,4,0.000,0.117,2668,3642,3882
$GC,7362,-1.29,-194.7,693.0,-9.4,960,7367,0.00,2.72,0.00,0.000,6,0.000,0.095,2667,2218,3881
$GC,7688,-1.29,-194.7,719.8,-7.5,976,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2218,3881
$GC,7999,-1.29,-194.7,746.9,-8.9,991,8000,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2218,3881
$GC,8307,-1.29,-194.7,774.6,-9.5,1006,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2218,3881
$GC,8616,-1.29,-194.7,802.4,-9.0,1021,8621,0.00,2.88,0.00,0.000,4,0.000,0.122,2667,3643,3881
$GC,8666,-1.29,-194.7,807.1,-9.5,1023,8671,0.00,2.72,0.00,0.000,6,0.000,0.100,2668,2231,3881
$GC,8981,-1.29,-194.7,835.5,-8.8,1038,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3880
$GC,9292,-1.29,-194.7,863.2,-9.6,1053,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2230,3880
$GC,9601,-1.29,-194.7,892.7,-8.9,1068,9602,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2231,3880
$GC,9910,-1.60,-194.7,908.0,-0.0,1083,9912,0.25,0.00,0.00,0.000,6,0.071,0.000,2612,2231,3880
$STATE,9969,end dive,NO_VERTICAL_VELOCITY
$STATE,9969,begin apogee
$GC,9975,-0.35,0.0,908.0,0.0,1086,10143,1.20,0.00,164.57,1.361,6,0.053,0.000,2883,2331,3085
$STATE,10144,end apogee,CONTROL_FINISHED_OK
$STATE,10144,begin climb
$GC,10147,1.29,194.7,907.9,0.0,1094,10314,1.58,0.00,161.52,1.317,6,0.054,0.000,3237,2331,2291
$GC,10623,1.20,194.7,859.9,12.3,1118,10624,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2330,2289
$GC,10933,1.12,194.7,822.4,12.4,1133,10935,0.17,0.00,0.00,0.000,6,0.111,0.000,3206,2331,2288
$GC,11242,1.08,194.7,788.2,10.8,1148,11246,0.00,2.90,0.00,0.000,4,0.000,0.122,3206,3737,2288
$GC,11274,1.00,194.7,784.3,12.2,1149,11281,0.15,2.78,0.00,0.000,6,0.111,0.100,3178,2323,2288
$GC,11590,1.02,210.0,753.8,9.5,1165,11612,0.00,2.97,14.15,1.210,4,0.000,0.130,3178,914,2228
$GC,11650,1.02,210.0,747.4,10.5,1167,11657,0.00,2.75,0.00,0.000,6,0.000,0.100,3178,2315,2227
$GC,11967,1.03,216.4,715.2,9.8,1183,11981,0.00,3.00,7.07,1.071,4,0.000,0.123,3178,3736,2201
$GC,12027,1.03,216.4,707.8,11.9,1185,12033,0.00,2.78,0.00,0.000,6,0.000,0.097,3178,2318,2201
$GC,12343,1.03,216.4,674.2,10.4,1201,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2318,2201
$GC,12652,1.03,216.4,641.8,10.8,1216,12653,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2318,2201
$GC,12962,1.03,216.4,607.6,10.9,1231,12963,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2317,2201
$GC,13277,1.03,216.4,572.9,10.9,1257,13278,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2317,2201
$GC,13596,1.03,216.4,539.3,10.3,1287,13601,0.00,2.83,0.00,0.000,4,0.000,0.110,3178,3738,2201
$GC,13629,1.03,216.4,535.4,11.0,1289,13636,0.00,2.72,0.00,0.000,6,0.000,0.091,3178,2323,2201
$GC,13954,1.03,216.4,500.1,10.9,1320,13955,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2323,2201
$GC,14272,1.03,216.4,466.6,10.6,1350,14274,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2323,2201
$GC,14591,1.03,216.4,431.7,11.1,1380,14592,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2323,2201
$GC,14909,1.03,216.4,398.2,10.3,1410,14911,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2323,2201
$GC,15230,1.04,229.5,366.6,9.5,1440,15248,0.00,0.00,12.43,0.985,6,0.000,0.000,3178,2323,2148
$GC,15576,1.04,229.5,332.0,10.2,1488,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2323,2148
$GC,15919,1.04,229.5,297.0,10.4,1549,15925,0.00,2.83,0.00,0.000,4,0.000,0.107,3178,3738,2148
$GC,15979,1.04,229.5,290.9,10.5,1559,15985,0.00,2.70,0.00,0.000,6,0.000,0.088,3178,2334,2148
$GC,16323,1.05,231.0,256.2,9.9,1620,16329,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2334,2148
$GC,16667,1.05,231.0,222.8,10.3,1681,16673,0.00,2.80,0.00,0.000,4,0.000,0.106,3178,3740,2148
$GC,16690,1.05,231.0,220.3,10.2,1685,16696,0.00,2.70,0.00,0.000,6,0.000,0.086,3178,2333,2148
$GC,17034,1.06,241.9,187.2,9.6,1746,17051,0.00,0.00,11.75,0.871,6,0.000,0.000,3178,2334,2097
$GC,17390,1.07,250.5,151.0,9.7,1809,17401,0.00,0.00,8.55,0.815,6,0.000,0.000,3178,2333,2063
$GC,17739,1.10,273.2,116.4,9.2,1871,17767,0.00,2.88,19.77,0.822,4,0.000,0.103,3178,3736,1969
$GC,17790,1.10,273.2,110.9,12.3,1880,17796,0.00,2.70,0.00,0.000,6,0.000,0.084,3178,2336,1968
$GC,18134,1.10,273.2,76.0,10.7,1941,18139,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2337,1967
$GC,18479,1.10,273.2,39.6,10.3,2002,18485,0.00,2.72,0.00,0.000,4,0.000,0.100,3178,918,1967
$GC,18514,1.15,273.2,35.5,10.6,2008,18522,0.15,2.67,0.00,0.000,6,0.059,0.084,3217,2339,1967
$GC,18659,1.15,273.2,18.4,10.9,2033,18665,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2339,1967
$GC,18803,1.15,273.2,2.6,11.7,2058,18809,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2339,1967
$STATE,18813,end climb,SURFACE_DEPTH_REACHED
$STATE,18813,begin surface coast
$FINISH,0.2,1.027662
$STATE,18833,end surface coast,CONTROL_FINISHED_OK
$STATE,18833,begin surface
$SM_CCo,18914,0.00,0.000,0,0,1964,274.98
$SM_GC,1.04,11.57,0.00,0.00,0.046,0.000,0.000,587,2233,1964,-10.85,-0.06,274.98
$IRIDIUM_FIX,6117.23,-2629.84,210897,161627
$TT8_MAMPS,0.022243
$HUMID,1666
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,124
$24V_AH,23.4,50.988
$10V_AH,10.7,41.148
$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,27.450,89.225,399.825,0.000,0.000,23.603,34.230,247.519,31.000,0.000,0.000,14.161,3181.276,11371.809,556.477,3574.350,658.452,0.000,2087.280,0.000,3572.790,0.000,0.467
$DEVICE_MAMPS,187.915,129.623,1361.425,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1432.477,1539.036,1885.323,600.336,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123143,2063
$CAP_FILE_SIZE,167690,0
$CFSIZE,260165632,233955328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,280508,015438,6144.617,-2644.294,28,1.6,28,-19.0