version: 66.03
glider: 140
mission: 5
dive: 236
start: 5 29 108 3 48 54
data:
$ID,140
$MISSION,5
$DIVE,236
$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,50
$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,-17685.275
$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,14
$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
$GPS1,033701,6148.522,-2710.754,37,2.0,37,-19.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-65.1
$GPS2,034837,6148.565,-2710.709,15,1.2,31,-19.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6155.506,-2706.816
$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,69.3,20000,-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,25,begin dive
$GC,29,-1.29,-194.7,0.0,0.0,0,91,0.00,0.00,-58.95,0.000,2,0.000,0.000,594,2243,3357
$GC,93,-1.29,-194.7,3.0,-5.7,11,124,12.35,2.78,-12.38,0.000,4,0.187,0.108,2669,3649,3881
$GC,170,-1.29,-194.7,13.7,-10.8,24,176,0.00,2.65,0.00,0.000,6,0.000,0.081,2669,2228,3882
$GC,312,-1.29,-194.7,29.4,-10.1,49,319,0.00,2.70,0.00,0.000,4,0.000,0.098,2669,817,3882
$GC,338,-1.29,-194.7,31.8,-9.7,53,345,0.00,2.62,0.00,0.000,6,0.000,0.080,2670,2228,3882
$GC,481,-1.29,-194.7,45.8,-9.3,78,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,623,-1.29,-194.7,59.3,-9.3,103,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,965,-1.29,-194.7,91.2,-10.1,164,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,1308,-1.29,-194.7,124.2,-9.5,225,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,1652,-1.29,-194.7,154.5,-9.3,286,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,1996,-1.29,-194.7,185.8,-8.5,347,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,2340,-1.29,-194.7,214.5,-8.1,408,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,2685,-1.29,-194.7,243.4,-8.4,469,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,3030,-1.29,-194.7,273.2,-8.4,530,3035,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,3373,-1.29,-194.7,302.5,-8.6,591,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3882
$GC,3715,-1.29,-194.7,334.8,-9.3,652,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,4049,-1.29,-194.7,363.7,-7.8,698,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,4368,-1.29,-194.7,389.9,-8.6,728,4372,0.00,2.78,0.00,0.000,4,0.000,0.111,2670,3643,3882
$GC,4396,-1.29,-194.7,392.3,-9.1,730,4400,0.00,2.75,0.00,0.000,6,0.000,0.090,2669,2193,3882
$GC,4722,-1.29,-194.7,420.0,-8.7,760,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2194,3882
$GC,5040,-1.29,-194.7,448.2,-9.5,790,5045,0.00,2.85,0.00,0.000,4,0.000,0.110,2669,3642,3882
$GC,5072,-1.29,-194.7,451.6,-9.7,792,5079,0.00,2.75,0.00,0.000,6,0.000,0.092,2669,2201,3881
$GC,5399,-1.29,-194.7,483.0,-9.9,823,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2201,3881
$GC,5716,-1.29,-194.7,513.1,-9.2,853,5721,0.00,2.85,0.00,0.000,4,0.000,0.113,2669,3641,3881
$GC,5760,-1.29,-194.7,517.5,-9.9,856,5766,0.00,2.72,0.00,0.000,6,0.000,0.094,2669,2213,3881
$GC,6087,-1.29,-194.7,547.4,-9.5,887,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2214,3881
$GC,6403,-1.29,-194.7,580.5,-10.4,917,6408,0.00,2.83,0.00,0.000,4,0.000,0.113,2669,3642,3881
$GC,6431,-1.29,-194.7,583.6,-11.3,919,6435,0.00,2.72,0.00,0.000,6,0.000,0.095,2669,2221,3880
$GC,6751,-1.29,-194.7,616.8,-10.0,941,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2221,3880
$GC,7060,-1.29,-194.7,643.6,-8.7,956,7061,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3880
$GC,7370,-1.29,-194.7,667.7,-7.0,971,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2221,3880
$GC,7678,-1.29,-194.7,691.1,-7.2,986,7683,0.00,2.85,0.00,0.000,4,0.000,0.120,2669,3641,3880
$GC,7705,-1.29,-194.7,693.3,-8.2,987,7710,0.00,2.75,0.00,0.000,6,0.000,0.097,2669,2214,3880
$GC,8021,-1.29,-194.7,719.4,-8.4,1002,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2215,3879
$GC,8331,-1.29,-194.7,749.1,-10.8,1017,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2214,3879
$GC,8639,-1.29,-194.7,778.3,-8.7,1032,8644,0.00,2.88,0.00,0.000,4,0.000,0.122,2669,3641,3879
$GC,8656,-1.29,-194.7,779.8,-8.9,1033,8661,0.00,2.78,0.00,0.000,6,0.000,0.100,2669,2209,3879
$GC,8983,-1.29,-194.7,808.1,-9.5,1049,8988,0.00,2.88,0.00,0.000,4,0.000,0.121,2669,3641,3879
$GC,9004,-1.29,-194.7,810.3,-9.2,1050,9009,0.00,2.75,0.00,0.000,6,0.000,0.100,2669,2222,3878
$GC,9326,-1.29,-194.7,840.1,-9.7,1066,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2223,3878
$GC,9636,-1.29,-194.7,867.5,-8.9,1081,9640,0.00,2.88,0.00,0.000,4,0.000,0.134,2670,825,3878
$GC,9652,-1.29,-194.7,869.3,-9.8,1082,9657,0.00,2.75,0.00,0.000,6,0.000,0.107,2669,2228,3878
$GC,9979,-1.29,-194.7,900.2,-9.7,1098,9983,0.00,2.90,0.00,0.000,4,0.000,0.131,2669,3646,3877
$GC,10018,-1.29,-194.7,904.0,-9.7,1100,10022,0.00,2.75,0.00,0.000,6,0.000,0.103,2669,2231,3878
$GC,10344,-1.29,-194.7,931.6,-8.3,1116,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3877
$STATE,10610,end dive,NO_VERTICAL_VELOCITY
$STATE,10610,begin apogee
$GC,10616,-0.35,0.0,936.7,0.0,1129,10785,0.98,0.00,165.27,1.388,6,0.070,0.000,2880,2331,3085
$STATE,10785,end apogee,CONTROL_FINISHED_OK
$STATE,10785,begin climb
$GC,10788,1.29,194.7,936.5,0.0,1137,10961,1.65,3.03,162.15,1.351,4,0.068,0.131,3237,915,2291
$GC,11000,1.21,194.7,927.0,13.0,1147,11005,0.00,2.83,0.00,0.000,6,0.000,0.106,3237,2334,2289
$GC,11321,1.11,194.7,886.1,12.8,1163,11327,0.15,2.92,0.00,0.000,4,0.114,0.127,3206,3739,2289
$GC,11417,1.04,194.7,873.7,11.9,1167,11422,0.00,2.80,0.00,0.000,6,0.000,0.104,3206,2334,2288
$GC,11732,1.00,194.7,839.7,11.3,1182,11738,0.15,2.92,0.00,0.000,4,0.110,0.131,3175,915,2288
$GC,11754,1.00,194.7,837.0,11.0,1183,11759,0.00,2.83,0.00,0.000,6,0.000,0.104,3174,2348,2288
$GC,12076,1.03,225.7,805.8,8.9,1199,12111,0.00,3.00,27.50,1.268,4,0.000,0.129,3175,3737,2163
$GC,12127,1.03,225.7,800.1,10.8,1201,12132,0.00,2.78,0.00,0.000,6,0.000,0.100,3175,2339,2162
$GC,12443,1.03,225.7,769.3,10.0,1216,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2340,2162
$GC,12753,1.05,242.1,739.2,9.4,1231,12772,0.00,0.00,15.07,1.213,6,0.000,0.000,3174,2340,2098
$GC,13082,1.05,242.1,704.4,11.3,1247,13087,0.00,2.88,0.00,0.000,4,0.000,0.120,3174,3738,2096
$GC,13121,1.05,242.1,699.8,11.5,1249,13126,0.00,2.78,0.00,0.000,6,0.000,0.100,3174,2338,2096
$GC,13448,1.06,247.4,666.7,9.8,1265,13455,0.00,0.00,5.90,0.998,6,0.000,0.000,3175,2338,2076
$GC,13756,1.06,247.4,633.2,10.8,1280,13761,0.00,2.85,0.00,0.000,4,0.000,0.118,3174,3738,2075
$GC,13788,1.06,247.4,629.5,10.8,1281,13794,0.00,2.70,0.00,0.000,6,0.000,0.096,3175,2353,2075
$GC,14105,1.06,247.4,598.2,10.6,1297,14109,0.00,2.90,0.00,0.000,4,0.000,0.120,3174,912,2075
$GC,14143,1.06,247.4,593.7,11.1,1300,14148,0.00,2.85,0.00,0.000,6,0.000,0.100,3175,2373,2075
$GC,14470,1.06,247.4,560.2,10.5,1330,14474,0.00,2.78,0.00,0.000,4,0.000,0.119,3175,3739,2074
$GC,14524,1.06,247.4,553.9,11.2,1334,14531,0.00,2.65,0.00,0.000,6,0.000,0.095,3175,2372,2074
$GC,14852,1.06,247.4,521.3,10.3,1365,14853,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2372,2075
$GC,15170,1.07,252.0,489.3,9.8,1395,15178,0.00,0.00,5.65,0.899,6,0.000,0.000,3175,2372,2057
$GC,15498,1.11,285.0,458.3,8.9,1426,15535,0.12,2.85,29.40,1.054,4,0.065,0.110,3207,3736,1922
$GC,15557,1.11,285.0,451.6,11.4,1431,15563,0.00,2.62,0.00,0.000,6,0.000,0.090,3207,2385,1920
$GC,15884,1.11,285.0,414.9,11.5,1462,15885,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2385,1919
$GC,16200,1.11,285.0,376.5,13.0,1492,16201,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2385,1918
$GC,16524,1.11,285.0,335.8,10.7,1532,16530,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2385,1918
$GC,16868,1.11,285.0,298.3,11.5,1593,16874,0.00,2.90,0.00,0.000,4,0.000,0.109,3207,911,1918
$GC,16897,1.11,285.0,295.0,10.3,1598,16903,0.00,2.85,0.00,0.000,6,0.000,0.092,3207,2398,1918
$GC,17242,1.11,285.0,257.5,11.5,1659,17247,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2399,1918
$GC,17584,1.11,285.0,218.7,11.1,1720,17590,0.00,2.90,0.00,0.000,4,0.000,0.105,3207,914,1918
$GC,17614,1.11,285.0,215.2,12.1,1725,17620,0.00,2.83,0.00,0.000,6,0.000,0.091,3207,2398,1918
$GC,17957,1.11,285.0,174.7,10.3,1786,17963,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2398,1918
$GC,18300,1.11,285.0,135.0,11.8,1847,18306,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2398,1918
$GC,18643,1.11,285.0,94.1,12.5,1908,18649,0.00,2.88,0.00,0.000,4,0.000,0.101,3207,913,1918
$GC,18684,1.11,285.0,88.9,12.8,1915,18690,0.00,2.78,0.00,0.000,6,0.000,0.088,3207,2380,1919
$GC,19028,1.11,285.0,48.7,10.4,1976,19034,0.00,2.65,0.00,0.000,4,0.000,0.103,3207,3738,1917
$GC,19071,1.12,292.2,44.4,9.7,1983,19084,0.00,2.60,7.18,0.733,6,0.000,0.084,3207,2371,1893
$GC,19221,1.12,292.2,29.1,10.1,2009,19228,0.00,2.80,0.00,0.000,4,0.000,0.100,3207,912,1892
$GC,19268,1.12,292.2,24.0,11.8,2017,19275,0.00,2.80,0.00,0.000,6,0.000,0.086,3207,2403,1892
$GC,19412,1.12,292.2,9.0,10.6,2042,19418,0.00,2.60,0.00,0.000,4,0.000,0.102,3207,3736,1891
$GC,19464,1.12,292.2,3.0,12.9,2051,19471,0.00,2.53,0.00,0.000,6,0.000,0.081,3207,2403,1891
$STATE,19475,end climb,SURFACE_DEPTH_REACHED
$STATE,19475,begin surface coast
$FINISH,0.2,1.004835
$STATE,19494,end surface coast,CONTROL_FINISHED_OK
$STATE,19494,begin surface
$SM_CCo,19575,0.00,0.000,0,0,1889,293.38
$SM_GC,1.02,11.48,0.00,0.00,0.044,0.000,0.000,588,2226,1889,-10.85,-0.25,293.38
$IRIDIUM_FIX,6126.23,-2706.49,230897,030306
$TT8_MAMPS,0.02301
$HUMID,1683
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.70
$XPDR_PINGS,92
$24V_AH,23.3,52.073
$10V_AH,10.6,42.127
$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,26.875,145.775,418.125,0.000,0.000,57.362,62.428,345.950,23.000,0.000,0.000,31.977,3218.466,11924.755,581.976,3679.950,845.004,0.000,2190.033,0.000,3646.127,0.000,0.468
$DEVICE_MAMPS,187.148,134.225,1388.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1425.789,1532.918,1860.783,596.765,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123168,2056
$CAP_FILE_SIZE,181830,0
$CFSIZE,260165632,233398272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,290508,091626,6149.864,-2703.503,42,0.9,42,-19.2