version: 66.03
glider: 140
mission: 5
dive: 241
start: 5 30 108 6 2 22
data:
$ID,140
$MISSION,5
$DIVE,241
$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,-17757.953
$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,8
$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
$GPS1,055407,6149.323,-2643.671,38,1.2,43,-19.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.8
$GPS2,060203,6149.401,-2643.608,12,1.5,12,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6121.540,-2546.760
$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,154.6,72173,-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,-194.7,0.0,0.0,0,73,0.00,0.00,-50.40,0.000,2,0.000,0.000,584,2221,3483
$GC,76,-1.29,-194.7,3.4,-6.6,7,107,12.48,2.80,-8.62,0.000,4,0.187,0.113,2672,3652,3881
$GC,210,-1.29,-194.7,21.3,-9.9,29,217,0.00,2.67,0.00,0.000,6,0.000,0.082,2672,2225,3882
$GC,355,-1.29,-194.7,35.9,-10.0,54,362,0.00,2.67,0.00,0.000,4,0.000,0.097,2672,824,3882
$GC,397,-1.24,-194.7,40.6,-10.6,61,405,0.00,2.65,0.00,0.000,6,0.000,0.085,2672,2236,3882
$GC,541,-1.24,-194.7,56.5,-11.1,86,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3882
$GC,887,-1.24,-194.7,92.6,-10.0,147,894,0.00,2.75,0.00,0.000,4,0.000,0.100,2672,817,3882
$GC,911,-1.24,-194.7,95.2,-10.5,151,918,0.00,2.60,0.00,0.000,6,0.000,0.085,2672,2191,3882
$GC,1258,-1.24,-194.7,130.8,-9.9,212,1265,0.00,2.80,0.00,0.000,4,0.000,0.100,2672,3645,3882
$GC,1300,-1.24,-194.7,135.4,-10.7,219,1308,0.00,2.72,0.00,0.000,6,0.000,0.084,2671,2196,3883
$GC,1645,-1.24,-194.7,168.6,-9.7,280,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2197,3883
$GC,1991,-1.24,-194.7,200.7,-9.9,341,1998,0.00,2.85,0.00,0.000,4,0.000,0.105,2671,3650,3883
$GC,2021,-1.24,-194.7,203.9,-10.5,346,2028,0.00,2.72,0.00,0.000,6,0.000,0.087,2672,2209,3883
$GC,2367,-1.24,-194.7,239.6,-10.9,407,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3882
$GC,2711,-1.24,-194.7,276.9,-10.7,468,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3883
$GC,3055,-1.24,-194.7,315.0,-11.4,529,3063,0.00,2.85,0.00,0.000,4,0.000,0.109,2671,3653,3883
$GC,3086,-1.24,-194.7,318.5,-11.9,534,3094,0.00,2.72,0.00,0.000,6,0.000,0.089,2672,2217,3882
$GC,3433,-1.24,-194.7,357.4,-11.3,590,3437,0.00,2.78,0.00,0.000,4,0.000,0.114,2672,817,3883
$GC,3454,-1.24,-194.7,359.9,-11.3,591,3461,0.00,2.70,0.00,0.000,6,0.000,0.096,2672,2222,3882
$GC,3780,-1.24,-194.7,395.2,-11.0,622,3785,0.00,2.80,0.00,0.000,4,0.000,0.110,2671,3650,3882
$GC,3808,-1.24,-194.7,398.5,-11.4,624,3813,0.00,2.72,0.00,0.000,6,0.000,0.090,2672,2215,3882
$GC,4135,-1.24,-194.7,432.1,-10.1,654,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3882
$GC,4451,-1.24,-194.7,465.4,-10.4,684,4456,0.00,2.83,0.00,0.000,4,0.000,0.111,2671,3644,3882
$GC,4480,-1.24,-194.7,468.5,-11.0,686,4484,0.00,2.70,0.00,0.000,6,0.000,0.091,2671,2224,3882
$GC,4806,-1.24,-194.7,501.6,-10.2,716,4810,0.00,2.80,0.00,0.000,4,0.000,0.119,2671,820,3882
$GC,4827,-1.24,-194.7,504.0,-10.0,717,4834,0.00,2.72,0.00,0.000,6,0.000,0.100,2671,2230,3882
$GC,5154,-1.24,-194.7,537.2,-10.4,748,5158,0.00,2.80,0.00,0.000,4,0.000,0.115,2672,3646,3881
$GC,5182,-1.24,-194.7,540.4,-11.0,750,5186,0.00,2.70,0.00,0.000,6,0.000,0.091,2671,2228,3882
$GC,5508,-1.24,-194.7,573.5,-10.4,780,5513,0.00,2.80,0.00,0.000,4,0.000,0.120,2671,825,3882
$GC,5528,-1.24,-194.7,576.0,-10.7,781,5536,0.00,2.72,0.00,0.000,6,0.000,0.101,2672,2228,3882
$GC,5854,-1.24,-194.7,608.2,-9.9,808,5858,0.00,2.80,0.00,0.000,4,0.000,0.115,2671,3646,3882
$GC,5893,-1.24,-194.7,612.6,-10.7,810,5898,0.00,2.70,0.00,0.000,6,0.000,0.093,2671,2231,3881
$GC,6220,-1.24,-194.7,644.7,-9.9,826,6224,0.00,2.80,0.00,0.000,4,0.000,0.120,2671,823,3882
$GC,6240,-1.24,-194.7,647.0,-10.1,827,6245,0.00,2.75,0.00,0.000,6,0.000,0.101,2671,2239,3882
$GC,6563,-1.24,-194.7,678.7,-10.1,843,6564,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,6871,-1.24,-194.7,709.0,-9.6,858,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3881
$GC,7181,-1.24,-194.7,738.6,-9.4,873,7186,0.00,2.85,0.00,0.000,4,0.000,0.126,2672,3647,3881
$GC,7202,-1.24,-194.7,740.9,-9.8,874,7207,0.00,2.72,0.00,0.000,6,0.000,0.096,2671,2226,3881
$GC,7524,-1.24,-194.7,769.7,-9.1,890,7528,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,824,3881
$GC,7563,-1.24,-194.7,773.4,-9.4,892,7568,0.00,2.75,0.00,0.000,6,0.000,0.104,2671,2231,3881
$GC,7891,-1.24,-194.7,801.5,-9.1,908,7896,0.00,2.88,0.00,0.000,4,0.000,0.129,2671,3645,3881
$GC,7934,-1.24,-194.7,805.9,-9.8,910,7939,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2240,3881
$GC,8258,-1.24,-194.7,834.9,-9.3,926,8263,0.00,2.90,0.00,0.000,4,0.000,0.130,2671,819,3881
$GC,8297,-1.24,-194.7,839.3,-10.7,928,8302,0.00,2.78,0.00,0.000,6,0.000,0.107,2671,2236,3880
$GC,8624,-1.24,-194.7,872.9,-10.5,944,8629,0.00,2.88,0.00,0.000,4,0.000,0.131,2671,3645,3880
$GC,8665,-1.24,-194.7,877.1,-10.4,946,8669,0.00,2.72,0.00,0.000,6,0.000,0.100,2671,2238,3880
$GC,8992,-1.29,-194.7,909.0,-10.0,962,8996,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,3645,3880
$STATE,9134,end dive,NO_VERTICAL_VELOCITY
$STATE,9134,begin apogee
$GC,9144,-0.35,0.0,909.6,0.0,968,9312,0.93,0.00,164.40,1.364,6,0.051,0.000,2886,2329,3085
$STATE,9313,end apogee,CONTROL_FINISHED_OK
$STATE,9313,begin climb
$GC,9315,1.29,194.7,909.5,0.0,977,9487,1.58,3.00,161.73,1.321,4,0.051,0.133,3240,919,2290
$GC,9499,1.28,243.6,900.6,8.3,984,9547,0.00,2.83,42.65,1.270,6,0.000,0.107,3240,2329,2092
$GC,9860,1.21,243.6,858.4,11.9,1001,9864,0.00,2.92,0.00,0.000,4,0.000,0.130,3240,3740,2086
$GC,9915,1.12,243.6,851.0,13.3,1003,9923,0.17,2.78,0.00,0.000,6,0.111,0.101,3207,2338,2085
$GC,10232,1.12,243.6,818.6,10.4,1019,10233,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2338,2084
$GC,10540,1.12,243.6,784.2,11.8,1034,10545,0.00,2.90,0.00,0.000,4,0.000,0.123,3207,3740,2085
$GC,10584,1.07,243.6,778.7,12.5,1036,10589,0.00,2.72,0.00,0.000,6,0.000,0.100,3207,2353,2084
$GC,10905,1.07,243.6,741.6,11.4,1052,10909,0.00,2.95,0.00,0.000,4,0.000,0.129,3207,918,2085
$GC,10922,1.07,243.6,739.6,11.5,1053,10927,0.00,2.83,0.00,0.000,6,0.000,0.104,3207,2354,2085
$GC,11250,1.07,243.6,701.7,11.8,1069,11255,0.00,2.85,0.00,0.000,4,0.000,0.126,3207,3738,2084
$GC,11294,1.03,243.6,695.6,13.2,1071,11299,0.12,2.70,0.00,0.000,6,0.114,0.097,3184,2353,2084
$GC,11617,1.03,243.6,659.8,11.2,1087,11618,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2354,2084
$GC,11925,1.03,243.6,624.7,11.1,1102,11929,0.00,2.83,0.00,0.000,4,0.000,0.117,3185,3739,2084
$GC,11951,1.03,243.6,621.3,11.1,1103,11956,0.00,2.67,0.00,0.000,6,0.000,0.095,3185,2363,2084
$GC,12271,1.03,243.6,587.3,10.5,1123,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2363,2084
$GC,12590,1.03,243.6,554.5,10.2,1153,12594,0.00,2.78,0.00,0.000,4,0.000,0.113,3185,3738,2084
$GC,12618,1.03,243.6,551.4,10.8,1155,12622,0.00,2.67,0.00,0.000,6,0.000,0.094,3185,2364,2084
$GC,12943,1.03,246.0,518.5,9.9,1185,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2365,2084
$GC,13262,1.03,246.0,485.1,10.3,1215,13266,0.00,2.75,0.00,0.000,4,0.000,0.114,3185,3738,2084
$GC,13290,1.03,246.0,482.0,11.2,1217,13295,0.00,2.65,0.00,0.000,6,0.000,0.092,3184,2371,2084
$GC,13617,1.03,246.0,448.0,10.5,1247,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2372,2084
$GC,13934,1.03,246.0,414.9,10.2,1277,13935,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2371,2084
$GC,14252,1.03,246.0,381.9,10.3,1307,14254,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2372,2084
$GC,14571,1.03,246.0,349.0,10.2,1337,14578,0.00,2.75,0.00,0.000,4,0.000,0.110,3185,3741,2084
$GC,14601,1.03,246.0,345.7,10.9,1342,14609,0.00,2.62,0.00,0.000,6,0.000,0.088,3185,2377,2084
$GC,14947,1.03,246.0,310.6,10.2,1403,14954,0.00,2.88,0.00,0.000,4,0.000,0.110,3185,913,2084
$GC,14972,1.03,246.0,307.8,10.8,1407,14979,0.00,2.83,0.00,0.000,6,0.000,0.094,3185,2386,2084
$GC,15316,1.03,246.0,271.1,10.9,1468,15324,0.00,2.70,0.00,0.000,4,0.000,0.112,3184,3741,2084
$GC,15353,1.03,246.0,266.8,11.3,1474,15360,0.00,2.60,0.00,0.000,6,0.000,0.086,3185,2377,2084
$GC,15698,1.03,246.0,229.2,10.3,1535,15704,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2377,2084
$GC,16042,1.03,246.0,193.8,10.0,1596,16048,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2377,2084
$GC,16386,1.03,246.0,158.1,10.2,1657,16393,0.00,2.70,0.00,0.000,4,0.000,0.107,3185,3739,2084
$GC,16423,1.03,246.0,154.0,11.3,1663,16430,0.00,2.58,0.00,0.000,6,0.000,0.086,3185,2389,2084
$GC,16768,1.03,247.9,118.2,9.9,1724,16776,0.00,0.00,3.90,0.584,6,0.000,0.000,3184,2388,2074
$GC,17114,1.03,247.9,83.2,10.0,1785,17120,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2389,2074
$GC,17457,1.08,280.7,50.7,8.9,1846,17493,0.00,2.97,28.42,0.792,4,0.000,0.100,3185,915,1939
$GC,17500,1.15,310.1,46.9,9.0,1852,17536,0.12,2.85,25.92,0.750,6,0.063,0.086,3217,2400,1818
$GC,17672,1.15,310.1,26.5,10.4,1881,17679,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2401,1815
$GC,17814,1.16,320.1,10.4,9.7,1906,17830,0.00,2.97,9.00,0.725,4,0.000,0.097,3217,910,1778
$GC,17860,1.21,320.1,5.5,10.6,1913,17867,0.00,2.83,0.00,0.000,6,0.000,0.087,3217,2400,1777
$STATE,17889,end climb,SURFACE_DEPTH_REACHED
$STATE,17889,begin surface coast
$FINISH,0.2,1.002645
$STATE,17908,end surface coast,CONTROL_FINISHED_OK
$STATE,17908,begin surface
$SM_CCo,17989,0.00,0.000,0,0,1772,322.08
$SM_GC,1.05,11.65,0.00,0.00,0.047,0.000,0.000,588,2228,1772,-10.85,-0.20,322.08
$IRIDIUM_FIX,6121.73,-2650.19,240897,010136
$TT8_MAMPS,0.02301
$HUMID,1646
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.60
$XPDR_PINGS,79
$24V_AH,23.4,52.930
$10V_AH,10.6,42.970
$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,27.050,188.875,436.025,0.000,0.000,27.602,35.164,271.238,19.750,0.000,0.000,12.093,3930.961,9692.058,641.498,3480.921,703.501,0.000,2185.894,0.000,3473.773,0.000,0.468
$DEVICE_MAMPS,187.148,132.691,1363.726,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1331.071,1445.719,1756.560,562.648,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113603,1921
$CAP_FILE_SIZE,178567,0
$CFSIZE,260165632,232927232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.107, 46.7,1
$GPS,300508,110325,6148.261,-2637.902,39,1.7,39,-19.0