version: 66.03
glider: 140
mission: 5
dive: 266
start: 6 5 108 2 9 52
data:
$ID,140
$MISSION,5
$DIVE,266
$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,-18157
$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,15
$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
$GPS1,020137,6201.853,-2545.049,36,1.1,36,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-58.4
$GPS2,020933,6201.849,-2545.052,15,1.6,15,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6137.290,-2640.070
$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,245.4,66439,-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,-194.7,0.0,0.0,0,99,0.00,0.00,-75.82,0.000,2,0.000,0.000,590,2224,3588
$GC,102,-1.29,-194.7,3.3,-5.6,10,126,12.27,2.80,-6.12,0.000,4,0.183,0.108,2672,3641,3881
$GC,379,-1.29,-194.7,38.1,-11.2,58,387,0.00,2.62,0.00,0.000,6,0.000,0.079,2672,2230,3883
$GC,523,-1.29,-194.7,51.5,-9.2,83,529,0.00,2.75,0.00,0.000,4,0.000,0.098,2672,3647,3883
$GC,593,-1.29,-194.7,58.1,-9.0,95,600,0.00,2.67,0.00,0.000,6,0.000,0.080,2672,2221,3883
$GC,939,-1.29,-194.7,89.4,-8.3,156,947,0.00,2.67,0.00,0.000,4,0.000,0.100,2672,824,3883
$GC,987,-1.29,-194.7,93.6,-8.5,164,995,0.00,2.65,0.00,0.000,6,0.000,0.087,2672,2230,3883
$GC,1334,-1.29,-194.7,122.9,-8.3,225,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3883
$GC,1677,-1.29,-194.7,153.6,-8.8,286,1685,0.00,2.75,0.00,0.000,4,0.000,0.103,2672,820,3884
$GC,1720,-1.29,-194.7,157.5,-9.5,293,1727,0.00,2.65,0.00,0.000,6,0.000,0.089,2672,2216,3883
$GC,2065,-1.29,-194.7,188.2,-8.7,354,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3884
$GC,2410,-1.29,-194.7,217.8,-8.1,415,2417,0.00,2.72,0.00,0.000,4,0.000,0.104,2672,820,3884
$GC,2440,-1.29,-194.7,220.5,-8.8,420,2448,0.00,2.67,0.00,0.000,6,0.000,0.092,2672,2222,3884
$GC,2786,-1.29,-194.7,248.4,-7.7,481,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3884
$GC,3131,-1.29,-194.7,273.6,-6.9,542,3138,0.00,2.72,0.00,0.000,4,0.000,0.107,2672,824,3884
$GC,3167,-1.29,-194.7,276.4,-7.7,548,3174,0.00,2.65,0.00,0.000,6,0.000,0.094,2672,2208,3883
$GC,3513,-1.29,-194.7,302.2,-8.3,609,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2208,3883
$GC,3857,-1.29,-194.7,331.9,-9.0,670,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2207,3883
$GC,4198,-1.29,-194.7,364.2,-9.4,718,4203,0.00,2.72,0.00,0.000,4,0.000,0.111,2672,825,3883
$GC,4238,-1.29,-194.7,367.9,-9.4,721,4243,0.00,2.65,0.00,0.000,6,0.000,0.097,2672,2200,3883
$GC,4565,-1.29,-194.7,398.0,-9.3,751,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3883
$GC,4884,-1.29,-194.7,426.3,-8.8,781,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3883
$GC,5209,-1.29,-194.7,456.6,-9.9,812,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3883
$GC,5528,-1.29,-194.7,490.3,-10.7,842,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3882
$GC,5846,-1.29,-194.7,524.7,-10.9,872,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3882
$GC,6165,-1.29,-194.7,557.5,-9.8,902,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3882
$GC,6483,-1.29,-194.7,585.8,-8.4,932,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3882
$GC,6809,-1.29,-194.7,612.1,-8.1,956,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3882
$GC,7118,-1.29,-194.7,637.1,-8.1,971,7120,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3882
$GC,7427,-1.29,-194.7,663.2,-8.4,986,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3882
$GC,7737,-1.29,-194.7,688.2,-7.9,1001,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3882
$GC,8047,-1.29,-194.7,715.2,-9.0,1016,8052,0.00,2.90,0.00,0.000,4,0.000,0.123,2672,3647,3881
$GC,8096,-1.29,-194.7,720.2,-9.3,1018,8101,0.00,2.80,0.00,0.000,6,0.000,0.097,2671,2186,3881
$GC,8413,-1.29,-194.7,747.5,-8.1,1033,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2186,3881
$GC,8722,-1.29,-194.7,773.5,-8.6,1048,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2186,3881
$GC,9031,-1.29,-194.7,797.4,-7.7,1063,9036,0.00,2.95,0.00,0.000,4,0.000,0.124,2672,3643,3880
$GC,9075,-1.29,-194.7,801.1,-8.4,1065,9080,0.00,2.78,0.00,0.000,6,0.000,0.100,2672,2197,3880
$GC,9397,-1.29,-194.7,825.8,-7.7,1081,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2198,3880
$GC,9705,-1.29,-194.7,852.0,-8.5,1096,9710,0.00,2.95,0.00,0.000,4,0.000,0.126,2672,3649,3879
$GC,9738,-1.29,-194.7,855.2,-10.0,1097,9745,0.00,2.83,0.00,0.000,6,0.000,0.104,2672,2202,3880
$GC,10054,-1.29,-194.7,882.0,-8.7,1113,10059,0.00,2.85,0.00,0.000,4,0.000,0.136,2672,818,3879
$GC,10104,-1.29,-194.7,886.7,-10.0,1115,10109,0.00,2.70,0.00,0.000,6,0.000,0.108,2672,2194,3879
$GC,10421,-1.29,-194.7,915.3,-8.8,1130,10422,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2195,3879
$GC,10730,-1.50,-194.7,930.7,-0.0,1145,10731,0.17,0.00,0.00,0.000,6,0.066,0.000,2629,2194,3878
$STATE,10788,end dive,NO_VERTICAL_VELOCITY
$STATE,10789,begin apogee
$GC,10794,-0.35,0.0,930.7,0.0,1148,10963,1.15,0.00,165.32,1.381,6,0.064,0.000,2881,2332,3085
$STATE,10964,end apogee,CONTROL_FINISHED_OK
$STATE,10964,begin climb
$GC,10967,1.29,194.7,930.6,0.0,1156,11135,1.60,0.00,162.68,1.340,6,0.054,0.000,3250,2332,2291
$GC,11432,1.19,194.7,885.7,10.7,1179,11437,0.17,2.90,0.00,0.000,4,0.110,0.121,3216,914,2289
$GC,11451,1.12,194.7,883.2,11.8,1180,11455,0.00,2.83,0.00,0.000,6,0.000,0.110,3216,2331,2288
$GC,11777,1.07,194.7,848.1,11.2,1196,11779,0.12,0.00,0.00,0.000,6,0.115,0.000,3194,2332,2288
$GC,12087,1.07,194.7,816.7,10.7,1211,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2332,2288
$GC,12395,1.07,194.7,781.0,12.2,1226,12396,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2332,2287
$GC,12705,1.07,194.7,744.0,11.6,1241,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2332,2287
$GC,13014,1.07,194.7,709.4,11.3,1256,13015,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2332,2287
$GC,13324,1.07,194.7,676.6,10.1,1271,13329,0.00,2.88,0.00,0.000,4,0.000,0.122,3194,3738,2286
$GC,13351,1.02,194.7,673.6,10.9,1272,13355,0.00,2.75,0.00,0.000,6,0.000,0.096,3194,2323,2286
$GC,13667,1.04,209.8,642.2,9.5,1287,13687,0.00,0.00,13.85,1.164,6,0.000,0.000,3193,2323,2228
$GC,13997,1.05,220.4,610.6,9.6,1303,14009,0.00,0.00,10.52,1.102,6,0.000,0.000,3194,2323,2185
$GC,14310,1.05,220.4,577.5,11.0,1327,14311,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2323,2185
$GC,14631,1.07,238.5,545.7,9.4,1357,14650,0.00,0.00,16.85,1.090,6,0.000,0.000,3194,2323,2112
$GC,14969,1.10,263.3,515.0,9.1,1389,14997,0.00,0.00,22.42,1.072,6,0.000,0.000,3194,2323,2011
$GC,15316,1.15,298.5,484.0,8.8,1422,15349,0.00,0.00,31.38,1.052,6,0.000,0.000,3194,2323,1868
$GC,15664,1.16,309.2,451.1,9.6,1455,15680,0.00,2.83,10.20,0.982,4,0.000,0.107,3194,913,1824
$GC,15691,1.16,309.2,448.3,11.1,1457,15699,0.00,2.78,0.00,0.000,6,0.000,0.095,3193,2331,1823
$GC,16017,1.16,309.2,415.5,10.7,1488,16018,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2331,1822
$GC,16335,1.16,309.2,382.6,10.3,1518,16336,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2331,1821
$GC,16655,1.17,318.4,351.4,9.7,1548,16666,0.00,0.00,9.00,0.929,6,0.000,0.000,3193,2331,1787
$GC,16998,1.18,325.0,316.2,9.8,1608,17012,0.10,0.00,7.40,0.873,6,0.071,0.000,3220,2331,1759
$GC,17350,1.18,325.0,273.4,11.9,1670,17357,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2331,1758
$GC,17695,1.18,325.0,231.4,11.8,1731,17702,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2331,1758
$GC,18039,1.18,325.0,188.9,12.1,1792,18046,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2331,1758
$GC,18385,1.18,325.0,147.8,10.5,1853,18392,0.00,2.75,0.00,0.000,4,0.000,0.100,3221,915,1758
$GC,18410,1.18,325.0,144.7,11.8,1857,18418,0.00,2.72,0.00,0.000,6,0.000,0.091,3221,2343,1758
$GC,18756,1.18,325.0,104.1,13.0,1918,18762,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2343,1757
$GC,19097,1.18,325.0,57.0,15.1,1979,19104,0.00,2.75,0.00,0.000,4,0.000,0.097,3221,911,1758
$GC,19122,1.18,325.0,53.5,13.8,1983,19130,0.00,2.67,0.00,0.000,6,0.000,0.087,3221,2328,1758
$GC,19466,1.18,325.0,14.3,12.0,2044,19474,0.00,2.75,0.00,0.000,4,0.000,0.102,3221,3739,1757
$GC,19497,1.18,325.0,10.8,12.6,2049,19504,0.00,2.65,0.00,0.000,6,0.000,0.081,3220,2333,1757
$STATE,19577,end climb,SURFACE_DEPTH_REACHED
$STATE,19577,begin surface coast
$FINISH,0.3,1.027628
$STATE,19594,end surface coast,CONTROL_FINISHED_OK
$STATE,19595,begin surface
$SM_CCo,19676,0.00,0.000,0,0,1754,326.49
$SM_GC,0.95,11.50,0.00,0.00,0.043,0.000,0.000,594,2233,1754,-10.84,-0.06,326.49
$IRIDIUM_FIX,6139.81,-2540.61,290897,202010
$TT8_MAMPS,0.02301
$HUMID,1674
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,139
$24V_AH,23.3,57.701
$10V_AH,10.6,47.285
$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,27.100,94.225,449.625,0.000,0.000,31.423,33.719,258.806,34.750,0.000,0.000,15.511,4173.298,11055.463,652.810,3548.429,702.424,0.000,2161.717,0.000,3564.083,0.000,0.467
$DEVICE_MAMPS,182.546,135.759,1380.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1432.345,1582.330,1867.527,589.626,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123102,2066
$CAP_FILE_SIZE,170374,0
$CFSIZE,260165632,230518784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.065,157.4,1
$GPS,050608,073902,6159.350,-2548.953,39,1.5,39,-18.6