version: 66.03
glider: 140
mission: 5
dive: 289
start: 6 10 108 7 46 16
data:
$ID,140
$MISSION,5
$DIVE,289
$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,-18553.705
$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,12
$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
$GPS1,073725,6204.208,-2633.593,39,1.2,39,-19.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-63.7
$GPS2,074557,6204.151,-2633.448,15,1.3,15,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6137.290,-2543.110
$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,157.4,66619,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,97,0.00,0.00,-72.72,0.000,2,0.000,0.000,589,2234,3544
$GC,100,-1.29,-194.7,3.5,-5.1,10,131,12.38,2.78,-6.90,0.000,4,0.186,0.108,2672,3642,3881
$GC,384,-1.29,-194.7,37.9,-10.0,59,392,0.00,2.62,0.00,0.000,6,0.000,0.080,2672,2233,3882
$GC,528,-1.29,-194.7,52.9,-10.8,84,536,0.00,2.72,0.00,0.000,4,0.000,0.094,2672,3649,3883
$GC,548,-1.29,-194.7,55.0,-10.3,87,555,0.00,2.70,0.00,0.000,6,0.000,0.079,2672,2208,3883
$GC,893,-1.29,-194.7,89.2,-10.0,148,900,0.00,2.67,0.00,0.000,4,0.000,0.101,2672,824,3883
$GC,929,-1.29,-194.7,93.2,-11.2,154,936,0.00,2.65,0.00,0.000,6,0.000,0.084,2672,2227,3883
$GC,1274,-1.29,-194.7,133.4,-13.0,215,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3883
$GC,1619,-1.29,-194.7,175.8,-11.8,276,1626,0.00,2.75,0.00,0.000,4,0.000,0.104,2672,822,3883
$GC,1655,-1.29,-194.7,180.1,-12.4,282,1663,0.00,2.65,0.00,0.000,6,0.000,0.089,2672,2216,3884
$GC,2001,-1.29,-194.7,217.1,-10.0,343,2009,0.00,2.78,0.00,0.000,4,0.000,0.105,2672,3648,3883
$GC,2021,-1.29,-194.7,219.2,-9.8,346,2029,0.00,2.72,0.00,0.000,6,0.000,0.086,2673,2205,3883
$GC,2367,-1.29,-194.7,248.6,-8.1,407,2374,0.00,2.72,0.00,0.000,4,0.000,0.108,2672,817,3884
$GC,2398,-1.29,-194.7,251.1,-8.3,412,2405,0.00,2.65,0.00,0.000,6,0.000,0.091,2672,2208,3883
$GC,2743,-1.29,-194.7,277.9,-7.8,473,2750,0.00,2.80,0.00,0.000,4,0.000,0.107,2672,3645,3883
$GC,2762,-1.29,-194.7,279.5,-8.2,476,2770,0.00,2.75,0.00,0.000,6,0.000,0.087,2672,2192,3883
$GC,3108,-1.29,-194.7,308.7,-9.0,537,3115,0.00,2.70,0.00,0.000,4,0.000,0.111,2672,823,3883
$GC,3145,-1.29,-194.7,312.0,-9.2,543,3152,0.00,2.65,0.00,0.000,6,0.000,0.094,2672,2198,3883
$GC,3490,-1.29,-194.7,343.9,-9.6,604,3497,0.00,2.85,0.00,0.000,4,0.000,0.110,2672,3651,3883
$GC,3521,-1.29,-194.7,347.0,-10.3,609,3528,0.00,2.80,0.00,0.000,6,0.000,0.091,2672,2181,3883
$GC,3856,-1.29,-194.7,380.1,-10.1,643,3861,0.00,2.70,0.00,0.000,4,0.000,0.114,2672,824,3883
$GC,3889,-1.29,-194.7,383.9,-10.9,645,3896,0.00,2.65,0.00,0.000,6,0.000,0.097,2672,2193,3883
$GC,4216,-1.29,-194.7,417.2,-10.2,676,4220,0.00,2.88,0.00,0.000,4,0.000,0.113,2672,3650,3883
$GC,4259,-1.29,-194.7,422.2,-10.5,679,4267,0.00,2.80,0.00,0.000,6,0.000,0.091,2672,2180,3883
$GC,4587,-1.29,-194.7,455.7,-10.1,710,4591,0.00,2.70,0.00,0.000,4,0.000,0.117,2672,825,3883
$GC,4619,-1.29,-194.7,459.5,-11.4,712,4626,0.00,2.62,0.00,0.000,6,0.000,0.097,2672,2182,3882
$GC,4946,-1.29,-194.7,493.2,-10.4,743,4950,0.00,2.90,0.00,0.000,4,0.000,0.113,2672,3652,3882
$GC,4978,-1.29,-194.7,497.1,-10.8,745,4986,0.00,2.83,0.00,0.000,6,0.000,0.091,2672,2165,3882
$GC,5305,-1.29,-194.7,529.8,-10.0,776,5309,0.00,2.67,0.00,0.000,4,0.000,0.118,2672,827,3882
$GC,5326,-1.29,-194.7,532.3,-10.1,777,5333,0.00,2.60,0.00,0.000,6,0.000,0.099,2672,2170,3882
$GC,5654,-1.29,-194.7,565.5,-9.6,808,5658,0.00,2.92,0.00,0.000,4,0.000,0.114,2672,3646,3882
$GC,5682,-1.29,-194.7,568.5,-10.1,810,5686,0.00,2.85,0.00,0.000,6,0.000,0.093,2672,2156,3882
$GC,6019,-1.29,-194.7,602.4,-10.3,840,6023,0.00,2.97,0.00,0.000,4,0.000,0.116,2672,3645,3881
$GC,6058,-1.29,-194.7,607.0,-10.9,842,6063,0.00,2.80,0.00,0.000,6,0.000,0.094,2672,2183,3881
$GC,6385,-1.29,-194.7,638.7,-10.0,858,6389,0.00,2.72,0.00,0.000,4,0.000,0.121,2672,827,3881
$GC,6434,-1.29,-194.7,643.9,-10.2,860,6439,0.00,2.65,0.00,0.000,6,0.000,0.103,2672,2184,3881
$GC,6751,-1.29,-194.7,674.5,-9.2,875,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2185,3881
$GC,7060,-1.29,-194.7,701.1,-8.6,890,7064,0.00,2.90,0.00,0.000,4,0.000,0.114,2672,3653,3881
$GC,7081,-1.29,-194.7,703.0,-8.3,891,7086,0.00,2.85,0.00,0.000,6,0.000,0.097,2672,2171,3880
$GC,7404,-1.29,-194.7,731.4,-9.4,907,7409,0.00,2.72,0.00,0.000,4,0.000,0.126,2672,823,3880
$GC,7431,-1.29,-194.7,734.5,-10.4,908,7435,0.00,2.65,0.00,0.000,6,0.000,0.104,2672,2177,3880
$GC,7748,-1.29,-194.7,764.4,-9.4,923,7753,0.00,2.95,0.00,0.000,4,0.000,0.120,2672,3649,3880
$GC,7775,-1.29,-194.7,767.3,-10.0,924,7779,0.00,2.85,0.00,0.000,6,0.000,0.100,2672,2172,3880
$GC,8091,-1.29,-194.7,796.6,-9.6,939,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2171,3880
$GC,8400,-1.29,-194.7,826.6,-9.5,954,8402,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2171,3879
$GC,8710,-1.29,-194.7,852.9,-7.9,969,8715,0.00,3.00,0.00,0.000,4,0.000,0.125,2672,3647,3880
$GC,8731,-1.29,-194.7,854.8,-8.5,970,8736,0.00,2.85,0.00,0.000,6,0.000,0.101,2672,2178,3879
$GC,9054,-1.42,-194.7,868.9,-0.0,986,9058,0.00,2.75,0.00,0.000,4,0.000,0.127,2672,827,3879
$STATE,9114,end dive,NO_VERTICAL_VELOCITY
$STATE,9114,begin apogee
$GC,9122,-0.35,0.0,868.9,0.0,989,9291,0.98,0.00,164.57,1.335,6,0.077,0.000,2879,2334,3085
$STATE,9291,end apogee,CONTROL_FINISHED_OK
$STATE,9291,begin climb
$GC,9294,1.29,194.7,868.8,0.0,997,9471,1.65,3.03,161.45,1.292,4,0.067,0.127,3237,3736,2290
$GC,9540,1.18,194.7,853.6,12.9,1008,9545,0.00,2.80,0.00,0.000,6,0.000,0.099,3237,2329,2289
$GC,9869,1.10,194.7,816.0,11.4,1024,9875,0.17,2.90,0.00,0.000,4,0.110,0.119,3202,3738,2289
$GC,9891,1.04,194.7,813.2,10.9,1025,9896,0.00,2.78,0.00,0.000,6,0.000,0.100,3202,2336,2289
$GC,10213,1.09,234.1,785.1,8.6,1041,10258,0.00,3.03,34.62,1.237,4,0.000,0.127,3201,919,2130
$GC,10285,1.09,234.1,777.9,10.2,1044,10290,0.00,2.80,0.00,0.000,6,0.000,0.103,3201,2333,2129
$GC,10608,1.09,234.1,743.1,11.6,1060,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2333,2127
$GC,10918,1.09,234.1,707.8,10.6,1075,10922,0.00,2.90,0.00,0.000,4,0.000,0.126,3202,3737,2127
$GC,10945,1.09,234.1,704.4,11.7,1076,10950,0.00,2.78,0.00,0.000,6,0.000,0.096,3201,2318,2127
$GC,11261,1.09,234.1,666.7,13.2,1091,11265,0.00,2.83,0.00,0.000,4,0.000,0.119,3201,916,2127
$GC,11287,1.09,234.1,662.8,13.8,1092,11292,0.00,2.72,0.00,0.000,6,0.000,0.100,3202,2311,2127
$GC,11604,1.09,234.1,627.1,11.1,1107,11609,0.00,2.88,0.00,0.000,4,0.000,0.116,3202,3738,2126
$GC,11636,1.09,234.1,623.4,10.7,1108,11645,0.00,2.78,0.00,0.000,6,0.000,0.095,3201,2307,2126
$GC,11955,1.10,243.9,590.7,9.7,1128,11967,0.00,0.00,9.30,1.076,6,0.000,0.000,3201,2307,2090
$GC,12286,1.16,297.2,563.6,8.2,1159,12340,0.00,3.03,47.15,1.112,4,0.000,0.114,3201,3738,1871
$GC,12346,1.22,342.6,558.3,8.4,1164,12392,0.10,2.80,40.35,1.075,6,0.071,0.091,3227,2313,1688
$GC,12718,1.22,342.6,521.6,10.1,1199,12719,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2313,1680
$GC,13037,1.22,342.6,488.9,10.4,1229,13038,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2313,1680
$GC,13355,1.22,342.6,456.4,10.2,1259,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2313,1679
$GC,13674,1.22,342.6,423.5,10.4,1289,13679,0.00,2.88,0.00,0.000,4,0.000,0.109,3227,3738,1678
$GC,13691,1.22,342.6,421.6,10.4,1290,13696,0.00,2.72,0.00,0.000,6,0.000,0.085,3227,2322,1678
$GC,14016,1.23,348.3,387.6,9.8,1320,14029,0.00,2.78,4.62,0.759,4,0.000,0.108,3227,919,1666
$GC,14053,1.23,348.3,383.7,10.5,1323,14058,0.00,2.72,0.00,0.000,6,0.000,0.094,3227,2330,1665
$GC,14379,1.26,374.8,352.5,9.1,1353,14413,0.00,2.90,24.35,0.968,4,0.000,0.105,3227,3738,1555
$GC,14432,1.26,374.8,347.3,11.0,1359,14439,0.00,2.75,0.00,0.000,6,0.000,0.086,3227,2320,1554
$GC,14778,1.26,374.8,309.6,11.4,1420,14785,0.00,2.75,0.00,0.000,4,0.000,0.107,3227,912,1552
$GC,14821,1.26,374.8,304.5,12.0,1427,14828,0.00,2.72,0.00,0.000,6,0.000,0.092,3227,2332,1552
$GC,15166,1.26,374.8,262.3,12.7,1488,15173,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2332,1551
$GC,15512,1.26,374.8,220.4,11.4,1549,15518,0.00,2.78,0.00,0.000,4,0.000,0.104,3227,916,1552
$GC,15542,1.26,374.8,216.5,12.7,1554,15549,0.00,2.67,0.00,0.000,6,0.000,0.092,3227,2316,1551
$GC,15888,1.26,374.8,174.6,11.8,1615,15895,0.00,2.80,0.00,0.000,4,0.000,0.107,3227,3736,1550
$GC,15909,1.26,374.8,172.1,12.4,1618,15916,0.00,2.72,0.00,0.000,6,0.000,0.084,3227,2308,1550
$GC,16254,1.26,374.8,132.5,11.6,1679,16261,0.00,2.70,0.00,0.000,4,0.000,0.103,3227,914,1551
$GC,16275,1.26,374.8,130.2,11.7,1682,16282,0.00,2.67,0.00,0.000,6,0.000,0.090,3227,2314,1551
$GC,16620,1.26,374.8,85.3,13.5,1743,16627,0.00,2.70,0.00,0.000,4,0.000,0.100,3227,917,1551
$GC,16641,1.26,374.8,82.5,13.9,1746,16648,0.00,2.62,0.00,0.000,6,0.000,0.087,3227,2305,1551
$GC,16989,1.28,388.6,43.1,9.5,1807,17010,0.00,2.75,12.43,0.788,4,0.000,0.099,3228,920,1499
$GC,17035,1.35,409.9,38.7,9.3,1814,17064,0.10,2.58,19.73,0.746,6,0.069,0.085,3257,2282,1411
$GC,17201,1.35,409.9,19.0,11.0,1842,17208,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2282,1408
$STATE,17335,end climb,SURFACE_DEPTH_REACHED
$STATE,17335,begin surface coast
$FINISH,0.4,1.027506
$STATE,17355,end surface coast,CONTROL_FINISHED_OK
$STATE,17356,begin surface
$SM_CCo,17437,0.00,0.000,0,0,1402,412.84
$SM_GC,1.01,11.73,0.00,0.00,0.044,0.000,0.000,590,2227,1402,-10.85,-0.23,412.84
$IRIDIUM_FIX,6139.81,-2644.17,040997,010127
$TT8_MAMPS,0.02301
$HUMID,1696
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,17.70
$XPDR_PINGS,303
$24V_AH,23.2,62.046
$10V_AH,10.6,51.241
$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,27.100,211.175,518.575,0.000,0.000,30.476,32.902,286.087,75.750,0.000,0.000,15.581,3815.068,9246.826,754.368,3382.045,725.019,0.000,2288.847,0.000,3364.928,0.000,0.468
$DEVICE_MAMPS,185.614,127.322,1334.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1292.760,1431.157,1741.142,543.903,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113674,1869
$CAP_FILE_SIZE,177645,0
$CFSIZE,260165632,228327424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.104, 21.4,1
$GPS,100608,123828,6203.332,-2629.273,40,2.6,59,-19.0