version: 66.03
glider: 140
mission: 5
dive: 231
start: 5 28 108 2 3 8
data:
$ID,140
$MISSION,5
$DIVE,231
$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,-17572.334
$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,12
$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
$GPS1,015438,6144.617,-2644.294,28,1.6,28,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-61.1
$GPS2,020251,6144.729,-2644.351,16,2.0,34,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6144.729,-2649.463
$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,289.0,20000,-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,-194.7,0.0,0.0,0,90,0.00,0.00,-60.30,0.000,2,0.000,0.000,587,2231,3396
$GC,93,-1.29,-194.7,3.2,-7.0,11,123,12.32,2.72,-11.45,0.000,4,0.185,0.107,2671,821,3881
$GC,287,-1.29,-194.7,23.7,-9.5,45,293,0.00,2.67,0.00,0.000,6,0.000,0.084,2671,2239,3882
$GC,429,-1.29,-194.7,38.2,-10.2,70,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3882
$GC,570,-1.29,-194.7,53.2,-11.1,95,576,0.00,2.75,0.00,0.000,4,0.000,0.097,2671,816,3882
$GC,599,-1.29,-194.7,56.4,-11.2,100,605,0.00,2.65,0.00,0.000,6,0.000,0.082,2671,2229,3882
$GC,944,-1.29,-194.7,90.6,-9.7,161,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,1285,-1.29,-194.7,123.3,-10.0,222,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,1629,-1.29,-194.7,158.1,-9.7,283,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,1972,-1.29,-194.7,192.0,-10.0,344,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,2317,-1.29,-194.7,226.7,-9.8,405,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,2661,-1.29,-194.7,257.4,-8.2,466,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,3005,-1.29,-194.7,286.4,-8.8,527,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,3347,-1.29,-194.7,315.2,-8.5,588,3353,0.00,2.78,0.00,0.000,4,0.000,0.110,2671,3644,3882
$GC,3383,-1.29,-194.7,318.4,-9.0,594,3389,0.00,2.70,0.00,0.000,6,0.000,0.089,2671,2221,3882
$GC,3727,-1.29,-194.7,348.4,-9.3,655,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3882
$GC,4053,-1.29,-194.7,378.9,-9.5,687,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3882
$GC,4371,-1.29,-194.7,408.6,-9.2,717,4372,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3882
$GC,4689,-1.29,-194.7,436.7,-8.5,747,4694,0.00,2.80,0.00,0.000,4,0.000,0.110,2671,3645,3882
$GC,4729,-1.29,-194.7,440.4,-9.2,750,4734,0.00,2.70,0.00,0.000,6,0.000,0.090,2671,2220,3882
$GC,5056,-1.29,-194.7,470.2,-9.0,780,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3882
$GC,5374,-1.29,-194.7,499.9,-9.0,810,5379,0.00,2.80,0.00,0.000,4,0.000,0.110,2671,3645,3881
$GC,5415,-1.29,-194.7,503.8,-9.4,813,5419,0.00,2.70,0.00,0.000,6,0.000,0.091,2671,2224,3881
$GC,5741,-1.29,-194.7,532.2,-8.7,843,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3881
$GC,6058,-1.29,-194.7,559.1,-8.4,873,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3881
$GC,6376,-1.29,-194.7,584.0,-8.0,903,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3881
$GC,6701,-1.29,-194.7,613.2,-8.9,927,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3882
$GC,7010,-1.29,-194.7,641.4,-9.5,942,7014,0.00,2.83,0.00,0.000,4,0.000,0.114,2671,3647,3881
$GC,7048,-1.29,-194.7,645.2,-10.2,944,7053,0.00,2.72,0.00,0.000,6,0.000,0.095,2671,2225,3881
$GC,7375,-1.29,-194.7,674.4,-8.8,960,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3881
$GC,7685,-1.29,-194.7,700.8,-9.0,975,7690,0.00,2.83,0.00,0.000,4,0.000,0.117,2671,3642,3880
$GC,7717,-1.29,-194.7,704.1,-10.2,976,7724,0.00,2.70,0.00,0.000,6,0.000,0.096,2671,2229,3880
$GC,8034,-1.29,-194.7,731.9,-8.8,992,8038,0.00,2.85,0.00,0.000,4,0.000,0.124,2671,817,3880
$GC,8073,-1.29,-194.7,735.5,-9.4,994,8077,0.00,2.72,0.00,0.000,6,0.000,0.100,2671,2226,3880
$GC,8399,-1.29,-194.7,765.2,-9.2,1010,8404,0.00,2.88,0.00,0.000,4,0.000,0.127,2671,3647,3880
$GC,8431,-1.29,-194.7,768.4,-10.2,1011,8438,0.00,2.75,0.00,0.000,6,0.000,0.097,2671,2217,3880
$GC,8748,-1.29,-194.7,794.9,-8.6,1027,8752,0.00,2.88,0.00,0.000,4,0.000,0.122,2671,3644,3880
$GC,8809,-1.29,-194.7,801.1,-10.3,1030,8813,0.00,2.75,0.00,0.000,6,0.000,0.100,2671,2222,3879
$GC,9136,-1.63,-194.7,819.7,-0.0,1046,9141,0.28,2.88,0.00,0.000,4,0.072,0.132,2606,824,3879
$STATE,9234,end dive,NO_VERTICAL_VELOCITY
$STATE,9234,begin apogee
$GC,9243,-0.35,0.0,819.7,0.0,1050,9411,1.20,0.00,162.55,1.301,6,0.048,0.000,2883,2336,3085
$STATE,9411,end apogee,CONTROL_FINISHED_OK
$STATE,9411,begin climb
$GC,9414,1.29,194.7,819.6,0.0,1059,9584,1.60,3.00,159.90,1.255,4,0.054,0.130,3241,3738,2291
$GC,9620,1.19,213.0,805.4,9.4,1069,9642,0.00,2.83,16.75,1.164,6,0.000,0.100,3240,2329,2216
$GC,9951,1.11,213.0,759.3,13.9,1085,9956,0.17,2.90,0.00,0.000,4,0.109,0.119,3205,3738,2214
$GC,10023,1.05,213.0,750.7,10.6,1088,10028,0.00,2.78,0.00,0.000,6,0.000,0.101,3205,2336,2214
$GC,10339,1.05,213.0,716.0,11.0,1103,10344,0.00,2.90,0.00,0.000,4,0.000,0.127,3205,915,2214
$GC,10366,1.05,213.0,712.7,11.8,1104,10370,0.00,2.78,0.00,0.000,6,0.000,0.102,3205,2334,2214
$GC,10682,1.05,213.0,678.0,11.1,1119,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2334,2213
$GC,10991,1.05,213.0,642.1,11.7,1134,10995,0.00,2.88,0.00,0.000,4,0.000,0.122,3205,3739,2213
$GC,11034,0.99,213.0,636.6,12.2,1136,11039,0.15,2.72,0.00,0.000,6,0.110,0.094,3177,2338,2213
$GC,11356,1.06,266.9,606.5,8.1,1152,11404,0.00,0.00,46.25,1.143,6,0.000,0.000,3177,2338,1997
$GC,11714,1.06,269.5,572.3,9.9,1182,11719,0.00,2.80,0.00,0.000,4,0.000,0.110,3178,3739,1991
$GC,11754,1.06,269.5,567.8,11.0,1185,11758,0.00,2.72,0.00,0.000,6,0.000,0.092,3177,2343,1990
$GC,12078,1.06,269.5,533.8,10.5,1215,12080,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2343,1991
$GC,12397,1.06,269.5,500.0,10.7,1245,12399,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2343,1990
$GC,12715,1.06,269.5,466.2,10.6,1275,12720,0.00,2.80,0.00,0.000,4,0.000,0.109,3177,3739,1990
$GC,12747,1.06,269.5,462.5,11.6,1277,12754,0.00,2.67,0.00,0.000,6,0.000,0.088,3177,2347,1989
$GC,13074,1.06,269.5,427.4,10.6,1308,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2347,1990
$GC,13391,1.06,269.5,393.0,10.3,1338,13392,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2347,1990
$GC,13711,1.09,291.2,361.8,9.2,1368,13739,0.00,0.00,21.20,0.984,6,0.000,0.000,3177,2347,1897
$GC,14071,1.10,300.9,326.7,9.7,1422,14083,0.10,0.00,9.57,0.917,6,0.070,0.000,3204,2347,1858
$GC,14421,1.10,300.9,289.4,10.4,1484,14426,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2347,1855
$GC,14764,1.11,306.8,255.1,9.8,1545,14775,0.00,0.00,6.62,0.826,6,0.000,0.000,3204,2347,1833
$GC,15113,1.11,306.8,218.1,10.4,1607,15118,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2347,1832
$GC,15455,1.11,306.8,177.1,12.8,1668,15460,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2347,1832
$GC,15798,1.11,306.8,131.0,13.5,1729,15803,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2347,1832
$GC,16140,1.11,306.8,85.5,12.2,1790,16146,0.00,2.75,0.00,0.000,4,0.000,0.103,3204,3739,1831
$GC,16169,1.11,306.8,81.8,13.0,1795,16176,0.00,2.67,0.00,0.000,6,0.000,0.085,3204,2342,1831
$GC,16513,1.19,376.8,49.0,7.6,1856,16574,0.00,0.00,58.60,0.779,6,0.000,0.000,3204,2341,1547
$GC,16712,1.24,417.3,34.1,8.6,1891,16751,0.12,0.00,34.03,0.749,6,0.063,0.000,3237,2341,1382
$GC,16887,1.24,417.3,13.3,11.6,1922,16892,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2342,1375
$STATE,16975,end climb,SURFACE_DEPTH_REACHED
$STATE,16975,begin surface coast
$FINISH,0.4,1.027667
$STATE,16993,end surface coast,CONTROL_FINISHED_OK
$STATE,16993,begin surface
$SM_CCo,17075,0.00,0.000,0,0,1369,420.69
$SM_GC,0.99,11.68,0.00,0.00,0.044,0.000,0.000,588,2233,1369,-10.86,-0.06,420.69
$IRIDIUM_FIX,6117.23,-2635.93,210897,202033
$TT8_MAMPS,0.023777
$HUMID,1653
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,17.90
$XPDR_PINGS,125
$24V_AH,23.4,51.178
$10V_AH,10.7,41.311
$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,27.625,100.475,515.475,0.000,0.000,28.720,34.342,260.691,31.250,0.000,0.000,34.657,2996.270,9783.155,607.391,3487.919,671.906,0.000,2123.782,0.000,3459.321,0.000,0.467
$DEVICE_MAMPS,184.847,131.924,1300.832,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1344.322,1448.372,1821.658,594.488,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113631,1941
$CAP_FILE_SIZE,162191,0
$CFSIZE,260165632,233877504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,280508,064857,6145.242,-2648.594,38,1.4,39,-19.0