version: 66.03
glider: 140
mission: 5
dive: 335
start: 6 21 108 3 21 15
data:
$ID,140
$MISSION,5
$DIVE,335
$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,-19386.85
$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,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
$GPS1,030531,6142.105,-2636.760,40,1.4,45,-18.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-61.7
$GPS2,032056,6142.104,-2636.626,12,1.6,12,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6204.210,-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,14.7,41050,-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,21,-1.29,-194.7,0.0,0.0,0,93,0.00,0.00,-69.20,0.000,2,0.000,0.000,590,2232,3431
$GC,97,-1.29,-194.7,3.4,-7.3,9,127,12.40,2.70,-9.45,0.000,4,0.185,0.104,2671,824,3880
$GC,301,-1.29,-194.7,27.9,-10.2,44,308,0.00,2.65,0.00,0.000,6,0.000,0.081,2671,2239,3881
$GC,445,-1.29,-194.7,43.1,-10.9,69,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,587,-1.29,-194.7,56.6,-8.9,94,595,0.00,2.67,0.00,0.000,4,0.000,0.094,2671,3644,3881
$GC,624,-1.29,-194.7,60.0,-9.3,100,632,0.00,2.62,0.00,0.000,6,0.000,0.079,2671,2237,3882
$GC,970,-1.29,-194.7,92.5,-10.1,161,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3882
$GC,1314,-1.29,-194.7,123.3,-8.0,222,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,1661,-1.29,-194.7,150.9,-8.1,283,1667,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3883
$GC,2006,-1.29,-194.7,177.6,-7.5,344,2013,0.00,2.75,0.00,0.000,4,0.000,0.104,2671,824,3882
$GC,2031,-1.29,-194.7,179.7,-8.0,348,2038,0.00,2.72,0.00,0.000,6,0.000,0.090,2671,2250,3882
$GC,2377,-1.29,-194.7,208.9,-9.0,409,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3882
$GC,2723,-1.29,-194.7,239.6,-9.5,470,2730,0.00,2.80,0.00,0.000,4,0.000,0.105,2671,820,3882
$GC,2766,-1.29,-194.7,243.5,-8.9,477,2772,0.00,2.75,0.00,0.000,6,0.000,0.092,2671,2253,3882
$GC,3111,-1.29,-194.7,276.0,-10.0,538,3117,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2253,3882
$GC,3456,-1.29,-194.7,311.3,-10.5,599,3463,0.00,2.83,0.00,0.000,4,0.000,0.107,2672,823,3881
$GC,3481,-1.29,-194.7,314.1,-10.7,603,3488,0.00,2.75,0.00,0.000,6,0.000,0.094,2671,2249,3881
$GC,3827,-1.29,-194.7,350.3,-10.0,664,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2249,3881
$GC,4145,-1.29,-194.7,380.0,-8.6,694,4150,0.00,2.83,0.00,0.000,4,0.000,0.109,2671,817,3881
$GC,4166,-1.29,-194.7,382.1,-8.8,695,4174,0.00,2.72,0.00,0.000,6,0.000,0.095,2671,2236,3881
$GC,4494,-1.29,-194.7,410.7,-8.4,726,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,4820,-1.29,-194.7,437.7,-7.1,757,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3880
$GC,5139,-1.29,-194.7,461.9,-7.7,787,5144,0.00,2.78,0.00,0.000,4,0.000,0.112,2672,825,3880
$GC,5171,-1.29,-194.7,464.4,-8.7,789,5175,0.00,2.72,0.00,0.000,6,0.000,0.096,2671,2240,3880
$GC,5500,-1.29,-194.7,492.1,-8.6,819,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2241,3880
$GC,5825,-1.29,-194.7,520.9,-9.1,850,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2240,3879
$GC,6147,-1.29,-194.7,552.2,-9.9,880,6151,0.00,2.83,0.00,0.000,4,0.000,0.114,2671,822,3879
$GC,6186,-1.29,-194.7,556.6,-10.6,883,6191,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2231,3880
$GC,6515,-1.29,-194.7,586.1,-8.6,913,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3879
$GC,6838,-1.29,-194.7,613.1,-8.9,937,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3879
$GC,7147,-1.29,-194.7,640.0,-8.9,952,7151,0.00,2.83,0.00,0.000,4,0.000,0.117,2672,823,3879
$GC,7180,-1.29,-194.7,643.2,-9.2,953,7187,0.00,2.72,0.00,0.000,6,0.000,0.098,2671,2233,3879
$GC,7496,-1.29,-194.7,671.1,-8.6,969,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3879
$GC,7805,-1.29,-194.7,697.7,-8.6,984,7810,0.00,2.85,0.00,0.000,4,0.000,0.123,2672,3648,3879
$GC,7834,-1.29,-194.7,700.4,-9.6,985,7838,0.00,2.72,0.00,0.000,6,0.000,0.095,2672,2225,3878
$GC,8150,-1.29,-194.7,729.1,-9.3,1000,8151,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3878
$GC,8459,-1.29,-194.7,757.5,-9.7,1015,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3878
$GC,8768,-1.29,-194.7,788.8,-10.1,1030,8773,0.00,2.85,0.00,0.000,4,0.000,0.127,2672,824,3878
$GC,8801,-1.29,-194.7,792.2,-10.7,1031,8808,0.00,2.75,0.00,0.000,6,0.000,0.106,2672,2225,3878
$GC,9118,-1.62,-194.7,809.8,-0.0,1047,9123,0.28,2.92,0.00,0.000,4,0.070,0.130,2608,3651,3877
$STATE,9194,end dive,NO_VERTICAL_VELOCITY
$STATE,9194,begin apogee
$GC,9203,-0.35,0.0,809.9,0.0,1050,9371,1.23,0.00,163.98,1.298,6,0.062,0.000,2882,2324,3085
$STATE,9372,end apogee,CONTROL_FINISHED_OK
$STATE,9372,begin climb
$GC,9374,1.29,194.7,809.7,0.0,1059,9547,1.60,2.97,161.38,1.253,4,0.055,0.130,3237,921,2290
$GC,9631,1.23,194.7,788.9,11.9,1069,9638,0.00,2.80,0.00,0.000,6,0.000,0.104,3237,2335,2289
$GC,9948,1.16,194.7,755.2,10.7,1085,9953,0.12,2.90,0.00,0.000,4,0.117,0.126,3216,3737,2288
$GC,9998,1.08,194.7,749.5,11.1,1087,10003,0.00,2.80,0.00,0.000,6,0.000,0.099,3216,2322,2288
$GC,10315,1.04,194.7,717.2,10.2,1102,10320,0.15,2.88,0.00,0.000,4,0.110,0.124,3188,917,2287
$GC,10378,1.05,203.7,711.1,9.7,1105,10392,0.00,2.78,8.85,1.101,6,0.000,0.101,3188,2329,2254
$GC,10712,1.09,238.2,681.1,8.8,1121,10748,0.00,3.00,30.70,1.174,4,0.000,0.126,3188,3737,2112
$GC,10787,1.10,245.0,673.9,9.8,1123,10800,0.00,2.80,7.18,1.000,6,0.000,0.100,3187,2323,2086
$GC,11122,1.16,294.3,645.8,8.3,1140,11172,0.10,2.90,43.88,1.157,4,0.071,0.119,3214,918,1884
$GC,11200,1.16,294.3,638.0,10.4,1143,11207,0.00,2.78,0.00,0.000,6,0.000,0.098,3214,2331,1883
$GC,11517,1.16,294.3,604.1,11.2,1159,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2332,1879
$GC,11834,1.16,294.3,568.1,10.8,1187,11838,0.00,2.80,0.00,0.000,4,0.000,0.114,3214,919,1878
$GC,11885,1.16,294.3,562.2,11.2,1191,11889,0.00,2.72,0.00,0.000,6,0.000,0.097,3214,2327,1879
$GC,12210,1.16,294.3,527.8,10.9,1221,12214,0.00,2.85,0.00,0.000,4,0.000,0.114,3214,3737,1877
$GC,12239,1.16,294.3,524.5,11.1,1223,12243,0.00,2.75,0.00,0.000,6,0.000,0.091,3214,2323,1876
$GC,12566,1.16,294.3,490.2,10.4,1253,12571,0.00,2.80,0.00,0.000,4,0.000,0.113,3214,911,1877
$GC,12617,1.16,294.3,484.5,10.3,1257,12622,0.00,2.72,0.00,0.000,6,0.000,0.097,3214,2320,1876
$GC,12945,1.16,294.3,450.3,10.5,1287,12949,0.00,2.78,0.00,0.000,4,0.000,0.108,3214,917,1876
$GC,12974,1.16,294.3,446.8,11.2,1289,12978,0.00,2.70,0.00,0.000,6,0.000,0.097,3214,2315,1877
$GC,13301,1.16,294.3,411.3,11.1,1319,13305,0.00,2.85,0.00,0.000,4,0.000,0.112,3214,3737,1876
$GC,13330,1.16,294.3,407.7,11.6,1321,13335,0.00,2.78,0.00,0.000,6,0.000,0.090,3214,2304,1875
$GC,13657,1.16,294.3,372.1,10.6,1351,13662,0.00,2.72,0.00,0.000,4,0.000,0.110,3214,916,1876
$GC,13689,1.16,294.3,368.1,11.3,1353,13697,0.00,2.67,0.00,0.000,6,0.000,0.094,3214,2309,1876
$GC,14023,1.16,294.3,331.4,11.4,1398,14031,0.00,2.85,0.00,0.000,4,0.000,0.109,3214,3738,1876
$GC,14055,1.16,294.3,327.7,12.0,1403,14062,0.00,2.78,0.00,0.000,6,0.000,0.089,3214,2303,1876
$GC,14400,1.16,294.3,287.0,12.5,1464,14408,0.00,2.70,0.00,0.000,4,0.000,0.108,3214,918,1876
$GC,14432,1.16,294.3,283.2,12.9,1469,14439,0.00,2.67,0.00,0.000,6,0.000,0.092,3214,2318,1876
$GC,14776,1.16,294.3,242.0,12.0,1530,14783,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2319,1876
$GC,15122,1.16,294.3,202.1,10.9,1591,15128,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2319,1876
$GC,15466,1.16,294.3,163.2,10.7,1652,15472,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2320,1876
$GC,15811,1.16,294.3,123.4,11.3,1713,15817,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2319,1876
$GC,16154,1.16,294.3,85.9,10.9,1774,16161,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2319,1876
$GC,16501,1.17,303.6,53.5,9.7,1835,16514,0.00,0.00,8.00,0.743,6,0.000,0.000,3214,2319,1846
$GC,16851,1.21,335.5,20.0,8.9,1897,16885,0.00,0.00,27.83,0.759,6,0.000,0.000,3214,2320,1715
$GC,17026,1.31,379.3,3.8,8.5,1926,17050,0.15,0.00,21.45,0.734,2,0.059,0.000,3258,2319,1614
$STATE,17050,end climb,SURFACE_DEPTH_REACHED
$STATE,17051,begin surface coast
$FINISH,0.3,1.025882
$STATE,17072,end surface coast,CONTROL_FINISHED_OK
$STATE,17072,begin surface
$SM_CCo,17155,0.00,0.000,0,0,1608,362.31
$SM_GC,1.16,11.80,0.00,0.00,0.043,0.000,0.000,586,2224,1608,-10.85,-0.31,362.31
$IRIDIUM_FIX,6117.23,-2637.96,150997,030312
$TT8_MAMPS,0.02301
$HUMID,1710
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.80
$XPDR_PINGS,651
$24V_AH,23.1,71.735
$10V_AH,10.6,59.335
$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,27.825,139.050,473.225,0.000,0.000,76.594,100.936,462.886,162.750,0.000,0.000,12.022,3862.618,9007.876,653.102,3472.095,1065.330,0.000,2186.835,0.000,3468.554,0.000,0.467
$DEVICE_MAMPS,184.847,130.390,1297.764,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1338.801,1489.805,1811.423,603.846,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116712,1933
$CAP_FILE_SIZE,172899,0
$CFSIZE,260165632,223842304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113, 56.2,1
$GPS,210608,080831,6145.122,-2635.060,41,1.9,46,-18.9