version: 66.03
glider: 140
mission: 5
dive: 49
start: 4 14 108 14 57 3
data:
$ID,140
$MISSION,5
$DIVE,49
$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,360
$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,-14078.371
$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,10
$R_STBD_OVSHOOT,11
$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
$GPS1,144832,5851.030,-2009.230,41,1.6,41,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-64.9
$GPS2,145645,5850.956,-2009.361,12,1.1,12,-14.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5850.956,-2014.948
$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,284.0,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,90,0.00,0.00,-59.83,0.000,2,0.000,0.000,593,2232,3382
$GC,93,-1.29,-194.7,3.0,-6.4,11,128,12.90,2.83,-12.60,0.000,4,0.204,0.123,2670,3648,3882
$GC,376,-1.29,-194.7,31.1,-9.5,61,383,0.00,2.67,0.00,0.000,6,0.000,0.095,2670,2233,3882
$GC,519,-1.29,-194.7,44.4,-9.5,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,662,-1.29,-194.7,58.2,-9.6,111,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,803,-1.29,-194.7,72.0,-9.4,136,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,945,-1.29,-194.7,85.5,-9.6,161,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,1086,-1.29,-194.7,99.4,-10.5,186,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,1228,-1.29,-194.7,112.7,-9.0,211,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,1370,-1.29,-194.7,125.7,-9.3,236,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,1512,-1.29,-194.7,138.8,-8.8,261,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,1653,-1.29,-194.7,151.9,-8.9,286,1660,0.00,2.80,0.00,0.000,4,0.000,0.117,2670,3653,3882
$GC,1683,-1.29,-194.7,154.7,-9.8,291,1689,0.00,2.70,0.00,0.000,6,0.000,0.097,2670,2234,3882
$GC,2026,-1.29,-194.7,186.5,-8.7,352,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3882
$GC,2370,-1.29,-194.7,218.3,-9.6,413,2375,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3882
$GC,2712,-1.29,-194.7,248.9,-8.7,474,2719,0.00,2.80,0.00,0.000,4,0.000,0.119,2670,3652,3882
$GC,2742,-1.29,-194.7,251.6,-9.4,479,2748,0.00,2.70,0.00,0.000,6,0.000,0.099,2670,2237,3882
$GC,3086,-1.29,-194.7,282.6,-9.2,540,3091,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,3429,-1.29,-194.7,315.7,-10.2,601,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,3771,-1.29,-194.7,349.8,-9.5,662,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,4115,-1.29,-194.7,381.0,-8.8,723,4121,0.00,2.80,0.00,0.000,4,0.000,0.122,2670,3645,3882
$GC,4144,-1.29,-194.7,383.6,-9.3,728,4150,0.00,2.70,0.00,0.000,6,0.000,0.101,2670,2233,3882
$GC,4488,-1.29,-194.7,413.6,-8.7,789,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,4831,-1.29,-194.7,443.6,-8.8,850,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,5174,-1.29,-194.7,475.4,-9.4,911,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,5515,-1.29,-194.7,509.4,-10.3,972,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,5859,-1.29,-194.7,544.7,-10.0,1033,5865,0.00,2.83,0.00,0.000,4,0.000,0.124,2669,3647,3882
$GC,5894,-1.29,-194.7,548.5,-10.7,1039,5900,0.00,2.72,0.00,0.000,6,0.000,0.104,2670,2233,3882
$GC,6238,-1.29,-194.7,582.4,-9.7,1100,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,6572,-1.29,-194.7,613.8,-9.2,1147,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,6892,-1.29,-194.7,641.2,-8.5,1177,6897,0.00,2.85,0.00,0.000,4,0.000,0.128,2670,3649,3882
$GC,6932,-1.29,-194.7,644.8,-9.2,1180,6936,0.00,2.72,0.00,0.000,6,0.000,0.105,2670,2237,3882
$GC,7258,-1.29,-194.7,670.4,-7.6,1210,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,7577,-1.29,-194.7,696.3,-8.4,1240,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,7895,-1.29,-194.7,721.9,-7.9,1270,7899,0.00,2.85,0.00,0.000,4,0.000,0.129,2670,3651,3882
$GC,7927,-1.29,-194.7,724.7,-8.6,1272,7933,0.00,2.72,0.00,0.000,6,0.000,0.107,2670,2245,3882
$GC,8254,-1.29,-194.7,751.6,-8.7,1303,8255,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3882
$GC,8572,-1.29,-194.7,779.5,-8.7,1333,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,8891,-1.29,-194.7,808.7,-9.6,1363,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,9207,-1.29,-194.7,839.5,-10.2,1393,9212,0.00,2.88,0.00,0.000,4,0.000,0.136,2670,3652,3881
$GC,9251,-1.29,-194.7,844.1,-11.3,1396,9257,0.00,2.75,0.00,0.000,6,0.000,0.112,2670,2245,3881
$GC,9577,-1.29,-194.7,875.9,-9.7,1427,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,9896,-1.29,-194.7,906.6,-9.3,1457,9900,0.00,2.85,0.00,0.000,4,0.000,0.134,2670,3643,3881
$GC,9946,-1.29,-194.7,911.7,-10.3,1461,9950,0.00,2.75,0.00,0.000,6,0.000,0.115,2670,2246,3881
$GC,10272,-1.29,-194.7,939.7,-8.2,1491,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3881
$GC,10590,-1.29,-194.7,965.1,-8.6,1521,10595,0.00,2.85,0.00,0.000,4,0.000,0.136,2670,3644,3881
$GC,10634,-1.29,-194.7,969.2,-9.3,1524,10640,0.00,2.72,0.00,0.000,6,0.000,0.117,2670,2255,3880
$STATE,10807,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10808,begin apogee
$GC,10814,-0.35,0.0,983.9,8.3,1541,10983,1.02,0.00,165.68,1.413,6,0.110,0.000,2877,2329,3085
$STATE,10984,end apogee,CONTROL_FINISHED_OK
$STATE,10984,begin climb
$GC,10986,1.29,194.7,989.6,0.0,1558,11161,1.65,3.05,162.15,1.372,4,0.062,0.138,3240,3739,2290
$GC,11184,1.17,194.7,973.2,14.2,1577,11190,0.12,2.88,0.00,0.000,6,0.117,0.117,3218,2327,2290
$GC,11509,1.11,194.7,932.5,11.7,1607,11510,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2327,2289
$GC,11829,1.04,194.7,895.1,11.4,1637,11834,0.15,2.92,0.00,0.000,4,0.110,0.134,3187,3738,2288
$GC,11869,1.00,194.7,890.4,11.5,1640,11874,0.00,2.83,0.00,0.000,6,0.000,0.117,3187,2335,2288
$GC,12193,1.00,194.7,857.0,10.2,1670,12198,0.00,2.90,0.00,0.000,4,0.000,0.131,3186,3741,2288
$GC,12232,0.95,194.7,852.7,11.1,1673,12237,0.00,2.80,0.00,0.000,6,0.000,0.113,3186,2338,2288
$GC,12557,0.95,194.7,818.6,10.6,1703,12558,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2339,2287
$GC,12875,0.95,194.7,784.4,10.7,1733,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2339,2287
$GC,13194,0.95,194.7,750.2,10.9,1763,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2339,2286
$GC,13513,0.95,194.7,717.1,10.2,1793,13514,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2339,2287
$GC,13832,0.95,194.7,684.5,10.0,1823,13837,0.00,2.83,0.00,0.000,4,0.000,0.123,3186,3738,2286
$GC,13860,0.95,194.7,681.4,10.6,1825,13864,0.00,2.72,0.00,0.000,6,0.000,0.105,3186,2343,2286
$GC,14184,0.96,201.1,648.8,9.8,1855,14194,0.00,0.00,6.38,0.995,6,0.000,0.000,3186,2343,2266
$GC,14514,0.96,201.1,615.9,10.1,1886,14515,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2344,2265
$GC,14839,0.96,204.8,583.4,9.9,1930,14850,0.00,0.00,4.97,0.872,6,0.000,0.000,3187,2344,2250
$GC,15188,0.96,206.2,547.9,10.0,1992,15193,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2343,2250
$GC,15531,0.98,214.8,513.5,9.7,2053,15547,0.00,0.00,10.12,1.044,6,0.000,0.000,3186,2343,2208
$GC,15884,0.98,214.8,477.8,10.5,2116,15890,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,2208
$GC,16227,0.98,214.8,442.7,10.2,2177,16232,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,2208
$GC,16569,0.98,214.8,406.7,10.2,2238,16574,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2343,2208
$GC,16912,0.99,226.2,371.4,9.6,2299,16929,0.00,0.00,11.05,0.976,6,0.000,0.000,3186,2343,2162
$GC,17266,0.99,226.2,333.7,11.3,2362,17272,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2343,2162
$GC,17609,0.99,226.2,300.2,10.5,2423,17615,0.00,2.78,0.00,0.000,4,0.000,0.115,3186,3740,2162
$GC,17868,0.99,226.2,273.5,10.0,2469,17874,0.00,2.70,0.00,0.000,6,0.000,0.100,3186,2340,2162
$GC,18211,0.99,226.2,239.3,10.7,2530,18217,0.00,2.78,0.00,0.000,4,0.000,0.117,3186,3739,2162
$GC,18342,0.99,226.2,223.9,11.2,2553,18348,0.00,2.60,0.00,0.000,6,0.000,0.097,3186,2382,2161
$GC,18684,0.99,226.2,187.2,10.0,2614,18691,0.00,2.88,0.00,0.000,4,0.000,0.115,3187,911,2162
$GC,18714,0.99,226.2,184.0,12.0,2619,18720,0.00,2.80,0.00,0.000,6,0.000,0.097,3187,2383,2162
$GC,19058,1.00,232.6,147.5,9.8,2680,19070,0.00,0.00,7.05,0.785,6,0.000,0.000,3186,2383,2135
$GC,19207,1.00,237.2,131.4,9.8,2706,19214,0.00,0.00,5.20,0.699,6,0.000,0.000,3186,2383,2118
$GC,19352,1.01,244.3,116.0,9.8,2731,19365,0.00,2.97,7.68,0.782,4,0.000,0.110,3186,910,2087
$GC,19388,1.01,244.3,111.9,10.7,2737,19394,0.00,2.83,0.00,0.000,6,0.000,0.097,3187,2382,2087
$GC,19531,1.01,244.3,96.4,10.6,2762,19537,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2382,2087
$GC,19673,1.01,244.3,80.7,11.9,2787,19679,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2382,2087
$GC,19815,1.01,244.3,64.6,10.9,2812,19820,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2382,2087
$GC,19956,1.01,244.3,50.0,10.9,2837,19963,0.00,2.88,0.00,0.000,4,0.000,0.112,3186,914,2086
$GC,19980,1.02,251.3,47.3,9.8,2841,19993,0.00,2.78,7.18,0.745,6,0.000,0.096,3186,2372,2060
$GC,20132,1.02,251.3,31.7,10.3,2867,20138,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2372,2059
$GC,20273,1.02,251.3,16.1,10.8,2892,20279,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2372,2059
$STATE,20407,end climb,SURFACE_DEPTH_REACHED
$STATE,20407,begin surface coast
$FINISH,0.3,1.014556
$STATE,20433,end surface coast,CONTROL_FINISHED_OK
$STATE,20433,begin surface
$SM_CCo,20514,0.00,0.000,0,0,2057,252.41
$SM_GC,1.06,11.48,0.00,0.00,0.049,0.000,0.000,589,2227,2057,-10.86,-0.23,252.41
$IRIDIUM_FIX,5829.55,-1949.03,090797,090920
$TT8_MAMPS,0.022243
$HUMID,1581
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,17.00
$XPDR_PINGS,144
$24V_AH,23.5,17.398
$10V_AH,10.7,10.827
$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,27.325,106.875,387.450,0.000,0.000,31.140,31.463,277.687,36.000,0.000,0.000,12.453,4393.911,10458.015,570.066,4820.679,734.381,0.000,2669.966,0.000,4812.914,0.000,0.468
$DEVICE_MAMPS,204.022,152.633,1412.814,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,2020.643,2189.268,1912.714,1234.524,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164025,2920
$CAP_FILE_SIZE,217424,0
$CFSIZE,260165632,252010496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140408,204028,5848.127,-2020.058,36,2.2,55,-14.1