version: 66.03
glider: 140
mission: 5
dive: 53
start: 4 15 108 13 58 55
data:
$ID,140
$MISSION,5
$DIVE,53
$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,315
$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,-14159.123
$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
$GPS1,134938,5851.034,-2044.700,37,1.2,37,-14.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-56.1
$GPS2,135838,5851.156,-2044.832,35,1.3,35,-14.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5858.792,-2048.767
$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,329.3,20000,-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,-60.10,0.000,2,0.000,0.000,592,2231,3483
$GC,93,-1.29,-194.7,3.5,-6.9,11,123,12.80,2.78,-8.93,0.000,4,0.202,0.120,2668,3647,3881
$GC,130,-0.95,-194.7,9.5,-11.6,17,137,0.40,2.70,0.00,0.000,6,0.105,0.094,2747,2235,3881
$GC,276,-1.05,-194.7,21.6,-4.7,42,282,0.00,2.78,0.00,0.000,4,0.000,0.110,2747,3651,3882
$GC,295,-1.15,-194.7,22.7,-4.9,45,302,0.17,2.62,0.00,0.000,6,0.054,0.093,2703,2271,3882
$GC,438,-1.15,-194.7,29.0,-5.8,70,445,0.00,2.70,0.00,0.000,4,0.000,0.108,2702,3653,3882
$GC,676,-1.20,-194.7,44.9,-6.3,112,683,0.00,2.60,0.00,0.000,6,0.000,0.094,2702,2280,3882
$GC,818,-1.20,-194.7,55.7,-7.4,137,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2281,3882
$GC,962,-1.20,-194.7,64.8,-6.2,162,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2281,3882
$GC,1103,-1.20,-194.7,74.6,-7.4,187,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2281,3882
$GC,1245,-1.20,-194.7,84.9,-8.3,212,1252,0.00,2.85,0.00,0.000,4,0.000,0.114,2702,824,3881
$GC,1281,-1.20,-194.7,88.1,-9.4,218,1288,0.00,2.78,0.00,0.000,6,0.000,0.096,2702,2284,3881
$GC,1424,-1.20,-194.7,99.0,-6.7,243,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2285,3881
$GC,1567,-1.20,-194.7,108.3,-6.1,268,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2285,3882
$GC,1708,-1.20,-194.7,118.1,-6.7,293,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2285,3882
$GC,1850,-1.20,-194.7,127.5,-7.0,318,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2285,3882
$GC,1992,-1.20,-194.7,139.1,-7.5,343,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2285,3882
$GC,2134,-1.20,-194.7,150.1,-8.1,368,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2285,3882
$GC,2477,-1.20,-194.7,178.1,-8.5,429,2483,0.00,2.88,0.00,0.000,4,0.000,0.116,2702,826,3882
$GC,2518,-1.20,-194.7,181.9,-9.4,436,2524,0.00,2.78,0.00,0.000,6,0.000,0.099,2702,2279,3881
$GC,2862,-1.20,-194.7,209.8,-8.0,497,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2280,3881
$GC,3204,-1.20,-194.7,239.2,-8.2,558,3210,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2280,3882
$GC,3548,-1.20,-194.7,269.6,-8.6,619,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2280,3882
$GC,3891,-1.20,-194.7,297.0,-8.2,680,3897,0.00,2.88,0.00,0.000,4,0.000,0.120,2702,827,3882
$GC,3920,-1.20,-194.7,299.7,-9.5,685,3926,0.00,2.80,0.00,0.000,6,0.000,0.105,2702,2275,3881
$GC,4263,-1.20,-194.7,326.8,-7.2,746,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2275,3882
$GC,4607,-1.20,-194.7,350.9,-7.2,807,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2275,3882
$GC,4950,-1.20,-194.7,374.4,-6.6,868,4955,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2275,3882
$GC,5294,-1.20,-194.7,397.4,-6.8,929,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2275,3882
$GC,5636,-1.20,-194.7,420.1,-6.8,990,5641,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2275,3882
$GC,5978,-1.20,-194.7,444.6,-7.6,1051,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2275,3882
$GC,6321,-1.20,-194.7,470.9,-7.8,1112,6327,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2275,3881
$GC,6665,-1.20,-194.7,498.2,-7.9,1173,6671,0.00,2.90,0.00,0.000,4,0.000,0.126,2702,828,3882
$GC,6705,-1.20,-194.7,501.6,-8.3,1180,6712,0.00,2.80,0.00,0.000,6,0.000,0.107,2702,2273,3881
$GC,7050,-1.20,-194.7,528.4,-8.1,1241,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2273,3881
$GC,7393,-1.20,-194.7,554.5,-7.5,1302,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2273,3881
$GC,7736,-1.20,-194.7,580.2,-7.6,1363,7742,0.00,2.70,0.00,0.000,4,0.000,0.118,2702,3648,3881
$GC,7765,-1.25,-194.7,582.5,-8.4,1368,7772,0.00,2.62,0.00,0.000,6,0.000,0.100,2702,2273,3881
$GC,8109,-1.25,-194.7,607.9,-7.5,1420,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2274,3882
$GC,8429,-1.25,-194.7,630.9,-7.2,1450,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2274,3881
$GC,8748,-1.25,-194.7,654.1,-7.5,1480,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2274,3881
$GC,9066,-1.25,-194.7,677.7,-7.5,1510,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2274,3881
$GC,9385,-1.25,-194.7,701.5,-7.6,1540,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2274,3881
$GC,9703,-1.25,-194.7,725.5,-7.7,1570,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2274,3881
$GC,10022,-1.25,-194.7,749.8,-7.6,1600,10026,0.00,2.75,0.00,0.000,4,0.000,0.127,2702,3645,3881
$GC,10062,-1.31,-194.7,753.2,-8.8,1603,10067,0.12,2.65,0.00,0.000,6,0.065,0.106,2669,2271,3881
$GC,10386,-1.31,-194.7,782.5,-8.9,1633,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2271,3881
$GC,10706,-1.31,-194.7,810.4,-8.2,1663,10711,0.00,2.95,0.00,0.000,4,0.000,0.134,2669,823,3881
$GC,10750,-1.31,-194.7,814.3,-9.0,1666,10756,0.00,2.85,0.00,0.000,6,0.000,0.113,2669,2280,3881
$STATE,10806,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10806,begin apogee
$GC,10812,-0.35,0.0,819.0,8.0,1672,10980,1.02,0.00,161.62,1.299,6,0.106,0.000,2878,2334,3085
$STATE,10981,end apogee,CONTROL_FINISHED_OK
$STATE,10981,begin climb
$GC,10983,1.29,194.7,823.6,0.0,1689,11157,1.65,2.92,159.55,1.257,4,0.064,0.124,3239,3743,2290
$GC,11214,1.17,194.7,800.5,15.3,1711,11220,0.12,2.80,0.00,0.000,6,0.114,0.105,3218,2331,2289
$GC,11539,1.12,194.7,759.1,12.3,1741,11540,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2331,2288
$GC,11859,1.06,194.7,722.0,11.3,1771,11861,0.12,0.00,0.00,0.000,6,0.111,0.000,3195,2331,2288
$GC,12177,1.06,194.7,689.6,10.3,1801,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2332,2288
$GC,12494,1.06,194.7,656.5,10.3,1831,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2332,2288
$GC,12814,1.06,194.7,622.9,10.5,1861,12815,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2332,2288
$GC,13137,1.06,194.7,587.8,10.4,1901,13143,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2332,2287
$GC,13480,1.06,194.7,550.3,10.1,1962,13486,0.00,2.83,0.00,0.000,4,0.000,0.117,3195,3742,2287
$GC,13521,1.01,194.7,545.8,10.9,1969,13527,0.00,2.72,0.00,0.000,6,0.000,0.099,3195,2333,2287
$GC,13864,1.01,194.7,509.2,10.0,2030,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2334,2287
$GC,14206,1.01,194.7,472.6,10.9,2091,14211,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2334,2287
$GC,14548,1.01,194.7,434.7,11.2,2152,14554,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2334,2286
$GC,14891,1.01,194.7,396.3,11.0,2213,14897,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2334,2286
$GC,15233,1.01,194.7,358.9,11.0,2274,15239,0.00,2.78,0.00,0.000,4,0.000,0.113,3195,3739,2286
$GC,15268,0.96,194.7,354.7,11.9,2280,15275,0.12,2.70,0.00,0.000,6,0.110,0.095,3171,2327,2286
$GC,15612,0.96,194.7,318.7,10.9,2341,15618,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2328,2286
$GC,15955,0.96,194.7,283.0,10.4,2402,15961,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2328,2287
$GC,16298,0.96,194.7,246.0,10.2,2463,16303,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2328,2287
$GC,16640,0.96,194.7,211.7,10.2,2524,16646,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2328,2287
$GC,16984,0.97,207.2,178.3,9.6,2585,17000,0.00,0.00,11.07,0.861,6,0.000,0.000,3171,2328,2239
$GC,17338,1.00,231.1,144.8,9.2,2648,17361,0.00,0.00,20.62,0.853,6,0.000,0.000,3171,2328,2142
$GC,17500,1.00,231.1,128.4,11.4,2676,17505,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2328,2140
$GC,17641,1.00,231.1,113.8,11.4,2701,17647,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2329,2140
$GC,17783,1.02,243.0,99.7,9.6,2726,17801,0.00,0.00,10.68,0.810,6,0.000,0.000,3171,2328,2093
$GC,17940,1.04,258.1,84.9,9.5,2753,17957,0.00,0.00,13.77,0.796,6,0.000,0.000,3171,2328,2031
$GC,18093,1.04,258.1,68.4,11.4,2780,18099,0.00,2.80,0.00,0.000,4,0.000,0.108,3171,3742,2029
$GC,18117,1.04,258.1,65.7,11.6,2784,18123,0.00,2.70,0.00,0.000,6,0.000,0.093,3172,2338,2029
$GC,18259,1.05,273.2,50.7,9.5,2809,18278,0.00,2.88,13.25,0.780,4,0.000,0.109,3171,913,1971
$GC,18307,1.12,273.2,45.7,10.4,2817,18315,0.15,2.72,0.00,0.000,6,0.058,0.094,3211,2336,1971
$GC,18452,1.12,273.2,27.5,13.2,2842,18458,0.00,2.78,0.00,0.000,4,0.000,0.108,3211,914,1969
$GC,18482,1.12,273.2,23.3,15.1,2847,18488,0.00,2.65,0.00,0.000,6,0.000,0.094,3211,2312,1969
$GC,18625,1.12,273.2,3.9,12.8,2872,18631,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2312,1968
$STATE,18646,end climb,SURFACE_DEPTH_REACHED
$STATE,18647,begin surface coast
$FINISH,0.4,1.027757
$STATE,18672,end surface coast,CONTROL_FINISHED_OK
$STATE,18672,begin surface
$SM_CCo,18753,0.00,0.000,0,0,1965,274.49
$SM_GC,0.88,11.55,0.00,0.00,0.047,0.000,0.000,592,2231,1965,-10.85,-0.11,274.49
$IRIDIUM_FIX,5825.43,-2038.71,100797,080843
$TT8_MAMPS,0.02301
$HUMID,1575
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.30
$XPDR_PINGS,187
$24V_AH,23.5,18.089
$10V_AH,10.7,11.664
$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,28.250,88.925,390.575,0.000,0.000,31.096,40.975,296.105,46.750,0.000,0.000,35.079,4313.101,8805.706,569.955,4806.923,766.321,0.000,2631.679,0.000,4788.189,0.000,0.468
$DEVICE_MAMPS,201.721,141.895,1299.298,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1992.712,2160.871,2158.477,1349.397,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160824,2880
$CAP_FILE_SIZE,211166,0
$CFSIZE,260165632,251576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$GPS,150408,191239,5855.771,-2053.175,35,1.3,36,-14.4