version: 66.03
glider: 140
mission: 5
dive: 64
start: 4 18 108 4 27 51
data:
$ID,140
$MISSION,5
$DIVE,64
$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,-14362.191
$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,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
$GPS1,041858,5928.880,-2159.338,27,2.2,46,-15.2
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-58.5
$GPS2,042732,5928.943,-2159.629,10,1.7,15,-15.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5928.943,-2205.113
$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,285.2,20000,-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,27,-1.29,-194.7,0.0,0.0,0,100,0.00,0.00,-70.68,0.000,2,0.000,0.000,592,2228,3569
$GC,103,-1.29,-194.7,3.6,-6.5,13,129,12.80,2.83,-6.65,0.000,4,0.202,0.119,2670,820,3881
$GC,383,-1.29,-194.7,36.2,-7.3,62,390,0.00,2.70,0.00,0.000,6,0.000,0.096,2670,2238,3882
$GC,526,-1.29,-194.7,47.8,-8.1,87,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,668,-1.29,-194.7,60.1,-8.5,112,673,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,809,-1.29,-194.7,73.6,-11.1,137,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,951,-1.29,-194.7,87.6,-9.2,162,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3881
$GC,1092,-1.29,-194.7,100.8,-9.1,187,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,1235,-1.29,-194.7,114.8,-9.7,212,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,1376,-1.29,-194.7,129.1,-10.5,237,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,1518,-1.29,-194.7,142.0,-8.7,262,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,1660,-1.29,-194.7,154.1,-8.5,287,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3883
$GC,2002,-1.29,-194.7,185.1,-9.1,348,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3882
$GC,2345,-1.29,-194.7,216.5,-9.4,409,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3883
$GC,2688,-1.29,-194.7,249.1,-9.6,470,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3883
$GC,3032,-1.29,-194.7,281.8,-9.2,531,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3883
$GC,3374,-1.29,-194.7,314.0,-8.9,592,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3883
$GC,3718,-1.29,-194.7,345.9,-9.5,653,3724,0.00,2.80,0.00,0.000,4,0.000,0.119,2670,3653,3883
$GC,3747,-1.29,-194.7,348.8,-10.5,658,3753,0.00,2.67,0.00,0.000,6,0.000,0.097,2670,2243,3883
$GC,4091,-1.29,-194.7,381.9,-9.4,719,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3883
$GC,4433,-1.29,-194.7,413.6,-9.2,780,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3883
$GC,4777,-1.29,-194.7,445.5,-9.3,841,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3882
$GC,5120,-1.29,-194.7,477.1,-9.6,902,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3882
$GC,5463,-1.29,-194.7,508.1,-8.0,963,5469,0.00,2.80,0.00,0.000,4,0.000,0.123,2670,3646,3882
$GC,5503,-1.29,-194.7,511.6,-9.1,970,5509,0.00,2.70,0.00,0.000,6,0.000,0.101,2670,2237,3882
$GC,5846,-1.29,-194.7,540.1,-8.7,1031,5852,0.00,2.88,0.00,0.000,4,0.000,0.130,2670,815,3882
$GC,5887,-1.29,-194.7,543.6,-9.1,1038,5893,0.00,2.80,0.00,0.000,6,0.000,0.112,2670,2240,3882
$GC,6230,-1.29,-194.7,571.9,-8.4,1099,6236,0.00,2.83,0.00,0.000,4,0.000,0.126,2670,3654,3882
$GC,6276,-1.29,-194.7,575.9,-9.0,1107,6282,0.00,2.72,0.00,0.000,6,0.000,0.104,2670,2236,3882
$GC,6616,-1.29,-194.7,605.9,-9.1,1162,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,6936,-1.29,-194.7,633.6,-8.3,1192,6937,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,7254,-1.29,-194.7,659.3,-8.0,1222,7259,0.00,2.85,0.00,0.000,4,0.000,0.130,2670,3653,3881
$GC,7321,-1.29,-194.7,665.1,-8.8,1227,7327,0.00,2.75,0.00,0.000,6,0.000,0.107,2670,2236,3881
$GC,7647,-1.29,-194.7,692.0,-8.2,1258,7648,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,7965,-1.29,-194.7,718.7,-8.7,1288,7970,0.00,2.88,0.00,0.000,4,0.000,0.133,2670,3650,3880
$GC,8005,-1.29,-194.7,722.5,-9.6,1291,8010,0.00,2.75,0.00,0.000,6,0.000,0.110,2670,2242,3880
$GC,8333,-1.29,-194.7,751.0,-8.9,1321,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3880
$GC,8659,-1.29,-194.7,779.7,-8.6,1352,8664,0.00,2.88,0.00,0.000,4,0.000,0.135,2670,3646,3879
$GC,8692,-1.29,-194.7,782.9,-9.5,1354,8698,0.00,2.72,0.00,0.000,6,0.000,0.111,2670,2255,3879
$GC,9018,-1.29,-194.7,811.4,-8.7,1385,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3879
$GC,9336,-1.29,-194.7,839.0,-8.6,1415,9341,0.00,2.85,0.00,0.000,4,0.000,0.136,2670,3645,3878
$GC,9364,-1.29,-194.7,841.7,-9.6,1417,9369,0.00,2.75,0.00,0.000,6,0.000,0.114,2670,2249,3878
$GC,9691,-1.29,-194.7,868.7,-8.3,1447,9695,0.00,2.85,0.00,0.000,4,0.000,0.134,2670,3646,3878
$GC,9718,-1.29,-194.7,871.2,-8.9,1449,9723,0.00,2.72,0.00,0.000,6,0.000,0.114,2670,2262,3878
$GC,10045,-1.29,-194.7,897.1,-8.0,1479,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2263,3877
$GC,10363,-1.29,-194.7,923.0,-8.2,1509,10368,0.00,2.83,0.00,0.000,4,0.000,0.136,2670,3650,3877
$GC,10397,-1.29,-194.7,926.0,-9.0,1511,10403,0.00,2.72,0.00,0.000,6,0.000,0.117,2670,2267,3877
$GC,10725,-1.29,-194.7,953.0,-8.5,1542,10730,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2268,3877
$STATE,10813,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10814,begin apogee
$GC,10819,-0.35,0.0,960.9,8.4,1551,10988,1.02,0.00,164.27,1.430,6,0.110,0.000,2876,2330,3086
$STATE,10989,end apogee,CONTROL_FINISHED_OK
$STATE,10989,begin climb
$GC,10991,1.29,194.7,967.5,0.0,1568,11159,1.65,0.00,163.27,1.384,6,0.066,0.000,3243,2330,2291
$GC,11476,1.19,194.7,913.9,13.7,1615,11482,0.12,2.95,0.00,0.000,4,0.120,0.133,3222,3739,2288
$GC,11505,1.09,194.7,910.0,14.0,1617,11510,0.12,2.88,0.00,0.000,6,0.118,0.117,3201,2321,2288
$GC,11830,1.05,194.7,872.4,11.1,1647,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2322,2288
$GC,12148,1.05,194.7,835.8,11.4,1677,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2322,2287
$GC,12468,1.01,194.7,800.3,10.9,1707,12469,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2322,2287
$GC,12786,0.97,194.7,765.6,10.8,1737,12788,0.15,0.00,0.00,0.000,6,0.112,0.000,3173,2322,2287
$GC,13105,0.97,197.0,734.5,9.9,1767,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2322,2286
$GC,13423,1.00,217.2,704.1,9.3,1797,13448,0.00,2.97,19.70,1.243,4,0.000,0.133,3173,916,2199
$GC,13475,1.00,217.2,698.7,10.3,1801,13482,0.00,2.80,0.00,0.000,6,0.000,0.111,3173,2325,2198
$GC,13802,1.02,237.6,667.8,9.3,1832,13823,0.00,0.00,18.75,1.200,6,0.000,0.000,3173,2325,2116
$GC,14139,1.05,256.8,635.7,9.3,1864,14159,0.00,0.00,17.73,1.173,6,0.000,0.000,3173,2325,2037
$GC,14479,1.05,256.8,601.9,10.3,1896,14480,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2325,2034
$GC,14813,1.05,256.8,566.0,11.6,1954,14818,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2325,2034
$GC,15155,1.05,256.8,529.4,10.4,2015,15160,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2325,2034
$GC,15497,1.07,277.1,496.0,9.3,2076,15524,0.00,2.92,18.17,1.101,4,0.000,0.119,3173,916,1954
$GC,15542,1.09,290.6,491.7,9.5,2084,15565,0.10,2.78,13.55,1.032,6,0.071,0.105,3199,2329,1899
$GC,15904,1.09,290.6,450.1,12.0,2148,15910,0.00,2.83,0.00,0.000,4,0.000,0.120,3199,3739,1894
$GC,15933,1.09,290.6,446.2,13.1,2153,15939,0.00,2.72,0.00,0.000,6,0.000,0.099,3199,2333,1894
$GC,16276,1.09,290.6,404.7,11.9,2214,16282,0.00,2.83,0.00,0.000,4,0.000,0.120,3199,916,1894
$GC,16311,1.09,290.6,400.5,12.3,2220,16317,0.00,2.75,0.00,0.000,6,0.000,0.104,3199,2334,1894
$GC,16655,1.09,290.6,360.6,11.2,2281,16660,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2335,1894
$GC,16998,1.09,290.6,319.9,12.6,2342,17003,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2335,1894
$GC,17341,1.09,290.6,276.7,11.8,2403,17347,0.00,2.80,0.00,0.000,4,0.000,0.114,3199,916,1894
$GC,17369,1.09,290.6,272.9,13.7,2408,17376,0.00,2.72,0.00,0.000,6,0.000,0.099,3199,2337,1894
$GC,17714,1.09,290.6,230.8,10.8,2469,17719,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2337,1894
$GC,18057,1.09,290.6,190.3,11.5,2530,18062,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2337,1894
$GC,18399,1.09,290.6,150.5,12.7,2591,18405,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2337,1894
$GC,18742,1.09,290.6,110.7,12.4,2652,18748,0.00,2.78,0.00,0.000,4,0.000,0.107,3199,908,1895
$GC,18777,1.09,290.6,105.4,16.3,2658,18784,0.00,2.70,0.00,0.000,6,0.000,0.094,3199,2336,1895
$GC,18920,1.09,290.6,87.9,10.5,2683,18925,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2337,1895
$GC,19061,1.09,290.6,70.5,10.9,2708,19067,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2336,1895
$GC,19203,1.09,290.6,53.3,11.6,2733,19209,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2337,1895
$GC,19345,1.09,290.6,36.0,13.6,2758,19350,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2337,1895
$GC,19486,1.09,290.6,20.2,12.3,2783,19493,0.00,2.75,0.00,0.000,4,0.000,0.107,3199,910,1895
$GC,19516,1.09,290.6,16.3,13.1,2788,19522,0.00,2.67,0.00,0.000,6,0.000,0.094,3199,2326,1895
$STATE,19644,end climb,SURFACE_DEPTH_REACHED
$STATE,19645,begin surface coast
$FINISH,0.3,1.027812
$STATE,19664,end surface coast,CONTROL_FINISHED_OK
$STATE,19664,begin surface
$SM_CCo,19746,0.00,0.000,0,0,1893,292.40
$SM_GC,1.01,11.48,0.00,0.00,0.048,0.000,0.000,589,2232,1893,-10.86,-0.08,292.40
$IRIDIUM_FIX,5911.23,-2152.81,120797,222252
$TT8_MAMPS,0.02301
$HUMID,1595
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,18.10
$XPDR_PINGS,88
$24V_AH,23.4,20.174
$10V_AH,10.7,13.918
$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,27.450,106.475,415.450,0.000,0.000,24.409,31.482,299.186,22.000,0.000,0.000,15.226,4229.452,9994.825,622.210,4620.380,761.183,0.000,2628.351,0.000,4618.550,0.000,0.467
$DEVICE_MAMPS,201.721,151.866,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1949.231,2121.295,1824.961,1185.525,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,157756,2814
$CAP_FILE_SIZE,210299,0
$CFSIZE,260165632,250294272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180408,095808,5928.197,-2211.733,36,0.9,36,-15.3