version: 66.03
glider: 140
mission: 5
dive: 15
start: 4 6 108 22 0 1
data:
$ID,140
$MISSION,5
$DIVE,15
$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,150
$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,0
$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,-13458.693
$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
$GPS1,215110,5931.829,-1930.335,33,1.7,35,-14.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-59.4
$GPS2,215941,5931.739,-1930.219,10,2.0,19,-14.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,5942.538,-1930.219
$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,14.0,20000,-17.5,-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,-1.41,-146.0,0.0,0.0,0,96,0.00,0.00,-65.43,0.000,2,0.000,0.000,588,2235,3621
$GC,99,-1.41,-146.0,3.4,-6.3,12,118,12.48,2.80,-1.33,0.000,4,0.195,0.118,2643,826,3684
$GC,142,-1.28,-146.0,11.9,-14.5,19,149,0.20,2.67,0.00,0.000,6,0.108,0.094,2681,2240,3684
$GC,288,-1.28,-146.0,22.7,-7.0,44,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2241,3684
$GC,429,-1.32,-146.0,36.4,-10.7,69,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2240,3684
$GC,571,-1.32,-146.0,47.3,-6.6,94,577,0.00,2.72,0.00,0.000,4,0.000,0.107,2681,825,3685
$GC,590,-1.32,-146.0,48.5,-6.4,97,596,0.00,2.65,0.00,0.000,6,0.000,0.092,2681,2236,3684
$GC,733,-1.32,-146.0,56.0,-5.1,122,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2236,3685
$GC,875,-1.32,-146.0,68.5,-9.3,147,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2236,3685
$GC,1017,-1.32,-146.0,80.5,-9.6,172,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2236,3685
$GC,1158,-1.32,-146.0,93.8,-7.0,197,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2236,3685
$GC,1300,-1.32,-146.0,102.7,-6.7,222,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2236,3685
$GC,1442,-1.32,-146.0,111.1,-5.6,247,1448,0.00,2.67,0.00,0.000,4,0.000,0.105,2681,3647,3684
$GC,1478,-1.37,-146.0,113.4,-6.7,253,1485,0.00,2.62,0.00,0.000,6,0.000,0.088,2681,2234,3684
$GC,1621,-1.37,-146.0,122.6,-8.4,278,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2234,3685
$GC,1763,-1.37,-146.0,132.0,-5.7,303,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2234,3685
$GC,1904,-1.37,-146.0,140.4,-7.0,328,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2234,3685
$GC,2046,-1.37,-146.0,149.1,-5.7,353,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2234,3685
$GC,2187,-1.37,-146.0,157.6,-6.9,378,2193,0.00,2.72,0.00,0.000,4,0.000,0.108,2681,3656,3685
$GC,2228,-1.43,-146.0,161.4,-10.4,385,2235,0.15,2.62,0.00,0.000,6,0.066,0.091,2645,2240,3685
$GC,2572,-1.43,-146.0,195.6,-10.0,446,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2241,3684
$GC,2915,-1.43,-146.0,228.3,-9.3,507,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3685
$GC,3258,-1.43,-146.0,261.1,-9.9,568,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3684
$GC,3601,-1.43,-146.0,294.4,-9.6,629,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3685
$GC,3943,-1.43,-146.0,327.9,-9.8,690,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3684
$GC,4286,-1.43,-146.0,361.2,-9.8,751,4291,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3685
$GC,4628,-1.43,-146.0,395.1,-10.0,812,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3685
$GC,4972,-1.43,-146.0,427.4,-9.3,873,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3684
$GC,5314,-1.43,-146.0,459.4,-9.0,934,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3684
$GC,5657,-1.43,-146.0,490.3,-9.1,995,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3685
$GC,5999,-1.43,-146.0,520.4,-9.1,1056,6004,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3684
$GC,6342,-1.43,-146.0,552.1,-10.2,1117,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2241,3685
$GC,6685,-1.43,-146.0,584.7,-10.0,1178,6691,0.00,2.83,0.00,0.000,4,0.000,0.131,2645,824,3685
$GC,6719,-1.43,-146.0,588.2,-10.6,1184,6726,0.00,2.75,0.00,0.000,6,0.000,0.110,2645,2257,3685
$GC,7051,-1.43,-146.0,621.0,-9.9,1225,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2257,3684
$GC,7371,-1.43,-146.0,649.9,-8.9,1255,7376,0.00,2.72,0.00,0.000,4,0.000,0.122,2645,3654,3684
$GC,7399,-1.43,-146.0,652.7,-10.2,1257,7404,0.00,2.62,0.00,0.000,6,0.000,0.099,2645,2252,3685
$GC,7725,-1.43,-146.0,681.4,-8.9,1287,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2253,3684
$GC,8044,-1.43,-146.0,707.9,-8.4,1317,8045,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2253,3684
$GC,8361,-1.43,-146.0,735.5,-8.5,1347,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2253,3685
$GC,8681,-1.43,-146.0,764.0,-9.4,1377,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2253,3684
$GC,8998,-1.43,-146.0,793.8,-9.2,1407,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2253,3684
$GC,9316,-1.43,-146.0,821.8,-8.2,1437,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2253,3683
$GC,9635,-1.43,-146.0,849.2,-8.7,1467,9640,0.00,2.80,0.00,0.000,4,0.000,0.131,2645,3650,3683
$GC,9663,-1.43,-146.0,851.7,-9.6,1469,9667,0.00,2.67,0.00,0.000,6,0.000,0.108,2645,2252,3684
$GC,9989,-1.43,-146.0,878.5,-8.2,1499,9994,0.00,2.95,0.00,0.000,4,0.000,0.146,2645,818,3684
$GC,10028,-1.43,-146.0,882.1,-8.8,1502,10033,0.00,2.80,0.00,0.000,6,0.000,0.117,2645,2249,3683
$GC,10352,-1.43,-146.0,908.6,-8.0,1532,10357,0.00,2.80,0.00,0.000,4,0.000,0.135,2645,3647,3683
$GC,10374,-1.43,-146.0,910.5,-9.0,1533,10380,0.00,2.70,0.00,0.000,6,0.000,0.109,2645,2242,3682
$GC,10700,-1.43,-146.0,938.1,-8.8,1564,10704,0.00,2.80,0.00,0.000,4,0.000,0.129,2645,3648,3682
$GC,10732,-1.43,-146.0,941.3,-9.3,1566,10738,0.00,2.67,0.00,0.000,6,0.000,0.110,2645,2251,3682
$STATE,10810,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10810,begin apogee
$GC,10816,-0.35,0.0,948.4,9.0,1574,10945,1.12,0.00,125.18,1.412,6,0.104,0.000,2876,2339,3085
$STATE,10946,end apogee,CONTROL_FINISHED_OK
$STATE,10946,begin climb
$GC,10948,1.41,146.0,952.1,0.0,1587,11082,1.77,2.92,123.25,1.364,4,0.062,0.131,3265,3739,2489
$GC,11106,1.29,146.0,941.1,12.6,1602,11112,0.12,2.80,0.00,0.000,6,0.124,0.110,3245,2325,2488
$GC,11431,1.24,146.0,900.9,12.6,1632,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2326,2488
$GC,11751,1.18,146.0,861.4,12.3,1662,11756,0.15,2.85,0.00,0.000,4,0.117,0.124,3217,3745,2487
$GC,11802,1.12,146.0,854.8,12.9,1666,11806,0.00,2.75,0.00,0.000,6,0.000,0.108,3217,2333,2486
$GC,12128,1.12,146.0,818.2,10.8,1696,12132,0.00,2.92,0.00,0.000,4,0.000,0.142,3217,919,2486
$GC,12159,1.12,146.0,814.3,11.2,1698,12166,0.00,2.78,0.00,0.000,6,0.000,0.110,3217,2340,2486
$GC,12486,1.12,146.0,779.9,10.8,1729,12490,0.00,2.83,0.00,0.000,4,0.000,0.129,3217,3743,2485
$GC,12518,1.06,146.0,776.0,11.3,1731,12525,0.10,2.70,0.00,0.000,6,0.110,0.104,3189,2334,2486
$GC,12843,1.09,170.3,745.8,8.9,1762,12866,0.00,0.00,21.33,1.253,6,0.000,0.000,3188,2334,2390
$GC,13180,1.09,170.3,712.4,10.1,1794,13182,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2334,2389
$GC,13501,1.10,175.1,680.6,9.8,1824,13512,0.00,2.80,5.50,0.973,4,0.000,0.117,3188,3741,2370
$GC,13540,1.10,175.1,676.3,10.3,1827,13546,0.00,2.67,0.00,0.000,6,0.000,0.099,3188,2342,2370
$GC,13866,1.10,180.6,644.6,9.7,1858,13875,0.00,0.00,6.40,1.022,6,0.000,0.000,3188,2343,2348
$GC,14194,1.10,180.6,612.2,10.0,1889,14196,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2343,2348
$GC,14523,1.10,180.6,577.8,10.6,1937,14528,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2343,2348
$GC,14865,1.11,183.2,542.2,9.9,1998,14871,0.00,0.00,3.92,0.749,6,0.000,0.000,3188,2343,2338
$GC,15209,1.11,183.7,506.9,10.0,2059,15214,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2343,2338
$GC,15551,1.11,183.7,470.8,11.1,2120,15557,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2343,2338
$GC,15894,1.11,183.7,432.5,11.9,2181,15899,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2343,2338
$GC,16236,1.11,183.7,394.6,10.8,2242,16242,0.00,2.70,0.00,0.000,4,0.000,0.110,3189,3742,2339
$GC,16276,1.11,183.7,390.1,11.9,2249,16282,0.00,2.60,0.00,0.000,6,0.000,0.091,3189,2346,2339
$GC,16620,1.11,185.7,354.4,9.9,2310,16626,0.00,0.00,4.18,0.703,6,0.000,0.000,3188,2345,2327
$GC,16963,1.11,189.1,320.6,9.8,2371,16970,0.00,0.00,4.72,0.748,6,0.000,0.000,3189,2345,2313
$GC,17307,1.14,212.6,286.6,8.9,2432,17329,0.00,0.00,20.27,0.948,6,0.000,0.000,3189,2345,2218
$GC,17667,1.19,212.6,249.8,10.8,2496,17674,0.15,2.78,0.00,0.000,4,0.064,0.111,3230,912,2217
$GC,17710,1.19,212.6,244.6,12.3,2503,17716,0.00,2.72,0.00,0.000,6,0.000,0.096,3230,2357,2217
$GC,18054,1.19,212.6,199.8,12.8,2564,18060,0.00,2.65,0.00,0.000,4,0.000,0.107,3230,3744,2217
$GC,18100,1.15,212.6,193.5,14.4,2572,18107,0.00,2.60,0.00,0.000,6,0.000,0.088,3229,2342,2217
$GC,18444,1.15,212.6,146.8,13.6,2633,18450,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2343,2217
$GC,18585,1.15,212.6,130.8,12.3,2658,18591,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2343,2217
$GC,18727,1.15,212.6,114.0,12.1,2683,18733,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2343,2217
$GC,18868,1.15,212.6,97.0,12.9,2708,18875,0.00,2.67,0.00,0.000,4,0.000,0.105,3230,3741,2217
$GC,18909,1.15,212.6,91.3,12.6,2715,18915,0.00,2.55,0.00,0.000,6,0.000,0.088,3230,2365,2217
$GC,19053,1.16,224.4,72.7,9.5,2740,19070,0.00,0.00,11.23,0.818,6,0.000,0.000,3230,2365,2169
$GC,19207,1.16,224.4,55.6,11.4,2767,19213,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2365,2168
$GC,19348,1.16,224.4,34.4,14.8,2792,19354,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2365,2168
$GC,19490,1.16,224.4,15.4,15.0,2817,19496,0.00,0.00,0.00,0.000,6,0.000,0.000,3230,2365,2168
$STATE,19578,end climb,SURFACE_DEPTH_REACHED
$STATE,19578,begin surface coast
$FINISH,0.4,1.006352
$STATE,19591,end surface coast,CONTROL_FINISHED_OK
$STATE,19591,begin surface
$SM_CCo,19672,0.00,0.000,0,0,2167,225.19
$SM_GC,1.27,11.52,0.00,0.00,0.044,0.000,0.000,592,2224,2167,-10.84,-0.31,225.19
$IRIDIUM_FIX,5911.23,-1935.81,010797,161617
$TT8_MAMPS,0.02301
$HUMID,1573
$INTERNAL_PRESSURE,8.45736
$TCM_TEMP,18.30
$XPDR_PINGS,24
$24V_AH,23.4,11.525
$10V_AH,10.7,3.997
$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,27.775,104.400,325.975,0.000,0.000,29.301,42.519,279.137,6.000,0.000,0.000,19.997,4274.008,9918.541,525.538,4708.116,729.459,0.000,2567.115,0.000,4692.129,0.000,0.468
$DEVICE_MAMPS,194.818,146.497,1412.047,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1962.417,2123.660,1940.248,1246.548,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160479,2835
$CAP_FILE_SIZE,212437,0
$CFSIZE,260165632,255844352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070408,032908,5931.907,-1922.119,41,1.0,41,-13.9