version: 66.03
glider: 140
mission: 5
dive: 22
start: 4 8 108 14 12 13
data:
$ID,140
$MISSION,5
$DIVE,22
$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,180
$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,-13612.785
$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,13
$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
$GPS1,140308,5928.611,-1840.341,37,1.2,37,-13.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-63.2
$GPS2,141156,5928.577,-1840.257,15,1.5,32,-13.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5917.777,-1840.257
$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,193.5,20000,-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,-194.7,0.0,0.0,0,96,0.00,0.00,-65.43,0.000,2,0.000,0.000,589,2224,3549
$GC,99,-1.29,-194.7,3.4,-8.2,12,128,12.68,2.78,-7.30,0.000,4,0.197,0.114,2668,3644,3880
$GC,382,-1.29,-194.7,34.6,-9.5,62,388,0.00,2.62,0.00,0.000,6,0.000,0.090,2668,2235,3882
$GC,524,-1.29,-194.7,48.3,-9.2,87,530,0.00,2.70,0.00,0.000,4,0.000,0.103,2668,3645,3882
$GC,576,-1.29,-194.7,53.5,-10.2,96,583,0.00,2.65,0.00,0.000,6,0.000,0.090,2668,2226,3881
$GC,719,-1.29,-194.7,66.8,-9.5,121,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3882
$GC,861,-1.29,-194.7,79.8,-9.5,146,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3882
$GC,1002,-1.29,-194.7,92.9,-9.2,171,1009,0.00,2.70,0.00,0.000,4,0.000,0.104,2668,3644,3881
$GC,1038,-1.29,-194.7,96.3,-9.2,177,1044,0.00,2.62,0.00,0.000,6,0.000,0.091,2668,2242,3881
$GC,1181,-1.29,-194.7,109.8,-9.7,202,1187,0.00,2.75,0.00,0.000,4,0.000,0.113,2668,824,3881
$GC,1205,-1.29,-194.7,112.3,-10.1,206,1211,0.00,2.70,0.00,0.000,6,0.000,0.093,2668,2261,3882
$GC,1349,-1.29,-194.7,125.7,-9.0,231,1356,0.00,2.65,0.00,0.000,4,0.000,0.104,2668,3650,3881
$GC,1379,-1.29,-194.7,128.8,-9.8,236,1385,0.00,2.58,0.00,0.000,6,0.000,0.089,2668,2267,3882
$GC,1523,-1.29,-194.7,141.9,-9.4,261,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2268,3881
$GC,1664,-1.29,-194.7,154.7,-9.2,286,1670,0.00,2.80,0.00,0.000,4,0.000,0.114,2668,825,3882
$GC,1699,-1.29,-194.7,158.1,-10.0,292,1705,0.00,2.75,0.00,0.000,6,0.000,0.097,2668,2276,3881
$GC,2043,-1.29,-194.7,188.9,-9.0,353,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2277,3882
$GC,2385,-1.29,-194.7,222.1,-10.0,414,2391,0.00,2.85,0.00,0.000,4,0.000,0.117,2668,821,3881
$GC,2414,-1.29,-194.7,225.1,-10.0,419,2420,0.00,2.78,0.00,0.000,6,0.000,0.100,2668,2278,3882
$GC,2757,-1.29,-194.7,259.3,-10.0,480,2763,0.00,2.65,0.00,0.000,4,0.000,0.110,2668,3655,3882
$GC,2787,-1.29,-194.7,262.5,-11.0,485,2793,0.00,2.60,0.00,0.000,6,0.000,0.094,2668,2269,3882
$GC,3129,-1.29,-194.7,296.9,-10.0,546,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2269,3882
$GC,3473,-1.29,-194.7,332.5,-10.6,607,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2269,3882
$GC,3815,-1.29,-194.7,368.1,-10.0,668,3822,0.00,2.88,0.00,0.000,4,0.000,0.126,2668,816,3882
$GC,3845,-1.29,-194.7,371.3,-11.2,673,3851,0.00,2.78,0.00,0.000,6,0.000,0.102,2668,2272,3882
$GC,4189,-1.29,-194.7,406.4,-10.0,734,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2273,3882
$GC,4532,-1.29,-194.7,440.4,-9.8,795,4538,0.00,2.90,0.00,0.000,4,0.000,0.126,2668,817,3882
$GC,4561,-1.29,-194.7,443.2,-10.1,800,4567,0.00,2.80,0.00,0.000,6,0.000,0.108,2668,2268,3882
$GC,4905,-1.29,-194.7,474.5,-8.7,861,4911,0.00,2.88,0.00,0.000,4,0.000,0.126,2669,825,3882
$GC,4968,-1.29,-194.7,480.4,-9.4,872,4975,0.00,2.70,0.00,0.000,6,0.000,0.107,2668,2226,3882
$GC,5312,-1.29,-194.7,510.1,-9.1,933,5318,0.00,2.83,0.00,0.000,4,0.000,0.129,2668,820,3882
$GC,5347,-1.29,-194.7,513.4,-9.6,939,5353,0.00,2.72,0.00,0.000,6,0.000,0.110,2668,2225,3882
$GC,5690,-1.29,-194.7,544.0,-9.1,1000,5697,0.00,2.80,0.00,0.000,4,0.000,0.120,2668,3656,3882
$GC,5731,-1.29,-194.7,547.8,-8.8,1007,5737,0.00,2.72,0.00,0.000,6,0.000,0.100,2668,2217,3882
$GC,6074,-1.29,-194.7,578.2,-9.0,1068,6081,0.00,2.80,0.00,0.000,4,0.000,0.117,2668,3653,3882
$GC,6104,-1.29,-194.7,581.0,-10.1,1073,6110,0.00,2.70,0.00,0.000,6,0.000,0.102,2668,2232,3882
$GC,6441,-1.29,-194.7,611.6,-8.9,1122,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3882
$GC,6761,-1.29,-194.7,640.4,-8.6,1152,6765,0.00,2.78,0.00,0.000,4,0.000,0.121,2668,3647,3882
$GC,6804,-1.29,-194.7,644.4,-8.8,1155,6810,0.00,2.67,0.00,0.000,6,0.000,0.104,2669,2247,3882
$GC,7131,-1.29,-194.7,671.3,-8.2,1186,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3882
$GC,7449,-1.29,-194.7,696.9,-8.2,1216,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3882
$GC,7768,-1.29,-194.7,723.0,-8.3,1246,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3881
$GC,8086,-1.29,-194.7,749.5,-8.4,1276,8090,0.00,2.80,0.00,0.000,4,0.000,0.127,2668,3646,3882
$GC,8118,-1.29,-194.7,752.6,-9.4,1278,8125,0.00,2.67,0.00,0.000,6,0.000,0.110,2668,2263,3881
$GC,8445,-1.29,-194.7,780.6,-8.7,1309,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2263,3881
$GC,8763,-1.29,-194.7,807.9,-8.6,1339,8767,0.00,2.78,0.00,0.000,4,0.000,0.130,2668,3654,3881
$GC,8784,-1.29,-194.7,810.1,-9.0,1340,8790,0.00,2.67,0.00,0.000,6,0.000,0.111,2668,2275,3880
$GC,9110,-1.29,-194.7,838.7,-8.7,1371,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2275,3881
$GC,9429,-1.29,-194.7,867.4,-9.4,1401,9433,0.00,2.78,0.00,0.000,4,0.000,0.133,2668,3648,3880
$GC,9456,-1.29,-194.7,870.2,-10.2,1403,9461,0.00,2.67,0.00,0.000,6,0.000,0.115,2668,2282,3880
$GC,9782,-1.29,-194.7,898.8,-8.5,1433,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2282,3880
$GC,10101,-1.29,-194.7,924.0,-7.2,1463,10105,0.00,3.05,0.00,0.000,4,0.000,0.154,2668,825,3880
$GC,10140,-1.29,-194.7,927.2,-8.0,1466,10145,0.00,2.92,0.00,0.000,6,0.000,0.124,2668,2292,3879
$GC,10465,-1.29,-194.7,949.9,-7.0,1496,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2292,3879
$GC,10785,-1.29,-194.7,971.9,-7.1,1526,10789,0.00,2.78,0.00,0.000,4,0.000,0.143,2668,3646,3878
$STATE,10804,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10804,begin apogee
$GC,10812,-0.35,0.0,973.6,7.4,1527,10981,1.02,0.00,165.50,1.419,6,0.104,0.000,2878,2328,3085
$STATE,10982,end apogee,CONTROL_FINISHED_OK
$STATE,10982,begin climb
$GC,10984,1.29,194.7,978.1,0.0,1544,11160,1.65,2.97,163.23,1.378,4,0.065,0.139,3236,3740,2290
$GC,11194,1.17,194.7,959.6,14.9,1564,11200,0.12,2.85,0.00,0.000,6,0.121,0.119,3216,2332,2289
$GC,11519,1.11,194.7,918.5,11.8,1594,11520,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2332,2287
$GC,11839,1.05,194.7,881.7,10.9,1624,11840,0.15,0.00,0.00,0.000,6,0.116,0.000,3188,2332,2286
$GC,12157,1.06,204.3,850.7,9.7,1654,12168,0.00,0.00,9.25,1.207,6,0.000,0.000,3188,2332,2252
$GC,12484,1.06,204.3,817.9,10.0,1685,12489,0.00,2.88,0.00,0.000,4,0.000,0.130,3188,3739,2250
$GC,12505,1.06,204.3,815.6,10.5,1686,12511,0.00,2.83,0.00,0.000,6,0.000,0.114,3188,2313,2251
$GC,12831,1.07,207.8,784.0,9.9,1717,12843,0.00,2.92,4.70,0.939,4,0.000,0.127,3188,3740,2237
$GC,12855,1.08,222.2,781.5,9.5,1719,12876,0.00,2.83,14.15,1.224,6,0.000,0.111,3188,2311,2178
$GC,13194,1.08,222.2,746.9,10.3,1751,13199,0.00,2.90,0.00,0.000,4,0.000,0.126,3188,3744,2177
$GC,13221,1.08,222.2,743.9,10.9,1753,13226,0.00,2.80,0.00,0.000,6,0.000,0.111,3188,2322,2177
$GC,13546,1.08,222.2,710.0,10.4,1783,13550,0.00,2.90,0.00,0.000,4,0.000,0.140,3188,915,2177
$GC,13562,1.08,222.2,708.3,10.5,1784,13566,0.00,2.75,0.00,0.000,6,0.000,0.112,3188,2317,2177
$GC,13886,1.08,222.2,674.8,10.2,1814,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2317,2177
$GC,14206,1.08,222.2,640.2,11.5,1844,14211,0.00,2.85,0.00,0.000,4,0.000,0.127,3188,3740,2177
$GC,14256,1.08,222.2,633.8,11.9,1848,14261,0.00,2.75,0.00,0.000,6,0.000,0.104,3188,2317,2176
$GC,14582,1.08,222.2,596.1,10.6,1881,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2318,2176
$GC,14924,1.08,222.2,559.1,10.8,1942,14930,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2318,2176
$GC,15267,1.08,222.2,523.2,10.4,2003,15273,0.00,2.80,0.00,0.000,4,0.000,0.116,3188,3741,2176
$GC,15285,1.08,222.2,521.3,10.6,2006,15292,0.00,2.67,0.00,0.000,6,0.000,0.098,3188,2338,2177
$GC,15628,1.08,222.2,486.6,10.7,2067,15634,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2338,2177
$GC,15970,1.08,222.2,450.8,10.6,2128,15976,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2339,2177
$GC,16314,1.09,225.0,415.4,9.9,2189,16320,0.00,0.00,3.90,0.698,6,0.000,0.000,3188,2339,2167
$GC,16657,1.09,225.0,378.3,10.1,2250,16662,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2339,2167
$GC,17000,1.09,225.0,340.7,10.1,2311,17005,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2339,2167
$GC,17342,1.09,225.0,302.4,11.1,2372,17348,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2339,2167
$GC,17685,1.09,225.0,265.5,10.5,2433,17691,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2339,2168
$GC,18028,1.10,235.8,229.3,9.6,2494,18045,0.00,0.00,10.73,0.904,6,0.000,0.000,3188,2339,2123
$GC,18382,1.10,235.8,191.4,11.2,2557,18387,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2338,2122
$GC,18724,1.10,235.8,154.9,10.5,2618,18730,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2339,2122
$GC,19067,1.11,247.9,119.8,9.6,2679,19085,0.00,0.00,11.30,0.834,6,0.000,0.000,3188,2339,2073
$GC,19222,1.11,247.9,103.1,10.8,2706,19227,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2339,2072
$GC,19363,1.11,247.9,87.5,10.1,2731,19369,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2339,2072
$GC,19504,1.11,247.9,72.0,12.1,2756,19511,0.00,2.75,0.00,0.000,4,0.000,0.110,3188,915,2072
$GC,19523,1.11,247.9,69.9,11.3,2759,19529,0.00,2.70,0.00,0.000,6,0.000,0.094,3188,2348,2073
$GC,19666,1.11,247.9,54.5,10.6,2784,19673,0.00,2.67,0.00,0.000,4,0.000,0.108,3188,3738,2072
$GC,19685,1.11,247.9,52.3,10.6,2787,19691,0.00,2.62,0.00,0.000,6,0.000,0.089,3188,2337,2072
$GC,19828,1.11,247.9,37.3,10.2,2812,19834,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2336,2072
$GC,19969,1.11,247.9,21.6,11.1,2837,19976,0.00,2.72,0.00,0.000,4,0.000,0.108,3188,916,2072
$GC,19994,1.15,275.3,19.3,9.0,2841,20023,0.00,2.70,23.42,0.778,6,0.000,0.095,3188,2347,1961
$GC,20162,1.15,275.3,2.0,10.3,2870,20167,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2347,1958
$STATE,20171,end climb,SURFACE_DEPTH_REACHED
$STATE,20171,begin surface coast
$FINISH,0.1,1.014340
$STATE,20195,end surface coast,CONTROL_FINISHED_OK
$STATE,20195,begin surface
$SM_CCo,20276,0.00,0.000,0,0,1956,276.94
$SM_GC,0.90,11.50,0.00,0.00,0.049,0.000,0.000,591,2226,1956,-10.85,-0.28,276.94
$IRIDIUM_FIX,5911.23,-1843.55,030797,080846
$TT8_MAMPS,0.02301
$HUMID,1584
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,62
$24V_AH,23.4,12.618
$10V_AH,10.7,5.436
$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,27.125,166.025,406.175,0.000,0.000,30.602,33.709,291.583,15.500,0.000,0.000,32.615,4350.019,10253.861,620.864,4782.512,763.913,0.000,2729.847,0.000,4753.633,0.000,0.468
$DEVICE_MAMPS,197.119,154.167,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1989.740,2157.286,1881.477,1219.204,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164063,2876
$CAP_FILE_SIZE,224931,0
$CFSIZE,260165632,255012864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080408,195131,5925.229,-1835.345,43,1.6,48,-13.4