version: 66.03
glider: 140
mission: 5
dive: 67
start: 4 18 108 21 37 27
data:
$ID,140
$MISSION,5
$DIVE,67
$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,359
$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,-14402.701
$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
$GPS1,212808,5924.289,-2233.727,41,1.5,41,-15.5
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-58.7
$GPS2,213709,5924.196,-2233.863,12,1.4,12,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5934.994,-2233.958
$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,14.5,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,100,0.00,0.00,-71.00,0.000,2,0.000,0.000,595,2227,3441
$GC,103,-1.29,-194.7,3.1,-5.6,13,133,12.90,2.80,-9.93,0.000,4,0.205,0.117,2668,3652,3880
$GC,230,-1.29,-194.7,20.9,-9.8,35,237,0.00,2.67,0.00,0.000,6,0.000,0.088,2668,2234,3880
$GC,373,-1.29,-194.7,33.9,-10.0,60,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3880
$GC,515,-1.29,-194.7,48.3,-10.1,85,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,657,-1.29,-194.7,61.6,-8.7,110,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3880
$GC,799,-1.29,-194.7,75.7,-10.2,135,804,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,940,-1.29,-194.7,89.6,-9.8,160,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,1082,-1.29,-194.7,103.2,-9.8,185,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,1223,-1.29,-194.7,117.1,-9.9,210,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3880
$GC,1366,-1.29,-194.7,130.9,-9.8,235,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3880
$GC,1507,-1.29,-194.7,144.5,-9.2,260,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,1649,-1.29,-194.7,157.9,-9.3,285,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,1992,-1.29,-194.7,189.7,-8.8,346,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,2335,-1.29,-194.7,220.7,-9.5,407,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3881
$GC,2678,-1.29,-194.7,252.5,-9.5,468,2685,0.00,2.78,0.00,0.000,4,0.000,0.113,2668,3645,3881
$GC,2702,-1.29,-194.7,254.9,-9.9,472,2708,0.00,2.65,0.00,0.000,6,0.000,0.091,2668,2236,3881
$GC,3046,-1.29,-194.7,287.5,-9.5,533,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3881
$GC,3389,-1.29,-194.7,320.0,-9.9,594,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3881
$GC,3732,-1.29,-194.7,351.0,-8.6,655,3738,0.00,2.78,0.00,0.000,4,0.000,0.114,2668,3646,3881
$GC,3761,-1.29,-194.7,353.8,-9.3,660,3768,0.00,2.65,0.00,0.000,6,0.000,0.094,2668,2244,3881
$GC,4106,-1.29,-194.7,384.7,-9.3,721,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3881
$GC,4448,-1.29,-194.7,416.7,-9.8,782,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3881
$GC,4790,-1.29,-194.7,449.0,-9.7,843,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3881
$GC,5133,-1.29,-194.7,479.9,-8.8,904,5138,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3881
$GC,5477,-1.29,-194.7,509.7,-8.9,965,5482,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3881
$GC,5819,-1.29,-194.7,539.1,-8.4,1026,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3880
$GC,6162,-1.29,-194.7,569.1,-8.6,1087,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3881
$GC,6504,-1.29,-194.7,600.2,-8.9,1148,6508,0.00,2.80,0.00,0.000,4,0.000,0.123,2668,3644,3880
$GC,6543,-1.29,-194.7,603.7,-9.5,1151,6548,0.00,2.67,0.00,0.000,6,0.000,0.100,2668,2247,3880
$GC,6869,-1.29,-194.7,632.1,-8.9,1181,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2248,3880
$GC,7187,-1.29,-194.7,660.7,-9.0,1211,7191,0.00,2.80,0.00,0.000,4,0.000,0.127,2668,3643,3879
$GC,7208,-1.29,-194.7,662.8,-9.7,1212,7214,0.00,2.67,0.00,0.000,6,0.000,0.104,2668,2255,3879
$GC,7534,-1.29,-194.7,691.3,-8.5,1243,7539,0.00,2.80,0.00,0.000,4,0.000,0.127,2668,3645,3879
$GC,7556,-1.29,-194.7,693.4,-9.2,1244,7562,0.00,2.67,0.00,0.000,6,0.000,0.104,2668,2262,3879
$GC,7882,-1.29,-194.7,720.3,-8.1,1275,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2262,3879
$GC,8199,-1.29,-194.7,746.2,-8.2,1305,8200,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2262,3879
$GC,8517,-1.29,-194.7,771.5,-7.6,1335,8522,0.00,2.83,0.00,0.000,4,0.000,0.132,2668,3647,3878
$GC,8557,-1.29,-194.7,774.7,-8.1,1338,8561,0.00,2.70,0.00,0.000,6,0.000,0.107,2668,2260,3878
$GC,8883,-1.29,-194.7,799.7,-7.7,1368,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3878
$GC,9200,-1.29,-194.7,825.0,-8.1,1398,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3878
$GC,9519,-1.29,-194.7,852.6,-8.9,1428,9523,0.00,2.83,0.00,0.000,4,0.000,0.134,2668,3643,3877
$GC,9558,-1.29,-194.7,856.3,-9.9,1431,9562,0.00,2.70,0.00,0.000,6,0.000,0.111,2668,2265,3877
$GC,9884,-1.29,-194.7,885.7,-8.9,1461,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2266,3877
$GC,10203,-1.29,-194.7,914.5,-9.4,1491,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2266,3876
$GC,10521,-1.29,-194.7,943.5,-9.0,1521,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2266,3876
$STATE,10814,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10814,begin apogee
$GC,10820,-0.35,0.0,969.2,8.3,1549,10988,1.02,0.00,163.82,1.429,6,0.109,0.000,2875,2326,3085
$STATE,10989,end apogee,CONTROL_FINISHED_OK
$STATE,10989,begin climb
$GC,10991,1.29,194.7,975.3,0.0,1566,11163,1.65,0.00,162.20,1.388,6,0.065,0.000,3235,2326,2291
$GC,11481,1.20,194.7,920.4,13.8,1613,11482,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2326,2288
$GC,11801,1.12,194.7,876.6,13.4,1643,11803,0.17,0.00,0.00,0.000,6,0.114,0.000,3204,2326,2288
$GC,12119,1.07,194.7,837.7,11.8,1673,12120,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2326,2288
$GC,12438,1.03,194.7,800.7,11.3,1703,12442,0.00,2.92,0.00,0.000,4,0.000,0.131,3204,3743,2287
$GC,12470,0.96,194.7,796.6,11.5,1705,12477,0.17,2.83,0.00,0.000,6,0.110,0.110,3171,2330,2287
$GC,12796,1.00,226.1,766.8,8.9,1736,12827,0.00,0.00,27.42,1.276,6,0.000,0.000,3171,2331,2163
$GC,13145,1.00,226.1,730.3,11.1,1769,13147,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2331,2160
$GC,13464,1.00,226.1,695.1,10.9,1799,13465,0.00,0.00,0.00,0.000,6,0.000,0.000,3171,2331,2160
$GC,13784,1.04,256.5,663.5,8.9,1829,13817,0.00,3.00,26.55,1.208,4,0.000,0.127,3171,918,2039
$GC,13840,1.05,269.0,658.2,9.6,1834,13861,0.00,2.80,12.25,1.117,6,0.000,0.107,3171,2334,1987
$GC,14179,1.07,286.2,625.9,9.4,1866,14200,0.10,0.00,15.90,1.149,6,0.072,0.000,3197,2334,1918
$GC,14524,1.07,286.2,586.0,11.6,1908,14530,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2334,1914
$GC,14867,1.07,286.2,547.1,11.8,1969,14873,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2334,1915
$GC,15210,1.07,286.2,505.2,12.6,2030,15215,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2334,1914
$GC,15553,1.07,286.2,461.2,12.8,2091,15559,0.00,2.83,0.00,0.000,4,0.000,0.115,3197,910,1914
$GC,15582,1.07,286.2,457.3,13.0,2096,15588,0.00,2.75,0.00,0.000,6,0.000,0.101,3197,2334,1914
$GC,15926,1.07,286.2,412.2,13.1,2157,15931,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2335,1914
$GC,16268,1.07,286.2,372.1,11.4,2218,16273,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2335,1914
$GC,16611,1.07,286.2,329.9,13.3,2279,16616,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2335,1914
$GC,16953,1.07,286.2,289.6,12.3,2340,16959,0.00,2.78,0.00,0.000,4,0.000,0.110,3197,917,1914
$GC,16994,1.07,286.2,285.1,10.5,2347,17000,0.00,2.70,0.00,0.000,6,0.000,0.097,3197,2328,1914
$GC,17337,1.07,286.2,247.7,12.3,2408,17342,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2329,1914
$GC,17680,1.07,286.2,209.3,11.7,2469,17685,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2329,1914
$GC,18022,1.07,286.2,170.8,10.3,2530,18028,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2329,1914
$GC,18367,1.07,286.2,133.7,10.5,2591,18373,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2329,1914
$GC,18508,1.07,286.2,117.4,10.6,2616,18514,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2329,1915
$GC,18650,1.07,286.2,101.7,12.3,2641,18657,0.00,2.72,0.00,0.000,4,0.000,0.105,3197,916,1915
$GC,18680,1.07,286.2,98.2,12.0,2646,18686,0.00,2.65,0.00,0.000,6,0.000,0.092,3197,2320,1915
$GC,18823,1.07,286.2,82.6,11.6,2671,18830,0.00,2.75,0.00,0.000,4,0.000,0.107,3197,3737,1915
$GC,18853,1.07,286.2,79.0,11.4,2676,18860,0.00,2.67,0.00,0.000,6,0.000,0.087,3197,2315,1914
$GC,18996,1.07,286.2,63.5,10.9,2701,19002,0.00,2.70,0.00,0.000,4,0.000,0.107,3197,913,1915
$GC,19032,1.07,286.2,59.5,11.5,2707,19038,0.00,2.65,0.00,0.000,6,0.000,0.090,3197,2321,1914
$GC,19174,1.07,286.2,42.8,11.9,2732,19181,0.00,2.75,0.00,0.000,4,0.000,0.108,3197,3738,1915
$GC,19204,1.07,286.2,39.1,12.4,2737,19211,0.00,2.70,0.00,0.000,6,0.000,0.087,3197,2308,1915
$GC,19347,1.07,287.0,22.5,10.0,2762,19352,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2308,1915
$GC,19488,1.07,287.0,4.7,11.9,2787,19494,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2308,1915
$STATE,19509,end climb,SURFACE_DEPTH_REACHED
$STATE,19509,begin surface coast
$FINISH,0.7,1.027778
$STATE,19522,end surface coast,CONTROL_FINISHED_OK
$STATE,19522,begin surface
$SM_CCo,19603,0.00,0.000,0,0,1913,287.49
$SM_GC,1.03,11.50,0.00,0.00,0.049,0.000,0.000,587,2233,1913,-10.86,-0.06,287.49
$IRIDIUM_FIX,5902.83,-2225.80,130797,151544
$TT8_MAMPS,0.02301
$HUMID,1587
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.20
$XPDR_PINGS,106
$24V_AH,23.4,20.719
$10V_AH,10.7,14.538
$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,27.525,88.300,408.150,0.000,0.000,24.248,33.999,327.389,26.500,0.000,0.000,12.209,4176.378,9962.062,604.473,4581.640,787.482,0.000,2604.885,0.000,4589.960,0.000,0.467
$DEVICE_MAMPS,204.789,162.604,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1934.198,2105.456,1821.578,1180.510,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,157768,2793
$CAP_FILE_SIZE,204405,0
$CFSIZE,260165632,249950208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190408,030526,5924.046,-2234.409,41,1.9,41,-15.5