version: 66.03
glider: 140
mission: 5
dive: 191
start: 5 18 108 19 36 45
data:
$ID,140
$MISSION,5
$DIVE,191
$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,390
$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,60
$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,-16869.195
$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
$GPS1,192808,6104.992,-2543.834,26,1.8,26,-18.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-61.4
$GPS2,193627,6104.987,-2543.802,13,1.5,13,-18.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6110.387,-2539.292
$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,78.1,20000,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-60.08,0.000,2,0.000,0.000,588,2229,3420
$GC,92,-1.29,-194.7,3.3,-7.1,11,122,12.30,2.72,-10.62,0.000,4,0.185,0.108,2669,817,3880
$GC,135,-1.14,-194.7,10.1,-10.2,18,142,0.20,2.65,0.00,0.000,6,0.097,0.081,2708,2240,3881
$GC,278,-1.14,-194.7,21.7,-7.9,43,284,0.00,2.70,0.00,0.000,4,0.000,0.097,2708,3651,3881
$GC,304,-1.19,-194.7,23.7,-8.2,47,311,0.00,2.65,0.00,0.000,6,0.000,0.081,2708,2226,3881
$GC,447,-1.19,-194.7,35.2,-8.0,72,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2226,3882
$GC,589,-1.23,-194.7,46.0,-7.7,97,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2226,3881
$GC,730,-1.23,-194.7,56.8,-8.1,122,736,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2226,3882
$GC,1074,-1.27,-194.7,84.8,-8.8,183,1080,0.12,0.00,0.00,0.000,6,0.189,0.000,2676,2225,3882
$GC,1418,-1.27,-194.7,119.6,-9.8,244,1424,0.00,2.75,0.00,0.000,4,0.000,0.100,2676,3643,3882
$GC,1447,-1.27,-194.7,122.7,-10.8,249,1453,0.00,2.62,0.00,0.000,6,0.000,0.083,2676,2246,3882
$GC,1792,-1.27,-194.7,154.7,-9.0,310,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2246,3882
$GC,2135,-1.27,-194.7,186.5,-9.1,371,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2246,3882
$GC,2478,-1.27,-194.7,218.3,-8.9,432,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2246,3882
$GC,2821,-1.27,-194.7,249.1,-8.8,493,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2246,3882
$GC,3164,-1.27,-194.7,280.3,-9.3,554,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2246,3882
$GC,3507,-1.27,-194.7,312.6,-9.3,615,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2245,3882
$GC,3850,-1.27,-194.7,344.5,-9.6,676,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2245,3882
$GC,4180,-1.27,-194.7,375.1,-9.4,712,4184,0.00,2.80,0.00,0.000,4,0.000,0.114,2676,827,3882
$GC,4201,-1.27,-194.7,377.3,-9.1,713,4207,0.00,2.72,0.00,0.000,6,0.000,0.096,2676,2247,3882
$GC,4528,-1.27,-194.7,406.3,-8.9,744,4532,0.00,2.75,0.00,0.000,4,0.000,0.110,2676,3651,3882
$GC,4549,-1.27,-194.7,408.5,-8.6,745,4555,0.00,2.62,0.00,0.000,6,0.000,0.088,2676,2256,3882
$GC,4875,-1.27,-194.7,437.2,-9.0,776,4880,0.00,2.83,0.00,0.000,4,0.000,0.116,2675,827,3882
$GC,4908,-1.27,-194.7,440.3,-9.0,778,4915,0.00,2.70,0.00,0.000,6,0.000,0.097,2676,2241,3882
$GC,5235,-1.27,-194.7,468.4,-8.5,809,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2241,3882
$GC,5554,-1.27,-194.7,494.7,-7.8,839,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3882
$GC,5870,-1.27,-194.7,518.7,-7.2,869,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2241,3882
$GC,6189,-1.27,-194.7,540.1,-7.0,899,6193,0.00,2.75,0.00,0.000,4,0.000,0.112,2676,3649,3881
$GC,6210,-1.27,-194.7,541.8,-7.5,900,6216,0.00,2.67,0.00,0.000,6,0.000,0.091,2675,2242,3881
$GC,6537,-1.27,-194.7,565.7,-7.3,931,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2242,3881
$GC,6853,-1.27,-194.7,589.3,-7.6,961,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2242,3881
$GC,7177,-1.27,-194.7,614.4,-7.8,983,7181,0.00,2.85,0.00,0.000,4,0.000,0.123,2676,822,3881
$GC,7198,-1.27,-194.7,616.2,-8.0,984,7203,0.00,2.72,0.00,0.000,6,0.000,0.098,2676,2239,3881
$GC,7519,-1.27,-194.7,640.5,-7.8,1000,7524,0.00,2.80,0.00,0.000,4,0.000,0.118,2675,3649,3881
$GC,7541,-1.27,-194.7,642.3,-7.9,1001,7545,0.00,2.67,0.00,0.000,6,0.000,0.094,2675,2246,3881
$GC,7864,-1.27,-194.7,667.4,-8.2,1017,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2246,3881
$GC,8170,-1.27,-194.7,693.5,-8.5,1032,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2246,3880
$GC,8481,-1.27,-194.7,721.5,-8.9,1047,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2246,3880
$GC,8789,-1.27,-194.7,746.3,-7.6,1062,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2245,3880
$GC,9099,-1.27,-194.7,769.9,-7.7,1077,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2246,3880
$GC,9408,-1.27,-194.7,794.6,-8.4,1092,9412,0.00,2.83,0.00,0.000,4,0.000,0.123,2676,3645,3880
$GC,9429,-1.27,-194.7,796.5,-8.6,1093,9434,0.00,2.72,0.00,0.000,6,0.000,0.100,2676,2236,3879
$GC,9751,-1.27,-194.7,822.7,-8.1,1109,9752,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2236,3879
$GC,10060,-1.27,-194.7,848.2,-8.4,1124,10064,0.00,2.85,0.00,0.000,4,0.000,0.122,2676,3650,3879
$GC,10081,-1.27,-194.7,850.2,-8.9,1125,10086,0.00,2.75,0.00,0.000,6,0.000,0.102,2675,2234,3879
$GC,10402,-1.27,-194.7,877.0,-8.2,1141,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2235,3879
$GC,10711,-1.27,-194.7,900.7,-7.8,1156,10716,0.00,2.88,0.00,0.000,4,0.000,0.126,2676,3650,3878
$GC,10733,-1.27,-194.7,902.5,-8.4,1157,10737,0.00,2.75,0.00,0.000,6,0.000,0.106,2675,2245,3878
$GC,11053,-1.27,-194.7,928.4,-7.8,1173,11058,0.00,2.83,0.00,0.000,4,0.000,0.124,2675,3648,3878
$GC,11087,-1.27,-194.7,931.2,-8.3,1174,11093,0.00,2.67,0.00,0.000,6,0.000,0.106,2676,2271,3878
$GC,11402,-1.27,-194.7,955.4,-7.7,1190,11403,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2272,3877
$STATE,11709,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11709,begin apogee
$GC,11715,-0.35,0.0,979.4,7.8,1205,11884,1.00,0.00,165.18,1.417,6,0.095,0.000,2879,2331,3085
$STATE,11885,end apogee,CONTROL_FINISHED_OK
$STATE,11885,begin climb
$GC,11887,1.29,194.7,985.4,0.0,1213,12060,1.62,3.08,162.27,1.384,4,0.059,0.141,3238,918,2291
$GC,12088,1.22,194.7,970.0,13.5,1223,12092,0.00,2.85,0.00,0.000,6,0.000,0.111,3238,2329,2289
$GC,12404,1.14,194.7,927.8,13.2,1238,12409,0.15,3.00,0.00,0.000,4,0.114,0.133,3208,3740,2288
$GC,12489,1.06,194.7,917.3,11.3,1242,12493,0.00,2.83,0.00,0.000,6,0.000,0.106,3208,2337,2288
$GC,12815,1.01,194.7,878.6,12.3,1258,12821,0.15,2.95,0.00,0.000,4,0.112,0.135,3176,919,2287
$GC,12848,1.01,194.7,874.5,10.9,1259,12854,0.00,2.83,0.00,0.000,6,0.000,0.109,3176,2341,2287
$GC,13164,1.01,194.7,841.8,10.2,1275,13168,0.00,2.92,0.00,0.000,4,0.000,0.133,3176,3738,2287
$GC,13196,1.01,194.7,838.1,11.2,1276,13203,0.00,2.80,0.00,0.000,6,0.000,0.104,3176,2330,2287
$GC,13512,1.02,203.7,805.9,9.7,1292,13526,0.00,2.97,8.70,1.180,4,0.000,0.130,3176,926,2254
$GC,13559,1.02,203.7,800.9,10.2,1294,13564,0.00,2.80,0.00,0.000,6,0.000,0.105,3176,2340,2254
$GC,13880,1.02,203.7,768.2,10.8,1310,13885,0.00,2.88,0.00,0.000,4,0.000,0.128,3176,3738,2253
$GC,13919,1.02,203.7,763.7,11.3,1312,13924,0.00,2.78,0.00,0.000,6,0.000,0.100,3176,2340,2253
$GC,14245,1.02,203.7,729.6,10.0,1328,14249,0.00,2.90,0.00,0.000,4,0.000,0.126,3176,912,2253
$GC,14307,1.02,203.7,723.2,10.3,1331,14312,0.00,2.78,0.00,0.000,6,0.000,0.100,3176,2337,2253
$GC,14634,1.02,203.7,689.9,10.3,1347,14639,0.00,2.88,0.00,0.000,4,0.000,0.125,3176,3738,2253
$GC,14666,1.02,203.7,686.3,10.4,1348,14673,0.00,2.75,0.00,0.000,6,0.000,0.095,3176,2326,2253
$GC,14982,1.02,203.7,654.4,10.0,1364,14987,0.00,2.83,0.00,0.000,4,0.000,0.120,3176,916,2253
$GC,15021,1.02,203.7,650.4,10.3,1366,15025,0.00,2.72,0.00,0.000,6,0.000,0.097,3176,2327,2253
$GC,15346,1.02,203.7,617.7,10.1,1382,15351,0.00,2.88,0.00,0.000,4,0.000,0.120,3176,3740,2253
$GC,15390,1.02,203.7,613.0,10.9,1384,15394,0.00,2.75,0.00,0.000,6,0.000,0.094,3176,2325,2252
$GC,15718,1.02,203.7,580.5,10.6,1409,15722,0.00,2.80,0.00,0.000,4,0.000,0.115,3176,912,2253
$GC,15779,1.02,203.7,573.4,11.1,1414,15784,0.00,2.70,0.00,0.000,6,0.000,0.094,3176,2319,2253
$GC,16104,1.02,203.7,539.5,10.6,1444,16108,0.00,2.85,0.00,0.000,4,0.000,0.114,3177,3737,2253
$GC,16154,1.02,203.7,533.9,11.6,1448,16158,0.00,2.75,0.00,0.000,6,0.000,0.092,3176,2320,2253
$GC,16480,1.04,214.5,501.3,9.6,1478,16496,0.00,2.83,10.68,1.048,4,0.000,0.111,3176,912,2209
$GC,16519,1.05,225.5,497.3,9.6,1481,16535,0.00,2.72,10.70,0.985,6,0.000,0.093,3176,2321,2165
$GC,16855,1.06,233.7,464.6,9.7,1512,16865,0.00,0.00,8.43,0.977,6,0.000,0.000,3176,2321,2132
$GC,17186,1.08,250.9,433.0,9.4,1543,17204,0.00,0.00,15.88,1.007,6,0.000,0.000,3176,2321,2062
$GC,17524,1.10,263.0,400.2,9.6,1575,17542,0.10,0.00,11.73,0.969,6,0.071,0.000,3203,2321,2012
$GC,17860,1.10,263.0,360.7,12.0,1607,17861,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2321,2011
$GC,18191,1.10,263.0,320.2,11.4,1658,18196,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2322,2010
$GC,18534,1.10,263.0,282.1,10.2,1719,18540,0.00,2.80,0.00,0.000,4,0.000,0.107,3203,3736,2010
$GC,18563,1.10,263.0,278.7,13.0,1724,18569,0.00,2.75,0.00,0.000,6,0.000,0.088,3203,2311,2009
$GC,18907,1.10,263.0,239.4,11.4,1785,18912,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2311,2010
$GC,19249,1.10,263.0,196.6,12.6,1846,19255,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2311,2010
$GC,19592,1.10,263.0,155.3,12.6,1907,19598,0.00,2.80,0.00,0.000,4,0.000,0.100,3203,3737,2010
$GC,19621,1.10,263.0,151.9,11.6,1912,19627,0.00,2.72,0.00,0.000,6,0.000,0.086,3203,2316,2010
$GC,19965,1.10,263.0,111.9,10.3,1973,19971,0.00,2.70,0.00,0.000,4,0.000,0.103,3203,918,2010
$GC,19994,1.10,263.0,108.6,10.9,1978,20000,0.00,2.67,0.00,0.000,6,0.000,0.087,3204,2332,2010
$GC,20338,1.10,263.0,69.5,10.7,2039,20344,0.00,2.75,0.00,0.000,4,0.000,0.100,3203,3739,2010
$GC,20384,1.10,263.0,63.7,13.3,2047,20390,0.00,2.70,0.00,0.000,6,0.000,0.083,3203,2321,2010
$GC,20728,1.10,263.0,24.2,10.2,2108,20734,0.00,2.67,0.00,0.000,4,0.000,0.100,3203,919,2010
$GC,20774,1.10,263.0,18.3,14.0,2116,20781,0.00,2.62,0.00,0.000,6,0.000,0.083,3203,2330,2010
$STATE,20903,end climb,SURFACE_DEPTH_REACHED
$STATE,20903,begin surface coast
$FINISH,0.4,1.027666
$STATE,20923,end surface coast,CONTROL_FINISHED_OK
$STATE,20923,begin surface
$SM_CCo,21004,0.00,0.000,0,0,2009,263.94
$SM_GC,1.16,11.32,0.00,0.00,0.039,0.000,0.000,588,2233,2009,-10.84,-0.06,263.94
$IRIDIUM_FIX,6046.07,-2548.10,120897,131346
$TT8_MAMPS,0.022243
$HUMID,1643
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.00
$XPDR_PINGS,128
$24V_AH,23.4,43.466
$10V_AH,10.7,34.506
$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,26.975,172.625,393.550,0.000,0.000,24.453,52.051,275.047,32.000,0.000,0.000,13.693,3369.850,12946.085,586.929,3828.474,748.288,0.000,2271.597,0.000,3816.137,0.000,0.467
$DEVICE_MAMPS,189.449,141.128,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1486.733,1596.332,1915.983,613.252,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126139,2142
$CAP_FILE_SIZE,193057,0
$CFSIZE,260165632,237666304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,190508,012821,6103.716,-2538.163,37,2.3,56,-18.0