version: 66.03
glider: 140
mission: 5
dive: 346
start: 6 23 108 12 8 9
data:
$ID,140
$MISSION,5
$DIVE,346
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-19572.727
$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,14
$R_STBD_OVSHOOT,15
$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
$GPS1,115937,6159.317,-2627.605,28,2.0,28,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-63.5
$GPS2,120750,6159.345,-2627.532,11,1.7,15,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6137.290,-2543.110
$TGT_RADIUS,2000.000
$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,155.2,56545,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,104,0.00,0.00,-80.30,0.000,2,0.000,0.000,585,2231,3408
$GC,108,-1.29,-194.7,3.4,-7.2,11,138,12.38,2.70,-10.25,0.000,4,0.183,0.104,2674,3643,3879
$GC,193,-1.29,-194.7,15.0,-10.1,24,200,0.00,2.60,0.00,0.000,6,0.000,0.074,2674,2234,3880
$GC,336,-1.29,-194.7,29.1,-9.6,49,343,0.00,2.67,0.00,0.000,4,0.000,0.092,2674,823,3880
$GC,377,-1.29,-194.7,33.4,-10.7,56,385,0.00,2.65,0.00,0.000,6,0.000,0.078,2674,2240,3880
$GC,520,-1.29,-194.7,48.2,-10.4,81,528,0.00,2.65,0.00,0.000,4,0.000,0.091,2674,3643,3880
$GC,569,-1.29,-194.7,52.9,-9.6,89,576,0.00,2.53,0.00,0.000,6,0.000,0.072,2674,2274,3880
$GC,914,-1.29,-194.7,82.8,-9.1,150,921,0.00,2.78,0.00,0.000,4,0.000,0.096,2674,823,3881
$GC,951,-1.29,-194.7,86.3,-9.4,156,958,0.00,2.72,0.00,0.000,6,0.000,0.081,2674,2277,3881
$GC,1298,-1.29,-194.7,114.1,-7.8,217,1305,0.00,2.80,0.00,0.000,4,0.000,0.096,2674,827,3881
$GC,1335,-1.29,-194.7,117.1,-8.2,223,1342,0.00,2.70,0.00,0.000,6,0.000,0.084,2674,2253,3881
$GC,1682,-1.29,-194.7,144.7,-7.9,284,1689,0.00,2.60,0.00,0.000,4,0.000,0.088,2674,3644,3881
$GC,1702,-1.29,-194.7,146.4,-7.9,287,1710,0.00,2.65,0.00,0.000,6,0.000,0.083,2674,2239,3882
$GC,2048,-1.29,-194.7,175.1,-8.4,348,2056,0.00,2.75,0.00,0.000,4,0.000,0.104,2674,821,3881
$GC,2086,-1.29,-194.7,178.3,-8.6,354,2093,0.00,2.67,0.00,0.000,6,0.000,0.087,2674,2234,3881
$GC,2432,-1.29,-194.7,208.1,-8.8,415,2440,0.00,2.67,0.00,0.000,4,0.000,0.097,2674,3642,3881
$GC,2455,-1.29,-194.7,210.0,-8.7,418,2462,0.00,2.67,0.00,0.000,6,0.000,0.085,2674,2226,3882
$GC,2801,-1.29,-194.7,240.3,-8.6,479,2808,0.00,2.75,0.00,0.000,4,0.000,0.107,2674,822,3881
$GC,2832,-1.29,-194.7,243.2,-9.1,484,2840,0.00,2.67,0.00,0.000,6,0.000,0.088,2674,2227,3881
$GC,3178,-1.29,-194.7,273.8,-9.0,545,3186,0.00,2.78,0.00,0.000,4,0.000,0.104,2674,3648,3881
$GC,3204,-1.29,-194.7,276.4,-9.5,549,3212,0.00,2.72,0.00,0.000,6,0.000,0.088,2674,2219,3881
$GC,3551,-1.29,-194.7,308.2,-8.9,610,3558,0.00,2.75,0.00,0.000,4,0.000,0.110,2674,826,3881
$GC,3588,-1.29,-194.7,311.7,-9.5,616,3596,0.00,2.65,0.00,0.000,6,0.000,0.094,2674,2213,3880
$GC,3935,-1.29,-194.7,341.8,-7.9,677,3942,0.00,2.80,0.00,0.000,4,0.000,0.103,2674,3652,3880
$GC,3976,-1.29,-194.7,345.4,-8.7,684,3984,0.00,2.72,0.00,0.000,6,0.000,0.087,2674,2220,3880
$GC,4312,-1.29,-194.7,371.4,-7.7,720,4316,0.00,2.75,0.00,0.000,4,0.000,0.110,2674,821,3880
$GC,4345,-1.29,-194.7,374.2,-8.2,722,4352,0.00,2.65,0.00,0.000,6,0.000,0.092,2674,2215,3880
$GC,4674,-1.29,-194.7,398.3,-7.6,753,4679,0.00,2.78,0.00,0.000,4,0.000,0.104,2674,3645,3880
$GC,4696,-1.29,-194.7,400.6,-8.3,754,4704,0.00,2.72,0.00,0.000,6,0.000,0.089,2674,2208,3880
$GC,5024,-1.29,-194.7,428.4,-9.0,785,5029,0.00,2.75,0.00,0.000,4,0.000,0.114,2674,818,3880
$GC,5046,-1.29,-194.7,430.8,-9.2,786,5054,0.00,2.67,0.00,0.000,6,0.000,0.094,2674,2219,3880
$GC,5374,-1.29,-194.7,459.8,-9.0,817,5379,0.00,2.80,0.00,0.000,4,0.000,0.107,2674,3650,3880
$GC,5404,-1.29,-194.7,462.7,-9.8,819,5408,0.00,2.75,0.00,0.000,6,0.000,0.092,2674,2216,3880
$GC,5732,-1.29,-194.7,492.5,-9.1,849,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2216,3879
$GC,6058,-1.29,-194.7,520.8,-8.4,880,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2216,3879
$GC,6376,-1.29,-194.7,547.0,-8.0,910,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2216,3879
$GC,6695,-1.29,-194.7,569.8,-6.3,940,6699,0.00,2.83,0.00,0.000,4,0.000,0.110,2674,3644,3879
$GC,6724,-1.29,-194.7,571.9,-7.4,942,6728,0.00,2.75,0.00,0.000,6,0.000,0.094,2674,2216,3879
$GC,7051,-1.29,-194.7,597.1,-8.1,972,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2217,3879
$GC,7362,-1.29,-194.7,621.3,-8.2,989,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2217,3879
$GC,7670,-1.29,-194.7,645.0,-8.0,1004,7674,0.00,2.80,0.00,0.000,4,0.000,0.119,2674,821,3878
$GC,7697,-1.29,-194.7,647.6,-9.0,1005,7702,0.00,2.72,0.00,0.000,6,0.000,0.098,2674,2230,3878
$GC,8014,-1.29,-194.7,673.7,-8.4,1020,8018,0.00,2.85,0.00,0.000,4,0.000,0.120,2674,3651,3878
$GC,8041,-1.29,-194.7,676.3,-9.1,1021,8045,0.00,2.75,0.00,0.000,6,0.000,0.098,2674,2228,3878
$GC,8357,-1.29,-194.7,702.7,-8.6,1036,8361,0.00,2.83,0.00,0.000,4,0.000,0.123,2674,824,3877
$GC,8384,-1.29,-194.7,705.2,-9.4,1037,8389,0.00,2.70,0.00,0.000,6,0.000,0.096,2674,2231,3877
$GC,8701,-1.29,-194.7,732.1,-7.4,1052,8705,0.00,2.85,0.00,0.000,4,0.000,0.123,2674,3645,3877
$GC,8733,-1.29,-194.7,734.8,-8.4,1053,8740,0.00,2.72,0.00,0.000,6,0.000,0.097,2674,2233,3877
$GC,9050,-1.29,-194.7,764.8,-10.5,1069,9054,0.00,2.85,0.00,0.000,4,0.000,0.125,2674,817,3877
$GC,9071,-1.29,-194.7,767.6,-11.7,1070,9075,0.00,2.80,0.00,0.000,6,0.000,0.099,2674,2262,3877
$GC,9394,-1.29,-194.7,796.6,-8.5,1086,9399,0.00,2.83,0.00,0.000,4,0.000,0.127,2674,3650,3876
$GC,9444,-1.29,-194.7,801.1,-8.1,1088,9449,0.00,2.62,0.00,0.000,6,0.000,0.097,2674,2293,3876
$GC,9762,-1.29,-194.7,824.0,-8.5,1103,9767,0.00,2.97,0.00,0.000,4,0.000,0.127,2674,825,3876
$STATE,9916,end dive,NO_VERTICAL_VELOCITY
$STATE,9918,begin apogee
$GC,9927,-0.35,0.0,825.3,0.0,1110,10095,0.88,0.00,164.45,1.304,6,0.040,0.000,2887,2336,3085
$STATE,10096,end apogee,CONTROL_FINISHED_OK
$STATE,10096,begin climb
$GC,10099,1.29,194.7,825.2,0.0,1118,10276,1.58,2.97,161.80,1.262,4,0.050,0.117,3242,921,2291
$GC,10293,1.22,194.7,814.1,11.1,1126,10301,0.00,2.78,0.00,0.000,6,0.000,0.100,3242,2329,2290
$GC,10609,1.14,194.7,777.8,11.0,1142,10615,0.17,2.92,0.00,0.000,4,0.107,0.126,3208,3737,2288
$GC,10655,1.08,194.7,773.4,10.1,1144,10659,0.00,2.80,0.00,0.000,6,0.000,0.097,3208,2320,2288
$GC,10976,1.11,222.3,743.5,9.0,1160,11007,0.00,2.97,24.73,1.197,4,0.000,0.126,3208,919,2177
$GC,11025,1.13,234.3,738.3,9.6,1162,11043,0.00,2.72,11.93,1.103,6,0.000,0.096,3208,2319,2129
$GC,11351,1.13,234.3,703.3,10.5,1178,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2319,2127
$GC,11660,1.13,234.3,670.8,10.6,1193,11665,0.00,2.83,0.00,0.000,4,0.000,0.114,3209,914,2126
$GC,11681,1.13,234.3,668.2,10.3,1194,11685,0.00,2.72,0.00,0.000,6,0.000,0.095,3208,2319,2126
$GC,12003,1.13,234.3,633.4,10.7,1210,12008,0.00,2.90,0.00,0.000,4,0.000,0.119,3208,3738,2126
$GC,12030,1.13,234.3,630.2,11.4,1211,12035,0.00,2.80,0.00,0.000,6,0.000,0.095,3208,2307,2126
$GC,12346,1.13,239.3,598.5,9.8,1226,12359,0.00,2.80,5.53,0.920,4,0.000,0.114,3208,915,2108
$GC,12407,1.13,239.3,592.4,10.8,1231,12411,0.00,2.67,0.00,0.000,6,0.000,0.093,3208,2302,2108
$GC,12734,1.14,243.1,560.4,9.9,1261,12747,0.00,2.90,5.05,0.874,4,0.000,0.111,3208,3738,2092
$GC,12771,1.14,243.1,556.4,10.0,1264,12776,0.00,2.83,0.00,0.000,6,0.000,0.091,3208,2297,2092
$GC,13096,1.14,243.1,521.9,10.5,1294,13101,0.00,2.72,0.00,0.000,4,0.000,0.112,3208,918,2092
$GC,13117,1.14,243.1,519.3,11.2,1295,13125,0.00,2.67,0.00,0.000,6,0.000,0.093,3208,2307,2092
$GC,13445,1.14,243.1,483.6,11.4,1326,13450,0.00,2.85,0.00,0.000,4,0.000,0.110,3208,3736,2092
$GC,13466,1.14,243.1,480.7,11.3,1327,13474,0.00,2.78,0.00,0.000,6,0.000,0.091,3208,2299,2092
$GC,13794,1.14,243.1,445.8,10.8,1358,13795,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2299,2092
$GC,14110,1.14,243.1,412.2,10.4,1388,14111,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2299,2092
$GC,14431,1.15,252.7,379.9,9.7,1418,14442,0.00,0.00,9.52,0.957,6,0.000,0.000,3208,2299,2054
$GC,14760,1.15,252.7,346.9,10.7,1451,14766,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2299,2054
$GC,15103,1.17,272.0,312.2,9.3,1512,15123,0.00,0.00,17.67,0.936,6,0.000,0.000,3208,2299,1976
$GC,15462,1.17,272.0,277.4,10.5,1575,15468,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2299,1973
$GC,15806,1.17,272.0,240.7,11.6,1636,15813,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2299,1973
$GC,16151,1.17,272.0,202.2,11.0,1697,16158,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2299,1973
$GC,16496,1.17,272.0,164.1,11.9,1758,16503,0.00,2.70,0.00,0.000,4,0.000,0.104,3208,911,1973
$GC,16510,1.17,272.0,162.4,11.5,1760,16517,0.00,2.67,0.00,0.000,6,0.000,0.085,3208,2325,1972
$GC,16858,1.17,272.0,125.6,10.1,1821,16866,0.00,2.72,0.00,0.000,4,0.000,0.100,3208,917,1973
$GC,16878,1.18,273.7,123.3,9.9,1824,16886,0.00,2.60,0.00,0.000,6,0.000,0.090,3208,2298,1973
$GC,17225,1.22,306.3,89.0,8.9,1885,17264,0.00,2.92,29.77,0.803,4,0.000,0.101,3208,3733,1834
$GC,17278,1.22,311.1,83.9,9.8,1893,17292,0.00,2.78,5.70,0.634,6,0.000,0.084,3208,2298,1815
$GC,17632,1.22,311.1,48.4,10.3,1955,17639,0.00,2.67,0.00,0.000,4,0.000,0.100,3208,918,1813
$GC,17698,1.27,311.1,41.7,10.5,1966,17706,0.12,2.58,0.00,0.000,6,0.061,0.085,3242,2281,1812
$GC,17846,1.30,336.1,26.6,9.1,1991,17874,0.00,2.97,21.73,0.756,4,0.000,0.100,3242,3737,1714
$GC,17912,1.30,340.1,19.8,9.9,2001,17927,0.00,2.78,4.90,0.591,6,0.000,0.084,3242,2292,1697
$GC,18066,1.30,340.7,3.7,10.0,2027,18073,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2292,1696
$STATE,18079,end climb,SURFACE_DEPTH_REACHED
$STATE,18079,begin surface coast
$FINISH,0.2,1.005664
$STATE,18097,end surface coast,CONTROL_FINISHED_OK
$STATE,18097,begin surface
$SM_CCo,18179,0.00,0.000,0,0,1692,341.70
$SM_GC,1.14,11.68,0.00,0.00,0.043,0.000,0.000,587,2232,1692,-10.86,-0.08,341.70
$IRIDIUM_FIX,6135.28,-2631.85,170997,070700
$TT8_MAMPS,0.02301
$HUMID,1732
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,16.70
$XPDR_PINGS,732
$24V_AH,23.1,73.949
$10V_AH,10.6,61.222
$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,26.800,209.600,462.775,0.000,0.000,28.189,37.759,262.769,183.000,0.000,0.000,15.902,4149.681,9344.905,732.825,3639.109,784.216,0.000,2365.425,0.000,3627.185,0.000,0.467
$DEVICE_MAMPS,183.313,127.322,1303.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1405.651,1550.119,1888.933,614.970,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123157,2032
$CAP_FILE_SIZE,189189,0
$CFSIZE,260165632,222769152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.060,102.7,1
$GPS,230608,171207,6157.560,-2622.870,23,1.3,23,-18.9