version: 66.03
glider: 140
mission: 5
dive: 349
start: 6 24 108 3 45 28
data:
$ID,140
$MISSION,5
$DIVE,349
$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,-19618.307
$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,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
$GPS1,033707,6154.833,-2614.164,39,1.0,39,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.2
$GPS2,034509,6154.811,-2614.081,11,1.5,11,-18.8
$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,158.8,42381,-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,18,begin dive
$GC,21,-1.29,-194.7,0.0,0.0,0,87,0.00,0.00,-63.38,0.000,2,0.000,0.000,590,2224,3393
$GC,90,-1.29,-194.7,3.3,-7.2,9,122,12.25,2.72,-10.77,0.000,4,0.181,0.103,2674,3645,3879
$GC,129,-0.84,-194.7,10.1,-15.0,14,138,0.50,2.62,0.00,0.000,6,0.093,0.076,2774,2229,3879
$GC,276,-0.96,-194.7,17.5,-4.4,39,284,0.12,2.67,0.00,0.000,4,0.058,0.094,2739,824,3880
$GC,314,-1.03,-194.7,19.7,-5.8,45,322,0.00,2.58,0.00,0.000,6,0.000,0.079,2739,2209,3879
$GC,459,-1.10,-194.7,28.1,-6.0,70,466,0.00,2.72,0.00,0.000,4,0.000,0.094,2739,3642,3880
$GC,497,-1.21,-194.7,30.6,-6.5,76,505,0.20,2.65,0.00,0.000,6,0.050,0.077,2684,2215,3880
$GC,641,-1.21,-194.7,42.7,-9.4,101,648,0.00,2.75,0.00,0.000,4,0.000,0.094,2684,3649,3880
$GC,668,-1.21,-194.7,45.5,-10.1,105,677,0.00,2.53,0.00,0.000,6,0.000,0.078,2684,2295,3880
$GC,813,-1.21,-194.7,59.7,-8.9,130,821,0.00,2.80,0.00,0.000,4,0.000,0.095,2684,824,3880
$GC,873,-1.21,-194.7,65.2,-9.0,140,881,0.00,2.70,0.00,0.000,6,0.000,0.077,2684,2282,3881
$GC,1219,-1.21,-194.7,96.8,-9.8,201,1225,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2283,3881
$GC,1564,-1.21,-194.7,130.3,-9.4,262,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2283,3881
$GC,1909,-1.21,-194.7,163.0,-9.4,323,1916,0.00,2.80,0.00,0.000,4,0.000,0.097,2684,825,3881
$GC,1951,-1.21,-194.7,167.0,-9.7,330,1959,0.00,2.70,0.00,0.000,6,0.000,0.087,2684,2255,3881
$GC,2299,-1.21,-194.7,198.2,-8.5,391,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2254,3881
$GC,2643,-1.21,-194.7,227.1,-8.6,452,2650,0.00,2.78,0.00,0.000,4,0.000,0.100,2684,823,3881
$GC,2675,-1.21,-194.7,229.8,-8.6,457,2682,0.00,2.70,0.00,0.000,6,0.000,0.087,2684,2248,3881
$GC,3020,-1.21,-194.7,257.5,-7.8,518,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2248,3881
$GC,3366,-1.21,-194.7,283.8,-7.5,579,3373,0.00,2.80,0.00,0.000,4,0.000,0.107,2684,827,3881
$GC,3397,-1.21,-194.7,286.4,-8.4,584,3404,0.00,2.67,0.00,0.000,6,0.000,0.091,2684,2230,3881
$GC,3743,-1.21,-194.7,316.0,-8.8,645,3750,0.00,2.75,0.00,0.000,4,0.000,0.105,2684,3643,3881
$GC,3780,-1.21,-194.7,319.5,-9.3,651,3788,0.00,2.70,0.00,0.000,6,0.000,0.088,2684,2222,3881
$GC,4130,-1.21,-194.7,352.7,-10.0,711,4135,0.00,2.78,0.00,0.000,4,0.000,0.111,2684,818,3880
$GC,4160,-1.21,-194.7,355.6,-10.6,713,4165,0.00,2.72,0.00,0.000,6,0.000,0.092,2684,2238,3880
$GC,4488,-1.21,-194.7,385.5,-8.4,743,4493,0.00,2.75,0.00,0.000,4,0.000,0.106,2684,3648,3879
$GC,4510,-1.21,-194.7,387.7,-8.4,744,4517,0.00,2.70,0.00,0.000,6,0.000,0.090,2684,2226,3880
$GC,4838,-1.21,-194.7,412.6,-7.5,775,4842,0.00,2.78,0.00,0.000,4,0.000,0.114,2684,824,3880
$GC,4871,-1.21,-194.7,415.4,-7.9,777,4878,0.00,2.70,0.00,0.000,6,0.000,0.094,2684,2236,3879
$GC,5199,-1.21,-194.7,440.8,-9.1,808,5203,0.00,2.72,0.00,0.000,4,0.000,0.101,2684,3648,3880
$GC,5220,-1.21,-194.7,443.1,-9.1,809,5228,0.00,2.72,0.00,0.000,6,0.000,0.090,2684,2221,3880
$GC,5548,-1.21,-194.7,471.3,-8.7,840,5552,0.00,2.80,0.00,0.000,4,0.000,0.117,2684,817,3879
$GC,5569,-1.21,-194.7,473.5,-8.6,841,5576,0.00,2.70,0.00,0.000,6,0.000,0.093,2684,2226,3879
$GC,5897,-1.21,-194.7,501.0,-8.7,872,5902,0.00,2.80,0.00,0.000,4,0.000,0.110,2684,3648,3879
$GC,5918,-1.21,-194.7,503.2,-8.7,873,5926,0.00,2.72,0.00,0.000,6,0.000,0.090,2684,2215,3879
$GC,6246,-1.21,-194.7,529.1,-7.7,904,6250,0.00,2.72,0.00,0.000,4,0.000,0.110,2684,824,3879
$GC,6275,-1.21,-194.7,531.5,-8.5,906,6279,0.00,2.67,0.00,0.000,6,0.000,0.095,2684,2220,3879
$GC,6602,-1.21,-194.7,558.4,-7.9,936,6607,0.00,2.80,0.00,0.000,4,0.000,0.110,2683,3643,3878
$GC,6646,-1.21,-194.7,562.3,-8.7,939,6653,0.00,2.70,0.00,0.000,6,0.000,0.095,2684,2223,3879
$GC,6974,-1.21,-194.7,586.0,-7.2,970,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2224,3878
$GC,7298,-1.21,-194.7,608.9,-7.1,995,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2223,3878
$GC,7608,-1.21,-194.7,632.7,-8.1,1010,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2224,3878
$GC,7915,-1.21,-194.7,658.6,-8.6,1025,7920,0.00,2.83,0.00,0.000,4,0.000,0.121,2684,822,3877
$GC,7959,-1.21,-194.7,662.7,-8.9,1027,7964,0.00,2.72,0.00,0.000,6,0.000,0.099,2684,2230,3877
$GC,8284,-1.21,-194.7,692.3,-9.5,1043,8289,0.00,2.85,0.00,0.000,4,0.000,0.122,2684,3644,3878
$GC,8312,-1.21,-194.7,695.5,-10.1,1044,8317,0.00,2.75,0.00,0.000,6,0.000,0.099,2684,2222,3878
$GC,8628,-1.21,-194.7,721.9,-8.2,1059,8633,0.00,2.83,0.00,0.000,4,0.000,0.125,2684,823,3877
$GC,8662,-1.21,-194.7,724.9,-9.1,1060,8669,0.00,2.72,0.00,0.000,6,0.000,0.100,2684,2233,3877
$GC,8978,-1.21,-194.7,749.3,-7.5,1076,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2233,3877
$GC,9288,-1.21,-194.7,775.0,-8.4,1091,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2233,3877
$GC,9597,-1.21,-194.7,801.1,-8.4,1106,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2233,3877
$GC,9906,-1.21,-194.7,827.6,-8.4,1121,9911,0.00,2.85,0.00,0.000,4,0.000,0.124,2683,824,3876
$GC,9939,-1.21,-194.7,830.5,-8.7,1122,9946,0.00,2.70,0.00,0.000,6,0.000,0.102,2684,2215,3876
$GC,10256,-1.42,-194.7,850.1,-0.8,1138,10261,0.15,2.92,0.00,0.000,4,0.072,0.128,2644,3648,3875
$STATE,10371,end dive,NO_VERTICAL_VELOCITY
$STATE,10371,begin apogee
$GC,10382,-0.35,0.0,850.1,0.0,1143,10554,1.05,0.00,165.18,1.315,6,0.062,0.000,2879,2326,3084
$STATE,10554,end apogee,CONTROL_FINISHED_OK
$STATE,10555,begin climb
$GC,10558,1.29,194.7,850.0,0.0,1152,10735,1.62,3.00,162.45,1.276,4,0.057,0.117,3240,3734,2290
$GC,10760,1.17,194.7,836.3,12.1,1161,10765,0.12,2.83,0.00,0.000,6,0.117,0.101,3220,2329,2289
$GC,11088,1.12,194.7,801.2,10.5,1177,11093,0.00,2.92,0.00,0.000,4,0.000,0.131,3220,919,2288
$GC,11115,1.12,194.7,798.0,11.8,1178,11119,0.00,2.78,0.00,0.000,6,0.000,0.100,3219,2336,2288
$GC,11433,1.07,194.7,764.8,10.6,1193,11438,0.12,2.88,0.00,0.000,4,0.114,0.117,3196,916,2288
$GC,11454,1.07,194.7,762.2,10.4,1194,11459,0.00,2.75,0.00,0.000,6,0.000,0.100,3196,2323,2288
$GC,11776,1.08,198.5,730.8,9.9,1210,11782,0.00,0.00,4.55,0.859,6,0.000,0.000,3196,2324,2275
$GC,12086,1.08,198.5,699.4,10.1,1225,12087,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2324,2274
$GC,12394,1.08,198.5,667.7,10.6,1240,12399,0.00,2.90,0.00,0.000,4,0.000,0.121,3196,3738,2274
$GC,12427,1.03,198.5,663.8,11.2,1241,12435,0.00,2.78,0.00,0.000,6,0.000,0.097,3195,2328,2274
$GC,12744,1.04,206.5,633.4,9.7,1257,12758,0.00,2.90,8.40,1.077,4,0.000,0.117,3196,921,2244
$GC,12782,1.06,226.6,629.7,9.3,1258,12811,0.00,2.72,18.77,1.124,6,0.000,0.095,3196,2328,2161
$GC,13121,1.12,276.6,600.4,8.3,1275,13170,0.00,2.88,43.88,1.132,4,0.000,0.107,3196,916,1957
$GC,13207,1.12,276.6,592.5,10.5,1281,13212,0.00,2.72,0.00,0.000,6,0.000,0.094,3196,2315,1955
$GC,13535,1.12,276.6,560.3,10.0,1311,13540,0.00,2.88,0.00,0.000,4,0.000,0.113,3196,3737,1951
$GC,13552,1.12,276.6,558.2,10.4,1312,13557,0.00,2.80,0.00,0.000,6,0.000,0.094,3196,2305,1951
$GC,13877,1.12,276.6,524.3,10.4,1342,13882,0.00,2.75,0.00,0.000,4,0.000,0.111,3195,917,1951
$GC,13920,1.12,276.6,519.9,11.9,1345,13925,0.00,2.67,0.00,0.000,6,0.000,0.093,3195,2308,1950
$GC,14247,1.12,276.6,483.2,11.5,1375,14248,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2308,1949
$GC,14564,1.12,276.6,447.3,11.3,1405,14565,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2308,1949
$GC,14882,1.12,276.6,412.0,11.5,1435,14887,0.00,2.72,0.00,0.000,4,0.000,0.105,3195,917,1949
$GC,14903,1.12,276.6,409.4,10.5,1436,14911,0.00,2.62,0.00,0.000,6,0.000,0.091,3196,2293,1949
$GC,15233,1.12,276.6,375.1,10.6,1467,15238,0.00,2.88,0.00,0.000,4,0.000,0.107,3196,3737,1949
$GC,15250,1.12,276.6,372.7,10.8,1468,15255,0.00,2.78,0.00,0.000,6,0.000,0.087,3196,2283,1949
$GC,15581,1.12,276.6,339.1,10.2,1507,15588,0.00,2.67,0.00,0.000,4,0.000,0.107,3196,918,1950
$GC,15595,1.14,288.9,337.6,9.6,1509,15616,0.00,2.62,11.12,0.950,6,0.000,0.089,3195,2298,1906
$GC,15955,1.14,288.9,301.7,10.1,1572,15961,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2297,1905
$GC,16301,1.17,313.5,268.4,9.1,1633,16329,0.00,2.83,22.23,0.912,4,0.000,0.102,3195,913,1807
$GC,16342,1.18,324.0,264.5,9.6,1639,16363,0.00,2.65,10.73,0.823,6,0.000,0.088,3196,2286,1764
$GC,16704,1.27,358.5,229.0,8.8,1702,16746,0.15,2.95,30.73,0.879,4,0.059,0.104,3240,3731,1621
$GC,16754,1.27,358.5,223.2,12.4,1709,16761,0.00,2.83,0.00,0.000,6,0.000,0.086,3240,2276,1620
$GC,17100,1.27,358.5,181.2,12.8,1770,17107,0.00,2.65,0.00,0.000,4,0.000,0.103,3240,915,1617
$GC,17131,1.27,358.5,177.2,11.6,1775,17139,0.00,2.60,0.00,0.000,6,0.000,0.087,3240,2281,1617
$GC,17477,1.27,358.5,136.4,11.9,1836,17485,0.00,2.85,0.00,0.000,4,0.000,0.102,3240,3735,1616
$GC,17491,1.27,358.5,134.6,12.0,1838,17499,0.00,2.83,0.00,0.000,6,0.000,0.084,3240,2260,1616
$GC,17835,1.27,358.5,90.0,11.8,1899,17842,0.00,2.60,0.00,0.000,4,0.000,0.100,3240,917,1616
$GC,17855,1.27,358.5,87.2,13.6,1902,17862,0.00,2.55,0.00,0.000,6,0.000,0.083,3240,2269,1616
$GC,18201,1.27,358.5,41.7,11.3,1963,18208,0.00,2.88,0.00,0.000,4,0.000,0.101,3240,3737,1615
$GC,18228,1.27,358.5,38.1,12.8,1967,18236,0.00,2.83,0.00,0.000,6,0.000,0.084,3240,2260,1615
$GC,18372,1.27,360.3,21.5,9.9,1992,18379,0.00,2.58,0.00,0.000,4,0.000,0.100,3240,916,1615
$GC,18430,1.32,360.3,14.7,11.9,2002,18438,0.00,2.40,0.00,0.000,6,0.000,0.083,3240,2199,1616
$STATE,18544,end climb,SURFACE_DEPTH_REACHED
$STATE,18544,begin surface coast
$FINISH,0.3,1.027484
$STATE,18565,end surface coast,CONTROL_FINISHED_OK
$STATE,18565,begin surface
$SM_CCo,18647,0.00,0.000,0,0,1613,360.84
$SM_GC,1.12,11.55,0.00,0.00,0.040,0.000,0.000,588,2237,1613,-10.84,0.06,360.84
$IRIDIUM_FIX,6130.75,-2615.52,170997,232325
$TT8_MAMPS,0.02301
$HUMID,1739
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.70
$XPDR_PINGS,743
$24V_AH,23.1,74.562
$10V_AH,10.6,61.746
$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,27.850,219.775,478.025,0.000,0.000,25.853,36.134,261.216,185.750,0.000,0.000,11.451,4151.044,9773.391,748.273,3643.157,792.887,0.000,2384.856,0.000,3633.846,0.000,0.468
$DEVICE_MAMPS,181.012,131.157,1315.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1400.964,1536.495,1901.109,607.713,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122893,2025
$CAP_FILE_SIZE,193853,0
$CFSIZE,260165632,222470144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,125.5,1
$GPS,240608,085732,6152.402,-2609.534,42,1.0,42,-18.8