version: 66.03
glider: 140
mission: 5
dive: 364
start: 6 27 108 18 33 9
data:
$ID,140
$MISSION,5
$DIVE,364
$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,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,-19856.283
$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,11
$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
$GPS1,182202,6151.042,-2539.268,42,1.0,42,-18.5
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-60.2
$GPS2,183251,6151.009,-2539.283,15,1.0,15,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6140.210,-2539.283
$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,198.5,20000,-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,27,end surface,CONTROL_FINISHED_OK
$STATE,28,begin dive
$GC,31,-1.29,-194.7,0.0,0.0,0,103,0.00,0.00,-70.22,0.000,2,0.000,0.000,584,2228,3400
$GC,107,-1.29,-194.7,3.4,-7.8,13,137,12.40,2.70,-10.50,0.000,4,0.184,0.100,2671,822,3878
$GC,207,-1.29,-194.7,17.2,-10.9,30,213,0.00,2.65,0.00,0.000,6,0.000,0.076,2671,2240,3879
$GC,350,-1.29,-194.7,32.3,-10.0,55,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3879
$GC,491,-1.29,-194.7,45.2,-8.2,80,498,0.00,2.70,0.00,0.000,4,0.000,0.095,2672,3651,3880
$GC,539,-1.29,-194.7,49.4,-9.0,88,545,0.00,2.70,0.00,0.000,6,0.000,0.076,2671,2200,3880
$GC,682,-1.29,-194.7,62.3,-8.4,113,688,0.00,2.62,0.00,0.000,4,0.000,0.093,2671,824,3880
$GC,734,-1.29,-194.7,67.0,-8.4,122,740,0.00,2.50,0.00,0.000,6,0.000,0.087,2671,2150,3880
$GC,1080,-1.29,-194.7,98.1,-8.5,183,1086,0.00,2.90,0.00,0.000,4,0.000,0.100,2672,3645,3881
$GC,1160,-1.29,-194.7,105.0,-8.2,197,1166,0.00,2.83,0.00,0.000,6,0.000,0.083,2671,2150,3881
$GC,1505,-1.29,-194.7,133.2,-8.3,258,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2149,3881
$GC,1850,-1.29,-194.7,163.1,-9.0,319,1856,0.00,2.95,0.00,0.000,4,0.000,0.104,2671,3649,3881
$GC,1908,-1.29,-194.7,168.7,-9.8,329,1915,0.00,2.83,0.00,0.000,6,0.000,0.087,2671,2164,3881
$GC,2253,-1.29,-194.7,200.6,-9.6,390,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2164,3881
$GC,2596,-1.29,-194.7,235.3,-10.5,451,2602,0.00,2.92,0.00,0.000,4,0.000,0.107,2671,3644,3881
$GC,2625,-1.29,-194.7,238.4,-10.9,456,2632,0.00,2.80,0.00,0.000,6,0.000,0.088,2671,2169,3881
$GC,2970,-1.29,-194.7,274.0,-10.2,517,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2169,3880
$GC,3314,-1.29,-194.7,308.6,-9.2,578,3320,0.00,2.92,0.00,0.000,4,0.000,0.109,2671,3644,3880
$GC,3338,-1.29,-194.7,311.0,-10.0,582,3344,0.00,2.78,0.00,0.000,6,0.000,0.088,2671,2188,3880
$GC,3682,-1.29,-194.7,343.0,-9.6,643,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2188,3879
$GC,4013,-1.29,-194.7,373.8,-9.5,680,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2189,3879
$GC,4329,-1.29,-194.7,403.7,-9.5,710,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2189,3879
$GC,4648,-1.29,-194.7,434.2,-9.8,740,4652,0.00,2.90,0.00,0.000,4,0.000,0.113,2671,3643,3879
$GC,4669,-1.29,-194.7,436.5,-10.0,741,4675,0.00,2.75,0.00,0.000,6,0.000,0.091,2671,2199,3879
$GC,4997,-1.29,-194.7,465.8,-8.8,772,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3879
$GC,5312,-1.29,-194.7,492.5,-8.3,802,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3878
$GC,5631,-1.29,-194.7,517.6,-7.5,832,5633,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3878
$GC,5949,-1.29,-194.7,541.4,-7.6,862,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3878
$GC,6269,-1.29,-194.7,566.8,-8.3,892,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2200,3878
$GC,6588,-1.29,-194.7,593.6,-9.3,922,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3877
$GC,6909,-1.29,-194.7,620.7,-8.2,941,6913,0.00,2.78,0.00,0.000,4,0.000,0.118,2671,819,3877
$GC,6936,-1.29,-194.7,623.1,-8.6,942,6941,0.00,2.67,0.00,0.000,6,0.000,0.099,2671,2192,3877
$GC,7253,-1.29,-194.7,646.5,-7.5,957,7257,0.00,2.88,0.00,0.000,4,0.000,0.112,2671,3648,3877
$GC,7297,-1.29,-194.7,650.2,-7.8,959,7302,0.00,2.83,0.00,0.000,6,0.000,0.096,2671,2174,3877
$GC,7619,-1.29,-194.7,676.1,-7.8,975,7624,0.00,2.70,0.00,0.000,4,0.000,0.120,2671,824,3876
$GC,7653,-1.29,-194.7,679.2,-8.7,976,7659,0.00,2.62,0.00,0.000,6,0.000,0.100,2671,2182,3876
$GC,7969,-1.29,-194.7,709.0,-9.9,992,7974,0.00,2.97,0.00,0.000,4,0.000,0.126,2671,3646,3876
$GC,8026,-1.29,-194.7,715.0,-10.8,994,8032,0.00,2.83,0.00,0.000,6,0.000,0.097,2671,2177,3876
$GC,8341,-1.29,-194.7,747.5,-10.2,1010,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2177,3876
$GC,8652,-1.29,-194.7,776.9,-9.0,1025,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2177,3875
$GC,8960,-1.29,-194.7,805.4,-9.1,1040,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2177,3875
$GC,9269,-1.29,-194.7,830.2,-7.0,1055,9274,0.00,3.00,0.00,0.000,4,0.000,0.125,2671,3646,3875
$GC,9314,-1.29,-194.7,833.2,-6.6,1057,9319,0.00,2.88,0.00,0.000,6,0.000,0.103,2671,2168,3875
$GC,9635,-1.29,-194.7,857.0,-8.6,1073,9640,0.00,2.75,0.00,0.000,4,0.000,0.129,2671,823,3874
$GC,9675,-1.29,-194.7,860.7,-9.4,1075,9680,0.00,2.65,0.00,0.000,6,0.000,0.107,2671,2168,3874
$GC,10003,-1.29,-194.7,893.7,-10.9,1091,10008,0.00,3.00,0.00,0.000,4,0.000,0.126,2671,3649,3874
$GC,10087,-1.29,-194.7,903.4,-11.6,1095,10092,0.00,2.90,0.00,0.000,6,0.000,0.105,2671,2174,3874
$GC,10413,-1.29,-194.7,937.9,-10.4,1111,10418,0.00,3.03,0.00,0.000,4,0.000,0.127,2671,3650,3873
$GC,10446,-1.29,-194.7,941.4,-11.0,1112,10453,0.00,2.88,0.00,0.000,6,0.000,0.106,2671,2187,3873
$GC,10762,-1.29,-194.7,970.7,-8.9,1128,10767,0.00,2.83,0.00,0.000,4,0.000,0.134,2671,819,3873
$GC,10802,-1.29,-194.7,974.4,-8.9,1130,10806,0.00,2.70,0.00,0.000,6,0.000,0.108,2671,2184,3873
$STATE,10981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10981,begin apogee
$GC,10988,-0.35,0.0,991.8,9.9,1139,11164,1.05,0.00,168.12,1.414,6,0.101,0.000,2882,2333,3085
$STATE,11165,end apogee,CONTROL_FINISHED_OK
$STATE,11165,begin climb
$GC,11168,1.29,194.7,1001.4,0.0,1148,11347,1.60,3.10,165.23,1.384,4,0.059,0.131,3237,908,2291
$GC,11363,1.21,194.7,989.9,10.9,1157,11368,0.00,2.88,0.00,0.000,6,0.000,0.112,3237,2329,2290
$GC,11679,1.13,194.7,953.6,11.8,1172,11681,0.17,0.00,0.00,0.000,6,0.112,0.000,3205,2329,2288
$GC,11989,1.13,194.7,920.6,10.9,1187,11993,0.00,2.92,0.00,0.000,4,0.000,0.130,3205,918,2288
$GC,12005,1.13,194.7,918.5,11.5,1188,12010,0.00,2.78,0.00,0.000,6,0.000,0.107,3205,2314,2288
$GC,12332,1.13,194.7,880.1,11.9,1204,12337,0.00,3.00,0.00,0.000,4,0.000,0.133,3205,3737,2287
$GC,12345,1.09,194.7,878.7,11.9,1204,12351,0.00,2.88,0.00,0.000,6,0.000,0.104,3205,2301,2287
$GC,12660,1.09,194.7,842.9,10.9,1220,12665,0.00,3.00,0.00,0.000,4,0.000,0.124,3205,3737,2287
$GC,12678,1.04,194.7,840.9,11.3,1221,12682,0.00,2.88,0.00,0.000,6,0.000,0.103,3205,2305,2287
$GC,13005,1.04,194.7,801.6,12.5,1237,13009,0.00,2.83,0.00,0.000,4,0.000,0.127,3205,918,2287
$GC,13032,1.04,194.7,797.8,12.7,1238,13036,0.00,2.72,0.00,0.000,6,0.000,0.106,3206,2306,2287
$GC,13348,1.04,194.7,764.0,10.6,1253,13352,0.00,3.00,0.00,0.000,4,0.000,0.130,3205,3737,2287
$GC,13370,0.99,208.8,761.7,9.5,1254,13390,0.15,2.88,13.20,1.228,6,0.110,0.100,3178,2293,2233
$GC,13720,1.05,256.2,732.0,8.4,1271,13770,0.00,2.92,41.97,1.239,4,0.000,0.123,3178,917,2039
$GC,13787,1.12,311.2,726.0,8.1,1274,13846,0.12,2.75,49.62,1.210,6,0.065,0.100,3209,2307,1815
$GC,14154,1.12,311.2,687.6,10.5,1292,14155,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2307,1808
$GC,14463,1.12,311.2,652.7,11.7,1307,14468,0.00,2.80,0.00,0.000,4,0.000,0.114,3209,913,1806
$GC,14481,1.12,311.2,650.5,12.3,1308,14485,0.00,2.70,0.00,0.000,6,0.000,0.100,3210,2294,1807
$GC,14807,1.12,311.2,611.4,11.1,1324,14808,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2294,1806
$GC,15124,1.12,311.2,573.8,11.8,1349,15129,0.00,2.72,0.00,0.000,4,0.000,0.109,3210,916,1806
$GC,15153,1.12,311.2,570.2,12.2,1351,15158,0.00,2.67,0.00,0.000,6,0.000,0.097,3209,2294,1806
$GC,15480,1.12,311.2,534.5,10.3,1381,15485,0.00,2.92,0.00,0.000,4,0.000,0.115,3210,3737,1805
$GC,15502,1.12,311.2,531.8,10.4,1382,15508,0.00,2.80,0.00,0.000,6,0.000,0.089,3209,2293,1805
$GC,15831,1.16,347.4,500.9,8.7,1413,15868,0.00,2.78,31.38,1.079,4,0.000,0.110,3210,919,1668
$GC,15880,1.19,370.1,496.0,9.2,1417,15906,0.00,2.70,20.90,1.020,6,0.000,0.093,3210,2304,1576
$GC,16226,1.19,370.1,461.7,10.2,1449,16230,0.00,2.75,0.00,0.000,4,0.000,0.106,3209,910,1569
$GC,16248,1.24,370.1,459.2,10.4,1450,16254,0.00,2.65,0.00,0.000,6,0.000,0.091,3209,2294,1570
$GC,16575,1.24,370.1,425.8,10.4,1481,16580,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2294,1569
$GC,16900,1.24,370.1,390.4,10.9,1512,16904,0.00,2.70,0.00,0.000,4,0.000,0.105,3210,918,1569
$GC,16933,1.29,370.1,386.3,11.5,1514,16940,0.15,2.62,0.00,0.000,6,0.057,0.091,3250,2290,1569
$GC,17261,1.29,370.1,341.6,13.9,1550,17266,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2291,1568
$GC,17605,1.29,370.1,295.5,13.1,1611,17611,0.00,2.70,0.00,0.000,4,0.000,0.104,3250,915,1569
$GC,17623,1.29,370.1,293.1,12.5,1614,17629,0.00,2.60,0.00,0.000,6,0.000,0.089,3250,2275,1568
$GC,17967,1.29,370.1,249.4,12.4,1675,17972,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2275,1569
$GC,18310,1.29,370.1,206.2,12.0,1736,18316,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2275,1568
$GC,18654,1.29,370.1,163.0,13.4,1797,18660,0.00,2.62,0.00,0.000,4,0.000,0.098,3250,917,1569
$GC,18672,1.29,370.1,160.5,13.4,1800,18678,0.00,2.58,0.00,0.000,6,0.000,0.092,3250,2266,1569
$GC,19016,1.29,370.1,116.7,11.2,1861,19022,0.00,2.92,0.00,0.000,4,0.000,0.106,3250,3737,1568
$GC,19034,1.29,370.1,114.4,12.1,1864,19041,0.00,2.83,0.00,0.000,6,0.000,0.083,3250,2262,1567
$GC,19379,1.29,370.1,69.4,13.6,1925,19385,0.00,2.60,0.00,0.000,4,0.000,0.100,3250,917,1568
$GC,19415,1.29,370.1,64.4,14.5,1931,19421,0.00,2.55,0.00,0.000,6,0.000,0.083,3250,2269,1568
$GC,19758,1.29,370.1,22.1,11.3,1992,19765,0.00,2.62,0.00,0.000,4,0.000,0.096,3250,909,1569
$GC,19783,1.29,370.1,19.3,11.4,1996,19790,0.00,2.53,0.00,0.000,6,0.000,0.084,3250,2245,1568
$GC,19927,1.29,370.1,3.4,11.1,2021,19933,0.00,2.92,0.00,0.000,4,0.000,0.102,3250,3737,1567
$STATE,19937,end climb,SURFACE_DEPTH_REACHED
$STATE,19937,begin surface coast
$FINISH,0.2,1.026817
$STATE,19955,end surface coast,CONTROL_FINISHED_OK
$STATE,19955,begin surface
$SM_CCo,20041,0.00,0.000,0,0,1564,373.10
$SM_GC,1.13,11.73,0.00,0.00,0.044,0.000,0.000,587,2229,1564,-10.86,-0.17,373.10
$IRIDIUM_FIX,6126.23,-2538.79,210997,121234
$TT8_MAMPS,0.02301
$HUMID,1738
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,772
$24V_AH,23.0,77.786
$10V_AH,10.6,64.410
$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,27.375,201.375,490.425,0.000,0.000,29.420,33.775,420.233,193.000,0.000,0.000,15.631,3201.703,12191.416,668.514,3661.889,943.040,0.000,2326.455,0.000,3634.540,0.000,0.467
$DEVICE_MAMPS,184.080,134.992,1414.348,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1403.550,1514.165,1797.809,578.079,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120093,2026
$CAP_FILE_SIZE,193745,0
$CFSIZE,260165632,220971008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280608,000831,6147.108,-2538.503,40,2.0,45,-18.4