version: 66.03
glider: 140
mission: 5
dive: 238
start: 5 29 108 15 16 21
data:
$ID,140
$MISSION,5
$DIVE,238
$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,135
$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,-17714.205
$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,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
$GPS1,150738,6149.429,-2658.783,41,0.9,41,-19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-63.8
$GPS2,151603,6149.516,-2658.769,13,1.2,13,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6141.880,-2655.149
$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,154.2,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.29,-194.7,0.0,0.0,0,106,0.00,0.00,-75.10,0.000,2,0.000,0.000,587,2228,3457
$GC,109,-1.29,-194.7,3.5,-7.3,14,139,12.38,2.72,-9.45,0.000,4,0.186,0.109,2670,821,3882
$GC,159,-1.22,-194.7,11.5,-10.6,22,166,0.12,2.67,0.00,0.000,6,0.118,0.084,2692,2244,3882
$GC,302,-1.22,-194.7,23.9,-8.3,47,309,0.00,2.70,0.00,0.000,4,0.000,0.098,2692,3649,3882
$GC,339,-1.22,-194.7,27.2,-9.3,53,345,0.00,2.62,0.00,0.000,6,0.000,0.080,2692,2242,3882
$GC,481,-1.22,-194.7,42.1,-10.9,78,488,0.00,2.72,0.00,0.000,4,0.000,0.097,2692,818,3882
$GC,505,-1.22,-194.7,44.7,-10.5,82,511,0.00,2.70,0.00,0.000,6,0.000,0.081,2692,2263,3882
$GC,648,-1.22,-194.7,61.3,-12.9,107,654,0.00,2.65,0.00,0.000,4,0.000,0.097,2692,3648,3883
$GC,689,-1.22,-194.7,66.3,-11.9,114,695,0.00,2.53,0.00,0.000,6,0.000,0.081,2692,2297,3883
$GC,1033,-1.22,-194.7,105.0,-9.8,175,1039,0.00,2.85,0.00,0.000,4,0.000,0.101,2692,824,3883
$GC,1124,-1.22,-194.7,113.5,-9.0,191,1130,0.00,2.78,0.00,0.000,6,0.000,0.086,2692,2287,3883
$GC,1468,-1.22,-194.7,141.7,-8.2,252,1474,0.00,2.85,0.00,0.000,4,0.000,0.103,2692,819,3883
$GC,1498,-1.22,-194.7,144.2,-8.4,257,1504,0.00,2.75,0.00,0.000,6,0.000,0.087,2692,2272,3883
$GC,1841,-1.22,-194.7,169.6,-7.0,318,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2272,3884
$GC,2186,-1.22,-194.7,194.2,-7.7,379,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2272,3883
$GC,2531,-1.22,-194.7,221.5,-7.9,440,2537,0.00,2.85,0.00,0.000,4,0.000,0.109,2692,820,3883
$GC,2572,-1.22,-194.7,225.0,-8.4,447,2578,0.00,2.75,0.00,0.000,6,0.000,0.091,2692,2264,3883
$GC,2916,-1.22,-194.7,252.6,-8.0,508,2922,0.00,2.67,0.00,0.000,4,0.000,0.105,2692,3645,3883
$GC,2934,-1.22,-194.7,254.2,-8.3,511,2940,0.00,2.65,0.00,0.000,6,0.000,0.087,2692,2246,3883
$GC,3278,-1.22,-194.7,281.0,-7.4,572,3285,0.00,2.80,0.00,0.000,4,0.000,0.112,2692,824,3883
$GC,3319,-1.22,-194.7,284.2,-7.8,579,3326,0.00,2.72,0.00,0.000,6,0.000,0.094,2692,2245,3883
$GC,3663,-1.22,-194.7,308.9,-6.8,640,3669,0.00,2.75,0.00,0.000,4,0.000,0.110,2692,3646,3883
$GC,3682,-1.22,-194.7,310.2,-6.9,643,3688,0.00,2.65,0.00,0.000,6,0.000,0.088,2692,2247,3883
$GC,4025,-1.22,-194.7,332.9,-6.7,704,4032,0.00,2.80,0.00,0.000,4,0.000,0.114,2692,825,3883
$GC,4072,-1.22,-194.7,336.1,-7.3,712,4079,0.00,2.72,0.00,0.000,6,0.000,0.096,2692,2243,3883
$GC,4415,-1.22,-194.7,360.6,-7.6,761,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2244,3883
$GC,4733,-1.22,-194.7,384.2,-7.2,791,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2244,3883
$GC,5051,-1.22,-194.7,407.9,-7.4,821,5056,0.00,2.78,0.00,0.000,4,0.000,0.114,2692,3651,3883
$GC,5073,-1.22,-194.7,409.6,-7.7,822,5080,0.00,2.72,0.00,0.000,6,0.000,0.091,2692,2219,3882
$GC,5400,-1.22,-194.7,433.7,-7.6,853,5404,0.00,2.78,0.00,0.000,4,0.000,0.117,2692,821,3883
$GC,5428,-1.22,-194.7,436.1,-7.9,855,5432,0.00,2.70,0.00,0.000,6,0.000,0.097,2692,2222,3882
$GC,5755,-1.22,-194.7,460.7,-7.5,885,5760,0.00,2.80,0.00,0.000,4,0.000,0.110,2692,3651,3882
$GC,5783,-1.22,-194.7,463.1,-8.3,887,5788,0.00,2.72,0.00,0.000,6,0.000,0.091,2692,2222,3882
$GC,6110,-1.22,-194.7,491.1,-9.6,917,6111,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2222,3882
$GC,6426,-1.22,-194.7,520.4,-8.7,947,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2222,3882
$GC,6747,-1.22,-194.7,546.8,-8.6,977,6752,0.00,2.83,0.00,0.000,4,0.000,0.112,2692,3651,3881
$GC,6786,-1.26,-194.7,550.6,-9.6,980,6791,0.00,2.72,0.00,0.000,6,0.000,0.093,2692,2223,3881
$GC,7113,-1.26,-194.7,579.2,-8.4,1010,7118,0.00,2.83,0.00,0.000,4,0.000,0.113,2692,3651,3881
$GC,7135,-1.26,-194.7,581.4,-8.9,1011,7141,0.00,2.67,0.00,0.000,6,0.000,0.093,2692,2250,3881
$GC,7459,-1.26,-194.7,606.7,-7.6,1038,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2251,3881
$GC,7767,-1.26,-194.7,630.0,-7.4,1053,7772,0.00,2.88,0.00,0.000,4,0.000,0.123,2692,821,3881
$GC,7794,-1.26,-194.7,632.2,-8.0,1054,7798,0.00,2.83,0.00,0.000,6,0.000,0.102,2692,2273,3881
$GC,8110,-1.26,-194.7,654.4,-7.1,1069,8115,0.00,2.75,0.00,0.000,4,0.000,0.123,2692,3645,3881
$GC,8132,-1.26,-194.7,656.1,-7.6,1070,8136,0.00,2.65,0.00,0.000,6,0.000,0.094,2692,2256,3881
$GC,8453,-1.26,-194.7,678.5,-6.7,1086,8458,0.00,2.88,0.00,0.000,4,0.000,0.123,2692,820,3881
$GC,8486,-1.26,-194.7,680.8,-7.2,1087,8492,0.00,2.80,0.00,0.000,6,0.000,0.102,2692,2263,3880
$GC,8802,-1.26,-194.7,701.6,-7.0,1103,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2263,3880
$GC,9110,-1.26,-194.7,726.3,-7.8,1118,9115,0.00,2.78,0.00,0.000,4,0.000,0.123,2692,3648,3880
$GC,9132,-1.26,-194.7,728.1,-8.1,1119,9137,0.00,2.67,0.00,0.000,6,0.000,0.097,2692,2254,3880
$GC,9454,-1.26,-194.7,753.1,-8.9,1135,9459,0.00,2.90,0.00,0.000,4,0.000,0.128,2692,820,3880
$GC,9487,-1.26,-194.7,756.3,-9.9,1136,9493,0.00,2.80,0.00,0.000,6,0.000,0.105,2692,2257,3880
$GC,9803,-1.60,-194.7,769.0,0.0,1152,9808,0.35,2.80,0.00,0.000,4,0.070,0.127,2612,3646,3880
$STATE,9841,end dive,NO_VERTICAL_VELOCITY
$STATE,9841,begin apogee
$GC,9849,-0.35,0.0,769.0,0.0,1154,10015,1.23,0.00,161.98,1.272,6,0.053,0.000,2889,2330,3085
$STATE,10016,end apogee,CONTROL_FINISHED_OK
$STATE,10016,begin climb
$GC,10018,1.29,194.7,768.9,0.0,1162,10183,1.58,0.00,159.52,1.230,6,0.054,0.000,3241,2330,2291
$GC,10491,1.21,194.7,718.7,13.0,1185,10496,0.00,2.90,0.00,0.000,4,0.000,0.121,3241,3737,2288
$GC,10535,1.09,194.7,712.5,14.5,1187,10540,0.22,2.78,0.00,0.000,6,0.109,0.097,3199,2323,2288
$GC,10857,1.10,199.4,678.6,9.8,1203,10867,0.00,2.92,5.32,0.915,4,0.000,0.117,3200,3737,2271
$GC,10934,1.04,199.4,669.9,11.4,1206,10941,0.00,2.70,0.00,0.000,6,0.000,0.097,3200,2356,2271
$GC,11250,1.04,199.4,637.8,10.5,1222,11254,0.00,2.83,0.00,0.000,4,0.000,0.117,3200,3737,2270
$GC,11277,0.99,199.4,634.6,11.7,1223,11282,0.12,2.67,0.00,0.000,6,0.113,0.097,3177,2368,2271
$GC,11592,0.99,200.1,603.3,10.0,1238,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2368,2270
$GC,11909,1.00,211.8,570.7,9.6,1266,11931,0.00,2.83,12.02,1.098,4,0.000,0.113,3177,3737,2220
$GC,11970,1.00,211.8,564.3,10.9,1271,11976,0.00,2.65,0.00,0.000,6,0.000,0.093,3177,2375,2220
$GC,12296,1.00,211.8,529.6,10.8,1302,12301,0.00,2.75,0.00,0.000,4,0.000,0.110,3177,3739,2220
$GC,12324,1.00,211.8,526.4,10.2,1304,12328,0.00,2.62,0.00,0.000,6,0.000,0.091,3177,2392,2219
$GC,12648,1.00,211.8,491.5,10.8,1334,12652,0.00,2.70,0.00,0.000,4,0.000,0.110,3177,3737,2219
$GC,12669,1.00,211.8,489.1,10.9,1335,12675,0.00,2.58,0.00,0.000,6,0.000,0.090,3177,2398,2219
$GC,12995,1.00,211.8,455.7,10.4,1366,13000,0.00,2.92,0.00,0.000,4,0.000,0.111,3177,918,2219
$GC,13012,1.00,211.8,453.8,10.2,1367,13017,0.00,2.88,0.00,0.000,6,0.000,0.095,3177,2409,2219
$GC,13337,1.02,227.9,421.4,9.4,1397,13359,0.00,2.72,14.55,1.022,4,0.000,0.112,3177,3738,2155
$GC,13371,1.02,227.9,418.1,10.1,1400,13375,0.00,2.60,0.00,0.000,6,0.000,0.088,3177,2403,2156
$GC,13695,1.02,227.9,385.7,10.6,1430,13700,0.00,2.90,0.00,0.000,4,0.000,0.107,3177,918,2155
$GC,13712,1.02,227.9,383.9,11.3,1431,13717,0.00,2.88,0.00,0.000,6,0.000,0.094,3177,2410,2155
$GC,14038,1.02,227.9,349.3,10.7,1461,14044,0.00,2.65,0.00,0.000,4,0.000,0.112,3177,3737,2155
$GC,14062,1.02,227.9,346.5,10.7,1465,14068,0.00,2.58,0.00,0.000,6,0.000,0.087,3177,2401,2155
$GC,14405,1.02,227.9,309.3,10.6,1526,14411,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2401,2155
$GC,14748,1.02,227.9,272.7,10.6,1587,14754,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2401,2154
$GC,15091,1.02,227.9,234.0,10.9,1648,15098,0.00,2.88,0.00,0.000,4,0.000,0.104,3177,918,2155
$GC,15110,1.02,227.9,231.9,11.3,1651,15116,0.00,2.85,0.00,0.000,6,0.000,0.090,3177,2414,2155
$GC,15453,1.02,227.9,195.7,10.6,1712,15460,0.00,2.60,0.00,0.000,4,0.000,0.107,3177,3738,2155
$GC,15472,1.02,227.9,193.8,10.5,1715,15478,0.00,2.55,0.00,0.000,6,0.000,0.084,3177,2401,2154
$GC,15817,1.04,241.7,158.9,9.5,1776,15835,0.00,2.97,12.88,0.863,4,0.000,0.102,3177,915,2099
$GC,15859,1.04,241.7,154.6,10.1,1783,15865,0.00,2.85,0.00,0.000,6,0.000,0.088,3177,2403,2098
$GC,16202,1.04,243.3,120.9,9.9,1844,16208,0.00,2.62,0.00,0.000,4,0.000,0.103,3177,3739,2097
$GC,16225,1.04,243.3,118.5,10.4,1848,16232,0.00,2.58,0.00,0.000,6,0.000,0.084,3177,2391,2098
$GC,16569,1.04,243.3,82.2,11.3,1909,16575,0.00,2.85,0.00,0.000,4,0.000,0.102,3177,916,2098
$GC,16594,1.08,243.3,79.6,10.3,1913,16600,0.00,2.80,0.00,0.000,6,0.000,0.087,3177,2399,2098
$GC,16937,1.08,243.3,40.3,12.6,1974,16943,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2399,2098
$GC,17079,1.08,243.3,24.5,10.4,1999,17086,0.00,2.62,0.00,0.000,4,0.000,0.103,3178,3740,2098
$GC,17122,1.08,243.3,19.9,11.3,2006,17128,0.00,2.53,0.00,0.000,6,0.000,0.083,3177,2407,2098
$GC,17266,1.16,271.6,5.4,9.0,2031,17297,0.15,2.72,25.05,0.761,4,0.061,0.100,3220,3738,1976
$STATE,17302,end climb,SURFACE_DEPTH_REACHED
$STATE,17302,begin surface coast
$FINISH,0.1,1.026015
$STATE,17320,end surface coast,CONTROL_FINISHED_OK
$STATE,17320,begin surface
$SM_CCo,17404,0.00,0.000,0,0,1971,273.02
$SM_GC,1.05,11.65,0.00,0.00,0.045,0.000,0.000,591,2229,1971,-10.84,-0.17,273.02
$IRIDIUM_FIX,6126.23,-2700.36,230897,090934
$TT8_MAMPS,0.02301
$HUMID,1670
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,119
$24V_AH,23.4,52.427
$10V_AH,10.6,42.480
$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,27.800,214.175,391.325,0.000,0.000,23.393,36.573,289.450,29.750,0.000,0.000,13.262,3205.317,9698.184,623.791,3617.069,738.695,0.000,2224.293,0.000,3603.665,0.000,0.468
$DEVICE_MAMPS,186.381,128.089,1271.686,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1412.204,1513.117,1902.321,625.220,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123146,2040
$CAP_FILE_SIZE,187891,0
$CFSIZE,260165632,233189376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,290508,200737,6149.277,-2653.755,37,0.9,37,-19.1