version: 66.03
glider: 140
mission: 5
dive: 242
start: 5 30 108 11 11 28
data:
$ID,140
$MISSION,5
$DIVE,242
$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,-17772.424
$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,9
$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
$GPS1,110325,6148.261,-2637.902,39,1.7,39,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.6
$GPS2,111109,6148.237,-2637.890,13,1.8,13,-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,131.8,52308,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.29,-194.7,0.0,0.0,0,98,0.00,0.00,-75.35,0.000,2,0.000,0.000,588,2227,3578
$GC,101,-1.29,-194.7,3.8,-7.7,10,130,12.48,2.80,-5.97,0.000,4,0.188,0.113,2672,3642,3882
$GC,378,-1.29,-194.7,44.2,-13.0,58,385,0.00,2.62,0.00,0.000,6,0.000,0.082,2672,2234,3883
$GC,521,-1.29,-194.7,61.3,-11.1,83,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3883
$GC,864,-1.29,-194.7,94.3,-8.5,144,872,0.00,2.70,0.00,0.000,4,0.000,0.101,2672,825,3883
$GC,896,-1.29,-194.7,97.1,-9.3,149,903,0.00,2.72,0.00,0.000,6,0.000,0.087,2672,2263,3883
$GC,1242,-1.29,-194.7,127.2,-8.1,210,1249,0.00,2.80,0.00,0.000,4,0.000,0.102,2672,824,3883
$GC,1262,-1.29,-194.7,128.8,-8.0,213,1269,0.00,2.72,0.00,0.000,6,0.000,0.087,2672,2259,3884
$GC,1608,-1.29,-194.7,158.4,-8.9,274,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2259,3884
$GC,1952,-1.29,-194.7,190.3,-9.3,335,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2260,3884
$GC,2297,-1.29,-194.7,222.6,-9.2,396,2304,0.00,2.83,0.00,0.000,4,0.000,0.107,2672,820,3883
$GC,2317,-1.29,-194.7,224.4,-9.5,399,2324,0.00,2.72,0.00,0.000,6,0.000,0.093,2672,2244,3884
$GC,2661,-1.29,-194.7,257.0,-9.7,460,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3884
$GC,3006,-1.29,-194.7,288.8,-9.0,521,3013,0.00,2.80,0.00,0.000,4,0.000,0.109,2672,821,3883
$GC,3032,-1.29,-194.7,291.2,-9.7,525,3039,0.00,2.75,0.00,0.000,6,0.000,0.097,2672,2249,3883
$GC,3377,-1.29,-194.7,323.8,-9.3,586,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3883
$GC,3724,-1.29,-194.7,355.9,-9.2,642,3729,0.00,2.83,0.00,0.000,4,0.000,0.112,2672,819,3883
$GC,3753,-1.29,-194.7,358.8,-9.8,644,3758,0.00,2.75,0.00,0.000,6,0.000,0.099,2672,2241,3883
$GC,4080,-1.29,-194.7,389.2,-9.0,674,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2241,3883
$GC,4396,-1.29,-194.7,417.1,-8.7,704,4401,0.00,2.78,0.00,0.000,4,0.000,0.114,2672,3648,3883
$GC,4418,-1.29,-194.7,419.2,-9.0,705,4425,0.00,2.67,0.00,0.000,6,0.000,0.089,2672,2233,3882
$GC,4744,-1.29,-194.7,447.3,-8.7,736,4749,0.00,2.80,0.00,0.000,4,0.000,0.116,2672,825,3883
$GC,4773,-1.29,-194.7,450.0,-9.2,738,4777,0.00,2.75,0.00,0.000,6,0.000,0.100,2672,2241,3882
$GC,5100,-1.29,-194.7,479.2,-9.1,768,5104,0.00,2.78,0.00,0.000,4,0.000,0.114,2672,3650,3882
$GC,5121,-1.29,-194.7,481.5,-9.5,769,5128,0.00,2.70,0.00,0.000,6,0.000,0.091,2672,2230,3883
$GC,5448,-1.29,-194.7,511.9,-9.5,800,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3883
$GC,5765,-1.29,-194.7,542.9,-9.8,830,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3882
$GC,6083,-1.29,-194.7,575.9,-10.6,860,6088,0.00,2.83,0.00,0.000,4,0.000,0.114,2672,3653,3882
$GC,6104,-1.29,-194.7,578.4,-10.9,861,6112,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2246,3882
$GC,6436,-1.29,-194.7,613.0,-10.4,887,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2247,3882
$GC,6746,-1.29,-194.7,644.1,-10.1,902,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2247,3882
$GC,7056,-1.29,-194.7,675.3,-9.8,917,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2247,3882
$GC,7366,-1.29,-194.7,703.2,-9.1,932,7370,0.00,2.83,0.00,0.000,4,0.000,0.119,2672,3653,3882
$GC,7386,-1.29,-194.7,705.0,-9.2,933,7390,0.00,2.67,0.00,0.000,6,0.000,0.097,2672,2262,3881
$GC,7712,-1.29,-194.7,737.3,-10.1,949,7717,0.00,2.90,0.00,0.000,4,0.000,0.125,2672,825,3881
$GC,7767,-1.29,-194.7,743.3,-10.5,951,7774,0.00,2.78,0.00,0.000,6,0.000,0.104,2672,2252,3881
$GC,8084,-1.29,-194.7,775.1,-10.2,967,8088,0.00,2.80,0.00,0.000,4,0.000,0.127,2672,3647,3882
$GC,8100,-1.29,-194.7,777.0,-10.3,968,8105,0.00,2.70,0.00,0.000,6,0.000,0.098,2672,2245,3882
$GC,8428,-1.29,-194.7,808.9,-9.4,984,8432,0.00,2.88,0.00,0.000,4,0.000,0.127,2672,825,3881
$GC,8460,-1.29,-194.7,812.1,-10.1,985,8467,0.00,2.80,0.00,0.000,6,0.000,0.107,2672,2252,3881
$GC,8777,-1.29,-194.7,843.3,-9.9,1001,8781,0.00,2.85,0.00,0.000,4,0.000,0.130,2672,3649,3881
$GC,8803,-1.29,-194.7,846.0,-10.1,1002,8807,0.00,2.67,0.00,0.000,6,0.000,0.098,2672,2258,3881
$GC,9120,-1.29,-194.7,873.1,-8.8,1017,9125,0.00,2.92,0.00,0.000,4,0.000,0.132,2672,825,3881
$GC,9141,-1.29,-194.7,875.2,-9.2,1018,9146,0.00,2.83,0.00,0.000,6,0.000,0.107,2672,2266,3880
$GC,9463,-1.29,-194.7,904.4,-9.0,1034,9467,0.00,2.92,0.00,0.000,4,0.000,0.124,2672,821,3881
$STATE,9624,end dive,NO_VERTICAL_VELOCITY
$STATE,9624,begin apogee
$GC,9632,-0.35,0.0,906.2,0.0,1041,9804,0.93,0.00,164.93,1.353,6,0.053,0.000,2885,2330,3084
$STATE,9805,end apogee,CONTROL_FINISHED_OK
$STATE,9805,begin climb
$GC,9808,1.29,194.7,906.1,0.0,1050,9978,1.58,0.00,161.90,1.313,6,0.057,0.000,3237,2331,2291
$GC,10288,1.21,194.7,856.6,12.5,1073,10293,0.00,2.97,0.00,0.000,4,0.000,0.136,3237,3739,2288
$GC,10321,1.10,194.7,852.0,13.0,1074,10329,0.20,2.78,0.00,0.000,6,0.110,0.101,3200,2330,2288
$GC,10637,1.10,194.7,817.9,11.0,1090,10642,0.00,2.90,0.00,0.000,4,0.000,0.120,3200,3740,2288
$GC,10692,1.04,194.7,811.1,12.3,1092,10700,0.00,2.72,0.00,0.000,6,0.000,0.099,3200,2360,2288
$GC,11008,1.04,194.7,775.0,11.9,1108,11012,0.00,2.83,0.00,0.000,4,0.000,0.120,3200,3739,2287
$GC,11041,0.98,194.7,770.7,12.4,1109,11048,0.15,2.70,0.00,0.000,6,0.110,0.097,3173,2365,2287
$GC,11357,0.98,194.7,738.3,10.3,1125,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2366,2287
$GC,11665,0.98,194.7,705.6,10.7,1140,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2366,2286
$GC,11975,0.98,194.7,672.5,10.2,1155,11980,0.00,2.80,0.00,0.000,4,0.000,0.117,3173,3739,2286
$GC,12019,0.98,194.7,667.4,11.0,1157,12023,0.00,2.65,0.00,0.000,6,0.000,0.095,3173,2364,2287
$GC,12346,0.98,194.7,633.9,10.3,1173,12351,0.00,2.78,0.00,0.000,4,0.000,0.116,3173,3739,2286
$GC,12379,0.98,194.7,630.3,10.3,1174,12387,0.00,2.60,0.00,0.000,6,0.000,0.092,3173,2384,2286
$GC,12695,0.99,205.3,599.3,9.6,1190,12706,0.00,0.00,9.73,1.091,6,0.000,0.000,3173,2384,2248
$GC,13025,1.00,212.5,568.0,9.7,1221,13039,0.00,3.03,7.93,1.027,4,0.000,0.115,3173,913,2218
$GC,13055,1.01,218.2,564.7,9.8,1223,13067,0.00,2.88,6.65,0.917,6,0.000,0.096,3173,2397,2195
$GC,13387,1.01,223.1,532.2,9.8,1254,13400,0.00,2.72,6.00,0.921,4,0.000,0.117,3172,3739,2174
$GC,13424,1.01,223.1,528.4,10.2,1257,13429,0.00,2.62,0.00,0.000,6,0.000,0.089,3172,2388,2174
$GC,13750,1.04,249.0,497.5,9.1,1287,13780,0.00,0.00,23.33,1.058,6,0.000,0.000,3173,2388,2068
$GC,14098,1.05,257.9,465.1,9.7,1320,14109,0.00,0.00,8.70,0.973,6,0.000,0.000,3173,2388,2033
$GC,14429,1.07,268.3,433.4,9.6,1351,14446,0.00,0.00,10.25,0.976,6,0.000,0.000,3172,2389,1990
$GC,14766,1.11,273.4,401.3,9.8,1383,14776,0.12,0.00,6.07,0.858,6,0.065,0.000,3205,2388,1970
$GC,15092,1.11,273.4,365.5,10.6,1414,15094,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2388,1968
$GC,15421,1.11,273.4,331.3,11.1,1460,15428,0.00,2.70,0.00,0.000,4,0.000,0.110,3205,3739,1968
$GC,15447,1.11,273.4,328.5,10.5,1464,15454,0.00,2.58,0.00,0.000,6,0.000,0.086,3205,2394,1968
$GC,15792,1.11,273.4,290.3,11.8,1525,15799,0.00,2.88,0.00,0.000,4,0.000,0.106,3205,916,1968
$GC,15822,1.11,273.4,286.7,11.3,1530,15830,0.00,2.85,0.00,0.000,6,0.000,0.092,3205,2406,1968
$GC,16168,1.11,273.4,249.2,10.6,1591,16174,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2406,1968
$GC,16512,1.12,276.8,212.7,9.9,1652,16520,0.00,0.00,4.50,0.677,6,0.000,0.000,3206,2406,1956
$GC,16857,1.12,276.8,176.4,11.5,1713,16864,0.00,2.90,0.00,0.000,4,0.000,0.103,3205,914,1955
$GC,16878,1.12,276.8,174.1,11.0,1716,16885,0.00,2.83,0.00,0.000,6,0.000,0.091,3206,2397,1955
$GC,17224,1.12,276.8,132.8,11.8,1777,17231,0.00,2.65,0.00,0.000,4,0.000,0.107,3205,3740,1955
$GC,17249,1.12,276.8,129.5,12.9,1781,17256,0.00,2.58,0.00,0.000,6,0.000,0.084,3205,2388,1955
$GC,17595,1.12,276.8,88.8,10.5,1842,17602,0.00,2.85,0.00,0.000,4,0.000,0.103,3205,909,1955
$GC,17626,1.12,276.8,85.4,11.9,1847,17633,0.00,2.83,0.00,0.000,6,0.000,0.088,3205,2403,1955
$GC,17972,1.12,276.8,49.0,10.3,1908,17978,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2404,1955
$GC,18115,1.19,330.7,34.9,8.1,1933,18171,0.00,2.97,46.00,0.775,4,0.000,0.099,3205,916,1735
$GC,18179,1.19,330.7,28.8,10.2,1942,18186,0.00,2.83,0.00,0.000,6,0.000,0.086,3205,2400,1734
$GC,18322,1.19,337.7,14.2,9.8,1967,18337,0.00,2.90,6.65,0.689,4,0.000,0.097,3205,907,1707
$GC,18357,1.19,337.7,10.7,11.0,1972,18364,0.00,2.70,0.00,0.000,6,0.000,0.084,3205,2342,1706
$STATE,18436,end climb,SURFACE_DEPTH_REACHED
$STATE,18436,begin surface coast
$FINISH,0.2,1.027626
$STATE,18454,end surface coast,CONTROL_FINISHED_OK
$STATE,18454,begin surface
$SM_CCo,18535,0.00,0.000,0,0,1699,339.99
$SM_GC,1.04,11.45,0.00,0.00,0.041,0.000,0.000,593,2220,1699,-10.84,-0.42,339.99
$IRIDIUM_FIX,6121.73,-2644.07,240897,060607
$TT8_MAMPS,0.02301
$HUMID,1661
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.70
$XPDR_PINGS,110
$24V_AH,23.3,53.112
$10V_AH,10.6,43.141
$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,26.900,172.850,462.625,0.000,0.000,23.067,37.944,252.395,27.500,0.000,0.000,13.842,4014.617,10030.240,716.238,3540.383,677.091,0.000,2274.672,0.000,3526.385,0.000,0.467
$DEVICE_MAMPS,187.915,135.759,1352.988,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1377.940,1505.724,1818.458,573.540,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116674,1989
$CAP_FILE_SIZE,178999,0
$CFSIZE,260165632,232824832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.011,309.8,1
$GPS,300508,162137,6147.310,-2632.821,39,1.1,39,-18.9