version: 66.03
glider: 140
mission: 5
dive: 243
start: 5 30 108 16 29 52
data:
$ID,140
$MISSION,5
$DIVE,243
$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,-17788.373
$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
$GPS1,162137,6147.310,-2632.821,39,1.1,39,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-63.5
$GPS2,162933,6147.281,-2632.828,15,1.1,15,-18.9
$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,131.8,47515,-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,20,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-73.30,0.000,2,0.000,0.000,593,2220,3426
$GC,99,-1.29,-194.7,3.2,-6.2,10,130,12.48,2.75,-10.20,0.000,4,0.189,0.107,2672,3643,3878
$GC,373,-1.29,-194.7,35.0,-9.5,57,380,0.00,2.62,0.00,0.000,6,0.000,0.081,2672,2234,3879
$GC,518,-1.29,-194.7,48.5,-9.5,82,525,0.00,2.70,0.00,0.000,4,0.000,0.098,2672,825,3880
$GC,561,-1.29,-194.7,52.9,-9.9,89,568,0.00,2.60,0.00,0.000,6,0.000,0.084,2672,2207,3880
$GC,905,-1.29,-194.7,88.6,-10.2,150,913,0.00,2.78,0.00,0.000,4,0.000,0.100,2672,3644,3880
$GC,959,-1.29,-194.7,93.8,-9.9,159,966,0.00,2.67,0.00,0.000,6,0.000,0.083,2672,2219,3880
$GC,1304,-1.29,-194.7,126.1,-8.7,220,1311,0.00,2.70,0.00,0.000,4,0.000,0.104,2672,819,3880
$GC,1330,-1.29,-194.7,128.5,-8.8,224,1337,0.00,2.65,0.00,0.000,6,0.000,0.089,2672,2218,3880
$GC,1676,-1.29,-194.7,159.2,-9.5,285,1684,0.00,2.78,0.00,0.000,4,0.000,0.104,2672,3651,3880
$GC,1702,-1.29,-194.7,161.7,-9.9,289,1709,0.00,2.70,0.00,0.000,6,0.000,0.085,2671,2219,3880
$GC,2047,-1.29,-194.7,196.6,-10.3,350,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2219,3880
$GC,2392,-1.29,-194.7,231.7,-9.8,411,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2219,3880
$GC,2736,-1.29,-194.7,266.2,-10.2,472,2743,0.00,2.80,0.00,0.000,4,0.000,0.107,2672,3645,3880
$GC,2761,-1.29,-194.7,269.0,-10.8,476,2769,0.00,2.70,0.00,0.000,6,0.000,0.088,2672,2220,3880
$GC,3108,-1.29,-194.7,303.4,-9.3,537,3114,0.00,2.75,0.00,0.000,4,0.000,0.111,2672,824,3880
$GC,3133,-1.29,-194.7,305.9,-9.7,541,3140,0.00,2.70,0.00,0.000,6,0.000,0.095,2672,2227,3880
$GC,3478,-1.29,-194.7,337.5,-9.5,602,3485,0.00,2.78,0.00,0.000,4,0.000,0.111,2671,3645,3880
$GC,3510,-1.29,-194.7,340.5,-10.0,607,3517,0.00,2.70,0.00,0.000,6,0.000,0.089,2672,2220,3880
$GC,3848,-1.29,-194.7,372.2,-9.2,647,3852,0.00,2.75,0.00,0.000,4,0.000,0.115,2672,825,3880
$GC,3877,-1.29,-194.7,374.9,-9.9,649,3881,0.00,2.70,0.00,0.000,6,0.000,0.098,2672,2222,3880
$GC,4206,-1.29,-194.7,406.5,-9.8,679,4211,0.00,2.80,0.00,0.000,4,0.000,0.112,2672,3648,3880
$GC,4238,-1.29,-194.7,410.4,-10.2,681,4246,0.00,2.70,0.00,0.000,6,0.000,0.089,2672,2220,3880
$GC,4565,-1.29,-194.7,442.9,-10.2,712,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3879
$GC,4882,-1.29,-194.7,475.1,-10.1,742,4883,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3879
$GC,5200,-1.29,-194.7,506.4,-10.0,772,5201,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3879
$GC,5519,-1.29,-194.7,537.8,-9.6,802,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2220,3879
$GC,5837,-1.29,-194.7,569.3,-9.9,832,5838,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2220,3879
$GC,6156,-1.29,-194.7,599.3,-9.8,862,6161,0.00,2.80,0.00,0.000,4,0.000,0.120,2672,823,3879
$GC,6178,-1.29,-194.7,601.7,-10.0,863,6182,0.00,2.75,0.00,0.000,6,0.000,0.102,2671,2237,3879
$GC,6500,-1.29,-194.7,632.1,-9.9,879,6505,0.00,2.80,0.00,0.000,4,0.000,0.118,2672,3646,3879
$GC,6519,-1.29,-194.7,633.8,-9.8,880,6523,0.00,2.70,0.00,0.000,6,0.000,0.093,2671,2227,3879
$GC,6845,-1.29,-194.7,666.2,-9.5,896,6850,0.00,2.83,0.00,0.000,4,0.000,0.122,2671,820,3878
$GC,6878,-1.29,-194.7,669.1,-8.9,897,6885,0.00,2.75,0.00,0.000,6,0.000,0.100,2672,2240,3878
$GC,7194,-1.29,-194.7,697.6,-10.9,913,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3878
$GC,7503,-1.29,-194.7,725.5,-8.1,928,7508,0.00,2.85,0.00,0.000,4,0.000,0.122,2672,825,3878
$GC,7521,-1.29,-194.7,727.0,-8.5,929,7525,0.00,2.72,0.00,0.000,6,0.000,0.101,2671,2229,3878
$GC,7850,-1.66,-194.7,751.2,-1.1,945,7855,0.32,2.83,0.00,0.000,4,0.082,0.119,2600,818,3878
$STATE,7978,end dive,NO_VERTICAL_VELOCITY
$STATE,7980,begin apogee
$GC,7988,-0.35,0.0,751.2,0.0,951,8153,1.25,0.00,161.35,1.251,6,0.039,0.000,2896,2337,3085
$STATE,8154,end apogee,CONTROL_FINISHED_OK
$STATE,8154,begin climb
$GC,8157,1.29,194.7,751.0,0.0,959,8327,1.50,3.00,158.88,1.209,4,0.046,0.124,3240,3737,2290
$GC,8380,1.18,194.7,736.5,13.1,969,8385,0.12,2.78,0.00,0.000,6,0.118,0.096,3219,2331,2289
$GC,8709,1.13,194.7,698.8,10.1,985,8714,0.00,2.88,0.00,0.000,4,0.000,0.116,3219,3738,2288
$GC,8749,1.05,194.7,694.5,10.8,987,8754,0.15,2.72,0.00,0.000,6,0.110,0.096,3191,2353,2288
$GC,9077,1.05,194.7,662.9,11.0,1003,9082,0.00,2.80,0.00,0.000,4,0.000,0.113,3191,3738,2288
$GC,9110,1.01,194.7,658.6,11.6,1004,9118,0.00,2.67,0.00,0.000,6,0.000,0.096,3191,2364,2288
$GC,9426,1.03,213.1,627.2,9.4,1020,9450,0.00,2.85,16.48,1.125,4,0.000,0.113,3191,3739,2215
$GC,9461,1.03,213.1,623.6,10.1,1021,9465,0.00,2.67,0.00,0.000,6,0.000,0.093,3191,2371,2215
$GC,9778,1.05,223.3,594.3,9.6,1038,9790,0.00,0.00,10.20,1.066,6,0.000,0.000,3191,2371,2174
$GC,10109,1.09,258.1,563.7,8.8,1069,10147,0.00,2.90,30.62,1.096,4,0.000,0.114,3191,3739,2031
$GC,10170,1.12,281.9,557.9,9.2,1074,10202,0.00,2.65,21.85,1.056,6,0.000,0.091,3191,2371,1934
$GC,10519,1.12,285.1,526.0,9.9,1107,10524,0.00,2.90,0.00,0.000,4,0.000,0.114,3191,917,1930
$GC,10559,1.17,285.1,521.9,10.1,1110,10565,0.10,2.83,0.00,0.000,6,0.071,0.097,3219,2372,1930
$GC,10885,1.17,285.1,482.0,13.3,1140,10889,0.00,2.72,0.00,0.000,4,0.000,0.112,3219,3736,1929
$GC,10917,1.17,285.1,477.5,14.1,1142,10925,0.00,2.65,0.00,0.000,6,0.000,0.088,3219,2365,1928
$GC,11245,1.17,285.1,436.8,12.4,1173,11252,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2366,1928
$GC,11572,1.17,286.9,401.7,9.9,1204,11585,0.00,2.78,4.68,0.764,4,0.000,0.110,3219,3737,1914
$GC,11601,1.17,286.9,398.2,11.5,1206,11610,0.00,2.62,0.00,0.000,6,0.000,0.087,3219,2370,1914
$GC,11929,1.17,286.9,362.4,11.7,1237,11933,0.00,2.85,0.00,0.000,4,0.000,0.109,3219,917,1914
$GC,11950,1.17,286.9,359.4,12.5,1238,11958,0.00,2.80,0.00,0.000,6,0.000,0.093,3219,2381,1914
$GC,12288,1.17,286.9,317.2,12.0,1292,12295,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2381,1914
$GC,12634,1.18,294.8,279.1,9.7,1353,12648,0.00,0.00,8.57,0.889,6,0.000,0.000,3219,2381,1883
$GC,12986,1.18,294.8,243.7,10.0,1415,12992,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2381,1882
$GC,13329,1.18,294.8,206.1,11.1,1476,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2382,1881
$GC,13674,1.18,294.8,164.4,12.8,1537,13681,0.00,2.85,0.00,0.000,4,0.000,0.102,3219,914,1881
$GC,13699,1.18,294.8,161.2,12.5,1541,13707,0.00,2.78,0.00,0.000,6,0.000,0.090,3218,2378,1881
$GC,14046,1.18,294.8,120.4,11.6,1602,14053,0.00,2.67,0.00,0.000,4,0.000,0.106,3219,3737,1881
$GC,14071,1.18,294.8,117.3,12.5,1606,14079,0.00,2.62,0.00,0.000,6,0.000,0.084,3219,2358,1880
$GC,14418,1.18,294.8,76.9,11.5,1667,14425,0.00,2.78,0.00,0.000,4,0.000,0.101,3219,919,1881
$GC,14443,1.18,294.8,73.8,12.0,1671,14450,0.00,2.72,0.00,0.000,6,0.000,0.087,3219,2364,1881
$GC,14788,1.18,294.8,32.7,10.4,1732,14795,0.00,2.70,0.00,0.000,4,0.000,0.105,3219,3738,1880
$GC,14819,1.18,294.8,29.2,11.6,1737,14826,0.00,2.60,0.00,0.000,6,0.000,0.082,3219,2358,1881
$GC,14963,1.18,294.8,13.3,11.7,1762,14970,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2357,1881
$STATE,15058,end climb,SURFACE_DEPTH_REACHED
$STATE,15058,begin surface coast
$FINISH,0.2,1.001915
$STATE,15075,end surface coast,CONTROL_FINISHED_OK
$STATE,15075,begin surface
$SM_CCo,15157,0.00,0.000,0,0,1877,296.32
$SM_GC,1.08,11.57,0.00,0.00,0.048,0.000,0.000,592,2232,1877,-10.84,-0.08,296.32
$IRIDIUM_FIX,6121.73,-2633.90,240897,111125
$TT8_MAMPS,0.02301
$HUMID,1690
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.80
$XPDR_PINGS,83
$24V_AH,23.4,53.275
$10V_AH,10.7,43.297
$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,27.500,154.400,412.625,0.000,0.000,29.375,41.548,253.212,20.750,0.000,0.000,15.323,3601.499,7531.364,633.398,3175.530,670.349,0.000,2043.772,0.000,3174.954,0.000,0.467
$DEVICE_MAMPS,189.449,124.254,1250.977,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1236.818,1362.811,1670.712,563.188,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107395,1782
$CAP_FILE_SIZE,157953,0
$CFSIZE,260165632,232759296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.104,126.4,1
$GPS,300508,204338,6145.958,-2627.244,34,1.0,34,-18.8