version: 66.03
glider: 140
mission: 5
dive: 245
start: 5 31 108 1 16 22
data:
$ID,140
$MISSION,5
$DIVE,245
$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,-17839.74
$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,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
$GPS1,010808,6144.153,-2622.525,24,1.6,24,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-59.2
$GPS2,011605,6144.137,-2622.513,14,99.0,33,-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,128.9,36929,-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,-194.7,0.0,0.0,0,91,0.00,0.00,-67.62,0.000,2,0.000,0.000,591,2233,3381
$GC,94,-1.29,-194.7,3.2,-6.5,9,125,12.38,2.80,-11.48,0.000,4,0.185,0.109,2675,3646,3881
$GC,334,-1.29,-194.7,30.0,-10.0,50,342,0.00,2.65,0.00,0.000,6,0.000,0.081,2675,2226,3882
$GC,476,-1.29,-194.7,42.7,-8.5,75,484,0.00,2.70,0.00,0.000,4,0.000,0.098,2675,816,3882
$GC,538,-1.29,-194.7,48.1,-9.0,85,545,0.00,2.62,0.00,0.000,6,0.000,0.082,2675,2217,3882
$GC,683,-1.29,-194.7,61.4,-9.6,110,690,0.00,2.75,0.00,0.000,4,0.000,0.098,2675,3651,3882
$GC,725,-1.29,-194.7,65.8,-9.9,117,732,0.00,2.67,0.00,0.000,6,0.000,0.080,2675,2221,3882
$GC,1070,-1.29,-194.7,98.1,-9.2,178,1077,0.00,2.67,0.00,0.000,4,0.000,0.100,2675,825,3883
$GC,1113,-1.29,-194.7,102.1,-9.6,185,1120,0.00,2.62,0.00,0.000,6,0.000,0.086,2675,2217,3883
$GC,1458,-1.29,-194.7,133.6,-9.2,246,1465,0.00,2.75,0.00,0.000,4,0.000,0.101,2674,3644,3883
$GC,1483,-1.29,-194.7,136.0,-9.5,250,1491,0.00,2.67,0.00,0.000,6,0.000,0.084,2674,2217,3882
$GC,1829,-1.29,-194.7,169.8,-10.1,311,1836,0.00,2.70,0.00,0.000,4,0.000,0.105,2675,825,3883
$GC,1859,-1.29,-194.7,173.0,-10.5,316,1866,0.00,2.65,0.00,0.000,6,0.000,0.091,2675,2219,3883
$GC,2204,-1.29,-194.7,210.0,-10.3,377,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2219,3883
$GC,2548,-1.29,-194.7,244.0,-9.8,438,2555,0.00,2.80,0.00,0.000,4,0.000,0.107,2675,3653,3883
$GC,2574,-1.29,-194.7,246.5,-9.8,442,2581,0.00,2.72,0.00,0.000,6,0.000,0.086,2675,2208,3883
$GC,2919,-1.29,-194.7,279.2,-9.0,503,2926,0.00,2.72,0.00,0.000,4,0.000,0.110,2675,825,3883
$GC,2945,-1.29,-194.7,281.6,-9.4,507,2952,0.00,2.67,0.00,0.000,6,0.000,0.094,2675,2216,3882
$GC,3290,-1.29,-194.7,313.2,-8.8,568,3297,0.00,2.80,0.00,0.000,4,0.000,0.109,2675,3651,3883
$GC,3315,-1.29,-194.7,315.6,-9.2,572,3323,0.00,2.75,0.00,0.000,6,0.000,0.089,2675,2198,3883
$GC,3661,-1.29,-194.7,346.6,-9.5,633,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2198,3883
$GC,3990,-1.29,-194.7,376.5,-9.1,667,3995,0.00,2.85,0.00,0.000,4,0.000,0.109,2675,3645,3883
$GC,4023,-1.29,-194.7,379.8,-9.6,669,4030,0.00,2.72,0.00,0.000,6,0.000,0.090,2675,2208,3882
$GC,4350,-1.29,-194.7,409.4,-9.2,700,4351,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2209,3882
$GC,4668,-1.29,-194.7,437.7,-8.7,730,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2209,3882
$GC,4984,-1.29,-194.7,465.5,-9.1,760,4989,0.00,2.83,0.00,0.000,4,0.000,0.109,2675,3645,3882
$GC,5013,-1.29,-194.7,468.2,-9.5,762,5017,0.00,2.72,0.00,0.000,6,0.000,0.091,2675,2213,3882
$GC,5340,-1.29,-194.7,497.4,-8.9,792,5344,0.00,2.78,0.00,0.000,4,0.000,0.117,2675,824,3882
$GC,5361,-1.29,-194.7,499.7,-9.2,793,5368,0.00,2.72,0.00,0.000,6,0.000,0.098,2675,2233,3882
$GC,5688,-1.29,-194.7,528.9,-9.3,824,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2233,3881
$GC,6004,-1.29,-194.7,556.6,-8.4,854,6005,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2233,3881
$GC,6323,-1.29,-194.7,582.8,-8.5,884,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2233,3881
$GC,6650,-1.29,-194.7,611.4,-9.0,909,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2233,3881
$GC,6958,-1.29,-194.7,638.2,-8.8,924,6962,0.00,2.83,0.00,0.000,4,0.000,0.117,2675,823,3881
$GC,6985,-1.29,-194.7,640.8,-9.8,925,6989,0.00,2.72,0.00,0.000,6,0.000,0.100,2674,2228,3881
$GC,7301,-1.29,-194.7,669.8,-9.6,940,7305,0.00,2.83,0.00,0.000,4,0.000,0.120,2675,3644,3881
$GC,7318,-1.29,-194.7,671.5,-9.6,941,7323,0.00,2.72,0.00,0.000,6,0.000,0.094,2674,2218,3881
$GC,7647,-1.29,-194.7,703.1,-9.5,957,7652,0.00,2.80,0.00,0.000,4,0.000,0.123,2674,824,3881
$GC,7670,-1.29,-194.7,705.4,-9.1,958,7674,0.00,2.72,0.00,0.000,6,0.000,0.102,2674,2229,3881
$GC,7991,-1.29,-194.7,734.7,-9.6,974,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2229,3881
$GC,8301,-1.29,-194.7,763.1,-8.9,989,8305,0.00,2.85,0.00,0.000,4,0.000,0.127,2675,3646,3880
$GC,8322,-1.29,-194.7,765.3,-9.8,990,8326,0.00,2.78,0.00,0.000,6,0.000,0.097,2675,2202,3880
$GC,8643,-1.29,-194.7,794.0,-8.9,1006,8648,0.00,2.83,0.00,0.000,4,0.000,0.130,2674,819,3880
$GC,8676,-1.29,-194.7,797.2,-9.5,1007,8683,0.00,2.70,0.00,0.000,6,0.000,0.104,2675,2207,3880
$GC,8992,-1.29,-194.7,825.0,-8.9,1023,8997,0.00,2.92,0.00,0.000,4,0.000,0.128,2674,3648,3880
$GC,9013,-1.29,-194.7,827.1,-9.0,1024,9018,0.00,2.78,0.00,0.000,6,0.000,0.098,2674,2205,3880
$GC,9335,-1.29,-194.7,855.1,-8.4,1040,9340,0.00,2.83,0.00,0.000,4,0.000,0.131,2674,823,3880
$GC,9357,-1.29,-194.7,857.2,-8.6,1041,9362,0.00,2.72,0.00,0.000,6,0.000,0.107,2675,2212,3879
$GC,9681,-1.29,-194.7,885.7,-9.0,1057,9685,0.00,2.92,0.00,0.000,4,0.000,0.130,2673,3648,3879
$GC,9714,-1.29,-194.7,889.1,-9.8,1058,9721,0.00,2.78,0.00,0.000,6,0.000,0.101,2675,2212,3879
$GC,10031,-1.29,-194.7,917.7,-9.0,1074,10036,0.00,2.88,0.00,0.000,4,0.000,0.122,2675,3645,3879
$GC,10048,-1.29,-194.7,919.4,-8.9,1075,10053,0.00,2.78,0.00,0.000,6,0.000,0.103,2674,2220,3879
$GC,10375,-1.29,-194.7,948.2,-8.9,1091,10380,0.00,2.90,0.00,0.000,4,0.000,0.136,2674,818,3879
$GC,10415,-1.29,-194.7,951.8,-9.5,1093,10420,0.00,2.78,0.00,0.000,6,0.000,0.110,2674,2223,3879
$STATE,10718,end dive,NO_VERTICAL_VELOCITY
$STATE,10718,begin apogee
$GC,10725,-0.35,0.0,960.3,0.0,1108,10893,0.95,0.00,165.18,1.403,6,0.062,0.000,2885,2336,3085
$STATE,10894,end apogee,CONTROL_FINISHED_OK
$STATE,10894,begin climb
$GC,10896,1.29,194.7,960.1,0.0,1116,11071,1.60,3.08,161.85,1.364,4,0.059,0.128,3237,905,2291
$GC,11105,1.26,230.6,957.5,8.8,1125,11142,0.00,2.88,31.85,1.308,6,0.000,0.110,3238,2334,2145
$GC,11466,1.19,230.6,911.8,12.6,1143,11471,0.00,2.97,0.00,0.000,4,0.000,0.138,3238,3739,2142
$GC,11529,1.09,230.6,903.4,13.7,1146,11534,0.20,2.83,0.00,0.000,6,0.111,0.104,3200,2331,2141
$GC,11857,1.09,230.6,866.9,11.1,1162,11862,0.00,2.92,0.00,0.000,4,0.000,0.124,3200,3739,2141
$GC,11921,1.03,230.6,859.3,11.8,1165,11926,0.00,2.78,0.00,0.000,6,0.000,0.103,3200,2350,2140
$GC,12248,1.03,230.6,822.9,10.6,1181,12249,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2350,2140
$GC,12556,1.03,230.6,788.6,11.0,1196,12561,0.00,2.85,0.00,0.000,4,0.000,0.120,3200,3739,2139
$GC,12606,0.98,230.6,782.5,12.2,1198,12611,0.12,2.75,0.00,0.000,6,0.114,0.100,3178,2349,2139
$GC,12922,0.98,230.6,749.1,10.5,1213,12927,0.00,2.85,0.00,0.000,4,0.000,0.121,3178,3739,2139
$GC,12954,0.98,230.6,745.4,10.5,1214,12962,0.00,2.67,0.00,0.000,6,0.000,0.099,3178,2374,2139
$GC,13271,1.01,249.6,714.4,9.3,1230,13291,0.00,0.00,16.70,1.220,6,0.000,0.000,3178,2374,2067
$GC,13600,1.03,268.2,682.9,9.4,1246,13623,0.00,2.90,17.38,1.180,4,0.000,0.115,3178,3739,1990
$GC,13640,1.05,282.7,678.9,9.5,1247,13661,0.00,2.70,14.50,1.125,6,0.000,0.094,3178,2369,1931
$GC,13980,1.07,299.9,647.6,9.4,1264,14003,0.00,3.00,16.17,1.142,4,0.000,0.118,3178,912,1861
$GC,14014,1.14,323.5,644.0,9.2,1265,14043,0.12,2.90,22.10,1.124,6,0.064,0.098,3211,2389,1766
$GC,14354,1.14,323.5,604.1,11.8,1281,14358,0.00,2.75,0.00,0.000,4,0.000,0.118,3210,3741,1761
$GC,14380,1.14,323.5,600.3,12.2,1282,14385,0.00,2.65,0.00,0.000,6,0.000,0.091,3210,2375,1760
$GC,14706,1.14,323.5,561.2,12.2,1312,14711,0.00,2.90,0.00,0.000,4,0.000,0.112,3211,911,1760
$GC,14734,1.14,323.5,557.7,11.7,1314,14739,0.00,2.85,0.00,0.000,6,0.000,0.095,3211,2387,1760
$GC,15059,1.14,323.5,518.6,11.8,1344,15063,0.00,2.72,0.00,0.000,4,0.000,0.114,3211,3740,1760
$GC,15080,1.14,323.5,515.8,11.8,1345,15087,0.00,2.62,0.00,0.000,6,0.000,0.089,3210,2375,1759
$GC,15406,1.14,323.5,476.9,11.9,1376,15411,0.00,2.88,0.00,0.000,4,0.000,0.110,3210,912,1759
$GC,15427,1.14,323.5,474.0,12.9,1377,15435,0.00,2.83,0.00,0.000,6,0.000,0.094,3211,2385,1759
$GC,15754,1.14,323.5,435.2,12.2,1408,15756,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2385,1759
$GC,16070,1.14,323.5,396.3,12.2,1438,16072,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2385,1759
$GC,16389,1.14,323.5,359.2,11.3,1468,16394,0.00,2.88,0.00,0.000,4,0.000,0.107,3211,917,1759
$GC,16406,1.14,323.5,357.2,11.3,1469,16411,0.00,2.80,0.00,0.000,6,0.000,0.093,3211,2377,1760
$GC,16746,1.14,323.5,319.2,11.5,1523,16753,0.00,2.70,0.00,0.000,4,0.000,0.110,3210,3737,1759
$GC,16765,1.14,323.5,317.0,11.3,1526,16774,0.00,2.62,0.00,0.000,6,0.000,0.086,3210,2364,1759
$GC,17112,1.14,323.5,278.9,10.9,1587,17118,0.00,2.83,0.00,0.000,4,0.000,0.105,3211,912,1759
$GC,17137,1.14,323.5,276.1,11.7,1591,17144,0.00,2.78,0.00,0.000,6,0.000,0.091,3211,2367,1759
$GC,17482,1.14,323.5,237.7,11.3,1652,17489,0.00,2.70,0.00,0.000,4,0.000,0.108,3210,3736,1759
$GC,17513,1.14,323.5,234.1,12.3,1657,17520,0.00,2.62,0.00,0.000,6,0.000,0.086,3211,2360,1759
$GC,17858,1.14,323.5,193.1,13.6,1718,17865,0.00,2.80,0.00,0.000,4,0.000,0.104,3211,916,1759
$GC,17883,1.14,323.5,189.9,13.5,1722,17891,0.00,2.75,0.00,0.000,6,0.000,0.091,3211,2360,1759
$GC,18229,1.14,323.5,145.2,13.2,1783,18236,0.00,2.72,0.00,0.000,4,0.000,0.107,3210,3738,1759
$GC,18254,1.14,323.5,141.9,14.0,1787,18262,0.00,2.60,0.00,0.000,6,0.000,0.083,3211,2364,1759
$GC,18600,1.14,323.5,99.2,10.8,1848,18608,0.00,2.78,0.00,0.000,4,0.000,0.102,3211,918,1759
$GC,18625,1.14,323.5,96.1,12.2,1852,18633,0.00,2.75,0.00,0.000,6,0.000,0.088,3211,2371,1759
$GC,18972,1.14,323.5,56.2,10.6,1913,18978,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2371,1759
$GC,19314,1.14,323.5,18.2,10.2,1974,19320,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2372,1759
$GC,19455,1.14,323.5,2.7,12.0,1999,19462,0.00,2.80,0.00,0.000,4,0.000,0.097,3211,910,1760
$STATE,19467,end climb,SURFACE_DEPTH_REACHED
$STATE,19467,begin surface coast
$FINISH,0.3,1.016887
$STATE,19479,end surface coast,CONTROL_FINISHED_OK
$STATE,19480,begin surface
$SM_CCo,19563,0.00,0.000,0,0,1755,326.00
$SM_GC,1.13,11.48,0.00,0.00,0.045,0.000,0.000,591,2235,1755,-10.84,0.00,326.00
$IRIDIUM_FIX,6121.73,-2627.80,240897,202035
$TT8_MAMPS,0.02301
$HUMID,1675
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.60
$XPDR_PINGS,80
$24V_AH,23.3,53.640
$10V_AH,10.6,43.625
$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,26.850,227.625,445.725,0.000,0.000,29.225,35.151,247.540,20.000,0.000,0.000,34.761,4117.239,10862.685,705.243,3633.538,702.816,0.000,2331.819,0.000,3596.904,0.000,0.467
$DEVICE_MAMPS,184.847,138.060,1402.843,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1387.704,1520.043,1798.044,582.702,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119885,2003
$CAP_FILE_SIZE,193169,0
$CFSIZE,260165632,232534016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.053,154.4,1
$GPS,310508,064353,6142.762,-2616.430,38,1.6,53,-18.7