version: 66.03
glider: 140
mission: 5
dive: 248
start: 5 31 108 18 22 10
data:
$ID,140
$MISSION,5
$DIVE,248
$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,-17880.902
$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,11
$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
$GPS1,181401,6138.667,-2603.648,39,1.2,39,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-64.6
$GPS2,182151,6138.659,-2603.672,12,1.3,12,-18.6
$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,116.6,18277,-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,-194.7,0.0,0.0,0,87,0.00,0.00,-64.10,0.000,2,0.000,0.000,590,2225,3326
$GC,90,-1.29,-194.7,3.0,-5.9,9,126,12.32,2.78,-13.68,0.000,4,0.184,0.107,2672,3643,3880
$GC,214,-1.29,-194.7,16.7,-9.7,29,221,0.00,2.62,0.00,0.000,6,0.000,0.079,2672,2231,3880
$GC,356,-1.29,-194.7,29.9,-9.0,54,363,0.00,2.67,0.00,0.000,4,0.000,0.096,2672,827,3881
$GC,409,-1.29,-194.7,35.2,-10.4,63,417,0.00,2.62,0.00,0.000,6,0.000,0.083,2671,2227,3881
$GC,553,-1.29,-194.7,51.4,-12.2,88,560,0.00,2.72,0.00,0.000,4,0.000,0.098,2672,3645,3881
$GC,578,-1.29,-194.7,54.8,-13.5,92,585,0.00,2.67,0.00,0.000,6,0.000,0.078,2672,2208,3881
$GC,924,-1.29,-194.7,92.3,-8.3,153,931,0.00,2.67,0.00,0.000,4,0.000,0.100,2672,822,3882
$GC,946,-1.29,-194.7,94.0,-8.6,156,954,0.00,2.60,0.00,0.000,6,0.000,0.086,2672,2197,3882
$GC,1292,-1.29,-194.7,127.6,-9.5,217,1299,0.00,2.80,0.00,0.000,4,0.000,0.103,2672,3644,3882
$GC,1345,-1.29,-194.7,132.8,-9.3,226,1353,0.00,2.67,0.00,0.000,6,0.000,0.084,2672,2220,3882
$GC,1692,-1.29,-194.7,161.6,-9.1,287,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2218,3882
$GC,2037,-1.29,-194.7,194.7,-9.9,348,2044,0.00,2.80,0.00,0.000,4,0.000,0.105,2672,3649,3882
$GC,2057,-1.29,-194.7,196.7,-9.9,351,2064,0.00,2.70,0.00,0.000,6,0.000,0.086,2672,2222,3882
$GC,2402,-1.29,-194.7,231.3,-10.3,412,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3882
$GC,2747,-1.29,-194.7,266.0,-10.0,473,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3882
$GC,3091,-1.29,-194.7,300.2,-10.1,534,3098,0.00,2.80,0.00,0.000,4,0.000,0.109,2672,3643,3882
$GC,3111,-1.29,-194.7,302.1,-10.0,537,3118,0.00,2.67,0.00,0.000,6,0.000,0.088,2672,2233,3882
$GC,3456,-1.29,-194.7,336.4,-9.7,598,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3882
$GC,3796,-1.29,-194.7,367.2,-8.7,642,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3881
$GC,4114,-1.29,-194.7,394.1,-8.3,672,4119,0.00,2.80,0.00,0.000,4,0.000,0.116,2672,825,3882
$GC,4136,-1.29,-194.7,396.0,-8.3,673,4143,0.00,2.72,0.00,0.000,6,0.000,0.098,2672,2240,3881
$GC,4463,-1.29,-194.7,422.8,-8.4,704,4465,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3881
$GC,4779,-1.29,-194.7,449.6,-8.9,734,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3881
$GC,5099,-1.29,-194.7,478.4,-8.9,764,5103,0.00,2.80,0.00,0.000,4,0.000,0.113,2672,824,3881
$GC,5120,-1.29,-194.7,480.6,-9.5,765,5127,0.00,2.72,0.00,0.000,6,0.000,0.100,2672,2233,3881
$GC,5447,-1.29,-194.7,510.9,-9.5,796,5451,0.00,2.80,0.00,0.000,4,0.000,0.114,2672,3651,3881
$GC,5468,-1.29,-194.7,513.3,-9.9,797,5476,0.00,2.70,0.00,0.000,6,0.000,0.090,2671,2226,3880
$GC,5795,-1.29,-194.7,544.6,-9.8,828,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3881
$GC,6112,-1.29,-194.7,574.8,-9.3,858,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3880
$GC,6440,-1.29,-194.7,604.3,-8.7,887,6444,0.00,2.83,0.00,0.000,4,0.000,0.115,2672,3645,3881
$GC,6461,-1.29,-194.7,606.4,-9.0,888,6466,0.00,2.70,0.00,0.000,6,0.000,0.092,2671,2227,3881
$GC,6783,-1.29,-194.7,634.4,-8.9,904,6787,0.00,2.83,0.00,0.000,4,0.000,0.120,2671,816,3880
$GC,6815,-1.29,-194.7,637.5,-9.8,905,6823,0.00,2.72,0.00,0.000,6,0.000,0.101,2672,2228,3880
$GC,7132,-1.29,-194.7,665.8,-9.1,921,7133,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3880
$GC,7440,-1.29,-194.7,693.9,-9.1,936,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3880
$GC,7750,-1.29,-194.7,722.6,-9.4,951,7755,0.00,2.83,0.00,0.000,4,0.000,0.122,2672,823,3879
$GC,7782,-1.29,-194.7,726.0,-10.1,952,7790,0.00,2.72,0.00,0.000,6,0.000,0.104,2671,2227,3880
$GC,8099,-1.29,-194.7,755.0,-9.0,968,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3879
$GC,8408,-1.29,-194.7,782.2,-8.8,983,8413,0.00,2.83,0.00,0.000,4,0.000,0.123,2672,824,3879
$GC,8449,-1.29,-194.7,785.9,-9.1,985,8453,0.00,2.75,0.00,0.000,6,0.000,0.106,2672,2233,3879
$GC,8776,-1.29,-194.7,815.9,-8.9,1001,8780,0.00,2.85,0.00,0.000,4,0.000,0.124,2672,822,3879
$GC,8799,-1.29,-194.7,818.0,-9.2,1002,8803,0.00,2.78,0.00,0.000,6,0.000,0.107,2671,2241,3879
$GC,9120,-1.29,-194.7,844.9,-8.4,1018,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3879
$GC,9429,-1.29,-194.7,873.5,-9.7,1033,9434,0.00,2.88,0.00,0.000,4,0.000,0.126,2672,822,3878
$GC,9455,-1.29,-194.7,876.4,-10.3,1034,9460,0.00,2.78,0.00,0.000,6,0.000,0.109,2671,2233,3878
$GC,9772,-1.29,-194.7,908.3,-10.2,1049,9773,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3878
$GC,10081,-1.29,-194.7,937.8,-9.0,1064,10086,0.00,2.88,0.00,0.000,4,0.000,0.129,2671,822,3878
$GC,10113,-1.29,-194.7,941.1,-9.3,1065,10121,0.00,2.72,0.00,0.000,6,0.000,0.108,2671,2217,3878
$GC,10430,-1.29,-194.7,967.5,-8.3,1081,10435,0.00,2.92,0.00,0.000,4,0.000,0.134,2672,3645,3878
$GC,10451,-1.29,-194.7,969.5,-8.4,1082,10456,0.00,2.78,0.00,0.000,6,0.000,0.104,2671,2219,3878
$STATE,10708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10708,begin apogee
$GC,10714,-0.35,0.0,991.5,8.4,1095,10884,1.02,0.00,166.23,1.426,6,0.100,0.000,2878,2330,3085
$STATE,10885,end apogee,CONTROL_FINISHED_OK
$STATE,10885,begin climb
$GC,10888,1.29,194.7,997.6,0.0,1103,11065,1.62,3.08,162.95,1.390,4,0.060,0.133,3238,3733,2290
$GC,11121,1.17,194.7,979.1,14.4,1113,11127,0.12,2.83,0.00,0.000,6,0.117,0.105,3218,2324,2289
$GC,11437,1.11,194.7,942.0,11.5,1128,11442,0.00,2.95,0.00,0.000,4,0.000,0.130,3218,3738,2288
$GC,11481,1.02,194.7,936.5,11.7,1130,11486,0.17,2.80,0.00,0.000,6,0.110,0.105,3185,2338,2288
$GC,11803,1.03,204.4,905.6,9.7,1146,11818,0.00,2.97,9.68,1.229,4,0.000,0.125,3185,3738,2251
$GC,11845,1.03,204.4,900.8,10.6,1147,11850,0.00,2.78,0.00,0.000,6,0.000,0.103,3185,2350,2251
$GC,12169,1.03,204.4,866.7,10.4,1163,12174,0.00,2.90,0.00,0.000,4,0.000,0.126,3185,3738,2250
$GC,12224,0.99,204.4,860.1,10.9,1165,12231,0.00,2.72,0.00,0.000,6,0.000,0.104,3186,2369,2249
$GC,12540,0.99,204.4,828.1,10.1,1181,12545,0.00,2.83,0.00,0.000,4,0.000,0.121,3186,3739,2249
$GC,12585,0.95,204.4,823.1,10.4,1183,12589,0.00,2.67,0.00,0.000,6,0.000,0.102,3186,2388,2249
$GC,12906,0.95,204.4,790.4,10.0,1199,12910,0.00,3.05,0.00,0.000,4,0.000,0.133,3185,910,2249
$GC,12938,0.96,211.1,787.0,9.8,1200,12950,0.00,2.90,7.03,1.117,6,0.000,0.104,3186,2395,2224
$GC,13273,0.97,216.4,754.7,9.8,1217,13287,0.00,2.88,6.45,1.078,4,0.000,0.129,3185,3739,2202
$GC,13339,0.97,216.4,747.4,11.1,1220,13344,0.00,2.65,0.00,0.000,6,0.000,0.096,3185,2391,2202
$GC,13666,1.01,253.4,716.6,8.7,1236,13711,0.00,3.10,33.12,1.226,4,0.000,0.120,3185,916,2050
$GC,13721,1.07,301.9,711.7,8.3,1238,13770,0.00,2.95,43.15,1.199,6,0.000,0.103,3185,2403,1854
$GC,14083,1.08,312.3,679.9,9.6,1255,14095,0.00,0.00,9.73,1.116,6,0.000,0.000,3185,2403,1812
$GC,14390,1.08,312.3,646.1,11.3,1270,14395,0.00,2.95,0.00,0.000,4,0.000,0.112,3185,916,1808
$GC,14429,1.14,312.3,641.5,12.1,1272,14435,0.10,2.88,0.00,0.000,6,0.071,0.100,3213,2393,1809
$GC,14757,1.14,312.3,599.6,12.5,1288,14758,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2393,1808
$GC,15075,1.14,312.3,559.3,12.6,1318,15079,0.00,2.92,0.00,0.000,4,0.000,0.108,3213,907,1807
$GC,15103,1.14,312.3,555.5,12.9,1320,15107,0.00,2.85,0.00,0.000,6,0.000,0.097,3212,2382,1808
$GC,15427,1.14,312.3,516.6,11.8,1350,15432,0.00,2.90,0.00,0.000,4,0.000,0.109,3213,911,1807
$GC,15448,1.14,312.3,513.8,12.1,1351,15456,0.00,2.83,0.00,0.000,6,0.000,0.096,3213,2380,1807
$GC,15775,1.14,312.3,472.2,12.6,1382,15777,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2380,1807
$GC,16092,1.14,312.3,433.4,12.3,1412,16096,0.00,2.88,0.00,0.000,4,0.000,0.107,3212,914,1807
$GC,16124,1.14,312.3,429.2,12.7,1414,16132,0.00,2.78,0.00,0.000,6,0.000,0.095,3212,2363,1808
$GC,16451,1.14,312.3,390.5,12.2,1445,16453,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2363,1807
$GC,16771,1.14,312.3,352.3,11.7,1475,16776,0.00,2.85,0.00,0.000,4,0.000,0.107,3213,909,1807
$GC,16795,1.14,312.3,349.1,11.2,1477,16802,0.00,2.78,0.00,0.000,6,0.000,0.094,3212,2360,1807
$GC,17140,1.14,312.3,308.5,12.0,1538,17147,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2360,1807
$GC,17485,1.14,312.3,265.0,11.9,1599,17491,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2360,1807
$GC,17828,1.14,312.3,227.1,10.6,1660,17835,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2360,1807
$GC,18173,1.14,312.3,189.7,11.8,1721,18181,0.00,2.83,0.00,0.000,4,0.000,0.103,3213,910,1807
$GC,18193,1.14,312.3,187.5,10.4,1724,18200,0.00,2.75,0.00,0.000,6,0.000,0.091,3212,2357,1807
$GC,18539,1.14,315.9,149.8,9.9,1785,18547,0.00,0.00,4.30,0.639,6,0.000,0.000,3213,2357,1796
$GC,18885,1.14,315.9,110.6,11.0,1846,18892,0.00,2.80,0.00,0.000,4,0.000,0.101,3213,913,1796
$GC,18916,1.14,315.9,107.0,12.1,1851,18924,0.00,2.70,0.00,0.000,6,0.000,0.088,3212,2335,1796
$GC,19261,1.14,315.9,62.8,13.6,1912,19269,0.00,2.75,0.00,0.000,4,0.000,0.105,3213,3737,1795
$GC,19293,1.14,315.9,58.7,13.4,1917,19300,0.00,2.67,0.00,0.000,6,0.000,0.082,3212,2324,1795
$GC,19636,1.14,315.9,20.1,11.1,1978,19643,0.00,2.67,0.00,0.000,4,0.000,0.100,3213,919,1795
$GC,19673,1.14,315.9,15.6,13.0,1984,19681,0.00,2.65,0.00,0.000,6,0.000,0.085,3212,2334,1796
$STATE,19796,end climb,SURFACE_DEPTH_REACHED
$STATE,19797,begin surface coast
$FINISH,0.2,1.027614
$STATE,19822,end surface coast,CONTROL_FINISHED_OK
$STATE,19822,begin surface
$SM_CCo,19903,0.00,0.000,0,0,1793,316.93
$SM_GC,0.98,11.48,0.00,0.00,0.043,0.000,0.000,585,2226,1793,-10.86,-0.25,316.93
$IRIDIUM_FIX,6117.23,-2607.55,250897,121232
$TT8_MAMPS,0.02301
$HUMID,1680
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.80
$XPDR_PINGS,116
$24V_AH,23.3,54.209
$10V_AH,10.6,44.150
$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,26.850,196.100,442.625,0.000,0.000,27.301,32.791,259.817,29.000,0.000,0.000,12.427,4108.982,11226.903,685.509,3614.497,714.832,0.000,2306.057,0.000,3612.261,0.000,0.467
$DEVICE_MAMPS,184.080,134.225,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1392.937,1535.312,1784.016,575.889,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119942,2010
$CAP_FILE_SIZE,189183,0
$CFSIZE,260165632,232230912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.182,170.1,1
$GPS,310508,235507,6136.473,-2556.785,39,1.1,39,-18.5