version: 66.03
glider: 140
mission: 5
dive: 249
start: 6 1 108 0 3 28
data:
$ID,140
$MISSION,5
$DIVE,249
$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,-17894.623
$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,13
$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
$GPS1,235507,6136.473,-2556.785,39,1.1,39,-18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.3
$GPS2,000309,6136.468,-2556.824,13,1.3,13,-18.5
$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,101.3,12167,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-72.10,0.000,2,0.000,0.000,585,2225,3504
$GC,98,-1.29,-194.7,3.2,-5.2,10,128,12.32,2.78,-8.25,0.000,4,0.183,0.107,2671,3640,3882
$GC,165,-1.29,-194.7,15.3,-13.2,20,173,0.00,2.62,0.00,0.000,6,0.000,0.078,2671,2227,3882
$GC,307,-1.29,-194.7,31.8,-12.7,45,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3882
$GC,449,-1.29,-194.7,53.9,-16.2,70,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3882
$GC,792,-1.29,-194.7,86.5,-7.3,131,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3883
$GC,1136,-1.29,-194.7,112.2,-9.1,192,1143,0.00,2.78,0.00,0.000,4,0.000,0.102,2671,3649,3883
$GC,1156,-1.29,-194.7,114.1,-9.3,195,1163,0.00,2.70,0.00,0.000,6,0.000,0.084,2671,2218,3883
$GC,1501,-1.29,-194.7,151.8,-10.8,256,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2218,3883
$GC,1845,-1.29,-194.7,186.7,-10.2,317,1853,0.00,2.72,0.00,0.000,4,0.000,0.107,2671,823,3883
$GC,1865,-1.29,-194.7,188.7,-10.1,320,1872,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2226,3884
$GC,2210,-1.29,-194.7,223.0,-9.8,381,2217,0.00,2.78,0.00,0.000,4,0.000,0.107,2671,3650,3884
$GC,2240,-1.29,-194.7,226.2,-10.3,386,2247,0.00,2.70,0.00,0.000,6,0.000,0.087,2671,2224,3883
$GC,2586,-1.29,-194.7,259.4,-9.5,447,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3883
$GC,2930,-1.29,-194.7,293.3,-10.0,508,2937,0.00,2.80,0.00,0.000,4,0.000,0.109,2671,3644,3884
$GC,2955,-1.29,-194.7,295.8,-10.1,512,2962,0.00,2.70,0.00,0.000,6,0.000,0.089,2671,2225,3884
$GC,3301,-1.29,-194.7,328.4,-9.0,573,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3883
$GC,3641,-1.29,-194.7,357.0,-8.2,626,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3883
$GC,3959,-1.29,-194.7,382.4,-8.3,656,3964,0.00,2.83,0.00,0.000,4,0.000,0.111,2671,3651,3883
$GC,3981,-1.29,-194.7,384.3,-8.2,657,3989,0.00,2.70,0.00,0.000,6,0.000,0.090,2671,2234,3883
$GC,4308,-1.29,-194.7,411.7,-8.5,688,4313,0.00,2.83,0.00,0.000,4,0.000,0.116,2671,818,3883
$GC,4326,-1.29,-194.7,413.4,-8.6,689,4331,0.00,2.75,0.00,0.000,6,0.000,0.098,2671,2239,3883
$GC,4654,-1.29,-194.7,442.7,-9.0,719,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3883
$GC,4979,-1.29,-194.7,473.1,-9.2,750,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3882
$GC,5298,-1.29,-194.7,500.7,-8.5,780,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3882
$GC,5616,-1.29,-194.7,527.8,-8.8,810,5617,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,5935,-1.29,-194.7,555.6,-8.5,840,5940,0.00,2.83,0.00,0.000,4,0.000,0.117,2671,826,3882
$GC,5956,-1.29,-194.7,557.7,-9.1,841,5964,0.00,2.72,0.00,0.000,6,0.000,0.101,2671,2233,3882
$GC,6284,-1.29,-194.7,584.6,-8.2,872,6288,0.00,2.80,0.00,0.000,4,0.000,0.116,2671,3647,3882
$GC,6301,-1.29,-194.7,586.2,-8.0,873,6306,0.00,2.70,0.00,0.000,6,0.000,0.091,2671,2228,3881
$GC,6632,-1.29,-194.7,613.6,-8.2,896,6637,0.00,2.83,0.00,0.000,4,0.000,0.120,2671,822,3881
$GC,6650,-1.29,-194.7,615.0,-8.2,897,6655,0.00,2.75,0.00,0.000,6,0.000,0.102,2671,2234,3881
$GC,6979,-1.29,-194.7,640.9,-7.7,913,6980,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3881
$GC,7286,-1.29,-194.7,664.6,-7.5,928,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3881
$GC,7596,-1.29,-194.7,689.8,-8.3,943,7601,0.00,2.85,0.00,0.000,4,0.000,0.122,2671,819,3881
$GC,7613,-1.29,-194.7,691.3,-8.1,944,7618,0.00,2.75,0.00,0.000,6,0.000,0.102,2671,2235,3881
$GC,7940,-1.29,-194.7,716.9,-8.1,960,7945,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,819,3881
$GC,7967,-1.29,-194.7,719.2,-9.3,961,7971,0.00,2.72,0.00,0.000,6,0.000,0.104,2671,2217,3881
$GC,8283,-1.29,-194.7,747.6,-9.5,976,8287,0.00,2.90,0.00,0.000,4,0.000,0.128,2671,3646,3880
$GC,8304,-1.29,-194.7,749.8,-10.4,977,8308,0.00,2.75,0.00,0.000,6,0.000,0.098,2671,2221,3880
$GC,8627,-1.29,-194.7,782.2,-10.2,993,8632,0.00,2.85,0.00,0.000,4,0.000,0.129,2670,819,3880
$GC,8654,-1.29,-194.7,785.3,-10.9,994,8658,0.00,2.75,0.00,0.000,6,0.000,0.105,2671,2225,3880
$GC,8970,-1.29,-194.7,817.3,-10.0,1009,8975,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,821,3880
$GC,8991,-1.29,-194.7,819.6,-10.0,1010,8995,0.00,2.72,0.00,0.000,6,0.000,0.106,2671,2213,3880
$GC,9313,-1.29,-194.7,852.3,-10.0,1026,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3880
$GC,9622,-1.29,-194.7,881.9,-9.1,1041,9627,0.00,2.83,0.00,0.000,4,0.000,0.129,2670,824,3879
$GC,9655,-1.29,-194.7,885.1,-9.6,1042,9662,0.00,2.70,0.00,0.000,6,0.000,0.107,2671,2204,3879
$GC,9971,-1.29,-194.7,912.5,-8.2,1058,9976,0.00,2.83,0.00,0.000,4,0.000,0.128,2671,819,3879
$GC,9988,-1.29,-194.7,914.0,-8.1,1059,9993,0.00,2.70,0.00,0.000,6,0.000,0.107,2671,2199,3879
$GC,10315,-1.29,-194.7,940.1,-8.2,1075,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3879
$GC,10625,-1.29,-194.7,966.2,-8.5,1090,10626,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2199,3879
$STATE,10931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10931,begin apogee
$GC,10937,-0.35,0.0,991.4,8.2,1105,11107,1.05,0.00,166.12,1.427,6,0.103,0.000,2881,2336,3085
$STATE,11108,end apogee,CONTROL_FINISHED_OK
$STATE,11108,begin climb
$GC,11110,1.29,194.7,997.1,0.0,1113,11288,1.62,3.03,162.95,1.391,4,0.059,0.131,3240,3738,2290
$GC,11305,1.18,194.7,983.0,13.1,1121,11313,0.12,2.85,0.00,0.000,6,0.119,0.105,3219,2325,2289
$GC,11621,1.12,194.7,943.7,12.9,1137,11626,0.00,2.95,0.00,0.000,4,0.000,0.126,3219,3738,2288
$GC,11654,1.02,194.7,939.2,12.5,1138,11662,0.17,2.80,0.00,0.000,6,0.112,0.106,3186,2341,2288
$GC,11970,1.02,194.7,904.7,10.6,1154,11971,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2342,2287
$GC,12280,1.02,194.7,871.8,10.6,1169,12285,0.00,2.90,0.00,0.000,4,0.000,0.123,3186,3739,2287
$GC,12320,0.98,194.7,867.2,11.4,1171,12325,0.00,2.75,0.00,0.000,6,0.000,0.102,3186,2361,2286
$GC,12648,0.98,194.7,833.0,10.7,1187,12652,0.00,3.00,0.00,0.000,4,0.000,0.134,3186,916,2286
$GC,12674,0.98,194.7,829.9,10.3,1188,12678,0.00,2.88,0.00,0.000,6,0.000,0.107,3185,2368,2286
$GC,12991,0.98,194.7,798.0,10.1,1203,12995,0.00,2.85,0.00,0.000,4,0.000,0.132,3186,3738,2286
$GC,13076,0.93,194.7,789.0,10.3,1207,13081,0.12,2.70,0.00,0.000,6,0.112,0.099,3163,2369,2286
$GC,13404,1.00,251.3,761.5,8.0,1223,13461,0.00,3.03,48.88,1.273,4,0.000,0.124,3163,920,2059
$GC,13484,1.08,271.3,754.5,9.3,1226,13514,0.15,2.90,18.58,1.193,6,0.061,0.105,3200,2381,1977
$GC,13824,1.08,271.3,717.4,11.0,1243,13828,0.00,2.80,0.00,0.000,4,0.000,0.129,3200,3738,1973
$GC,13864,1.08,271.3,712.6,11.8,1245,13868,0.00,2.70,0.00,0.000,6,0.000,0.097,3200,2369,1972
$GC,14191,1.08,271.3,675.7,11.3,1261,14196,0.00,2.92,0.00,0.000,4,0.000,0.120,3201,911,1972
$GC,14231,1.08,271.3,670.9,11.9,1263,14235,0.00,2.85,0.00,0.000,6,0.000,0.102,3200,2369,1972
$GC,14559,1.08,271.3,633.6,11.4,1279,14563,0.00,2.80,0.00,0.000,4,0.000,0.122,3201,3738,1971
$GC,14586,1.08,271.3,630.0,12.1,1280,14590,0.00,2.67,0.00,0.000,6,0.000,0.094,3201,2365,1970
$GC,14903,1.08,271.3,593.9,11.2,1297,14908,0.00,2.88,0.00,0.000,4,0.000,0.114,3201,918,1970
$GC,14924,1.08,271.3,591.2,12.1,1298,14932,0.00,2.85,0.00,0.000,6,0.000,0.098,3200,2374,1971
$GC,15253,1.08,271.3,554.9,11.2,1329,15257,0.00,2.78,0.00,0.000,4,0.000,0.117,3201,3739,1970
$GC,15274,1.08,271.3,551.8,11.2,1330,15282,0.00,2.62,0.00,0.000,6,0.000,0.090,3201,2372,1970
$GC,15603,1.08,271.3,515.4,11.3,1361,15608,0.00,2.88,0.00,0.000,4,0.000,0.113,3201,917,1970
$GC,15632,1.08,271.3,511.6,11.9,1363,15636,0.00,2.80,0.00,0.000,6,0.000,0.096,3201,2371,1970
$GC,15957,1.08,271.3,475.2,11.4,1393,15961,0.00,2.75,0.00,0.000,4,0.000,0.114,3201,3737,1970
$GC,15986,1.08,271.3,471.9,11.4,1395,15990,0.00,2.65,0.00,0.000,6,0.000,0.088,3201,2362,1970
$GC,16311,1.08,271.3,434.1,12.1,1425,16312,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2363,1970
$GC,16631,1.08,271.3,395.4,12.6,1455,16633,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2362,1970
$GC,16947,1.08,271.3,355.5,13.2,1485,16952,0.00,2.78,0.00,0.000,4,0.000,0.110,3201,3739,1970
$GC,16969,1.08,271.3,352.4,12.0,1486,16977,0.00,2.62,0.00,0.000,6,0.000,0.087,3201,2362,1970
$GC,17312,1.08,271.3,310.2,12.4,1545,17318,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2362,1970
$GC,17656,1.10,287.0,271.4,9.5,1606,17676,0.00,0.00,13.55,0.940,6,0.000,0.000,3200,2362,1914
$GC,18014,1.10,287.0,232.7,10.6,1669,18020,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2362,1913
$GC,18358,1.10,287.0,197.1,10.8,1730,18365,0.00,2.83,0.00,0.000,4,0.000,0.106,3200,916,1913
$GC,18383,1.10,287.0,194.5,10.7,1734,18390,0.00,2.78,0.00,0.000,6,0.000,0.090,3201,2371,1913
$GC,18729,1.12,299.5,159.2,9.6,1795,18743,0.00,0.00,12.12,0.858,6,0.000,0.000,3201,2371,1863
$GC,19081,1.12,299.5,123.3,11.2,1857,19088,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2371,1862
$GC,19422,1.16,331.8,91.8,8.9,1918,19456,0.00,2.95,28.25,0.811,4,0.000,0.099,3201,913,1731
$GC,19481,1.25,371.9,87.2,8.6,1927,19524,0.12,2.80,34.70,0.785,6,0.062,0.087,3236,2374,1567
$GC,19863,1.25,371.9,47.0,12.6,1993,19870,0.00,2.67,0.00,0.000,4,0.000,0.103,3236,3736,1559
$GC,19883,1.25,371.9,44.1,12.4,1996,19891,0.00,2.62,0.00,0.000,6,0.000,0.082,3236,2358,1559
$GC,20026,1.25,371.9,24.4,11.5,2021,20033,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2358,1558
$GC,20169,1.25,371.9,5.4,12.2,2046,20176,0.00,2.72,0.00,0.000,4,0.000,0.101,3236,3737,1557
$GC,20183,1.25,371.9,3.7,12.1,2048,20191,0.00,2.53,0.00,0.000,6,0.000,0.080,3237,2397,1558
$STATE,20196,end climb,SURFACE_DEPTH_REACHED
$STATE,20196,begin surface coast
$FINISH,0.2,1.014971
$STATE,20209,end surface coast,CONTROL_FINISHED_OK
$STATE,20209,begin surface
$SM_CCo,20291,0.00,0.000,0,0,1554,375.31
$SM_GC,0.98,11.57,0.00,0.00,0.041,0.000,0.000,587,2233,1554,-10.84,-0.06,375.31
$IRIDIUM_FIX,6117.23,-2635.93,250897,181808
$TT8_MAMPS,0.02301
$HUMID,1686
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.90
$XPDR_PINGS,121
$24V_AH,23.3,54.410
$10V_AH,10.6,44.326
$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,27.275,195.525,485.150,0.000,0.000,31.284,31.704,268.466,30.250,0.000,0.000,13.093,4169.891,11457.896,717.450,3673.853,732.646,0.000,2373.150,0.000,3668.283,0.000,0.467
$DEVICE_MAMPS,183.313,137.293,1426.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1424.292,1554.127,1785.768,562.616,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122903,2052
$CAP_FILE_SIZE,191343,0
$CFSIZE,260165632,232128512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.204,188.9,1
$GPS,010608,054255,6134.664,-2551.328,24,1.5,41,-18.4