version: 66.03
glider: 140
mission: 5
dive: 290
start: 6 10 108 12 46 52
data:
$ID,140
$MISSION,5
$DIVE,290
$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,-18586.576
$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
$GPS1,123828,6203.332,-2629.273,40,2.6,59,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-59.2
$GPS2,124635,6203.319,-2629.427,12,99.0,31,-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,158.8,63135,-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,-194.7,0.0,0.0,0,107,0.00,0.00,-83.85,0.000,2,0.000,0.000,589,2226,3372
$GC,110,-1.29,-194.7,3.3,-6.8,11,142,12.25,2.72,-11.40,0.000,4,0.182,0.105,2672,3643,3879
$GC,398,-1.29,-194.7,32.2,-8.6,60,405,0.00,2.62,0.00,0.000,6,0.000,0.078,2672,2226,3880
$GC,540,-1.29,-194.7,43.6,-7.9,85,547,0.00,2.67,0.00,0.000,4,0.000,0.095,2672,826,3880
$GC,590,-1.29,-194.7,47.8,-9.3,93,597,0.00,2.65,0.00,0.000,6,0.000,0.081,2672,2243,3880
$GC,733,-1.29,-194.7,61.5,-9.9,118,740,0.00,2.70,0.00,0.000,4,0.000,0.097,2672,3650,3880
$GC,753,-1.29,-194.7,63.4,-9.8,121,760,0.00,2.67,0.00,0.000,6,0.000,0.078,2672,2219,3880
$GC,1100,-1.29,-194.7,96.0,-9.5,182,1107,0.00,2.67,0.00,0.000,4,0.000,0.100,2672,827,3880
$GC,1155,-1.29,-194.7,101.2,-9.5,191,1162,0.00,2.65,0.00,0.000,6,0.000,0.088,2671,2222,3880
$GC,1500,-1.29,-194.7,133.2,-9.0,252,1508,0.00,2.72,0.00,0.000,4,0.000,0.102,2672,823,3881
$GC,1532,-1.29,-194.7,135.9,-9.3,257,1539,0.00,2.62,0.00,0.000,6,0.000,0.089,2672,2201,3881
$GC,1877,-1.29,-194.7,168.1,-9.7,318,1884,0.00,2.83,0.00,0.000,4,0.000,0.105,2672,3650,3881
$GC,1909,-1.29,-194.7,171.3,-9.9,323,1916,0.00,2.75,0.00,0.000,6,0.000,0.085,2672,2194,3881
$GC,2254,-1.29,-194.7,201.4,-8.2,384,2262,0.00,2.67,0.00,0.000,4,0.000,0.107,2672,820,3881
$GC,2275,-1.29,-194.7,203.1,-7.9,387,2282,0.00,2.67,0.00,0.000,6,0.000,0.093,2672,2215,3881
$GC,2620,-1.29,-194.7,230.4,-7.7,448,2628,0.00,2.80,0.00,0.000,4,0.000,0.107,2672,3645,3880
$GC,2663,-1.29,-194.7,234.1,-9.0,455,2670,0.00,2.72,0.00,0.000,6,0.000,0.087,2672,2208,3880
$GC,3009,-1.29,-194.7,264.1,-9.5,516,3016,0.00,2.75,0.00,0.000,4,0.000,0.110,2672,816,3880
$GC,3040,-1.29,-194.7,267.3,-10.3,521,3047,0.00,2.67,0.00,0.000,6,0.000,0.093,2672,2208,3880
$GC,3385,-1.29,-194.7,299.0,-9.0,582,3392,0.00,2.83,0.00,0.000,4,0.000,0.107,2672,3652,3880
$GC,3428,-1.29,-194.7,303.0,-9.3,589,3435,0.00,2.78,0.00,0.000,6,0.000,0.088,2672,2191,3880
$GC,3774,-1.29,-194.7,330.4,-7.7,650,3782,0.00,2.72,0.00,0.000,4,0.000,0.113,2672,817,3880
$GC,3811,-1.29,-194.7,333.4,-8.1,656,3819,0.00,2.67,0.00,0.000,6,0.000,0.096,2672,2200,3880
$GC,4155,-1.29,-194.7,360.5,-8.1,706,4159,0.00,2.83,0.00,0.000,4,0.000,0.106,2672,3649,3880
$GC,4188,-1.29,-194.7,363.4,-8.4,708,4195,0.00,2.78,0.00,0.000,6,0.000,0.089,2672,2181,3879
$GC,4515,-1.29,-194.7,390.9,-8.4,739,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2180,3879
$GC,4832,-1.29,-194.7,418.5,-9.8,769,4834,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2180,3880
$GC,5150,-1.29,-194.7,452.2,-10.8,799,5154,0.00,2.90,0.00,0.000,4,0.000,0.108,2672,3652,3879
$GC,5189,-1.29,-194.7,456.5,-10.8,802,5194,0.00,2.78,0.00,0.000,6,0.000,0.091,2672,2202,3879
$GC,5516,-1.29,-194.7,485.8,-8.6,832,5521,0.00,2.75,0.00,0.000,4,0.000,0.117,2672,826,3879
$GC,5538,-1.29,-194.7,488.2,-9.6,833,5545,0.00,2.70,0.00,0.000,6,0.000,0.099,2672,2216,3879
$GC,5865,-1.29,-194.7,514.1,-8.2,864,5870,0.00,2.83,0.00,0.000,4,0.000,0.115,2672,3644,3879
$GC,5886,-1.29,-194.7,516.2,-8.3,865,5894,0.00,2.72,0.00,0.000,6,0.000,0.091,2672,2211,3879
$GC,6214,-1.29,-194.7,543.0,-8.8,896,6218,0.00,2.78,0.00,0.000,4,0.000,0.117,2672,822,3879
$GC,6235,-1.29,-194.7,545.3,-9.2,897,6242,0.00,2.70,0.00,0.000,6,0.000,0.100,2672,2212,3878
$GC,6562,-1.29,-194.7,574.9,-10.0,928,6566,0.00,2.85,0.00,0.000,4,0.000,0.115,2671,3648,3879
$GC,6590,-1.29,-194.7,577.9,-10.4,930,6595,0.00,2.75,0.00,0.000,6,0.000,0.092,2672,2206,3879
$GC,6916,-1.29,-194.7,605.3,-8.3,957,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3878
$GC,7223,-1.29,-194.7,633.1,-10.4,972,7227,0.00,2.88,0.00,0.000,4,0.000,0.114,2672,3652,3878
$GC,7263,-1.29,-194.7,637.1,-10.2,974,7267,0.00,2.75,0.00,0.000,6,0.000,0.094,2672,2218,3878
$GC,7590,-1.29,-194.7,665.7,-9.4,990,7594,0.00,2.83,0.00,0.000,4,0.000,0.122,2672,817,3878
$GC,7611,-1.29,-194.7,667.9,-9.8,991,7615,0.00,2.78,0.00,0.000,6,0.000,0.099,2671,2250,3878
$GC,7933,-1.29,-194.7,699.6,-8.5,1007,7938,0.00,2.78,0.00,0.000,4,0.000,0.116,2672,3648,3878
$GC,7973,-1.29,-194.7,704.0,-10.8,1009,7978,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2248,3878
$GC,8301,-1.29,-194.7,734.7,-7.1,1025,8306,0.00,2.88,0.00,0.000,4,0.000,0.123,2672,821,3877
$GC,8334,-1.29,-194.7,736.5,-5.0,1026,8341,0.00,2.78,0.00,0.000,6,0.000,0.103,2672,2245,3877
$GC,8650,-1.29,-194.7,740.9,-0.4,1042,8654,0.00,2.88,0.00,0.000,4,0.000,0.121,2671,818,3877
$GC,8689,-1.29,-194.7,741.6,-1.6,1044,8694,0.00,2.65,0.00,0.000,6,0.000,0.104,2671,2178,3877
$GC,9017,-1.29,-194.7,772.2,-9.0,1060,9022,0.00,2.95,0.00,0.000,4,0.000,0.122,2671,3645,3877
$STATE,9159,end dive,NO_VERTICAL_VELOCITY
$STATE,9159,begin apogee
$GC,9170,-0.35,0.0,772.2,0.0,1066,9337,0.93,0.00,162.00,1.268,6,0.064,0.000,2880,2323,3085
$STATE,9338,end apogee,CONTROL_FINISHED_OK
$STATE,9338,begin climb
$GC,9341,1.29,194.7,772.3,0.0,1075,9514,1.65,3.00,159.98,1.226,4,0.068,0.120,3235,3737,2290
$GC,9666,1.18,194.7,758.5,14.1,1089,9673,0.00,2.80,0.00,0.000,6,0.000,0.099,3235,2325,2288
$GC,9983,1.09,194.7,709.5,19.7,1105,9988,0.17,2.90,0.00,0.000,4,0.107,0.127,3201,914,2289
$GC,10001,1.03,194.7,706.4,18.3,1106,10005,0.00,2.80,0.00,0.000,6,0.000,0.100,3201,2341,2288
$GC,10328,1.13,270.6,696.0,7.4,1122,10399,0.00,2.95,64.68,1.182,4,0.000,0.117,3201,915,1981
$GC,10467,1.13,270.6,681.7,13.1,1128,10471,0.00,2.75,0.00,0.000,6,0.000,0.103,3201,2313,1978
$GC,10784,1.13,270.6,637.0,13.2,1143,10788,0.00,2.90,0.00,0.000,4,0.000,0.120,3201,3738,1975
$GC,10816,1.13,270.6,632.3,12.3,1144,10824,0.00,2.83,0.00,0.000,6,0.000,0.095,3201,2293,1974
$GC,11133,1.13,270.6,593.6,14.0,1162,11137,0.00,2.75,0.00,0.000,4,0.000,0.116,3201,918,1974
$GC,11151,1.13,270.6,591.0,14.7,1163,11155,0.00,2.67,0.00,0.000,6,0.000,0.098,3201,2292,1974
$GC,11476,1.13,272.4,554.5,9.9,1193,11481,0.00,2.92,0.00,0.000,4,0.000,0.117,3201,3738,1973
$GC,11506,1.13,272.4,551.5,10.9,1195,11510,0.00,2.83,0.00,0.000,6,0.000,0.092,3201,2288,1973
$GC,11831,1.13,275.8,519.1,9.9,1225,11844,0.00,2.95,4.62,0.809,4,0.000,0.110,3201,3738,1959
$GC,11849,1.13,275.8,517.0,10.1,1226,11857,0.00,2.78,0.00,0.000,6,0.000,0.091,3201,2302,1960
$GC,12176,1.13,275.8,484.1,10.4,1257,12181,0.00,2.75,0.00,0.000,4,0.000,0.112,3201,914,1959
$GC,12193,1.13,275.8,482.0,11.0,1258,12198,0.00,2.70,0.00,0.000,6,0.000,0.094,3201,2312,1959
$GC,12518,1.13,275.8,447.2,10.7,1288,12523,0.00,2.88,0.00,0.000,4,0.000,0.114,3201,3739,1959
$GC,12547,1.13,275.8,444.0,11.7,1290,12552,0.00,2.75,0.00,0.000,6,0.000,0.089,3201,2316,1959
$GC,12873,1.15,286.1,410.6,9.6,1320,12889,0.00,2.83,10.57,0.988,4,0.000,0.108,3201,921,1918
$GC,12900,1.15,286.1,407.8,10.0,1322,12908,0.00,2.72,0.00,0.000,6,0.000,0.093,3201,2329,1917
$GC,13227,1.15,286.1,375.4,10.0,1353,13228,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2330,1917
$GC,13547,1.16,293.6,343.2,9.7,1388,13562,0.00,2.90,8.32,0.913,4,0.000,0.107,3202,3738,1886
$GC,13569,1.16,293.6,341.0,10.3,1391,13576,0.00,2.78,0.00,0.000,6,0.000,0.086,3201,2308,1886
$GC,13913,1.16,297.6,305.2,9.9,1452,13927,0.00,2.78,5.10,0.764,4,0.000,0.105,3201,919,1871
$GC,13940,1.16,297.6,302.3,10.8,1456,13947,0.00,2.70,0.00,0.000,6,0.000,0.091,3201,2326,1871
$GC,14285,1.16,297.6,267.8,10.1,1517,14293,0.00,2.80,0.00,0.000,4,0.000,0.109,3201,3735,1869
$GC,14300,1.16,297.6,266.4,10.1,1519,14307,0.00,2.72,0.00,0.000,6,0.000,0.084,3201,2312,1869
$GC,14644,1.16,297.6,231.8,10.4,1580,14652,0.00,2.70,0.00,0.000,4,0.000,0.103,3201,918,1870
$GC,14676,1.16,297.6,228.3,11.2,1585,14683,0.00,2.67,0.00,0.000,6,0.000,0.091,3201,2316,1870
$GC,15022,1.16,297.6,190.2,11.7,1646,15029,0.00,2.80,0.00,0.000,4,0.000,0.106,3201,3736,1869
$GC,15047,1.16,297.6,187.1,12.2,1650,15054,0.00,2.72,0.00,0.000,6,0.000,0.083,3201,2306,1869
$GC,15395,1.17,307.5,149.0,9.7,1711,15410,0.00,2.78,9.82,0.830,4,0.000,0.101,3201,920,1830
$GC,15423,1.18,311.7,146.1,9.9,1715,15437,0.00,2.70,5.55,0.652,6,0.000,0.087,3201,2327,1813
$GC,15775,1.26,374.2,116.1,7.8,1777,15836,0.15,0.00,53.47,0.813,6,0.059,0.000,3245,2327,1557
$GC,16176,1.26,374.2,71.9,10.7,1846,16184,0.00,2.75,0.00,0.000,4,0.000,0.100,3245,918,1551
$GC,16201,1.26,374.2,68.8,11.8,1850,16209,0.00,2.65,0.00,0.000,6,0.000,0.087,3245,2313,1551
$GC,16547,1.26,374.2,30.4,10.9,1911,16554,0.00,2.80,0.00,0.000,4,0.000,0.103,3245,3737,1548
$GC,16579,1.26,374.2,26.9,12.2,1916,16587,0.00,2.70,0.00,0.000,6,0.000,0.081,3244,2310,1548
$GC,16722,1.26,374.2,10.3,11.0,1941,16729,0.00,2.67,0.00,0.000,4,0.000,0.097,3245,914,1549
$STATE,16786,end climb,SURFACE_DEPTH_REACHED
$STATE,16786,begin surface coast
$FINISH,0.8,1.027527
$STATE,16792,end surface coast,CONTROL_FINISHED_OK
$STATE,16792,begin surface
$SM_CCo,16876,0.00,0.000,0,0,1545,377.76
$SM_GC,1.18,11.57,0.00,0.00,0.039,0.000,0.000,588,2238,1545,-10.85,0.08,377.76
$IRIDIUM_FIX,6139.81,-2631.85,040997,070747
$TT8_MAMPS,0.02301
$HUMID,1689
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.80
$XPDR_PINGS,375
$24V_AH,23.3,62.237
$10V_AH,10.6,51.414
$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,26.725,231.975,484.125,0.000,0.000,30.711,32.899,253.294,93.750,0.000,0.000,32.242,4001.390,8291.497,751.340,3561.401,736.372,0.000,2352.281,0.000,3542.840,0.000,0.467
$DEVICE_MAMPS,181.779,126.555,1267.851,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1350.276,1500.199,1825.410,611.629,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116998,1953
$CAP_FILE_SIZE,184569,0
$CFSIZE,260165632,228216832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.089, 66.7,1
$GPS,100608,172925,6202.078,-2625.106,41,1.3,41,-19.0