version: 66.03
glider: 140
mission: 5
dive: 295
start: 6 11 108 13 35 16
data:
$ID,140
$MISSION,5
$DIVE,295
$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,-18667.494
$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
$GPS1,132338,6155.341,-2610.080,26,1.5,26,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-61.6
$GPS2,133457,6155.351,-2610.173,16,1.5,16,-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,163.3,41064,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,92,0.00,0.00,-68.10,0.000,2,0.000,0.000,590,2240,3445
$GC,95,-1.29,-194.7,3.6,-7.3,9,126,12.25,2.72,-9.48,0.000,4,0.181,0.106,2672,824,3880
$GC,253,-1.29,-194.7,22.3,-9.9,35,260,0.00,2.65,0.00,0.000,6,0.000,0.082,2672,2237,3881
$GC,398,-1.29,-194.7,35.8,-9.0,60,405,0.00,2.70,0.00,0.000,4,0.000,0.097,2672,3651,3881
$GC,430,-1.29,-194.7,38.9,-9.5,65,437,0.00,2.62,0.00,0.000,6,0.000,0.078,2672,2233,3881
$GC,573,-1.29,-194.7,52.8,-10.0,90,581,0.00,2.70,0.00,0.000,4,0.000,0.096,2672,824,3881
$GC,599,-1.29,-194.7,55.3,-9.9,94,606,0.00,2.67,0.00,0.000,6,0.000,0.082,2671,2243,3882
$GC,945,-1.29,-194.7,87.9,-9.1,155,952,0.00,2.70,0.00,0.000,4,0.000,0.100,2672,3644,3882
$GC,971,-1.29,-194.7,90.4,-9.4,159,979,0.00,2.67,0.00,0.000,6,0.000,0.081,2672,2218,3882
$GC,1317,-1.29,-194.7,121.2,-9.7,220,1324,0.00,2.70,0.00,0.000,4,0.000,0.102,2672,824,3882
$GC,1349,-1.29,-194.7,124.2,-9.8,225,1356,0.00,2.62,0.00,0.000,6,0.000,0.087,2672,2207,3882
$GC,1695,-1.29,-194.7,157.5,-9.7,286,1702,0.00,2.70,0.00,0.000,4,0.000,0.102,2672,824,3882
$GC,1721,-1.29,-194.7,160.0,-9.9,290,1728,0.00,2.60,0.00,0.000,6,0.000,0.090,2672,2189,3882
$GC,2067,-1.29,-194.7,192.7,-9.6,351,2074,0.00,2.85,0.00,0.000,4,0.000,0.105,2672,3652,3881
$GC,2109,-1.29,-194.7,196.8,-9.9,358,2117,0.00,2.78,0.00,0.000,6,0.000,0.086,2672,2182,3881
$GC,2455,-1.29,-194.7,227.9,-8.3,419,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2182,3882
$GC,2799,-1.29,-194.7,257.0,-9.0,480,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2182,3882
$GC,3144,-1.29,-194.7,288.9,-10.0,541,3151,0.00,2.90,0.00,0.000,4,0.000,0.108,2672,3650,3881
$GC,3175,-1.29,-194.7,292.1,-10.6,546,3182,0.00,2.75,0.00,0.000,6,0.000,0.089,2672,2201,3881
$GC,3521,-1.29,-194.7,327.7,-10.1,607,3528,0.00,2.72,0.00,0.000,4,0.000,0.112,2672,822,3881
$GC,3552,-1.29,-194.7,330.9,-10.8,612,3559,0.00,2.65,0.00,0.000,6,0.000,0.096,2672,2200,3881
$GC,3893,-1.29,-194.7,367.4,-10.9,659,3897,0.00,2.85,0.00,0.000,4,0.000,0.111,2672,3648,3881
$GC,3922,-1.29,-194.7,370.6,-10.9,661,3927,0.00,2.75,0.00,0.000,6,0.000,0.089,2672,2202,3881
$GC,4249,-1.29,-194.7,402.9,-8.9,691,4254,0.00,2.72,0.00,0.000,4,0.000,0.115,2672,824,3881
$GC,4279,-1.29,-194.7,405.8,-9.7,693,4283,0.00,2.67,0.00,0.000,6,0.000,0.097,2672,2208,3881
$GC,4607,-1.29,-194.7,432.6,-8.0,723,4611,0.00,2.85,0.00,0.000,4,0.000,0.114,2672,3649,3880
$GC,4636,-1.29,-194.7,435.3,-8.9,725,4640,0.00,2.78,0.00,0.000,6,0.000,0.090,2672,2192,3880
$GC,4964,-1.29,-194.7,462.1,-7.9,755,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2190,3880
$GC,5289,-1.29,-194.7,485.9,-7.2,786,5293,0.00,2.90,0.00,0.000,4,0.000,0.112,2672,3653,3880
$GC,5318,-1.29,-194.7,488.1,-7.9,788,5322,0.00,2.78,0.00,0.000,6,0.000,0.091,2672,2198,3880
$GC,5645,-1.29,-194.7,515.1,-8.5,818,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2197,3880
$GC,5961,-1.29,-194.7,542.6,-8.8,848,5966,0.00,2.72,0.00,0.000,4,0.000,0.117,2672,825,3879
$GC,5990,-1.29,-194.7,545.3,-10.0,850,5994,0.00,2.70,0.00,0.000,6,0.000,0.099,2672,2219,3879
$GC,6316,-1.29,-194.7,575.5,-9.2,880,6321,0.00,2.85,0.00,0.000,4,0.000,0.117,2672,3653,3879
$GC,6361,-1.29,-194.7,579.6,-9.2,883,6368,0.00,2.72,0.00,0.000,6,0.000,0.091,2672,2226,3880
$GC,6696,-1.29,-194.7,606.9,-8.4,911,6701,0.00,2.80,0.00,0.000,4,0.000,0.117,2672,823,3879
$GC,6729,-1.29,-194.7,609.9,-8.7,912,6737,0.00,2.72,0.00,0.000,6,0.000,0.100,2671,2232,3879
$GC,7045,-1.29,-194.7,633.4,-7.0,928,7050,0.00,2.85,0.00,0.000,4,0.000,0.120,2672,3652,3879
$GC,7078,-1.29,-194.7,635.9,-7.6,929,7086,0.00,2.75,0.00,0.000,6,0.000,0.094,2672,2216,3879
$GC,7396,-1.29,-194.7,662.7,-8.7,945,7400,0.00,2.78,0.00,0.000,4,0.000,0.121,2671,824,3879
$GC,7445,-1.29,-194.7,667.4,-9.4,947,7449,0.00,2.70,0.00,0.000,6,0.000,0.102,2671,2210,3879
$GC,7761,-1.29,-194.7,696.6,-9.0,962,7765,0.00,2.90,0.00,0.000,4,0.000,0.125,2672,3644,3879
$GC,7783,-1.29,-194.7,698.7,-9.6,963,7787,0.00,2.78,0.00,0.000,6,0.000,0.096,2671,2200,3879
$GC,8105,-1.29,-194.7,726.7,-8.7,979,8110,0.00,2.78,0.00,0.000,4,0.000,0.124,2672,823,3878
$GC,8149,-1.29,-194.7,730.9,-8.6,981,8154,0.00,2.70,0.00,0.000,6,0.000,0.104,2672,2208,3878
$GC,8474,-1.29,-194.7,758.0,-8.3,997,8478,0.00,2.92,0.00,0.000,4,0.000,0.128,2672,3644,3878
$GC,8536,-1.29,-194.7,763.5,-8.8,1000,8540,0.00,2.75,0.00,0.000,6,0.000,0.099,2672,2216,3878
$GC,8862,-1.29,-194.7,789.3,-8.2,1016,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3878
$GC,9173,-1.29,-194.7,812.4,-5.8,1031,9177,0.00,2.85,0.00,0.000,4,0.000,0.130,2672,821,3878
$GC,9212,-1.29,-194.7,816.2,-10.7,1033,9217,0.00,2.75,0.00,0.000,6,0.000,0.106,2671,2221,3878
$GC,9540,-1.29,-194.7,842.7,-7.7,1049,9544,0.00,2.92,0.00,0.000,4,0.000,0.132,2672,3647,3877
$GC,9584,-1.29,-194.7,846.8,-9.2,1051,9589,0.00,2.78,0.00,0.000,6,0.000,0.101,2672,2218,3877
$GC,9907,-1.29,-194.7,876.6,-7.9,1067,9912,0.00,2.85,0.00,0.000,4,0.000,0.131,2671,824,3877
$GC,9948,-1.29,-194.7,880.1,-8.4,1069,9952,0.00,2.72,0.00,0.000,6,0.000,0.106,2671,2213,3877
$GC,10276,-1.45,-194.7,894.0,0.0,1085,10281,0.12,2.90,0.00,0.000,4,0.066,0.123,2637,3646,3876
$STATE,10314,end dive,NO_VERTICAL_VELOCITY
$STATE,10314,begin apogee
$GC,10323,-0.35,0.0,894.0,0.0,1087,10491,1.15,0.00,164.60,1.351,6,0.076,0.000,2881,2321,3085
$STATE,10492,end apogee,CONTROL_FINISHED_OK
$STATE,10492,begin climb
$GC,10495,1.29,194.7,893.8,0.0,1095,10669,1.62,3.03,161.93,1.310,4,0.065,0.123,3241,3737,2290
$GC,10748,1.18,194.7,873.1,14.0,1107,10753,0.12,2.83,0.00,0.000,6,0.119,0.103,3219,2330,2289
$GC,11071,1.12,194.7,834.5,11.2,1123,11076,0.00,2.92,0.00,0.000,4,0.000,0.122,3219,3738,2288
$GC,11094,1.05,194.7,831.6,12.1,1124,11099,0.15,2.78,0.00,0.000,6,0.111,0.101,3191,2346,2288
$GC,11416,1.05,194.7,796.8,11.8,1140,11420,0.00,2.95,0.00,0.000,4,0.000,0.130,3191,918,2287
$GC,11437,1.05,194.7,793.9,12.9,1141,11441,0.00,2.83,0.00,0.000,6,0.000,0.103,3191,2354,2287
$GC,11760,1.06,202.5,762.4,9.7,1157,11770,0.00,0.00,7.88,1.105,6,0.000,0.000,3191,2354,2259
$GC,12068,1.06,203.6,731.4,10.0,1172,12073,0.00,2.90,0.00,0.000,4,0.000,0.117,3191,916,2259
$GC,12089,1.06,203.6,729.0,10.4,1173,12093,0.00,2.80,0.00,0.000,6,0.000,0.101,3191,2346,2259
$GC,12413,1.09,222.6,699.0,9.3,1189,12438,0.00,2.97,18.55,1.192,4,0.000,0.126,3191,3734,2176
$GC,12450,1.10,233.5,694.9,9.6,1190,12467,0.00,2.75,11.12,1.083,6,0.000,0.097,3191,2341,2132
$GC,12790,1.12,252.4,663.5,9.3,1207,12813,0.00,2.97,17.00,1.157,4,0.000,0.117,3191,918,2056
$GC,12860,1.12,252.4,656.2,10.9,1210,12865,0.00,2.78,0.00,0.000,6,0.000,0.100,3191,2337,2055
$GC,13186,1.16,282.7,625.3,8.9,1226,13221,0.00,2.95,27.67,1.147,4,0.000,0.121,3191,3738,1931
$GC,13239,1.23,338.2,620.4,8.1,1228,13297,0.17,2.78,49.33,1.130,6,0.060,0.093,3235,2323,1705
$GC,13610,1.23,338.2,580.4,10.9,1254,13614,0.00,2.80,0.00,0.000,4,0.000,0.114,3234,919,1699
$GC,13660,1.23,338.2,574.3,12.1,1258,13665,0.00,2.72,0.00,0.000,6,0.000,0.097,3234,2321,1699
$GC,13985,1.23,338.2,535.4,13.0,1288,13990,0.00,2.88,0.00,0.000,4,0.000,0.117,3235,3738,1697
$GC,14002,1.23,338.2,533.1,13.3,1289,14007,0.00,2.75,0.00,0.000,6,0.000,0.090,3234,2322,1696
$GC,14328,1.23,338.2,491.0,12.8,1319,14333,0.00,2.80,0.00,0.000,4,0.000,0.112,3234,911,1697
$GC,14357,1.23,338.2,487.1,12.8,1321,14361,0.00,2.72,0.00,0.000,6,0.000,0.094,3234,2324,1697
$GC,14682,1.23,338.2,444.4,13.5,1351,14687,0.00,2.78,0.00,0.000,4,0.000,0.108,3234,918,1696
$GC,14699,1.23,338.2,441.9,13.1,1352,14704,0.00,2.67,0.00,0.000,6,0.000,0.093,3235,2314,1696
$GC,15024,1.23,338.2,399.9,13.4,1382,15025,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2315,1696
$GC,15343,1.23,338.2,358.4,12.6,1412,15347,0.00,2.75,0.00,0.000,4,0.000,0.105,3235,915,1696
$GC,15364,1.23,338.2,355.4,13.6,1413,15371,0.00,2.67,0.00,0.000,6,0.000,0.094,3234,2307,1696
$GC,15705,1.23,338.2,312.8,11.7,1470,15712,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2306,1696
$GC,16050,1.23,338.2,272.0,10.7,1531,16056,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2306,1696
$GC,16395,1.23,338.2,231.7,12.2,1592,16402,0.00,2.72,0.00,0.000,4,0.000,0.103,3235,913,1696
$GC,16415,1.23,338.2,229.3,12.5,1595,16422,0.00,2.65,0.00,0.000,6,0.000,0.091,3234,2301,1696
$GC,16760,1.23,338.2,188.6,12.8,1656,16766,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2302,1696
$GC,17105,1.23,338.2,147.0,12.3,1717,17111,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2301,1696
$GC,17449,1.23,338.2,105.8,12.6,1778,17456,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2301,1696
$GC,17793,1.23,338.2,63.1,13.0,1839,17800,0.00,2.70,0.00,0.000,4,0.000,0.100,3235,913,1696
$GC,17824,1.23,338.2,58.7,13.0,1844,17831,0.00,2.60,0.00,0.000,6,0.000,0.086,3235,2299,1696
$GC,18170,1.23,338.2,14.5,12.6,1905,18177,0.00,2.67,0.00,0.000,4,0.000,0.097,3235,914,1696
$GC,18202,1.23,338.2,10.7,13.2,1910,18209,0.00,2.53,0.00,0.000,6,0.000,0.084,3234,2262,1696
$STATE,18275,end climb,SURFACE_DEPTH_REACHED
$STATE,18275,begin surface coast
$FINISH,0.5,1.025498
$STATE,18293,end surface coast,CONTROL_FINISHED_OK
$STATE,18293,begin surface
$SM_CCo,18374,0.00,0.000,0,0,1693,341.46
$SM_GC,1.28,11.57,0.00,0.00,0.043,0.000,0.000,591,2231,1693,-10.84,-0.11,341.46
$IRIDIUM_FIX,6130.75,-2605.31,050997,131349
$TT8_MAMPS,0.02301
$HUMID,1708
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.80
$XPDR_PINGS,382
$24V_AH,23.2,63.197
$10V_AH,10.6,52.265
$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,27.175,221.575,458.075,0.000,0.000,49.043,153.074,261.066,95.500,0.000,0.000,16.740,3998.633,9935.319,694.002,3539.861,864.128,0.000,2292.785,0.000,3521.354,0.000,0.467
$DEVICE_MAMPS,181.012,131.924,1350.687,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1334.772,1475.861,1792.088,556.305,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116946,1926
$CAP_FILE_SIZE,188300,0
$CFSIZE,260165632,227729408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.112, 38.8,1
$GPS,110608,184238,6154.136,-2605.618,33,1.9,33,-18.7