version: 66.03
glider: 140
mission: 5
dive: 297
start: 6 12 108 0 22 39
data:
$ID,140
$MISSION,5
$DIVE,297
$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,-18716.203
$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,12
$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
$GPS1,001426,6152.589,-2601.331,39,1.5,39,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-62.2
$GPS2,002220,6152.614,-2601.356,11,1.4,16,-18.7
$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,169.2,32610,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-66.43,0.000,2,0.000,0.000,588,2226,3359
$GC,92,-1.29,-194.7,3.2,-5.7,9,124,12.25,2.83,-12.43,0.000,4,0.182,0.108,2674,3649,3880
$GC,378,-1.29,-194.7,36.3,-10.7,58,385,0.00,2.62,0.00,0.000,6,0.000,0.079,2674,2233,3881
$GC,521,-1.29,-194.7,49.6,-9.1,83,528,0.00,2.72,0.00,0.000,4,0.000,0.097,2674,3646,3881
$GC,558,-1.29,-194.7,53.1,-9.4,89,566,0.00,2.67,0.00,0.000,6,0.000,0.078,2674,2214,3881
$GC,904,-1.29,-194.7,86.9,-9.4,150,911,0.00,2.67,0.00,0.000,4,0.000,0.099,2674,825,3882
$GC,964,-1.29,-194.7,92.7,-9.8,160,971,0.00,2.62,0.00,0.000,6,0.000,0.086,2674,2211,3881
$GC,1310,-1.29,-194.7,127.4,-10.2,221,1316,0.00,2.78,0.00,0.000,4,0.000,0.100,2674,3646,3882
$GC,1346,-1.29,-194.7,131.3,-10.8,227,1354,0.00,2.70,0.00,0.000,6,0.000,0.084,2674,2214,3881
$GC,1691,-1.29,-194.7,167.7,-10.1,288,1699,0.00,2.70,0.00,0.000,4,0.000,0.104,2673,820,3882
$GC,1717,-1.29,-194.7,170.4,-10.4,292,1724,0.00,2.65,0.00,0.000,6,0.000,0.089,2674,2216,3881
$GC,2062,-1.29,-194.7,203.4,-9.2,353,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2216,3882
$GC,2407,-1.29,-194.7,236.6,-9.9,414,2414,0.00,2.72,0.00,0.000,4,0.000,0.105,2674,823,3882
$GC,2438,-1.29,-194.7,239.8,-10.1,419,2445,0.00,2.65,0.00,0.000,6,0.000,0.092,2674,2208,3881
$GC,2784,-1.29,-194.7,271.8,-9.5,480,2791,0.00,2.80,0.00,0.000,4,0.000,0.107,2674,3643,3882
$GC,2810,-1.29,-194.7,274.3,-9.7,484,2817,0.00,2.72,0.00,0.000,6,0.000,0.086,2674,2196,3882
$GC,3156,-1.29,-194.7,307.6,-9.9,545,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2196,3881
$GC,3501,-1.29,-194.7,340.4,-9.5,606,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2196,3882
$GC,3833,-1.29,-194.7,369.8,-8.6,646,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2196,3882
$GC,4152,-1.29,-194.7,397.7,-8.8,676,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2195,3881
$GC,4470,-1.29,-194.7,425.8,-9.2,706,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2195,3881
$GC,4789,-1.29,-194.7,454.5,-9.0,736,4793,0.00,2.72,0.00,0.000,4,0.000,0.114,2674,820,3881
$GC,4810,-1.29,-194.7,456.6,-8.8,737,4818,0.00,2.65,0.00,0.000,6,0.000,0.097,2674,2201,3881
$GC,5138,-1.29,-194.7,485.2,-9.1,768,5142,0.00,2.83,0.00,0.000,4,0.000,0.106,2674,3649,3881
$GC,5166,-1.29,-194.7,488.0,-9.4,770,5171,0.00,2.75,0.00,0.000,6,0.000,0.091,2674,2205,3881
$GC,5493,-1.29,-194.7,517.9,-9.2,800,5498,0.00,2.75,0.00,0.000,4,0.000,0.116,2675,820,3881
$GC,5522,-1.29,-194.7,520.8,-9.6,802,5526,0.00,2.70,0.00,0.000,6,0.000,0.099,2674,2213,3881
$GC,5849,-1.29,-194.7,549.7,-8.8,832,5853,0.00,2.83,0.00,0.000,4,0.000,0.114,2674,3646,3880
$GC,5882,-1.29,-194.7,553.0,-9.2,834,5890,0.00,2.72,0.00,0.000,6,0.000,0.091,2674,2210,3880
$GC,6211,-1.29,-194.7,582.7,-9.3,865,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3880
$GC,6543,-1.29,-194.7,614.4,-9.4,890,6547,0.00,2.75,0.00,0.000,4,0.000,0.117,2674,825,3881
$GC,6569,-1.29,-194.7,617.1,-9.8,891,6574,0.00,2.70,0.00,0.000,6,0.000,0.099,2674,2223,3880
$GC,6886,-1.29,-194.7,645.6,-9.1,906,6890,0.00,2.80,0.00,0.000,4,0.000,0.110,2674,3649,3880
$GC,6926,-1.29,-194.7,649.4,-10.0,908,6930,0.00,2.75,0.00,0.000,6,0.000,0.094,2674,2209,3880
$GC,7253,-1.29,-194.7,679.4,-9.2,924,7257,0.00,2.80,0.00,0.000,4,0.000,0.123,2674,817,3880
$GC,7274,-1.29,-194.7,681.6,-9.3,925,7278,0.00,2.75,0.00,0.000,6,0.000,0.101,2674,2233,3880
$GC,7596,-1.29,-194.7,709.9,-8.4,941,7601,0.00,2.85,0.00,0.000,4,0.000,0.124,2674,3644,3880
$GC,7629,-1.29,-194.7,712.9,-8.6,942,7636,0.00,2.72,0.00,0.000,6,0.000,0.096,2674,2222,3880
$GC,7945,-1.29,-194.7,735.8,-7.2,958,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2222,3879
$GC,8255,-1.29,-194.7,759.7,-8.7,973,8259,0.00,2.85,0.00,0.000,4,0.000,0.127,2674,816,3879
$GC,8287,-1.29,-194.7,762.8,-8.8,974,8295,0.00,2.78,0.00,0.000,6,0.000,0.105,2674,2238,3879
$GC,8603,-1.29,-194.7,788.6,-7.6,990,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2238,3880
$GC,8913,-1.29,-194.7,812.0,-7.7,1005,8918,0.00,2.88,0.00,0.000,4,0.000,0.125,2674,824,3879
$GC,8963,-1.29,-194.7,816.5,-8.6,1007,8967,0.00,2.72,0.00,0.000,6,0.000,0.107,2674,2216,3879
$GC,9279,-1.29,-194.7,843.1,-8.7,1022,9283,0.00,2.92,0.00,0.000,4,0.000,0.132,2674,3646,3878
$GC,9323,-1.29,-194.7,847.1,-9.2,1024,9328,0.00,2.78,0.00,0.000,6,0.000,0.100,2673,2213,3879
$GC,9646,-1.29,-194.7,874.8,-8.9,1040,9647,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2213,3878
$GC,9955,-1.29,-194.7,902.3,-8.8,1055,9959,0.00,2.92,0.00,0.000,4,0.000,0.127,2674,3646,3878
$GC,9978,-1.29,-194.7,904.6,-9.1,1056,9983,0.00,2.78,0.00,0.000,6,0.000,0.104,2674,2222,3877
$GC,10299,-1.29,-194.7,931.3,-8.3,1072,10304,0.00,2.88,0.00,0.000,4,0.000,0.134,2674,825,3878
$GC,10321,-1.29,-194.7,933.2,-8.6,1073,10326,0.00,2.78,0.00,0.000,6,0.000,0.109,2674,2237,3878
$GC,10643,-1.29,-194.7,960.6,-8.7,1089,10648,0.00,2.90,0.00,0.000,4,0.000,0.133,2674,3646,3877
$GC,10670,-1.29,-194.7,963.4,-10.0,1090,10675,0.00,2.78,0.00,0.000,6,0.000,0.106,2674,2232,3877
$STATE,10984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10984,begin apogee
$GC,10991,-0.35,0.0,991.4,9.2,1105,11167,1.00,0.00,167.52,1.424,6,0.096,0.000,2878,2331,3084
$STATE,11167,end apogee,CONTROL_FINISHED_OK
$STATE,11168,begin climb
$GC,11170,1.29,194.7,999.2,0.0,1114,11339,1.62,0.00,164.55,1.388,6,0.060,0.000,3238,2331,2291
$GC,11646,1.21,194.7,955.3,11.1,1137,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2331,2289
$GC,11955,1.13,194.7,920.6,11.3,1152,11956,0.17,0.00,0.00,0.000,6,0.111,0.000,3206,2331,2288
$GC,12264,1.09,194.7,886.7,11.2,1167,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2331,2288
$GC,12573,1.09,194.7,849.1,13.1,1182,12578,0.00,2.90,0.00,0.000,4,0.000,0.122,3206,3739,2287
$GC,12594,1.03,194.7,846.1,12.8,1183,12600,0.12,2.80,0.00,0.000,6,0.115,0.103,3184,2330,2288
$GC,12916,1.03,200.2,809.2,9.8,1199,12924,0.00,0.00,6.07,1.051,6,0.000,0.000,3184,2331,2268
$GC,13226,1.07,230.6,780.2,8.9,1214,13255,0.00,0.00,27.90,1.259,6,0.000,0.000,3184,2331,2144
$GC,13554,1.10,258.9,750.4,9.0,1230,13585,0.00,2.97,25.35,1.233,4,0.000,0.124,3183,914,2029
$GC,13615,1.15,292.6,745.0,8.8,1232,13654,0.12,2.83,31.05,1.213,6,0.064,0.104,3216,2338,1892
$GC,13977,1.19,326.5,712.6,8.8,1250,14014,0.00,2.95,30.55,1.205,4,0.000,0.115,3216,912,1752
$GC,14045,1.22,353.0,706.4,9.1,1253,14076,0.00,2.78,24.77,1.170,6,0.000,0.102,3216,2314,1645
$GC,14398,1.24,367.0,672.4,9.5,1270,14422,0.00,3.00,12.77,1.133,4,0.000,0.120,3216,3733,1586
$GC,14449,1.25,379.8,667.5,9.6,1272,14469,0.00,2.80,12.88,1.096,6,0.000,0.095,3215,2307,1536
$GC,14776,1.28,402.2,636.5,9.2,1288,14803,0.10,2.85,20.92,1.140,4,0.071,0.117,3243,919,1444
$GC,14848,1.28,402.2,628.3,11.5,1291,14852,0.00,2.70,0.00,0.000,6,0.000,0.099,3243,2305,1443
$GC,15167,1.28,402.2,588.0,13.7,1310,15171,0.00,2.92,0.00,0.000,4,0.000,0.117,3243,3738,1439
$GC,15184,1.28,402.2,585.5,14.5,1311,15189,0.00,2.83,0.00,0.000,6,0.000,0.090,3242,2287,1438
$GC,15511,1.28,402.2,540.8,13.9,1341,15515,0.00,2.70,0.00,0.000,4,0.000,0.111,3242,917,1439
$GC,15532,1.28,402.2,537.4,14.7,1342,15540,0.00,2.65,0.00,0.000,6,0.000,0.094,3243,2295,1438
$GC,15860,1.28,402.2,493.4,13.3,1373,15865,0.00,2.90,0.00,0.000,4,0.000,0.114,3243,3737,1438
$GC,15877,1.28,402.2,490.6,13.3,1374,15882,0.00,2.78,0.00,0.000,6,0.000,0.087,3243,2292,1437
$GC,16202,1.28,402.2,446.1,13.8,1404,16206,0.00,2.70,0.00,0.000,4,0.000,0.109,3242,917,1438
$GC,16234,1.28,402.2,441.3,13.7,1406,16242,0.00,2.67,0.00,0.000,6,0.000,0.095,3242,2294,1438
$GC,16563,1.28,402.2,399.3,12.3,1437,16570,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2294,1437
$GC,16890,1.28,402.2,361.0,11.6,1468,16894,0.00,2.70,0.00,0.000,4,0.000,0.107,3243,917,1437
$GC,16908,1.28,402.2,358.9,11.4,1469,16912,0.00,2.62,0.00,0.000,6,0.000,0.092,3243,2289,1438
$GC,17246,1.28,402.2,322.3,10.5,1522,17255,0.00,2.90,0.00,0.000,4,0.000,0.110,3242,3738,1437
$GC,17268,1.28,402.2,320.1,10.4,1525,17275,0.00,2.83,0.00,0.000,6,0.000,0.087,3243,2271,1437
$GC,17613,1.28,402.2,282.8,11.2,1586,17621,0.00,2.62,0.00,0.000,4,0.000,0.106,3243,917,1438
$GC,17634,1.28,402.2,280.3,11.4,1589,17641,0.00,2.60,0.00,0.000,6,0.000,0.091,3242,2280,1437
$GC,17979,1.28,402.2,237.8,11.6,1650,17987,0.00,2.88,0.00,0.000,4,0.000,0.107,3243,3735,1437
$GC,17993,1.28,402.2,235.8,12.8,1652,18001,0.00,2.83,0.00,0.000,6,0.000,0.086,3243,2261,1437
$GC,18339,1.28,402.2,187.9,14.3,1713,18345,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2261,1437
$GC,18683,1.28,402.2,138.1,16.3,1774,18691,0.00,2.92,0.00,0.000,4,0.000,0.106,3242,3735,1437
$GC,18697,1.28,402.2,135.8,15.0,1776,18705,0.00,2.80,0.00,0.000,6,0.000,0.084,3242,2269,1437
$GC,19043,1.28,402.2,84.8,13.9,1837,19049,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2268,1437
$GC,19387,1.28,402.2,34.7,15.1,1898,19394,0.00,2.60,0.00,0.000,4,0.000,0.100,3242,915,1438
$GC,19401,1.28,402.2,32.6,13.5,1900,19409,0.00,2.58,0.00,0.000,6,0.000,0.084,3242,2288,1438
$GC,19547,1.28,402.2,14.4,13.6,1925,19553,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2289,1437
$STATE,19647,end climb,SURFACE_DEPTH_REACHED
$STATE,19648,begin surface coast
$FINISH,0.5,1.002680
$STATE,19665,end surface coast,CONTROL_FINISHED_OK
$STATE,19665,begin surface
$SM_CCo,19747,0.00,0.000,0,0,1432,405.24
$SM_GC,1.12,11.65,0.00,0.00,0.044,0.000,0.000,591,2224,1432,-10.84,-0.34,405.24
$IRIDIUM_FIX,6130.75,-2557.09,050997,181850
$TT8_MAMPS,0.02301
$HUMID,1696
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,17.90
$XPDR_PINGS,406
$24V_AH,23.2,63.624
$10V_AH,10.6,52.607
$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,27.050,199.875,524.350,0.000,0.000,23.105,34.408,257.572,101.500,0.000,0.000,16.632,4016.362,11201.012,768.820,3483.378,728.613,0.000,2344.801,0.000,3480.040,0.000,0.467
$DEVICE_MAMPS,181.779,138.827,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1348.284,1491.068,1711.415,538.732,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116643,1946
$CAP_FILE_SIZE,186339,0
$CFSIZE,260165632,227528704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.014, 76.7,1
$GPS,120608,055307,6150.174,-2558.072,41,1.3,46,-18.6