version: 66.03
glider: 140
mission: 5
dive: 303
start: 6 13 108 10 53 51
data:
$ID,140
$MISSION,5
$DIVE,303
$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,-18819.102
$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,10
$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
$GPS1,104501,6135.969,-2549.316,37,1.9,43,-18.4
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-63.5
$GPS2,105332,6135.913,-2549.379,10,2.0,15,-18.4
$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,83.6,6079,-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,20,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,98,0.00,0.00,-73.40,0.000,2,0.000,0.000,588,2226,3314
$GC,101,-1.29,-194.7,3.1,-5.9,10,133,12.27,2.78,-13.57,0.000,4,0.182,0.104,2674,817,3881
$GC,241,-1.29,-194.7,19.8,-10.8,33,248,0.00,2.65,0.00,0.000,6,0.000,0.082,2674,2236,3882
$GC,386,-1.29,-194.7,33.9,-8.8,58,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2235,3882
$GC,530,-1.29,-194.7,46.0,-8.6,83,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2235,3882
$GC,672,-1.29,-194.7,60.3,-10.0,108,680,0.00,2.70,0.00,0.000,4,0.000,0.094,2674,821,3882
$GC,703,-1.29,-194.7,63.6,-10.9,113,710,0.00,2.60,0.00,0.000,6,0.000,0.081,2674,2202,3882
$GC,1048,-1.29,-194.7,99.9,-10.8,174,1055,0.00,2.80,0.00,0.000,4,0.000,0.100,2674,3651,3883
$GC,1079,-1.29,-194.7,103.2,-10.8,179,1087,0.00,2.78,0.00,0.000,6,0.000,0.081,2674,2174,3883
$GC,1424,-1.29,-194.7,135.6,-8.5,240,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2173,3883
$GC,1770,-1.29,-194.7,164.3,-8.6,301,1777,0.00,2.90,0.00,0.000,4,0.000,0.103,2674,3653,3883
$GC,1801,-1.29,-194.7,167.0,-8.9,306,1808,0.00,2.78,0.00,0.000,6,0.000,0.085,2674,2184,3883
$GC,2147,-1.29,-194.7,195.6,-7.7,367,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2184,3883
$GC,2491,-1.29,-194.7,219.5,-7.0,428,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2184,3883
$GC,2837,-1.29,-194.7,244.9,-7.6,489,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2184,3883
$GC,3182,-1.29,-194.7,272.4,-7.8,550,3190,0.00,2.90,0.00,0.000,4,0.000,0.108,2674,3651,3883
$GC,3197,-1.29,-194.7,273.6,-7.4,552,3205,0.00,2.80,0.00,0.000,6,0.000,0.087,2674,2176,3883
$GC,3543,-1.29,-194.7,300.3,-7.9,613,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2177,3883
$GC,3888,-1.29,-194.7,328.2,-8.4,674,3895,0.00,2.90,0.00,0.000,4,0.000,0.110,2674,3644,3883
$GC,3925,-1.29,-194.7,331.5,-8.7,680,3932,0.00,2.78,0.00,0.000,6,0.000,0.090,2674,2189,3883
$GC,4264,-1.29,-194.7,360.7,-8.8,730,4268,0.00,2.70,0.00,0.000,4,0.000,0.112,2674,824,3883
$GC,4285,-1.29,-194.7,362.8,-9.1,731,4292,0.00,2.65,0.00,0.000,6,0.000,0.094,2674,2200,3882
$GC,4612,-1.29,-194.7,391.5,-8.9,762,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2201,3882
$GC,4929,-1.29,-194.7,418.1,-8.2,792,4933,0.00,2.85,0.00,0.000,4,0.000,0.111,2674,3644,3883
$GC,4947,-1.29,-194.7,419.6,-8.2,793,4951,0.00,2.78,0.00,0.000,6,0.000,0.091,2674,2192,3882
$GC,5275,-1.29,-194.7,446.3,-8.0,823,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2192,3882
$GC,5600,-1.29,-194.7,471.9,-7.6,854,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2192,3882
$GC,5919,-1.29,-194.7,497.7,-8.4,884,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2192,3881
$GC,6239,-1.29,-194.7,526.5,-9.4,914,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2192,3882
$GC,6556,-1.29,-194.7,556.3,-9.6,944,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2192,3882
$GC,6874,-1.29,-194.7,585.6,-8.7,974,6879,0.00,2.90,0.00,0.000,4,0.000,0.114,2674,3645,3881
$GC,6903,-1.29,-194.7,588.1,-9.1,976,6907,0.00,2.78,0.00,0.000,6,0.000,0.094,2674,2198,3881
$GC,7233,-1.29,-194.7,615.1,-7.9,998,7235,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2198,3881
$GC,7543,-1.29,-194.7,639.5,-8.1,1013,7544,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2198,3881
$GC,7852,-1.29,-194.7,664.1,-8.1,1028,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2198,3881
$GC,8161,-1.29,-194.7,688.2,-7.9,1043,8166,0.00,2.92,0.00,0.000,4,0.000,0.120,2674,3647,3880
$GC,8184,-1.29,-194.7,690.2,-8.5,1044,8189,0.00,2.80,0.00,0.000,6,0.000,0.098,2674,2197,3880
$GC,8506,-1.29,-194.7,716.3,-8.2,1060,8510,0.00,2.78,0.00,0.000,4,0.000,0.123,2674,824,3880
$GC,8527,-1.29,-194.7,718.3,-8.5,1061,8532,0.00,2.67,0.00,0.000,6,0.000,0.100,2674,2202,3880
$GC,8851,-1.29,-194.7,743.5,-7.9,1077,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2202,3880
$GC,9161,-1.29,-194.7,767.2,-7.6,1092,9165,0.00,2.92,0.00,0.000,4,0.000,0.127,2674,3645,3880
$GC,9193,-1.29,-194.7,770.1,-8.5,1093,9201,0.00,2.78,0.00,0.000,6,0.000,0.100,2674,2217,3879
$GC,9510,-1.29,-194.7,794.4,-7.8,1109,9514,0.00,2.85,0.00,0.000,4,0.000,0.130,2674,819,3879
$GC,9531,-1.29,-194.7,796.4,-8.5,1110,9535,0.00,2.72,0.00,0.000,6,0.000,0.104,2674,2211,3879
$GC,9853,-1.29,-194.7,823.3,-8.8,1126,9857,0.00,2.92,0.00,0.000,4,0.000,0.129,2674,3645,3879
$GC,9874,-1.29,-194.7,825.6,-9.5,1127,9878,0.00,2.80,0.00,0.000,6,0.000,0.102,2674,2209,3879
$GC,10198,-1.29,-194.7,855.5,-9.4,1143,10202,0.00,2.85,0.00,0.000,4,0.000,0.133,2674,824,3878
$GC,10219,-1.29,-194.7,858.0,-10.1,1144,10223,0.00,2.72,0.00,0.000,6,0.000,0.104,2674,2216,3878
$GC,10540,-1.29,-194.7,888.0,-9.1,1160,10544,0.00,2.92,0.00,0.000,4,0.000,0.130,2674,3645,3878
$GC,10561,-1.29,-194.7,890.1,-9.3,1161,10566,0.00,2.80,0.00,0.000,6,0.000,0.104,2674,2208,3878
$GC,10883,-1.29,-194.7,919.8,-9.0,1177,10884,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2208,3878
$GC,11191,-1.29,-194.7,950.1,-10.0,1192,11196,0.00,2.92,0.00,0.000,4,0.000,0.126,2674,3646,3877
$GC,11209,-1.29,-194.7,951.7,-9.4,1193,11214,0.00,2.80,0.00,0.000,6,0.000,0.106,2674,2219,3877
$GC,11536,-1.29,-194.7,983.0,-9.2,1209,11541,0.00,2.88,0.00,0.000,4,0.000,0.133,2674,824,3877
$GC,11557,-1.29,-194.7,985.1,-9.3,1210,11562,0.00,2.75,0.00,0.000,6,0.000,0.107,2674,2220,3877
$STATE,11629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11629,begin apogee
$GC,11635,-0.35,0.0,991.7,9.3,1214,11811,1.02,0.00,167.65,1.418,6,0.103,0.000,2879,2334,3085
$STATE,11812,end apogee,CONTROL_FINISHED_OK
$STATE,11812,begin climb
$GC,11814,1.29,194.7,999.5,0.0,1223,11994,1.62,3.03,164.10,1.383,4,0.061,0.127,3238,922,2290
$GC,12058,1.22,194.7,981.6,11.6,1233,12065,0.00,2.83,0.00,0.000,6,0.000,0.110,3238,2332,2289
$GC,12374,1.14,194.7,941.9,12.7,1249,12376,0.15,0.00,0.00,0.000,6,0.113,0.000,3212,2332,2288
$GC,12683,1.09,194.7,908.4,10.3,1264,12684,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2332,2287
$GC,12993,1.09,235.0,879.3,8.6,1279,13033,0.00,0.00,35.92,1.308,6,0.000,0.000,3212,2332,2126
$GC,13341,1.15,281.6,850.0,8.4,1296,13385,0.00,0.00,41.65,1.292,6,0.000,0.000,3212,2332,1937
$GC,13691,1.17,299.1,818.7,9.4,1313,13711,0.00,0.00,16.50,1.237,6,0.000,0.000,3212,2332,1865
$GC,14020,1.17,299.1,785.2,10.1,1329,14025,0.00,2.88,0.00,0.000,4,0.000,0.121,3212,918,1862
$GC,14041,1.17,299.1,782.7,10.2,1330,14045,0.00,2.75,0.00,0.000,6,0.000,0.100,3212,2324,1862
$GC,14365,1.17,299.1,750.1,10.3,1346,14369,0.00,2.92,0.00,0.000,4,0.000,0.126,3212,3737,1861
$GC,14391,1.17,299.1,746.7,10.5,1347,14396,0.00,2.80,0.00,0.000,6,0.000,0.097,3212,2312,1860
$GC,14707,1.17,299.1,713.2,10.5,1362,14712,0.00,2.80,0.00,0.000,4,0.000,0.120,3212,917,1861
$GC,14740,1.17,299.1,709.6,10.9,1363,14747,0.00,2.72,0.00,0.000,6,0.000,0.097,3212,2324,1860
$GC,15056,1.17,299.1,674.8,11.4,1379,15060,0.00,2.88,0.00,0.000,4,0.000,0.122,3212,3738,1859
$GC,15082,1.17,299.1,671.3,11.5,1380,15087,0.00,2.75,0.00,0.000,6,0.000,0.094,3212,2320,1859
$GC,15404,1.17,299.1,637.0,10.2,1396,15409,0.00,2.80,0.00,0.000,4,0.000,0.115,3212,914,1860
$GC,15437,1.17,299.1,633.3,10.4,1397,15445,0.00,2.72,0.00,0.000,6,0.000,0.094,3212,2333,1860
$GC,15754,1.21,326.8,603.6,9.0,1413,15781,0.00,0.00,25.15,1.151,6,0.000,0.000,3212,2333,1751
$GC,16094,1.26,368.2,574.5,8.6,1443,16141,0.00,2.90,37.05,1.120,4,0.000,0.109,3212,922,1583
$GC,16157,1.32,420.3,568.7,8.2,1448,16213,0.15,2.72,47.38,1.095,6,0.059,0.093,3251,2325,1370
$GC,16530,1.32,420.3,529.9,10.8,1483,16531,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2325,1360
$GC,16849,1.32,420.3,494.0,11.7,1513,16853,0.00,2.80,0.00,0.000,4,0.000,0.109,3251,913,1359
$GC,16879,1.32,420.3,490.5,11.4,1515,16884,0.00,2.70,0.00,0.000,6,0.000,0.091,3251,2318,1359
$GC,17208,1.32,420.3,450.7,12.4,1545,17212,0.00,2.83,0.00,0.000,4,0.000,0.107,3251,3736,1357
$GC,17236,1.32,420.3,446.7,14.3,1547,17241,0.00,2.78,0.00,0.000,6,0.000,0.089,3251,2304,1357
$GC,17562,1.32,420.3,405.6,12.9,1577,17566,0.00,2.75,0.00,0.000,4,0.000,0.108,3251,911,1357
$GC,17601,1.32,420.3,400.2,13.4,1580,17605,0.00,2.67,0.00,0.000,6,0.000,0.091,3251,2307,1357
$GC,17928,1.32,420.3,356.8,13.1,1610,17929,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2307,1356
$GC,18260,1.32,420.3,311.6,12.5,1665,18267,0.00,2.72,0.00,0.000,4,0.000,0.104,3251,918,1357
$GC,18285,1.32,420.3,308.0,13.1,1669,18292,0.00,2.65,0.00,0.000,6,0.000,0.090,3251,2304,1357
$GC,18630,1.32,420.3,262.4,12.4,1730,18637,0.00,2.85,0.00,0.000,4,0.000,0.105,3251,3738,1356
$GC,18650,1.32,420.3,259.7,14.3,1733,18657,0.00,2.80,0.00,0.000,6,0.000,0.087,3251,2284,1356
$GC,18995,1.32,420.3,216.1,11.5,1794,19002,0.00,2.67,0.00,0.000,4,0.000,0.104,3251,911,1356
$GC,19026,1.32,420.3,211.8,14.8,1799,19033,0.00,2.62,0.00,0.000,6,0.000,0.087,3251,2294,1356
$GC,19372,1.32,420.3,166.5,12.9,1860,19378,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2294,1356
$GC,19717,1.32,420.3,122.5,13.4,1921,19723,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2294,1356
$GC,20059,1.32,420.3,74.6,15.2,1982,20066,0.00,2.67,0.00,0.000,4,0.000,0.100,3251,911,1356
$GC,20084,1.32,420.3,70.7,15.2,1986,20091,0.00,2.60,0.00,0.000,6,0.000,0.084,3251,2288,1356
$GC,20428,1.32,420.3,26.2,12.7,2047,20436,0.00,2.83,0.00,0.000,4,0.000,0.100,3251,3734,1355
$GC,20455,1.32,420.3,22.6,13.3,2051,20462,0.00,2.72,0.00,0.000,6,0.000,0.083,3251,2294,1356
$GC,20599,1.32,420.3,4.0,12.1,2076,20606,0.00,2.65,0.00,0.000,4,0.000,0.099,3251,913,1356
$STATE,20617,end climb,SURFACE_DEPTH_REACHED
$STATE,20617,begin surface coast
$FINISH,0.3,1.017957
$STATE,20634,end surface coast,CONTROL_FINISHED_OK
$STATE,20634,begin surface
$SM_CCo,20718,0.00,0.000,0,0,1353,424.86
$SM_GC,1.14,11.65,0.00,0.00,0.041,0.000,0.000,585,2236,1353,-10.86,0.03,424.86
$IRIDIUM_FIX,6112.75,-2555.44,070997,050559
$TT8_MAMPS,0.02301
$HUMID,1717
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,16.80
$XPDR_PINGS,498
$24V_AH,23.1,65.013
$10V_AH,10.6,53.665
$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,26.875,189.425,535.400,0.000,0.000,29.235,31.439,288.465,124.500,0.000,0.000,15.099,4216.333,11744.738,786.135,3685.076,773.922,0.000,2431.894,0.000,3674.784,0.000,0.467
$DEVICE_MAMPS,181.779,133.458,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1442.308,1589.754,1840.760,574.196,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123049,2082
$CAP_FILE_SIZE,190860,0
$CFSIZE,260165632,226910208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.191,204.2,1
$GPS,130608,164037,6135.121,-2545.444,41,1.4,53,-18.4