version: 66.03
glider: 140
mission: 5
dive: 344
start: 6 23 108 3 7 4
data:
$ID,140
$MISSION,5
$DIVE,344
$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,-19539.525
$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,15
$R_STBD_OVSHOOT,10
$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
$GPS1,025825,6201.952,-2634.134,26,1.1,43,-19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.8
$GPS2,030645,6201.958,-2634.106,12,1.3,12,-19.1
$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,154.6,64048,-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,-194.7,0.0,0.0,0,91,0.00,0.00,-67.38,0.000,2,0.000,0.000,586,2220,3378
$GC,95,-1.29,-194.7,3.2,-6.3,9,126,12.38,2.78,-11.20,0.000,4,0.183,0.107,2674,3648,3880
$GC,199,-1.29,-194.7,16.8,-9.4,26,207,0.00,2.62,0.00,0.000,6,0.000,0.077,2674,2237,3881
$GC,345,-1.29,-194.7,28.4,-7.8,51,353,0.00,2.67,0.00,0.000,4,0.000,0.093,2674,825,3881
$GC,383,-1.29,-194.7,31.7,-8.5,57,391,0.00,2.65,0.00,0.000,6,0.000,0.080,2674,2243,3881
$GC,527,-1.29,-194.7,45.1,-9.6,82,534,0.00,2.70,0.00,0.000,4,0.000,0.096,2674,3650,3882
$GC,586,-1.29,-194.7,51.1,-9.7,92,593,0.00,2.50,0.00,0.000,6,0.000,0.076,2674,2307,3881
$GC,932,-1.29,-194.7,83.2,-8.7,153,939,0.00,2.85,0.00,0.000,4,0.000,0.097,2674,820,3882
$GC,1002,-1.29,-194.7,89.6,-9.0,165,1009,0.00,2.83,0.00,0.000,6,0.000,0.084,2674,2315,3882
$GC,1348,-1.29,-194.7,118.6,-8.5,226,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2315,3882
$GC,1692,-1.29,-194.7,146.5,-7.8,287,1699,0.00,2.90,0.00,0.000,4,0.000,0.101,2674,823,3882
$GC,1734,-1.29,-194.7,149.9,-8.6,294,1741,0.00,2.80,0.00,0.000,6,0.000,0.094,2674,2293,3882
$GC,2080,-1.29,-194.7,178.6,-8.2,355,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2293,3882
$GC,2424,-1.29,-194.7,205.9,-8.0,416,2432,0.00,2.88,0.00,0.000,4,0.000,0.105,2674,823,3882
$GC,2473,-1.29,-194.7,209.8,-8.2,424,2480,0.00,2.75,0.00,0.000,6,0.000,0.091,2674,2264,3882
$GC,2820,-1.29,-194.7,238.2,-8.9,485,2827,0.00,2.67,0.00,0.000,4,0.000,0.102,2674,3646,3882
$GC,2851,-1.29,-194.7,241.2,-9.7,490,2858,0.00,2.60,0.00,0.000,6,0.000,0.087,2674,2274,3882
$GC,3197,-1.29,-194.7,273.5,-9.4,551,3204,0.00,2.85,0.00,0.000,4,0.000,0.109,2674,819,3882
$GC,3240,-1.29,-194.7,277.7,-9.5,558,3247,0.00,2.78,0.00,0.000,6,0.000,0.091,2674,2274,3882
$GC,3587,-1.29,-194.7,308.8,-8.0,619,3594,0.00,2.70,0.00,0.000,4,0.000,0.109,2674,3646,3882
$GC,3607,-1.29,-194.7,310.6,-8.2,622,3614,0.00,2.65,0.00,0.000,6,0.000,0.086,2674,2247,3882
$GC,3952,-1.29,-194.7,341.2,-9.5,683,3959,0.00,2.80,0.00,0.000,4,0.000,0.109,2674,821,3882
$GC,3977,-1.29,-194.7,343.7,-9.5,687,3984,0.00,2.78,0.00,0.000,6,0.000,0.093,2674,2268,3882
$GC,4308,-1.29,-194.7,375.0,-9.5,723,4312,0.00,2.72,0.00,0.000,4,0.000,0.109,2674,3652,3881
$GC,4339,-1.29,-194.7,377.8,-10.0,725,4344,0.00,2.62,0.00,0.000,6,0.000,0.087,2674,2268,3881
$GC,4667,-1.29,-194.7,407.5,-8.9,755,4672,0.00,2.85,0.00,0.000,4,0.000,0.113,2674,826,3881
$GC,4708,-1.29,-194.7,411.5,-9.5,758,4713,0.00,2.78,0.00,0.000,6,0.000,0.097,2674,2260,3881
$GC,5035,-1.29,-194.7,440.4,-8.5,788,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2260,3881
$GC,5352,-1.29,-194.7,468.0,-8.6,818,5357,0.00,2.88,0.00,0.000,4,0.000,0.114,2674,817,3881
$GC,5384,-1.29,-194.7,471.1,-9.2,820,5392,0.00,2.75,0.00,0.000,6,0.000,0.096,2674,2248,3881
$GC,5712,-1.29,-194.7,499.4,-8.3,851,5716,0.00,2.75,0.00,0.000,4,0.000,0.114,2674,3646,3881
$GC,5742,-1.29,-194.7,502.0,-8.9,853,5746,0.00,2.70,0.00,0.000,6,0.000,0.091,2674,2234,3880
$GC,6069,-1.29,-194.7,529.9,-8.8,883,6074,0.00,2.83,0.00,0.000,4,0.000,0.117,2674,820,3880
$GC,6122,-1.29,-194.7,535.2,-10.3,887,6126,0.00,2.75,0.00,0.000,6,0.000,0.100,2674,2234,3880
$GC,6449,-1.29,-194.7,569.5,-10.8,917,6454,0.00,2.75,0.00,0.000,4,0.000,0.109,2674,3646,3880
$GC,6481,-1.29,-194.7,573.3,-10.3,919,6489,0.00,2.72,0.00,0.000,6,0.000,0.093,2674,2225,3880
$GC,6809,-1.29,-194.7,602.2,-7.6,949,6814,0.00,2.80,0.00,0.000,4,0.000,0.118,2674,825,3880
$GC,6854,-1.29,-194.7,606.3,-9.2,951,6858,0.00,2.70,0.00,0.000,6,0.000,0.100,2674,2217,3881
$GC,7176,-1.29,-194.7,632.7,-8.2,967,7181,0.00,2.88,0.00,0.000,4,0.000,0.120,2674,3648,3880
$GC,7217,-1.29,-194.7,636.2,-8.8,969,7221,0.00,2.78,0.00,0.000,6,0.000,0.094,2674,2206,3880
$GC,7544,-1.29,-194.7,663.0,-8.4,985,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2206,3880
$GC,7855,-1.29,-194.7,688.5,-8.4,1000,7859,0.00,2.90,0.00,0.000,4,0.000,0.120,2674,3643,3879
$GC,7873,-1.29,-194.7,690.1,-8.5,1001,7878,0.00,2.75,0.00,0.000,6,0.000,0.096,2674,2219,3879
$STATE,8094,end dive,NO_VERTICAL_VELOCITY
$STATE,8094,begin apogee
$GC,8100,-0.35,0.0,692.1,0.0,1012,8266,0.93,0.00,162.20,1.216,6,0.051,0.000,2884,2334,3085
$STATE,8267,end apogee,CONTROL_FINISHED_OK
$STATE,8267,begin climb
$GC,8270,1.29,194.7,692.1,0.0,1020,8439,1.58,3.00,159.82,1.170,4,0.054,0.120,3238,3732,2290
$GC,8486,1.51,308.2,682.0,6.1,1030,8590,0.22,2.78,95.97,1.149,6,0.055,0.094,3292,2325,1827
$GC,8919,1.41,308.2,626.8,14.8,1051,8924,0.12,2.85,0.00,0.000,4,0.118,0.119,3270,922,1821
$GC,8975,1.35,308.2,618.2,16.3,1053,8983,0.00,2.67,0.00,0.000,6,0.000,0.098,3270,2296,1821
$GC,9299,1.28,308.2,571.4,14.7,1078,9304,0.15,2.78,0.00,0.000,4,0.114,0.114,3238,915,1820
$GC,9328,1.28,308.2,567.0,13.9,1080,9332,0.00,2.65,0.00,0.000,6,0.000,0.099,3238,2273,1821
$GC,9655,1.28,308.2,528.8,10.7,1110,9660,0.00,2.97,0.00,0.000,4,0.000,0.117,3238,3737,1820
$GC,9666,1.28,308.2,527.1,11.2,1110,9673,0.00,2.88,0.00,0.000,6,0.000,0.094,3238,2263,1820
$GC,9994,1.28,308.2,490.8,11.5,1141,10000,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2264,1819
$GC,10319,1.28,308.2,452.5,12.4,1172,10323,0.00,3.00,0.00,0.000,4,0.000,0.113,3238,3737,1819
$GC,10340,1.23,308.2,449.5,13.4,1173,10347,0.00,2.85,0.00,0.000,6,0.000,0.091,3239,2275,1818
$GC,10668,1.23,308.2,408.8,12.4,1204,10672,0.00,2.67,0.00,0.000,4,0.000,0.111,3238,921,1819
$GC,10689,1.23,308.2,405.6,12.8,1205,10696,0.00,2.62,0.00,0.000,6,0.000,0.095,3238,2281,1819
$GC,11016,1.23,308.2,366.5,11.6,1236,11021,0.00,2.90,0.00,0.000,4,0.000,0.109,3238,3735,1818
$GC,11038,1.19,308.2,363.5,12.1,1237,11045,0.00,2.85,0.00,0.000,6,0.000,0.090,3238,2264,1818
$GC,11376,1.19,308.2,327.5,10.0,1287,11383,0.00,2.97,0.00,0.000,4,0.000,0.110,3238,3737,1818
$GC,11395,1.19,308.2,325.4,10.2,1290,11403,0.00,2.83,0.00,0.000,6,0.000,0.090,3238,2282,1818
$GC,11741,1.19,308.2,289.7,10.8,1351,11748,0.00,2.67,0.00,0.000,4,0.000,0.107,3238,918,1818
$GC,11762,1.19,308.2,287.5,10.5,1354,11770,0.00,2.60,0.00,0.000,6,0.000,0.089,3238,2286,1818
$GC,12109,1.19,308.2,248.3,11.6,1415,12116,0.00,2.90,0.00,0.000,4,0.000,0.107,3238,3737,1817
$GC,12135,1.15,308.2,245.0,12.8,1419,12142,0.15,2.80,0.00,0.000,6,0.108,0.087,3210,2286,1818
$GC,12482,1.15,308.2,206.8,10.0,1480,12489,0.00,2.67,0.00,0.000,4,0.000,0.105,3210,914,1818
$GC,12514,1.15,308.2,203.4,10.8,1485,12521,0.00,2.60,0.00,0.000,6,0.000,0.084,3210,2292,1818
$GC,12859,1.15,308.2,166.8,11.2,1546,12865,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2292,1817
$GC,13205,1.15,308.2,129.6,10.4,1607,13212,0.00,2.65,0.00,0.000,4,0.000,0.100,3210,922,1818
$GC,13225,1.15,308.2,127.4,10.6,1610,13233,0.00,2.58,0.00,0.000,6,0.000,0.087,3211,2278,1818
$GC,13571,1.15,308.2,88.4,12.0,1671,13577,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2278,1818
$GC,13915,1.17,325.6,50.8,9.4,1732,13936,0.00,2.97,14.35,0.797,4,0.000,0.102,3211,3735,1755
$GC,13967,1.17,325.6,45.6,11.2,1740,13974,0.00,2.83,0.00,0.000,6,0.000,0.083,3210,2259,1755
$GC,14110,1.21,355.5,32.3,9.0,1765,14145,0.00,2.65,26.35,0.762,4,0.000,0.099,3210,910,1635
$GC,14165,1.30,374.4,27.5,9.3,1773,14189,0.15,2.60,17.25,0.725,6,0.058,0.085,3250,2282,1557
$GC,14326,1.30,374.4,9.4,11.6,1800,14334,0.00,2.85,0.00,0.000,4,0.000,0.100,3250,3736,1552
$GC,14364,1.30,374.4,5.0,12.3,1806,14372,0.00,2.70,0.00,0.000,6,0.000,0.081,3250,2316,1552
$STATE,14388,end climb,SURFACE_DEPTH_REACHED
$STATE,14388,begin surface coast
$FINISH,0.3,1.013944
$STATE,14405,end surface coast,CONTROL_FINISHED_OK
$STATE,14406,begin surface
$SM_CCo,14488,0.00,0.000,0,0,1548,377.03
$SM_GC,1.05,11.70,0.00,0.00,0.042,0.000,0.000,588,2226,1548,-10.85,-0.23,377.03
$IRIDIUM_FIX,6139.81,-2640.06,160997,212126
$TT8_MAMPS,0.02301
$HUMID,1726
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.80
$XPDR_PINGS,671
$24V_AH,23.2,73.546
$10V_AH,10.6,60.874
$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,27.375,188.425,475.950,0.000,0.000,29.541,36.050,268.935,167.750,0.000,0.000,12.575,3673.196,6597.437,704.535,3239.335,749.899,0.000,2155.494,0.000,3240.491,0.000,0.467
$DEVICE_MAMPS,183.313,120.419,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1253.966,1378.125,1704.885,603.421,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110350,1813
$CAP_FILE_SIZE,165765,0
$CFSIZE,260165632,223006720
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,148.5,1
$GPS,230608,070938,6200.351,-2630.880,31,0.9,31,-19.0