version: 66.03
glider: 140
mission: 5
dive: 345
start: 6 23 108 7 18 4
data:
$ID,140
$MISSION,5
$DIVE,345
$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,-19556.197
$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,17
$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
$GPS1,070938,6200.351,-2630.880,31,0.9,31,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-65.5
$GPS2,071745,6200.371,-2630.868,16,0.9,16,-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,154.5,59953,-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,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,98,0.00,0.00,-74.40,0.000,2,0.000,0.000,588,2226,3290
$GC,102,-1.29,-194.7,3.0,-6.3,10,139,12.38,2.80,-14.15,0.000,4,0.184,0.105,2674,3645,3881
$GC,198,-1.29,-194.7,14.2,-9.5,25,205,0.00,2.62,0.00,0.000,6,0.000,0.079,2674,2238,3882
$GC,343,-1.29,-194.7,27.4,-9.0,50,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2238,3882
$GC,487,-1.29,-194.7,40.4,-8.8,75,494,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2238,3882
$GC,631,-1.29,-194.7,51.8,-7.8,100,638,0.00,2.70,0.00,0.000,4,0.000,0.094,2674,822,3882
$GC,656,-1.29,-194.7,53.8,-7.9,104,664,0.00,2.60,0.00,0.000,6,0.000,0.080,2674,2213,3882
$GC,1002,-1.29,-194.7,80.9,-8.1,165,1009,0.00,2.75,0.00,0.000,4,0.000,0.097,2674,3644,3883
$GC,1068,-1.29,-194.7,86.7,-8.7,176,1075,0.00,2.67,0.00,0.000,6,0.000,0.081,2674,2220,3883
$GC,1414,-1.29,-194.7,118.0,-9.1,237,1421,0.00,2.70,0.00,0.000,4,0.000,0.100,2674,825,3883
$GC,1467,-1.29,-194.7,123.2,-9.6,246,1475,0.00,2.65,0.00,0.000,6,0.000,0.093,2674,2228,3883
$GC,1814,-1.29,-194.7,157.4,-8.8,307,1821,0.00,2.78,0.00,0.000,4,0.000,0.104,2674,3648,3884
$GC,1845,-1.29,-194.7,160.2,-9.0,312,1852,0.00,2.72,0.00,0.000,6,0.000,0.084,2674,2208,3884
$GC,2190,-1.29,-194.7,190.4,-9.0,373,2197,0.00,2.70,0.00,0.000,4,0.000,0.104,2674,819,3884
$GC,2222,-1.29,-194.7,193.0,-8.8,378,2229,0.00,2.67,0.00,0.000,6,0.000,0.091,2674,2220,3884
$GC,2568,-1.29,-194.7,222.1,-8.2,439,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3884
$GC,2912,-1.29,-194.7,251.7,-8.8,500,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3883
$GC,3257,-1.29,-194.7,283.6,-9.8,561,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3883
$GC,3602,-1.29,-194.7,316.7,-8.5,622,3610,0.00,2.75,0.00,0.000,4,0.000,0.110,2674,825,3883
$GC,3623,-1.29,-194.7,318.5,-8.7,625,3630,0.00,2.62,0.00,0.000,6,0.000,0.091,2674,2198,3883
$GC,3970,-1.29,-194.7,348.3,-8.8,686,3977,0.00,2.83,0.00,0.000,4,0.000,0.106,2674,3645,3883
$GC,4000,-1.29,-194.7,351.2,-9.0,690,4008,0.00,2.72,0.00,0.000,6,0.000,0.089,2674,2205,3883
$GC,4328,-1.29,-194.7,381.0,-9.6,721,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2205,3882
$GC,4656,-1.29,-194.7,412.7,-10.0,752,4660,0.00,2.85,0.00,0.000,4,0.000,0.107,2674,3653,3882
$GC,4677,-1.29,-194.7,415.4,-10.7,753,4684,0.00,2.75,0.00,0.000,6,0.000,0.090,2674,2212,3882
$GC,5004,-1.29,-194.7,448.6,-10.5,784,5008,0.00,2.75,0.00,0.000,4,0.000,0.114,2674,822,3882
$GC,5046,-1.29,-194.7,453.0,-11.3,787,5051,0.00,2.67,0.00,0.000,6,0.000,0.095,2674,2215,3882
$GC,5374,-1.29,-194.7,485.0,-9.4,817,5378,0.00,2.78,0.00,0.000,4,0.000,0.104,2674,3645,3882
$GC,5418,-1.29,-194.7,489.6,-9.9,820,5425,0.00,2.72,0.00,0.000,6,0.000,0.091,2674,2209,3882
$GC,5748,-1.29,-194.7,517.5,-8.1,851,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3882
$GC,6074,-1.29,-194.7,543.4,-8.0,882,6078,0.00,2.78,0.00,0.000,4,0.000,0.118,2674,820,3882
$GC,6095,-1.29,-194.7,545.4,-8.8,883,6102,0.00,2.70,0.00,0.000,6,0.000,0.097,2674,2225,3881
$GC,6422,-1.29,-194.7,573.9,-8.7,914,6427,0.00,2.80,0.00,0.000,4,0.000,0.113,2674,3644,3881
$GC,6452,-1.29,-194.7,576.5,-9.1,916,6456,0.00,2.75,0.00,0.000,6,0.000,0.094,2674,2211,3881
$GC,6789,-1.29,-194.7,603.4,-8.0,945,6793,0.00,2.78,0.00,0.000,4,0.000,0.119,2674,820,3881
$GC,6821,-1.29,-194.7,606.4,-8.8,946,6829,0.00,2.67,0.00,0.000,6,0.000,0.096,2674,2212,3881
$GC,7138,-1.29,-194.7,632.2,-8.7,962,7143,0.00,2.85,0.00,0.000,4,0.000,0.116,2674,3645,3881
$GC,7182,-1.29,-194.7,636.1,-8.9,964,7186,0.00,2.78,0.00,0.000,6,0.000,0.097,2674,2203,3881
$GC,7504,-1.29,-194.7,664.7,-9.0,980,7508,0.00,2.78,0.00,0.000,4,0.000,0.123,2674,824,3880
$GC,7531,-1.29,-194.7,667.3,-9.4,981,7535,0.00,2.67,0.00,0.000,6,0.000,0.097,2674,2214,3880
$GC,7847,-1.29,-194.7,694.1,-8.5,996,7852,0.00,2.88,0.00,0.000,4,0.000,0.120,2674,3648,3880
$GC,7868,-1.29,-194.7,696.1,-9.0,997,7873,0.00,2.78,0.00,0.000,6,0.000,0.098,2674,2211,3880
$GC,8192,-1.29,-194.7,723.2,-8.4,1013,8197,0.00,2.80,0.00,0.000,4,0.000,0.123,2674,820,3880
$GC,8220,-1.29,-194.7,725.8,-8.5,1014,8224,0.00,2.70,0.00,0.000,6,0.000,0.097,2675,2221,3879
$GC,8536,-1.29,-194.7,752.6,-9.0,1029,8541,0.00,2.88,0.00,0.000,4,0.000,0.123,2674,3647,3880
$GC,8591,-1.29,-194.7,758.3,-10.0,1031,8598,0.00,2.78,0.00,0.000,6,0.000,0.100,2674,2215,3879
$GC,8908,-1.29,-194.7,785.1,-8.4,1047,8913,0.00,2.80,0.00,0.000,4,0.000,0.123,2674,824,3879
$STATE,9051,end dive,NO_VERTICAL_VELOCITY
$STATE,9051,begin apogee
$GC,9061,-0.35,0.0,785.2,0.0,1053,9228,1.00,0.00,163.43,1.284,6,0.107,0.000,2878,2328,3085
$STATE,9229,end apogee,CONTROL_FINISHED_OK
$STATE,9229,begin climb
$GC,9232,1.29,194.7,785.0,0.0,1062,9404,1.65,3.03,161.00,1.236,4,0.067,0.128,3235,3737,2291
$GC,9518,1.18,194.7,762.9,12.8,1074,9523,0.00,2.83,0.00,0.000,6,0.000,0.100,3235,2326,2289
$GC,9846,1.11,194.7,727.8,10.5,1090,9852,0.15,2.90,0.00,0.000,4,0.110,0.126,3204,915,2289
$GC,9875,1.11,194.7,724.6,10.1,1091,9880,0.00,2.72,0.00,0.000,6,0.000,0.097,3204,2317,2289
$GC,10191,1.13,212.9,695.4,9.4,1106,10215,0.00,2.97,16.75,1.157,4,0.000,0.120,3204,3738,2215
$GC,10243,1.08,212.9,690.1,10.3,1108,10247,0.00,2.80,0.00,0.000,6,0.000,0.097,3204,2328,2215
$GC,10566,1.10,229.4,660.4,9.4,1124,10590,0.00,2.92,15.73,1.136,4,0.000,0.121,3204,917,2148
$GC,10600,1.10,229.4,656.4,10.2,1125,10605,0.00,2.80,0.00,0.000,6,0.000,0.095,3204,2346,2147
$GC,10917,1.10,229.4,622.4,10.7,1140,10922,0.00,2.83,0.00,0.000,4,0.000,0.118,3204,3737,2147
$GC,10938,1.10,229.4,619.9,11.2,1141,10943,0.00,2.72,0.00,0.000,6,0.000,0.094,3204,2341,2146
$GC,11264,1.10,229.4,586.8,10.2,1163,11269,0.00,2.85,0.00,0.000,4,0.000,0.116,3204,915,2146
$GC,11319,1.10,229.4,580.5,11.5,1167,11326,0.00,2.75,0.00,0.000,6,0.000,0.094,3204,2342,2146
$GC,11646,1.10,229.4,545.2,10.9,1198,11651,0.00,2.80,0.00,0.000,4,0.000,0.114,3204,3738,2146
$GC,11668,1.10,229.4,542.4,11.0,1199,11676,0.00,2.72,0.00,0.000,6,0.000,0.090,3204,2330,2145
$GC,11996,1.10,229.4,509.0,10.0,1230,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2329,2146
$GC,12311,1.10,229.4,476.4,10.5,1260,12316,0.00,2.83,0.00,0.000,4,0.000,0.109,3204,3738,2145
$GC,12329,1.10,229.4,474.6,10.8,1261,12334,0.00,2.72,0.00,0.000,6,0.000,0.090,3204,2337,2145
$GC,12655,1.10,229.4,440.7,10.2,1291,12660,0.00,2.80,0.00,0.000,4,0.000,0.110,3204,914,2146
$GC,12688,1.10,229.4,437.2,10.1,1293,12695,0.00,2.67,0.00,0.000,6,0.000,0.082,3204,2340,2146
$GC,13015,1.12,249.2,406.7,9.3,1324,13034,0.00,0.00,17.27,1.013,6,0.000,0.000,3204,2340,2069
$GC,13352,1.15,272.8,375.4,9.2,1356,13379,0.00,2.90,21.40,0.977,4,0.000,0.107,3204,921,1972
$GC,13399,1.18,294.7,371.0,9.2,1360,13427,0.00,2.75,20.58,0.942,6,0.000,0.091,3204,2339,1882
$GC,13757,1.22,327.6,336.8,8.9,1405,13792,0.00,2.92,28.92,0.949,4,0.000,0.107,3204,918,1748
$GC,13810,1.25,350.0,331.9,9.2,1413,13839,0.12,2.70,20.73,0.909,6,0.063,0.089,3237,2319,1658
$GC,14182,1.25,350.0,290.3,11.2,1477,14188,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2319,1652
$GC,14525,1.25,350.0,249.2,12.0,1538,14533,0.00,2.75,0.00,0.000,4,0.000,0.104,3237,916,1651
$GC,14551,1.25,350.0,246.1,12.2,1542,14558,0.00,2.67,0.00,0.000,6,0.000,0.090,3237,2317,1651
$GC,14898,1.25,350.0,206.2,11.3,1603,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2317,1650
$GC,15242,1.25,350.0,166.8,10.8,1664,15251,0.00,2.72,0.00,0.000,4,0.000,0.102,3237,918,1650
$GC,15275,1.25,350.0,162.9,11.9,1669,15282,0.00,2.62,0.00,0.000,6,0.000,0.087,3237,2301,1650
$GC,15620,1.25,350.0,124.7,10.9,1730,15626,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2301,1650
$GC,15966,1.25,350.0,84.2,11.9,1791,15973,0.00,2.70,0.00,0.000,4,0.000,0.101,3237,915,1650
$GC,15980,1.25,350.0,82.5,11.7,1793,15987,0.00,2.60,0.00,0.000,6,0.000,0.084,3237,2297,1650
$GC,16325,1.27,364.6,44.6,9.5,1854,16340,0.00,0.00,12.30,0.782,6,0.000,0.000,3237,2298,1597
$GC,16480,1.29,387.6,29.8,9.2,1880,16508,0.00,0.00,21.30,0.757,6,0.000,0.000,3237,2298,1502
$GC,16646,1.29,387.6,11.3,11.2,1908,16653,0.00,2.65,0.00,0.000,4,0.000,0.093,3237,912,1498
$GC,16672,1.34,387.6,8.0,12.2,1912,16679,0.00,2.60,0.00,0.000,6,0.000,0.081,3237,2300,1498
$STATE,16728,end climb,SURFACE_DEPTH_REACHED
$STATE,16729,begin surface coast
$FINISH,0.3,1.027220
$STATE,16746,end surface coast,CONTROL_FINISHED_OK
$STATE,16746,begin surface
$SM_CCo,16829,0.00,0.000,0,0,1494,390.03
$SM_GC,1.00,11.60,0.00,0.00,0.040,0.000,0.000,585,2231,1494,-10.86,-0.11,390.03
$IRIDIUM_FIX,6135.28,-2635.95,170997,030347
$TT8_MAMPS,0.022243
$HUMID,1731
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,702
$24V_AH,23.1,73.751
$10V_AH,10.6,61.044
$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,26.900,193.375,499.400,0.000,0.000,31.107,35.034,254.338,175.500,0.000,0.000,16.043,3915.884,8383.942,739.382,3498.375,759.052,0.000,2314.440,0.000,3486.024,0.000,0.468
$DEVICE_MAMPS,184.080,128.089,1283.958,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1331.146,1474.131,1808.135,604.738,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116886,1925
$CAP_FILE_SIZE,178928,0
$CFSIZE,260165632,222887936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.054,359.6,1
$GPS,230608,115937,6159.317,-2627.605,28,2.0,28,-19.0