version: 66.03
glider: 140
mission: 5
dive: 304
start: 6 13 108 16 49 21
data:
$ID,140
$MISSION,5
$DIVE,304
$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,-18835.646
$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,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
$GPS1,164037,6135.121,-2545.444,41,1.4,53,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-62.1
$GPS2,164902,6135.054,-2545.559,15,1.0,15,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6204.210,-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,20.7,54039,-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,-194.7,0.0,0.0,0,106,0.00,0.00,-82.47,0.000,2,0.000,0.000,585,2237,3315
$GC,109,-1.29,-194.7,3.3,-6.9,11,141,12.27,2.80,-13.35,0.000,4,0.182,0.104,2672,823,3882
$GC,183,-1.25,-194.7,12.1,-9.4,22,190,0.00,2.65,0.00,0.000,6,0.000,0.080,2672,2242,3883
$GC,328,-1.25,-194.7,25.5,-9.4,47,336,0.00,2.67,0.00,0.000,4,0.000,0.094,2672,3647,3882
$GC,366,-1.25,-194.7,29.3,-9.5,53,373,0.00,2.60,0.00,0.000,6,0.000,0.077,2672,2247,3883
$GC,511,-1.25,-194.7,42.8,-9.3,78,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2247,3884
$GC,654,-1.25,-194.7,56.2,-8.6,103,661,0.00,2.72,0.00,0.000,4,0.000,0.095,2672,824,3884
$GC,690,-1.25,-194.7,59.1,-7.5,109,697,0.00,2.70,0.00,0.000,6,0.000,0.081,2672,2259,3884
$GC,1036,-1.25,-194.7,88.7,-8.5,170,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2259,3884
$GC,1382,-1.25,-194.7,118.5,-8.8,231,1389,0.00,2.80,0.00,0.000,4,0.000,0.099,2672,817,3884
$GC,1407,-1.25,-194.7,120.7,-8.8,235,1414,0.00,2.72,0.00,0.000,6,0.000,0.085,2672,2257,3884
$GC,1752,-1.25,-194.7,152.3,-9.4,296,1760,0.00,2.80,0.00,0.000,4,0.000,0.101,2672,824,3884
$GC,1783,-1.25,-194.7,155.4,-10.3,301,1790,0.00,2.70,0.00,0.000,6,0.000,0.086,2672,2249,3884
$GC,2128,-1.25,-194.7,188.0,-9.4,362,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2249,3884
$GC,2474,-1.25,-194.7,221.5,-9.7,423,2482,0.00,2.80,0.00,0.000,4,0.000,0.103,2672,819,3884
$GC,2523,-1.25,-194.7,226.1,-9.5,431,2530,0.00,2.72,0.00,0.000,6,0.000,0.091,2672,2241,3884
$GC,2868,-1.25,-194.7,256.1,-8.2,492,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3884
$GC,3214,-1.25,-194.7,285.8,-8.2,553,3220,0.00,2.80,0.00,0.000,4,0.000,0.106,2672,820,3884
$GC,3244,-1.25,-194.7,288.5,-8.8,558,3252,0.00,2.72,0.00,0.000,6,0.000,0.093,2672,2240,3884
$GC,3591,-1.25,-194.7,317.1,-8.3,619,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2240,3884
$GC,3934,-1.25,-194.7,345.2,-8.3,680,3942,0.00,2.80,0.00,0.000,4,0.000,0.109,2672,819,3884
$GC,3960,-1.25,-194.7,347.4,-8.7,684,3967,0.00,2.72,0.00,0.000,6,0.000,0.094,2672,2238,3884
$GC,4293,-1.25,-194.7,375.6,-8.8,717,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2238,3884
$GC,4618,-1.25,-194.7,406.6,-9.9,748,4622,0.00,2.80,0.00,0.000,4,0.000,0.110,2672,820,3883
$GC,4651,-1.25,-194.7,410.0,-10.3,750,4658,0.00,2.70,0.00,0.000,6,0.000,0.095,2672,2236,3883
$GC,4977,-1.25,-194.7,442.3,-10.1,781,4979,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2235,3883
$GC,5295,-1.25,-194.7,475.2,-10.6,811,5299,0.00,2.80,0.00,0.000,4,0.000,0.112,2672,823,3883
$GC,5315,-1.25,-194.7,477.7,-10.5,812,5323,0.00,2.70,0.00,0.000,6,0.000,0.094,2672,2233,3883
$GC,5643,-1.25,-194.7,510.0,-9.5,843,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3883
$GC,5962,-1.25,-194.7,537.0,-7.8,873,5967,0.00,2.80,0.00,0.000,4,0.000,0.114,2672,822,3883
$GC,5992,-1.25,-194.7,539.7,-8.7,875,5996,0.00,2.70,0.00,0.000,6,0.000,0.097,2672,2222,3883
$GC,6320,-1.25,-194.7,565.0,-7.8,905,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3883
$GC,6645,-1.25,-194.7,592.3,-9.1,936,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3882
$GC,6968,-1.25,-194.7,620.4,-9.1,956,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3882
$GC,7277,-1.25,-194.7,648.0,-9.2,971,7278,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3882
$GC,7586,-1.25,-194.7,676.5,-8.8,986,7590,0.00,2.85,0.00,0.000,4,0.000,0.120,2672,3644,3882
$GC,7619,-1.25,-194.7,679.8,-9.7,987,7626,0.00,2.72,0.00,0.000,6,0.000,0.095,2672,2224,3882
$GC,7935,-1.25,-194.7,712.4,-10.6,1003,7940,0.00,2.83,0.00,0.000,4,0.000,0.123,2672,823,3881
$GC,7976,-1.25,-194.7,716.9,-11.4,1005,7980,0.00,2.72,0.00,0.000,6,0.000,0.102,2672,2223,3881
$GC,8303,-1.25,-194.7,751.7,-10.6,1021,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3881
$GC,8613,-1.25,-194.7,781.8,-9.1,1036,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3881
$GC,8922,-1.25,-194.7,808.0,-8.5,1051,8923,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3881
$GC,9232,-1.25,-194.7,834.5,-9.0,1066,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3880
$GC,9540,-1.25,-194.7,863.8,-9.4,1081,9541,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3880
$GC,9850,-1.25,-194.7,893.3,-9.6,1096,9855,0.00,2.88,0.00,0.000,4,0.000,0.130,2672,819,3879
$GC,9883,-1.25,-194.7,896.8,-10.2,1097,9890,0.00,2.75,0.00,0.000,6,0.000,0.107,2672,2223,3879
$GC,10199,-1.25,-194.7,926.9,-9.2,1113,10203,0.00,2.92,0.00,0.000,4,0.000,0.132,2672,3644,3879
$GC,10231,-1.25,-194.7,929.9,-9.9,1114,10238,0.00,2.80,0.00,0.000,6,0.000,0.105,2672,2217,3879
$GC,10548,-1.25,-194.7,955.0,-7.0,1130,10549,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3879
$GC,10856,-1.25,-194.7,976.4,-7.0,1145,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3878
$STATE,11080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11081,begin apogee
$GC,11087,-0.35,0.0,991.0,6.4,1156,11262,1.02,0.00,167.77,1.417,6,0.099,0.000,2879,2337,3084
$STATE,11263,end apogee,CONTROL_FINISHED_OK
$STATE,11263,begin climb
$GC,11266,1.29,194.7,995.9,0.0,1165,11445,1.62,3.00,163.98,1.381,4,0.060,0.130,3240,3732,2290
$GC,11518,1.17,194.7,972.7,14.6,1176,11523,0.15,2.85,0.00,0.000,6,0.114,0.108,3214,2326,2289
$GC,11840,1.12,194.7,937.8,10.4,1192,11845,0.00,2.95,0.00,0.000,4,0.000,0.136,3214,919,2288
$GC,11884,1.12,194.7,932.8,11.7,1194,11888,0.00,2.83,0.00,0.000,6,0.000,0.110,3214,2332,2288
$GC,12206,1.12,234.5,901.7,8.6,1210,12250,0.00,3.05,35.40,1.313,4,0.000,0.133,3214,3737,2127
$GC,12274,1.12,287.8,896.0,8.1,1213,12328,0.00,2.85,47.40,1.303,6,0.000,0.106,3214,2331,1911
$GC,12648,1.12,287.8,861.7,10.1,1231,12653,0.00,2.92,0.00,0.000,4,0.000,0.131,3213,919,1905
$GC,12714,1.12,287.8,853.8,11.0,1234,12718,0.00,2.75,0.00,0.000,6,0.000,0.107,3214,2314,1904
$GC,13041,1.12,287.8,821.0,10.8,1250,13046,0.00,2.97,0.00,0.000,4,0.000,0.129,3213,3738,1904
$GC,13082,1.08,287.8,816.3,12.3,1252,13086,0.00,2.85,0.00,0.000,6,0.000,0.104,3214,2316,1903
$GC,13408,1.08,287.8,774.1,13.5,1268,13412,0.00,2.88,0.00,0.000,4,0.000,0.127,3214,919,1903
$GC,13440,1.08,287.8,769.3,13.9,1269,13448,0.00,2.75,0.00,0.000,6,0.000,0.103,3214,2320,1903
$GC,13757,1.08,287.8,727.0,12.5,1285,13761,0.00,2.95,0.00,0.000,4,0.000,0.127,3214,3737,1901
$GC,13789,1.08,287.8,722.6,12.1,1286,13797,0.00,2.80,0.00,0.000,6,0.000,0.100,3214,2310,1902
$GC,14105,1.08,287.8,685.8,11.6,1302,14109,0.00,2.83,0.00,0.000,4,0.000,0.120,3214,911,1901
$GC,14145,1.08,287.8,681.0,12.6,1304,14149,0.00,2.75,0.00,0.000,6,0.000,0.099,3214,2323,1902
$GC,14471,1.08,287.8,643.5,11.4,1320,14472,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2323,1901
$GC,14781,1.08,287.8,608.1,11.3,1335,14782,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2323,1901
$GC,15098,1.08,291.1,575.1,9.9,1361,15099,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2323,1901
$GC,15415,1.08,291.1,542.8,10.3,1391,15420,0.00,2.78,0.00,0.000,4,0.000,0.109,3214,917,1901
$GC,15454,1.08,291.1,538.6,10.6,1394,15459,0.00,2.70,0.00,0.000,6,0.000,0.095,3214,2324,1901
$GC,15782,1.10,303.0,506.7,9.6,1424,15800,0.00,0.00,13.05,1.077,6,0.000,0.000,3214,2324,1848
$GC,16120,1.10,303.0,472.6,10.2,1456,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2325,1847
$GC,16437,1.10,303.0,439.9,10.6,1486,16442,0.00,2.78,0.00,0.000,4,0.000,0.107,3214,915,1847
$GC,16465,1.10,303.0,436.7,10.9,1488,16469,0.00,2.70,0.00,0.000,6,0.000,0.095,3214,2313,1847
$GC,16792,1.10,303.0,402.5,10.3,1518,16793,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2313,1847
$GC,17108,1.10,303.0,369.1,10.4,1548,17109,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2313,1847
$GC,17434,1.10,303.0,334.8,11.3,1590,17441,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2314,1847
$GC,17779,1.12,319.1,300.0,9.4,1651,17801,0.00,2.85,15.02,0.940,4,0.000,0.104,3214,917,1784
$GC,17824,1.12,319.9,295.3,10.0,1658,17832,0.00,2.70,0.00,0.000,6,0.000,0.089,3214,2315,1783
$GC,18171,1.15,341.6,259.9,9.2,1719,18197,0.00,0.00,20.60,0.909,6,0.000,0.000,3214,2316,1691
$GC,18535,1.15,341.6,220.7,11.1,1783,18541,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2316,1689
$GC,18880,1.15,341.6,181.1,12.1,1844,18887,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2316,1688
$GC,19225,1.15,341.6,139.3,14.0,1905,19232,0.00,2.72,0.00,0.000,4,0.000,0.100,3214,916,1688
$GC,19262,1.19,341.6,134.4,13.8,1911,19269,0.00,2.67,0.00,0.000,6,0.000,0.089,3214,2316,1688
$GC,19607,1.19,341.6,92.5,11.8,1972,19614,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2316,1688
$GC,19951,1.19,341.6,56.4,10.3,2033,19958,0.00,2.72,0.00,0.000,4,0.000,0.098,3214,911,1688
$GC,19988,1.24,341.6,52.2,11.0,2039,19995,0.00,2.62,0.00,0.000,6,0.000,0.084,3214,2300,1688
$GC,20334,1.24,341.6,15.0,10.3,2100,20341,0.00,2.78,0.00,0.000,4,0.000,0.098,3214,3736,1687
$GC,20365,1.24,341.6,11.4,10.8,2105,20373,0.00,2.72,0.00,0.000,6,0.000,0.085,3214,2291,1687
$STATE,20458,end climb,SURFACE_DEPTH_REACHED
$STATE,20458,begin surface coast
$FINISH,0.4,1.027402
$STATE,20475,end surface coast,CONTROL_FINISHED_OK
$STATE,20475,begin surface
$SM_CCo,20557,0.00,0.000,0,0,1686,343.17
$SM_GC,1.18,11.38,0.00,0.00,0.037,0.000,0.000,583,2231,1686,-10.85,-0.08,343.17
$IRIDIUM_FIX,6112.75,-2553.46,070997,101015
$TT8_MAMPS,0.02301
$HUMID,1698
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.00
$XPDR_PINGS,545
$24V_AH,23.1,65.227
$10V_AH,10.6,53.846
$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,26.450,161.850,463.225,0.000,0.000,31.030,33.960,283.662,136.250,0.000,0.000,15.915,4236.043,11559.775,706.788,3764.742,772.448,0.000,2371.024,0.000,3763.682,0.000,0.467
$DEVICE_MAMPS,181.779,135.759,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1471.303,1622.903,1878.799,614.038,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126501,2124
$CAP_FILE_SIZE,185895,0
$CFSIZE,260165632,226816000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.118,163.0,1
$GPS,130608,223308,6136.886,-2544.584,35,1.1,35,-18.4