version: 66.03
glider: 140
mission: 5
dive: 311
start: 6 15 108 10 10 52
data:
$ID,140
$MISSION,5
$DIVE,311
$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,-18957.605
$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,12
$R_STBD_OVSHOOT,11
$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
$GPS1,095807,6145.901,-2545.744,41,0.9,41,-18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-52.3
$GPS2,101033,6145.817,-2545.676,14,1.0,14,-18.5
$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,22.2,34136,-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,-194.7,0.0,0.0,0,101,0.00,0.00,-78.25,0.000,2,0.000,0.000,586,2228,3598
$GC,105,-1.29,-194.7,3.9,-7.5,10,129,12.27,2.78,-5.47,0.000,4,0.181,0.105,2671,825,3882
$GC,272,-1.29,-194.7,25.1,-8.1,38,280,0.00,2.65,0.00,0.000,6,0.000,0.083,2671,2237,3883
$GC,418,-1.29,-194.7,38.7,-9.4,63,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2237,3883
$GC,561,-1.29,-194.7,51.8,-9.0,88,568,0.00,2.70,0.00,0.000,4,0.000,0.097,2672,3645,3883
$GC,592,-1.29,-194.7,54.6,-9.2,93,599,0.00,2.62,0.00,0.000,6,0.000,0.081,2672,2244,3883
$GC,937,-1.29,-194.7,86.6,-8.9,154,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,1281,-1.29,-194.7,118.9,-9.4,215,1288,0.00,2.75,0.00,0.000,4,0.000,0.103,2672,826,3883
$GC,1313,-1.29,-194.7,121.9,-9.6,220,1320,0.00,2.70,0.00,0.000,6,0.000,0.089,2671,2244,3883
$GC,1659,-1.29,-194.7,153.5,-8.9,281,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3883
$GC,2002,-1.29,-194.7,183.6,-8.7,342,2010,0.00,2.78,0.00,0.000,4,0.000,0.104,2671,824,3883
$GC,2051,-1.29,-194.7,188.0,-9.0,350,2058,0.00,2.70,0.00,0.000,6,0.000,0.091,2672,2242,3883
$GC,2397,-1.29,-194.7,218.5,-8.9,411,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3883
$GC,2740,-1.29,-194.7,247.2,-7.8,472,2747,0.00,2.80,0.00,0.000,4,0.000,0.107,2672,820,3883
$GC,2772,-1.29,-194.7,249.7,-8.4,477,2779,0.00,2.70,0.00,0.000,6,0.000,0.092,2671,2232,3883
$GC,3117,-1.29,-194.7,276.9,-8.2,538,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3883
$GC,3461,-1.29,-194.7,305.3,-8.6,599,3468,0.00,2.78,0.00,0.000,4,0.000,0.110,2672,826,3882
$GC,3499,-1.29,-194.7,308.5,-9.1,605,3506,0.00,2.67,0.00,0.000,6,0.000,0.095,2672,2224,3882
$GC,3843,-1.29,-194.7,339.1,-9.1,666,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3882
$GC,4176,-1.29,-194.7,369.7,-9.3,707,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3883
$GC,4495,-1.29,-194.7,399.2,-8.6,737,4499,0.00,2.78,0.00,0.000,4,0.000,0.112,2671,821,3882
$GC,4525,-1.29,-194.7,401.8,-9.0,739,4530,0.00,2.70,0.00,0.000,6,0.000,0.096,2672,2225,3882
$GC,4854,-1.29,-194.7,428.7,-8.2,769,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3882
$GC,5180,-1.29,-194.7,455.6,-8.0,800,5184,0.00,2.78,0.00,0.000,4,0.000,0.114,2671,826,3881
$GC,5208,-1.29,-194.7,458.1,-8.5,802,5213,0.00,2.70,0.00,0.000,6,0.000,0.098,2671,2221,3881
$GC,5536,-1.29,-194.7,484.8,-8.2,832,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3881
$GC,5852,-1.29,-194.7,510.8,-8.3,862,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3882
$GC,6171,-1.29,-194.7,538.4,-9.2,892,6175,0.00,2.78,0.00,0.000,4,0.000,0.115,2671,826,3881
$GC,6213,-1.29,-194.7,542.3,-9.6,895,6217,0.00,2.70,0.00,0.000,6,0.000,0.100,2672,2219,3881
$GC,6542,-1.29,-194.7,573.6,-9.7,925,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2218,3880
$GC,6876,-1.29,-194.7,606.7,-9.7,954,6881,0.00,2.78,0.00,0.000,4,0.000,0.117,2672,827,3880
$GC,6903,-1.29,-194.7,609.6,-10.5,955,6907,0.00,2.70,0.00,0.000,6,0.000,0.102,2671,2216,3880
$GC,7220,-1.29,-194.7,640.5,-9.6,970,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3880
$GC,7529,-1.29,-194.7,669.6,-9.5,985,7534,0.00,2.80,0.00,0.000,4,0.000,0.119,2672,822,3880
$GC,7569,-1.29,-194.7,673.5,-10.3,987,7573,0.00,2.70,0.00,0.000,6,0.000,0.104,2672,2204,3880
$GC,7897,-1.29,-194.7,702.9,-8.6,1003,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2204,3880
$GC,8206,-1.29,-194.7,728.7,-8.2,1018,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3880
$GC,8515,-1.29,-194.7,753.0,-7.7,1033,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2204,3879
$GC,8825,-1.29,-194.7,776.4,-8.0,1048,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3879
$GC,9134,-1.29,-194.7,803.1,-9.2,1063,9139,0.00,2.83,0.00,0.000,4,0.000,0.127,2672,824,3878
$GC,9161,-1.29,-194.7,806.0,-10.4,1064,9166,0.00,2.72,0.00,0.000,6,0.000,0.108,2672,2206,3879
$GC,9479,-1.29,-194.7,833.8,-8.9,1079,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3878
$GC,9787,-1.29,-194.7,862.0,-9.6,1094,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3878
$GC,10097,-1.29,-194.7,892.7,-9.9,1109,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3879
$GC,10406,-1.29,-194.7,921.6,-9.1,1124,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3878
$GC,10716,-1.29,-194.7,947.5,-7.7,1139,10718,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3877
$GC,11024,-1.29,-194.7,970.6,-7.3,1154,11025,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3877
$STATE,11310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11310,begin apogee
$GC,11317,-0.35,0.0,991.0,7.0,1168,11492,1.02,0.00,167.65,1.421,6,0.099,0.000,2879,2328,3085
$STATE,11493,end apogee,CONTROL_FINISHED_OK
$STATE,11493,begin climb
$GC,11496,1.29,194.7,995.7,0.0,1177,11673,1.62,3.03,164.18,1.385,4,0.061,0.130,3238,3737,2290
$GC,11701,1.17,194.7,978.8,12.6,1186,11707,0.12,2.85,0.00,0.000,6,0.118,0.106,3218,2333,2290
$GC,12023,1.12,194.7,942.0,11.9,1202,12024,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2333,2288
$GC,12333,1.07,194.7,907.4,10.8,1217,12334,0.12,0.00,0.00,0.000,6,0.116,0.000,3195,2333,2288
$GC,12641,1.08,205.4,877.5,9.6,1232,12654,0.00,0.00,10.55,1.238,6,0.000,0.000,3195,2333,2247
$GC,12951,1.08,205.4,844.7,10.8,1247,12955,0.00,2.92,0.00,0.000,4,0.000,0.130,3195,914,2246
$GC,12991,1.08,205.4,840.3,11.4,1249,12996,0.00,2.83,0.00,0.000,6,0.000,0.107,3195,2337,2246
$GC,13318,1.08,205.4,805.0,10.5,1265,13323,0.00,2.90,0.00,0.000,4,0.000,0.127,3195,3737,2246
$GC,13358,1.03,205.4,800.5,11.8,1267,13363,0.00,2.80,0.00,0.000,6,0.000,0.103,3195,2332,2245
$GC,13687,1.05,218.7,767.8,9.5,1283,13709,0.00,3.00,12.77,1.226,4,0.000,0.126,3195,916,2193
$GC,13742,1.05,218.7,761.9,10.7,1285,13747,0.00,2.83,0.00,0.000,6,0.000,0.105,3195,2338,2192
$GC,14059,1.09,248.4,732.4,9.0,1300,14088,0.00,0.00,27.00,1.234,6,0.000,0.000,3195,2338,2072
$GC,14388,1.12,275.5,702.6,9.1,1316,14419,0.00,2.97,24.58,1.203,4,0.000,0.117,3195,919,1961
$GC,14448,1.15,297.1,696.8,9.3,1318,14477,0.00,2.80,20.80,1.167,6,0.000,0.104,3195,2335,1872
$GC,14787,1.20,337.0,666.5,8.6,1335,14832,0.10,2.90,35.47,1.177,4,0.071,0.114,3222,3737,1709
$GC,14848,1.20,337.0,659.9,10.7,1337,14856,0.00,2.80,0.00,0.000,6,0.000,0.095,3222,2320,1707
$GC,15165,1.20,337.0,626.2,10.6,1353,15170,0.00,2.83,0.00,0.000,4,0.000,0.117,3222,916,1705
$GC,15214,1.20,337.0,620.4,11.8,1355,15219,0.00,2.72,0.00,0.000,6,0.000,0.100,3222,2318,1705
$GC,15541,1.20,337.0,584.1,11.1,1377,15542,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2318,1704
$GC,15859,1.20,337.0,549.4,10.8,1407,15864,0.00,2.78,0.00,0.000,4,0.000,0.110,3222,916,1704
$GC,15888,1.20,337.0,546.1,11.5,1409,15892,0.00,2.70,0.00,0.000,6,0.000,0.097,3222,2309,1704
$GC,16215,1.20,337.0,512.6,10.3,1439,16221,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2310,1703
$GC,16540,1.20,337.0,479.2,10.8,1470,16541,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2310,1703
$GC,16859,1.20,337.0,446.1,10.5,1500,16860,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2310,1703
$GC,17178,1.20,337.0,409.9,11.9,1530,17182,0.00,2.75,0.00,0.000,4,0.000,0.107,3222,914,1704
$GC,17206,1.20,337.0,406.4,12.3,1532,17210,0.00,2.70,0.00,0.000,6,0.000,0.096,3222,2309,1704
$GC,17533,1.20,337.0,370.2,10.9,1562,17534,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2309,1704
$GC,17856,1.20,337.0,334.9,11.3,1604,17863,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2309,1703
$GC,18201,1.20,337.0,299.0,10.7,1665,18208,0.00,2.72,0.00,0.000,4,0.000,0.105,3222,918,1703
$GC,18232,1.20,337.0,295.8,10.7,1670,18239,0.00,2.65,0.00,0.000,6,0.000,0.093,3222,2300,1704
$GC,18577,1.20,337.0,262.2,10.4,1731,18584,0.00,2.85,0.00,0.000,4,0.000,0.109,3222,3736,1703
$GC,18602,1.20,337.0,259.5,10.9,1735,18609,0.00,2.78,0.00,0.000,6,0.000,0.086,3222,2291,1703
$GC,18947,1.20,337.0,221.0,10.4,1796,18954,0.00,2.67,0.00,0.000,4,0.000,0.105,3222,914,1704
$GC,18978,1.20,337.0,217.4,11.5,1801,18985,0.00,2.65,0.00,0.000,6,0.000,0.091,3222,2301,1703
$GC,19323,1.20,338.0,179.8,10.0,1862,19331,0.00,2.83,0.00,0.000,4,0.000,0.106,3222,3734,1703
$GC,19349,1.20,338.0,176.7,12.0,1866,19356,0.00,2.75,0.00,0.000,6,0.000,0.084,3222,2295,1703
$GC,19694,1.20,344.4,138.8,9.8,1927,19708,0.00,2.70,6.93,0.762,4,0.000,0.102,3222,916,1679
$GC,19743,1.20,344.4,133.2,11.4,1935,19750,0.00,2.65,0.00,0.000,6,0.000,0.089,3222,2299,1679
$GC,20089,1.20,344.4,95.3,10.5,1996,20096,0.00,2.83,0.00,0.000,4,0.000,0.105,3222,3734,1678
$GC,20114,1.20,344.4,92.1,11.4,2000,20121,0.00,2.75,0.00,0.000,6,0.000,0.084,3222,2292,1678
$GC,20459,1.20,344.4,51.4,11.3,2061,20466,0.00,2.65,0.00,0.000,4,0.000,0.101,3222,919,1679
$GC,20501,1.20,344.4,46.6,11.5,2068,20508,0.00,2.60,0.00,0.000,6,0.000,0.086,3222,2298,1679
$GC,20647,1.20,344.4,31.5,10.7,2093,20654,0.00,2.83,0.00,0.000,4,0.000,0.104,3222,3735,1678
$GC,20688,1.20,344.4,26.2,10.9,2100,20696,0.00,2.72,0.00,0.000,6,0.000,0.082,3222,2299,1678
$GC,20834,1.20,344.4,10.1,12.5,2125,20842,0.00,2.65,0.00,0.000,4,0.000,0.099,3222,911,1679
$GC,20883,1.27,344.4,4.3,12.0,2133,20890,0.00,2.65,0.00,0.000,6,0.000,0.085,3222,2319,1679
$STATE,20908,end climb,SURFACE_DEPTH_REACHED
$STATE,20908,begin surface coast
$FINISH,0.3,1.027518
$STATE,20926,end surface coast,CONTROL_FINISHED_OK
$STATE,20926,begin surface
$SM_CCo,21008,0.00,0.000,0,0,1676,345.63
$SM_GC,0.86,11.48,0.00,0.00,0.040,0.000,0.000,588,2225,1676,-10.85,-0.28,345.63
$IRIDIUM_FIX,6121.73,-2543.05,090997,101023
$TT8_MAMPS,0.02301
$HUMID,1698
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.80
$XPDR_PINGS,603
$24V_AH,23.1,66.737
$10V_AH,10.6,55.105
$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,26.750,166.075,469.925,0.000,0.000,59.672,74.983,383.060,150.750,0.000,0.000,14.129,4290.702,12018.852,711.755,3768.740,942.504,0.000,2373.007,0.000,3751.702,0.000,0.468
$DEVICE_MAMPS,181.012,143.429,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1483.164,1630.534,1886.673,602.761,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126263,2140
$CAP_FILE_SIZE,192755,0
$CFSIZE,260165632,226119680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.118,172.6,1
$GPS,150608,160232,6147.574,-2545.036,56,1.0,56,-18.5