version: 66.03
glider: 140
mission: 5
dive: 313
start: 6 15 108 22 3 45
data:
$ID,140
$MISSION,5
$DIVE,313
$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,-18988.838
$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
$GPS1,215432,6149.238,-2543.379,37,1.3,37,-18.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-54.3
$GPS2,220326,6149.172,-2543.251,11,1.3,16,-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,18.8,27851,-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,20,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,104,0.00,0.00,-79.12,0.000,2,0.000,0.000,592,2238,3446
$GC,107,-1.29,-194.7,3.3,-6.8,11,138,12.15,2.75,-9.43,0.000,4,0.179,0.106,2674,815,3880
$GC,253,-1.29,-194.7,24.4,-9.8,35,261,0.00,2.67,0.00,0.000,6,0.000,0.081,2674,2245,3881
$GC,396,-1.29,-194.7,37.0,-8.1,60,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2245,3881
$GC,541,-1.29,-194.7,50.4,-8.3,85,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2245,3881
$GC,885,-1.29,-194.7,77.8,-7.7,146,893,0.00,2.75,0.00,0.000,4,0.000,0.097,2674,823,3882
$GC,917,-1.29,-194.7,80.3,-8.2,151,924,0.00,2.67,0.00,0.000,6,0.000,0.085,2674,2235,3882
$GC,1262,-1.29,-194.7,108.5,-8.7,212,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2235,3882
$GC,1607,-1.29,-194.7,140.1,-9.1,273,1614,0.00,2.75,0.00,0.000,4,0.000,0.100,2674,822,3882
$GC,1638,-1.29,-194.7,143.0,-9.8,278,1646,0.00,2.67,0.00,0.000,6,0.000,0.089,2674,2231,3882
$GC,1985,-1.29,-194.7,176.9,-10.3,339,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2231,3882
$GC,2328,-1.29,-194.7,212.7,-10.0,400,2336,0.00,2.78,0.00,0.000,4,0.000,0.105,2674,817,3882
$GC,2360,-1.29,-194.7,215.9,-10.7,405,2367,0.00,2.67,0.00,0.000,6,0.000,0.091,2674,2216,3882
$GC,2704,-1.29,-194.7,250.3,-10.0,466,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2217,3882
$GC,3050,-1.29,-194.7,282.7,-9.0,527,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2217,3882
$GC,3393,-1.29,-194.7,313.2,-9.4,588,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2217,3882
$GC,3738,-1.29,-194.7,345.0,-8.4,649,3745,0.00,2.78,0.00,0.000,4,0.000,0.111,2674,822,3882
$GC,3769,-1.29,-194.7,347.8,-9.0,654,3776,0.00,2.70,0.00,0.000,6,0.000,0.096,2674,2221,3882
$GC,4099,-1.29,-194.7,374.0,-7.7,687,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2222,3882
$GC,4424,-1.29,-194.7,399.7,-7.8,718,4429,0.00,2.78,0.00,0.000,4,0.000,0.111,2674,825,3881
$GC,4446,-1.29,-194.7,401.5,-8.3,719,4453,0.00,2.67,0.00,0.000,6,0.000,0.097,2674,2209,3881
$GC,4773,-1.29,-194.7,428.3,-8.2,750,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2209,3882
$GC,5091,-1.29,-194.7,454.2,-8.0,780,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2209,3881
$GC,5407,-1.29,-194.7,480.1,-8.0,810,5412,0.00,2.75,0.00,0.000,4,0.000,0.114,2674,827,3881
$GC,5425,-1.29,-194.7,481.5,-8.1,811,5429,0.00,2.67,0.00,0.000,6,0.000,0.099,2674,2205,3880
$GC,5752,-1.29,-194.7,508.4,-8.2,841,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2205,3881
$GC,6078,-1.29,-194.7,535.8,-8.3,872,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2205,3880
$GC,6397,-1.29,-194.7,561.6,-7.5,902,6401,0.00,2.75,0.00,0.000,4,0.000,0.116,2674,825,3881
$GC,6418,-1.29,-194.7,563.4,-7.6,903,6425,0.00,2.67,0.00,0.000,6,0.000,0.099,2674,2210,3881
$GC,6746,-1.29,-194.7,587.5,-7.5,934,6750,0.00,2.85,0.00,0.000,4,0.000,0.115,2674,3648,3880
$GC,6767,-1.29,-194.7,589.5,-8.2,935,6774,0.00,2.75,0.00,0.000,6,0.000,0.092,2674,2203,3880
$GC,7087,-1.29,-194.7,615.3,-8.4,957,7088,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2203,3880
$GC,7396,-1.29,-194.7,641.2,-8.6,972,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2203,3880
$GC,7706,-1.29,-194.7,668.2,-8.7,987,7707,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2203,3879
$GC,8016,-1.29,-194.7,694.0,-8.3,1002,8017,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2203,3880
$GC,8325,-1.29,-194.7,719.2,-8.0,1017,8326,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2204,3880
$GC,8634,-1.29,-194.7,745.0,-8.6,1032,8639,0.00,2.80,0.00,0.000,4,0.000,0.126,2674,824,3879
$GC,8661,-1.29,-194.7,747.7,-9.6,1033,8665,0.00,2.70,0.00,0.000,6,0.000,0.104,2674,2207,3880
$GC,8977,-1.29,-194.7,775.5,-8.7,1048,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3879
$GC,9286,-1.29,-194.7,801.9,-8.3,1063,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3879
$GC,9595,-1.29,-194.7,826.9,-7.8,1078,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3878
$GC,9906,-1.29,-194.7,850.9,-7.7,1093,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3878
$GC,10214,-1.29,-194.7,875.0,-7.7,1108,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3878
$GC,10524,-1.29,-194.7,898.3,-7.4,1123,10528,0.00,2.85,0.00,0.000,4,0.000,0.129,2674,819,3877
$GC,10546,-1.29,-194.7,900.0,-7.5,1124,10551,0.00,2.75,0.00,0.000,6,0.000,0.110,2674,2214,3877
$GC,10867,-1.29,-194.7,924.0,-7.6,1140,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2214,3877
$GC,11176,-1.29,-194.7,949.3,-8.3,1155,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2214,3877
$GC,11486,-1.29,-194.7,974.6,-8.2,1170,11487,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2213,3876
$STATE,11668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11668,begin apogee
$GC,11674,-0.35,0.0,990.0,8.3,1179,11851,1.02,0.00,168.05,1.420,6,0.100,0.000,2881,2328,3085
$STATE,11851,end apogee,CONTROL_FINISHED_OK
$STATE,11851,begin climb
$GC,11854,1.29,194.7,997.5,0.0,1188,12024,1.65,0.00,165.60,1.384,6,0.058,0.000,3244,2328,2291
$GC,12322,1.20,194.7,951.6,12.3,1211,12324,0.12,0.00,0.00,0.000,6,0.118,0.000,3223,2327,2288
$GC,12630,1.13,194.7,917.3,11.0,1226,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2327,2288
$GC,12940,1.07,194.7,883.6,10.7,1241,12942,0.15,0.00,0.00,0.000,6,0.114,0.000,3196,2328,2288
$GC,13248,1.08,205.9,853.9,9.6,1256,13261,0.00,0.00,11.07,1.239,6,0.000,0.000,3196,2328,2245
$GC,13557,1.08,205.9,822.1,10.6,1271,13562,0.00,2.88,0.00,0.000,4,0.000,0.123,3195,919,2244
$GC,13601,1.08,205.9,817.0,11.6,1273,13606,0.00,2.80,0.00,0.000,6,0.000,0.109,3195,2336,2244
$GC,13922,1.08,205.9,784.8,10.0,1289,13927,0.00,2.92,0.00,0.000,4,0.000,0.131,3195,3737,2244
$GC,13955,1.03,205.9,781.1,10.5,1290,13963,0.00,2.80,0.00,0.000,6,0.000,0.103,3195,2329,2244
$GC,14271,1.03,205.9,749.9,10.0,1306,14276,0.00,2.85,0.00,0.000,4,0.000,0.124,3196,919,2244
$GC,14311,1.03,205.9,745.7,10.2,1308,14315,0.00,2.75,0.00,0.000,6,0.000,0.102,3195,2325,2243
$GC,14637,1.04,210.2,713.6,9.8,1324,14648,0.00,2.92,5.25,0.969,4,0.000,0.121,3195,3737,2227
$GC,14678,0.99,210.2,709.4,10.7,1326,14683,0.00,2.80,0.00,0.000,6,0.000,0.099,3195,2327,2227
$GC,15004,0.99,210.2,676.5,10.0,1342,15009,0.00,2.83,0.00,0.000,4,0.000,0.120,3196,919,2227
$GC,15054,0.99,210.2,671.2,10.5,1344,15059,0.00,2.75,0.00,0.000,6,0.000,0.101,3195,2329,2227
$GC,15371,1.00,218.7,640.3,9.7,1359,15385,0.00,2.95,8.93,1.115,4,0.000,0.123,3195,3737,2192
$GC,15417,0.96,218.7,635.6,10.2,1361,15422,0.12,2.80,0.00,0.000,6,0.110,0.095,3172,2316,2192
$GC,15745,1.02,267.5,607.5,8.3,1377,15790,0.00,0.00,43.17,1.153,6,0.000,0.000,3173,2316,1994
$GC,16103,1.10,293.7,576.3,9.1,1406,16132,0.12,0.00,23.83,1.111,6,0.064,0.000,3205,2316,1887
$GC,16449,1.10,293.7,538.4,10.8,1439,16450,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2316,1883
$GC,16768,1.10,293.7,504.9,10.8,1469,16769,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2316,1883
$GC,17087,1.10,293.7,469.7,11.9,1499,17092,0.00,2.78,0.00,0.000,4,0.000,0.110,3205,910,1882
$GC,17119,1.10,293.7,465.6,11.8,1501,17127,0.00,2.72,0.00,0.000,6,0.000,0.094,3205,2322,1882
$GC,17447,1.10,293.7,429.1,11.9,1532,17448,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2322,1882
$GC,17763,1.10,293.7,393.2,11.5,1562,17764,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2323,1882
$GC,18082,1.10,293.7,358.1,11.0,1592,18083,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2322,1882
$GC,18413,1.10,293.7,322.0,11.3,1644,18420,0.00,2.78,0.00,0.000,4,0.000,0.106,3204,912,1882
$GC,18445,1.10,293.7,318.5,11.7,1649,18452,0.00,2.70,0.00,0.000,6,0.000,0.093,3205,2319,1882
$GC,18789,1.10,293.7,280.6,10.5,1710,18796,0.00,2.83,0.00,0.000,4,0.000,0.110,3205,3737,1881
$GC,18814,1.10,293.7,277.7,12.0,1714,18822,0.00,2.72,0.00,0.000,6,0.000,0.086,3205,2314,1881
$GC,19161,1.10,293.7,239.5,10.2,1775,19168,0.00,2.72,0.00,0.000,4,0.000,0.105,3205,913,1881
$GC,19203,1.10,293.7,234.6,12.1,1782,19210,0.00,2.70,0.00,0.000,6,0.000,0.091,3205,2325,1882
$GC,19549,1.10,293.7,196.9,10.7,1843,19556,0.00,2.80,0.00,0.000,4,0.000,0.106,3205,3737,1881
$GC,19579,1.10,293.7,193.4,12.1,1848,19586,0.00,2.72,0.00,0.000,6,0.000,0.084,3205,2312,1881
$GC,19925,1.12,310.1,158.6,9.4,1909,19946,0.00,2.83,14.60,0.861,4,0.000,0.103,3205,912,1820
$GC,19970,1.12,310.1,154.0,10.5,1916,19978,0.00,2.70,0.00,0.000,6,0.000,0.087,3205,2321,1819
$GC,20315,1.15,335.4,120.9,9.1,1977,20348,0.00,2.90,22.58,0.821,4,0.000,0.103,3205,3736,1715
$GC,20366,1.15,335.4,115.9,10.4,1985,20373,0.00,2.75,0.00,0.000,6,0.000,0.085,3204,2317,1715
$GC,20712,1.21,355.2,83.6,9.3,2046,20739,0.00,2.80,17.45,0.793,4,0.000,0.101,3205,919,1636
$GC,20774,1.28,355.2,77.2,10.6,2056,20782,0.15,2.67,0.00,0.000,6,0.056,0.087,3246,2316,1636
$GC,21120,1.28,355.2,34.0,12.6,2117,21128,0.00,2.70,0.00,0.000,4,0.000,0.099,3246,917,1634
$GC,21135,1.28,355.2,32.0,12.8,2119,21142,0.00,2.62,0.00,0.000,6,0.000,0.085,3246,2307,1633
$GC,21277,1.28,355.2,13.3,13.7,2144,21285,0.00,2.80,0.00,0.000,4,0.000,0.103,3246,3735,1633
$GC,21328,1.28,355.2,6.6,13.4,2152,21335,0.00,2.75,0.00,0.000,6,0.000,0.083,3246,2291,1633
$STATE,21362,end climb,SURFACE_DEPTH_REACHED
$STATE,21363,begin surface coast
$FINISH,0.2,1.027519
$STATE,21381,end surface coast,CONTROL_FINISHED_OK
$STATE,21381,begin surface
$SM_CCo,21462,0.00,0.000,0,0,1630,357.16
$SM_GC,0.89,11.68,0.00,0.00,0.044,0.000,0.000,587,2232,1630,-10.86,-0.11,357.16
$IRIDIUM_FIX,6121.73,-2549.13,090997,161648
$TT8_MAMPS,0.02301
$HUMID,1716
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,599
$24V_AH,23.1,67.170
$10V_AH,10.6,55.465
$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,27.175,149.625,480.525,0.000,0.000,30.629,32.335,312.829,149.750,0.000,0.000,16.780,4291.519,12414.838,755.555,3710.744,801.918,0.000,2366.223,0.000,3711.369,0.000,0.467
$DEVICE_MAMPS,178.711,138.060,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1496.763,1657.388,1895.381,600.777,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129521,2161
$CAP_FILE_SIZE,187581,0
$CFSIZE,260165632,225923072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,128.7,1
$GPS,160608,040257,6151.155,-2540.472,34,99.0,53,-18.5