version: 66.03
glider: 140
mission: 5
dive: 314
start: 6 16 108 4 11 28
data:
$ID,140
$MISSION,5
$DIVE,314
$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,-19002.83
$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,14
$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
$GPS1,040257,6151.155,-2540.472,34,99.0,53,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-56.8
$GPS2,041109,6151.138,-2540.420,13,1.1,13,-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,13.0,24321,-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,-194.7,0.0,0.0,0,103,0.00,0.00,-79.60,0.000,2,0.000,0.000,586,2229,3490
$GC,106,-1.29,-194.7,3.4,-7.1,11,137,12.32,2.75,-8.27,0.000,4,0.183,0.106,2671,823,3881
$GC,253,-1.29,-194.7,21.0,-9.9,35,261,0.00,2.65,0.00,0.000,6,0.000,0.084,2672,2236,3882
$GC,396,-1.29,-194.7,33.6,-7.4,60,403,0.00,2.70,0.00,0.000,4,0.000,0.097,2672,3644,3883
$GC,461,-1.29,-194.7,38.9,-7.9,71,468,0.00,2.58,0.00,0.000,6,0.000,0.080,2672,2268,3883
$GC,605,-1.29,-194.7,50.5,-8.3,96,613,0.00,2.75,0.00,0.000,4,0.000,0.095,2672,826,3883
$GC,648,-1.29,-194.7,54.4,-9.5,103,655,0.00,2.70,0.00,0.000,6,0.000,0.084,2672,2255,3883
$GC,994,-1.29,-194.7,87.7,-8.8,164,1002,0.00,2.78,0.00,0.000,4,0.000,0.098,2672,823,3883
$GC,1032,-1.29,-194.7,91.2,-9.3,170,1040,0.00,2.70,0.00,0.000,6,0.000,0.087,2672,2247,3883
$GC,1379,-1.29,-194.7,121.9,-8.7,231,1386,0.00,2.78,0.00,0.000,4,0.000,0.100,2672,819,3884
$GC,1409,-1.29,-194.7,124.8,-9.6,236,1416,0.00,2.72,0.00,0.000,6,0.000,0.090,2672,2251,3883
$GC,1754,-1.29,-194.7,158.3,-9.3,297,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2251,3884
$GC,2099,-1.29,-194.7,189.3,-9.0,358,2106,0.00,2.80,0.00,0.000,4,0.000,0.103,2672,820,3883
$GC,2124,-1.29,-194.7,191.7,-9.2,362,2132,0.00,2.72,0.00,0.000,6,0.000,0.091,2672,2242,3883
$GC,2470,-1.29,-194.7,221.8,-8.4,423,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3883
$GC,2815,-1.29,-194.7,250.2,-8.5,484,2822,0.00,2.80,0.00,0.000,4,0.000,0.107,2672,821,3884
$GC,2852,-1.29,-194.7,253.5,-9.3,490,2859,0.00,2.72,0.00,0.000,6,0.000,0.093,2672,2241,3883
$GC,3198,-1.29,-194.7,283.4,-8.7,551,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2241,3883
$GC,3542,-1.29,-194.7,314.1,-8.9,612,3550,0.00,2.80,0.00,0.000,4,0.000,0.110,2672,824,3883
$GC,3574,-1.29,-194.7,316.9,-9.5,617,3581,0.00,2.72,0.00,0.000,6,0.000,0.096,2671,2236,3883
$GC,3920,-1.29,-194.7,348.3,-9.6,678,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3883
$GC,4247,-1.29,-194.7,378.7,-9.0,710,4252,0.00,2.80,0.00,0.000,4,0.000,0.112,2672,821,3883
$GC,4276,-1.29,-194.7,381.3,-9.4,712,4280,0.00,2.72,0.00,0.000,6,0.000,0.097,2672,2235,3882
$GC,4602,-1.29,-194.7,410.0,-9.0,742,4607,0.00,2.80,0.00,0.000,4,0.000,0.113,2672,823,3883
$GC,4624,-1.29,-194.7,412.1,-8.9,743,4631,0.00,2.70,0.00,0.000,6,0.000,0.095,2672,2231,3882
$GC,4950,-1.29,-194.7,440.0,-8.4,774,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3882
$GC,5268,-1.29,-194.7,466.1,-8.3,804,5273,0.00,2.80,0.00,0.000,4,0.000,0.114,2672,825,3882
$GC,5298,-1.29,-194.7,468.6,-8.7,806,5302,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2226,3882
$GC,5625,-1.29,-194.7,495.7,-8.3,836,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3881
$GC,5941,-1.29,-194.7,521.8,-8.0,866,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3881
$GC,6259,-1.29,-194.7,546.9,-7.9,896,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3881
$GC,6579,-1.29,-194.7,571.7,-7.9,926,6583,0.00,2.78,0.00,0.000,4,0.000,0.116,2672,828,3881
$GC,6611,-1.29,-194.7,574.7,-8.6,928,6619,0.00,2.67,0.00,0.000,6,0.000,0.100,2672,2219,3881
$GC,6949,-1.29,-194.7,602.6,-8.6,959,6950,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2219,3881
$GC,7256,-1.29,-194.7,628.4,-8.4,974,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2218,3881
$GC,7566,-1.29,-194.7,654.9,-8.7,989,7570,0.00,2.80,0.00,0.000,4,0.000,0.119,2672,825,3881
$GC,7593,-1.29,-194.7,657.5,-9.4,990,7598,0.00,2.70,0.00,0.000,6,0.000,0.103,2672,2213,3880
$GC,7909,-1.29,-194.7,683.8,-8.2,1005,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2213,3880
$GC,8218,-1.29,-194.7,710.0,-8.4,1020,8223,0.00,2.88,0.00,0.000,4,0.000,0.122,2672,3645,3880
$GC,8246,-1.29,-194.7,712.4,-8.6,1021,8251,0.00,2.75,0.00,0.000,6,0.000,0.097,2672,2214,3880
$GC,8562,-1.29,-194.7,739.2,-8.7,1036,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3880
$GC,8872,-1.29,-194.7,765.1,-8.5,1051,8877,0.00,2.83,0.00,0.000,4,0.000,0.127,2672,822,3880
$GC,8894,-1.29,-194.7,767.2,-8.5,1052,8899,0.00,2.75,0.00,0.000,6,0.000,0.107,2672,2221,3880
$GC,9215,-1.29,-194.7,794.8,-8.7,1068,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3879
$GC,9525,-1.29,-194.7,823.1,-9.5,1083,9529,0.00,2.83,0.00,0.000,4,0.000,0.127,2672,825,3879
$GC,9574,-1.29,-194.7,828.1,-10.3,1085,9579,0.00,2.72,0.00,0.000,6,0.000,0.109,2672,2210,3879
$GC,9890,-1.29,-194.7,856.8,-9.2,1100,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2210,3880
$GC,10200,-1.29,-194.7,885.3,-8.9,1115,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3878
$GC,10511,-1.29,-194.7,908.9,-7.1,1130,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3878
$GC,10818,-1.29,-194.7,931.4,-7.5,1145,10819,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3878
$GC,11128,-1.29,-194.7,956.2,-8.0,1160,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3878
$GC,11437,-1.29,-194.7,980.6,-8.0,1175,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3877
$STATE,11557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11558,begin apogee
$GC,11564,-0.35,0.0,991.0,8.4,1181,11740,1.02,0.00,168.38,1.418,6,0.100,0.000,2879,2333,3085
$STATE,11741,end apogee,CONTROL_FINISHED_OK
$STATE,11741,begin climb
$GC,11744,1.29,194.7,997.9,0.0,1190,11914,1.65,0.00,165.12,1.383,6,0.058,0.000,3240,2333,2291
$GC,12211,1.20,194.7,953.3,11.8,1213,12216,0.00,2.95,0.00,0.000,4,0.000,0.132,3240,920,2289
$GC,12244,1.13,194.7,948.9,12.0,1214,12252,0.17,2.85,0.00,0.000,6,0.108,0.115,3208,2335,2289
$GC,12561,1.10,200.8,916.7,9.8,1230,12570,0.00,0.00,6.75,1.114,6,0.000,0.000,3208,2335,2266
$GC,12871,1.10,200.8,886.4,10.2,1245,12875,0.00,2.90,0.00,0.000,4,0.000,0.126,3208,920,2266
$GC,12903,1.10,200.8,882.6,10.9,1246,12911,0.00,2.80,0.00,0.000,6,0.000,0.110,3208,2325,2266
$GC,13220,1.06,200.8,848.1,11.3,1262,13225,0.00,3.00,0.00,0.000,4,0.000,0.138,3208,3738,2265
$GC,13275,0.99,200.8,841.1,11.9,1264,13284,0.17,2.83,0.00,0.000,6,0.108,0.103,3175,2319,2265
$GC,13592,0.99,204.8,809.9,9.9,1280,13602,0.00,2.92,5.07,0.980,4,0.000,0.130,3176,914,2250
$GC,13648,0.99,204.8,804.0,10.1,1282,13655,0.00,2.80,0.00,0.000,6,0.000,0.107,3175,2326,2250
$GC,13964,1.00,212.3,773.3,9.7,1298,13978,0.00,3.03,8.27,1.155,4,0.000,0.130,3176,3732,2219
$GC,14012,1.00,212.3,768.2,11.0,1300,14017,0.00,2.83,0.00,0.000,6,0.000,0.101,3176,2314,2219
$GC,14336,1.03,240.4,737.3,9.0,1316,14367,0.00,2.92,25.77,1.234,4,0.000,0.127,3176,917,2104
$GC,14424,1.07,240.4,728.6,10.1,1320,14428,0.00,2.78,0.00,0.000,6,0.000,0.102,3175,2323,2102
$GC,14745,1.08,241.8,700.1,10.0,1336,14749,0.00,2.92,0.00,0.000,4,0.000,0.125,3176,3737,2101
$GC,14771,1.08,241.8,697.2,10.8,1337,14776,0.00,2.80,0.00,0.000,6,0.000,0.098,3175,2315,2101
$GC,15088,1.08,242.0,666.1,10.0,1352,15093,0.00,2.83,0.00,0.000,4,0.000,0.120,3176,910,2101
$GC,15128,1.12,242.0,661.7,10.4,1354,15133,0.12,2.72,0.00,0.000,6,0.064,0.099,3208,2311,2101
$GC,15455,1.12,242.0,625.1,10.9,1370,15459,0.00,2.92,0.00,0.000,4,0.000,0.122,3208,3737,2100
$GC,15499,1.07,242.0,619.8,11.3,1372,15504,0.00,2.80,0.00,0.000,6,0.000,0.094,3208,2306,2101
$GC,15825,1.07,242.0,583.1,11.3,1395,15829,0.00,2.75,0.00,0.000,4,0.000,0.114,3208,917,2100
$GC,15877,1.07,242.0,577.1,11.6,1399,15881,0.00,2.70,0.00,0.000,6,0.000,0.097,3208,2313,2101
$GC,16204,1.07,242.0,539.9,11.6,1429,16208,0.00,2.88,0.00,0.000,4,0.000,0.116,3208,3736,2101
$GC,16244,1.03,242.0,535.0,12.2,1432,16249,0.12,2.80,0.00,0.000,6,0.111,0.094,3186,2302,2100
$GC,16568,1.03,242.0,501.8,10.3,1462,16573,0.00,2.72,0.00,0.000,4,0.000,0.111,3186,918,2101
$GC,16601,1.03,242.0,498.3,10.8,1464,16609,0.00,2.70,0.00,0.000,6,0.000,0.095,3186,2306,2101
$GC,16930,1.04,251.1,467.3,9.7,1495,16943,0.00,0.00,10.00,1.030,6,0.000,0.000,3186,2306,2061
$GC,17262,1.06,272.4,436.0,9.3,1526,17284,0.00,0.00,19.62,1.027,6,0.000,0.000,3186,2306,1974
$GC,17598,1.07,278.5,404.1,9.8,1558,17610,0.00,0.00,6.68,0.899,6,0.000,0.000,3186,2306,1949
$GC,17929,1.07,281.3,371.7,9.9,1589,17937,0.00,0.00,4.00,0.688,6,0.000,0.000,3186,2306,1938
$GC,18262,1.08,284.4,337.7,9.9,1630,18270,0.00,0.00,4.60,0.738,6,0.000,0.000,3186,2306,1925
$GC,18608,1.11,313.7,304.5,9.0,1691,18642,0.00,2.80,26.67,0.941,4,0.000,0.106,3186,918,1805
$GC,18666,1.18,313.7,299.0,10.7,1700,18674,0.12,2.70,0.00,0.000,6,0.062,0.094,3218,2312,1804
$GC,19012,1.18,313.7,260.2,11.2,1761,19019,0.00,2.85,0.00,0.000,4,0.000,0.109,3219,3736,1801
$GC,19043,1.18,313.7,256.5,12.7,1766,19051,0.00,2.78,0.00,0.000,6,0.000,0.087,3219,2298,1801
$GC,19389,1.18,313.7,219.2,10.3,1827,19396,0.00,2.70,0.00,0.000,4,0.000,0.106,3219,918,1801
$GC,19420,1.18,313.7,215.8,11.4,1832,19427,0.00,2.65,0.00,0.000,6,0.000,0.089,3219,2311,1802
$GC,19765,1.18,313.7,179.2,11.0,1893,19771,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2311,1802
$GC,20109,1.18,316.9,143.7,9.9,1954,20116,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2311,1801
$GC,20453,1.18,316.9,107.9,11.0,2015,20459,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2312,1801
$GC,20798,1.18,318.3,72.2,9.9,2076,20806,0.00,0.00,4.75,0.646,6,0.000,0.000,3219,2312,1787
$GC,21147,1.18,318.3,34.5,12.3,2137,21154,0.00,2.80,0.00,0.000,4,0.000,0.103,3219,3736,1786
$GC,21184,1.18,318.3,30.0,12.1,2143,21192,0.00,2.75,0.00,0.000,6,0.000,0.084,3218,2293,1786
$GC,21327,1.25,376.6,15.9,8.0,2168,21382,0.00,2.75,49.78,0.756,4,0.000,0.097,3219,918,1548
$GC,21420,1.31,376.6,5.8,12.5,2182,21428,0.12,2.60,0.00,0.000,6,0.061,0.082,3253,2296,1545
$STATE,21444,end climb,SURFACE_DEPTH_REACHED
$STATE,21444,begin surface coast
$FINISH,0.6,1.027484
$STATE,21457,end surface coast,CONTROL_FINISHED_OK
$STATE,21457,begin surface
$SM_CCo,21539,0.00,0.000,0,0,1540,378.74
$SM_GC,0.79,11.60,0.00,0.00,0.038,0.000,0.000,586,2228,1540,-10.84,-0.20,378.74
$IRIDIUM_FIX,6121.73,-2547.15,090997,222248
$TT8_MAMPS,0.02301
$HUMID,1703
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,602
$24V_AH,23.1,67.388
$10V_AH,10.6,55.652
$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,27.450,183.850,505.475,0.000,0.000,25.911,36.950,273.510,150.500,0.000,0.000,13.362,4401.559,12203.688,771.484,3832.289,799.546,0.000,2462.347,0.000,3844.409,0.000,0.467
$DEVICE_MAMPS,183.313,143.429,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1515.240,1680.805,1928.080,620.637,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129311,2188
$CAP_FILE_SIZE,198126,0
$CFSIZE,260165632,225812480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.127,113.9,1
$GPS,160608,101138,6153.628,-2538.361,36,1.9,36,-18.5