version: 66.03
glider: 140
mission: 5
dive: 315
start: 6 16 108 10 23 57
data:
$ID,140
$MISSION,5
$DIVE,315
$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,-19019.133
$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
$GPS1,101138,6153.628,-2538.361,36,1.9,36,-18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-51.8
$GPS2,102338,6153.534,-2538.302,10,1.9,15,-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,6.6,20208,-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,-194.7,0.0,0.0,0,114,0.00,0.00,-90.70,0.000,2,0.000,0.000,586,2227,3692
$GC,118,-1.29,-194.7,3.7,-5.8,12,141,12.38,2.70,-3.65,0.000,4,0.185,0.104,2672,824,3880
$GC,172,-1.25,-194.7,15.2,-8.2,20,180,0.00,2.67,0.00,0.000,6,0.000,0.081,2671,2245,3881
$GC,316,-1.25,-194.7,28.1,-9.5,45,323,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3881
$GC,461,-1.25,-194.7,41.0,-8.6,70,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3881
$GC,604,-1.25,-194.7,53.5,-7.7,95,610,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3882
$GC,949,-1.25,-194.7,85.6,-9.5,156,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3882
$GC,1294,-1.25,-194.7,120.3,-10.1,217,1301,0.00,2.78,0.00,0.000,4,0.000,0.100,2672,818,3882
$GC,1331,-1.25,-194.7,124.1,-10.1,223,1338,0.00,2.70,0.00,0.000,6,0.000,0.086,2672,2244,3882
$GC,1677,-1.25,-194.7,157.0,-8.7,284,1684,0.00,2.72,0.00,0.000,4,0.000,0.103,2671,3648,3882
$GC,1702,-1.25,-194.7,159.4,-9.3,288,1710,0.00,2.65,0.00,0.000,6,0.000,0.084,2672,2244,3882
$GC,2049,-1.25,-194.7,188.2,-8.3,349,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3882
$GC,2393,-1.25,-194.7,218.1,-9.2,410,2401,0.00,2.78,0.00,0.000,4,0.000,0.107,2671,826,3882
$GC,2425,-1.25,-194.7,221.0,-9.8,415,2432,0.00,2.72,0.00,0.000,6,0.000,0.091,2672,2248,3882
$GC,2771,-1.25,-194.7,253.3,-8.9,476,2778,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2248,3882
$GC,3116,-1.25,-194.7,284.1,-9.0,537,3123,0.00,2.80,0.00,0.000,4,0.000,0.107,2672,823,3882
$GC,3143,-1.25,-194.7,286.5,-9.0,541,3150,0.00,2.72,0.00,0.000,6,0.000,0.092,2672,2246,3882
$GC,3487,-1.25,-194.7,317.5,-9.3,602,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2246,3881
$GC,3833,-1.25,-194.7,347.5,-8.9,663,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2247,3881
$GC,4163,-1.25,-194.7,376.5,-8.7,696,4167,0.00,2.83,0.00,0.000,4,0.000,0.111,2671,823,3881
$GC,4214,-1.25,-194.7,381.4,-9.4,700,4218,0.00,2.72,0.00,0.000,6,0.000,0.094,2672,2237,3881
$GC,4541,-1.25,-194.7,410.6,-9.2,730,4545,0.00,2.75,0.00,0.000,4,0.000,0.108,2672,3645,3881
$GC,4570,-1.25,-194.7,413.4,-9.2,732,4574,0.00,2.70,0.00,0.000,6,0.000,0.089,2672,2225,3881
$GC,4897,-1.25,-194.7,442.6,-9.1,762,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3881
$GC,5213,-1.25,-194.7,471.7,-9.1,792,5217,0.00,2.78,0.00,0.000,4,0.000,0.115,2672,824,3880
$GC,5241,-1.25,-194.7,474.4,-9.4,794,5246,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2231,3880
$GC,5569,-1.25,-194.7,503.6,-8.8,824,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3880
$GC,5895,-1.25,-194.7,532.0,-8.8,855,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3880
$GC,6214,-1.25,-194.7,559.5,-8.7,885,6218,0.00,2.80,0.00,0.000,4,0.000,0.114,2672,822,3880
$GC,6247,-1.25,-194.7,562.5,-9.1,887,6254,0.00,2.70,0.00,0.000,6,0.000,0.096,2672,2231,3880
$GC,6574,-1.25,-194.7,588.7,-7.7,918,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3880
$GC,6905,-1.25,-194.7,614.7,-8.1,941,6910,0.00,2.80,0.00,0.000,4,0.000,0.115,2672,824,3879
$GC,6938,-1.25,-194.7,617.7,-8.6,942,6946,0.00,2.70,0.00,0.000,6,0.000,0.100,2672,2226,3879
$GC,7255,-1.25,-194.7,642.7,-7.9,958,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3879
$GC,7564,-1.25,-194.7,666.3,-7.6,973,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3879
$GC,7873,-1.25,-194.7,688.7,-6.9,988,7877,0.00,2.83,0.00,0.000,4,0.000,0.120,2672,823,3878
$GC,7906,-1.25,-194.7,691.2,-7.8,989,7913,0.00,2.75,0.00,0.000,6,0.000,0.104,2671,2230,3879
$GC,8222,-1.25,-194.7,714.4,-7.5,1005,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3878
$GC,8531,-1.25,-194.7,739.4,-8.1,1020,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3878
$GC,8841,-1.25,-194.7,764.5,-8.1,1035,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3878
$GC,9150,-1.25,-194.7,790.0,-8.7,1050,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3877
$GC,9459,-1.25,-194.7,817.2,-8.6,1065,9464,0.00,2.88,0.00,0.000,4,0.000,0.128,2672,825,3877
$GC,9480,-1.25,-194.7,819.1,-9.2,1066,9485,0.00,2.75,0.00,0.000,6,0.000,0.107,2672,2224,3877
$GC,9802,-1.25,-194.7,848.4,-9.0,1082,9807,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,824,3877
$GC,9830,-1.25,-194.7,851.1,-9.5,1083,9834,0.00,2.75,0.00,0.000,6,0.000,0.109,2671,2221,3877
$GC,10146,-1.25,-194.7,880.9,-9.7,1098,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3876
$GC,10455,-1.25,-194.7,909.7,-9.0,1113,10456,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3876
$GC,10764,-1.25,-194.7,939.0,-9.4,1128,10765,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3876
$GC,11074,-1.25,-194.7,968.8,-10.1,1143,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3876
$STATE,11318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11318,begin apogee
$GC,11324,-0.35,0.0,990.9,8.3,1155,11495,1.02,0.00,167.40,1.420,6,0.100,0.000,2879,2332,3085
$STATE,11496,end apogee,CONTROL_FINISHED_OK
$STATE,11496,begin climb
$GC,11499,1.29,194.7,996.9,0.0,1163,11668,1.62,0.00,165.18,1.384,6,0.065,0.000,3244,2332,2291
$GC,11977,1.19,194.7,949.2,12.7,1187,11983,0.12,2.95,0.00,0.000,4,0.118,0.132,3223,920,2289
$GC,12011,1.14,194.7,944.5,11.7,1188,12018,0.00,2.85,0.00,0.000,6,0.000,0.114,3223,2335,2289
$GC,12327,1.08,194.7,909.0,11.1,1204,12329,0.15,0.00,0.00,0.000,6,0.113,0.000,3196,2335,2288
$GC,12637,1.08,194.7,877.7,10.2,1219,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2335,2288
$GC,12945,1.08,194.7,846.4,10.1,1234,12946,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2336,2287
$GC,13255,1.11,221.6,818.1,9.1,1249,13281,0.00,0.00,24.33,1.287,6,0.000,0.000,3196,2335,2181
$GC,13584,1.11,221.6,784.2,10.6,1265,13588,0.00,2.88,0.00,0.000,4,0.000,0.122,3195,919,2179
$GC,13627,1.11,221.6,779.3,11.0,1267,13632,0.00,2.78,0.00,0.000,6,0.000,0.108,3195,2325,2179
$GC,13950,1.12,222.7,746.8,10.0,1283,13954,0.00,2.97,0.00,0.000,4,0.000,0.133,3196,3738,2178
$GC,13990,1.07,222.7,742.4,11.4,1285,13995,0.00,2.80,0.00,0.000,6,0.000,0.100,3196,2324,2178
$GC,14318,1.07,222.7,708.6,10.5,1301,14319,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2325,2178
$GC,14627,1.07,222.7,676.8,10.1,1316,14628,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2325,2178
$GC,14936,1.09,232.5,646.5,9.7,1331,14948,0.00,0.00,10.55,1.157,6,0.000,0.000,3196,2325,2137
$GC,15244,1.09,235.7,616.7,9.9,1346,15254,0.00,2.85,4.47,0.851,4,0.000,0.119,3196,917,2124
$GC,15299,1.10,245.9,611.0,9.6,1348,15315,0.00,2.75,10.68,1.107,6,0.000,0.098,3196,2329,2081
$GC,15634,1.10,246.6,578.7,10.0,1374,15639,0.00,2.88,0.00,0.000,4,0.000,0.119,3196,3738,2080
$GC,15677,1.10,246.6,573.8,10.9,1377,15685,0.00,2.75,0.00,0.000,6,0.000,0.094,3195,2327,2080
$GC,16006,1.12,260.6,541.8,9.5,1408,16030,0.00,2.90,13.95,1.098,4,0.000,0.114,3196,917,2021
$GC,16054,1.12,260.6,536.6,11.2,1412,16059,0.00,2.78,0.00,0.000,6,0.000,0.098,3195,2334,2021
$GC,16381,1.12,260.6,503.0,10.4,1442,16382,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2335,2020
$GC,16700,1.13,264.9,471.3,9.9,1472,16713,0.00,2.83,5.20,0.857,4,0.000,0.110,3196,918,2005
$GC,16760,1.13,266.7,465.3,9.9,1477,16764,0.00,2.72,0.00,0.000,6,0.000,0.097,3195,2323,2004
$GC,17087,1.18,308.2,435.8,8.6,1507,17130,0.00,0.00,38.97,1.036,6,0.000,0.000,3196,2323,1827
$GC,17448,1.23,349.5,403.5,8.6,1541,17489,0.15,0.00,36.28,1.003,6,0.060,0.000,3234,2323,1659
$GC,17806,1.23,349.5,361.8,12.3,1575,17810,0.00,2.78,0.00,0.000,4,0.000,0.107,3234,918,1654
$GC,17845,1.23,349.5,356.7,12.3,1578,17850,0.00,2.70,0.00,0.000,6,0.000,0.094,3235,2318,1654
$GC,18185,1.23,349.5,314.2,14.3,1633,18192,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2319,1653
$GC,18529,1.23,349.5,272.4,12.1,1694,18537,0.00,2.75,0.00,0.000,4,0.000,0.105,3235,918,1653
$GC,18561,1.23,349.5,268.4,13.6,1699,18568,0.00,2.67,0.00,0.000,6,0.000,0.094,3235,2312,1652
$GC,18906,1.23,349.5,226.5,11.5,1760,18913,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2312,1652
$GC,19251,1.23,349.5,185.6,12.2,1821,19257,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2312,1652
$GC,19595,1.23,349.5,142.5,11.7,1882,19603,0.00,2.72,0.00,0.000,4,0.000,0.102,3235,914,1652
$GC,19632,1.23,349.5,137.8,13.3,1888,19639,0.00,2.67,0.00,0.000,6,0.000,0.091,3235,2314,1652
$GC,19979,1.23,349.5,94.2,12.4,1949,19986,0.00,2.83,0.00,0.000,4,0.000,0.106,3235,3737,1651
$GC,20004,1.23,349.5,90.5,13.2,1953,20012,0.00,2.75,0.00,0.000,6,0.000,0.086,3235,2304,1651
$GC,20351,1.23,349.5,45.2,12.6,2014,20357,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2304,1651
$GC,20493,1.23,349.5,28.4,10.7,2039,20499,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2304,1651
$GC,20636,1.23,349.5,12.3,11.7,2064,20642,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,2304,1651
$STATE,20720,end climb,SURFACE_DEPTH_REACHED
$STATE,20720,begin surface coast
$FINISH,0.3,1.027491
$STATE,20738,end surface coast,CONTROL_FINISHED_OK
$STATE,20738,begin surface
$SM_CCo,20820,0.00,0.000,0,0,1648,352.50
$SM_GC,0.84,11.55,0.00,0.00,0.041,0.000,0.000,587,2233,1648,-10.85,-0.06,352.50
$IRIDIUM_FIX,6135.28,-2412.62,100997,101007
$TT8_MAMPS,0.02301
$HUMID,1712
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.80
$XPDR_PINGS,584
$24V_AH,23.1,67.609
$10V_AH,10.6,55.831
$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,27.000,133.475,477.000,0.000,0.000,58.032,69.560,363.179,146.000,0.000,0.000,15.674,4185.362,12056.177,743.465,3623.981,905.641,0.000,2312.725,0.000,3617.215,0.000,0.468
$DEVICE_MAMPS,184.847,143.429,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1442.570,1593.547,1843.905,577.160,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123071,2082
$CAP_FILE_SIZE,184292,0
$CFSIZE,260165632,225726464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.112,115.1,1
$GPS,160608,161208,6155.985,-2537.426,35,1.3,35,-18.5