version: 66.03
glider: 140
mission: 5
dive: 316
start: 6 16 108 16 20 40
data:
$ID,140
$MISSION,5
$DIVE,316
$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,-19032.67
$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,10
$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
$GPS1,161208,6155.985,-2537.426,35,1.3,35,-18.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.2
$GPS2,162021,6155.973,-2537.463,12,1.5,12,-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,0.7,16023,-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,-194.7,0.0,0.0,0,105,0.00,0.00,-81.62,0.000,2,0.000,0.000,587,2232,3544
$GC,108,-1.29,-194.7,3.3,-6.0,11,139,12.32,2.78,-7.07,0.000,4,0.185,0.106,2671,822,3881
$GC,169,-1.29,-194.7,14.4,-11.0,20,177,0.00,2.67,0.00,0.000,6,0.000,0.082,2671,2237,3882
$GC,312,-1.29,-194.7,29.8,-10.7,45,319,0.00,2.70,0.00,0.000,4,0.000,0.097,2672,3645,3882
$GC,360,-1.29,-194.7,35.2,-11.3,53,368,0.00,2.62,0.00,0.000,6,0.000,0.080,2672,2241,3882
$GC,507,-1.29,-194.7,50.4,-10.0,78,514,0.00,2.72,0.00,0.000,4,0.000,0.095,2672,817,3882
$GC,532,-1.29,-194.7,53.1,-9.7,82,540,0.00,2.72,0.00,0.000,6,0.000,0.083,2672,2262,3882
$GC,878,-1.29,-194.7,85.4,-9.3,143,885,0.00,2.80,0.00,0.000,4,0.000,0.097,2672,818,3883
$GC,903,-1.29,-194.7,88.1,-10.1,147,910,0.00,2.72,0.00,0.000,6,0.000,0.086,2672,2254,3883
$GC,1249,-1.29,-194.7,120.5,-9.7,208,1256,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2255,3883
$GC,1593,-1.29,-194.7,153.6,-9.3,269,1600,0.00,2.80,0.00,0.000,4,0.000,0.104,2672,821,3883
$GC,1630,-1.29,-194.7,157.2,-9.9,275,1637,0.00,2.72,0.00,0.000,6,0.000,0.091,2672,2248,3883
$GC,1975,-1.29,-194.7,188.2,-8.7,336,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2248,3883
$GC,2320,-1.29,-194.7,218.3,-9.1,397,2327,0.00,2.78,0.00,0.000,4,0.000,0.107,2672,827,3883
$GC,2362,-1.29,-194.7,222.2,-9.0,404,2369,0.00,2.70,0.00,0.000,6,0.000,0.093,2672,2237,3883
$GC,2708,-1.29,-194.7,253.4,-9.4,465,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2237,3883
$GC,3053,-1.29,-194.7,285.1,-9.5,526,3060,0.00,2.80,0.00,0.000,4,0.000,0.109,2672,825,3883
$GC,3084,-1.29,-194.7,288.1,-9.8,531,3091,0.00,2.72,0.00,0.000,6,0.000,0.096,2672,2235,3883
$GC,3430,-1.29,-194.7,321.3,-10.0,592,3438,0.00,2.78,0.00,0.000,4,0.000,0.109,2672,828,3883
$GC,3456,-1.29,-194.7,324.0,-9.8,596,3463,0.00,2.70,0.00,0.000,6,0.000,0.095,2672,2231,3883
$GC,3797,-1.29,-194.7,357.5,-9.5,650,3802,0.00,2.80,0.00,0.000,4,0.000,0.111,2672,820,3883
$GC,3826,-1.29,-194.7,360.4,-10.4,652,3831,0.00,2.72,0.00,0.000,6,0.000,0.096,2672,2231,3883
$GC,4154,-1.29,-194.7,392.2,-9.5,682,4155,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3882
$GC,4469,-1.29,-194.7,422.2,-9.4,712,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3882
$GC,4790,-1.29,-194.7,452.3,-9.6,742,4795,0.00,2.80,0.00,0.000,4,0.000,0.114,2672,823,3882
$GC,4818,-1.29,-194.7,455.3,-10.2,744,4822,0.00,2.70,0.00,0.000,6,0.000,0.097,2672,2220,3881
$GC,5145,-1.29,-194.7,485.6,-8.9,774,5146,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3881
$GC,5464,-1.29,-194.7,513.9,-8.8,804,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3881
$GC,5790,-1.29,-194.7,543.0,-9.1,835,5794,0.00,2.78,0.00,0.000,4,0.000,0.116,2672,827,3881
$GC,5842,-1.29,-194.7,547.9,-9.4,839,5846,0.00,2.67,0.00,0.000,6,0.000,0.100,2672,2214,3881
$GC,6169,-1.29,-194.7,577.3,-8.8,869,6173,0.00,2.83,0.00,0.000,4,0.000,0.117,2672,3645,3881
$GC,6191,-1.29,-194.7,579.6,-9.2,870,6199,0.00,2.72,0.00,0.000,6,0.000,0.095,2672,2217,3881
$GC,6517,-1.29,-194.7,607.7,-8.5,897,6518,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2217,3881
$GC,6825,-1.29,-194.7,634.8,-8.7,912,6829,0.00,2.83,0.00,0.000,4,0.000,0.123,2672,817,3881
$GC,6865,-1.29,-194.7,638.7,-9.9,914,6869,0.00,2.72,0.00,0.000,6,0.000,0.102,2672,2214,3881
$GC,7192,-1.29,-194.7,669.2,-9.5,930,7193,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3880
$GC,7502,-1.29,-194.7,698.5,-9.3,945,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3880
$GC,7812,-1.29,-194.7,726.7,-9.2,960,7817,0.00,2.83,0.00,0.000,4,0.000,0.124,2672,820,3880
$GC,7856,-1.29,-194.7,731.2,-10.0,962,7860,0.00,2.72,0.00,0.000,6,0.000,0.106,2672,2207,3880
$GC,8179,-1.29,-194.7,761.6,-9.7,978,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2208,3879
$GC,8487,-1.29,-194.7,789.8,-9.0,993,8492,0.00,2.95,0.00,0.000,4,0.000,0.131,2672,3646,3879
$GC,8549,-1.29,-194.7,795.9,-10.3,996,8553,0.00,2.80,0.00,0.000,6,0.000,0.101,2672,2205,3879
$GC,8876,-1.29,-194.7,824.2,-6.1,1012,8881,0.00,2.85,0.00,0.000,4,0.000,0.133,2671,817,3879
$GC,8904,-1.29,-194.7,825.8,-6.0,1013,8908,0.00,2.72,0.00,0.000,6,0.000,0.108,2672,2202,3879
$GC,9220,-1.29,-194.7,848.2,-9.3,1028,9221,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3879
$GC,9530,-1.29,-194.7,873.4,-7.9,1043,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,3878
$GC,9838,-1.29,-194.7,896.5,-7.6,1058,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,3878
$GC,10148,-1.29,-194.7,919.4,-7.7,1073,10149,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,3877
$GC,10457,-1.29,-194.7,944.3,-8.4,1088,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,3877
$GC,10766,-1.29,-194.7,970.2,-7.9,1103,10771,0.00,3.00,0.00,0.000,4,0.000,0.137,2672,3650,3877
$GC,10793,-1.29,-194.7,972.4,-9.0,1104,10798,0.00,2.85,0.00,0.000,6,0.000,0.107,2672,2205,3877
$STATE,11044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11044,begin apogee
$GC,11051,-0.35,0.0,990.8,7.1,1116,11227,1.02,0.00,167.95,1.431,6,0.096,0.000,2880,2338,3085
$STATE,11229,end apogee,CONTROL_FINISHED_OK
$STATE,11229,begin climb
$GC,11231,1.29,194.7,996.2,0.0,1125,11408,1.62,3.08,164.52,1.391,4,0.061,0.137,3238,919,2290
$GC,11436,1.21,194.7,979.7,12.6,1134,11441,0.00,2.88,0.00,0.000,6,0.000,0.114,3238,2334,2289
$GC,11757,1.13,194.7,943.5,10.8,1150,11763,0.17,3.00,0.00,0.000,4,0.110,0.137,3204,3737,2288
$GC,11792,1.07,202.1,939.8,9.7,1151,11807,0.00,2.85,7.75,1.168,6,0.000,0.108,3204,2331,2261
$GC,12129,1.07,202.1,903.9,10.4,1168,12134,0.00,2.95,0.00,0.000,4,0.000,0.135,3203,919,2260
$GC,12184,1.07,202.1,897.7,10.8,1170,12193,0.00,2.83,0.00,0.000,6,0.000,0.112,3204,2333,2260
$GC,12501,1.08,211.6,866.4,9.7,1186,12514,0.00,0.00,9.82,1.232,6,0.000,0.000,3204,2333,2222
$GC,12834,1.08,211.6,832.3,10.5,1202,12835,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2333,2221
$GC,13142,1.10,228.3,802.2,9.4,1217,13162,0.00,0.00,16.10,1.262,6,0.000,0.000,3204,2333,2154
$GC,13471,1.10,228.3,768.1,10.5,1233,13476,0.00,2.88,0.00,0.000,4,0.000,0.121,3204,920,2153
$GC,13504,1.10,228.3,764.4,10.8,1234,13511,0.00,2.78,0.00,0.000,6,0.000,0.107,3204,2321,2152
$GC,13820,1.10,228.3,728.9,11.6,1250,13821,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2322,2152
$GC,14130,1.10,228.3,692.4,11.7,1265,14131,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2322,2152
$GC,14438,1.10,228.3,656.6,11.6,1280,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2322,2152
$GC,14748,1.10,228.3,622.0,11.2,1295,14749,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2322,2152
$GC,15061,1.10,228.3,588.3,10.2,1315,15062,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2322,2152
$GC,15380,1.11,233.8,556.2,9.8,1345,15393,0.00,2.83,6.20,0.976,4,0.000,0.111,3204,918,2132
$GC,15444,1.11,233.8,549.4,10.1,1350,15451,0.00,2.72,0.00,0.000,6,0.000,0.100,3204,2318,2131
$GC,15771,1.13,254.2,518.9,9.3,1381,15796,0.00,3.00,18.77,1.099,4,0.000,0.118,3204,3736,2048
$GC,15820,1.14,261.6,513.8,9.7,1385,15833,0.00,2.83,8.07,0.975,6,0.000,0.093,3204,2304,2018
$GC,16150,1.14,261.6,480.5,10.4,1416,16155,0.00,2.75,0.00,0.000,4,0.000,0.112,3204,913,2016
$GC,16192,1.14,261.6,476.1,10.8,1419,16197,0.00,2.72,0.00,0.000,6,0.000,0.100,3204,2311,2016
$GC,16519,1.14,261.6,440.7,10.7,1449,16524,0.00,2.85,0.00,0.000,4,0.000,0.110,3204,3736,2015
$GC,16581,1.14,261.6,433.1,11.4,1454,16586,0.00,2.78,0.00,0.000,6,0.000,0.091,3204,2311,2015
$GC,16908,1.14,261.6,397.8,10.3,1484,16909,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2310,2015
$GC,17224,1.14,261.6,364.0,10.3,1514,17225,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2310,2015
$GC,17554,1.14,264.8,330.4,9.9,1561,17562,0.00,0.00,4.18,0.702,6,0.000,0.000,3204,2311,2005
$GC,17899,1.14,264.8,295.8,10.4,1622,17907,0.00,2.88,0.00,0.000,4,0.000,0.111,3204,3737,2004
$GC,17931,1.15,271.9,292.4,9.8,1627,17945,0.00,2.75,7.55,0.887,6,0.000,0.088,3204,2315,1976
$GC,18284,1.15,271.9,255.5,10.7,1689,18290,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2316,1975
$GC,18628,1.15,271.9,218.3,10.7,1750,18635,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2316,1976
$GC,18973,1.15,271.9,180.2,11.5,1811,18980,0.00,2.85,0.00,0.000,4,0.000,0.107,3204,3737,1975
$GC,19021,1.15,271.9,174.4,11.2,1819,19028,0.00,2.72,0.00,0.000,6,0.000,0.087,3204,2325,1975
$GC,19367,1.15,271.9,136.1,10.4,1880,19374,0.00,2.75,0.00,0.000,4,0.000,0.105,3204,912,1976
$GC,19398,1.15,271.9,132.7,10.9,1885,19405,0.00,2.70,0.00,0.000,6,0.000,0.090,3204,2327,1976
$GC,19743,1.15,271.9,97.2,10.3,1946,19751,0.00,2.78,0.00,0.000,4,0.000,0.105,3204,3737,1975
$GC,19780,1.15,271.9,93.2,11.1,1952,19787,0.00,2.72,0.00,0.000,6,0.000,0.086,3204,2320,1975
$GC,20126,1.16,277.6,55.9,9.8,2013,20139,0.00,0.00,6.85,0.742,6,0.000,0.000,3204,2320,1951
$GC,20477,1.18,295.8,20.3,9.4,2075,20498,0.00,0.00,16.50,0.772,6,0.000,0.000,3204,2320,1879
$GC,20635,1.18,295.8,4.3,10.1,2102,20643,0.00,2.80,0.00,0.000,4,0.000,0.103,3204,3737,1876
$STATE,20653,end climb,SURFACE_DEPTH_REACHED
$STATE,20653,begin surface coast
$FINISH,0.1,1.027466
$STATE,20671,end surface coast,CONTROL_FINISHED_OK
$STATE,20671,begin surface
$SM_CCo,20756,0.00,0.000,0,0,1873,297.55
$SM_GC,0.92,11.52,0.00,0.00,0.045,0.000,0.000,592,2230,1873,-10.84,-0.14,297.55
$IRIDIUM_FIX,6130.75,-2542.90,100997,101012
$TT8_MAMPS,0.02301
$HUMID,1711
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,579
$24V_AH,23.0,67.810
$10V_AH,10.6,56.011
$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,26.675,167.925,434.275,0.000,0.000,29.352,35.779,272.539,144.750,0.000,0.000,12.909,4282.186,11793.871,672.775,3726.820,751.403,0.000,2316.802,0.000,3715.177,0.000,0.467
$DEVICE_MAMPS,184.847,137.293,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1460.971,1606.180,1860.856,598.563,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126270,2108
$CAP_FILE_SIZE,187559,0
$CFSIZE,260165632,225624064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.049,117.9,1
$GPS,160608,220738,6158.626,-2538.512,26,1.0,26,-18.5