version: 66.03
glider: 140
mission: 5
dive: 318
start: 6 17 108 4 30 15
data:
$ID,140
$MISSION,5
$DIVE,318
$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,-19063.977
$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,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
$GPS1,042107,6201.169,-2537.939,31,1.1,31,-18.6
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-57.2
$GPS2,042956,6201.190,-2538.034,13,1.1,18,-18.6
$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,340.4,7119,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.29,-194.7,0.0,0.0,0,98,0.00,0.00,-72.97,0.000,2,0.000,0.000,582,2230,3506
$GC,101,-1.29,-194.7,3.3,-5.6,10,132,12.35,2.78,-8.05,0.000,4,0.183,0.107,2672,3643,3881
$GC,174,-1.29,-194.7,14.6,-9.9,21,181,0.00,2.62,0.00,0.000,6,0.000,0.080,2672,2234,3881
$GC,319,-1.29,-194.7,29.0,-10.8,46,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3882
$GC,463,-1.29,-194.7,42.8,-8.9,71,470,0.00,2.72,0.00,0.000,4,0.000,0.097,2672,3646,3882
$GC,489,-1.29,-194.7,45.3,-9.1,75,496,0.00,2.62,0.00,0.000,6,0.000,0.079,2672,2236,3882
$GC,633,-1.29,-194.7,58.2,-9.5,100,640,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3882
$GC,978,-1.29,-194.7,91.0,-9.6,161,985,0.00,2.72,0.00,0.000,4,0.000,0.100,2672,824,3882
$GC,1038,-1.29,-194.7,96.7,-9.7,171,1046,0.00,2.70,0.00,0.000,6,0.000,0.087,2672,2245,3883
$GC,1384,-1.29,-194.7,128.4,-8.8,232,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3883
$GC,1729,-1.29,-194.7,158.0,-8.9,293,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2245,3883
$GC,2073,-1.29,-194.7,187.9,-8.3,354,2080,0.00,2.78,0.00,0.000,4,0.000,0.105,2672,828,3883
$GC,2110,-1.29,-194.7,191.1,-8.8,360,2117,0.00,2.70,0.00,0.000,6,0.000,0.092,2672,2237,3883
$GC,2457,-1.29,-194.7,220.4,-8.3,421,2464,0.00,2.78,0.00,0.000,4,0.000,0.107,2672,824,3883
$GC,2487,-1.29,-194.7,223.3,-9.1,426,2495,0.00,2.67,0.00,0.000,6,0.000,0.092,2672,2226,3883
$GC,2834,-1.29,-194.7,254.3,-9.2,487,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3883
$GC,3179,-1.29,-194.7,285.8,-9.4,548,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3883
$GC,3523,-1.29,-194.7,319.1,-9.9,609,3531,0.00,2.78,0.00,0.000,4,0.000,0.110,2672,828,3882
$GC,3560,-1.29,-194.7,322.9,-10.3,615,3567,0.00,2.70,0.00,0.000,6,0.000,0.097,2672,2222,3883
$GC,3902,-1.29,-194.7,356.2,-9.3,670,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3883
$GC,4222,-1.29,-194.7,384.2,-8.4,700,4224,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3882
$GC,4539,-1.29,-194.7,410.5,-8.4,730,4544,0.00,2.78,0.00,0.000,4,0.000,0.112,2672,828,3882
$GC,4572,-1.29,-194.7,413.5,-8.7,732,4580,0.00,2.70,0.00,0.000,6,0.000,0.098,2672,2225,3882
$GC,4900,-1.29,-194.7,440.1,-8.3,763,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3882
$GC,5226,-1.29,-194.7,467.5,-8.4,794,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3882
$GC,5547,-1.29,-194.7,494.8,-8.4,824,5553,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3881
$GC,5872,-1.29,-194.7,522.0,-8.5,855,5877,0.00,2.80,0.00,0.000,4,0.000,0.115,2672,821,3881
$GC,5913,-1.29,-194.7,525.5,-8.9,858,5918,0.00,2.70,0.00,0.000,6,0.000,0.100,2672,2215,3881
$GC,6240,-1.29,-194.7,553.1,-8.5,888,6241,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3881
$GC,6557,-1.29,-194.7,580.5,-8.9,918,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3881
$GC,6873,-1.29,-194.7,607.6,-8.4,944,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3881
$GC,7183,-1.29,-194.7,633.7,-8.2,959,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3881
$GC,7494,-1.29,-194.7,659.3,-8.3,974,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3880
$GC,7801,-1.29,-194.7,683.8,-7.7,989,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3880
$GC,8112,-1.29,-194.7,707.9,-8.1,1004,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3880
$GC,8420,-1.29,-194.7,734.0,-8.6,1019,8425,0.00,2.83,0.00,0.000,4,0.000,0.126,2672,830,3880
$GC,8461,-1.29,-194.7,737.6,-8.9,1021,8465,0.00,2.72,0.00,0.000,6,0.000,0.107,2672,2216,3880
$GC,8789,-1.29,-194.7,764.4,-8.3,1037,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3879
$GC,9098,-1.29,-194.7,790.2,-8.3,1052,9103,0.00,2.85,0.00,0.000,4,0.000,0.127,2672,823,3879
$GC,9126,-1.29,-194.7,792.9,-9.2,1053,9130,0.00,2.72,0.00,0.000,6,0.000,0.108,2672,2206,3879
$GC,9442,-1.29,-194.7,819.7,-8.3,1068,9444,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3879
$GC,9751,-1.29,-194.7,844.6,-8.1,1083,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3879
$GC,10060,-1.29,-194.7,869.9,-8.3,1098,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2207,3878
$GC,10371,-1.29,-194.7,897.0,-9.2,1113,10372,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2207,3878
$GC,10679,-1.29,-194.7,925.4,-9.8,1128,10684,0.00,2.83,0.00,0.000,4,0.000,0.130,2672,831,3878
$GC,10728,-1.29,-194.7,931.2,-11.0,1130,10733,0.00,2.70,0.00,0.000,6,0.000,0.110,2672,2197,3877
$GC,11045,-1.29,-194.7,964.1,-10.3,1145,11049,0.00,2.92,0.00,0.000,4,0.000,0.124,2672,3647,3877
$GC,11066,-1.29,-194.7,966.5,-10.0,1146,11071,0.00,2.83,0.00,0.000,6,0.000,0.107,2672,2204,3877
$STATE,11322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11323,begin apogee
$GC,11329,-0.35,0.0,990.4,8.2,1159,11505,1.02,0.00,168.60,1.428,6,0.101,0.000,2878,2329,3085
$STATE,11506,end apogee,CONTROL_FINISHED_OK
$STATE,11506,begin climb
$GC,11509,1.29,194.7,995.7,0.0,1168,11684,1.67,3.05,165.65,1.391,4,0.060,0.137,3245,918,2291
$GC,11723,1.22,203.8,980.9,9.7,1178,11738,0.00,2.85,9.73,1.206,6,0.000,0.112,3245,2332,2253
$GC,12067,1.12,203.8,942.2,11.1,1195,12069,0.20,0.00,0.00,0.000,6,0.110,0.000,3208,2332,2251
$GC,12376,1.08,203.8,911.2,10.1,1210,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2332,2251
$GC,12687,1.04,203.8,878.7,10.0,1225,12693,0.12,2.92,0.00,0.000,4,0.115,0.129,3186,918,2250
$GC,12732,1.04,203.8,874.0,10.6,1227,12736,0.00,2.78,0.00,0.000,6,0.000,0.107,3186,2320,2250
$GC,13055,1.07,227.2,844.1,9.2,1243,13078,0.00,0.00,21.52,1.299,6,0.000,0.000,3186,2321,2158
$GC,13383,1.09,242.9,811.9,9.5,1259,13402,0.00,0.00,15.18,1.251,6,0.000,0.000,3186,2321,2093
$GC,13712,1.10,254.0,779.8,9.6,1275,13725,0.00,0.00,11.10,1.207,6,0.000,0.000,3186,2321,2049
$GC,14021,1.14,287.9,750.8,8.8,1290,14055,0.10,0.00,31.15,1.251,6,0.073,0.000,3211,2320,1912
$GC,14350,1.14,287.9,716.9,10.0,1306,14354,0.00,2.83,0.00,0.000,4,0.000,0.114,3212,914,1908
$GC,14389,1.14,287.9,712.6,11.5,1308,14394,0.00,2.78,0.00,0.000,6,0.000,0.102,3212,2324,1908
$GC,14717,1.15,291.0,679.4,9.9,1324,14721,0.00,2.92,0.00,0.000,4,0.000,0.126,3212,3737,1906
$GC,14749,1.15,298.1,675.7,9.8,1325,14765,0.00,2.78,10.43,1.157,6,0.000,0.095,3211,2318,1868
$GC,15087,1.15,298.1,640.1,11.0,1342,15092,0.00,2.83,0.00,0.000,4,0.000,0.118,3212,915,1867
$GC,15121,1.15,298.1,636.2,11.0,1343,15128,0.00,2.75,0.00,0.000,6,0.000,0.100,3212,2325,1866
$GC,15437,1.15,298.1,602.0,11.5,1359,15438,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2325,1866
$GC,15755,1.15,298.1,564.3,12.1,1388,15759,0.00,2.83,0.00,0.000,4,0.000,0.114,3212,913,1865
$GC,15787,1.15,298.1,559.9,13.2,1390,15795,0.00,2.72,0.00,0.000,6,0.000,0.099,3211,2314,1865
$GC,16114,1.15,298.1,520.3,11.9,1421,16115,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2315,1865
$GC,16431,1.15,298.1,483.5,12.1,1451,16432,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2315,1865
$GC,16749,1.15,298.1,445.1,11.8,1481,16750,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2315,1865
$GC,17068,1.15,298.1,408.2,11.0,1511,17072,0.00,2.75,0.00,0.000,4,0.000,0.109,3211,916,1865
$GC,17107,1.15,298.1,403.6,11.8,1514,17112,0.00,2.70,0.00,0.000,6,0.000,0.096,3212,2313,1865
$GC,17432,1.15,298.1,367.6,11.3,1544,17433,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2313,1865
$GC,17759,1.15,298.1,331.9,10.7,1588,17765,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2314,1865
$GC,18104,1.15,298.1,297.2,10.2,1649,18111,0.00,2.75,0.00,0.000,4,0.000,0.107,3211,915,1866
$GC,18145,1.15,298.1,293.0,10.1,1656,18153,0.00,2.67,0.00,0.000,6,0.000,0.093,3212,2311,1866
$GC,18491,1.15,298.1,258.8,10.4,1717,18497,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2312,1866
$GC,18835,1.15,298.1,223.6,11.1,1778,18842,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2312,1866
$GC,19181,1.15,298.1,186.9,11.0,1839,19187,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2312,1866
$GC,19524,1.15,298.1,148.6,10.9,1900,19530,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2312,1866
$GC,19869,1.15,298.1,111.2,10.6,1961,19876,0.00,2.72,0.00,0.000,4,0.000,0.102,3212,911,1867
$GC,19905,1.15,298.1,107.1,10.4,1967,19912,0.00,2.65,0.00,0.000,6,0.000,0.090,3212,2304,1867
$GC,20250,1.15,298.1,69.3,11.1,2028,20257,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2304,1867
$GC,20595,1.15,298.1,32.8,10.4,2089,20601,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2304,1867
$GC,20738,1.16,300.1,18.4,9.9,2114,20744,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2304,1867
$GC,20881,1.16,304.1,4.0,9.9,2139,20890,0.00,0.00,6.32,0.681,6,0.000,0.000,3212,2304,1845
$STATE,20900,end climb,SURFACE_DEPTH_REACHED
$STATE,20900,begin surface coast
$FINISH,0.3,1.027479
$STATE,20918,end surface coast,CONTROL_FINISHED_OK
$STATE,20918,begin surface
$SM_CCo,21000,0.00,0.000,0,0,1841,304.91
$SM_GC,0.90,11.43,0.00,0.00,0.038,0.000,0.000,590,2221,1841,-10.84,-0.40,304.91
$IRIDIUM_FIX,6135.28,-2534.50,100997,222242
$TT8_MAMPS,0.02301
$HUMID,1710
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.60
$XPDR_PINGS,654
$24V_AH,23.0,68.258
$10V_AH,10.6,56.380
$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,26.900,116.675,439.675,0.000,0.000,31.155,31.554,304.155,163.500,0.000,0.000,18.483,4366.650,11947.342,675.453,3744.656,772.449,0.000,2280.494,0.000,3735.405,0.000,0.467
$DEVICE_MAMPS,183.313,136.526,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1487.868,1634.554,1903.820,609.667,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126402,2145
$CAP_FILE_SIZE,183581,0
$CFSIZE,260165632,225431552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.045,100.5,1
$GPS,170608,102132,6203.537,-2541.109,41,1.9,41,-18.6