version: 66.03
glider: 140
mission: 5
dive: 322
start: 6 18 108 2 24 28
data:
$ID,140
$MISSION,5
$DIVE,322
$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,-19127.488
$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,15
$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
$GPS1,021601,6158.517,-2546.829,39,1.2,39,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-61.5
$GPS2,022409,6158.452,-2546.802,15,1.2,15,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6137.290,-2640.070
$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,248.7,61111,-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,-81.22,0.000,2,0.000,0.000,588,2223,3558
$GC,108,-1.29,-194.7,3.7,-7.3,11,133,12.32,2.83,-6.47,0.000,4,0.184,0.107,2672,3647,3882
$GC,342,-1.29,-194.7,33.9,-10.9,51,349,0.00,2.62,0.00,0.000,6,0.000,0.077,2672,2235,3883
$GC,484,-1.29,-194.7,50.1,-11.4,76,491,0.00,2.70,0.00,0.000,4,0.000,0.095,2672,821,3883
$GC,538,-1.29,-194.7,56.1,-11.6,85,545,0.00,2.67,0.00,0.000,6,0.000,0.081,2672,2237,3882
$GC,883,-1.29,-194.7,88.4,-9.3,146,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2237,3884
$GC,1228,-1.29,-194.7,123.4,-10.1,207,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2237,3884
$GC,1573,-1.29,-194.7,157.6,-9.7,268,1580,0.00,2.78,0.00,0.000,4,0.000,0.103,2672,822,3884
$GC,1616,-1.29,-194.7,161.8,-9.8,275,1623,0.00,2.70,0.00,0.000,6,0.000,0.090,2672,2234,3884
$GC,1962,-1.29,-194.7,191.5,-8.1,336,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3884
$GC,2307,-1.29,-194.7,219.2,-8.4,397,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3884
$GC,2652,-1.29,-194.7,247.7,-8.6,458,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3884
$GC,2997,-1.29,-194.7,277.2,-8.5,519,3004,0.00,2.80,0.00,0.000,4,0.000,0.110,2672,823,3884
$GC,3034,-1.29,-194.7,280.7,-9.2,525,3041,0.00,2.70,0.00,0.000,6,0.000,0.093,2672,2228,3884
$GC,3380,-1.29,-194.7,312.6,-8.9,586,3387,0.00,2.80,0.00,0.000,4,0.000,0.111,2672,3651,3884
$GC,3417,-1.29,-194.7,316.1,-9.6,592,3425,0.00,2.70,0.00,0.000,6,0.000,0.089,2672,2228,3884
$GC,3764,-1.29,-194.7,347.6,-8.8,653,3771,0.00,2.80,0.00,0.000,4,0.000,0.112,2672,819,3884
$GC,3802,-1.29,-194.7,351.1,-9.4,658,3806,0.00,2.72,0.00,0.000,6,0.000,0.097,2672,2225,3884
$GC,4129,-1.29,-194.7,380.2,-8.9,688,4134,0.00,2.80,0.00,0.000,4,0.000,0.110,2672,3645,3883
$GC,4158,-1.29,-194.7,383.0,-9.4,690,4162,0.00,2.72,0.00,0.000,6,0.000,0.090,2672,2217,3883
$GC,4485,-1.29,-194.7,412.4,-9.1,720,4490,0.00,2.78,0.00,0.000,4,0.000,0.114,2672,819,3883
$GC,4525,-1.29,-194.7,416.2,-8.9,723,4530,0.00,2.70,0.00,0.000,6,0.000,0.097,2672,2223,3882
$GC,4853,-1.29,-194.7,444.6,-8.9,753,4858,0.00,2.80,0.00,0.000,4,0.000,0.113,2672,3646,3882
$GC,4885,-1.29,-194.7,447.5,-9.7,755,4889,0.00,2.72,0.00,0.000,6,0.000,0.092,2672,2220,3883
$GC,5214,-1.29,-194.7,476.0,-8.5,785,5218,0.00,2.78,0.00,0.000,4,0.000,0.115,2672,819,3882
$GC,5254,-1.29,-194.7,479.9,-9.2,788,5259,0.00,2.70,0.00,0.000,6,0.000,0.095,2672,2224,3882
$GC,5581,-1.29,-194.7,508.7,-8.7,818,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3882
$GC,5898,-1.29,-194.7,536.1,-8.5,848,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3881
$GC,6216,-1.29,-194.7,563.6,-9.0,878,6217,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3881
$GC,6535,-1.29,-194.7,593.0,-9.6,908,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3881
$GC,6857,-1.29,-194.7,624.9,-9.6,927,6861,0.00,2.80,0.00,0.000,4,0.000,0.117,2672,823,3881
$GC,6897,-1.29,-194.7,629.0,-10.6,929,6901,0.00,2.72,0.00,0.000,6,0.000,0.100,2672,2224,3881
$GC,7225,-1.29,-194.7,658.8,-9.1,945,7229,0.00,2.85,0.00,0.000,4,0.000,0.121,2672,3645,3881
$GC,7257,-1.29,-194.7,662.1,-9.3,946,7265,0.00,2.72,0.00,0.000,6,0.000,0.095,2672,2220,3881
$GC,7573,-1.29,-194.7,691.3,-9.2,962,7578,0.00,2.80,0.00,0.000,4,0.000,0.120,2672,821,3880
$GC,7607,-1.29,-194.7,694.4,-9.6,963,7614,0.00,2.72,0.00,0.000,6,0.000,0.102,2672,2223,3881
$GC,7923,-1.29,-194.7,721.9,-8.3,979,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3880
$GC,8232,-1.29,-194.7,745.6,-7.3,994,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3880
$GC,8542,-1.29,-194.7,768.5,-7.8,1009,8546,0.00,2.85,0.00,0.000,4,0.000,0.123,2672,816,3880
$GC,8569,-1.29,-194.7,770.8,-8.5,1010,8573,0.00,2.75,0.00,0.000,6,0.000,0.106,2672,2221,3880
$GC,8885,-1.29,-194.7,796.9,-8.7,1025,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3879
$GC,9194,-1.29,-194.7,824.4,-8.8,1040,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3879
$GC,9503,-1.29,-194.7,851.4,-8.4,1055,9505,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3879
$GC,9812,-1.29,-194.7,875.5,-7.7,1070,9817,0.00,2.85,0.00,0.000,4,0.000,0.127,2672,824,3879
$GC,9846,-1.29,-194.7,878.3,-8.0,1071,9853,0.00,2.75,0.00,0.000,6,0.000,0.109,2672,2219,3879
$GC,10162,-1.29,-194.7,904.1,-8.2,1087,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2219,3878
$GC,10471,-1.29,-194.7,928.1,-7.8,1102,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2219,3879
$GC,10784,-1.29,-194.7,953.1,-7.8,1117,10789,0.00,2.95,0.00,0.000,4,0.000,0.135,2672,3647,3878
$GC,10817,-1.29,-194.7,956.1,-8.3,1118,10824,0.00,2.80,0.00,0.000,6,0.000,0.104,2672,2213,3877
$GC,11133,-1.29,-194.7,979.5,-7.1,1134,11134,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2213,3877
$STATE,11274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11274,begin apogee
$GC,11281,-0.35,0.0,990.7,8.1,1141,11457,1.02,0.00,169.25,1.430,6,0.100,0.000,2879,2334,3084
$STATE,11459,end apogee,CONTROL_FINISHED_OK
$STATE,11459,begin climb
$GC,11461,1.29,194.7,998.3,0.0,1150,11636,1.65,3.05,165.77,1.392,4,0.058,0.130,3241,919,2290
$GC,11644,1.20,194.7,987.4,10.8,1159,11648,0.00,2.85,0.00,0.000,6,0.000,0.108,3241,2330,2290
$GC,11971,1.11,194.7,950.4,11.3,1175,11973,0.20,0.00,0.00,0.000,6,0.109,0.000,3205,2330,2288
$GC,12280,1.12,203.4,920.4,9.7,1190,12291,0.00,0.00,9.00,1.213,6,0.000,0.000,3205,2330,2255
$GC,12589,1.13,211.2,890.8,9.7,1205,12600,0.00,0.00,8.50,1.193,6,0.000,0.000,3205,2330,2224
$GC,12898,1.16,233.7,860.9,9.2,1220,12925,0.00,2.97,21.38,1.282,4,0.000,0.124,3204,914,2132
$GC,12942,1.20,268.9,856.8,8.8,1222,12982,0.00,2.80,32.40,1.274,6,0.000,0.104,3204,2325,1988
$GC,13292,1.22,283.6,824.1,9.5,1239,13311,0.00,0.00,14.15,1.233,6,0.000,0.000,3204,2325,1928
$GC,13620,1.22,283.6,789.9,10.7,1255,13625,0.00,2.83,0.00,0.000,4,0.000,0.116,3204,919,1925
$GC,13641,1.22,283.6,787.4,10.4,1256,13646,0.00,2.75,0.00,0.000,6,0.000,0.104,3204,2318,1925
$GC,13964,1.22,283.6,753.5,10.6,1272,13966,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2318,1924
$GC,14273,1.22,283.6,718.4,12.0,1287,14277,0.00,2.80,0.00,0.000,4,0.000,0.115,3204,918,1923
$GC,14300,1.22,283.6,714.7,12.9,1288,14305,0.00,2.72,0.00,0.000,6,0.000,0.101,3205,2315,1923
$GC,14616,1.22,283.6,678.2,10.8,1303,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2315,1923
$GC,14925,1.22,283.6,644.3,11.5,1318,14926,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2315,1922
$GC,15235,1.22,283.6,606.2,12.5,1333,15236,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2315,1922
$GC,15551,1.22,283.6,569.1,11.0,1360,15556,0.00,2.78,0.00,0.000,4,0.000,0.109,3204,912,1922
$GC,15579,1.22,283.6,565.8,11.4,1362,15584,0.00,2.70,0.00,0.000,6,0.000,0.097,3204,2306,1922
$GC,15904,1.22,283.6,530.5,11.0,1392,15905,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2307,1922
$GC,16223,1.22,283.6,498.0,10.1,1422,16228,0.00,2.75,0.00,0.000,4,0.000,0.108,3204,909,1922
$GC,16241,1.22,283.6,496.0,10.3,1423,16246,0.00,2.67,0.00,0.000,6,0.000,0.095,3204,2297,1922
$GC,16567,1.22,283.6,461.1,10.6,1453,16571,0.00,2.90,0.00,0.000,4,0.000,0.114,3204,3737,1922
$GC,16596,1.22,283.6,457.9,11.3,1455,16600,0.00,2.80,0.00,0.000,6,0.000,0.091,3204,2294,1921
$GC,16921,1.22,283.6,423.7,10.5,1485,16925,0.00,2.70,0.00,0.000,4,0.000,0.108,3204,915,1922
$GC,16942,1.22,283.6,421.2,10.3,1486,16950,0.00,2.67,0.00,0.000,6,0.000,0.097,3204,2304,1922
$GC,17270,1.22,283.6,387.6,10.9,1517,17271,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2304,1922
$GC,17586,1.22,283.6,354.8,10.4,1547,17587,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2304,1922
$GC,17919,1.22,283.6,319.7,10.9,1602,17926,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2304,1922
$GC,18265,1.24,298.5,283.3,9.5,1663,18285,0.10,0.00,13.65,0.950,6,0.071,0.000,3231,2304,1867
$GC,18623,1.24,298.5,241.2,12.1,1726,18630,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2304,1866
$GC,18969,1.24,298.5,199.1,11.0,1787,18975,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2304,1866
$GC,19312,1.24,298.5,157.4,11.5,1848,19319,0.00,2.70,0.00,0.000,4,0.000,0.101,3231,917,1865
$GC,19332,1.24,298.5,155.0,12.2,1851,19339,0.00,2.62,0.00,0.000,6,0.000,0.089,3231,2296,1865
$GC,19677,1.24,298.5,112.2,12.7,1912,19684,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2297,1865
$GC,20021,1.24,298.5,69.5,12.5,1973,20027,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2297,1866
$GC,20364,1.24,298.5,29.8,10.8,2034,20372,0.00,2.65,0.00,0.000,4,0.000,0.098,3232,916,1866
$GC,20390,1.24,298.5,26.9,11.5,2038,20398,0.00,2.60,0.00,0.000,6,0.000,0.087,3231,2295,1866
$GC,20533,1.24,298.5,11.5,10.7,2063,20540,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2295,1866
$STATE,20629,end climb,SURFACE_DEPTH_REACHED
$STATE,20629,begin surface coast
$FINISH,0.3,1.007386
$STATE,20653,end surface coast,CONTROL_FINISHED_OK
$STATE,20653,begin surface
$SM_CCo,20735,0.00,0.000,0,0,1863,299.76
$SM_GC,1.03,11.57,0.00,0.00,0.042,0.000,0.000,585,2228,1863,-10.86,-0.23,299.76
$IRIDIUM_FIX,6135.28,-2544.74,110997,202010
$TT8_MAMPS,0.02301
$HUMID,1702
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,649
$24V_AH,23.0,69.005
$10V_AH,10.6,57.064
$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,26.875,144.150,434.100,0.000,0.000,25.287,32.426,269.404,162.250,0.000,0.000,15.380,4262.075,11869.680,672.649,3643.732,750.862,0.000,2252.839,0.000,3644.244,0.000,0.467
$DEVICE_MAMPS,184.080,134.992,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1445.493,1589.396,1828.283,581.614,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122960,2084
$CAP_FILE_SIZE,182757,0
$CFSIZE,260165632,225050624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148,129.9,1
$GPS,180608,081125,6155.451,-2549.193,29,1.1,46,-18.6