version: 66.03
glider: 140
mission: 5
dive: 323
start: 6 18 108 8 26 36
data:
$ID,140
$MISSION,5
$DIVE,323
$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,-19141.359
$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,13
$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
$GPS1,081125,6155.451,-2549.193,29,1.1,46,-18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.5
$GPS2,082615,6155.417,-2549.144,13,1.9,13,-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,251.8,56004,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-65.12,0.000,2,0.000,0.000,584,2227,3410
$GC,92,-1.29,-194.7,3.1,-6.0,9,123,12.30,2.75,-10.55,0.000,4,0.183,0.105,2672,3651,3879
$GC,316,-1.29,-194.7,29.5,-9.5,47,323,0.00,2.65,0.00,0.000,6,0.000,0.079,2672,2229,3880
$GC,460,-1.29,-194.7,42.0,-9.8,72,467,0.00,2.70,0.00,0.000,4,0.000,0.095,2672,817,3881
$GC,514,-1.29,-194.7,47.2,-9.6,81,521,0.00,2.62,0.00,0.000,6,0.000,0.082,2672,2212,3881
$GC,657,-1.29,-194.7,61.2,-10.2,106,665,0.00,2.75,0.00,0.000,4,0.000,0.096,2671,3646,3881
$GC,734,-1.29,-194.7,69.3,-10.8,119,741,0.00,2.70,0.00,0.000,6,0.000,0.080,2672,2204,3881
$GC,1079,-1.29,-194.7,104.6,-9.8,180,1086,0.00,2.67,0.00,0.000,4,0.000,0.100,2672,818,3881
$GC,1105,-1.29,-194.7,107.2,-10.0,184,1112,0.00,2.65,0.00,0.000,6,0.000,0.087,2672,2213,3882
$GC,1451,-1.29,-194.7,140.4,-10.0,245,1458,0.00,2.78,0.00,0.000,4,0.000,0.100,2672,3647,3882
$GC,1481,-1.29,-194.7,143.5,-10.1,250,1488,0.00,2.72,0.00,0.000,6,0.000,0.085,2672,2203,3881
$GC,1828,-1.29,-194.7,177.5,-10.1,311,1835,0.00,2.67,0.00,0.000,4,0.000,0.105,2672,827,3882
$GC,1864,-1.29,-194.7,181.2,-10.2,317,1872,0.00,2.62,0.00,0.000,6,0.000,0.091,2671,2203,3882
$GC,2210,-1.29,-194.7,215.0,-9.3,378,2217,0.00,2.75,0.00,0.000,4,0.000,0.096,2672,3645,3882
$GC,2242,-1.29,-194.7,217.9,-9.8,383,2249,0.00,2.75,0.00,0.000,6,0.000,0.087,2672,2198,3882
$GC,2587,-1.29,-194.7,250.4,-9.6,444,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2197,3881
$GC,2931,-1.29,-194.7,282.7,-9.4,505,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2197,3881
$GC,3276,-1.29,-194.7,314.7,-8.8,566,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2197,3881
$GC,3621,-1.29,-194.7,345.9,-9.0,627,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,3881
$GC,3956,-1.29,-194.7,375.1,-8.9,662,3961,0.00,2.83,0.00,0.000,4,0.000,0.102,2672,3645,3881
$GC,3989,-1.29,-194.7,378.3,-9.4,664,3997,0.00,2.75,0.00,0.000,6,0.000,0.091,2672,2202,3881
$GC,4318,-1.29,-194.7,406.7,-8.9,695,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,3881
$GC,4644,-1.29,-194.7,436.3,-9.1,726,4645,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,3880
$GC,4962,-1.29,-194.7,464.4,-8.7,756,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2202,3880
$GC,5281,-1.29,-194.7,492.8,-9.2,786,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,3880
$GC,5601,-1.29,-194.7,521.8,-8.6,816,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2202,3880
$GC,5918,-1.29,-194.7,549.5,-8.8,846,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2202,3879
$GC,6235,-1.29,-194.7,578.4,-9.3,876,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2202,3879
$GC,6564,-1.29,-194.7,608.2,-9.0,903,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2202,3879
$GC,6871,-1.29,-194.7,634.7,-8.5,918,6876,0.00,2.78,0.00,0.000,4,0.000,0.121,2672,824,3879
$GC,6904,-1.29,-194.7,637.7,-9.2,919,6911,0.00,2.70,0.00,0.000,6,0.000,0.100,2672,2214,3879
$GC,7221,-1.29,-194.7,662.3,-7.6,935,7226,0.00,2.88,0.00,0.000,4,0.000,0.122,2672,3647,3879
$GC,7261,-1.29,-194.7,665.5,-7.9,937,7266,0.00,2.78,0.00,0.000,6,0.000,0.097,2672,2210,3879
$GC,7591,-1.29,-194.7,689.9,-7.5,953,7595,0.00,2.78,0.00,0.000,4,0.000,0.122,2672,825,3879
$GC,7631,-1.29,-194.7,693.2,-8.0,955,7636,0.00,2.70,0.00,0.000,6,0.000,0.100,2672,2215,3879
$GC,7959,-1.29,-194.7,719.2,-8.4,971,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3878
$GC,8269,-1.29,-194.7,746.3,-9.0,986,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3878
$GC,8577,-1.29,-194.7,772.9,-8.6,1001,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3878
$GC,8887,-1.29,-194.7,799.8,-8.7,1016,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3877
$GC,9196,-1.29,-194.7,827.2,-8.8,1031,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3877
$GC,9506,-1.29,-194.7,854.1,-8.6,1046,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3877
$GC,9814,-1.29,-194.7,880.7,-8.5,1061,9819,0.00,2.85,0.00,0.000,4,0.000,0.128,2672,823,3877
$GC,9842,-1.29,-194.7,883.3,-8.9,1062,9846,0.00,2.72,0.00,0.000,6,0.000,0.107,2672,2212,3876
$GC,10158,-1.29,-194.7,911.9,-9.3,1077,10162,0.00,2.95,0.00,0.000,4,0.000,0.131,2672,3653,3876
$GC,10190,-1.29,-194.7,915.2,-10.4,1078,10198,0.00,2.80,0.00,0.000,6,0.000,0.103,2672,2214,3876
$GC,10507,-1.29,-194.7,943.1,-8.7,1094,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3876
$GC,10817,-1.29,-194.7,968.9,-8.2,1109,10822,0.00,2.85,0.00,0.000,4,0.000,0.133,2672,824,3875
$GC,10850,-1.29,-194.7,972.1,-9.2,1110,10857,0.00,2.75,0.00,0.000,6,0.000,0.108,2671,2221,3875
$STATE,11080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11080,begin apogee
$GC,11087,-0.35,0.0,991.7,8.3,1122,11264,1.02,0.00,168.80,1.428,6,0.097,0.000,2880,2334,3085
$STATE,11264,end apogee,CONTROL_FINISHED_OK
$STATE,11264,begin climb
$GC,11267,1.29,194.7,998.5,0.0,1131,11446,1.60,3.03,165.32,1.391,4,0.057,0.130,3237,917,2290
$GC,11463,1.21,194.7,985.8,11.2,1139,11470,0.00,2.85,0.00,0.000,6,0.000,0.110,3237,2331,2290
$GC,11779,1.13,194.7,950.5,11.0,1155,11781,0.17,0.00,0.00,0.000,6,0.108,0.000,3206,2330,2289
$GC,12087,1.13,194.7,918.5,10.5,1170,12089,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2330,2288
$GC,12398,1.15,207.2,888.0,9.6,1185,12417,0.00,0.00,12.18,1.266,6,0.000,0.000,3206,2330,2240
$GC,12727,1.15,211.4,855.0,9.9,1201,12734,0.00,0.00,5.40,1.018,6,0.000,0.000,3206,2330,2222
$GC,13036,1.15,211.4,823.0,10.4,1216,13040,0.00,2.90,0.00,0.000,4,0.000,0.124,3205,911,2222
$GC,13053,1.15,211.4,821.0,11.1,1217,13058,0.00,2.80,0.00,0.000,6,0.000,0.107,3205,2325,2222
$GC,13382,1.18,232.9,789.2,9.3,1233,13404,0.00,0.00,20.35,1.260,6,0.000,0.000,3205,2325,2135
$GC,13710,1.18,232.9,755.0,10.7,1249,13711,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2325,2133
$GC,14018,1.18,232.9,721.5,10.9,1264,14023,0.00,2.92,0.00,0.000,4,0.000,0.127,3205,3737,2133
$GC,14039,1.18,232.9,718.9,11.1,1265,14043,0.00,2.80,0.00,0.000,6,0.000,0.100,3205,2321,2133
$GC,14363,1.18,232.9,683.6,11.0,1281,14368,0.00,2.85,0.00,0.000,4,0.000,0.120,3205,914,2133
$GC,14395,1.18,232.9,679.4,12.1,1282,14403,0.00,2.75,0.00,0.000,6,0.000,0.100,3205,2321,2133
$GC,14712,1.18,232.9,645.8,10.5,1298,14716,0.00,2.85,0.00,0.000,4,0.000,0.114,3205,3738,2133
$GC,14729,1.18,232.9,644.0,10.4,1299,14734,0.00,2.80,0.00,0.000,6,0.000,0.097,3205,2317,2133
$GC,15058,1.18,232.9,609.5,10.4,1315,15062,0.00,2.80,0.00,0.000,4,0.000,0.117,3205,911,2133
$GC,15085,1.18,232.9,606.2,10.5,1316,15089,0.00,2.72,0.00,0.000,6,0.000,0.097,3205,2324,2133
$GC,15411,1.19,241.3,574.5,9.7,1343,15427,0.00,2.95,8.57,1.075,4,0.000,0.117,3205,3732,2100
$GC,15450,1.16,248.0,570.3,9.8,1346,15463,0.00,2.75,7.22,0.995,6,0.000,0.091,3205,2322,2073
$GC,15784,1.16,249.1,538.8,10.0,1377,15789,0.00,2.88,0.00,0.000,4,0.000,0.114,3205,3737,2073
$GC,15801,1.16,249.1,537.0,10.1,1378,15806,0.00,2.78,0.00,0.000,6,0.000,0.092,3205,2317,2073
$GC,16126,1.16,250.1,504.2,10.0,1408,16131,0.00,2.78,0.00,0.000,4,0.000,0.113,3205,912,2073
$GC,16148,1.16,250.1,501.8,11.0,1409,16155,0.00,2.75,0.00,0.000,6,0.000,0.096,3205,2333,2073
$GC,16474,1.16,250.1,467.5,11.0,1440,16479,0.00,2.80,0.00,0.000,4,0.000,0.109,3205,918,2073
$GC,16495,1.16,250.1,464.8,11.2,1441,16503,0.00,2.70,0.00,0.000,6,0.000,0.094,3205,2318,2073
$GC,16823,1.16,250.1,429.2,10.6,1472,16824,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2318,2073
$GC,17139,1.16,250.1,395.5,10.8,1502,17141,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2318,2073
$GC,17459,1.16,250.1,363.5,10.2,1532,17460,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2318,2073
$GC,17787,1.16,250.1,329.5,10.9,1579,17793,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2318,2073
$GC,18131,1.18,267.4,294.1,9.4,1640,18152,0.00,0.00,18.20,0.951,6,0.000,0.000,3205,2318,1994
$GC,18491,1.18,267.4,256.9,11.6,1703,18497,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2318,1991
$GC,18835,1.19,279.2,221.7,9.6,1764,18849,0.00,0.00,10.95,0.885,6,0.000,0.000,3205,2318,1947
$GC,19187,1.19,279.2,186.2,10.1,1826,19193,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2318,1946
$GC,19533,1.20,281.4,151.9,9.9,1887,19540,0.00,2.72,0.00,0.000,4,0.000,0.100,3205,917,1946
$GC,19558,1.20,281.4,149.1,10.7,1891,19572,0.00,2.70,3.85,0.595,6,0.000,0.089,3205,2328,1936
$GC,19912,1.20,281.4,111.2,10.8,1953,19918,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2328,1936
$GC,20256,1.22,300.9,76.3,9.3,2014,20284,0.00,2.85,17.92,0.808,4,0.000,0.100,3205,914,1858
$GC,20292,1.22,300.9,72.6,11.1,2019,20299,0.00,2.70,0.00,0.000,6,0.000,0.086,3205,2323,1857
$GC,20637,1.23,306.0,36.3,9.8,2080,20652,0.10,2.83,5.85,0.694,4,0.069,0.104,3232,3738,1836
$GC,20666,1.23,306.0,33.0,12.4,2084,20674,0.00,2.72,0.00,0.000,6,0.000,0.083,3232,2319,1836
$GC,20809,1.23,306.0,18.1,12.1,2109,20816,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2319,1835
$GC,20955,1.27,343.6,3.2,8.7,2134,20970,0.00,0.00,13.62,0.751,2,0.000,0.000,3232,2318,1775
$STATE,20971,end climb,SURFACE_DEPTH_REACHED
$STATE,20971,begin surface coast
$FINISH,0.2,1.003966
$STATE,20989,end surface coast,CONTROL_FINISHED_OK
$STATE,20989,begin surface
$SM_CCo,21071,0.00,0.000,0,0,1771,322.32
$SM_GC,0.98,11.70,0.00,0.00,0.044,0.000,0.000,586,2234,1771,-10.86,0.00,322.32
$IRIDIUM_FIX,6130.75,-2546.87,120997,080807
$TT8_MAMPS,0.02301
$HUMID,1708
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,649
$24V_AH,23.0,69.225
$10V_AH,10.6,57.250
$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,26.900,150.300,458.250,0.000,0.000,82.018,155.560,366.977,162.250,0.000,0.000,13.241,4356.913,12102.036,688.719,3737.380,1056.042,0.000,2328.212,0.000,3738.173,0.000,0.467
$DEVICE_MAMPS,182.546,132.691,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1482.027,1636.268,1891.804,606.293,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126071,2139
$CAP_FILE_SIZE,191607,0
$CFSIZE,260165632,224944128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.200,131.7,1
$GPS,180608,141901,6152.069,-2550.773,38,1.3,38,-18.6