version: 66.03
glider: 140
mission: 5
dive: 326
start: 6 19 108 2 41 24
data:
$ID,140
$MISSION,5
$DIVE,326
$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,-19200.836
$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,13
$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
$GPS1,023231,6145.728,-2556.558,38,1.7,38,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-60.5
$GPS2,024107,6145.721,-2556.584,15,1.1,31,-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,266.4,41340,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,99,0.00,0.00,-74.65,0.000,2,0.000,0.000,592,2226,3343
$GC,102,-1.29,-194.7,3.1,-6.5,10,133,12.38,2.78,-12.43,0.000,4,0.184,0.102,2673,3644,3880
$GC,315,-1.29,-194.7,27.4,-9.6,46,323,0.00,2.62,0.00,0.000,6,0.000,0.078,2673,2232,3881
$GC,458,-1.29,-194.7,38.6,-6.7,71,465,0.00,2.67,0.00,0.000,4,0.000,0.094,2673,825,3881
$GC,486,-1.29,-194.7,40.5,-7.3,75,493,0.00,2.65,0.00,0.000,6,0.000,0.081,2673,2238,3881
$GC,629,-1.29,-194.7,50.5,-7.4,100,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2238,3881
$GC,976,-1.29,-194.7,81.4,-10.2,161,983,0.00,2.75,0.00,0.000,4,0.000,0.097,2673,818,3882
$GC,1001,-1.29,-194.7,84.2,-10.6,165,1008,0.00,2.67,0.00,0.000,6,0.000,0.085,2673,2230,3882
$GC,1347,-1.29,-194.7,117.5,-8.4,226,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2230,3882
$GC,1692,-1.29,-194.7,147.9,-9.7,287,1699,0.00,2.75,0.00,0.000,4,0.000,0.102,2673,820,3882
$GC,1728,-1.29,-194.7,151.7,-10.2,293,1735,0.00,2.67,0.00,0.000,6,0.000,0.088,2673,2223,3882
$GC,2073,-1.29,-194.7,186.3,-9.7,354,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2223,3882
$GC,2419,-1.29,-194.7,218.0,-8.8,415,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2223,3882
$GC,2764,-1.29,-194.7,245.6,-7.8,476,2771,0.00,2.75,0.00,0.000,4,0.000,0.105,2673,821,3882
$GC,2796,-1.29,-194.7,248.2,-8.5,481,2803,0.00,2.67,0.00,0.000,6,0.000,0.092,2673,2213,3882
$GC,3141,-1.29,-194.7,277.2,-8.2,542,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3882
$GC,3486,-1.29,-194.7,307.7,-9.4,603,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3882
$GC,3831,-1.29,-194.7,340.6,-9.6,664,3838,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3882
$GC,4165,-1.29,-194.7,372.8,-9.6,703,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3881
$GC,4481,-1.29,-194.7,403.5,-9.6,733,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3881
$GC,4801,-1.29,-194.7,432.9,-8.9,763,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3881
$GC,5118,-1.29,-194.7,459.5,-8.2,793,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3881
$GC,5438,-1.29,-194.7,485.7,-8.3,823,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3880
$GC,5756,-1.29,-194.7,514.9,-9.7,853,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3880
$GC,6073,-1.29,-194.7,547.0,-10.3,883,6075,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3880
$GC,6394,-1.29,-194.7,579.5,-9.9,913,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3880
$GC,6717,-1.29,-194.7,609.1,-8.8,939,6722,0.00,2.78,0.00,0.000,4,0.000,0.115,2673,823,3880
$GC,6758,-1.29,-194.7,612.5,-8.3,941,6762,0.00,2.70,0.00,0.000,6,0.000,0.100,2673,2213,3880
$GC,7086,-1.29,-194.7,637.3,-7.1,957,7090,0.00,2.85,0.00,0.000,4,0.000,0.114,2673,3651,3880
$GC,7126,-1.29,-194.7,640.2,-7.4,959,7131,0.00,2.75,0.00,0.000,6,0.000,0.093,2673,2214,3880
$GC,7454,-1.29,-194.7,664.1,-7.7,975,7458,0.00,2.78,0.00,0.000,4,0.000,0.118,2673,822,3880
$GC,7487,-1.29,-194.7,666.9,-8.7,976,7494,0.00,2.70,0.00,0.000,6,0.000,0.100,2673,2217,3880
$GC,7803,-1.29,-194.7,691.5,-7.5,992,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3880
$GC,8113,-1.29,-194.7,716.4,-9.1,1007,8117,0.00,2.90,0.00,0.000,4,0.000,0.124,2673,3651,3880
$GC,8154,-1.29,-194.7,720.2,-9.6,1009,8158,0.00,2.78,0.00,0.000,6,0.000,0.098,2673,2216,3880
$GC,8481,-1.29,-194.7,749.1,-8.5,1025,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3879
$GC,8791,-1.29,-194.7,774.5,-8.1,1040,8796,0.00,2.83,0.00,0.000,4,0.000,0.126,2673,824,3879
$GC,8835,-1.29,-194.7,778.6,-8.8,1042,8840,0.00,2.72,0.00,0.000,6,0.000,0.106,2673,2212,3879
$GC,9159,-1.29,-194.7,806.2,-8.5,1058,9160,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3879
$GC,9467,-1.29,-194.7,830.4,-6.8,1073,9472,0.00,2.90,0.00,0.000,4,0.000,0.125,2673,3645,3878
$GC,9500,-1.29,-194.7,832.9,-7.7,1074,9508,0.00,2.78,0.00,0.000,6,0.000,0.103,2673,2217,3878
$GC,9817,-1.29,-194.7,856.7,-8.0,1090,9821,0.00,2.88,0.00,0.000,4,0.000,0.133,2673,823,3878
$GC,9856,-1.29,-194.7,860.0,-8.7,1092,9861,0.00,2.75,0.00,0.000,6,0.000,0.108,2673,2214,3878
$GC,10184,-1.29,-194.7,886.5,-8.1,1108,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2214,3878
$GC,10493,-1.29,-194.7,909.1,-7.2,1123,10497,0.00,2.85,0.00,0.000,4,0.000,0.130,2673,824,3877
$GC,10525,-1.29,-194.7,911.7,-7.8,1124,10533,0.00,2.75,0.00,0.000,6,0.000,0.114,2673,2219,3877
$GC,10842,-1.29,-194.7,932.6,-6.1,1140,10847,0.00,2.95,0.00,0.000,4,0.000,0.133,2673,3652,3877
$GC,10869,-1.29,-194.7,934.5,-7.1,1141,10874,0.00,2.83,0.00,0.000,6,0.000,0.105,2673,2208,3877
$GC,11185,-1.29,-194.7,954.1,-6.3,1156,11190,0.00,2.85,0.00,0.000,4,0.000,0.133,2673,823,3876
$GC,11214,-1.29,-194.7,956.0,-7.1,1157,11218,0.00,2.75,0.00,0.000,6,0.000,0.109,2672,2217,3876
$GC,11530,-1.29,-194.7,977.3,-7.2,1172,11531,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3876
$STATE,11712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11712,begin apogee
$GC,11719,-0.35,0.0,990.8,7.3,1181,11896,1.02,0.00,168.38,1.430,6,0.097,0.000,2880,2330,3084
$STATE,11897,end apogee,CONTROL_FINISHED_OK
$STATE,11897,begin climb
$GC,11900,1.29,194.7,996.5,0.0,1190,12075,1.65,3.08,165.07,1.392,4,0.061,0.131,3240,918,2290
$GC,12105,1.21,194.7,980.6,13.0,1199,12113,0.00,2.85,0.00,0.000,6,0.000,0.112,3240,2330,2289
$GC,12422,1.13,194.7,941.7,12.1,1215,12423,0.17,0.00,0.00,0.000,6,0.111,0.000,3208,2331,2288
$GC,12731,1.08,194.7,907.5,11.2,1230,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2331,2288
$GC,13041,1.04,194.7,873.6,10.9,1245,13043,0.12,0.00,0.00,0.000,6,0.117,0.000,3186,2331,2288
$GC,13349,1.04,197.9,842.3,9.9,1260,13358,0.00,2.92,3.97,0.838,4,0.000,0.127,3186,918,2278
$GC,13409,1.04,197.9,835.7,11.8,1262,13417,0.00,2.80,0.00,0.000,6,0.000,0.109,3186,2331,2278
$GC,13725,1.04,197.9,801.8,11.1,1278,13727,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2331,2277
$GC,14035,1.04,197.9,768.0,10.3,1293,14036,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2331,2277
$GC,14344,1.04,198.2,738.3,10.0,1308,14348,0.00,2.85,0.00,0.000,4,0.000,0.118,3186,911,2277
$GC,14393,1.04,198.2,733.0,10.4,1310,14398,0.00,2.78,0.00,0.000,6,0.000,0.105,3186,2326,2276
$GC,14710,1.11,254.9,704.2,8.0,1325,14767,0.00,3.00,50.12,1.244,4,0.000,0.127,3186,3737,2043
$GC,14800,1.12,264.5,696.3,9.7,1329,14815,0.00,2.83,9.60,1.101,6,0.000,0.099,3186,2324,2005
$GC,15126,1.13,266.8,666.2,9.9,1344,15127,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2325,2001
$GC,15435,1.13,266.8,634.0,10.8,1359,15439,0.00,2.83,0.00,0.000,4,0.000,0.116,3186,912,2001
$GC,15456,1.13,266.8,631.4,11.5,1360,15461,0.00,2.78,0.00,0.000,6,0.000,0.097,3186,2343,2001
$GC,15778,1.13,266.8,597.0,10.9,1377,15779,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,2000
$GC,16099,1.13,266.8,562.7,10.8,1407,16103,0.00,2.83,0.00,0.000,4,0.000,0.109,3186,918,2000
$GC,16132,1.17,266.8,558.7,10.9,1409,16139,0.12,2.75,0.00,0.000,6,0.066,0.095,3217,2339,2000
$GC,16456,1.17,266.8,522.5,10.8,1440,16457,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2340,2000
$GC,16776,1.17,266.8,489.6,10.4,1470,16777,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2340,2000
$GC,17095,1.17,266.8,457.3,10.1,1500,17100,0.00,2.80,0.00,0.000,4,0.000,0.107,3218,918,2001
$GC,17125,1.17,266.8,454.1,10.9,1502,17129,0.00,2.72,0.00,0.000,6,0.000,0.094,3218,2332,2001
$GC,17450,1.17,266.8,421.3,10.2,1532,17451,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2332,2001
$GC,17769,1.17,266.8,387.2,11.1,1562,17773,0.00,2.78,0.00,0.000,4,0.000,0.106,3218,916,2001
$GC,17790,1.17,266.8,384.6,10.2,1563,17797,0.00,2.70,0.00,0.000,6,0.000,0.091,3218,2331,2001
$GC,18118,1.17,266.8,348.5,11.6,1595,18125,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2331,2001
$GC,18462,1.17,266.8,308.8,12.0,1656,18470,0.00,2.78,0.00,0.000,4,0.000,0.105,3218,910,2002
$GC,18488,1.17,266.8,305.7,12.3,1660,18496,0.00,2.67,0.00,0.000,6,0.000,0.089,3218,2320,2001
$GC,18834,1.17,266.8,265.5,10.2,1721,18840,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2320,2002
$GC,19178,1.17,266.8,227.6,10.9,1782,19184,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2320,2002
$GC,19522,1.17,266.8,191.4,10.1,1843,19528,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2320,2002
$GC,19866,1.19,280.3,157.9,9.5,1904,19887,0.00,0.00,14.12,0.865,6,0.000,0.000,3218,2320,1941
$GC,20223,1.19,280.3,122.1,11.5,1967,20230,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2320,1940
$GC,20568,1.21,294.5,85.5,9.5,2028,20589,0.00,2.75,13.60,0.808,4,0.000,0.094,3218,913,1883
$GC,20624,1.21,294.5,79.6,11.1,2037,20632,0.00,2.67,0.00,0.000,6,0.000,0.085,3218,2319,1883
$GC,20970,1.21,294.5,48.5,10.3,2098,20977,0.00,2.78,0.00,0.000,4,0.000,0.102,3218,3736,1881
$GC,21014,1.21,294.5,44.0,11.3,2105,21021,0.00,2.67,0.00,0.000,6,0.000,0.080,3218,2322,1881
$GC,21157,1.21,294.5,28.2,12.5,2130,21164,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2322,1880
$GC,21299,1.21,294.5,12.2,12.0,2155,21307,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2322,1880
$STATE,21396,end climb,SURFACE_DEPTH_REACHED
$STATE,21396,begin surface coast
$FINISH,0.3,1.014779
$STATE,21419,end surface coast,CONTROL_FINISHED_OK
$STATE,21419,begin surface
$SM_CCo,21502,0.00,0.000,0,0,1877,296.08
$SM_GC,1.09,11.52,0.00,0.00,0.043,0.000,0.000,589,2234,1877,-10.84,-0.06,296.08
$IRIDIUM_FIX,6126.23,-2601.30,120997,202025
$TT8_MAMPS,0.02301
$HUMID,1731
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,732
$24V_AH,23.0,69.875
$10V_AH,10.6,57.805
$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,27.000,145.075,424.875,0.000,0.000,31.253,33.986,274.382,183.000,0.000,0.000,31.997,4440.409,12242.985,662.617,3871.556,775.567,0.000,2341.937,0.000,3848.333,0.000,0.467
$DEVICE_MAMPS,184.080,139.594,1429.688,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1508.681,1654.683,1924.734,628.318,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129261,2176
$CAP_FILE_SIZE,190951,0
$CFSIZE,260165632,224645120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175,184.1,1
$GPS,190608,084101,6142.616,-2603.007,39,1.8,39,-18.6