version: 66.03
glider: 140
mission: 5
dive: 356
start: 6 25 108 18 31 34
data:
$ID,140
$MISSION,5
$DIVE,356
$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,-19737.525
$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,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
$GPS1,182255,6135.873,-2542.157,34,1.1,51,-18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.9
$GPS2,183115,6135.878,-2542.179,15,1.1,15,-18.3
$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,17.4,52476,-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,-194.7,0.0,0.0,0,67,0.00,0.00,-42.78,0.000,2,0.000,0.000,588,2223,3306
$GC,70,-1.29,-194.7,3.0,-6.4,6,108,12.35,2.83,-13.52,0.000,4,0.184,0.104,2672,3649,3881
$GC,128,-1.29,-194.7,11.0,-10.1,14,135,0.00,2.65,0.00,0.000,6,0.000,0.077,2672,2225,3882
$GC,272,-1.29,-194.7,26.2,-10.5,39,279,0.00,2.65,0.00,0.000,4,0.000,0.092,2672,826,3882
$GC,304,-1.29,-194.7,29.7,-11.0,44,312,0.00,2.60,0.00,0.000,6,0.000,0.078,2672,2222,3882
$GC,449,-1.29,-194.7,44.0,-10.0,69,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3883
$GC,590,-1.29,-194.7,58.1,-9.5,94,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3883
$GC,936,-1.29,-194.7,91.8,-10.0,155,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3884
$GC,1279,-1.29,-194.7,125.1,-9.1,216,1287,0.00,2.75,0.00,0.000,4,0.000,0.098,2672,3646,3884
$GC,1312,-1.29,-194.7,128.1,-10.0,221,1319,0.00,2.67,0.00,0.000,6,0.000,0.082,2672,2228,3884
$GC,1658,-1.29,-194.7,158.6,-8.9,282,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3884
$GC,2003,-1.29,-194.7,188.4,-8.5,343,2010,0.00,2.78,0.00,0.000,4,0.000,0.101,2672,3645,3884
$GC,2040,-1.29,-194.7,191.7,-9.0,349,2047,0.00,2.70,0.00,0.000,6,0.000,0.084,2672,2221,3884
$GC,2386,-1.29,-194.7,220.5,-8.2,410,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2221,3884
$GC,2730,-1.29,-194.7,248.2,-8.2,471,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3884
$GC,3075,-1.29,-194.7,277.2,-8.8,532,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3884
$GC,3422,-1.29,-194.7,308.3,-9.0,593,3428,0.00,2.75,0.00,0.000,4,0.000,0.109,2672,823,3884
$GC,3447,-1.29,-194.7,310.6,-9.4,597,3454,0.00,2.70,0.00,0.000,6,0.000,0.090,2672,2236,3884
$GC,3792,-1.29,-194.7,342.7,-9.6,658,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3884
$GC,4130,-1.29,-194.7,373.5,-9.0,696,4135,0.00,2.78,0.00,0.000,4,0.000,0.107,2672,824,3883
$GC,4152,-1.29,-194.7,375.8,-9.1,697,4159,0.00,2.70,0.00,0.000,6,0.000,0.094,2672,2226,3883
$GC,4479,-1.29,-194.7,403.9,-8.4,728,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3883
$GC,4796,-1.29,-194.7,429.5,-8.3,758,4800,0.00,2.78,0.00,0.000,4,0.000,0.110,2672,823,3883
$GC,4817,-1.29,-194.7,431.5,-8.5,759,4824,0.00,2.70,0.00,0.000,6,0.000,0.094,2672,2228,3883
$GC,5145,-1.29,-194.7,458.9,-8.6,790,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3882
$GC,5471,-1.29,-194.7,486.9,-8.4,821,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3883
$GC,5790,-1.29,-194.7,515.5,-9.3,851,5795,0.00,2.78,0.00,0.000,4,0.000,0.110,2672,824,3883
$GC,5819,-1.29,-194.7,518.3,-9.4,853,5824,0.00,2.70,0.00,0.000,6,0.000,0.097,2672,2221,3882
$GC,6149,-1.29,-194.7,548.6,-8.9,883,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3883
$GC,6474,-1.29,-194.7,576.8,-7.9,914,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3882
$GC,6793,-1.29,-194.7,602.1,-7.8,943,6794,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3882
$GC,7101,-1.29,-194.7,626.6,-8.2,958,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3882
$GC,7411,-1.29,-194.7,651.0,-7.9,973,7416,0.00,2.80,0.00,0.000,4,0.000,0.116,2672,824,3882
$GC,7453,-1.29,-194.7,654.5,-9.1,975,7458,0.00,2.70,0.00,0.000,6,0.000,0.100,2672,2215,3882
$GC,7780,-1.29,-194.7,680.0,-7.6,991,7785,0.00,2.88,0.00,0.000,4,0.000,0.120,2672,3647,3881
$GC,7804,-1.29,-194.7,681.9,-8.4,992,7808,0.00,2.75,0.00,0.000,6,0.000,0.096,2672,2218,3881
$GC,8125,-1.29,-194.7,707.9,-8.5,1008,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2218,3881
$GC,8434,-1.29,-194.7,735.3,-8.7,1023,8439,0.00,2.83,0.00,0.000,4,0.000,0.123,2672,820,3881
$GC,8456,-1.29,-194.7,737.4,-8.7,1024,8461,0.00,2.72,0.00,0.000,6,0.000,0.100,2672,2223,3881
$GC,8778,-1.29,-194.7,766.1,-9.0,1040,8779,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3880
$GC,9087,-1.29,-194.7,794.2,-9.1,1055,9088,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3880
$GC,9396,-1.29,-194.7,823.3,-9.2,1070,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3880
$GC,9706,-1.29,-194.7,851.0,-8.6,1085,9711,0.00,2.85,0.00,0.000,4,0.000,0.127,2672,827,3879
$GC,9733,-1.29,-194.7,853.6,-9.3,1086,9738,0.00,2.70,0.00,0.000,6,0.000,0.105,2672,2209,3879
$GC,10050,-1.29,-194.7,880.6,-8.8,1101,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3879
$GC,10359,-1.29,-194.7,907.2,-8.5,1116,10361,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3879
$GC,10670,-1.29,-194.7,934.0,-8.8,1131,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3878
$GC,10977,-1.29,-194.7,961.2,-8.6,1146,10979,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3878
$GC,11287,-1.29,-194.7,986.9,-8.4,1161,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3878
$STATE,11325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11325,begin apogee
$GC,11331,-0.35,0.0,990.4,8.5,1163,11508,1.02,0.00,169.68,1.420,6,0.093,0.000,2881,2335,3085
$STATE,11509,end apogee,CONTROL_FINISHED_OK
$STATE,11509,begin climb
$GC,11511,1.29,194.7,997.8,0.0,1172,11683,1.65,0.00,166.98,1.388,6,0.058,0.000,3243,2334,2291
$GC,11982,1.20,194.7,953.2,11.8,1195,11983,0.12,0.00,0.00,0.000,6,0.117,0.000,3222,2334,2288
$GC,12288,1.14,194.7,919.5,10.6,1210,12290,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2334,2287
$GC,12599,1.08,194.7,886.7,10.6,1225,12604,0.12,2.90,0.00,0.000,4,0.117,0.121,3199,918,2287
$GC,12632,1.08,194.9,882.9,10.0,1226,12640,0.00,2.72,0.00,0.000,6,0.000,0.094,3199,2329,2287
$GC,12948,1.10,212.6,852.9,9.4,1242,12970,0.00,0.00,16.58,1.269,6,0.000,0.000,3199,2329,2217
$GC,13279,1.10,212.6,819.5,10.4,1258,13284,0.00,2.97,0.00,0.000,4,0.000,0.134,3199,3736,2216
$GC,13312,1.05,212.6,815.5,11.4,1259,13320,0.00,2.83,0.00,0.000,6,0.000,0.102,3199,2321,2216
$GC,13628,1.05,212.6,782.6,10.2,1275,13633,0.00,2.88,0.00,0.000,4,0.000,0.128,3199,918,2216
$GC,13678,1.05,212.6,776.9,11.2,1277,13683,0.00,2.67,0.00,0.000,6,0.000,0.091,3199,2319,2216
$GC,13996,1.08,232.8,746.1,9.3,1292,14022,0.00,3.05,19.02,1.230,4,0.000,0.126,3199,3732,2134
$GC,14051,1.03,232.8,740.3,10.7,1294,14055,0.00,2.83,0.00,0.000,6,0.000,0.100,3199,2317,2133
$GC,14368,1.05,244.8,709.1,9.6,1309,14390,0.00,2.92,11.55,1.169,4,0.000,0.118,3199,918,2087
$GC,14417,1.05,244.8,703.8,10.3,1311,14422,0.00,2.78,0.00,0.000,6,0.000,0.102,3199,2321,2086
$GC,14740,1.05,244.8,671.9,10.2,1327,14742,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2322,2085
$GC,15050,1.05,244.8,639.8,10.5,1342,15051,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2322,2085
$GC,15358,1.05,244.8,606.5,10.9,1357,15359,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2322,2084
$GC,15674,1.05,244.8,571.8,10.7,1384,15679,0.00,2.80,0.00,0.000,4,0.000,0.107,3199,3738,2084
$GC,15703,1.05,244.8,568.5,11.4,1386,15708,0.00,2.78,0.00,0.000,6,0.000,0.089,3199,2311,2084
$GC,16030,1.05,244.8,534.5,10.4,1416,16035,0.00,2.75,0.00,0.000,4,0.000,0.110,3199,914,2085
$GC,16071,1.05,244.8,530.0,11.0,1419,16075,0.00,2.72,0.00,0.000,6,0.000,0.095,3199,2327,2084
$GC,16396,1.06,250.5,497.2,9.8,1449,16409,0.00,2.92,6.53,0.943,4,0.000,0.113,3199,3736,2062
$GC,16438,1.06,250.5,492.7,10.4,1452,16446,0.00,2.78,0.00,0.000,6,0.000,0.090,3199,2306,2062
$GC,16767,1.06,250.5,459.0,10.1,1483,16773,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2306,2062
$GC,17092,1.06,250.5,425.7,10.2,1514,17093,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2306,2062
$GC,17412,1.06,251.1,394.9,10.0,1544,17413,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2306,2062
$GC,17731,1.08,270.1,365.5,9.3,1574,17751,0.00,0.00,18.25,0.983,6,0.000,0.000,3199,2306,1983
$GC,18076,1.09,280.2,331.9,9.7,1622,18090,0.00,0.00,9.98,0.923,6,0.000,0.000,3199,2306,1942
$GC,18429,1.12,299.3,298.3,9.3,1684,18450,0.00,0.00,18.17,0.927,6,0.000,0.000,3199,2306,1864
$GC,18789,1.12,306.8,265.5,9.7,1747,18802,0.00,0.00,7.72,0.854,6,0.000,0.000,3199,2306,1833
$GC,19142,1.15,330.2,233.3,9.2,1809,19168,0.00,0.00,21.20,0.886,6,0.000,0.000,3199,2306,1739
$GC,19507,1.18,352.6,199.3,9.2,1873,19533,0.00,0.00,20.38,0.861,6,0.000,0.000,3199,2306,1646
$GC,19872,1.23,352.6,165.3,10.3,1937,19880,0.12,2.70,0.00,0.000,4,0.064,0.100,3232,918,1643
$GC,19903,1.23,352.6,161.7,11.8,1942,19911,0.00,2.67,0.00,0.000,6,0.000,0.086,3232,2322,1643
$GC,20252,1.23,352.6,120.9,13.7,2003,20258,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2323,1642
$GC,20597,1.23,352.6,78.3,13.1,2064,20604,0.00,2.67,0.00,0.000,4,0.000,0.090,3232,918,1642
$GC,20628,1.23,352.6,74.3,14.3,2069,20635,0.00,2.65,0.00,0.000,6,0.000,0.084,3232,2320,1642
$GC,20975,1.23,352.6,30.3,12.2,2130,20982,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2320,1642
$GC,21118,1.23,352.6,13.0,11.0,2155,21126,0.00,2.75,0.00,0.000,4,0.000,0.100,3232,3737,1641
$GC,21150,1.23,352.6,9.3,11.4,2160,21158,0.00,2.65,0.00,0.000,6,0.000,0.081,3232,2337,1641
$STATE,21213,end climb,SURFACE_DEPTH_REACHED
$STATE,21213,begin surface coast
$FINISH,0.2,1.004886
$STATE,21231,end surface coast,CONTROL_FINISHED_OK
$STATE,21231,begin surface
$SM_CCo,21313,0.00,0.000,0,0,1638,354.70
$SM_GC,1.05,11.55,0.00,0.00,0.041,0.000,0.000,584,2225,1638,-10.86,-0.28,354.70
$IRIDIUM_FIX,6112.75,-2549.39,190997,131313
$TT8_MAMPS,0.02301
$HUMID,1737
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,823
$24V_AH,23.0,75.931
$10V_AH,10.6,62.971
$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,26.950,127.625,486.025,0.000,0.000,30.241,39.538,271.888,205.750,0.000,0.000,15.067,4326.387,12210.784,706.615,3754.809,795.255,0.000,2334.425,0.000,3754.009,0.000,0.468
$DEVICE_MAMPS,184.080,134.992,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1507.953,1659.241,1907.381,597.752,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129698,2174
$CAP_FILE_SIZE,184248,0
$CFSIZE,260165632,221769728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,159.3,1
$GPS,260608,002802,6137.675,-2541.375,39,1.5,39,-18.4