version: 66.03
glider: 140
mission: 5
dive: 357
start: 6 26 108 0 41 4
data:
$ID,140
$MISSION,5
$DIVE,357
$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,-19749.809
$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,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
$GPS1,002802,6137.675,-2541.375,39,1.5,39,-18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-59.5
$GPS2,004045,6137.644,-2541.605,11,2.0,11,-18.4
$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,16.9,49218,-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,-194.7,0.0,0.0,0,97,0.00,0.00,-72.85,0.000,2,0.000,0.000,583,2224,3394
$GC,100,-1.29,-194.7,3.0,-5.7,10,131,12.38,2.75,-10.73,0.000,4,0.182,0.100,2672,3655,3879
$GC,201,-1.29,-194.7,15.8,-9.5,26,209,0.00,2.62,0.00,0.000,6,0.000,0.075,2672,2233,3879
$GC,345,-1.29,-194.7,30.8,-9.0,51,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3879
$GC,486,-1.29,-194.7,44.6,-10.3,76,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3879
$GC,630,-1.29,-194.7,56.7,-8.1,101,636,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3880
$GC,972,-1.29,-194.7,85.8,-8.4,162,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3880
$GC,1317,-1.29,-194.7,116.2,-9.1,223,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3881
$GC,1663,-1.29,-194.7,145.0,-8.3,284,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3880
$GC,2008,-1.29,-194.7,173.0,-8.3,345,2015,0.00,2.67,0.00,0.000,4,0.000,0.091,2672,823,3881
$GC,2034,-1.29,-194.7,175.1,-8.2,349,2041,0.00,2.67,0.00,0.000,6,0.000,0.074,2672,2262,3881
$GC,2379,-1.29,-194.7,203.8,-8.3,410,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2263,3881
$GC,2724,-1.29,-194.7,233.7,-8.8,471,2731,0.00,2.83,0.00,0.000,4,0.000,0.104,2672,820,3880
$GC,2766,-1.29,-194.7,237.7,-9.3,478,2773,0.00,2.75,0.00,0.000,6,0.000,0.091,2672,2257,3880
$GC,3113,-1.29,-194.7,268.7,-8.8,539,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2258,3880
$GC,3459,-1.29,-194.7,299.7,-8.9,600,3466,0.00,2.80,0.00,0.000,4,0.000,0.104,2672,826,3880
$GC,3491,-1.29,-194.7,302.6,-9.2,605,3497,0.00,2.75,0.00,0.000,6,0.000,0.092,2672,2259,3880
$GC,3836,-1.29,-194.7,333.0,-9.0,666,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2259,3880
$GC,4172,-1.29,-194.7,361.9,-8.5,714,4177,0.00,2.83,0.00,0.000,4,0.000,0.107,2672,827,3879
$GC,4205,-1.29,-194.7,364.8,-8.9,716,4212,0.00,2.72,0.00,0.000,6,0.000,0.094,2672,2246,3879
$GC,4533,-1.29,-194.7,392.6,-8.5,747,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2246,3879
$GC,4859,-1.29,-194.7,420.6,-8.6,778,4863,0.00,2.80,0.00,0.000,4,0.000,0.108,2672,826,3879
$GC,4887,-1.29,-194.7,423.1,-9.0,780,4892,0.00,2.75,0.00,0.000,6,0.000,0.094,2672,2256,3879
$GC,5215,-1.29,-194.7,450.6,-8.5,810,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2256,3878
$GC,5541,-1.29,-194.7,478.5,-8.4,841,5546,0.00,2.83,0.00,0.000,4,0.000,0.110,2672,824,3878
$GC,5564,-1.29,-194.7,480.5,-8.9,842,5571,0.00,2.72,0.00,0.000,6,0.000,0.093,2672,2249,3878
$GC,5891,-1.29,-194.7,507.8,-8.5,873,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2249,3878
$GC,6218,-1.29,-194.7,536.0,-8.9,904,6222,0.00,2.80,0.00,0.000,4,0.000,0.107,2672,820,3877
$GC,6258,-1.29,-194.7,539.7,-9.4,907,6262,0.00,2.75,0.00,0.000,6,0.000,0.097,2672,2244,3878
$GC,6588,-1.29,-194.7,568.7,-9.0,937,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3877
$GC,6913,-1.29,-194.7,598.3,-9.1,968,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3877
$GC,7225,-1.29,-194.7,626.8,-9.2,984,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3877
$GC,7534,-1.29,-194.7,655.5,-9.2,999,7538,0.00,2.83,0.00,0.000,4,0.000,0.113,2672,827,3877
$GC,7574,-1.29,-194.7,659.4,-9.7,1001,7579,0.00,2.75,0.00,0.000,6,0.000,0.103,2672,2232,3876
$GC,7902,-1.29,-194.7,689.8,-9.3,1017,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3876
$GC,8213,-1.29,-194.7,717.9,-9.0,1032,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3876
$GC,8520,-1.29,-194.7,744.6,-8.5,1047,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3876
$GC,8830,-1.29,-194.7,771.2,-8.7,1062,8832,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3875
$GC,9139,-1.29,-194.7,797.5,-8.4,1077,9144,0.00,2.83,0.00,0.000,4,0.000,0.120,2672,829,3874
$GC,9172,-1.29,-194.7,800.6,-9.2,1078,9180,0.00,2.75,0.00,0.000,6,0.000,0.107,2672,2232,3875
$GC,9488,-1.29,-194.7,826.3,-8.3,1094,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3875
$GC,9799,-1.29,-194.7,851.8,-8.2,1109,9800,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3874
$GC,10107,-1.29,-194.7,877.8,-8.4,1124,10108,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3874
$GC,10416,-1.29,-194.7,903.4,-8.3,1139,10417,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3873
$GC,10728,-1.29,-194.7,928.2,-8.0,1154,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3873
$GC,11035,-1.29,-194.7,951.9,-7.6,1169,11036,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3873
$GC,11344,-1.29,-194.7,975.7,-7.6,1184,11345,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3872
$STATE,11547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11547,begin apogee
$GC,11554,-0.35,0.0,991.2,7.5,1194,11731,1.02,0.00,168.20,1.423,6,0.101,0.000,2878,2330,3084
$STATE,11731,end apogee,CONTROL_FINISHED_OK
$STATE,11731,begin climb
$GC,11734,1.29,194.7,997.2,0.0,1203,11913,1.62,3.03,165.27,1.387,4,0.060,0.130,3238,3737,2290
$GC,11952,1.18,194.7,980.6,12.4,1212,11960,0.12,2.85,0.00,0.000,6,0.119,0.104,3218,2327,2289
$GC,12268,1.12,194.7,947.0,10.3,1228,12273,0.00,2.92,0.00,0.000,4,0.000,0.131,3217,918,2288
$GC,12319,1.07,194.7,941.3,11.0,1230,12325,0.12,2.83,0.00,0.000,6,0.113,0.109,3195,2335,2288
$GC,12635,1.09,205.6,911.0,9.6,1245,12652,0.00,3.00,10.73,1.242,4,0.000,0.131,3195,3737,2246
$GC,12681,1.05,216.5,906.2,9.6,1246,12698,0.00,2.83,11.25,1.203,6,0.000,0.104,3195,2335,2201
$GC,13007,1.06,226.3,874.1,9.7,1262,13023,0.00,2.97,10.50,1.225,4,0.000,0.126,3195,912,2161
$GC,13047,1.09,244.2,870.1,9.4,1263,13071,0.00,2.85,17.08,1.239,6,0.000,0.104,3195,2344,2089
$GC,13379,1.09,244.2,837.7,10.0,1279,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2344,2086
$GC,13687,1.09,244.2,806.9,10.0,1294,13689,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2345,2086
$GC,13997,1.09,244.2,772.8,11.7,1309,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2345,2085
$GC,14307,1.09,244.2,736.7,11.4,1324,14311,0.00,2.88,0.00,0.000,4,0.000,0.117,3195,916,2084
$GC,14346,1.09,244.2,731.9,11.9,1326,14351,0.00,2.78,0.00,0.000,6,0.000,0.101,3195,2332,2085
$GC,14673,1.09,244.2,695.6,10.9,1342,14675,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2333,2084
$GC,14984,1.09,244.2,662.5,10.5,1357,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2333,2084
$GC,15294,1.11,262.2,632.7,9.4,1372,15317,0.00,2.90,16.35,1.170,4,0.000,0.112,3195,915,2015
$GC,15345,1.11,265.7,627.3,9.9,1374,15355,0.00,2.72,4.55,0.812,6,0.000,0.092,3195,2323,2002
$GC,15668,1.14,290.6,597.1,9.1,1390,15697,0.00,2.95,23.48,1.138,4,0.000,0.118,3195,3738,1898
$GC,15725,1.17,309.4,591.4,9.3,1394,15748,0.00,2.78,18.20,1.091,6,0.000,0.091,3195,2324,1823
$GC,16068,1.22,351.8,561.0,8.5,1426,16116,0.12,2.90,38.17,1.109,4,0.064,0.112,3228,919,1649
$GC,16163,1.22,351.8,551.0,12.0,1434,16167,0.00,2.75,0.00,0.000,6,0.000,0.096,3228,2328,1646
$GC,16490,1.22,351.8,517.1,10.2,1464,16495,0.00,2.83,0.00,0.000,4,0.000,0.109,3227,913,1643
$GC,16519,1.22,351.8,513.6,10.5,1466,16524,0.00,2.72,0.00,0.000,6,0.000,0.094,3227,2316,1643
$GC,16847,1.22,351.8,479.7,10.4,1496,16853,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2316,1642
$GC,17172,1.22,351.8,444.6,11.0,1527,17177,0.00,2.78,0.00,0.000,4,0.000,0.108,3227,919,1642
$GC,17205,1.22,351.8,440.5,11.6,1529,17212,0.00,2.67,0.00,0.000,6,0.000,0.094,3227,2305,1642
$GC,17532,1.22,351.8,402.9,11.1,1560,17534,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2305,1642
$GC,17851,1.22,351.8,365.0,11.8,1590,17857,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2305,1642
$GC,18187,1.22,351.8,326.0,10.4,1639,18194,0.00,2.72,0.00,0.000,4,0.000,0.104,3228,914,1641
$GC,18218,1.22,351.8,322.2,11.8,1644,18225,0.00,2.65,0.00,0.000,6,0.000,0.090,3227,2295,1642
$GC,18563,1.22,351.8,280.9,12.3,1705,18570,0.00,2.83,0.00,0.000,4,0.000,0.097,3228,3736,1641
$GC,18589,1.22,351.8,277.8,13.0,1709,18596,0.00,2.80,0.00,0.000,6,0.000,0.087,3227,2287,1641
$GC,18934,1.22,351.8,235.8,11.3,1770,18942,0.00,2.67,0.00,0.000,4,0.000,0.103,3228,913,1641
$GC,18971,1.22,351.8,231.2,11.3,1776,18979,0.00,2.62,0.00,0.000,6,0.000,0.091,3228,2293,1641
$GC,19318,1.22,351.8,189.6,12.1,1837,19324,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2294,1641
$GC,19661,1.22,351.8,147.9,11.4,1898,19667,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2294,1641
$GC,20004,1.22,351.8,107.0,11.6,1959,20010,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2294,1641
$GC,20350,1.22,351.8,65.3,12.2,2020,20357,0.00,2.62,0.00,0.000,4,0.000,0.091,3228,919,1642
$GC,20386,1.22,351.8,60.2,14.9,2026,20393,0.00,2.55,0.00,0.000,6,0.000,0.078,3227,2285,1642
$GC,20732,1.22,351.8,20.9,10.3,2087,20739,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2285,1641
$GC,20876,1.22,351.8,5.2,10.5,2112,20883,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2285,1642
$STATE,20904,end climb,SURFACE_DEPTH_REACHED
$STATE,20904,begin surface coast
$FINISH,0.4,1.027250
$STATE,20923,end surface coast,CONTROL_FINISHED_OK
$STATE,20923,begin surface
$SM_CCo,21005,0.00,0.000,0,0,1638,354.70
$SM_GC,1.10,11.55,0.00,0.00,0.042,0.000,0.000,589,2227,1638,-10.85,-0.23,354.70
$IRIDIUM_FIX,6112.75,-2525.08,200997,000029
$TT8_MAMPS,0.022243
$HUMID,1728
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.00
$XPDR_PINGS,821
$24V_AH,23.0,76.167
$10V_AH,10.6,63.155
$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,26.950,133.950,483.775,0.000,0.000,51.336,77.930,402.068,205.250,0.000,0.000,11.657,4218.323,12081.010,704.316,3739.739,1000.970,0.000,2355.625,0.000,3743.529,0.000,0.468
$DEVICE_MAMPS,181.779,145.730,1422.785,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1469.000,1616.871,1869.749,604.976,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126382,2120
$CAP_FILE_SIZE,187371,0
$CFSIZE,260165632,221671424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,146.3,1
$GPS,260608,063226,6139.293,-2539.819,41,1.0,41,-18.4