version: 66.03
glider: 140
mission: 5
dive: 358
start: 6 26 108 6 42 23
data:
$ID,140
$MISSION,5
$DIVE,358
$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,-19766.533
$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,17
$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
$GPS1,063226,6139.293,-2539.819,41,1.0,41,-18.4
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-60.7
$GPS2,064203,6139.265,-2539.905,16,1.0,16,-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,15.0,46282,-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,23,-1.29,-194.7,0.0,0.0,0,97,0.00,0.00,-72.32,0.000,2,0.000,0.000,589,2226,3359
$GC,101,-1.29,-194.7,3.1,-6.0,10,131,12.35,0.00,-11.62,0.000,6,0.184,0.000,2672,2227,3882
$GC,270,-1.29,-194.7,22.8,-9.5,38,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3883
$GC,413,-1.29,-194.7,35.8,-8.9,63,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3883
$GC,556,-1.29,-194.7,49.1,-9.6,88,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3883
$GC,698,-1.29,-194.7,62.8,-9.5,113,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3883
$GC,1043,-1.29,-194.7,96.1,-9.9,174,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3884
$GC,1388,-1.29,-194.7,130.3,-9.9,235,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3884
$GC,1734,-1.29,-194.7,164.7,-9.9,296,1741,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3884
$GC,2079,-1.29,-194.7,197.2,-8.9,357,2086,0.00,2.67,0.00,0.000,4,0.000,0.091,2672,828,3884
$GC,2105,-1.29,-194.7,199.6,-9.0,361,2112,0.00,2.70,0.00,0.000,6,0.000,0.088,2672,2239,3884
$GC,2451,-1.29,-194.7,230.5,-9.0,422,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2240,3884
$GC,2796,-1.29,-194.7,262.9,-9.8,483,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2240,3884
$GC,3141,-1.29,-194.7,294.4,-8.9,544,3148,0.00,2.78,0.00,0.000,4,0.000,0.104,2672,825,3883
$GC,3178,-1.29,-194.7,297.9,-9.8,550,3185,0.00,2.70,0.00,0.000,6,0.000,0.092,2672,2231,3884
$GC,3525,-1.29,-194.7,330.1,-9.5,611,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3884
$GC,3861,-1.29,-194.7,362.1,-9.1,660,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3884
$GC,4181,-1.29,-194.7,389.6,-8.4,690,4182,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3883
$GC,4499,-1.29,-194.7,416.6,-8.3,720,4503,0.00,2.78,0.00,0.000,4,0.000,0.107,2672,825,3883
$GC,4520,-1.29,-194.7,418.6,-8.6,721,4527,0.00,2.72,0.00,0.000,6,0.000,0.099,2672,2236,3883
$GC,4848,-1.29,-194.7,444.9,-8.0,752,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3883
$GC,5174,-1.29,-194.7,469.6,-7.6,783,5179,0.00,2.78,0.00,0.000,4,0.000,0.110,2672,831,3882
$GC,5203,-1.29,-194.7,471.9,-8.0,785,5208,0.00,2.70,0.00,0.000,6,0.000,0.096,2672,2228,3882
$GC,5531,-1.29,-194.7,496.1,-7.5,815,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3882
$GC,5857,-1.29,-194.7,520.3,-7.2,846,5859,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3882
$GC,6175,-1.29,-194.7,543.2,-7.3,876,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3882
$GC,6495,-1.29,-194.7,567.9,-8.1,906,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3882
$GC,6812,-1.29,-194.7,594.6,-8.5,936,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3882
$GC,7134,-1.29,-194.7,621.7,-8.6,955,7139,0.00,2.75,0.00,0.000,4,0.000,0.108,2672,831,3881
$GC,7158,-1.29,-194.7,623.9,-9.2,956,7163,0.00,2.70,0.00,0.000,6,0.000,0.098,2672,2227,3881
$GC,7480,-1.29,-194.7,652.4,-8.6,972,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3881
$GC,7789,-1.29,-194.7,677.8,-8.3,987,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3881
$GC,8099,-1.29,-194.7,703.6,-8.2,1002,8103,0.00,2.78,0.00,0.000,4,0.000,0.112,2672,831,3880
$GC,8139,-1.29,-194.7,707.0,-8.9,1004,8143,0.00,2.72,0.00,0.000,6,0.000,0.099,2672,2228,3880
$GC,8466,-1.29,-194.7,735.5,-9.1,1020,8470,0.00,2.78,0.00,0.000,4,0.000,0.113,2672,831,3880
$GC,8488,-1.29,-194.7,737.7,-9.5,1021,8492,0.00,2.70,0.00,0.000,6,0.000,0.101,2672,2215,3880
$GC,8809,-1.29,-194.7,768.2,-9.9,1037,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3880
$GC,9118,-1.29,-194.7,798.4,-9.5,1052,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3880
$GC,9428,-1.29,-194.7,826.6,-9.1,1067,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3879
$GC,9737,-1.29,-194.7,854.8,-9.1,1082,9738,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3879
$GC,10046,-1.29,-194.7,881.7,-8.5,1097,10047,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$GC,10356,-1.29,-194.7,907.9,-7.9,1112,10360,0.00,2.80,0.00,0.000,4,0.000,0.123,2672,831,3878
$GC,10383,-1.29,-194.7,910.3,-8.9,1113,10387,0.00,2.72,0.00,0.000,6,0.000,0.108,2672,2214,3878
$GC,10699,-1.29,-194.7,936.4,-8.2,1128,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3878
$GC,11009,-1.29,-194.7,962.1,-8.5,1143,11013,0.00,2.92,0.00,0.000,4,0.000,0.127,2672,3647,3877
$GC,11041,-1.29,-194.7,965.1,-9.5,1144,11049,0.00,2.80,0.00,0.000,6,0.000,0.105,2672,2219,3877
$STATE,11334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11334,begin apogee
$GC,11341,-0.35,0.0,991.1,9.0,1159,11517,1.02,0.00,168.82,1.419,6,0.100,0.000,2879,2329,3084
$STATE,11518,end apogee,CONTROL_FINISHED_OK
$STATE,11518,begin climb
$GC,11521,1.29,194.7,999.4,0.0,1168,11696,1.65,3.03,165.55,1.386,4,0.058,0.128,3240,3736,2290
$GC,11728,1.17,194.7,986.6,11.9,1178,11733,0.15,2.88,0.00,0.000,6,0.114,0.108,3214,2331,2289
$GC,12056,1.12,194.7,952.1,10.4,1194,12061,0.00,2.97,0.00,0.000,4,0.000,0.135,3214,913,2288
$GC,12088,1.12,194.7,948.3,10.4,1195,12096,0.00,2.78,0.00,0.000,6,0.000,0.097,3214,2338,2288
$GC,12406,1.08,204.1,917.4,9.7,1211,12421,0.00,2.97,9.48,1.220,4,0.000,0.127,3214,3736,2252
$GC,12454,1.00,204.1,912.1,11.2,1212,12460,0.20,2.85,0.00,0.000,6,0.107,0.107,3177,2330,2252
$GC,12771,1.03,235.6,885.5,8.9,1227,12807,0.00,3.05,28.85,1.302,4,0.000,0.132,3176,920,2124
$GC,12864,1.04,241.3,876.3,9.8,1231,12881,0.00,2.80,6.65,1.078,6,0.000,0.105,3176,2325,2101
$GC,13190,1.05,249.8,844.8,9.7,1247,13201,0.00,0.00,9.00,1.185,6,0.000,0.000,3176,2326,2066
$GC,13500,1.06,260.2,815.6,9.6,1262,13521,0.00,2.92,10.90,1.204,4,0.000,0.117,3176,912,2023
$GC,13546,1.12,269.6,810.9,9.7,1264,13562,0.12,2.78,9.95,1.140,6,0.064,0.100,3209,2315,1985
$GC,13873,1.12,269.6,774.4,11.3,1279,13877,0.00,3.00,0.00,0.000,4,0.000,0.131,3209,3738,1982
$GC,13917,1.08,269.6,768.9,11.7,1281,13921,0.00,2.85,0.00,0.000,6,0.000,0.099,3209,2305,1981
$GC,14240,1.08,269.6,733.9,10.8,1297,14241,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2305,1981
$GC,14547,1.08,269.6,698.4,11.7,1312,14552,0.00,2.80,0.00,0.000,4,0.000,0.122,3208,918,1981
$GC,14610,1.08,269.6,690.4,13.1,1315,14615,0.00,2.72,0.00,0.000,6,0.000,0.100,3209,2316,1982
$GC,14938,1.08,269.6,650.9,11.9,1331,14943,0.00,2.90,0.00,0.000,4,0.000,0.120,3209,3736,1981
$GC,14972,1.04,269.6,646.4,12.0,1332,14980,0.12,2.80,0.00,0.000,6,0.112,0.094,3186,2306,1980
$GC,15288,1.04,273.2,614.3,9.9,1348,15297,0.00,2.80,4.03,0.788,4,0.000,0.115,3186,916,1971
$GC,15320,1.04,273.2,610.7,10.0,1349,15324,0.00,2.72,0.00,0.000,6,0.000,0.100,3186,2309,1971
$GC,15642,1.04,273.2,576.6,10.3,1374,15644,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2309,1971
$GC,15960,1.06,287.0,545.5,9.5,1404,15980,0.00,0.00,13.98,1.100,6,0.000,0.000,3187,2309,1914
$GC,16301,1.11,331.1,515.4,8.5,1436,16350,0.00,0.00,42.08,1.048,6,0.000,0.000,3186,2309,1735
$GC,16669,1.20,357.0,482.4,9.1,1471,16698,0.15,0.00,23.62,1.044,6,0.060,0.000,3226,2309,1629
$GC,17016,1.20,357.0,444.9,10.6,1504,17020,0.00,2.78,0.00,0.000,4,0.000,0.107,3226,910,1624
$GC,17058,1.20,357.0,440.4,11.9,1507,17062,0.00,2.70,0.00,0.000,6,0.000,0.091,3225,2308,1625
$GC,17387,1.20,357.0,404.1,11.4,1537,17392,0.00,2.88,0.00,0.000,4,0.000,0.110,3226,3737,1624
$GC,17409,1.20,357.0,400.8,11.6,1538,17417,0.00,2.78,0.00,0.000,6,0.000,0.087,3226,2294,1623
$GC,17739,1.20,357.0,363.9,11.3,1569,17743,0.00,2.72,0.00,0.000,4,0.000,0.108,3226,912,1624
$GC,17771,1.20,357.0,359.3,11.3,1571,17778,0.00,2.67,0.00,0.000,6,0.000,0.092,3226,2302,1624
$GC,18110,1.20,357.0,321.4,11.5,1624,18116,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2302,1624
$GC,18455,1.20,357.0,280.9,11.2,1685,18461,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2302,1623
$GC,18800,1.20,357.0,239.8,11.8,1746,18807,0.00,2.72,0.00,0.000,4,0.000,0.102,3226,909,1624
$GC,18832,1.20,357.0,236.1,12.3,1751,18839,0.00,2.67,0.00,0.000,6,0.000,0.088,3226,2308,1624
$GC,19178,1.20,357.0,195.1,13.6,1812,19184,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2308,1623
$GC,19523,1.20,357.0,151.4,13.2,1873,19529,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2308,1623
$GC,19867,1.20,357.0,107.4,13.8,1934,19875,0.00,2.70,0.00,0.000,4,0.000,0.100,3226,916,1623
$GC,19899,1.20,357.0,103.4,13.0,1939,19907,0.00,2.62,0.00,0.000,6,0.000,0.085,3226,2303,1623
$GC,20244,1.20,357.0,60.1,13.2,2000,20251,0.00,2.80,0.00,0.000,4,0.000,0.101,3226,3734,1623
$GC,20281,1.20,357.0,55.3,14.7,2006,20289,0.00,2.72,0.00,0.000,6,0.000,0.081,3226,2296,1623
$GC,20626,1.20,360.3,18.9,9.9,2067,20634,0.00,2.62,0.00,0.000,4,0.000,0.097,3226,919,1623
$GC,20681,1.26,360.3,13.2,10.9,2076,20688,0.00,2.58,0.00,0.000,6,0.000,0.080,3226,2298,1623
$STATE,20792,end climb,SURFACE_DEPTH_REACHED
$STATE,20792,begin surface coast
$FINISH,0.3,1.026777
$STATE,20812,end surface coast,CONTROL_FINISHED_OK
$STATE,20812,begin surface
$SM_CCo,20895,0.00,0.000,0,0,1620,359.12
$SM_GC,1.08,11.52,0.00,0.00,0.041,0.000,0.000,587,2227,1620,-10.85,-0.23,359.12
$IRIDIUM_FIX,6117.23,-2545.32,200997,000059
$TT8_MAMPS,0.02301
$HUMID,1744
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.10
$XPDR_PINGS,803
$24V_AH,22.8,76.399
$10V_AH,10.6,63.336
$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,27.300,139.500,492.900,0.000,0.000,31.675,35.041,339.427,200.750,0.000,0.000,16.098,4199.626,11947.106,735.731,3713.923,853.147,0.000,2360.571,0.000,3706.723,0.000,0.467
$DEVICE_MAMPS,184.080,134.992,1418.950,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1454.865,1602.549,1859.683,591.252,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126146,2099
$CAP_FILE_SIZE,185143,0
$CFSIZE,260165632,221569024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.116,152.8,1
$GPS,260608,123156,6141.262,-2539.085,42,1.1,42,-18.4