version: 66.03
glider: 140
mission: 5
dive: 360
start: 6 26 108 18 47 40
data:
$ID,140
$MISSION,5
$DIVE,360
$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,-19794.734
$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,14
$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
$GPS1,183345,6142.962,-2537.627,38,99.0,57,-18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-62.4
$GPS2,184721,6142.982,-2537.608,14,1.1,14,-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,11.5,39603,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-71.20,0.000,2,0.000,0.000,583,2219,3369
$GC,99,-1.29,-194.7,3.0,-5.9,10,128,12.32,2.80,-11.52,0.000,4,0.181,0.102,2674,3647,3880
$GC,226,-1.29,-194.7,17.8,-9.3,31,233,0.00,2.62,0.00,0.000,6,0.000,0.075,2674,2233,3881
$GC,368,-1.29,-194.7,30.3,-9.2,56,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2232,3882
$GC,514,-1.29,-194.7,42.9,-8.2,81,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2232,3881
$GC,656,-1.29,-194.7,55.4,-9.2,106,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2232,3882
$GC,1002,-1.29,-194.7,83.7,-8.4,167,1008,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2232,3883
$GC,1348,-1.29,-194.7,113.1,-8.6,228,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2232,3883
$GC,1695,-1.29,-194.7,143.4,-8.3,289,1702,0.00,2.75,0.00,0.000,4,0.000,0.101,2674,820,3882
$GC,1721,-1.29,-194.7,145.6,-8.6,293,1728,0.00,2.72,0.00,0.000,6,0.000,0.086,2674,2251,3883
$GC,2066,-1.29,-194.7,174.6,-8.5,354,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2252,3883
$GC,2412,-1.29,-194.7,203.8,-8.3,415,2419,0.00,2.75,0.00,0.000,4,0.000,0.097,2674,828,3882
$GC,2443,-1.29,-194.7,206.5,-8.9,420,2450,0.00,2.72,0.00,0.000,6,0.000,0.089,2674,2254,3882
$GC,2788,-1.29,-194.7,235.4,-8.6,481,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2255,3882
$GC,3133,-1.29,-194.7,265.6,-9.1,542,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2255,3882
$GC,3480,-1.29,-194.7,298.0,-9.4,603,3488,0.00,2.83,0.00,0.000,4,0.000,0.106,2674,821,3881
$GC,3518,-1.29,-194.7,301.6,-9.7,609,3525,0.00,2.75,0.00,0.000,6,0.000,0.092,2674,2250,3881
$GC,3863,-1.29,-194.7,332.6,-8.9,670,3869,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2250,3881
$GC,4199,-1.29,-194.7,362.4,-8.5,718,4204,0.00,2.80,0.00,0.000,4,0.000,0.107,2674,826,3881
$GC,4232,-1.29,-194.7,365.4,-8.9,720,4240,0.00,2.72,0.00,0.000,6,0.000,0.093,2674,2244,3881
$GC,4561,-1.29,-194.7,392.6,-8.2,751,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2244,3881
$GC,4886,-1.29,-194.7,418.8,-7.3,782,4887,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2245,3880
$GC,5208,-1.29,-194.7,442.3,-7.6,812,5212,0.00,2.83,0.00,0.000,4,0.000,0.111,2674,823,3880
$GC,5240,-1.29,-194.7,445.2,-8.2,814,5248,0.00,2.75,0.00,0.000,6,0.000,0.095,2674,2251,3880
$GC,5570,-1.29,-194.7,470.3,-8.0,845,5575,0.00,2.83,0.00,0.000,4,0.000,0.110,2674,820,3880
$GC,5593,-1.29,-194.7,472.5,-7.9,846,5601,0.00,2.72,0.00,0.000,6,0.000,0.095,2674,2237,3880
$GC,5921,-1.29,-194.7,499.1,-8.3,877,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2237,3879
$GC,6247,-1.29,-194.7,527.3,-9.1,908,6252,0.00,2.78,0.00,0.000,4,0.000,0.110,2674,828,3879
$GC,6281,-1.29,-194.7,530.6,-9.5,910,6288,0.00,2.70,0.00,0.000,6,0.000,0.096,2674,2238,3879
$GC,6609,-1.29,-194.7,560.1,-9.1,941,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2237,3879
$GC,6934,-1.29,-194.7,591.2,-9.9,972,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2238,3878
$GC,7257,-1.29,-194.7,622.8,-9.7,992,7261,0.00,2.80,0.00,0.000,4,0.000,0.114,2674,827,3878
$GC,7275,-1.29,-194.7,624.5,-9.5,993,7280,0.00,2.75,0.00,0.000,6,0.000,0.099,2674,2246,3878
$GC,7604,-1.29,-194.7,655.0,-9.4,1009,7605,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2246,3878
$GC,7913,-1.29,-194.7,685.6,-10.2,1024,7918,0.00,2.80,0.00,0.000,4,0.000,0.111,2674,828,3878
$GC,7947,-1.29,-194.7,689.3,-10.4,1025,7954,0.00,2.72,0.00,0.000,6,0.000,0.100,2674,2237,3877
$GC,8264,-1.29,-194.7,719.3,-9.5,1041,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2237,3877
$GC,8572,-1.29,-194.7,746.7,-8.5,1056,8577,0.00,2.85,0.00,0.000,4,0.000,0.121,2674,823,3877
$GC,8623,-1.29,-194.7,751.1,-9.0,1058,8627,0.00,2.72,0.00,0.000,6,0.000,0.103,2674,2234,3877
$GC,8939,-1.29,-194.7,778.8,-9.0,1073,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3877
$GC,9248,-1.29,-194.7,807.4,-9.2,1088,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3877
$GC,9559,-1.29,-194.7,837.4,-9.7,1103,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3876
$GC,9868,-1.29,-194.7,866.7,-9.2,1118,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3876
$GC,10176,-1.29,-194.7,892.4,-8.0,1133,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2235,3875
$GC,10486,-1.29,-194.7,917.0,-8.4,1148,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3875
$GC,10794,-1.29,-194.7,943.1,-8.4,1163,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3875
$GC,11104,-1.29,-194.7,969.0,-8.1,1178,11108,0.00,2.90,0.00,0.000,4,0.000,0.130,2674,828,3874
$GC,11137,-1.29,-194.7,972.0,-9.1,1179,11144,0.00,2.75,0.00,0.000,6,0.000,0.103,2674,2235,3874
$STATE,11347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11347,begin apogee
$GC,11354,-0.35,0.0,990.5,8.7,1190,11530,1.02,0.00,168.68,1.420,6,0.099,0.000,2881,2334,3084
$STATE,11531,end apogee,CONTROL_FINISHED_OK
$STATE,11531,begin climb
$GC,11534,1.29,194.7,998.0,0.0,1199,11705,1.60,0.00,166.23,1.383,6,0.058,0.000,3237,2334,2291
$GC,12008,1.20,194.7,953.8,12.2,1222,12012,0.00,2.92,0.00,0.000,4,0.000,0.129,3237,925,2289
$GC,12036,1.13,194.7,949.9,12.2,1223,12041,0.15,2.83,0.00,0.000,6,0.112,0.112,3210,2333,2289
$GC,12353,1.09,200.0,917.9,9.8,1238,12361,0.00,0.00,6.18,1.068,6,0.000,0.000,3210,2333,2269
$GC,12663,1.05,200.0,885.4,11.1,1253,12665,0.10,0.00,0.00,0.000,6,0.119,0.000,3192,2333,2268
$GC,12972,1.05,200.0,854.2,10.2,1268,12977,0.00,2.90,0.00,0.000,4,0.000,0.127,3192,920,2268
$GC,13012,1.05,200.0,849.7,10.3,1270,13016,0.00,2.80,0.00,0.000,6,0.000,0.109,3192,2327,2268
$GC,13338,1.07,215.4,817.4,9.5,1286,13362,0.00,3.05,14.73,1.247,4,0.000,0.133,3192,3738,2206
$GC,13391,1.05,238.5,812.4,9.2,1288,13418,0.00,2.85,21.83,1.239,6,0.000,0.104,3192,2325,2112
$GC,13738,1.08,257.4,779.7,9.3,1305,13762,0.00,3.03,17.62,1.230,4,0.000,0.128,3192,919,2035
$GC,13787,1.08,264.7,774.6,9.7,1307,13801,0.00,2.83,8.18,1.067,6,0.000,0.104,3192,2338,2004
$GC,14120,1.10,278.1,743.3,9.5,1323,14138,0.00,0.00,13.07,1.184,6,0.000,0.000,3192,2339,1951
$GC,14448,1.10,278.1,708.1,11.3,1339,14452,0.00,2.85,0.00,0.000,4,0.000,0.112,3192,917,1948
$GC,14488,1.10,278.1,703.5,11.2,1341,14493,0.00,2.72,0.00,0.000,6,0.000,0.091,3192,2327,1948
$GC,14816,1.10,278.1,668.1,10.6,1357,14817,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2327,1948
$GC,15126,1.10,278.1,633.4,11.0,1372,15130,0.00,2.83,0.00,0.000,4,0.000,0.114,3192,916,1948
$GC,15166,1.10,278.1,628.7,11.8,1374,15171,0.00,2.75,0.00,0.000,6,0.000,0.099,3192,2328,1948
$GC,15484,1.11,284.7,596.1,9.8,1391,15494,0.00,0.00,7.03,1.023,6,0.000,0.000,3192,2328,1924
$GC,15814,1.11,284.7,563.4,10.1,1422,15819,0.00,2.80,0.00,0.000,4,0.000,0.110,3192,918,1923
$GC,15847,1.11,284.7,559.4,10.3,1424,15855,0.00,2.70,0.00,0.000,6,0.000,0.094,3192,2316,1923
$GC,16177,1.11,284.7,526.0,10.0,1455,16181,0.00,2.85,0.00,0.000,4,0.000,0.110,3192,3737,1922
$GC,16206,1.11,284.7,522.6,11.2,1457,16211,0.00,2.78,0.00,0.000,6,0.000,0.090,3191,2308,1922
$GC,16532,1.14,307.2,491.2,9.2,1487,16558,0.00,2.83,21.40,1.067,4,0.000,0.110,3191,914,1831
$GC,16594,1.19,311.0,485.4,9.9,1492,16606,0.12,2.70,5.12,0.805,6,0.064,0.094,3225,2311,1816
$GC,16931,1.19,311.0,447.2,11.8,1524,16932,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2311,1814
$GC,17250,1.19,311.0,408.8,12.2,1554,17255,0.00,2.85,0.00,0.000,4,0.000,0.107,3225,3738,1813
$GC,17278,1.19,311.0,405.1,14.5,1556,17283,0.00,2.78,0.00,0.000,6,0.000,0.088,3225,2311,1813
$GC,17606,1.19,311.0,364.9,12.6,1586,17610,0.00,2.75,0.00,0.000,4,0.000,0.110,3225,914,1813
$GC,17649,1.19,311.0,358.7,12.4,1589,17657,0.00,2.67,0.00,0.000,6,0.000,0.093,3225,2314,1813
$GC,17990,1.19,311.0,316.6,13.0,1643,17996,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2314,1813
$GC,18335,1.19,311.0,275.2,12.3,1704,18342,0.00,2.72,0.00,0.000,4,0.000,0.104,3225,918,1814
$GC,18367,1.19,311.0,271.3,12.7,1709,18374,0.00,2.65,0.00,0.000,6,0.000,0.091,3225,2304,1814
$GC,18712,1.19,311.0,230.5,11.4,1770,18720,0.00,2.85,0.00,0.000,4,0.000,0.108,3225,3736,1813
$GC,18744,1.19,311.0,226.5,12.1,1775,18751,0.00,2.78,0.00,0.000,6,0.000,0.086,3225,2297,1813
$GC,19089,1.19,311.0,186.6,12.6,1836,19097,0.00,2.70,0.00,0.000,4,0.000,0.110,3225,915,1813
$GC,19132,1.19,311.0,181.4,12.0,1843,19139,0.00,2.65,0.00,0.000,6,0.000,0.090,3225,2304,1813
$GC,19478,1.19,311.0,141.9,11.8,1904,19485,0.00,2.78,0.00,0.000,4,0.000,0.097,3225,3736,1813
$GC,19509,1.19,311.0,138.1,12.5,1909,19516,0.00,2.75,0.00,0.000,6,0.000,0.084,3225,2301,1813
$GC,19855,1.19,311.0,97.5,11.7,1970,19862,0.00,2.70,0.00,0.000,4,0.000,0.103,3225,912,1813
$GC,19898,1.19,311.0,92.4,12.5,1977,19905,0.00,2.65,0.00,0.000,6,0.000,0.086,3225,2307,1813
$GC,20243,1.22,337.0,56.3,9.1,2038,20272,0.00,2.88,22.77,0.781,4,0.000,0.089,3225,3736,1710
$GC,20292,1.24,353.4,51.9,9.4,2045,20312,0.00,2.75,15.35,0.728,6,0.000,0.079,3225,2304,1644
$GC,20651,1.25,357.4,16.9,9.9,2108,20666,0.00,2.72,4.38,0.586,4,0.000,0.097,3225,920,1628
$GC,20740,1.29,357.4,6.7,10.9,2123,20747,0.00,2.53,0.00,0.000,6,0.000,0.081,3225,2265,1627
$STATE,20786,end climb,SURFACE_DEPTH_REACHED
$STATE,20786,begin surface coast
$FINISH,0.3,1.013773
$STATE,20810,end surface coast,CONTROL_FINISHED_OK
$STATE,20810,begin surface
$SM_CCo,20893,0.00,0.000,0,0,1624,358.38
$SM_GC,1.06,11.52,0.00,0.00,0.040,0.000,0.000,584,2232,1624,-10.85,-0.06,358.38
$IRIDIUM_FIX,6121.73,-2539.11,200997,181828
$TT8_MAMPS,0.02301
$HUMID,1740
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.00
$XPDR_PINGS,812
$24V_AH,23.0,76.862
$10V_AH,10.6,63.702
$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,26.850,166.825,492.550,0.000,0.000,58.509,93.498,430.107,203.000,0.000,0.000,14.247,4287.899,11832.905,754.463,3749.918,1060.941,0.000,2399.308,0.000,3747.852,0.000,0.467
$DEVICE_MAMPS,181.012,140.361,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1479.317,1630.050,1897.706,621.373,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126212,2135
$CAP_FILE_SIZE,193160,0
$CFSIZE,260165632,221368320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,151.2,1
$GPS,270608,003708,6145.205,-2537.665,39,1.1,39,-18.4