version: 66.03
glider: 140
mission: 5
dive: 361
start: 6 27 108 0 50 28
data:
$ID,140
$MISSION,5
$DIVE,361
$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,-19808.543
$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
$GPS1,003708,6145.205,-2537.665,39,1.1,39,-18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-61.7
$GPS2,005009,6145.171,-2537.903,13,1.2,13,-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,11.1,35548,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.29,-194.7,0.0,0.0,0,99,0.00,0.00,-72.75,0.000,2,0.000,0.000,584,2232,3392
$GC,103,-1.29,-194.7,3.2,-6.6,10,133,12.40,2.72,-10.57,0.000,4,0.182,0.101,2674,3654,3879
$GC,256,-1.29,-194.7,21.8,-10.4,35,264,0.00,2.62,0.00,0.000,6,0.000,0.074,2674,2232,3880
$GC,403,-1.29,-194.7,34.9,-8.8,60,410,0.00,2.67,0.00,0.000,4,0.000,0.091,2675,820,3880
$GC,429,-1.29,-194.7,37.4,-8.7,64,436,0.00,2.65,0.00,0.000,6,0.000,0.075,2674,2248,3881
$GC,573,-1.29,-194.7,49.7,-8.4,89,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2249,3881
$GC,716,-1.29,-194.7,62.8,-9.2,114,723,0.00,2.65,0.00,0.000,4,0.000,0.081,2674,828,3881
$GC,736,-1.29,-194.7,64.7,-9.2,117,743,0.00,2.60,0.00,0.000,6,0.000,0.070,2674,2239,3881
$GC,1082,-1.29,-194.7,97.1,-9.0,178,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2239,3881
$GC,1428,-1.29,-194.7,129.9,-9.1,239,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2239,3882
$GC,1772,-1.29,-194.7,160.9,-8.7,300,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2239,3882
$GC,2118,-1.29,-194.7,190.7,-8.7,361,2125,0.00,2.78,0.00,0.000,4,0.000,0.103,2674,822,3882
$GC,2155,-1.29,-194.7,194.0,-9.1,367,2162,0.00,2.67,0.00,0.000,6,0.000,0.087,2674,2226,3882
$GC,2500,-1.29,-194.7,224.4,-9.0,428,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3881
$GC,2846,-1.29,-194.7,255.4,-9.1,489,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2227,3881
$GC,3190,-1.29,-194.7,285.9,-8.6,550,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3881
$GC,3536,-1.29,-194.7,315.5,-8.6,611,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3881
$GC,3880,-1.29,-194.7,345.2,-8.4,672,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3881
$GC,4217,-1.29,-194.7,374.1,-8.6,708,4222,0.00,2.72,0.00,0.000,4,0.000,0.100,2674,830,3880
$GC,4246,-1.29,-194.7,376.8,-8.9,710,4250,0.00,2.70,0.00,0.000,6,0.000,0.094,2674,2222,3880
$GC,4574,-1.29,-194.7,405.2,-8.6,740,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2222,3880
$GC,4900,-1.29,-194.7,433.4,-8.5,771,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2222,3879
$GC,5219,-1.29,-194.7,461.1,-8.8,801,5223,0.00,2.75,0.00,0.000,4,0.000,0.110,2674,830,3879
$GC,5240,-1.29,-194.7,463.3,-9.0,802,5248,0.00,2.70,0.00,0.000,6,0.000,0.098,2674,2218,3879
$GC,5568,-1.29,-194.7,492.0,-9.2,833,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3878
$GC,5893,-1.29,-194.7,523.9,-10.3,864,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3878
$GC,6213,-1.29,-194.7,555.5,-9.4,894,6214,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3878
$GC,6531,-1.29,-194.7,583.3,-9.1,924,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3878
$GC,6846,-1.29,-194.7,610.7,-8.5,948,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3877
$GC,7155,-1.29,-194.7,635.8,-8.2,963,7157,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3877
$GC,7464,-1.29,-194.7,664.7,-9.5,978,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3877
$GC,7774,-1.29,-194.7,693.3,-9.3,993,7776,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3877
$GC,8083,-1.29,-194.7,721.4,-9.1,1008,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3877
$GC,8392,-1.29,-194.7,750.6,-9.6,1023,8397,0.00,2.90,0.00,0.000,4,0.000,0.127,2674,3644,3876
$GC,8426,-1.29,-194.7,753.9,-10.0,1024,8433,0.00,2.78,0.00,0.000,6,0.000,0.100,2674,2213,3876
$GC,8742,-1.29,-194.7,783.6,-9.5,1040,8746,0.00,2.85,0.00,0.000,4,0.000,0.127,2674,817,3876
$GC,8769,-1.29,-194.7,786.4,-9.5,1041,8774,0.00,2.72,0.00,0.000,6,0.000,0.104,2674,2207,3876
$GC,9086,-1.29,-194.7,812.8,-7.7,1056,9087,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3875
$GC,9395,-1.29,-194.7,836.6,-7.7,1071,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3875
$GC,9704,-1.29,-194.7,861.4,-8.5,1086,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3875
$GC,10014,-1.29,-194.7,885.7,-7.6,1101,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3874
$GC,10324,-1.29,-194.7,909.5,-7.8,1116,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2208,3874
$GC,10631,-1.29,-194.7,934.8,-7.9,1131,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2208,3874
$GC,10941,-1.29,-194.7,959.9,-8.7,1146,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2208,3873
$GC,11250,-1.29,-194.7,987.6,-8.8,1161,11251,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2208,3872
$STATE,11288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11288,begin apogee
$GC,11295,-0.35,0.0,991.1,8.6,1163,11471,1.02,0.00,168.35,1.417,6,0.102,0.000,2879,2334,3085
$STATE,11472,end apogee,CONTROL_FINISHED_OK
$STATE,11472,begin climb
$GC,11475,1.29,194.7,998.8,0.0,1172,11655,1.62,3.05,165.27,1.383,4,0.058,0.133,3239,917,2291
$GC,11679,1.21,194.7,986.4,10.3,1181,11683,0.00,2.88,0.00,0.000,6,0.000,0.114,3240,2330,2290
$GC,12006,1.13,194.7,949.6,11.8,1197,12008,0.17,0.00,0.00,0.000,6,0.109,0.000,3208,2331,2288
$GC,12315,1.08,194.7,915.8,10.5,1212,12316,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2331,2288
$GC,12626,1.06,212.3,885.8,9.4,1227,12647,0.00,0.00,16.42,1.277,6,0.000,0.000,3208,2330,2219
$GC,12958,1.08,227.7,855.3,9.5,1243,12977,0.00,0.00,15.20,1.255,6,0.000,0.000,3208,2330,2155
$GC,13286,1.10,245.6,823.8,9.4,1259,13306,0.00,0.00,17.10,1.250,6,0.000,0.000,3208,2330,2083
$GC,13616,1.10,245.6,791.7,10.2,1275,13617,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2330,2081
$GC,13924,1.10,245.6,760.1,10.4,1290,13929,0.00,2.85,0.00,0.000,4,0.000,0.116,3207,917,2080
$GC,13957,1.10,245.6,756.4,10.7,1291,13964,0.00,2.78,0.00,0.000,6,0.000,0.104,3208,2326,2080
$GC,14274,1.10,245.6,724.6,10.1,1307,14275,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2326,2080
$GC,14582,1.12,260.1,694.8,9.5,1322,14603,0.00,0.00,13.95,1.188,6,0.000,0.000,3208,2326,2023
$GC,14911,1.12,260.1,661.9,10.3,1338,14912,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2326,2021
$GC,15222,1.13,269.6,630.9,9.7,1353,15233,0.00,0.00,9.60,1.111,6,0.000,0.000,3208,2326,1985
$GC,15529,1.13,269.6,600.9,10.2,1368,15534,0.00,2.80,0.00,0.000,4,0.000,0.107,3208,912,1984
$GC,15558,1.13,269.6,597.8,11.6,1370,15562,0.00,2.75,0.00,0.000,6,0.000,0.097,3208,2321,1984
$GC,15885,1.13,269.6,560.6,11.9,1400,15889,0.00,2.88,0.00,0.000,4,0.000,0.115,3207,3738,1984
$GC,15913,1.13,269.6,556.8,11.9,1402,15918,0.00,2.78,0.00,0.000,6,0.000,0.091,3208,2315,1983
$GC,16238,1.13,269.6,520.0,11.2,1432,16243,0.00,2.75,0.00,0.000,4,0.000,0.110,3208,919,1983
$GC,16282,1.13,269.6,514.7,11.6,1435,16289,0.00,2.72,0.00,0.000,6,0.000,0.096,3208,2326,1983
$GC,16609,1.15,286.9,481.9,9.4,1466,16628,0.00,0.00,16.45,1.058,6,0.000,0.000,3208,2327,1915
$GC,16948,1.16,290.8,448.8,9.9,1498,16961,0.00,2.78,5.38,0.854,4,0.000,0.105,3208,919,1898
$GC,16996,1.16,290.8,443.5,10.9,1502,17001,0.00,2.72,0.00,0.000,6,0.000,0.097,3208,2318,1898
$GC,17321,1.16,290.8,411.3,10.3,1532,17322,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2318,1897
$GC,17642,1.18,309.6,380.4,9.3,1562,17662,0.00,0.00,17.95,0.983,6,0.000,0.000,3208,2318,1822
$GC,17982,1.19,320.0,346.8,9.6,1596,18003,0.00,2.85,10.12,0.929,4,0.000,0.104,3208,918,1780
$GC,18027,1.19,320.0,342.0,10.2,1603,18034,0.00,2.72,0.00,0.000,6,0.000,0.094,3208,2319,1779
$GC,18374,1.23,350.9,307.8,8.9,1664,18406,0.00,0.00,28.38,0.933,6,0.000,0.000,3208,2320,1653
$GC,18746,1.25,365.3,270.1,9.5,1729,18767,0.10,2.78,13.40,0.890,4,0.069,0.097,3236,916,1594
$GC,18803,1.25,365.3,263.4,12.2,1738,18810,0.00,2.67,0.00,0.000,6,0.000,0.090,3235,2307,1593
$GC,19148,1.25,365.3,220.0,12.5,1799,19155,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2308,1591
$GC,19493,1.25,365.3,173.7,14.4,1860,19501,0.00,2.70,0.00,0.000,4,0.000,0.097,3236,918,1591
$GC,19525,1.25,365.3,169.3,16.1,1865,19532,0.00,2.65,0.00,0.000,6,0.000,0.087,3236,2304,1591
$GC,19870,1.25,365.3,121.2,13.7,1926,19876,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2304,1591
$GC,20215,1.25,365.3,74.0,12.8,1987,20222,0.00,2.67,0.00,0.000,4,0.000,0.096,3236,918,1591
$GC,20246,1.25,365.3,69.6,14.1,1992,20253,0.00,2.62,0.00,0.000,6,0.000,0.089,3235,2297,1590
$GC,20592,1.25,365.3,22.0,13.1,2053,20599,0.00,2.62,0.00,0.000,4,0.000,0.090,3235,914,1591
$GC,20624,1.25,365.3,17.9,13.0,2058,20631,0.00,2.60,0.00,0.000,6,0.000,0.083,3236,2296,1590
$GC,20768,1.25,365.3,2.2,10.5,2083,20775,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2296,1590
$STATE,20781,end climb,SURFACE_DEPTH_REACHED
$STATE,20781,begin surface coast
$FINISH,0.2,1.014121
$STATE,20797,end surface coast,CONTROL_FINISHED_OK
$STATE,20797,begin surface
$SM_CCo,20880,0.00,0.000,0,0,1588,367.21
$SM_GC,1.03,11.50,0.00,0.00,0.038,0.000,0.000,585,2228,1588,-10.85,-0.20,367.21
$IRIDIUM_FIX,6121.73,-2551.24,210997,000043
$TT8_MAMPS,0.02301
$HUMID,1754
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.80
$XPDR_PINGS,805
$24V_AH,23.0,77.098
$10V_AH,10.6,63.881
$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,26.825,104.550,497.575,0.000,0.000,55.056,157.376,338.755,201.250,0.000,0.000,13.179,4130.557,12214.002,707.367,3603.010,981.266,0.000,2282.762,0.000,3598.350,0.000,0.467
$DEVICE_MAMPS,181.779,133.458,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1447.542,1597.948,1842.577,576.941,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122981,2088
$CAP_FILE_SIZE,176830,0
$CFSIZE,260165632,221278208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,162.5,1
$GPS,270608,063955,6147.185,-2538.070,34,1.8,51,-18.4