version: 66.03
glider: 140
mission: 5
dive: 309
start: 6 14 108 22 16 34
data:
$ID,140
$MISSION,5
$DIVE,309
$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,-18911.617
$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,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
$GPS1,220738,6142.976,-2545.362,37,1.1,37,-18.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-62.4
$GPS2,221615,6142.931,-2545.517,13,1.4,13,-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,21.4,39465,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-70.62,0.000,2,0.000,0.000,588,2229,3533
$GC,98,-1.29,-194.7,3.7,-7.1,10,129,12.32,2.78,-7.05,0.000,4,0.182,0.106,2674,820,3882
$GC,227,-1.29,-194.7,22.3,-10.8,31,234,0.00,2.67,0.00,0.000,6,0.000,0.083,2674,2243,3882
$GC,369,-1.29,-194.7,37.5,-10.6,56,377,0.00,2.70,0.00,0.000,4,0.000,0.097,2674,3650,3882
$GC,406,-1.29,-194.7,41.6,-11.0,62,414,0.00,2.67,0.00,0.000,6,0.000,0.079,2674,2225,3882
$GC,550,-1.29,-194.7,57.2,-10.2,87,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2225,3882
$GC,893,-1.29,-194.7,92.1,-9.9,148,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2225,3883
$GC,1238,-1.29,-194.7,126.5,-9.5,209,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2225,3883
$GC,1582,-1.29,-194.7,158.6,-8.9,270,1590,0.00,2.72,0.00,0.000,4,0.000,0.104,2674,823,3883
$GC,1619,-1.29,-194.7,162.0,-9.4,276,1626,0.00,2.67,0.00,0.000,6,0.000,0.087,2674,2234,3883
$GC,1965,-1.29,-194.7,192.6,-8.8,337,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3883
$GC,2310,-1.29,-194.7,221.8,-8.6,398,2317,0.00,2.78,0.00,0.000,4,0.000,0.106,2674,825,3883
$GC,2335,-1.29,-194.7,224.0,-8.5,402,2342,0.00,2.65,0.00,0.000,6,0.000,0.089,2674,2218,3883
$GC,2682,-1.29,-194.7,253.5,-8.5,463,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3883
$GC,3025,-1.29,-194.7,282.8,-8.3,524,3033,0.00,2.75,0.00,0.000,4,0.000,0.108,2674,823,3883
$GC,3046,-1.29,-194.7,284.5,-8.5,527,3053,0.00,2.67,0.00,0.000,6,0.000,0.091,2674,2220,3883
$GC,3391,-1.29,-194.7,313.3,-8.2,588,3397,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3883
$GC,3736,-1.29,-194.7,342.0,-8.2,649,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3882
$GC,4068,-1.29,-194.7,370.3,-8.8,688,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3882
$GC,4384,-1.29,-194.7,398.3,-8.8,718,4389,0.00,2.78,0.00,0.000,4,0.000,0.112,2673,825,3882
$GC,4406,-1.29,-194.7,400.3,-9.0,719,4413,0.00,2.67,0.00,0.000,6,0.000,0.097,2674,2215,3882
$GC,4733,-1.29,-194.7,429.3,-9.3,750,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2215,3882
$GC,5049,-1.29,-194.7,458.8,-9.4,780,5050,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2215,3882
$GC,5368,-1.29,-194.7,486.4,-8.7,810,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2215,3882
$GC,5686,-1.29,-194.7,512.9,-8.1,840,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2215,3881
$GC,6005,-1.29,-194.7,537.3,-7.5,870,6009,0.00,2.78,0.00,0.000,4,0.000,0.115,2674,824,3881
$GC,6033,-1.29,-194.7,539.5,-7.9,872,6038,0.00,2.70,0.00,0.000,6,0.000,0.097,2674,2223,3882
$GC,6361,-1.29,-194.7,563.6,-7.2,902,6362,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2223,3881
$GC,6677,-1.29,-194.7,586.6,-7.4,932,6681,0.00,2.80,0.00,0.000,4,0.000,0.117,2674,824,3881
$GC,6721,-1.29,-194.7,590.1,-7.8,935,6728,0.00,2.70,0.00,0.000,6,0.000,0.100,2674,2217,3881
$GC,7041,-1.29,-194.7,615.8,-8.7,957,7046,0.00,2.78,0.00,0.000,4,0.000,0.117,2674,828,3881
$GC,7063,-1.29,-194.7,618.0,-9.9,958,7067,0.00,2.65,0.00,0.000,6,0.000,0.099,2674,2200,3880
$GC,7384,-1.29,-194.7,650.9,-10.6,974,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2200,3880
$GC,7693,-1.29,-194.7,683.3,-10.6,989,7694,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2200,3880
$GC,8002,-1.29,-194.7,716.7,-10.7,1004,8007,0.00,2.90,0.00,0.000,4,0.000,0.120,2674,3647,3880
$GC,8042,-1.29,-194.7,720.8,-10.3,1006,8046,0.00,2.78,0.00,0.000,6,0.000,0.098,2673,2213,3880
$GC,8369,-1.29,-194.7,754.7,-10.2,1022,8373,0.00,2.83,0.00,0.000,4,0.000,0.125,2674,820,3880
$GC,8395,-1.29,-194.7,757.8,-11.0,1023,8400,0.00,2.72,0.00,0.000,6,0.000,0.104,2674,2212,3880
$GC,8712,-1.29,-194.7,789.1,-9.8,1038,8713,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3880
$GC,9021,-1.29,-194.7,818.1,-9.0,1053,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3879
$GC,9331,-1.29,-194.7,846.3,-9.1,1068,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3879
$GC,9640,-1.29,-194.7,874.7,-8.8,1083,9645,0.00,2.88,0.00,0.000,4,0.000,0.123,2674,3644,3878
$GC,9662,-1.29,-194.7,876.7,-9.1,1084,9666,0.00,2.80,0.00,0.000,6,0.000,0.103,2674,2206,3879
$GC,9983,-1.29,-194.7,902.8,-8.1,1100,9987,0.00,2.88,0.00,0.000,4,0.000,0.136,2674,820,3878
$GC,10010,-1.29,-194.7,905.2,-8.6,1101,10014,0.00,2.75,0.00,0.000,6,0.000,0.107,2674,2220,3878
$GC,10326,-1.29,-194.7,930.2,-8.2,1116,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3878
$GC,10635,-1.29,-194.7,955.0,-8.1,1131,10636,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3878
$GC,10944,-1.29,-194.7,980.3,-8.7,1146,10946,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3878
$STATE,11065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11065,begin apogee
$GC,11071,-0.35,0.0,991.6,9.2,1152,11247,1.02,0.00,167.98,1.424,6,0.101,0.000,2880,2331,3085
$STATE,11248,end apogee,CONTROL_FINISHED_OK
$STATE,11248,begin climb
$GC,11250,1.29,194.7,1000.3,0.0,1161,11429,1.62,3.03,164.32,1.390,4,0.057,0.132,3242,919,2291
$GC,11468,1.21,194.7,986.8,11.6,1170,11475,0.00,2.88,0.00,0.000,6,0.000,0.114,3241,2336,2290
$GC,11784,1.13,195.7,955.0,10.0,1186,11786,0.20,0.00,0.00,0.000,6,0.108,0.000,3205,2336,2288
$GC,12094,1.14,203.8,926.4,9.7,1201,12108,0.00,3.05,9.25,1.217,4,0.000,0.137,3205,3738,2254
$GC,12136,1.07,203.8,921.8,10.7,1202,12141,0.00,2.88,0.00,0.000,6,0.000,0.107,3205,2321,2253
$GC,12459,1.07,203.8,889.0,10.5,1218,12464,0.00,2.92,0.00,0.000,4,0.000,0.135,3205,914,2253
$GC,12499,1.07,203.8,884.5,10.7,1220,12503,0.00,2.83,0.00,0.000,6,0.000,0.110,3205,2330,2253
$GC,12825,1.07,203.8,848.7,11.1,1236,12826,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2330,2252
$GC,13135,1.07,203.8,814.6,11.0,1251,13136,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2330,2252
$GC,13445,1.07,203.8,780.1,11.1,1266,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2330,2252
$GC,13753,1.07,203.8,747.3,10.3,1281,13754,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2331,2251
$GC,14063,1.07,203.8,715.2,10.4,1296,14065,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2330,2251
$GC,14373,1.10,227.1,684.9,9.2,1311,14396,0.00,0.00,21.35,1.213,6,0.000,0.000,3205,2331,2157
$GC,14701,1.11,239.1,654.4,9.6,1327,14715,0.00,0.00,11.57,1.142,6,0.000,0.000,3204,2331,2110
$GC,15010,1.11,239.1,623.1,10.3,1342,15015,0.00,2.88,0.00,0.000,4,0.000,0.120,3205,3738,2109
$GC,15044,1.07,239.1,619.3,11.1,1343,15051,0.00,2.80,0.00,0.000,6,0.000,0.095,3205,2313,2108
$GC,15363,1.07,239.1,584.4,10.9,1365,15368,0.00,2.78,0.00,0.000,4,0.000,0.115,3205,918,2108
$GC,15419,1.07,239.1,577.9,11.3,1369,15426,0.00,2.70,0.00,0.000,6,0.000,0.096,3205,2317,2109
$GC,15745,1.07,239.1,543.8,10.5,1400,15750,0.00,2.85,0.00,0.000,4,0.000,0.114,3205,3737,2109
$GC,15773,1.07,239.1,540.6,11.3,1402,15778,0.00,2.80,0.00,0.000,6,0.000,0.092,3205,2301,2108
$GC,16101,1.07,243.0,508.1,9.9,1432,16109,0.00,0.00,4.95,0.849,6,0.000,0.000,3205,2301,2094
$GC,16430,1.11,273.5,477.1,8.9,1463,16464,0.00,2.80,27.40,1.057,4,0.000,0.109,3205,915,1969
$GC,16488,1.11,273.5,471.4,10.6,1468,16492,0.00,2.70,0.00,0.000,6,0.000,0.093,3205,2306,1967
$GC,16814,1.17,321.8,443.0,8.3,1498,16863,0.00,0.00,42.88,1.031,6,0.000,0.000,3205,2306,1771
$GC,17182,1.18,332.2,409.6,9.6,1533,17193,0.00,0.00,9.77,0.954,6,0.000,0.000,3205,2306,1730
$GC,17512,1.18,332.2,377.1,10.3,1564,17513,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2306,1728
$GC,17831,1.18,332.2,342.0,10.8,1600,17838,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2307,1727
$GC,18177,1.18,332.2,301.2,10.8,1661,18183,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2306,1727
$GC,18520,1.18,332.2,259.4,12.3,1722,18527,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2306,1727
$GC,18865,1.18,332.2,217.5,10.7,1783,18872,0.00,2.72,0.00,0.000,4,0.000,0.104,3205,913,1727
$GC,18896,1.23,332.2,213.6,11.8,1788,18904,0.10,2.65,0.00,0.000,6,0.068,0.089,3233,2306,1727
$GC,19241,1.23,332.2,169.3,12.9,1849,19248,0.00,2.83,0.00,0.000,4,0.000,0.106,3233,3735,1726
$GC,19272,1.23,332.2,165.3,12.6,1854,19279,0.00,2.75,0.00,0.000,6,0.000,0.086,3233,2293,1726
$GC,19618,1.23,332.2,124.4,11.1,1915,19624,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2294,1726
$GC,19961,1.23,332.2,85.2,11.7,1976,19967,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2294,1726
$GC,20307,1.35,430.8,52.6,6.6,2037,20395,0.00,2.78,82.45,0.775,4,0.000,0.100,3233,916,1326
$GC,20420,1.43,451.0,43.4,9.3,2054,20443,0.17,2.62,17.67,0.726,6,0.054,0.084,3280,2302,1246
$GC,20580,1.43,451.0,22.6,13.3,2081,20587,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2302,1237
$GC,20723,1.43,451.0,2.5,13.8,2106,20730,0.00,2.67,0.00,0.000,4,0.000,0.097,3279,913,1235
$STATE,20737,end climb,SURFACE_DEPTH_REACHED
$STATE,20737,begin surface coast
$FINISH,0.3,1.027430
$STATE,20749,end surface coast,CONTROL_FINISHED_OK
$STATE,20749,begin surface
$SM_CCo,20833,0.00,0.000,0,0,1231,454.79
$SM_GC,0.95,11.80,0.00,0.00,0.041,0.000,0.000,590,2246,1231,-10.85,0.31,454.79
$IRIDIUM_FIX,6117.23,-2547.29,080997,161657
$TT8_MAMPS,0.02301
$HUMID,1702
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,18.00
$XPDR_PINGS,562
$24V_AH,23.1,66.298
$10V_AH,10.6,54.741
$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,27.250,133.150,559.600,0.000,0.000,29.452,37.461,292.462,140.500,0.000,0.000,13.583,4173.729,11935.221,747.395,3696.170,776.100,0.000,2375.150,0.000,3695.715,0.000,0.467
$DEVICE_MAMPS,181.779,138.827,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1461.118,1595.614,1837.271,575.364,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126312,2110
$CAP_FILE_SIZE,181232,0
$CFSIZE,260165632,226324480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,200.5,1
$GPS,150608,040502,6144.503,-2546.383,39,2.0,39,-18.5