version: 66.03
glider: 140
mission: 5
dive: 325
start: 6 18 108 20 35 45
data:
$ID,140
$MISSION,5
$DIVE,325
$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,-19168.209
$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,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
$GPS1,202656,6149.221,-2554.479,38,1.3,38,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.1
$GPS2,203526,6149.180,-2554.509,12,1.3,12,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6137.290,-2640.070
$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,259.8,45752,-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,21,-1.29,-194.7,0.0,0.0,0,108,0.00,0.00,-84.32,0.000,2,0.000,0.000,588,2224,3480
$GC,111,-1.29,-194.7,3.4,-6.3,12,139,12.30,2.80,-8.82,0.000,4,0.183,0.104,2671,3647,3880
$GC,350,-1.29,-194.7,28.7,-8.0,53,357,0.00,2.60,0.00,0.000,6,0.000,0.076,2671,2235,3881
$GC,495,-1.29,-194.7,41.2,-9.4,78,503,0.00,2.67,0.00,0.000,4,0.000,0.093,2671,827,3881
$GC,545,-1.29,-194.7,46.2,-10.0,86,552,0.00,2.60,0.00,0.000,6,0.000,0.077,2671,2220,3881
$GC,688,-1.29,-194.7,60.2,-9.8,111,695,0.00,2.72,0.00,0.000,4,0.000,0.094,2671,3650,3882
$GC,736,-1.29,-194.7,65.1,-9.9,119,744,0.00,2.67,0.00,0.000,6,0.000,0.078,2671,2217,3882
$GC,1082,-1.29,-194.7,96.6,-8.7,180,1090,0.00,2.65,0.00,0.000,4,0.000,0.097,2671,825,3882
$GC,1127,-1.29,-194.7,100.4,-8.6,187,1134,0.00,2.65,0.00,0.000,6,0.000,0.087,2671,2224,3882
$GC,1471,-1.29,-194.7,129.6,-9.2,248,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3882
$GC,1817,-1.29,-194.7,162.1,-9.6,309,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3882
$GC,2160,-1.29,-194.7,195.9,-10.1,370,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3882
$GC,2506,-1.29,-194.7,230.5,-9.5,431,2513,0.00,2.75,0.00,0.000,4,0.000,0.105,2671,827,3882
$GC,2543,-1.29,-194.7,234.1,-9.8,437,2550,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2222,3883
$GC,2888,-1.29,-194.7,266.0,-8.7,498,2895,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3882
$GC,3234,-1.29,-194.7,295.1,-8.5,559,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3882
$GC,3578,-1.29,-194.7,325.5,-9.0,620,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3882
$GC,3919,-1.29,-194.7,356.0,-8.8,675,3924,0.00,2.78,0.00,0.000,4,0.000,0.111,2671,828,3882
$GC,3952,-1.29,-194.7,359.1,-9.0,677,3960,0.00,2.67,0.00,0.000,6,0.000,0.095,2671,2218,3881
$GC,4279,-1.29,-194.7,386.3,-8.5,708,4281,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2218,3881
$GC,4596,-1.29,-194.7,413.2,-8.6,738,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2218,3881
$GC,4914,-1.29,-194.7,440.8,-8.7,768,4919,0.00,2.78,0.00,0.000,4,0.000,0.112,2671,820,3881
$GC,4957,-1.29,-194.7,444.3,-9.2,771,4962,0.00,2.67,0.00,0.000,6,0.000,0.095,2671,2211,3881
$GC,5286,-1.29,-194.7,471.2,-8.4,801,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3881
$GC,5612,-1.29,-194.7,498.1,-7.9,832,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3880
$GC,5930,-1.29,-194.7,523.3,-7.9,862,5935,0.00,2.75,0.00,0.000,4,0.000,0.113,2671,821,3880
$GC,5964,-1.29,-194.7,526.2,-8.5,864,5971,0.00,2.65,0.00,0.000,6,0.000,0.097,2671,2205,3880
$GC,6292,-1.29,-194.7,553.0,-8.6,895,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3880
$GC,6618,-1.29,-194.7,580.9,-8.5,926,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3880
$GC,6943,-1.29,-194.7,609.3,-8.6,952,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3879
$GC,7253,-1.29,-194.7,635.2,-8.1,967,7254,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3880
$GC,7562,-1.29,-194.7,659.2,-7.8,982,7563,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3880
$GC,7871,-1.29,-194.7,683.5,-7.9,997,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2205,3879
$GC,8181,-1.29,-194.7,709.3,-8.4,1012,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3879
$GC,8490,-1.29,-194.7,737.4,-9.6,1027,8492,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3879
$GC,8799,-1.29,-194.7,767.7,-9.9,1042,8800,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3879
$GC,9108,-1.29,-194.7,796.6,-8.7,1057,9113,0.00,2.80,0.00,0.000,4,0.000,0.123,2671,823,3878
$GC,9153,-1.29,-194.7,800.5,-8.7,1059,9157,0.00,2.70,0.00,0.000,6,0.000,0.105,2671,2206,3878
$GC,9476,-1.29,-194.7,826.4,-8.0,1075,9481,0.00,2.95,0.00,0.000,4,0.000,0.130,2671,3651,3878
$GC,9508,-1.29,-194.7,829.3,-8.6,1076,9516,0.00,2.78,0.00,0.000,6,0.000,0.098,2671,2205,3878
$GC,9825,-1.29,-194.7,853.7,-7.9,1092,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3878
$GC,10134,-1.29,-194.7,877.2,-7.7,1107,10135,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3877
$GC,10443,-1.29,-194.7,902.0,-8.1,1122,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3877
$GC,10753,-1.29,-194.7,928.2,-9.0,1137,10758,0.00,2.85,0.00,0.000,4,0.000,0.133,2671,821,3876
$GC,10785,-1.29,-194.7,931.4,-10.2,1138,10793,0.00,2.72,0.00,0.000,6,0.000,0.107,2671,2205,3876
$GC,11102,-1.29,-194.7,961.1,-9.6,1154,11103,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3876
$STATE,11408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11408,begin apogee
$GC,11415,-0.35,0.0,991.5,10.0,1169,11591,1.02,0.00,168.52,1.429,6,0.100,0.000,2878,2331,3085
$STATE,11592,end apogee,CONTROL_FINISHED_OK
$STATE,11592,begin climb
$GC,11594,1.29,194.7,1002.3,0.0,1178,11776,1.62,3.05,164.85,1.397,4,0.059,0.137,3239,3736,2290
$GC,11854,1.17,194.7,985.4,11.2,1189,11860,0.12,2.85,0.00,0.000,6,0.121,0.107,3218,2327,2289
$GC,12171,1.14,220.2,955.7,9.1,1204,12202,0.00,3.05,23.33,1.316,4,0.000,0.126,3218,3733,2186
$GC,12220,1.10,241.2,951.0,9.3,1206,12245,0.00,2.83,19.98,1.281,6,0.000,0.107,3218,2337,2101
$GC,12567,1.10,241.2,915.8,10.3,1223,12572,0.00,2.92,0.00,0.000,4,0.000,0.126,3218,3736,2098
$GC,12585,1.05,241.2,913.9,10.5,1224,12591,0.15,2.83,0.00,0.000,6,0.114,0.106,3191,2336,2097
$GC,12912,1.05,241.2,880.6,10.4,1240,12917,0.00,2.95,0.00,0.000,4,0.000,0.134,3190,919,2097
$GC,12939,1.05,241.2,877.5,10.5,1241,12944,0.00,2.83,0.00,0.000,6,0.000,0.107,3190,2338,2097
$GC,13256,1.05,242.0,845.8,10.0,1256,13257,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,2096
$GC,13565,1.06,249.4,815.4,9.7,1271,13575,0.00,0.00,7.93,1.160,6,0.000,0.000,3190,2338,2068
$GC,13874,1.06,249.4,782.9,10.9,1286,13875,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,2067
$GC,14183,1.06,249.4,746.9,11.7,1301,14188,0.00,2.88,0.00,0.000,4,0.000,0.119,3190,916,2066
$GC,14216,1.06,249.4,743.1,10.4,1302,14223,0.00,2.78,0.00,0.000,6,0.000,0.103,3190,2332,2066
$GC,14531,1.06,249.4,709.1,10.5,1318,14533,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2332,2066
$GC,14842,1.06,249.4,676.6,10.5,1333,14843,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2332,2066
$GC,15150,1.06,249.4,643.9,10.4,1348,15151,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2333,2066
$GC,15460,1.06,253.0,612.2,9.9,1363,15466,0.00,0.00,4.55,0.860,6,0.000,0.000,3190,2332,2053
$GC,15774,1.11,292.4,583.8,8.6,1386,15814,0.00,0.00,36.10,1.149,6,0.000,0.000,3190,2332,1892
$GC,16133,1.11,292.4,550.4,10.2,1420,16137,0.00,2.80,0.00,0.000,4,0.000,0.108,3190,917,1888
$GC,16154,1.12,303.0,548.0,9.6,1421,16173,0.00,2.72,10.40,1.066,6,0.000,0.093,3190,2329,1848
$GC,16491,1.12,303.0,513.4,10.2,1453,16492,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2329,1846
$GC,16814,1.12,303.0,480.2,10.7,1483,16818,0.00,2.80,0.00,0.000,4,0.000,0.107,3190,913,1846
$GC,16835,1.17,303.0,477.3,10.7,1484,16843,0.10,2.70,0.00,0.000,6,0.070,0.092,3218,2324,1846
$GC,17161,1.17,303.0,440.1,11.7,1515,17162,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2324,1846
$GC,17479,1.17,303.0,404.6,11.2,1545,17480,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2324,1846
$GC,17798,1.17,303.0,369.7,10.6,1575,17799,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2325,1846
$GC,18123,1.17,303.0,334.7,11.6,1617,18130,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2324,1846
$GC,18468,1.17,303.0,298.0,10.7,1678,18476,0.00,2.75,0.00,0.000,4,0.000,0.103,3218,911,1846
$GC,18494,1.17,303.0,295.2,12.0,1682,18502,0.00,2.67,0.00,0.000,6,0.000,0.087,3218,2325,1846
$GC,18840,1.17,303.0,258.8,10.5,1743,18846,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2325,1846
$GC,19182,1.17,303.0,223.4,11.5,1804,19189,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2325,1846
$GC,19528,1.17,303.0,188.6,10.4,1865,19535,0.00,2.75,0.00,0.000,4,0.000,0.100,3218,911,1846
$GC,19547,1.17,303.0,186.5,10.9,1868,19554,0.00,2.65,0.00,0.000,6,0.000,0.085,3218,2311,1846
$GC,19893,1.18,309.1,152.2,9.8,1929,19906,0.00,0.00,6.68,0.765,6,0.000,0.000,3218,2311,1823
$GC,20244,1.18,309.1,114.2,12.9,1991,20250,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2311,1823
$GC,20588,1.18,309.1,67.4,12.6,2052,20596,0.00,2.70,0.00,0.000,4,0.000,0.098,3218,916,1823
$GC,20610,1.18,309.1,64.7,13.7,2055,20617,0.00,2.65,0.00,0.000,6,0.000,0.084,3218,2318,1822
$GC,20956,1.21,337.8,29.8,9.0,2116,20992,0.00,2.80,25.25,0.775,4,0.000,0.096,3218,918,1707
$GC,21030,1.28,362.7,23.0,9.1,2127,21058,0.00,2.60,22.15,0.748,6,0.000,0.084,3218,2295,1605
$GC,21197,1.33,362.7,6.6,12.2,2155,21204,0.12,0.00,0.00,0.000,6,0.063,0.000,3253,2295,1601
$STATE,21231,end climb,SURFACE_DEPTH_REACHED
$STATE,21231,begin surface coast
$FINISH,0.2,1.003339
$STATE,21249,end surface coast,CONTROL_FINISHED_OK
$STATE,21249,begin surface
$SM_CCo,21332,0.00,0.000,0,0,1597,365.01
$SM_GC,1.06,11.73,0.00,0.00,0.044,0.000,0.000,592,2226,1597,-10.84,-0.25,365.01
$IRIDIUM_FIX,6126.23,-2551.11,120997,141422
$TT8_MAMPS,0.02301
$HUMID,1719
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,671
$24V_AH,23.0,69.671
$10V_AH,10.6,57.618
$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,27.175,121.875,489.725,0.000,0.000,28.062,46.010,278.168,167.750,0.000,0.000,12.999,4372.774,12187.629,705.300,3781.034,772.712,0.000,2356.985,0.000,3771.867,0.000,0.467
$DEVICE_MAMPS,183.313,136.526,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1499.017,1650.789,1919.621,615.230,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129525,2164
$CAP_FILE_SIZE,185673,0
$CFSIZE,260165632,224747520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.221,136.8,1
$GPS,190608,023231,6145.728,-2556.558,38,1.7,38,-18.6