version: 66.03
glider: 140
mission: 5
dive: 359
start: 6 26 108 12 41 40
data:
$ID,140
$MISSION,5
$DIVE,359
$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,-19779.855
$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,15
$R_STBD_OVSHOOT,15
$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
$GPS1,123156,6141.262,-2539.085,42,1.1,42,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-61.6
$GPS2,124121,6141.226,-2539.186,12,1.2,12,-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,13.8,42702,-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,20,begin dive
$GC,23,-1.29,-194.7,0.0,0.0,0,99,0.00,0.00,-73.10,0.000,2,0.000,0.000,587,2226,3376
$GC,102,-1.29,-194.7,3.2,-6.5,10,133,12.38,2.78,-11.35,0.000,4,0.183,0.102,2673,3643,3880
$GC,225,-1.29,-194.7,20.4,-12.8,30,233,0.00,2.60,0.00,0.000,6,0.000,0.072,2673,2228,3882
$GC,371,-1.29,-194.7,38.2,-11.6,55,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2228,3882
$GC,514,-1.29,-194.7,55.5,-12.5,80,521,0.00,2.67,0.00,0.000,4,0.000,0.092,2673,826,3882
$GC,545,-1.29,-194.7,59.2,-12.0,85,552,0.00,2.70,0.00,0.000,6,0.000,0.079,2673,2264,3882
$GC,891,-1.29,-194.7,94.4,-9.2,146,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2264,3883
$GC,1236,-1.29,-194.7,126.7,-8.9,207,1244,0.00,2.80,0.00,0.000,4,0.000,0.099,2673,825,3883
$GC,1274,-1.29,-194.7,130.2,-9.6,213,1281,0.00,2.75,0.00,0.000,6,0.000,0.087,2673,2265,3883
$GC,1620,-1.29,-194.7,161.2,-8.9,274,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2266,3883
$GC,1966,-1.29,-194.7,192.7,-9.3,335,1973,0.00,2.80,0.00,0.000,4,0.000,0.101,2673,829,3884
$GC,2008,-1.29,-194.7,196.9,-9.6,342,2015,0.00,2.70,0.00,0.000,6,0.000,0.087,2673,2256,3884
$GC,2355,-1.29,-194.7,230.4,-10.0,403,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2256,3884
$GC,2699,-1.29,-194.7,264.3,-9.6,464,2707,0.00,2.80,0.00,0.000,4,0.000,0.104,2673,827,3883
$GC,2742,-1.29,-194.7,268.7,-10.4,471,2749,0.00,2.75,0.00,0.000,6,0.000,0.092,2673,2254,3883
$GC,3088,-1.29,-194.7,301.7,-9.8,532,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2255,3883
$GC,3433,-1.29,-194.7,334.7,-9.7,593,3441,0.00,2.80,0.00,0.000,4,0.000,0.104,2673,828,3882
$GC,3482,-1.29,-194.7,339.6,-10.0,601,3490,0.00,2.72,0.00,0.000,6,0.000,0.091,2673,2248,3883
$GC,3815,-1.29,-194.7,372.0,-9.4,641,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2248,3882
$GC,4134,-1.29,-194.7,403.8,-10.1,671,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2247,3882
$GC,4453,-1.29,-194.7,434.6,-9.5,701,4457,0.00,2.83,0.00,0.000,4,0.000,0.111,2673,823,3882
$GC,4485,-1.29,-194.7,437.9,-10.0,703,4493,0.00,2.75,0.00,0.000,6,0.000,0.094,2673,2252,3882
$GC,4813,-1.29,-194.7,468.7,-9.5,734,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2252,3882
$GC,5130,-1.29,-194.7,497.8,-8.4,764,5134,0.00,2.80,0.00,0.000,4,0.000,0.105,2673,821,3882
$GC,5162,-1.29,-194.7,500.9,-8.9,766,5170,0.00,2.72,0.00,0.000,6,0.000,0.095,2673,2236,3882
$GC,5490,-1.29,-194.7,528.9,-8.8,797,5496,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2237,3881
$GC,5816,-1.29,-194.7,557.3,-8.5,828,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2237,3881
$GC,6134,-1.29,-194.7,584.7,-8.7,858,6139,0.00,2.80,0.00,0.000,4,0.000,0.110,2673,826,3881
$GC,6178,-1.29,-194.7,588.5,-9.5,861,6182,0.00,2.75,0.00,0.000,6,0.000,0.098,2673,2241,3881
$GC,6498,-1.29,-194.7,616.3,-8.4,882,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2240,3880
$GC,6808,-1.29,-194.7,641.1,-8.2,897,6812,0.00,2.80,0.00,0.000,4,0.000,0.112,2673,829,3880
$GC,6850,-1.29,-194.7,644.6,-9.3,899,6854,0.00,2.72,0.00,0.000,6,0.000,0.101,2673,2225,3880
$GC,7177,-1.29,-194.7,670.0,-7.5,915,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2225,3880
$GC,7486,-1.29,-194.7,693.4,-7.8,930,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2225,3879
$GC,7795,-1.29,-194.7,717.8,-7.9,945,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2225,3879
$GC,8104,-1.29,-194.7,742.4,-8.0,960,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2225,3878
$GC,8415,-1.29,-194.7,767.9,-8.5,975,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2225,3879
$GC,8723,-1.29,-194.7,794.7,-8.8,990,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2225,3878
$GC,9034,-1.29,-194.7,821.1,-8.5,1005,9038,0.00,2.85,0.00,0.000,4,0.000,0.125,2673,830,3878
$GC,9061,-1.29,-194.7,823.8,-9.5,1006,9065,0.00,2.75,0.00,0.000,6,0.000,0.107,2673,2227,3878
$GC,9378,-1.29,-194.7,851.9,-9.2,1021,9379,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2227,3878
$GC,9686,-1.29,-194.7,878.6,-8.5,1036,9691,0.00,2.85,0.00,0.000,4,0.000,0.125,2673,825,3877
$GC,9708,-1.29,-194.7,880.6,-9.0,1037,9712,0.00,2.75,0.00,0.000,6,0.000,0.107,2673,2225,3877
$GC,10029,-1.29,-194.7,908.4,-8.8,1053,10031,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2225,3876
$GC,10338,-1.29,-194.7,935.0,-8.7,1068,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2225,3876
$GC,10650,-1.29,-194.7,960.8,-8.4,1083,10654,0.00,2.85,0.00,0.000,4,0.000,0.123,2673,823,3875
$GC,10690,-1.29,-194.7,964.5,-8.9,1085,10694,0.00,2.70,0.00,0.000,6,0.000,0.097,2673,2215,3875
$STATE,10993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10993,begin apogee
$GC,10999,-0.35,0.0,991.5,8.9,1100,11176,1.02,0.00,168.95,1.420,6,0.095,0.000,2882,2330,3084
$STATE,11177,end apogee,CONTROL_FINISHED_OK
$STATE,11177,begin climb
$GC,11180,1.29,194.7,1000.4,0.0,1109,11361,1.62,3.03,165.30,1.387,4,0.058,0.129,3241,927,2291
$GC,11401,1.21,194.7,986.9,11.1,1118,11408,0.00,2.83,0.00,0.000,6,0.000,0.111,3241,2328,2289
$GC,11717,1.12,194.7,953.6,10.7,1134,11719,0.20,0.00,0.00,0.000,6,0.108,0.000,3205,2328,2288
$GC,12025,1.12,194.7,922.2,10.4,1149,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2328,2288
$GC,12336,1.14,206.9,891.4,9.6,1164,12355,0.00,0.00,11.95,1.253,6,0.000,0.000,3205,2328,2241
$GC,12664,1.16,224.3,860.2,9.4,1180,12688,0.00,3.12,16.88,1.263,4,0.000,0.134,3205,3738,2169
$GC,12716,1.10,224.3,854.7,10.5,1182,12720,0.00,2.83,0.00,0.000,6,0.000,0.103,3204,2337,2168
$GC,13039,1.10,224.3,821.7,10.2,1198,13043,0.00,2.95,0.00,0.000,4,0.000,0.133,3205,914,2168
$GC,13094,1.10,224.3,815.5,10.4,1200,13102,0.00,2.78,0.00,0.000,6,0.000,0.104,3205,2324,2168
$GC,13410,1.10,224.3,782.7,10.9,1216,13411,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2324,2168
$GC,13720,1.10,224.3,749.7,10.6,1231,13721,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2324,2168
$GC,14030,1.10,224.3,717.0,10.4,1246,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2324,2167
$GC,14338,1.10,227.7,685.9,9.9,1261,14348,0.00,2.95,4.35,0.855,4,0.000,0.123,3205,3738,2156
$GC,14379,1.05,229.0,681.8,10.0,1263,14384,0.00,2.85,0.00,0.000,6,0.000,0.098,3205,2303,2156
$GC,14707,1.05,229.0,648.7,10.2,1279,14708,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2303,2156
$GC,15017,1.05,229.0,617.5,10.1,1294,15018,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2303,2156
$GC,15330,1.07,240.8,586.7,9.6,1315,15349,0.00,0.00,12.73,1.123,6,0.000,0.000,3205,2303,2103
$GC,15670,1.09,256.4,554.2,9.5,1347,15688,0.00,0.00,15.10,1.095,6,0.000,0.000,3205,2303,2038
$GC,16009,1.10,266.9,520.9,9.6,1379,16026,0.00,0.00,10.65,1.048,6,0.000,0.000,3205,2302,1995
$GC,16347,1.10,270.3,487.8,9.9,1411,16355,0.00,0.00,4.47,0.790,6,0.000,0.000,3205,2302,1982
$GC,16675,1.12,285.2,455.4,9.5,1442,16693,0.00,0.00,14.48,1.022,6,0.000,0.000,3205,2302,1922
$GC,17014,1.12,285.2,422.0,10.3,1474,17018,0.00,2.72,0.00,0.000,4,0.000,0.106,3205,916,1920
$GC,17056,1.14,296.0,417.6,9.6,1477,17072,0.00,2.72,11.12,0.977,6,0.000,0.094,3205,2322,1878
$GC,17393,1.14,296.0,383.0,10.5,1508,17394,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2322,1876
$GC,17713,1.15,306.4,352.1,9.6,1538,17730,0.00,0.00,10.45,0.940,6,0.000,0.000,3205,2322,1835
$GC,18067,1.16,316.1,317.3,9.7,1599,18082,0.00,2.85,10.00,0.911,4,0.000,0.098,3204,914,1796
$GC,18118,1.22,316.1,312.2,10.5,1607,18125,0.00,2.65,0.00,0.000,6,0.000,0.078,3205,2315,1795
$GC,18464,1.22,316.1,277.9,10.5,1668,18470,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2315,1794
$GC,18810,1.26,351.8,245.5,8.8,1729,18850,0.12,0.00,32.17,0.897,6,0.064,0.000,3237,2315,1648
$GC,19189,1.26,351.8,204.4,11.2,1795,19196,0.00,2.75,0.00,0.000,4,0.000,0.102,3237,914,1644
$GC,19231,1.26,351.8,199.6,11.4,1802,19238,0.00,2.67,0.00,0.000,6,0.000,0.089,3237,2309,1644
$GC,19577,1.26,351.8,161.6,11.1,1863,19583,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2310,1644
$GC,19921,1.26,351.8,120.7,12.5,1924,19929,0.00,2.70,0.00,0.000,4,0.000,0.097,3237,910,1643
$GC,19953,1.26,351.8,116.8,12.3,1929,19960,0.00,2.65,0.00,0.000,6,0.000,0.087,3237,2305,1643
$GC,20299,1.26,351.8,72.4,12.0,1990,20305,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2305,1643
$GC,20645,1.26,351.8,32.3,10.3,2051,20651,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2305,1643
$GC,20788,1.26,351.8,17.6,10.5,2076,20796,0.00,2.67,0.00,0.000,4,0.000,0.095,3237,913,1643
$GC,20820,1.26,351.8,13.8,12.7,2081,20828,0.00,2.60,0.00,0.000,6,0.000,0.081,3237,2303,1643
$STATE,20927,end climb,SURFACE_DEPTH_REACHED
$STATE,20927,begin surface coast
$FINISH,0.2,1.027360
$STATE,20945,end surface coast,CONTROL_FINISHED_OK
$STATE,20947,begin surface
$SM_CCo,21030,0.00,0.000,0,0,1640,354.46
$SM_GC,1.09,11.52,0.00,0.00,0.038,0.000,0.000,583,2220,1640,-10.86,-0.42,354.46
$IRIDIUM_FIX,6112.75,-2543.35,200997,060659
$TT8_MAMPS,0.02301
$HUMID,1750
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,802
$24V_AH,23.0,76.625
$10V_AH,10.6,63.515
$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,26.875,122.550,488.600,0.000,0.000,26.732,34.587,342.313,200.500,0.000,0.000,12.695,4182.727,12185.197,699.216,3646.671,859.689,0.000,2305.417,0.000,3655.048,0.000,0.468
$DEVICE_MAMPS,182.546,134.225,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1457.249,1624.167,1846.002,578.305,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126212,2103
$CAP_FILE_SIZE,180262,0
$CFSIZE,260165632,221474816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,142.6,1
$GPS,260608,183345,6142.962,-2537.627,38,99.0,57,-18.4