version: 66.03
glider: 140
mission: 5
dive: 363
start: 6 27 108 12 46 10
data:
$ID,140
$MISSION,5
$DIVE,363
$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,-19840.025
$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,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
$GPS1,123608,6149.127,-2538.471,37,0.9,37,-18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-58.4
$GPS2,124551,6149.140,-2538.648,13,1.0,13,-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,10.5,28176,-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,-194.7,0.0,0.0,0,100,0.00,0.00,-73.90,0.000,2,0.000,0.000,587,2224,3408
$GC,103,-1.29,-194.7,3.1,-6.1,10,134,12.32,2.75,-10.57,0.000,4,0.183,0.104,2672,3650,3878
$GC,231,-1.29,-194.7,19.2,-10.2,31,239,0.00,2.62,0.00,0.000,6,0.000,0.075,2672,2230,3879
$GC,374,-1.29,-194.7,33.4,-10.7,56,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3879
$GC,519,-1.29,-194.7,49.6,-11.6,81,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3880
$GC,661,-1.29,-194.7,66.0,-11.3,106,669,0.00,2.75,0.00,0.000,4,0.000,0.095,2672,3651,3880
$GC,687,-1.29,-194.7,68.8,-10.9,110,694,0.00,2.62,0.00,0.000,6,0.000,0.077,2671,2242,3880
$GC,1033,-1.29,-194.7,99.4,-7.2,171,1040,0.00,2.72,0.00,0.000,4,0.000,0.097,2672,828,3880
$GC,1071,-1.29,-194.7,102.1,-7.1,177,1077,0.00,2.67,0.00,0.000,6,0.000,0.084,2671,2242,3880
$GC,1416,-1.29,-194.7,132.3,-10.0,238,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3881
$GC,1761,-1.29,-194.7,167.9,-10.1,299,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3881
$GC,2106,-1.29,-194.7,202.2,-9.8,360,2112,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3880
$GC,2450,-1.29,-194.7,235.0,-9.7,421,2458,0.00,2.78,0.00,0.000,4,0.000,0.104,2672,829,3880
$GC,2487,-1.29,-194.7,238.7,-10.0,427,2494,0.00,2.70,0.00,0.000,6,0.000,0.090,2671,2237,3881
$GC,2833,-1.29,-194.7,272.0,-9.3,488,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2237,3880
$GC,3180,-1.29,-194.7,305.7,-9.6,549,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3880
$GC,3524,-1.29,-194.7,339.3,-9.5,610,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3880
$GC,3862,-1.29,-194.7,371.1,-9.4,651,3866,0.00,2.80,0.00,0.000,4,0.000,0.108,2672,827,3880
$GC,3891,-1.29,-194.7,373.9,-9.4,653,3896,0.00,2.72,0.00,0.000,6,0.000,0.094,2671,2239,3880
$GC,4219,-1.29,-194.7,404.3,-9.5,683,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3879
$GC,4545,-1.29,-194.7,434.8,-9.2,714,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,4864,-1.29,-194.7,464.1,-9.4,744,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3879
$GC,5182,-1.29,-194.7,493.8,-9.2,774,5187,0.00,2.80,0.00,0.000,4,0.000,0.111,2671,830,3879
$GC,5211,-1.29,-194.7,496.3,-9.2,776,5216,0.00,2.72,0.00,0.000,6,0.000,0.095,2672,2241,3879
$GC,5539,-1.29,-194.7,524.8,-8.2,806,5540,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2240,3878
$GC,5856,-1.29,-194.7,551.7,-8.6,836,5860,0.00,2.80,0.00,0.000,4,0.000,0.110,2671,828,3878
$GC,5888,-1.29,-194.7,554.7,-8.9,838,5896,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2233,3878
$GC,6216,-1.29,-194.7,582.4,-8.9,869,6222,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3878
$GC,6539,-1.29,-194.7,611.4,-8.6,894,6540,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3878
$GC,6848,-1.29,-194.7,637.3,-8.4,909,6852,0.00,2.78,0.00,0.000,4,0.000,0.112,2672,825,3878
$GC,6869,-1.29,-194.7,639.4,-9.0,910,6874,0.00,2.72,0.00,0.000,6,0.000,0.100,2671,2226,3877
$GC,7193,-1.29,-194.7,666.2,-8.4,926,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3877
$GC,7501,-1.29,-194.7,693.8,-9.4,941,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3877
$GC,7812,-1.29,-194.7,723.0,-8.9,956,7817,0.00,2.80,0.00,0.000,4,0.000,0.114,2672,3648,3876
$GC,7844,-1.29,-194.7,726.2,-9.4,957,7852,0.00,2.70,0.00,0.000,6,0.000,0.090,2672,2228,3876
$GC,8161,-1.29,-194.7,754.3,-9.4,973,8166,0.00,2.83,0.00,0.000,4,0.000,0.124,2672,823,3876
$GC,8194,-1.29,-194.7,757.8,-10.2,974,8202,0.00,2.75,0.00,0.000,6,0.000,0.104,2672,2235,3876
$GC,8511,-1.29,-194.7,789.8,-10.2,990,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3876
$GC,8820,-1.29,-194.7,821.5,-11.7,1005,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3876
$GC,9129,-1.29,-194.7,856.9,-12.6,1020,9130,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3875
$GC,9440,-1.29,-194.7,893.2,-10.6,1035,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3874
$GC,9747,-1.29,-194.7,924.5,-10.5,1050,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3874
$GC,10057,-1.29,-194.7,955.5,-9.4,1065,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3873
$GC,10367,-1.29,-194.7,982.5,-8.3,1080,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3873
$STATE,10466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10466,begin apogee
$GC,10473,-0.35,0.0,990.8,7.8,1085,10649,1.02,0.00,168.10,1.418,6,0.100,0.000,2878,2334,3085
$STATE,10650,end apogee,CONTROL_FINISHED_OK
$STATE,10650,begin climb
$GC,10653,1.29,194.7,998.9,0.0,1094,10828,1.67,3.08,165.65,1.381,4,0.061,0.130,3242,3734,2290
$GC,10870,1.17,194.7,983.8,12.6,1104,10875,0.15,2.85,0.00,0.000,6,0.116,0.107,3216,2331,2290
$GC,11192,1.11,194.7,946.6,11.6,1120,11193,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2331,2289
$GC,11501,1.05,194.7,911.7,11.1,1135,11503,0.12,0.00,0.00,0.000,6,0.117,0.000,3193,2331,2288
$GC,11810,1.11,238.7,883.4,8.5,1150,11855,0.00,3.10,39.30,1.314,4,0.000,0.127,3193,3737,2110
$GC,11890,1.11,239.9,876.2,10.0,1153,11894,0.00,2.85,0.00,0.000,6,0.000,0.106,3193,2336,2108
$GC,12206,1.15,271.9,848.1,8.9,1168,12242,0.00,3.05,29.95,1.284,4,0.000,0.133,3193,921,1976
$GC,12276,1.15,271.9,840.8,10.3,1171,12280,0.00,2.83,0.00,0.000,6,0.000,0.107,3193,2334,1974
$GC,12600,1.15,273.7,810.2,9.9,1187,12604,0.00,2.90,0.00,0.000,4,0.000,0.119,3193,911,1971
$GC,12640,1.16,277.6,805.9,9.9,1189,12653,0.00,2.75,6.10,1.048,6,0.000,0.093,3193,2327,1953
$GC,12974,1.18,299.3,774.8,9.2,1205,13001,0.10,3.03,21.15,1.238,4,0.071,0.130,3219,3736,1864
$GC,13029,1.14,299.3,768.5,10.8,1207,13036,0.00,2.85,0.00,0.000,6,0.000,0.100,3219,2323,1862
$GC,13345,1.14,299.3,735.6,10.4,1223,13350,0.00,2.85,0.00,0.000,4,0.000,0.123,3219,918,1860
$GC,13390,1.14,299.3,730.4,10.9,1225,13394,0.00,2.72,0.00,0.000,6,0.000,0.103,3219,2316,1860
$GC,13711,1.14,299.3,696.0,10.7,1241,13715,0.00,2.95,0.00,0.000,4,0.000,0.125,3219,3736,1859
$GC,13737,1.14,299.3,692.7,11.4,1242,13742,0.00,2.80,0.00,0.000,6,0.000,0.097,3219,2315,1859
$GC,14055,1.14,299.3,660.4,10.3,1257,14059,0.00,2.80,0.00,0.000,4,0.000,0.119,3219,918,1859
$GC,14104,1.14,299.3,654.6,10.6,1259,14108,0.00,2.70,0.00,0.000,6,0.000,0.100,3219,2313,1859
$GC,14420,1.14,299.3,620.4,10.9,1274,14421,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2314,1858
$GC,14733,1.14,299.3,586.9,10.8,1294,14737,0.00,2.78,0.00,0.000,4,0.000,0.112,3219,917,1858
$GC,14761,1.14,299.3,583.7,10.8,1296,14766,0.00,2.67,0.00,0.000,6,0.000,0.096,3219,2303,1858
$GC,15086,1.14,299.3,548.4,11.2,1326,15091,0.00,2.85,0.00,0.000,4,0.000,0.107,3219,3736,1858
$GC,15129,1.14,299.3,543.0,12.0,1329,15137,0.00,2.78,0.00,0.000,6,0.000,0.091,3219,2303,1858
$GC,15458,1.14,299.3,506.4,11.5,1360,15462,0.00,2.72,0.00,0.000,4,0.000,0.108,3219,918,1858
$GC,15499,1.14,299.3,501.2,12.2,1363,15503,0.00,2.67,0.00,0.000,6,0.000,0.095,3219,2303,1858
$GC,15826,1.14,299.3,462.1,12.2,1393,15827,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2303,1858
$GC,16143,1.14,299.3,423.3,12.1,1423,16144,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2303,1858
$GC,16460,1.14,299.3,385.8,11.8,1453,16461,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2303,1858
$GC,16781,1.14,299.3,348.6,11.2,1484,16788,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2303,1859
$GC,17126,1.14,299.3,309.7,10.4,1545,17133,0.00,2.72,0.00,0.000,4,0.000,0.104,3219,915,1859
$GC,17174,1.14,299.3,303.8,11.3,1553,17181,0.00,2.65,0.00,0.000,6,0.000,0.091,3219,2297,1859
$GC,17520,1.14,299.3,265.3,11.2,1614,17527,0.00,2.88,0.00,0.000,4,0.000,0.109,3219,3737,1858
$GC,17550,1.14,299.3,261.6,12.9,1619,17558,0.00,2.78,0.00,0.000,6,0.000,0.085,3219,2295,1859
$GC,17897,1.14,299.3,222.0,10.5,1680,17905,0.00,2.70,0.00,0.000,4,0.000,0.104,3219,912,1859
$GC,17929,1.14,299.3,218.3,11.5,1685,17935,0.00,2.65,0.00,0.000,6,0.000,0.089,3219,2298,1859
$GC,18275,1.14,299.3,179.9,10.8,1746,18282,0.00,2.83,0.00,0.000,4,0.000,0.100,3219,3737,1859
$GC,18311,1.14,299.3,175.7,11.0,1752,18318,0.00,2.78,0.00,0.000,6,0.000,0.083,3219,2287,1859
$GC,18659,1.16,311.6,137.8,9.6,1813,18679,0.00,2.72,11.32,0.830,4,0.000,0.100,3219,918,1814
$GC,18714,1.16,311.6,131.7,12.5,1822,18722,0.00,2.62,0.00,0.000,6,0.000,0.085,3219,2301,1813
$GC,19063,1.16,311.6,94.4,11.3,1883,19071,0.00,2.83,0.00,0.000,4,0.000,0.101,3219,3734,1813
$GC,19095,1.16,311.6,90.5,11.4,1888,19103,0.00,2.75,0.00,0.000,6,0.000,0.081,3219,2292,1812
$GC,19442,1.16,311.6,54.1,10.7,1949,19448,0.00,2.65,0.00,0.000,4,0.000,0.099,3219,915,1813
$GC,19506,1.16,316.9,47.4,9.8,1960,19520,0.00,2.55,6.07,0.700,6,0.000,0.077,3219,2288,1792
$GC,19659,1.18,334.8,32.3,9.4,1986,19681,0.00,2.97,16.85,0.755,4,0.000,0.102,3219,3735,1717
$GC,19706,1.18,334.8,27.1,11.5,1993,19713,0.00,2.85,0.00,0.000,6,0.000,0.081,3219,2245,1716
$GC,19852,1.18,334.8,13.5,10.4,2018,19859,0.00,2.55,0.00,0.000,4,0.000,0.097,3219,914,1716
$GC,19884,1.24,339.4,10.1,9.8,2023,19899,0.00,2.47,5.07,0.627,6,0.000,0.083,3219,2226,1700
$STATE,19965,end climb,SURFACE_DEPTH_REACHED
$STATE,19965,begin surface coast
$FINISH,0.3,1.016732
$STATE,19992,end surface coast,CONTROL_FINISHED_OK
$STATE,19992,begin surface
$SM_CCo,20074,0.00,0.000,0,0,1697,340.48
$SM_GC,1.00,11.50,0.00,0.00,0.039,0.000,0.000,584,2226,1697,-10.85,-0.25,340.48
$IRIDIUM_FIX,6121.73,-2536.99,210997,060612
$TT8_MAMPS,0.02301
$HUMID,1746
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.10
$XPDR_PINGS,779
$24V_AH,23.0,77.548
$10V_AH,10.6,64.237
$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,26.900,166.500,469.575,0.000,0.000,31.573,32.874,355.243,194.750,0.000,0.000,13.889,4107.332,11349.060,708.487,3597.822,872.697,0.000,2312.915,0.000,3596.996,0.000,0.468
$DEVICE_MAMPS,183.313,144.963,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1413.981,1570.882,1811.600,590.173,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123075,2041
$CAP_FILE_SIZE,183324,0
$CFSIZE,260165632,221077504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.110,171.4,1
$GPS,270608,182202,6151.042,-2539.268,42,1.0,42,-18.5