version: 66.03
glider: 140
mission: 5
dive: 320
start: 6 17 108 14 53 10
data:
$ID,140
$MISSION,5
$DIVE,320
$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,-19095.176
$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,11
$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
$GPS1,144507,6203.953,-2543.377,43,1.2,54,-18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-63.6
$GPS2,145251,6203.939,-2543.490,12,2.0,12,-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,243.9,70116,-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,-194.7,0.0,0.0,0,69,0.00,0.00,-45.45,0.000,2,0.000,0.000,586,2235,3341
$GC,72,-1.29,-194.7,3.0,-6.5,6,103,12.32,2.80,-12.75,0.000,4,0.183,0.108,2674,3643,3881
$GC,357,-1.29,-194.7,32.9,-10.0,55,365,0.00,2.62,0.00,0.000,6,0.000,0.080,2674,2233,3883
$GC,500,-1.29,-194.7,45.9,-8.9,80,507,0.00,2.70,0.00,0.000,4,0.000,0.095,2674,820,3883
$GC,537,-1.29,-194.7,49.5,-9.8,86,545,0.00,2.70,0.00,0.000,6,0.000,0.082,2674,2254,3883
$GC,681,-1.29,-194.7,63.6,-10.1,111,688,0.00,2.67,0.00,0.000,4,0.000,0.098,2673,3644,3883
$GC,717,-1.29,-194.7,67.3,-10.3,117,724,0.00,2.62,0.00,0.000,6,0.000,0.081,2674,2244,3883
$GC,1062,-1.29,-194.7,105.6,-11.0,178,1069,0.00,2.72,0.00,0.000,4,0.000,0.099,2674,821,3884
$GC,1139,-1.29,-194.7,114.1,-11.2,191,1146,0.00,2.67,0.00,0.000,6,0.000,0.087,2674,2231,3884
$GC,1485,-1.29,-194.7,148.7,-9.7,252,1492,0.00,2.75,0.00,0.000,4,0.000,0.104,2674,3643,3884
$GC,1516,-1.29,-194.7,151.8,-10.4,257,1523,0.00,2.67,0.00,0.000,6,0.000,0.084,2674,2227,3884
$GC,1860,-1.29,-194.7,187.7,-10.4,318,1868,0.00,2.75,0.00,0.000,4,0.000,0.107,2674,817,3884
$GC,1897,-1.29,-194.7,191.7,-10.9,324,1905,0.00,2.70,0.00,0.000,6,0.000,0.091,2674,2232,3884
$GC,2243,-1.29,-194.7,229.1,-10.2,385,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2233,3884
$GC,2588,-1.29,-194.7,264.7,-9.9,446,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2233,3884
$GC,2934,-1.29,-194.7,297.9,-9.6,507,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2233,3884
$GC,3278,-1.29,-194.7,330.0,-9.1,568,3285,0.00,2.80,0.00,0.000,4,0.000,0.111,2674,822,3884
$GC,3315,-1.29,-194.7,333.4,-9.5,574,3322,0.00,2.70,0.00,0.000,6,0.000,0.095,2673,2228,3884
$GC,3652,-1.29,-194.7,363.6,-9.0,621,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3884
$GC,3971,-1.29,-194.7,391.1,-8.2,651,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3884
$GC,4290,-1.29,-194.7,417.0,-7.9,681,4294,0.00,2.80,0.00,0.000,4,0.000,0.113,2674,818,3883
$GC,4329,-1.29,-194.7,420.4,-8.4,684,4334,0.00,2.70,0.00,0.000,6,0.000,0.097,2674,2216,3883
$GC,4657,-1.29,-194.7,445.3,-7.5,714,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3883
$GC,4983,-1.29,-194.7,469.7,-7.7,745,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3883
$GC,5302,-1.29,-194.7,495.5,-8.4,775,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3883
$GC,5620,-1.29,-194.7,523.8,-8.8,805,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2216,3883
$GC,5939,-1.29,-194.7,550.3,-8.6,835,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3883
$GC,6257,-1.29,-194.7,576.4,-7.9,865,6258,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2216,3882
$GC,6586,-1.29,-194.7,601.8,-7.4,895,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2216,3882
$GC,6894,-1.29,-194.7,624.2,-7.2,910,6899,0.00,2.80,0.00,0.000,4,0.000,0.121,2673,825,3882
$GC,6934,-1.29,-194.7,627.0,-7.4,912,6938,0.00,2.72,0.00,0.000,6,0.000,0.104,2673,2220,3882
$GC,7261,-1.29,-194.7,654.5,-8.7,928,7266,0.00,2.88,0.00,0.000,4,0.000,0.123,2673,3647,3882
$GC,7293,-1.29,-194.7,657.8,-9.8,929,7301,0.00,2.78,0.00,0.000,6,0.000,0.098,2674,2207,3882
$GC,7610,-1.29,-194.7,683.2,-7.7,945,7614,0.00,2.80,0.00,0.000,4,0.000,0.125,2674,825,3881
$GC,7643,-1.29,-194.7,685.9,-8.1,946,7651,0.00,2.70,0.00,0.000,6,0.000,0.104,2674,2210,3881
$GC,7959,-1.29,-194.7,712.5,-8.7,962,7964,0.00,2.92,0.00,0.000,4,0.000,0.127,2674,3650,3881
$GC,8003,-1.29,-194.7,716.5,-9.3,964,8007,0.00,2.80,0.00,0.000,6,0.000,0.100,2673,2206,3881
$GC,8325,-1.29,-194.7,742.8,-8.1,980,8329,0.00,2.80,0.00,0.000,4,0.000,0.127,2674,826,3881
$GC,8357,-1.29,-194.7,745.7,-9.1,981,8364,0.00,2.72,0.00,0.000,6,0.000,0.108,2673,2217,3880
$GC,8674,-1.29,-194.7,771.1,-8.1,997,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3880
$GC,8982,-1.29,-194.7,797.6,-8.7,1012,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3880
$GC,9292,-1.29,-194.7,822.5,-8.0,1027,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3880
$GC,9602,-1.29,-194.7,846.4,-8.0,1042,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2219,3879
$GC,9911,-1.29,-194.7,869.7,-8.0,1057,9915,0.00,2.85,0.00,0.000,4,0.000,0.128,2673,823,3879
$GC,9943,-1.29,-194.7,872.7,-9.2,1058,9950,0.00,2.72,0.00,0.000,6,0.000,0.107,2674,2216,3879
$GC,10260,-1.29,-194.7,899.4,-8.3,1074,10264,0.00,2.95,0.00,0.000,4,0.000,0.134,2674,3650,3879
$GC,10303,-1.29,-194.7,903.4,-8.6,1076,10308,0.00,2.80,0.00,0.000,6,0.000,0.104,2673,2204,3879
$GC,10626,-1.29,-194.7,930.7,-9.0,1092,10631,0.00,2.83,0.00,0.000,4,0.000,0.132,2673,827,3879
$GC,10654,-1.29,-194.7,933.4,-8.8,1093,10658,0.00,2.70,0.00,0.000,6,0.000,0.106,2673,2208,3878
$STATE,10885,end dive,NO_VERTICAL_VELOCITY
$STATE,10885,begin apogee
$GC,10891,-0.35,0.0,936.5,0.0,1104,11067,0.98,0.00,168.00,1.389,6,0.076,0.000,2881,2333,3085
$STATE,11068,end apogee,CONTROL_FINISHED_OK
$STATE,11068,begin climb
$GC,11071,1.29,194.7,936.4,0.0,1113,11240,1.65,0.00,164.95,1.349,6,0.073,0.000,3235,2333,2291
$GC,11544,1.21,194.7,891.6,11.5,1136,11549,0.00,2.90,0.00,0.000,4,0.000,0.125,3235,922,2288
$GC,11562,1.14,194.7,889.3,11.8,1137,11567,0.15,2.78,0.00,0.000,6,0.112,0.107,3208,2318,2288
$GC,11891,1.15,201.9,854.9,9.8,1153,11905,0.00,3.08,7.45,1.124,4,0.000,0.133,3208,3734,2262
$GC,11939,1.08,203.9,849.9,9.9,1155,11949,0.00,2.80,3.90,0.794,6,0.000,0.102,3208,2331,2252
$GC,12267,1.11,225.1,820.0,9.3,1171,12289,0.00,0.00,19.80,1.256,6,0.000,0.000,3208,2332,2167
$GC,12596,1.11,225.1,784.8,10.5,1187,12600,0.00,2.88,0.00,0.000,4,0.000,0.126,3208,916,2166
$GC,12628,1.11,225.1,780.7,11.7,1188,12636,0.00,2.78,0.00,0.000,6,0.000,0.105,3208,2321,2165
$GC,12944,1.11,225.1,746.5,11.0,1204,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2321,2165
$GC,13254,1.11,225.1,713.6,10.6,1219,13255,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2321,2165
$GC,13563,1.12,236.5,683.0,9.6,1234,13576,0.00,0.00,11.38,1.179,6,0.000,0.000,3208,2321,2120
$GC,13872,1.12,236.5,651.3,10.5,1249,13873,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2321,2119
$GC,14180,1.12,236.5,619.0,10.0,1264,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2321,2118
$GC,14493,1.12,236.5,587.2,10.4,1284,14497,0.00,2.80,0.00,0.000,4,0.000,0.114,3208,915,2118
$GC,14535,1.12,236.5,582.7,11.3,1287,14539,0.00,2.72,0.00,0.000,6,0.000,0.100,3208,2317,2118
$GC,14861,1.13,244.9,549.4,9.7,1317,14871,0.00,0.00,8.48,1.062,6,0.000,0.000,3208,2318,2086
$GC,15188,1.13,244.9,517.4,10.4,1348,15189,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2318,2085
$GC,15507,1.13,244.9,484.0,10.4,1378,15508,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2317,2085
$GC,15826,1.13,244.9,447.6,12.1,1408,15827,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2318,2085
$GC,16144,1.13,244.9,408.9,12.3,1438,16145,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2318,2085
$GC,16463,1.13,244.9,370.1,12.3,1468,16464,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2318,2085
$GC,16789,1.13,244.9,331.6,11.8,1512,16796,0.00,2.83,0.00,0.000,4,0.000,0.111,3208,3737,2085
$GC,16810,1.13,244.9,329.2,11.8,1515,16817,0.00,2.78,0.00,0.000,6,0.000,0.087,3208,2297,2085
$GC,17155,1.13,244.9,289.9,11.4,1576,17162,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2297,2085
$GC,17499,1.14,251.8,251.9,9.8,1637,17513,0.00,0.00,7.60,0.861,6,0.000,0.000,3208,2297,2057
$GC,17852,1.16,266.9,216.0,9.5,1699,17873,0.00,3.00,14.52,0.895,4,0.000,0.106,3208,3737,1994
$GC,17892,1.16,266.9,212.0,11.1,1705,17900,0.00,2.78,0.00,0.000,6,0.000,0.087,3208,2307,1993
$GC,18238,1.17,277.8,176.6,9.6,1766,18252,0.00,0.00,10.30,0.849,6,0.000,0.000,3208,2308,1952
$GC,18589,1.17,277.8,140.4,10.7,1828,18596,0.00,2.70,0.00,0.000,4,0.000,0.104,3208,918,1950
$GC,18609,1.17,277.8,138.3,10.8,1831,18617,0.00,2.67,0.00,0.000,6,0.000,0.089,3208,2318,1950
$GC,18952,1.17,277.8,101.4,10.6,1892,18959,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2319,1950
$GC,19296,1.17,277.8,62.8,11.4,1953,19303,0.00,2.72,0.00,0.000,4,0.000,0.100,3208,914,1950
$GC,19316,1.17,277.8,60.4,11.3,1956,19323,0.00,2.65,0.00,0.000,6,0.000,0.087,3208,2306,1950
$GC,19664,1.18,287.1,25.2,9.7,2017,19680,0.00,2.88,9.18,0.775,4,0.000,0.095,3208,3737,1913
$GC,19717,1.22,316.6,20.2,9.0,2025,19752,0.00,2.70,26.25,0.758,6,0.000,0.082,3208,2322,1793
$GC,19891,1.34,385.8,3.5,7.6,2054,19908,0.17,0.00,13.55,0.742,2,0.058,0.000,3256,2321,1730
$STATE,19908,end climb,SURFACE_DEPTH_REACHED
$STATE,19908,begin surface coast
$FINISH,0.2,1.015661
$STATE,19930,end surface coast,CONTROL_FINISHED_OK
$STATE,19930,begin surface
$SM_CCo,20012,0.00,0.000,0,0,1726,333.36
$SM_GC,1.08,11.75,0.00,0.00,0.041,0.000,0.000,589,2224,1726,-10.84,-0.31,333.36
$IRIDIUM_FIX,6121.73,-3215.73,110997,101054
$TT8_MAMPS,0.02301
$HUMID,1703
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,624
$24V_AH,23.1,68.588
$10V_AH,10.6,56.705
$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,27.025,139.075,465.350,0.000,0.000,27.454,33.802,254.675,156.000,0.000,0.000,14.697,4197.392,11266.435,678.466,3589.199,728.469,0.000,2220.331,0.000,3595.419,0.000,0.468
$DEVICE_MAMPS,183.313,134.225,1389.037,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1428.134,1567.846,1871.243,591.984,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123135,2060
$CAP_FILE_SIZE,178822,0
$CFSIZE,260165632,225251328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,114.2,1
$GPS,170608,202801,6201.580,-2545.848,38,0.8,43,-18.6