version: 66.03
glider: 140
mission: 5
dive: 327
start: 6 19 108 8 49 49
data:
$ID,140
$MISSION,5
$DIVE,327
$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,-19232.316
$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
$GPS1,084101,6142.616,-2603.007,39,1.8,39,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-62.8
$GPS2,084932,6142.538,-2603.029,13,1.7,30,-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,272.0,34023,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,89,0.00,0.00,-64.50,0.000,2,0.000,0.000,589,2233,3423
$GC,92,-1.29,-194.7,3.3,-7.2,9,123,12.32,2.75,-10.10,0.000,4,0.183,0.107,2674,3653,3881
$GC,265,-1.29,-194.7,24.2,-9.2,38,272,0.00,2.62,0.00,0.000,6,0.000,0.077,2674,2233,3881
$GC,411,-1.29,-194.7,35.7,-8.0,63,417,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2233,3882
$GC,555,-1.29,-194.7,47.8,-8.3,88,562,0.00,2.72,0.00,0.000,4,0.000,0.095,2675,3650,3882
$GC,614,-1.29,-194.7,53.0,-8.6,98,621,0.00,2.60,0.00,0.000,6,0.000,0.077,2674,2250,3882
$GC,959,-1.29,-194.7,83.5,-10.5,159,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2248,3882
$GC,1304,-1.29,-194.7,117.6,-9.1,220,1311,0.00,2.75,0.00,0.000,4,0.000,0.100,2674,824,3882
$GC,1359,-1.29,-194.7,122.8,-9.1,229,1365,0.00,2.70,0.00,0.000,6,0.000,0.087,2674,2246,3882
$GC,1705,-1.29,-194.7,151.9,-8.0,290,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2245,3882
$GC,2050,-1.29,-194.7,179.6,-8.1,351,2057,0.00,2.78,0.00,0.000,4,0.000,0.102,2674,825,3882
$GC,2081,-1.29,-194.7,182.3,-8.9,356,2088,0.00,2.70,0.00,0.000,6,0.000,0.090,2674,2240,3882
$GC,2427,-1.29,-194.7,212.5,-9.1,417,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2240,3882
$GC,2771,-1.29,-194.7,245.2,-9.5,478,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2240,3882
$GC,3115,-1.29,-194.7,280.6,-10.6,539,3122,0.00,2.80,0.00,0.000,4,0.000,0.107,2674,822,3882
$GC,3157,-1.29,-194.7,285.1,-10.6,546,3165,0.00,2.72,0.00,0.000,6,0.000,0.094,2674,2237,3882
$GC,3504,-1.29,-194.7,319.1,-9.7,607,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2237,3881
$GC,3846,-1.29,-194.7,352.1,-9.5,666,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2237,3881
$GC,4168,-1.29,-194.7,380.5,-8.7,696,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2237,3881
$GC,4493,-1.29,-194.7,409.9,-9.1,727,4495,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2237,3882
$GC,4813,-1.29,-194.7,439.2,-9.1,757,4817,0.00,2.78,0.00,0.000,4,0.000,0.111,2674,829,3881
$GC,4845,-1.29,-194.7,442.4,-9.4,759,4853,0.00,2.70,0.00,0.000,6,0.000,0.097,2674,2233,3881
$GC,5173,-1.29,-194.7,471.1,-8.9,790,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2233,3881
$GC,5499,-1.29,-194.7,500.0,-8.7,821,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2233,3881
$GC,5820,-1.29,-194.7,527.4,-8.5,851,5824,0.00,2.78,0.00,0.000,4,0.000,0.111,2674,830,3881
$GC,5851,-1.29,-194.7,530.2,-9.2,853,5855,0.00,2.70,0.00,0.000,6,0.000,0.097,2674,2232,3880
$GC,6180,-1.29,-194.7,557.7,-8.4,883,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2232,3880
$GC,6505,-1.29,-194.7,585.1,-8.1,914,6506,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2232,3880
$GC,6831,-1.29,-194.7,609.1,-7.0,939,6836,0.00,2.80,0.00,0.000,4,0.000,0.113,2674,824,3880
$GC,6860,-1.29,-194.7,611.1,-7.3,940,6864,0.00,2.70,0.00,0.000,6,0.000,0.096,2674,2229,3880
$GC,7176,-1.29,-194.7,633.1,-8.3,955,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2230,3880
$GC,7485,-1.29,-194.7,666.1,-11.9,970,7486,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2230,3880
$GC,7795,-1.29,-194.7,696.8,-8.6,985,7800,0.00,2.80,0.00,0.000,4,0.000,0.116,2674,830,3880
$GC,7828,-1.29,-194.7,699.7,-8.4,986,7835,0.00,2.70,0.00,0.000,6,0.000,0.100,2674,2228,3880
$GC,8144,-1.29,-194.7,723.8,-8.1,1002,8145,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3880
$GC,8454,-1.29,-194.7,750.8,-9.7,1017,8459,0.00,2.83,0.00,0.000,4,0.000,0.120,2674,824,3879
$GC,8498,-1.29,-194.7,755.3,-10.1,1019,8502,0.00,2.67,0.00,0.000,6,0.000,0.103,2674,2208,3879
$GC,8825,-1.29,-194.7,789.8,-10.9,1035,8830,0.00,2.90,0.00,0.000,4,0.000,0.125,2674,3643,3879
$GC,8858,-1.29,-194.7,793.5,-10.7,1036,8866,0.00,2.75,0.00,0.000,6,0.000,0.097,2674,2211,3879
$GC,9174,-1.29,-194.7,820.9,-7.8,1052,9175,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2211,3879
$GC,9483,-1.29,-194.7,845.4,-7.5,1067,9488,0.00,2.90,0.00,0.000,4,0.000,0.124,2674,3644,3878
$GC,9511,-1.29,-194.7,847.7,-8.5,1068,9515,0.00,2.80,0.00,0.000,6,0.000,0.103,2674,2207,3879
$GC,9827,-1.29,-194.7,872.5,-8.3,1083,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3879
$GC,10136,-1.29,-194.7,899.6,-8.9,1098,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3878
$GC,10446,-1.29,-194.7,928.7,-9.3,1113,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2208,3877
$GC,10755,-1.29,-194.7,951.1,-6.0,1128,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3877
$GC,11065,-1.29,-194.7,968.9,-5.9,1143,11069,0.00,2.88,0.00,0.000,4,0.000,0.136,2674,819,3877
$GC,11097,-1.29,-194.7,971.2,-7.4,1144,11104,0.00,2.78,0.00,0.000,6,0.000,0.110,2674,2218,3877
$STATE,11348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11349,begin apogee
$GC,11355,-0.35,0.0,990.7,8.5,1157,11531,1.02,0.00,168.70,1.426,6,0.098,0.000,2881,2331,3084
$STATE,11532,end apogee,CONTROL_FINISHED_OK
$STATE,11532,begin climb
$GC,11535,1.29,194.7,999.2,0.0,1166,11706,1.65,0.00,165.85,1.392,6,0.059,0.000,3242,2331,2291
$GC,12003,1.20,194.7,958.4,11.3,1189,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2330,2289
$GC,12311,1.11,194.7,923.4,11.6,1204,12316,0.17,2.92,0.00,0.000,4,0.115,0.130,3206,919,2288
$GC,12339,1.11,194.7,920.1,10.9,1205,12343,0.00,2.83,0.00,0.000,6,0.000,0.110,3206,2338,2288
$GC,12655,1.07,194.7,886.5,10.9,1220,12656,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2338,2287
$GC,12964,1.07,194.7,851.3,12.0,1235,12966,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2338,2287
$GC,13273,1.07,194.7,817.2,10.6,1250,13274,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2338,2287
$GC,13583,1.09,204.9,789.1,9.6,1265,13598,0.00,2.95,10.10,1.210,4,0.000,0.127,3206,3738,2248
$GC,13627,1.03,212.9,784.6,9.7,1266,13646,0.12,2.83,8.55,1.129,6,0.118,0.102,3185,2329,2216
$GC,13953,1.10,272.8,758.9,7.9,1282,14014,0.00,0.00,53.53,1.262,6,0.000,0.000,3185,2329,1971
$GC,14323,1.20,350.7,730.7,7.3,1300,14399,0.15,2.97,68.95,1.233,4,0.063,0.123,3227,920,1654
$GC,14435,1.24,387.0,721.8,8.7,1305,14479,0.00,2.78,32.78,1.190,6,0.000,0.100,3227,2326,1505
$GC,14790,1.28,413.9,688.3,9.1,1322,14821,0.00,2.92,23.98,1.172,4,0.000,0.114,3227,922,1396
$GC,14843,1.30,433.3,682.8,9.3,1324,14869,0.00,2.72,18.40,1.131,6,0.000,0.098,3226,2312,1318
$GC,15188,1.30,433.3,648.1,11.0,1341,15192,0.00,2.80,0.00,0.000,4,0.000,0.113,3226,911,1311
$GC,15210,1.34,433.3,645.3,11.3,1342,15215,0.12,2.67,0.00,0.000,6,0.064,0.096,3260,2297,1311
$GC,15531,1.34,433.3,601.5,14.9,1358,15532,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2297,1309
$GC,15850,1.34,433.3,550.6,15.3,1387,15854,0.00,2.75,0.00,0.000,4,0.000,0.108,3260,911,1308
$GC,15879,1.34,433.3,545.9,15.4,1389,15883,0.00,2.65,0.00,0.000,6,0.000,0.094,3260,2284,1308
$GC,16204,1.34,433.3,498.3,13.9,1419,16205,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2285,1308
$GC,16523,1.34,433.3,455.4,13.6,1449,16524,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2285,1308
$GC,16841,1.34,433.3,412.6,14.1,1479,16842,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2285,1307
$GC,17161,1.34,433.3,368.8,13.6,1509,17165,0.00,2.70,0.00,0.000,4,0.000,0.105,3260,912,1307
$GC,17189,1.34,433.3,364.7,12.4,1511,17194,0.00,2.62,0.00,0.000,6,0.000,0.091,3260,2284,1307
$GC,17528,1.34,433.3,322.4,12.6,1561,17534,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2284,1308
$GC,17872,1.34,433.3,282.7,12.1,1622,17879,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2284,1307
$GC,18218,1.34,433.3,241.4,12.8,1683,18225,0.00,2.67,0.00,0.000,4,0.000,0.103,3260,916,1307
$GC,18239,1.34,433.3,238.8,12.6,1686,18246,0.00,2.60,0.00,0.000,6,0.000,0.087,3260,2284,1307
$GC,18584,1.34,433.3,194.0,14.1,1747,18590,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2284,1307
$GC,18928,1.34,433.3,148.4,12.0,1808,18936,0.00,2.67,0.00,0.000,4,0.000,0.104,3260,916,1308
$GC,18954,1.34,433.3,144.9,13.0,1812,18962,0.00,2.58,0.00,0.000,6,0.000,0.086,3260,2287,1308
$GC,19301,1.34,433.3,101.5,14.7,1873,19308,0.00,2.85,0.00,0.000,4,0.000,0.104,3260,3734,1307
$GC,19327,1.34,433.3,97.8,15.3,1877,19334,0.00,2.80,0.00,0.000,6,0.000,0.085,3260,2272,1306
$GC,19673,1.34,433.3,53.6,10.9,1938,19681,0.00,2.62,0.00,0.000,4,0.000,0.101,3260,914,1307
$GC,19717,1.34,433.3,48.6,11.3,1945,19725,0.00,2.60,0.00,0.000,6,0.000,0.087,3260,2281,1307
$GC,19864,1.34,433.3,33.0,12.5,1970,19870,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2281,1307
$GC,20007,1.34,433.3,13.0,12.9,1995,20014,0.00,2.65,0.00,0.000,4,0.000,0.100,3260,915,1307
$GC,20032,1.34,433.3,9.4,13.3,1999,20040,0.00,2.55,0.00,0.000,6,0.000,0.084,3260,2276,1307
$STATE,20091,end climb,SURFACE_DEPTH_REACHED
$STATE,20091,begin surface coast
$FINISH,0.4,1.027430
$STATE,20109,end surface coast,CONTROL_FINISHED_OK
$STATE,20109,begin surface
$SM_CCo,20191,0.00,0.000,0,0,1303,436.88
$SM_GC,1.00,11.68,0.00,0.00,0.041,0.000,0.000,587,2220,1303,-10.85,-0.40,436.88
$IRIDIUM_FIX,6121.73,-2555.32,130997,020251
$TT8_MAMPS,0.022243
$HUMID,1720
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,16.60
$XPDR_PINGS,649
$24V_AH,23.0,70.122
$10V_AH,10.6,57.978
$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,27.250,137.700,550.825,0.000,0.000,30.922,31.163,272.106,162.250,0.000,0.000,30.852,4102.266,11511.580,778.481,3532.700,751.168,0.000,2333.646,0.000,3516.316,0.000,0.469
$DEVICE_MAMPS,183.313,135.759,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1394.150,1545.379,1771.576,572.732,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119846,2012
$CAP_FILE_SIZE,178348,0
$CFSIZE,260165632,224567296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.129,189.5,1
$GPS,190608,142737,6140.277,-2609.839,41,2.0,41,-18.6