version: 66.03
glider: 140
mission: 5
dive: 328
start: 6 19 108 14 36 40
data:
$ID,140
$MISSION,5
$DIVE,328
$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,-19247.172
$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
$GPS1,142737,6140.277,-2609.839,41,2.0,41,-18.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.6
$GPS2,143621,6140.254,-2609.959,14,1.3,14,-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,276.9,27068,-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,-194.7,0.0,0.0,0,121,0.00,0.00,-95.35,0.000,2,0.000,0.000,587,2220,3588
$GC,124,-1.29,-194.7,3.7,-6.4,13,153,12.40,2.80,-5.90,0.000,4,0.184,0.108,2673,3641,3881
$GC,276,-1.29,-194.7,25.3,-11.2,38,283,0.00,2.62,0.00,0.000,6,0.000,0.078,2674,2227,3882
$GC,421,-1.29,-194.7,40.2,-9.2,63,429,0.00,2.67,0.00,0.000,4,0.000,0.099,2673,825,3882
$GC,459,-1.29,-194.7,43.8,-9.1,69,467,0.00,2.65,0.00,0.000,6,0.000,0.081,2673,2244,3882
$GC,602,-1.29,-194.7,57.0,-9.2,94,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2244,3882
$GC,950,-1.29,-194.7,89.6,-9.1,155,957,0.00,2.75,0.00,0.000,4,0.000,0.097,2674,821,3883
$GC,981,-1.29,-194.7,92.6,-9.0,160,988,0.00,2.65,0.00,0.000,6,0.000,0.085,2674,2226,3883
$GC,1328,-1.29,-194.7,122.9,-8.9,221,1335,0.00,2.75,0.00,0.000,4,0.000,0.103,2673,3643,3883
$GC,1359,-1.29,-194.7,125.7,-9.3,226,1366,0.00,2.67,0.00,0.000,6,0.000,0.084,2674,2226,3883
$GC,1704,-1.29,-194.7,156.1,-8.3,287,1711,0.00,2.72,0.00,0.000,4,0.000,0.103,2674,821,3883
$GC,1741,-1.29,-194.7,159.1,-8.5,293,1748,0.00,2.67,0.00,0.000,6,0.000,0.089,2674,2224,3883
$GC,2087,-1.29,-194.7,186.9,-7.8,354,2095,0.00,2.78,0.00,0.000,4,0.000,0.107,2673,3643,3883
$GC,2125,-1.29,-194.7,190.0,-8.4,360,2132,0.00,2.67,0.00,0.000,6,0.000,0.085,2673,2221,3883
$GC,2470,-1.29,-194.7,216.3,-7.3,421,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2221,3883
$GC,2816,-1.29,-194.7,244.5,-8.9,482,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2221,3882
$GC,3161,-1.29,-194.7,275.8,-8.5,543,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2222,3882
$GC,3507,-1.29,-194.7,306.2,-8.3,604,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2221,3882
$GC,3852,-1.29,-194.7,336.5,-9.3,665,3859,0.00,2.83,0.00,0.000,4,0.000,0.110,2673,3646,3882
$GC,3882,-1.29,-194.7,339.5,-9.8,670,3890,0.00,2.70,0.00,0.000,6,0.000,0.090,2673,2227,3882
$GC,4216,-1.29,-194.7,369.8,-8.9,711,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3882
$GC,4535,-1.29,-194.7,397.9,-8.7,741,4539,0.00,2.78,0.00,0.000,4,0.000,0.112,2673,824,3881
$GC,4567,-1.29,-194.7,401.0,-9.2,743,4575,0.00,2.72,0.00,0.000,6,0.000,0.096,2674,2236,3881
$GC,4895,-1.29,-194.7,427.3,-7.8,774,4902,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2236,3881
$GC,5221,-1.29,-194.7,451.3,-7.3,805,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2236,3881
$GC,5542,-1.29,-194.7,473.9,-7.0,835,5546,0.00,2.80,0.00,0.000,4,0.000,0.113,2674,825,3881
$GC,5575,-1.29,-194.7,476.6,-7.7,837,5582,0.00,2.70,0.00,0.000,6,0.000,0.097,2673,2227,3881
$GC,5902,-1.29,-194.7,501.5,-7.9,868,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2226,3881
$GC,6228,-1.29,-194.7,528.0,-8.5,899,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3881
$GC,6547,-1.29,-194.7,557.2,-9.4,929,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2227,3880
$GC,6865,-1.29,-194.7,584.7,-8.1,959,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2227,3881
$GC,7181,-1.29,-194.7,610.9,-8.9,983,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2227,3880
$GC,7489,-1.29,-194.7,638.8,-9.1,998,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3880
$GC,7799,-1.29,-194.7,667.1,-9.2,1013,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2227,3880
$GC,8108,-1.29,-194.7,693.4,-8.1,1028,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2227,3879
$GC,8417,-1.29,-194.7,718.2,-8.3,1043,8422,0.00,2.83,0.00,0.000,4,0.000,0.120,2673,824,3880
$GC,8461,-1.29,-194.7,722.0,-8.2,1045,8465,0.00,2.75,0.00,0.000,6,0.000,0.104,2673,2231,3880
$GC,8784,-1.29,-194.7,745.6,-7.1,1061,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2232,3880
$GC,9093,-1.29,-194.7,770.4,-8.2,1076,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2232,3879
$GC,9401,-1.29,-194.7,795.0,-7.7,1091,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2232,3879
$GC,9712,-1.29,-194.7,817.8,-7.4,1106,9717,0.00,2.88,0.00,0.000,4,0.000,0.126,2674,818,3879
$GC,9752,-1.29,-194.7,820.9,-7.9,1108,9756,0.00,2.78,0.00,0.000,6,0.000,0.107,2674,2229,3879
$GC,10079,-1.29,-194.7,845.5,-7.8,1124,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2229,3878
$GC,10388,-1.29,-194.7,872.2,-9.3,1139,10390,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2229,3878
$GC,10699,-1.29,-194.7,898.3,-7.8,1154,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2229,3878
$GC,11009,-1.29,-194.7,918.6,-6.2,1169,11010,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2229,3877
$GC,11315,-1.29,-194.7,939.4,-6.6,1184,11320,0.00,2.88,0.00,0.000,4,0.000,0.130,2674,825,3877
$GC,11342,-1.29,-194.7,941.3,-7.5,1185,11347,0.00,2.78,0.00,0.000,6,0.000,0.112,2674,2227,3877
$GC,11659,-1.29,-194.7,962.8,-7.3,1200,11664,0.00,2.88,0.00,0.000,4,0.000,0.129,2674,3648,3877
$GC,11692,-1.29,-194.7,965.7,-8.5,1201,11699,0.00,2.80,0.00,0.000,6,0.000,0.107,2674,2218,3877
$STATE,11716,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11716,begin apogee
$GC,11723,-0.35,0.0,967.7,8.0,1203,11898,1.02,0.00,167.68,1.407,6,0.099,0.000,2880,2331,3085
$STATE,11900,end apogee,CONTROL_FINISHED_OK
$STATE,11900,begin climb
$GC,11902,1.29,194.7,974.9,0.0,1212,12080,1.62,3.05,164.23,1.374,4,0.060,0.133,3239,3738,2290
$GC,12104,1.18,194.7,961.2,12.2,1221,12110,0.12,2.88,0.00,0.000,6,0.121,0.108,3219,2332,2290
$GC,12432,1.12,194.7,927.2,10.4,1237,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2332,2288
$GC,12741,1.06,194.7,894.7,10.3,1252,12746,0.15,2.92,0.00,0.000,4,0.113,0.131,3187,917,2288
$GC,12763,1.06,194.7,892.2,10.6,1253,12767,0.00,2.80,0.00,0.000,6,0.000,0.107,3187,2329,2288
$GC,13086,1.06,194.7,859.1,10.9,1269,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2330,2287
$GC,13395,1.07,201.8,828.3,9.8,1284,13404,0.00,0.00,7.40,1.131,6,0.000,0.000,3187,2330,2262
$GC,13703,1.07,201.8,796.6,10.4,1299,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2329,2261
$GC,14011,1.07,201.8,764.2,10.5,1314,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2329,2261
$GC,14321,1.08,208.4,733.0,9.8,1329,14336,0.00,2.92,7.25,1.099,4,0.000,0.116,3187,915,2235
$GC,14367,1.08,208.4,728.4,10.3,1331,14372,0.00,2.80,0.00,0.000,6,0.000,0.104,3187,2335,2235
$GC,14695,1.08,208.4,694.9,10.3,1347,14696,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2336,2235
$GC,15005,1.08,208.4,661.3,11.2,1362,15006,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2336,2234
$GC,15314,1.08,208.4,626.4,11.2,1377,15315,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2336,2234
$GC,15624,1.08,208.4,591.8,11.3,1395,15625,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2336,2234
$GC,15943,1.08,208.4,556.5,11.0,1425,15944,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2336,2235
$GC,16262,1.08,208.4,523.0,10.2,1455,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2336,2235
$GC,16580,1.08,208.4,489.5,10.9,1485,16581,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2336,2235
$GC,16901,1.10,225.7,457.9,9.4,1515,16920,0.00,0.00,16.35,1.048,6,0.000,0.000,3187,2336,2165
$GC,17240,1.16,271.3,426.7,8.4,1547,17281,0.10,0.00,39.35,1.023,6,0.071,0.000,3214,2336,1979
$GC,17597,1.16,271.3,390.0,10.6,1581,17598,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2336,1974
$GC,17916,1.16,271.3,356.1,10.6,1611,17920,0.00,2.80,0.00,0.000,4,0.000,0.107,3214,911,1973
$GC,17948,1.16,271.3,352.1,10.1,1613,17955,0.00,2.75,0.00,0.000,6,0.000,0.094,3214,2338,1973
$GC,18291,1.18,289.9,316.3,9.4,1672,18312,0.00,0.00,16.55,0.948,6,0.000,0.000,3214,2338,1903
$GC,18650,1.18,289.9,278.9,11.8,1735,18656,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2338,1902
$GC,18994,1.18,289.9,243.0,10.3,1796,19001,0.00,2.78,0.00,0.000,4,0.000,0.104,3214,915,1901
$GC,19025,1.18,289.9,239.5,11.2,1801,19032,0.00,2.70,0.00,0.000,6,0.000,0.091,3214,2326,1901
$GC,19371,1.18,289.9,200.9,12.7,1862,19378,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2327,1901
$GC,19717,1.18,289.9,161.5,11.7,1923,19724,0.00,2.80,0.00,0.000,4,0.000,0.107,3214,3736,1900
$GC,19737,1.18,289.9,159.1,11.2,1926,19745,0.00,2.72,0.00,0.000,6,0.000,0.086,3214,2314,1900
$GC,20084,1.18,289.9,120.2,10.6,1987,20091,0.00,2.72,0.00,0.000,4,0.000,0.104,3213,916,1901
$GC,20105,1.18,289.9,117.8,12.2,1990,20112,0.00,2.70,0.00,0.000,6,0.000,0.088,3214,2329,1901
$GC,20453,1.18,289.9,77.6,12.1,2051,20459,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2329,1900
$GC,20797,1.18,289.9,42.6,10.9,2112,20805,0.00,2.75,0.00,0.000,4,0.000,0.100,3214,910,1901
$GC,20825,1.18,289.9,39.4,12.0,2116,20832,0.00,2.67,0.00,0.000,6,0.000,0.086,3214,2328,1900
$GC,20967,1.18,289.9,22.5,11.0,2141,20975,0.00,2.75,0.00,0.000,4,0.000,0.100,3214,3738,1900
$GC,21001,1.18,289.9,18.9,11.3,2146,21009,0.00,2.67,0.00,0.000,6,0.000,0.082,3214,2328,1900
$GC,21145,1.22,326.3,4.3,8.7,2171,21174,0.00,0.00,26.92,0.755,2,0.000,0.000,3214,2328,1775
$STATE,21174,end climb,SURFACE_DEPTH_REACHED
$STATE,21175,begin surface coast
$FINISH,0.2,1.027359
$STATE,21196,end surface coast,CONTROL_FINISHED_OK
$STATE,21196,begin surface
$SM_CCo,21278,0.00,0.000,0,0,1770,322.32
$SM_GC,1.00,11.60,0.00,0.00,0.042,0.000,0.000,581,2229,1770,-10.87,-0.17,322.32
$IRIDIUM_FIX,6121.73,-2607.48,130997,080822
$TT8_MAMPS,0.02301
$HUMID,1695
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.10
$XPDR_PINGS,704
$24V_AH,23.1,70.326
$10V_AH,10.6,58.163
$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,27.025,122.150,445.725,0.000,0.000,25.485,46.366,295.395,176.000,0.000,0.000,14.227,4415.078,12129.600,677.317,3765.419,793.355,0.000,2316.910,0.000,3761.204,0.000,0.467
$DEVICE_MAMPS,184.080,132.691,1407.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1509.571,1663.166,1929.952,612.054,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129304,2179
$CAP_FILE_SIZE,185526,0
$CFSIZE,260165632,224452608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,230.8,1
$GPS,190608,203232,6138.879,-2618.175,38,1.2,38,-18.7