version: 66.03
glider: 140
mission: 5
dive: 329
start: 6 19 108 20 48 40
data:
$ID,140
$MISSION,5
$DIVE,329
$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,-19264.199
$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,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
$GPS1,203232,6138.879,-2618.175,38,1.2,38,-18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.2
$GPS2,204821,6138.864,-2618.035,16,1.2,16,-18.7
$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,280.2,19614,-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,23,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-70.62,0.000,2,0.000,0.000,581,2227,3481
$GC,99,-1.29,-194.7,3.6,-7.1,10,128,12.48,2.75,-8.38,0.000,4,0.185,0.104,2673,3653,3880
$GC,175,-1.29,-194.7,14.8,-9.1,22,183,0.00,2.65,0.00,0.000,6,0.000,0.080,2673,2234,3880
$GC,320,-1.29,-194.7,27.7,-8.9,47,326,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2233,3881
$GC,463,-1.29,-194.7,40.8,-9.6,72,470,0.00,2.72,0.00,0.000,4,0.000,0.097,2673,3645,3881
$GC,500,-1.29,-194.7,44.7,-10.3,78,507,0.00,2.62,0.00,0.000,6,0.000,0.080,2673,2243,3881
$GC,643,-1.29,-194.7,57.2,-8.2,103,649,0.00,2.72,0.00,0.000,4,0.000,0.095,2673,820,3880
$GC,675,-1.29,-194.7,59.9,-9.0,108,683,0.00,2.67,0.00,0.000,6,0.000,0.081,2673,2244,3881
$GC,1022,-1.29,-194.7,92.0,-9.6,169,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2244,3881
$GC,1364,-1.29,-194.7,123.7,-8.6,230,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2244,3881
$GC,1710,-1.29,-194.7,157.4,-10.3,291,1717,0.00,2.78,0.00,0.000,4,0.000,0.102,2673,823,3881
$GC,1735,-1.29,-194.7,160.0,-10.3,295,1742,0.00,2.70,0.00,0.000,6,0.000,0.090,2673,2239,3881
$GC,2081,-1.29,-194.7,194.9,-9.4,356,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3881
$GC,2426,-1.29,-194.7,228.2,-9.5,417,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3881
$GC,2771,-1.29,-194.7,258.6,-8.6,478,2779,0.00,2.80,0.00,0.000,4,0.000,0.107,2673,820,3881
$GC,2814,-1.29,-194.7,262.4,-9.0,485,2821,0.00,2.72,0.00,0.000,6,0.000,0.093,2673,2239,3881
$GC,3160,-1.29,-194.7,292.7,-8.7,546,3167,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3880
$GC,3507,-1.29,-194.7,323.5,-9.3,607,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3880
$GC,3854,-1.29,-194.7,355.0,-9.0,664,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3880
$GC,4172,-1.29,-194.7,383.8,-9.1,694,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3880
$GC,4491,-1.29,-194.7,412.8,-9.3,724,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3880
$GC,4809,-1.29,-194.7,440.2,-8.0,754,4813,0.00,2.83,0.00,0.000,4,0.000,0.114,2673,823,3879
$GC,4851,-1.29,-194.7,443.6,-9.0,757,4855,0.00,2.72,0.00,0.000,6,0.000,0.096,2673,2235,3879
$GC,5180,-1.29,-194.7,472.3,-8.8,787,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2234,3878
$GC,5505,-1.29,-194.7,501.9,-9.0,818,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2235,3879
$GC,5826,-1.29,-194.7,529.8,-8.8,848,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2235,3879
$GC,6152,-1.29,-194.7,556.7,-8.1,879,6157,0.00,2.80,0.00,0.000,4,0.000,0.115,2673,827,3878
$GC,6185,-1.29,-194.7,559.6,-8.9,881,6192,0.00,2.70,0.00,0.000,6,0.000,0.099,2673,2227,3878
$GC,6512,-1.29,-194.7,586.1,-8.2,912,6513,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2227,3879
$GC,6825,-1.29,-194.7,612.2,-8.3,935,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2227,3878
$GC,7133,-1.29,-194.7,638.6,-8.4,950,7138,0.00,2.80,0.00,0.000,4,0.000,0.115,2673,822,3878
$GC,7166,-1.29,-194.7,641.4,-8.9,951,7173,0.00,2.72,0.00,0.000,6,0.000,0.101,2673,2229,3878
$GC,7483,-1.29,-194.7,666.7,-8.4,967,7488,0.00,2.80,0.00,0.000,4,0.000,0.116,2673,823,3878
$GC,7527,-1.29,-194.7,670.9,-9.2,969,7532,0.00,2.70,0.00,0.000,6,0.000,0.099,2673,2222,3878
$GC,7848,-1.29,-194.7,699.4,-9.3,985,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2222,3878
$GC,8158,-1.29,-194.7,730.3,-9.9,1000,8159,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2222,3877
$GC,8467,-1.29,-194.7,761.6,-10.3,1015,8471,0.00,2.83,0.00,0.000,4,0.000,0.122,2673,821,3876
$GC,8499,-1.29,-194.7,765.2,-11.1,1016,8506,0.00,2.72,0.00,0.000,6,0.000,0.104,2673,2222,3877
$GC,8816,-1.29,-194.7,791.4,-7.2,1032,8820,0.00,2.90,0.00,0.000,4,0.000,0.127,2673,3649,3876
$GC,8843,-1.29,-194.7,793.6,-7.8,1033,8847,0.00,2.75,0.00,0.000,6,0.000,0.097,2673,2217,3877
$GC,9159,-1.29,-194.7,818.7,-8.4,1048,9163,0.00,2.85,0.00,0.000,4,0.000,0.127,2673,820,3876
$GC,9203,-1.29,-194.7,822.9,-9.4,1050,9208,0.00,2.70,0.00,0.000,6,0.000,0.104,2673,2213,3876
$GC,9524,-1.29,-194.7,854.8,-10.0,1066,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3876
$GC,9835,-1.29,-194.7,881.7,-8.3,1081,9836,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3875
$GC,10144,-1.29,-194.7,906.3,-8.2,1096,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3875
$GC,10453,-1.29,-194.7,932.6,-8.2,1111,10457,0.00,2.85,0.00,0.000,4,0.000,0.129,2673,821,3875
$GC,10480,-1.29,-194.7,935.0,-9.0,1112,10484,0.00,2.72,0.00,0.000,6,0.000,0.107,2673,2212,3875
$GC,10796,-1.29,-194.7,960.2,-8.3,1127,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2212,3874
$GC,11105,-1.29,-194.7,986.2,-8.1,1142,11106,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2212,3874
$STATE,11164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11164,begin apogee
$GC,11170,-0.35,0.0,991.0,7.8,1145,11347,1.02,0.00,168.15,1.426,6,0.096,0.000,2882,2336,3085
$STATE,11347,end apogee,CONTROL_FINISHED_OK
$STATE,11348,begin climb
$GC,11351,1.29,194.7,996.6,0.0,1154,11521,1.65,0.00,165.82,1.391,6,0.057,0.000,3245,2335,2291
$GC,11819,1.20,194.7,948.5,12.7,1177,11821,0.12,0.00,0.00,0.000,6,0.120,0.000,3224,2336,2289
$GC,12127,1.14,194.7,914.7,10.3,1192,12128,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2336,2288
$GC,12436,1.08,194.7,881.0,10.5,1207,12441,0.15,2.90,0.00,0.000,4,0.115,0.123,3196,920,2287
$GC,12477,1.10,209.1,877.1,9.5,1209,12500,0.00,2.83,13.68,1.269,6,0.000,0.110,3196,2337,2232
$GC,12809,1.10,209.1,844.1,11.0,1225,12810,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2338,2231
$GC,13117,1.10,209.1,811.1,10.3,1240,13118,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2338,2230
$GC,13428,1.13,234.7,780.7,9.1,1255,13458,0.00,2.97,23.48,1.262,4,0.000,0.119,3196,920,2127
$GC,13475,1.22,312.2,776.4,7.3,1257,13551,0.15,2.80,68.82,1.259,6,0.063,0.105,3233,2327,1811
$GC,13867,1.22,312.2,729.4,13.0,1276,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2328,1805
$GC,14178,1.22,312.2,693.8,11.2,1291,14179,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2328,1803
$GC,14487,1.22,312.2,656.3,12.6,1306,14492,0.00,2.83,0.00,0.000,4,0.000,0.114,3233,919,1803
$GC,14520,1.22,312.2,651.6,13.0,1307,14528,0.00,2.75,0.00,0.000,6,0.000,0.099,3233,2331,1803
$GC,14837,1.22,312.2,614.3,11.2,1323,14838,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2332,1802
$GC,15150,1.22,312.2,577.1,12.1,1346,15155,0.00,2.83,0.00,0.000,4,0.000,0.113,3233,915,1802
$GC,15178,1.22,312.2,573.6,12.5,1348,15183,0.00,2.70,0.00,0.000,6,0.000,0.095,3233,2319,1802
$GC,15503,1.22,312.2,534.9,12.0,1378,15504,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2320,1802
$GC,15824,1.22,312.2,499.2,10.6,1408,15828,0.00,2.78,0.00,0.000,4,0.000,0.107,3233,914,1802
$GC,15852,1.22,312.2,495.8,11.1,1410,15857,0.00,2.70,0.00,0.000,6,0.000,0.094,3233,2317,1802
$GC,16177,1.22,312.2,460.8,10.6,1440,16178,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2317,1801
$GC,16497,1.22,312.2,424.5,11.7,1470,16498,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2317,1801
$GC,16815,1.22,312.2,386.9,11.9,1500,16816,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2317,1801
$GC,17136,1.22,312.2,348.5,12.1,1531,17143,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2317,1802
$GC,17479,1.22,312.2,308.4,10.8,1592,17486,0.00,2.75,0.00,0.000,4,0.000,0.104,3233,914,1802
$GC,17504,1.22,312.2,305.4,10.9,1596,17512,0.00,2.67,0.00,0.000,6,0.000,0.091,3233,2313,1801
$GC,17851,1.22,312.2,266.1,12.0,1657,17857,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2314,1801
$GC,18195,1.22,312.2,227.2,12.3,1718,18202,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2314,1802
$GC,18540,1.22,312.2,186.9,11.1,1779,18546,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2314,1802
$GC,18884,1.22,312.2,147.3,11.1,1840,18891,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2314,1802
$GC,19229,1.22,312.2,107.2,12.6,1901,19235,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2314,1802
$GC,19573,1.22,312.2,62.5,12.7,1962,19580,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2314,1803
$GC,19919,1.22,312.2,24.8,10.6,2023,19926,0.00,2.70,0.00,0.000,4,0.000,0.097,3233,911,1802
$GC,19951,1.22,312.2,21.4,10.4,2028,19959,0.00,2.62,0.00,0.000,6,0.000,0.084,3233,2312,1802
$GC,20093,1.22,312.2,5.7,11.1,2053,20100,0.00,2.78,0.00,0.000,4,0.000,0.100,3233,3736,1802
$GC,20125,1.22,312.2,2.0,11.8,2058,20132,0.00,2.70,0.00,0.000,6,0.000,0.081,3233,2302,1802
$STATE,20137,end climb,SURFACE_DEPTH_REACHED
$STATE,20137,begin surface coast
$FINISH,0.3,1.023419
$STATE,20155,end surface coast,CONTROL_FINISHED_OK
$STATE,20155,begin surface
$SM_CCo,20236,0.00,0.000,0,0,1798,315.70
$SM_GC,1.21,11.62,0.00,0.00,0.045,0.000,0.000,591,2229,1798,-10.84,-0.14,315.70
$IRIDIUM_FIX,6117.23,-2520.99,130997,202059
$TT8_MAMPS,0.02301
$HUMID,1712
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,651
$24V_AH,23.1,70.552
$10V_AH,10.6,58.344
$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,27.200,116.275,439.950,0.000,0.000,88.946,120.456,439.201,162.750,0.000,0.000,16.399,4182.027,11639.763,675.863,3602.390,1062.174,0.000,2221.602,0.000,3585.004,0.000,0.467
$DEVICE_MAMPS,184.847,138.060,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1430.356,1560.117,1830.324,589.893,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122999,2063
$CAP_FILE_SIZE,180238,0
$CFSIZE,260165632,224362496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,169.4,1
$GPS,200608,022708,6137.402,-2624.021,36,0.9,36,-18.7