version: 66.03
glider: 140
mission: 5
dive: 336
start: 6 21 108 8 17 24
data:
$ID,140
$MISSION,5
$DIVE,336
$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,-19419.334
$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
$GPS1,080831,6145.122,-2635.060,41,1.9,46,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-64.4
$GPS2,081707,6145.167,-2635.045,15,1.2,31,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6204.210,-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,11.9,35536,-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,-194.7,0.0,0.0,0,99,0.00,0.00,-74.88,0.000,2,0.000,0.000,586,2224,3393
$GC,102,-1.29,-194.7,3.3,-6.4,10,133,12.43,2.70,-10.80,0.000,4,0.186,0.107,2672,824,3879
$GC,332,-1.29,-194.7,30.4,-10.6,49,340,0.00,2.65,0.00,0.000,6,0.000,0.082,2672,2242,3880
$GC,475,-1.29,-194.7,45.2,-9.6,74,482,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3880
$GC,618,-1.29,-194.7,58.7,-9.3,99,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3880
$GC,964,-1.29,-194.7,88.6,-9.0,160,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3881
$GC,1309,-1.29,-194.7,121.3,-10.7,221,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3881
$GC,1654,-1.29,-194.7,156.1,-10.0,282,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3881
$GC,2000,-1.29,-194.7,188.9,-8.9,343,2007,0.00,2.78,0.00,0.000,4,0.000,0.104,2672,827,3881
$GC,2025,-1.29,-194.7,191.3,-9.2,347,2032,0.00,2.67,0.00,0.000,6,0.000,0.089,2672,2231,3881
$GC,2370,-1.29,-194.7,221.8,-8.6,408,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3881
$GC,2716,-1.29,-194.7,253.5,-9.1,469,2722,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3881
$GC,3060,-1.29,-194.7,283.9,-8.8,530,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3881
$GC,3404,-1.29,-194.7,314.2,-9.1,591,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3881
$GC,3749,-1.29,-194.7,344.6,-9.0,652,3757,0.00,2.78,0.00,0.000,4,0.000,0.107,2672,820,3880
$GC,3787,-1.29,-194.7,348.0,-9.3,658,3794,0.00,2.72,0.00,0.000,6,0.000,0.094,2673,2235,3880
$GC,4124,-1.29,-194.7,378.8,-9.2,691,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2235,3880
$GC,4451,-1.29,-194.7,408.1,-8.8,722,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2235,3880
$GC,4768,-1.29,-194.7,434.4,-7.8,752,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2235,3880
$GC,5087,-1.29,-194.7,460.1,-8.4,782,5092,0.00,2.80,0.00,0.000,4,0.000,0.111,2673,824,3879
$GC,5115,-1.29,-194.7,462.6,-9.3,784,5120,0.00,2.70,0.00,0.000,6,0.000,0.094,2672,2228,3879
$GC,5442,-1.29,-194.7,490.4,-8.4,814,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3879
$GC,5759,-1.29,-194.7,517.1,-8.7,844,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3879
$GC,6077,-1.29,-194.7,545.1,-8.2,874,6082,0.00,2.78,0.00,0.000,4,0.000,0.114,2672,828,3879
$GC,6119,-1.29,-194.7,548.6,-8.8,877,6123,0.00,2.70,0.00,0.000,6,0.000,0.098,2672,2221,3879
$GC,6446,-1.29,-194.7,572.9,-7.3,907,6447,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3879
$GC,6763,-1.29,-194.7,596.2,-8.5,937,6764,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3879
$GC,7084,-1.29,-194.7,621.1,-6.8,955,7085,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3878
$GC,7392,-1.29,-194.7,643.3,-8.5,970,7394,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3878
$GC,7703,-1.29,-194.7,671.7,-9.3,985,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3878
$GC,8011,-1.29,-194.7,701.8,-9.2,1000,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3878
$GC,8321,-1.29,-194.7,728.5,-8.4,1015,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3877
$GC,8632,-1.29,-194.7,754.9,-9.4,1030,8636,0.00,2.88,0.00,0.000,4,0.000,0.125,2672,3644,3877
$GC,8653,-1.29,-194.7,757.4,-10.0,1031,8657,0.00,2.75,0.00,0.000,6,0.000,0.099,2673,2217,3877
$GC,8975,-1.29,-194.7,787.3,-9.5,1047,8979,0.00,2.85,0.00,0.000,4,0.000,0.127,2672,818,3877
$GC,9002,-1.29,-194.7,790.3,-10.3,1048,9006,0.00,2.75,0.00,0.000,6,0.000,0.104,2672,2224,3877
$GC,9319,-1.29,-194.7,818.6,-8.6,1063,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2224,3877
$STATE,9542,end dive,NO_VERTICAL_VELOCITY
$STATE,9542,begin apogee
$GC,9548,-0.35,0.0,820.0,0.0,1074,9716,0.98,0.00,164.25,1.307,6,0.070,0.000,2884,2330,3085
$STATE,9717,end apogee,CONTROL_FINISHED_OK
$STATE,9717,begin climb
$GC,9720,1.29,194.7,819.8,0.0,1082,9892,1.60,2.95,161.55,1.262,4,0.062,0.120,3235,919,2291
$GC,10005,1.22,194.7,797.3,10.5,1095,10009,0.00,2.80,0.00,0.000,6,0.000,0.105,3235,2331,2289
$GC,10321,1.15,194.7,762.6,11.1,1110,10323,0.12,0.00,0.00,0.000,6,0.117,0.000,3214,2332,2289
$GC,10631,1.11,194.7,730.4,10.3,1125,10635,0.00,2.92,0.00,0.000,4,0.000,0.126,3214,3738,2288
$GC,10672,1.03,194.7,726.1,11.2,1127,10677,0.15,2.78,0.00,0.000,6,0.112,0.098,3187,2335,2288
$GC,11000,1.06,214.9,695.6,9.3,1143,11026,0.00,2.97,18.42,1.177,4,0.000,0.121,3186,920,2207
$GC,11046,1.06,214.9,691.0,10.1,1145,11050,0.00,2.78,0.00,0.000,6,0.000,0.099,3187,2336,2207
$GC,11373,1.06,214.9,655.8,11.3,1161,11374,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2336,2206
$GC,11683,1.08,231.1,623.7,9.4,1176,11702,0.00,0.00,15.02,1.135,6,0.000,0.000,3186,2336,2143
$GC,12014,1.19,321.6,598.0,6.9,1193,12096,0.15,0.00,78.70,1.137,6,0.062,0.000,3224,2336,1774
$GC,12411,1.19,321.6,554.6,13.0,1231,12415,0.00,2.85,0.00,0.000,4,0.000,0.111,3224,911,1767
$GC,12451,1.19,321.6,549.1,14.2,1234,12455,0.00,2.72,0.00,0.000,6,0.000,0.094,3224,2325,1767
$GC,12776,1.19,321.6,505.3,13.0,1264,12780,0.00,2.85,0.00,0.000,4,0.000,0.114,3224,3736,1766
$GC,12804,1.19,321.6,501.7,12.6,1266,12808,0.00,2.75,0.00,0.000,6,0.000,0.091,3224,2322,1765
$GC,13131,1.19,321.6,463.1,11.2,1296,13136,0.00,2.78,0.00,0.000,4,0.000,0.112,3224,918,1765
$GC,13175,1.19,321.6,457.5,12.6,1299,13182,0.00,2.70,0.00,0.000,6,0.000,0.095,3224,2322,1765
$GC,13502,1.19,321.6,418.3,12.0,1330,13507,0.00,2.85,0.00,0.000,4,0.000,0.113,3224,3737,1765
$GC,13530,1.19,321.6,414.4,12.4,1332,13535,0.00,2.75,0.00,0.000,6,0.000,0.089,3224,2315,1764
$GC,13857,1.19,321.6,377.2,11.2,1362,13862,0.00,2.75,0.00,0.000,4,0.000,0.109,3224,918,1764
$GC,13897,1.19,321.6,372.6,11.1,1365,13901,0.00,2.70,0.00,0.000,6,0.000,0.095,3224,2318,1764
$GC,14228,1.19,321.6,337.0,10.9,1405,14235,0.00,2.85,0.00,0.000,4,0.000,0.112,3224,3736,1763
$GC,14259,1.19,321.6,333.2,11.9,1410,14266,0.00,2.75,0.00,0.000,6,0.000,0.090,3224,2316,1763
$GC,14604,1.19,321.6,293.3,10.9,1471,14611,0.00,2.75,0.00,0.000,4,0.000,0.107,3224,911,1764
$GC,14652,1.19,321.6,287.4,12.1,1479,14659,0.00,2.67,0.00,0.000,6,0.000,0.091,3224,2311,1764
$GC,14997,1.19,321.6,246.8,12.1,1540,15004,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2312,1764
$GC,15342,1.19,321.6,206.2,11.3,1601,15349,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2312,1764
$GC,15687,1.19,321.6,168.7,10.2,1662,15694,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2312,1764
$GC,16032,1.19,321.6,130.2,11.3,1723,16039,0.00,2.72,0.00,0.000,4,0.000,0.103,3224,914,1764
$GC,16063,1.19,321.6,126.6,12.1,1728,16070,0.00,2.65,0.00,0.000,6,0.000,0.087,3224,2312,1764
$GC,16406,1.19,321.6,88.2,11.5,1789,16413,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2312,1764
$GC,16751,1.19,321.6,49.1,10.9,1850,16758,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2312,1764
$GC,16895,1.19,321.6,33.6,11.0,1875,16903,0.00,2.70,0.00,0.000,4,0.000,0.098,3224,909,1764
$GC,16976,1.19,321.6,24.3,11.9,1889,16983,0.00,2.60,0.00,0.000,6,0.000,0.084,3224,2302,1763
$GC,17121,1.19,321.6,8.4,10.2,1914,17128,0.00,2.80,0.00,0.000,4,0.000,0.100,3224,3735,1763
$GC,17163,1.19,321.6,3.6,10.8,1921,17171,0.00,2.65,0.00,0.000,6,0.000,0.079,3224,2325,1763
$STATE,17175,end climb,SURFACE_DEPTH_REACHED
$STATE,17175,begin surface coast
$FINISH,0.3,1.027355
$STATE,17193,end surface coast,CONTROL_FINISHED_OK
$STATE,17193,begin surface
$SM_CCo,17275,0.00,0.000,0,0,1759,325.02
$SM_GC,1.02,11.52,0.00,0.00,0.041,0.000,0.000,588,2226,1759,-10.85,-0.25,325.02
$IRIDIUM_FIX,6117.23,-2637.96,150997,030302
$TT8_MAMPS,0.02301
$HUMID,1731
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,664
$24V_AH,23.1,71.930
$10V_AH,10.6,59.502
$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,26.950,110.975,437.950,0.000,0.000,24.422,37.916,269.990,166.000,0.000,0.000,31.855,3830.571,9157.001,628.162,3416.968,736.641,0.000,2098.713,0.000,3403.258,0.000,0.468
$DEVICE_MAMPS,185.614,131.157,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1334.533,1468.240,1794.001,582.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113629,1926
$CAP_FILE_SIZE,159505,0
$CFSIZE,260165632,223768576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153, 74.1,1
$GPS,210608,130632,6148.003,-2632.673,38,2.0,38,-18.9