version: 66.03
glider: 140
mission: 5
dive: 337
start: 6 21 108 13 14 57
data:
$ID,140
$MISSION,5
$DIVE,337
$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,-19436.117
$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,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
$GPS1,130632,6148.003,-2632.673,38,2.0,38,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.3
$GPS2,131438,6147.955,-2632.562,11,1.1,16,-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,6.7,30802,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-65.15,0.000,2,0.000,0.000,588,2225,3299
$GC,92,-1.29,-194.7,3.1,-6.5,9,130,12.40,2.75,-13.75,0.000,4,0.183,0.103,2675,826,3881
$GC,300,-1.29,-194.7,27.1,-10.3,44,308,0.00,2.65,0.00,0.000,6,0.000,0.081,2675,2240,3882
$GC,443,-1.29,-194.7,42.3,-10.6,69,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2240,3882
$GC,586,-1.29,-194.7,55.8,-8.5,94,592,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2241,3882
$GC,931,-1.29,-194.7,85.5,-9.4,155,938,0.00,2.75,0.00,0.000,4,0.000,0.097,2675,823,3883
$GC,962,-1.29,-194.7,88.4,-9.4,160,970,0.00,2.65,0.00,0.000,6,0.000,0.083,2675,2228,3883
$GC,1308,-1.29,-194.7,122.0,-9.7,221,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2229,3884
$GC,1653,-1.29,-194.7,154.2,-9.3,282,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2229,3884
$GC,1999,-1.29,-194.7,187.9,-10.3,343,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2229,3884
$GC,2343,-1.29,-194.7,221.2,-9.5,404,2351,0.00,2.75,0.00,0.000,4,0.000,0.104,2675,823,3883
$GC,2375,-1.29,-194.7,224.2,-10.0,409,2382,0.00,2.67,0.00,0.000,6,0.000,0.089,2675,2225,3884
$GC,2720,-1.29,-194.7,255.4,-8.9,470,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2225,3884
$GC,3065,-1.29,-194.7,284.8,-8.5,531,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2225,3883
$GC,3409,-1.29,-194.7,311.8,-7.8,592,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2225,3883
$GC,3754,-1.29,-194.7,339.6,-8.1,653,3761,0.00,2.78,0.00,0.000,4,0.000,0.109,2675,820,3883
$GC,3786,-1.29,-194.7,342.3,-8.9,658,3793,0.00,2.70,0.00,0.000,6,0.000,0.091,2675,2233,3883
$GC,4123,-1.29,-194.7,370.2,-8.2,697,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2233,3883
$GC,4442,-1.29,-194.7,395.7,-7.9,727,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2233,3883
$GC,4759,-1.29,-194.7,421.9,-8.6,757,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2233,3883
$GC,5078,-1.29,-194.7,449.9,-8.7,787,5080,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2233,3883
$GC,5397,-1.29,-194.7,478.7,-9.3,817,5401,0.00,2.78,0.00,0.000,4,0.000,0.110,2675,828,3882
$GC,5426,-1.29,-194.7,481.6,-9.9,819,5431,0.00,2.67,0.00,0.000,6,0.000,0.096,2675,2218,3882
$GC,5754,-1.29,-194.7,510.3,-8.7,849,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3882
$GC,6071,-1.29,-194.7,538.0,-8.9,879,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3882
$GC,6389,-1.29,-194.7,564.8,-8.2,909,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3882
$GC,6708,-1.29,-194.7,591.1,-8.2,939,6709,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3881
$GC,7030,-1.29,-194.7,618.1,-8.3,960,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3881
$GC,7340,-1.29,-194.7,644.8,-8.4,975,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3881
$GC,7650,-1.29,-194.7,669.3,-7.4,990,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3881
$GC,7958,-1.29,-194.7,693.5,-7.8,1005,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3881
$GC,8268,-1.29,-194.7,716.6,-7.2,1020,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3881
$GC,8577,-1.29,-194.7,739.1,-7.5,1035,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3880
$GC,8887,-1.29,-194.7,762.8,-8.0,1050,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3880
$GC,9195,-1.29,-194.7,786.3,-7.2,1065,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2218,3880
$GC,9506,-1.29,-194.7,810.0,-7.6,1080,9507,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2218,3879
$GC,9814,-1.29,-194.7,834.6,-8.1,1095,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3879
$GC,10124,-1.29,-194.7,859.7,-8.1,1110,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2218,3879
$GC,10433,-1.29,-194.7,884.5,-8.4,1125,10437,0.00,2.85,0.00,0.000,4,0.000,0.130,2675,830,3878
$GC,10460,-1.29,-194.7,887.1,-9.2,1126,10464,0.00,2.75,0.00,0.000,6,0.000,0.107,2675,2233,3879
$GC,10776,-1.29,-194.7,911.9,-7.9,1141,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2234,3878
$GC,11086,-1.29,-194.7,938.4,-8.5,1156,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2233,3878
$STATE,11288,end dive,NO_VERTICAL_VELOCITY
$STATE,11288,begin apogee
$GC,11295,-0.35,0.0,939.4,0.0,1166,11466,0.98,0.00,167.43,1.382,6,0.084,0.000,2878,2333,3085
$STATE,11467,end apogee,CONTROL_FINISHED_OK
$STATE,11467,begin climb
$GC,11469,1.29,194.7,939.2,0.0,1174,11639,1.65,0.00,165.05,1.345,6,0.070,0.000,3240,2333,2291
$GC,11948,1.21,194.7,895.8,11.5,1198,11953,0.00,2.97,0.00,0.000,4,0.000,0.135,3240,3738,2289
$GC,11975,1.10,194.7,892.0,12.2,1199,11981,0.20,2.80,0.00,0.000,6,0.110,0.101,3204,2333,2289
$GC,12292,1.11,205.7,860.5,9.6,1214,12304,0.00,0.00,10.95,1.202,6,0.000,0.000,3204,2333,2246
$GC,12600,1.15,234.8,831.3,9.0,1229,12633,0.00,3.03,26.75,1.259,4,0.000,0.127,3203,918,2127
$GC,12651,1.15,234.8,826.0,10.9,1231,12655,0.00,2.83,0.00,0.000,6,0.000,0.104,3203,2335,2126
$GC,12967,1.15,236.5,794.1,9.9,1246,12972,0.00,2.92,0.00,0.000,4,0.000,0.128,3203,3738,2125
$GC,13000,1.11,236.5,790.4,10.7,1247,13007,0.00,2.80,0.00,0.000,6,0.000,0.100,3204,2328,2124
$GC,13317,1.14,261.4,760.7,9.1,1263,13347,0.00,2.97,24.15,1.226,4,0.000,0.123,3203,921,2018
$GC,13383,1.14,261.4,754.3,10.1,1266,13388,0.00,2.80,0.00,0.000,6,0.000,0.102,3203,2335,2017
$GC,13711,1.16,282.5,724.2,9.3,1282,13738,0.00,3.00,19.58,1.197,4,0.000,0.125,3204,3733,1932
$GC,13767,1.16,282.5,718.4,10.6,1284,13772,0.00,2.78,0.00,0.000,6,0.000,0.098,3204,2333,1931
$GC,14084,1.20,309.3,689.1,9.1,1299,14114,0.00,2.92,25.27,1.185,4,0.000,0.120,3204,918,1823
$GC,14148,1.20,309.3,682.4,11.1,1302,14152,0.00,2.78,0.00,0.000,6,0.000,0.097,3203,2340,1821
$GC,14471,1.20,309.3,649.9,10.4,1318,14472,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2339,1819
$GC,14779,1.20,309.3,616.1,11.2,1333,14783,0.00,2.83,0.00,0.000,4,0.000,0.112,3203,918,1818
$GC,14819,1.20,309.3,611.5,11.5,1335,14823,0.00,2.72,0.00,0.000,6,0.000,0.097,3204,2326,1818
$GC,15143,1.20,309.3,575.2,11.2,1360,15144,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2326,1818
$GC,15459,1.20,309.3,540.3,10.8,1390,15460,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2326,1818
$GC,15778,1.20,309.3,506.0,10.6,1420,15779,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2326,1817
$GC,16096,1.20,309.3,472.3,11.1,1450,16097,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2326,1817
$GC,16415,1.20,309.3,437.0,11.3,1480,16416,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2326,1817
$GC,16733,1.20,309.3,401.6,11.2,1510,16737,0.00,2.78,0.00,0.000,4,0.000,0.106,3203,915,1817
$GC,16766,1.20,309.3,397.4,13.7,1512,16773,0.00,2.70,0.00,0.000,6,0.000,0.093,3204,2330,1817
$GC,17094,1.20,309.3,358.0,12.3,1543,17101,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2330,1817
$GC,17434,1.20,309.3,316.4,12.9,1598,17440,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2330,1817
$GC,17779,1.20,309.3,276.9,11.4,1659,17786,0.00,2.78,0.00,0.000,4,0.000,0.104,3204,914,1817
$GC,17804,1.20,309.3,274.0,12.2,1663,17812,0.00,2.70,0.00,0.000,6,0.000,0.091,3204,2322,1817
$GC,18151,1.20,309.3,235.2,11.7,1724,18159,0.00,2.80,0.00,0.000,4,0.000,0.108,3204,3737,1816
$GC,18177,1.20,309.3,232.3,11.0,1728,18184,0.00,2.72,0.00,0.000,6,0.000,0.085,3204,2314,1817
$GC,18524,1.20,309.3,195.6,10.3,1789,18531,0.00,2.70,0.00,0.000,4,0.000,0.104,3203,918,1817
$GC,18566,1.24,309.3,190.6,11.0,1796,18574,0.12,2.67,0.00,0.000,6,0.063,0.091,3238,2319,1817
$GC,18913,1.24,309.3,146.1,10.9,1857,18919,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2320,1817
$GC,19256,1.24,309.3,103.4,13.5,1918,19262,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2320,1817
$GC,19601,1.24,309.3,56.9,13.7,1979,19607,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2320,1817
$GC,19943,1.27,333.0,20.4,9.2,2040,19970,0.00,0.00,20.25,0.766,6,0.000,0.000,3238,2320,1726
$GC,20106,1.27,333.0,2.9,11.0,2068,20114,0.00,2.70,0.00,0.000,4,0.000,0.097,3238,915,1724
$STATE,20119,end climb,SURFACE_DEPTH_REACHED
$STATE,20119,begin surface coast
$FINISH,0.3,1.027319
$STATE,20136,end surface coast,CONTROL_FINISHED_OK
$STATE,20136,begin surface
$SM_CCo,20221,0.00,0.000,0,0,1719,334.59
$SM_GC,1.21,11.62,0.00,0.00,0.042,0.000,0.000,591,2238,1719,-10.84,0.08,334.59
$IRIDIUM_FIX,6121.73,-2633.90,150997,080852
$TT8_MAMPS,0.02301
$HUMID,1722
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.80
$XPDR_PINGS,672
$24V_AH,23.1,72.138
$10V_AH,10.6,59.678
$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,26.975,100.225,459.425,0.000,0.000,27.944,34.653,262.404,168.000,0.000,0.000,16.156,4138.676,11552.453,667.561,3603.724,725.694,0.000,2192.848,0.000,3602.128,0.000,0.467
$DEVICE_MAMPS,183.313,137.293,1382.134,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1437.753,1564.106,1871.264,588.048,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123282,2073
$CAP_FILE_SIZE,169668,0
$CFSIZE,260165632,223653888
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095, 82.0,1
$GPS,210608,185307,6150.924,-2631.833,33,1.3,33,-18.9