version: 66.03
glider: 140
mission: 5
dive: 338
start: 6 21 108 19 1 46
data:
$ID,140
$MISSION,5
$DIVE,338
$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,-19450.848
$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,11
$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
$GPS1,185307,6150.924,-2631.833,33,1.3,33,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-64.0
$GPS2,190127,6150.968,-2631.872,14,1.3,14,-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,2.7,25535,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-71.10,0.000,2,0.000,0.000,591,2239,3428
$GC,98,-1.29,-194.7,3.4,-6.6,10,129,12.35,2.72,-9.85,0.000,4,0.185,0.104,2671,820,3879
$GC,239,-1.29,-194.7,20.4,-9.2,33,246,0.00,2.65,0.00,0.000,6,0.000,0.081,2671,2239,3880
$GC,384,-1.29,-194.7,34.1,-10.2,58,391,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,527,-1.29,-194.7,50.0,-11.5,83,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3880
$GC,872,-1.29,-194.7,87.6,-9.8,144,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3881
$GC,1217,-1.29,-194.7,118.4,-8.4,205,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3882
$GC,1562,-1.29,-194.7,147.5,-8.7,266,1569,0.00,2.78,0.00,0.000,4,0.000,0.103,2671,816,3882
$GC,1594,-1.29,-194.7,150.3,-8.9,271,1601,0.00,2.65,0.00,0.000,6,0.000,0.087,2671,2212,3882
$GC,1940,-1.29,-194.7,180.3,-9.1,332,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2213,3882
$GC,2285,-1.29,-194.7,210.7,-8.9,393,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3882
$GC,2630,-1.29,-194.7,242.6,-9.5,454,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3882
$GC,2974,-1.29,-194.7,276.9,-10.1,515,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3881
$GC,3319,-1.29,-194.7,309.9,-8.6,576,3326,0.00,2.80,0.00,0.000,4,0.000,0.107,2671,3644,3881
$GC,3345,-1.29,-194.7,312.2,-9.4,580,3353,0.00,2.72,0.00,0.000,6,0.000,0.090,2671,2210,3882
$GC,3692,-1.29,-194.7,341.4,-8.2,641,3699,0.00,2.75,0.00,0.000,4,0.000,0.112,2671,817,3881
$GC,3718,-1.29,-194.7,343.6,-8.3,645,3725,0.00,2.70,0.00,0.000,6,0.000,0.093,2671,2222,3881
$GC,4055,-1.29,-194.7,372.1,-8.7,683,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3881
$GC,4374,-1.29,-194.7,401.7,-9.8,713,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3881
$GC,4691,-1.29,-194.7,433.5,-10.2,743,4692,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3881
$GC,5010,-1.29,-194.7,465.4,-9.8,773,5015,0.00,2.78,0.00,0.000,4,0.000,0.113,2671,821,3880
$GC,5041,-1.29,-194.7,468.4,-10.5,775,5045,0.00,2.67,0.00,0.000,6,0.000,0.095,2671,2211,3880
$GC,5369,-1.29,-194.7,498.7,-9.3,805,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3880
$GC,5695,-1.29,-194.7,529.8,-9.7,836,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3880
$GC,6013,-1.29,-194.7,562.2,-10.5,866,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3880
$GC,6332,-1.29,-194.7,594.8,-9.6,896,6333,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3879
$GC,6643,-1.29,-194.7,622.2,-8.5,914,6648,0.00,2.85,0.00,0.000,4,0.000,0.117,2671,3642,3879
$GC,6676,-1.29,-194.7,625.2,-8.7,915,6684,0.00,2.72,0.00,0.000,6,0.000,0.094,2671,2219,3880
$GC,6993,-1.29,-194.7,651.8,-8.3,931,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3879
$GC,7301,-1.29,-194.7,680.6,-9.8,946,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3880
$GC,7611,-1.29,-194.7,711.2,-10.1,961,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3879
$GC,7920,-1.29,-194.7,742.7,-10.5,976,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3879
$GC,8230,-1.29,-194.7,772.7,-8.7,991,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3879
$GC,8539,-1.29,-194.7,797.0,-8.2,1006,8544,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,817,3878
$GC,8579,-1.29,-194.7,800.4,-8.4,1008,8584,0.00,2.72,0.00,0.000,6,0.000,0.102,2671,2216,3878
$GC,8907,-1.29,-194.7,828.7,-8.2,1024,8908,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2215,3878
$GC,9217,-1.29,-194.7,853.6,-8.0,1039,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3878
$GC,9527,-1.29,-194.7,881.1,-9.0,1054,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3877
$GC,9834,-1.29,-194.7,909.1,-9.1,1069,9839,0.00,2.83,0.00,0.000,4,0.000,0.126,2671,825,3877
$GC,9875,-1.29,-194.7,912.4,-8.0,1071,9879,0.00,2.72,0.00,0.000,6,0.000,0.106,2671,2214,3876
$GC,10202,-1.35,-194.7,935.5,-5.6,1087,10207,0.00,2.95,0.00,0.000,4,0.000,0.131,2672,3651,3876
$STATE,10339,end dive,NO_VERTICAL_VELOCITY
$STATE,10339,begin apogee
$GC,10349,-0.35,0.0,935.5,0.0,1093,10521,0.95,0.00,167.32,1.375,6,0.075,0.000,2878,2331,3085
$STATE,10522,end apogee,CONTROL_FINISHED_OK
$STATE,10522,begin climb
$GC,10524,1.29,194.7,935.3,0.0,1102,10699,1.67,3.03,163.98,1.339,4,0.064,0.124,3238,3737,2291
$GC,10722,1.18,194.7,920.6,12.1,1111,10726,0.00,2.85,0.00,0.000,6,0.000,0.103,3238,2325,2290
$GC,11039,1.10,194.7,883.5,11.5,1126,11041,0.20,0.00,0.00,0.000,6,0.109,0.000,3202,2324,2289
$GC,11348,1.10,194.7,851.6,10.4,1141,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2324,2288
$GC,11658,1.11,199.1,819.7,9.8,1156,11665,0.00,0.00,5.20,0.957,6,0.000,0.000,3202,2324,2273
$GC,11966,1.12,207.5,789.4,9.7,1171,11980,0.00,2.97,8.93,1.147,4,0.000,0.120,3202,3737,2239
$GC,12011,1.06,207.5,784.8,10.4,1173,12016,0.00,2.80,0.00,0.000,6,0.000,0.100,3202,2334,2239
$GC,12338,1.06,207.5,749.3,11.2,1189,12343,0.00,2.88,0.00,0.000,4,0.000,0.124,3202,918,2239
$GC,12382,1.06,207.5,743.8,12.2,1191,12386,0.00,2.78,0.00,0.000,6,0.000,0.101,3201,2335,2238
$GC,12705,1.06,207.5,709.1,10.7,1207,12710,0.00,2.88,0.00,0.000,4,0.000,0.123,3202,3737,2238
$GC,12746,1.01,207.5,704.3,11.1,1209,12751,0.12,2.78,0.00,0.000,6,0.114,0.099,3179,2330,2238
$GC,13074,1.05,242.7,673.2,8.8,1225,13113,0.00,0.00,31.65,1.191,6,0.000,0.000,3180,2330,2095
$GC,13422,1.07,261.3,641.3,9.4,1242,13446,0.00,2.90,17.30,1.144,4,0.000,0.115,3179,925,2019
$GC,13469,1.14,279.8,636.5,9.4,1244,13493,0.12,2.75,17.52,1.112,6,0.064,0.094,3211,2344,1944
$GC,13807,1.14,279.8,597.9,11.3,1261,13814,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2343,1940
$GC,14133,1.14,279.8,561.8,11.3,1292,14137,0.00,2.83,0.00,0.000,4,0.000,0.109,3212,910,1939
$GC,14162,1.14,279.8,558.6,11.1,1294,14167,0.00,2.75,0.00,0.000,6,0.000,0.095,3212,2331,1939
$GC,14487,1.14,279.8,523.1,10.7,1324,14492,0.00,2.83,0.00,0.000,4,0.000,0.114,3212,3737,1939
$GC,14530,1.14,279.8,518.0,11.2,1327,14538,0.00,2.72,0.00,0.000,6,0.000,0.091,3212,2322,1938
$GC,14860,1.14,279.8,483.3,10.6,1358,14864,0.00,2.78,0.00,0.000,4,0.000,0.111,3212,914,1939
$GC,14910,1.14,279.8,477.1,11.5,1362,14915,0.00,2.72,0.00,0.000,6,0.000,0.096,3212,2325,1939
$GC,15235,1.14,279.8,440.5,11.1,1392,15240,0.00,2.83,0.00,0.000,4,0.000,0.112,3212,3737,1938
$GC,15264,1.14,279.8,437.0,12.5,1394,15269,0.00,2.75,0.00,0.000,6,0.000,0.090,3212,2318,1937
$GC,15589,1.14,279.8,402.4,10.7,1424,15593,0.00,2.75,0.00,0.000,4,0.000,0.110,3212,918,1938
$GC,15631,1.14,279.8,398.0,11.6,1427,15636,0.00,2.72,0.00,0.000,6,0.000,0.095,3212,2331,1938
$GC,15958,1.14,279.8,362.0,11.1,1457,15962,0.00,2.83,0.00,0.000,4,0.000,0.111,3212,3738,1938
$GC,15987,1.14,279.8,358.5,12.0,1459,15991,0.00,2.75,0.00,0.000,6,0.000,0.089,3212,2318,1938
$GC,16326,1.14,279.8,321.5,10.2,1512,16334,0.00,2.75,0.00,0.000,4,0.000,0.108,3212,912,1938
$GC,16371,1.14,279.8,316.7,11.1,1519,16378,0.00,2.70,0.00,0.000,6,0.000,0.092,3212,2325,1938
$GC,16716,1.15,282.7,279.3,9.9,1580,16724,0.00,2.80,0.00,0.000,4,0.000,0.109,3212,3738,1937
$GC,16748,1.15,282.7,275.9,11.9,1585,16755,0.00,2.72,0.00,0.000,6,0.000,0.088,3212,2322,1937
$GC,17094,1.15,282.7,239.1,10.6,1646,17101,0.00,2.75,0.00,0.000,4,0.000,0.107,3212,912,1938
$GC,17136,1.15,282.7,234.3,10.6,1653,17143,0.00,2.70,0.00,0.000,6,0.000,0.088,3212,2333,1938
$GC,17481,1.15,282.7,196.7,12.0,1714,17488,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2332,1938
$GC,17826,1.15,282.7,157.8,10.7,1775,17832,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2333,1938
$GC,18171,1.19,320.6,123.9,8.7,1836,18211,0.00,2.85,34.72,0.832,4,0.000,0.099,3212,919,1777
$GC,18230,1.22,341.6,118.4,9.3,1845,18257,0.00,2.70,19.25,0.787,6,0.000,0.087,3212,2328,1692
$GC,18597,1.22,341.6,83.4,11.0,1909,18604,0.00,2.75,0.00,0.000,4,0.000,0.101,3212,917,1687
$GC,18628,1.27,341.6,79.5,13.1,1914,18636,0.10,2.65,0.00,0.000,6,0.069,0.084,3240,2319,1687
$GC,18974,1.27,341.6,33.3,11.8,1975,18980,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2319,1686
$GC,19115,1.27,341.6,15.5,13.3,2000,19122,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2319,1685
$STATE,19226,end climb,SURFACE_DEPTH_REACHED
$STATE,19226,begin surface coast
$FINISH,0.3,1.024777
$STATE,19245,end surface coast,CONTROL_FINISHED_OK
$STATE,19245,begin surface
$SM_CCo,19327,0.00,0.000,0,0,1682,344.16
$SM_GC,1.20,11.65,0.00,0.00,0.043,0.000,0.000,589,2224,1682,-10.85,-0.31,344.16
$IRIDIUM_FIX,6121.73,-2629.83,150997,131346
$TT8_MAMPS,0.02301
$HUMID,1723
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.80
$XPDR_PINGS,706
$24V_AH,23.1,72.346
$10V_AH,10.6,59.852
$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,27.175,138.925,465.875,0.000,0.000,23.176,45.027,270.546,176.500,0.000,0.000,14.102,4080.742,10712.506,677.692,3594.994,740.896,0.000,2242.794,0.000,3580.387,0.000,0.468
$DEVICE_MAMPS,184.847,131.157,1375.231,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1401.865,1537.504,1826.859,582.624,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119977,2023
$CAP_FILE_SIZE,174974,0
$CFSIZE,260165632,223555584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.072, 57.7,1
$GPS,220608,002507,6154.109,-2632.207,38,1.1,38,-19.0