version: 66.03
glider: 140
mission: 5
dive: 339
start: 6 22 108 0 33 40
data:
$ID,140
$MISSION,5
$DIVE,339
$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,-19465.574
$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
$GPS1,002507,6154.109,-2632.207,38,1.1,38,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-65.7
$GPS2,003321,6154.097,-2632.108,14,1.4,14,-19.0
$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,358.8,19963,-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,-194.7,0.0,0.0,0,92,0.00,0.00,-68.00,0.000,2,0.000,0.000,589,2223,3279
$GC,95,-1.29,-194.7,3.0,-5.9,9,133,12.30,2.72,-14.55,0.000,4,0.181,0.110,2673,826,3880
$GC,265,-1.29,-194.7,21.8,-10.1,37,272,0.00,2.65,0.00,0.000,6,0.000,0.080,2672,2239,3882
$GC,407,-1.29,-194.7,35.9,-10.0,62,414,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3882
$GC,550,-1.29,-194.7,52.0,-11.0,87,557,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3882
$GC,893,-1.29,-194.7,83.3,-8.3,148,900,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3882
$GC,1241,-1.29,-194.7,114.5,-9.8,209,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3883
$GC,1587,-1.29,-194.7,146.0,-9.2,270,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2239,3883
$GC,1933,-1.29,-194.7,177.3,-9.0,331,1940,0.00,2.78,0.00,0.000,4,0.000,0.104,2672,821,3883
$GC,1959,-1.29,-194.7,179.7,-9.5,335,1966,0.00,2.65,0.00,0.000,6,0.000,0.087,2671,2218,3883
$GC,2304,-1.29,-194.7,211.7,-9.2,396,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2218,3882
$GC,2649,-1.29,-194.7,242.9,-9.2,457,2656,0.00,2.72,0.00,0.000,4,0.000,0.104,2672,828,3883
$GC,2680,-1.29,-194.7,245.8,-9.6,462,2687,0.00,2.65,0.00,0.000,6,0.000,0.090,2672,2217,3883
$GC,3026,-1.29,-194.7,277.0,-9.2,523,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2217,3883
$GC,3370,-1.29,-194.7,309.0,-9.2,584,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2217,3883
$GC,3715,-1.29,-194.7,340.9,-9.4,645,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2217,3882
$GC,4052,-1.29,-194.7,371.5,-9.0,685,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2217,3883
$GC,4372,-1.29,-194.7,400.4,-9.0,715,4373,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2217,3882
$GC,4689,-1.29,-194.7,428.3,-8.4,745,4694,0.00,2.75,0.00,0.000,4,0.000,0.109,2672,827,3882
$GC,4719,-1.29,-194.7,430.8,-8.8,747,4724,0.00,2.67,0.00,0.000,6,0.000,0.095,2672,2216,3882
$GC,5047,-1.29,-194.7,458.0,-8.8,777,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3881
$GC,5372,-1.29,-194.7,487.4,-9.3,808,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3881
$GC,5692,-1.29,-194.7,517.5,-9.5,838,5693,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2216,3881
$GC,6009,-1.29,-194.7,548.0,-9.6,868,6014,0.00,2.78,0.00,0.000,4,0.000,0.114,2672,822,3881
$GC,6042,-1.29,-194.7,551.3,-10.1,870,6049,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2223,3881
$GC,6371,-1.29,-194.7,580.7,-8.6,901,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3881
$GC,6694,-1.29,-194.7,609.6,-8.7,927,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3881
$GC,7002,-1.29,-194.7,639.5,-9.7,942,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3881
$GC,7312,-1.29,-194.7,668.3,-9.1,957,7317,0.00,2.80,0.00,0.000,4,0.000,0.117,2672,826,3881
$GC,7341,-1.29,-194.7,671.0,-9.7,958,7345,0.00,2.70,0.00,0.000,6,0.000,0.102,2672,2211,3880
$GC,7657,-1.29,-194.7,699.6,-8.9,973,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3881
$GC,7966,-1.29,-194.7,725.1,-8.7,988,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3880
$GC,8276,-1.29,-194.7,750.9,-8.4,1003,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3880
$GC,8584,-1.29,-194.7,778.2,-8.8,1018,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3880
$GC,8894,-1.29,-194.7,803.1,-7.6,1033,8895,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3880
$GC,9204,-1.29,-194.7,827.7,-8.6,1048,9208,0.00,2.83,0.00,0.000,4,0.000,0.124,2672,822,3879
$GC,9231,-1.29,-194.7,830.4,-9.8,1049,9235,0.00,2.72,0.00,0.000,6,0.000,0.106,2672,2215,3879
$GC,9547,-1.29,-194.7,858.6,-8.6,1064,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3879
$GC,9857,-1.29,-194.7,885.5,-8.4,1079,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3879
$GC,10167,-1.29,-194.7,912.9,-9.1,1094,10168,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$GC,10474,-1.29,-194.7,941.8,-9.7,1109,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$GC,10784,-1.29,-194.7,969.7,-8.2,1124,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3878
$STATE,11049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11049,begin apogee
$GC,11055,-0.35,0.0,990.9,8.1,1137,11232,1.02,0.00,168.75,1.420,6,0.096,0.000,2880,2329,3085
$STATE,11233,end apogee,CONTROL_FINISHED_OK
$STATE,11233,begin climb
$GC,11235,1.29,194.7,997.8,0.0,1146,11408,1.62,0.00,165.38,1.384,6,0.060,0.000,3240,2329,2291
$GC,11717,1.21,194.7,949.8,12.7,1169,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2330,2289
$GC,12026,1.12,194.7,915.0,10.9,1184,12028,0.17,0.00,0.00,0.000,6,0.110,0.000,3208,2330,2288
$GC,12336,1.12,227.8,886.9,8.9,1199,12368,0.00,0.00,29.85,1.296,6,0.000,0.000,3208,2330,2156
$GC,12667,1.15,245.6,856.0,9.4,1215,12688,0.00,0.00,17.00,1.249,6,0.000,0.000,3208,2330,2083
$GC,12997,1.15,245.6,822.9,10.4,1231,12998,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2330,2080
$GC,13305,1.15,245.6,788.7,11.2,1246,13306,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2330,2080
$GC,13615,1.15,245.6,754.1,11.4,1261,13620,0.00,2.92,0.00,0.000,4,0.000,0.130,3208,3737,2080
$GC,13643,1.10,245.6,750.6,11.7,1262,13648,0.00,2.78,0.00,0.000,6,0.000,0.097,3208,2331,2079
$GC,13959,1.10,245.6,715.9,11.1,1277,13964,0.00,2.85,0.00,0.000,4,0.000,0.120,3208,918,2080
$GC,14003,1.10,245.6,710.5,12.7,1279,14008,0.00,2.75,0.00,0.000,6,0.000,0.099,3208,2337,2079
$GC,14326,1.10,245.6,676.0,10.6,1295,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2337,2079
$GC,14634,1.10,245.6,644.2,10.6,1310,14635,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2337,2079
$GC,14944,1.10,245.6,611.9,10.6,1325,14948,0.00,2.83,0.00,0.000,4,0.000,0.112,3208,915,2079
$GC,14977,1.10,245.6,608.1,10.7,1326,14984,0.00,2.70,0.00,0.000,6,0.000,0.095,3208,2327,2079
$GC,15302,1.13,267.5,578.3,9.2,1353,15323,0.00,0.00,19.70,1.130,6,0.000,0.000,3208,2327,1994
$GC,15638,1.13,267.5,542.3,10.9,1385,15639,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2327,1992
$GC,15957,1.13,267.5,505.4,11.6,1415,15958,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2327,1991
$GC,16276,1.13,267.5,470.2,10.9,1445,16280,0.00,2.78,0.00,0.000,4,0.000,0.108,3208,917,1991
$GC,16308,1.13,267.5,466.2,11.4,1447,16316,0.00,2.70,0.00,0.000,6,0.000,0.094,3208,2323,1991
$GC,16636,1.13,267.5,430.9,10.4,1478,16637,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2324,1991
$GC,16954,1.15,283.8,398.9,9.4,1508,16972,0.00,0.00,15.15,1.005,6,0.000,0.000,3208,2323,1928
$GC,17293,1.16,292.2,366.0,9.7,1540,17307,0.00,2.85,9.18,0.937,4,0.000,0.103,3208,917,1893
$GC,17331,1.16,292.2,362.0,10.4,1543,17336,0.00,2.70,0.00,0.000,6,0.000,0.092,3208,2314,1892
$GC,17668,1.19,322.9,329.9,8.9,1592,17701,0.00,0.00,27.75,0.953,6,0.000,0.000,3208,2314,1767
$GC,18040,1.22,341.5,292.8,9.4,1657,18060,0.00,0.00,17.20,0.920,6,0.000,0.000,3208,2314,1691
$GC,18399,1.22,341.5,254.3,12.1,1720,18406,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2314,1688
$GC,18744,1.22,341.5,215.2,11.0,1781,18751,0.00,2.72,0.00,0.000,4,0.000,0.101,3208,917,1688
$GC,18782,1.27,341.5,210.8,11.7,1787,18789,0.12,2.67,0.00,0.000,6,0.064,0.091,3241,2314,1688
$GC,19128,1.27,341.5,167.1,11.4,1848,19135,0.00,2.83,0.00,0.000,4,0.000,0.106,3241,3738,1687
$GC,19158,1.27,341.5,163.1,13.0,1853,19166,0.00,2.75,0.00,0.000,6,0.000,0.084,3241,2304,1687
$GC,19504,1.27,341.5,121.9,11.4,1914,19511,0.00,2.67,0.00,0.000,4,0.000,0.103,3241,918,1687
$GC,19535,1.27,341.5,117.9,12.7,1919,19542,0.00,2.65,0.00,0.000,6,0.000,0.090,3241,2308,1687
$GC,19881,1.27,341.5,77.9,12.5,1980,19888,0.00,2.80,0.00,0.000,4,0.000,0.105,3241,3737,1686
$GC,19912,1.27,341.5,74.0,12.5,1985,19919,0.00,2.72,0.00,0.000,6,0.000,0.084,3241,2309,1686
$GC,20260,1.27,341.5,33.7,11.8,2046,20267,0.00,2.67,0.00,0.000,4,0.000,0.100,3241,913,1687
$GC,20313,1.27,341.5,27.2,11.2,2055,20321,0.00,2.62,0.00,0.000,6,0.000,0.085,3241,2315,1687
$GC,20458,1.27,341.5,11.6,11.4,2080,20464,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2315,1686
$STATE,20549,end climb,SURFACE_DEPTH_REACHED
$STATE,20549,begin surface coast
$FINISH,0.3,1.016473
$STATE,20567,end surface coast,CONTROL_FINISHED_OK
$STATE,20567,begin surface
$SM_CCo,20649,0.00,0.000,0,0,1683,343.91
$SM_GC,1.15,11.65,0.00,0.00,0.044,0.000,0.000,587,2232,1683,-10.85,-0.08,343.91
$IRIDIUM_FIX,6126.23,-2625.76,150997,191923
$TT8_MAMPS,0.02301
$HUMID,1726
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.30
$XPDR_PINGS,711
$24V_AH,23.0,72.560
$10V_AH,10.6,60.030
$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,26.900,93.525,469.950,0.000,0.000,33.009,34.157,268.993,177.750,0.000,0.000,14.098,4203.986,11891.069,664.542,3597.475,766.053,0.000,2220.887,0.000,3611.075,0.000,0.467
$DEVICE_MAMPS,181.012,138.827,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1454.848,1614.508,1854.431,594.516,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123201,2099
$CAP_FILE_SIZE,172211,0
$CFSIZE,260165632,223453184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 75.4,1
$GPS,220608,061907,6157.220,-2632.246,36,1.2,41,-19.0