version: 66.03
glider: 140
mission: 5
dive: 341
start: 6 22 108 10 36 59
data:
$ID,140
$MISSION,5
$DIVE,341
$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,-19498.166
$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
$GPS1,102855,6159.553,-2633.710,37,1.5,37,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-64.4
$GPS2,103639,6159.570,-2633.617,14,1.6,14,-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,345.9,10256,-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,22,-1.29,-194.7,0.0,0.0,0,100,0.00,0.00,-76.57,0.000,2,0.000,0.000,591,2225,3464
$GC,104,-1.29,-194.7,3.5,-7.0,10,134,12.32,2.70,-8.82,0.000,4,0.184,0.105,2671,826,3880
$GC,223,-1.29,-194.7,19.0,-9.4,29,230,0.00,2.62,0.00,0.000,6,0.000,0.079,2672,2238,3881
$GC,365,-1.29,-194.7,32.6,-9.4,54,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3881
$GC,507,-1.29,-194.7,45.7,-9.6,79,515,0.00,2.67,0.00,0.000,4,0.000,0.093,2671,3647,3881
$GC,539,-1.29,-194.7,49.1,-10.7,84,547,0.00,2.62,0.00,0.000,6,0.000,0.077,2671,2231,3882
$GC,683,-1.29,-194.7,63.2,-9.7,109,690,0.00,2.67,0.00,0.000,4,0.000,0.093,2671,825,3882
$GC,726,-1.29,-194.7,67.4,-9.7,116,733,0.00,2.65,0.00,0.000,6,0.000,0.080,2671,2240,3882
$GC,1072,-1.29,-194.7,98.3,-9.2,177,1079,0.00,2.70,0.00,0.000,4,0.000,0.097,2671,3644,3883
$GC,1109,-1.29,-194.7,101.8,-9.6,183,1117,0.00,2.65,0.00,0.000,6,0.000,0.080,2671,2229,3883
$GC,1456,-1.29,-194.7,131.3,-8.2,244,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2229,3883
$GC,1801,-1.29,-194.7,161.3,-9.4,305,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,2146,-1.29,-194.7,193.1,-9.3,366,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,2492,-1.29,-194.7,224.3,-9.5,427,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3883
$GC,2836,-1.29,-194.7,257.1,-9.5,488,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,3181,-1.29,-194.7,288.5,-8.6,549,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2229,3883
$GC,3525,-1.29,-194.7,319.5,-9.0,610,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2229,3882
$GC,3871,-1.29,-194.7,349.3,-8.5,671,3878,0.00,2.78,0.00,0.000,4,0.000,0.111,2671,827,3882
$GC,3900,-1.29,-194.7,352.0,-8.9,674,3908,0.00,2.72,0.00,0.000,6,0.000,0.094,2672,2236,3882
$GC,4230,-1.29,-194.7,378.6,-8.3,705,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3882
$GC,4557,-1.29,-194.7,405.9,-8.3,736,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,4883,-1.29,-194.7,436.4,-10.1,767,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,5201,-1.29,-194.7,469.2,-10.3,797,5206,0.00,2.80,0.00,0.000,4,0.000,0.112,2671,827,3881
$GC,5231,-1.29,-194.7,472.3,-10.9,799,5235,0.00,2.72,0.00,0.000,6,0.000,0.096,2672,2237,3881
$GC,5558,-1.29,-194.7,505.8,-9.8,829,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,5884,-1.29,-194.7,540.7,-11.0,860,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,6202,-1.29,-194.7,576.6,-11.2,890,6207,0.00,2.83,0.00,0.000,4,0.000,0.117,2671,827,3880
$GC,6230,-1.29,-194.7,579.8,-11.6,892,6235,0.00,2.72,0.00,0.000,6,0.000,0.100,2671,2229,3880
$GC,6554,-1.29,-194.7,613.4,-9.9,916,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3879
$GC,6862,-1.29,-194.7,641.4,-8.6,931,6866,0.00,2.80,0.00,0.000,4,0.000,0.115,2671,825,3880
$GC,6895,-1.29,-194.7,644.3,-8.4,932,6902,0.00,2.75,0.00,0.000,6,0.000,0.104,2672,2235,3880
$GC,7211,-1.29,-194.7,668.6,-7.6,948,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2235,3880
$GC,7521,-1.29,-194.7,692.2,-7.5,963,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3880
$GC,7830,-1.29,-194.7,718.6,-9.4,978,7835,0.00,2.85,0.00,0.000,4,0.000,0.121,2671,820,3879
$GC,7885,-1.29,-194.7,724.4,-10.4,980,7893,0.00,2.72,0.00,0.000,6,0.000,0.104,2671,2220,3879
$GC,8201,-1.29,-194.7,754.7,-9.5,996,8206,0.00,2.85,0.00,0.000,4,0.000,0.119,2671,3648,3879
$GC,8229,-1.29,-194.7,757.7,-11.0,997,8234,0.00,2.75,0.00,0.000,6,0.000,0.099,2671,2224,3879
$GC,8545,-1.29,-194.7,787.2,-8.9,1012,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3879
$GC,8855,-1.40,-194.7,806.9,-0.6,1027,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3878
$STATE,8976,end dive,NO_VERTICAL_VELOCITY
$STATE,8976,begin apogee
$GC,8983,-0.35,0.0,806.9,0.0,1033,9151,1.00,0.00,164.50,1.294,6,0.079,0.000,2883,2335,3085
$STATE,9152,end apogee,CONTROL_FINISHED_OK
$STATE,9152,begin climb
$GC,9154,1.29,194.7,806.8,0.0,1041,9327,1.62,2.97,161.45,1.249,4,0.063,0.123,3245,3737,2290
$GC,9568,1.17,194.7,767.1,12.1,1060,9573,0.15,2.80,0.00,0.000,6,0.117,0.099,3218,2328,2289
$GC,9885,1.13,203.3,736.3,9.7,1075,9896,0.00,0.00,8.73,1.093,6,0.000,0.000,3219,2327,2256
$GC,10194,1.08,205.1,705.3,9.9,1090,10195,0.12,0.00,0.00,0.000,6,0.112,0.000,3195,2327,2256
$GC,10503,1.10,216.0,674.7,9.6,1105,10522,0.00,0.00,12.50,1.135,6,0.000,0.000,3196,2327,2203
$GC,10832,1.11,222.8,643.1,9.8,1121,10842,0.00,0.00,7.62,1.044,6,0.000,0.000,3195,2327,2176
$GC,11141,1.12,230.0,613.5,9.7,1136,11155,0.00,2.92,7.80,1.038,4,0.000,0.118,3196,919,2148
$GC,11186,1.12,230.0,608.7,10.8,1138,11190,0.00,2.78,0.00,0.000,6,0.000,0.097,3196,2336,2147
$GC,11510,1.12,230.0,574.9,10.6,1164,11515,0.00,2.85,0.00,0.000,4,0.000,0.117,3195,3738,2146
$GC,11539,1.12,230.0,571.5,11.3,1166,11544,0.00,2.75,0.00,0.000,6,0.000,0.091,3195,2326,2146
$GC,11864,1.12,231.9,538.1,9.9,1196,11869,0.00,2.78,0.00,0.000,4,0.000,0.110,3195,919,2146
$GC,11893,1.12,231.9,535.1,10.7,1198,11898,0.00,2.75,0.00,0.000,6,0.000,0.096,3195,2339,2146
$GC,12218,1.13,243.7,503.1,9.6,1228,12233,0.00,0.00,13.00,1.056,6,0.000,0.000,3195,2339,2091
$GC,12548,1.13,243.7,469.0,10.4,1259,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2339,2090
$GC,12867,1.13,243.7,436.6,10.0,1289,12872,0.00,2.78,0.00,0.000,4,0.000,0.107,3195,920,2090
$GC,12900,1.13,243.7,433.0,10.8,1291,12907,0.00,2.75,0.00,0.000,6,0.000,0.097,3195,2345,2090
$GC,13228,1.17,274.9,401.3,8.9,1322,13257,0.00,0.00,27.67,1.009,6,0.000,0.000,3195,2345,1964
$GC,13574,1.17,274.9,368.2,10.2,1355,13575,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2345,1960
$GC,13901,1.19,293.4,335.0,9.4,1398,13922,0.10,0.00,17.10,0.955,6,0.071,0.000,3222,2345,1888
$GC,14261,1.19,293.4,297.3,10.2,1461,14268,0.00,2.83,0.00,0.000,4,0.000,0.106,3222,914,1886
$GC,14292,1.19,293.4,293.9,11.2,1466,14300,0.00,2.75,0.00,0.000,6,0.000,0.092,3222,2337,1886
$GC,14639,1.19,293.4,257.5,10.0,1527,14645,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2337,1885
$GC,14984,1.19,293.4,220.9,11.1,1588,14991,0.00,2.78,0.00,0.000,4,0.000,0.104,3222,920,1885
$GC,15015,1.19,293.4,217.1,11.6,1593,15022,0.00,2.72,0.00,0.000,6,0.000,0.091,3222,2338,1885
$GC,15361,1.19,293.4,176.7,10.9,1654,15368,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2338,1885
$GC,15706,1.19,293.4,138.9,10.8,1715,15713,0.00,2.75,0.00,0.000,4,0.000,0.100,3222,919,1885
$GC,15743,1.19,293.4,134.6,11.6,1721,15750,0.00,2.67,0.00,0.000,6,0.000,0.089,3222,2326,1885
$GC,16088,1.19,293.4,97.5,10.9,1782,16095,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2326,1885
$GC,16432,1.19,293.4,61.9,11.3,1843,16439,0.00,2.72,0.00,0.000,4,0.000,0.100,3222,919,1885
$GC,16469,1.19,293.4,57.7,11.1,1849,16477,0.00,2.65,0.00,0.000,6,0.000,0.087,3222,2316,1885
$GC,16817,1.19,293.4,21.8,11.4,1910,16824,0.00,2.78,0.00,0.000,4,0.000,0.103,3222,3736,1884
$GC,16854,1.19,293.4,17.6,10.5,1916,16862,0.00,2.72,0.00,0.000,6,0.000,0.081,3222,2305,1884
$GC,16998,1.19,293.4,3.6,11.1,1941,17005,0.00,2.65,0.00,0.000,4,0.000,0.097,3222,910,1884
$STATE,17016,end climb,SURFACE_DEPTH_REACHED
$STATE,17016,begin surface coast
$FINISH,0.2,1.017073
$STATE,17033,end surface coast,CONTROL_FINISHED_OK
$STATE,17033,begin surface
$SM_CCo,17117,0.00,0.000,0,0,1882,295.10
$SM_GC,1.01,11.57,0.00,0.00,0.043,0.000,0.000,587,2237,1882,-10.86,0.06,295.10
$IRIDIUM_FIX,6130.75,-2631.86,160997,060621
$TT8_MAMPS,0.02301
$HUMID,1722
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,17.80
$XPDR_PINGS,652
$24V_AH,23.1,72.932
$10V_AH,10.6,60.360
$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,26.900,115.525,420.375,0.000,0.000,31.290,32.723,248.782,163.000,0.000,0.000,16.631,3932.017,8840.265,636.602,3461.644,693.713,0.000,2126.803,0.000,3450.082,0.000,0.467
$DEVICE_MAMPS,184.080,123.487,1293.929,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1348.836,1475.814,1821.922,604.635,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116684,1947
$CAP_FILE_SIZE,163011,0
$CFSIZE,260165632,223297536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114, 93.0,1
$GPS,220608,152332,6201.497,-2634.324,41,1.2,41,-19.1