version: 66.03
glider: 140
mission: 5
dive: 342
start: 6 22 108 15 31 58
data:
$ID,140
$MISSION,5
$DIVE,342
$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,-19511.537
$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,12
$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
$GPS1,152332,6201.497,-2634.324,41,1.2,41,-19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.4
$GPS2,153139,6201.494,-2634.251,12,1.5,12,-19.1
$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,334.0,7126,-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,-194.7,0.0,0.0,0,90,0.00,0.00,-66.57,0.000,2,0.000,0.000,586,2237,3504
$GC,94,-1.29,-194.7,3.6,-6.9,9,124,12.38,2.78,-7.72,0.000,4,0.184,0.105,2673,825,3882
$GC,204,-1.29,-194.7,20.2,-10.7,27,212,0.00,2.65,0.00,0.000,6,0.000,0.081,2673,2239,3883
$GC,348,-1.29,-194.7,34.6,-10.1,52,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3883
$GC,492,-1.29,-194.7,48.7,-9.1,77,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3883
$GC,635,-1.29,-194.7,61.7,-8.9,102,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3883
$GC,979,-1.29,-194.7,94.3,-9.6,163,985,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2238,3884
$GC,1323,-1.29,-194.7,126.3,-9.1,224,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3884
$GC,1669,-1.29,-194.7,159.0,-9.4,285,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3884
$GC,2014,-1.29,-194.7,192.0,-9.7,346,2021,0.00,2.78,0.00,0.000,4,0.000,0.105,2673,823,3884
$GC,2045,-1.29,-194.7,195.0,-9.7,351,2052,0.00,2.70,0.00,0.000,6,0.000,0.089,2673,2237,3884
$GC,2392,-1.29,-194.7,228.0,-9.6,412,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2237,3884
$GC,2737,-1.29,-194.7,260.3,-9.3,473,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2237,3884
$GC,3083,-1.29,-194.7,292.5,-9.7,534,3090,0.00,2.80,0.00,0.000,4,0.000,0.109,2673,817,3884
$GC,3114,-1.29,-194.7,295.5,-9.9,539,3122,0.00,2.72,0.00,0.000,6,0.000,0.091,2673,2242,3884
$GC,3461,-1.29,-194.7,326.7,-9.2,600,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2241,3884
$GC,3808,-1.29,-194.7,356.5,-8.5,655,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2242,3883
$GC,4127,-1.29,-194.7,383.3,-8.2,685,4131,0.00,2.80,0.00,0.000,4,0.000,0.111,2673,822,3883
$GC,4158,-1.29,-194.7,385.7,-8.6,687,4163,0.00,2.72,0.00,0.000,6,0.000,0.093,2673,2240,3883
$GC,4487,-1.29,-194.7,413.4,-8.8,717,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2240,3883
$GC,4813,-1.29,-194.7,445.9,-10.3,748,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2240,3883
$GC,5131,-1.29,-194.7,477.7,-9.7,778,5135,0.00,2.80,0.00,0.000,4,0.000,0.112,2673,825,3882
$GC,5159,-1.29,-194.7,480.7,-10.4,780,5164,0.00,2.72,0.00,0.000,6,0.000,0.097,2673,2237,3882
$GC,5487,-1.29,-194.7,512.7,-9.7,810,5494,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2237,3882
$GC,5813,-1.29,-194.7,543.9,-9.5,841,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2237,3882
$GC,6132,-1.29,-194.7,573.2,-9.0,871,6136,0.00,2.83,0.00,0.000,4,0.000,0.117,2673,827,3882
$GC,6165,-1.29,-194.7,576.4,-9.3,873,6172,0.00,2.75,0.00,0.000,6,0.000,0.100,2673,2240,3881
$GC,6491,-1.29,-194.7,603.4,-8.0,902,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2240,3881
$GC,6798,-1.29,-194.7,630.0,-9.1,917,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2240,3881
$GC,7107,-1.29,-194.7,660.5,-10.0,932,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2240,3881
$GC,7417,-1.29,-194.7,690.6,-9.9,947,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2240,3881
$GC,7726,-1.29,-194.7,719.3,-9.0,962,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2240,3880
$GC,8035,-1.29,-194.7,747.3,-9.0,977,8040,0.00,2.88,0.00,0.000,4,0.000,0.125,2673,825,3880
$GC,8076,-1.29,-194.7,750.8,-8.8,979,8081,0.00,2.75,0.00,0.000,6,0.000,0.105,2673,2230,3880
$GC,8404,-1.29,-194.7,778.7,-8.4,995,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2231,3879
$GC,8715,-1.29,-194.7,805.3,-8.8,1010,8720,0.00,2.88,0.00,0.000,4,0.000,0.128,2673,3643,3879
$GC,8736,-1.29,-194.7,807.6,-9.1,1011,8741,0.00,2.75,0.00,0.000,6,0.000,0.102,2673,2228,3879
$GC,9058,-1.29,-194.7,835.8,-8.5,1027,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2228,3879
$GC,9367,-1.29,-194.7,860.6,-7.8,1042,9369,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2228,3879
$GC,9677,-1.29,-194.7,886.9,-9.1,1057,9681,0.00,2.90,0.00,0.000,4,0.000,0.133,2673,819,3879
$GC,9709,-1.29,-194.7,889.9,-9.3,1058,9717,0.00,2.78,0.00,0.000,6,0.000,0.107,2673,2234,3879
$GC,10027,-1.29,-194.7,916.3,-8.2,1074,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2234,3878
$GC,10334,-1.29,-194.7,942.8,-8.9,1089,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2234,3878
$GC,10645,-1.41,-194.7,965.6,-3.4,1104,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2234,3878
$STATE,10806,end dive,NO_VERTICAL_VELOCITY
$STATE,10806,begin apogee
$GC,10813,-0.35,0.0,965.7,0.0,1112,10989,0.98,0.00,168.85,1.401,6,0.071,0.000,2884,2332,3085
$STATE,10990,end apogee,CONTROL_FINISHED_OK
$STATE,10990,begin climb
$GC,10993,1.29,194.7,965.6,0.0,1121,11166,1.65,3.00,165.35,1.364,4,0.064,0.126,3239,920,2291
$GC,11200,1.22,194.7,951.7,11.8,1131,11205,0.00,2.83,0.00,0.000,6,0.000,0.107,3239,2333,2290
$GC,11521,1.14,194.7,914.6,11.1,1147,11527,0.17,2.97,0.00,0.000,4,0.109,0.135,3206,3737,2289
$GC,11555,1.07,194.7,910.8,10.6,1148,11562,0.00,2.83,0.00,0.000,6,0.000,0.104,3206,2330,2288
$GC,11871,1.07,194.7,879.0,10.1,1164,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2330,2288
$GC,12180,1.07,200.8,848.9,9.8,1179,12194,0.00,3.03,6.70,1.087,4,0.000,0.131,3206,913,2266
$GC,12217,1.10,224.4,845.0,9.2,1180,12247,0.00,2.80,21.95,1.251,6,0.000,0.104,3205,2333,2170
$GC,12556,1.10,224.4,808.8,10.9,1197,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2333,2168
$GC,12864,1.10,224.4,776.7,10.4,1212,12865,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2333,2168
$GC,13175,1.10,224.4,744.7,10.3,1227,13176,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2333,2168
$GC,13483,1.10,224.4,713.4,10.2,1242,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2333,2167
$GC,13793,1.11,227.9,682.1,9.9,1257,13799,0.00,0.00,4.40,0.854,6,0.000,0.000,3205,2333,2156
$GC,14102,1.12,234.8,651.8,9.8,1272,14116,0.00,2.92,7.95,1.086,4,0.000,0.114,3205,918,2126
$GC,14148,1.12,234.8,647.2,10.1,1274,14152,0.00,2.78,0.00,0.000,6,0.000,0.100,3205,2328,2126
$GC,14475,1.14,252.4,615.3,9.4,1290,14497,0.00,0.00,16.75,1.145,6,0.000,0.000,3205,2328,2054
$GC,14813,1.14,253.1,583.0,10.0,1314,14818,0.00,2.83,0.00,0.000,4,0.000,0.113,3205,912,2053
$GC,14842,1.14,256.8,579.8,9.9,1316,14855,0.00,2.75,4.93,0.877,6,0.000,0.097,3205,2329,2038
$GC,15172,1.14,256.8,546.3,10.3,1347,15173,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,2329,2037
$GC,15492,1.14,256.8,511.2,11.1,1377,15497,0.00,2.80,0.00,0.000,4,0.000,0.112,3206,918,2037
$GC,15522,1.14,256.8,507.7,11.3,1379,15526,0.00,2.70,0.00,0.000,6,0.000,0.097,3206,2315,2037
$GC,15847,1.15,261.9,474.2,9.8,1409,15857,0.00,0.00,6.12,0.915,6,0.000,0.000,3206,2315,2017
$GC,16178,1.15,263.0,441.8,10.0,1440,16185,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2315,2016
$GC,16505,1.16,268.1,408.9,9.8,1471,16518,0.00,2.88,6.95,0.924,4,0.000,0.114,3205,909,1992
$GC,16555,1.16,268.1,403.8,11.1,1475,16560,0.00,2.70,0.00,0.000,6,0.000,0.092,3205,2312,1991
$GC,16882,1.16,269.9,371.4,9.9,1505,16883,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2313,1991
$GC,17205,1.19,293.7,338.4,9.2,1544,17232,0.00,0.00,23.95,0.965,6,0.000,0.000,3205,2312,1886
$GC,17571,1.20,302.7,299.5,9.7,1608,17586,0.00,2.85,8.88,0.896,4,0.000,0.107,3205,917,1850
$GC,17616,1.24,302.7,294.3,10.8,1615,17624,0.10,2.67,0.00,0.000,6,0.069,0.091,3232,2308,1849
$GC,17962,1.24,302.7,253.3,13.2,1676,17969,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2308,1848
$GC,18308,1.24,302.7,213.5,10.7,1737,18315,0.00,2.72,0.00,0.000,4,0.000,0.104,3232,913,1848
$GC,18333,1.24,302.7,210.5,11.1,1741,18340,0.00,2.65,0.00,0.000,6,0.000,0.090,3232,2303,1849
$GC,18678,1.24,302.7,171.6,10.3,1802,18685,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2303,1848
$GC,19025,1.24,305.5,136.7,9.9,1863,19039,0.00,2.75,3.92,0.599,4,0.000,0.102,3232,919,1839
$GC,19057,1.25,309.2,133.5,9.9,1868,19072,0.00,2.62,5.10,0.693,6,0.000,0.088,3232,2301,1823
$GC,19411,1.25,309.2,98.4,10.8,1930,19417,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2301,1822
$GC,19756,1.25,309.2,56.0,12.4,1991,19763,0.00,2.83,0.00,0.000,4,0.000,0.104,3232,3735,1822
$GC,19782,1.25,309.2,52.7,12.4,1995,19789,0.00,2.75,0.00,0.000,6,0.000,0.084,3232,2296,1822
$GC,20126,1.25,309.2,13.5,11.1,2056,20134,0.00,2.62,0.00,0.000,4,0.000,0.098,3232,918,1822
$GC,20197,1.25,309.2,5.3,12.0,2068,20205,0.00,2.58,0.00,0.000,6,0.000,0.081,3232,2290,1822
$STATE,20226,end climb,SURFACE_DEPTH_REACHED
$STATE,20226,begin surface coast
$FINISH,0.2,1.027389
$STATE,20244,end surface coast,CONTROL_FINISHED_OK
$STATE,20244,begin surface
$SM_CCo,20327,0.00,0.000,0,0,1818,310.55
$SM_GC,1.02,11.60,0.00,0.00,0.043,0.000,0.000,586,2231,1818,-10.86,-0.11,310.55
$IRIDIUM_FIX,6135.28,-2635.95,160997,101007
$TT8_MAMPS,0.02301
$HUMID,1728
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.90
$XPDR_PINGS,719
$24V_AH,23.0,73.137
$10V_AH,10.6,60.537
$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,26.875,117.175,451.800,0.000,0.000,30.223,33.959,264.352,179.750,0.000,0.000,12.742,4211.583,11549.935,669.094,3623.209,740.609,0.000,2238.284,0.000,3612.999,0.000,0.467
$DEVICE_MAMPS,184.080,143.429,1400.542,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1439.329,1575.421,1845.826,588.713,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123045,2076
$CAP_FILE_SIZE,178228,0
$CFSIZE,260165632,223178752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,  7.7,1
$GPS,220608,211201,6203.903,-2638.683,40,1.1,40,-19.1