version: 66.03
glider: 140
mission: 5
dive: 265
start: 6 4 108 20 52 52
data:
$ID,140
$MISSION,5
$DIVE,265
$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,-18140.861
$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,15
$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
$GPS1,204355,6204.054,-2543.219,40,1.9,40,-18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-56.2
$GPS2,205233,6204.114,-2543.375,17,1.5,17,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SW
$TGT_LATLONG,6137.290,-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,243.7,70416,-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,-194.7,0.0,0.0,0,105,0.00,0.00,-81.35,0.000,2,0.000,0.000,586,2231,3534
$GC,108,-1.29,-194.7,3.5,-6.7,11,138,12.35,2.78,-7.35,0.000,4,0.184,0.107,2674,3643,3881
$GC,394,-1.29,-194.7,36.4,-8.5,60,402,0.00,2.62,0.00,0.000,6,0.000,0.078,2674,2233,3882
$GC,537,-1.29,-194.7,48.2,-8.6,85,544,0.00,2.70,0.00,0.000,4,0.000,0.097,2674,825,3883
$GC,574,-1.29,-194.7,51.2,-7.8,91,581,0.00,2.67,0.00,0.000,6,0.000,0.084,2674,2241,3883
$GC,919,-1.29,-194.7,82.4,-9.2,152,926,0.00,2.72,0.00,0.000,4,0.000,0.098,2674,827,3883
$GC,955,-1.29,-194.7,86.0,-10.1,158,963,0.00,2.62,0.00,0.000,6,0.000,0.087,2674,2225,3883
$GC,1301,-1.29,-194.7,117.9,-10.1,219,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2226,3883
$GC,1644,-1.29,-194.7,153.0,-10.2,280,1652,0.00,2.72,0.00,0.000,4,0.000,0.102,2674,823,3883
$GC,1680,-1.29,-194.7,156.9,-10.4,286,1688,0.00,2.65,0.00,0.000,6,0.000,0.089,2674,2220,3883
$GC,2026,-1.29,-194.7,192.8,-10.5,347,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3883
$GC,2370,-1.29,-194.7,231.4,-11.3,408,2378,0.00,2.72,0.00,0.000,4,0.000,0.105,2674,826,3883
$GC,2413,-1.29,-194.7,236.2,-11.5,415,2420,0.00,2.65,0.00,0.000,6,0.000,0.093,2674,2210,3883
$GC,2758,-1.29,-194.7,274.1,-10.5,476,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3883
$GC,3102,-1.29,-194.7,308.4,-9.2,537,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3883
$GC,3447,-1.29,-194.7,340.3,-9.3,598,3454,0.00,2.72,0.00,0.000,4,0.000,0.111,2674,827,3883
$GC,3484,-1.29,-194.7,343.7,-9.6,604,3491,0.00,2.65,0.00,0.000,6,0.000,0.095,2674,2212,3883
$GC,3821,-1.29,-194.7,373.8,-8.7,641,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3883
$GC,4138,-1.29,-194.7,401.5,-8.6,671,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3883
$GC,4456,-1.29,-194.7,429.5,-9.3,701,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3882
$GC,4775,-1.29,-194.7,459.1,-9.4,731,4777,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3882
$GC,5095,-1.29,-194.7,488.3,-8.8,761,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2212,3882
$GC,5421,-1.29,-194.7,517.0,-9.2,792,5426,0.00,2.75,0.00,0.000,4,0.000,0.116,2674,827,3882
$GC,5450,-1.29,-194.7,519.7,-9.8,794,5454,0.00,2.65,0.00,0.000,6,0.000,0.097,2674,2203,3882
$GC,5776,-1.29,-194.7,550.6,-9.6,824,5781,0.00,2.85,0.00,0.000,4,0.000,0.113,2674,3651,3882
$GC,5821,-1.29,-194.7,555.1,-9.6,827,5828,0.00,2.75,0.00,0.000,6,0.000,0.091,2674,2205,3881
$GC,6149,-1.29,-194.7,585.5,-9.6,858,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2205,3882
$GC,6471,-1.29,-194.7,615.0,-8.6,881,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2206,3882
$GC,6781,-1.29,-194.7,641.5,-9.0,896,6785,0.00,2.88,0.00,0.000,4,0.000,0.116,2674,3647,3882
$GC,6823,-1.29,-194.7,646.1,-10.4,898,6828,0.00,2.75,0.00,0.000,6,0.000,0.095,2674,2213,3881
$GC,7147,-1.29,-194.7,678.9,-10.9,914,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2214,3881
$GC,7455,-1.29,-194.7,711.8,-11.1,929,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2214,3880
$GC,7765,-1.29,-194.7,744.4,-10.0,944,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2214,3881
$GC,8074,-1.29,-194.7,774.7,-9.8,959,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2214,3881
$GC,8384,-1.29,-194.7,803.5,-9.1,974,8388,0.00,2.92,0.00,0.000,4,0.000,0.126,2674,3650,3880
$GC,8416,-1.29,-194.7,806.6,-8.7,975,8424,0.00,2.78,0.00,0.000,6,0.000,0.100,2674,2220,3880
$GC,8733,-1.29,-194.7,834.7,-9.3,991,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3879
$GC,9041,-1.29,-194.7,862.7,-8.9,1006,9046,0.00,2.90,0.00,0.000,4,0.000,0.125,2674,3646,3880
$GC,9081,-1.29,-194.7,866.4,-9.7,1008,9086,0.00,2.78,0.00,0.000,6,0.000,0.104,2674,2225,3880
$GC,9409,-1.47,-194.7,884.8,0.0,1024,9414,0.15,2.92,0.00,0.000,4,0.064,0.137,2629,820,3880
$STATE,9484,end dive,NO_VERTICAL_VELOCITY
$STATE,9484,begin apogee
$GC,9493,-0.35,0.0,884.7,0.0,1027,9661,1.15,0.00,164.40,1.350,6,0.070,0.000,2881,2334,3085
$STATE,9662,end apogee,CONTROL_FINISHED_OK
$STATE,9662,begin climb
$GC,9665,1.29,194.7,884.6,0.0,1036,9836,1.67,3.05,161.70,1.308,4,0.064,0.132,3241,3733,2291
$GC,9876,1.17,194.7,873.8,12.2,1046,9882,0.15,2.80,0.00,0.000,6,0.112,0.101,3215,2329,2290
$GC,10198,1.12,194.7,839.5,10.7,1062,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2329,2289
$GC,10507,1.08,194.7,806.6,10.2,1077,10512,0.00,2.90,0.00,0.000,4,0.000,0.122,3215,3738,2288
$GC,10557,1.00,194.7,800.7,11.9,1079,10562,0.20,2.75,0.00,0.000,6,0.107,0.098,3178,2334,2288
$GC,10873,1.00,196.4,770.0,9.9,1094,10874,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2335,2288
$GC,11183,1.02,210.3,740.7,9.5,1109,11202,0.00,0.00,14.38,1.200,6,0.000,0.000,3177,2335,2227
$GC,11512,1.02,213.3,708.8,9.9,1125,11518,0.00,0.00,4.30,0.844,6,0.000,0.000,3177,2335,2215
$GC,11820,1.05,237.1,678.1,9.2,1140,11844,0.00,0.00,21.75,1.176,6,0.000,0.000,3177,2334,2118
$GC,12149,1.05,237.1,644.0,10.8,1156,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2334,2116
$GC,12460,1.05,237.1,610.8,10.6,1171,12464,0.00,2.83,0.00,0.000,4,0.000,0.114,3177,916,2116
$GC,12476,1.05,237.1,608.8,10.6,1172,12481,0.00,2.75,0.00,0.000,6,0.000,0.097,3177,2332,2116
$GC,12800,1.05,237.1,575.0,10.7,1198,12805,0.00,2.85,0.00,0.000,4,0.000,0.117,3177,3739,2115
$GC,12818,1.05,237.1,572.9,10.9,1199,12823,0.00,2.72,0.00,0.000,6,0.000,0.091,3177,2333,2115
$GC,13143,1.05,237.1,538.6,10.7,1229,13145,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2333,2115
$GC,13462,1.05,237.1,506.1,10.2,1259,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2333,2115
$GC,13781,1.05,237.1,472.0,11.1,1289,13782,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2333,2115
$GC,14100,1.05,237.1,436.7,10.8,1319,14101,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2333,2115
$GC,14418,1.05,237.1,402.5,10.5,1349,14419,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2333,2115
$GC,14739,1.05,237.1,369.8,10.2,1379,14743,0.00,2.78,0.00,0.000,4,0.000,0.107,3177,910,2116
$GC,14768,1.09,237.1,366.5,10.5,1381,14772,0.00,2.72,0.00,0.000,6,0.000,0.092,3177,2333,2115
$GC,15101,1.09,237.1,332.3,10.2,1426,15108,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2334,2116
$GC,15446,1.09,237.1,297.9,10.1,1487,15452,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2334,2116
$GC,15791,1.11,250.4,264.3,9.5,1548,15806,0.10,0.00,12.12,0.913,6,0.071,0.000,3204,2334,2064
$GC,16144,1.11,250.4,226.2,10.0,1610,16151,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2334,2063
$GC,16489,1.11,253.4,190.7,9.9,1671,16497,0.00,0.00,4.18,0.641,6,0.000,0.000,3204,2334,2052
$GC,16836,1.11,253.4,156.8,10.3,1732,16843,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2334,2052
$GC,17181,1.11,253.4,121.3,10.4,1793,17187,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2334,2052
$GC,17524,1.11,253.4,84.4,11.3,1854,17530,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2334,2052
$GC,17868,1.15,289.6,50.3,8.7,1915,17909,0.00,2.85,31.08,0.779,4,0.000,0.097,3204,913,1903
$GC,17922,1.17,299.4,45.2,9.7,1923,17938,0.00,2.72,9.60,0.693,6,0.000,0.086,3204,2340,1864
$GC,18075,1.17,299.4,30.3,10.0,1949,18083,0.00,2.72,0.00,0.000,4,0.000,0.100,3204,3738,1860
$GC,18107,1.18,307.4,27.2,9.7,1954,18122,0.00,2.65,7.97,0.719,6,0.000,0.081,3204,2337,1830
$GC,18262,1.18,307.4,12.0,11.3,1980,18269,0.00,2.70,0.00,0.000,4,0.000,0.097,3204,919,1829
$GC,18276,1.18,307.4,9.8,11.9,1982,18284,0.00,2.67,0.00,0.000,6,0.000,0.082,3204,2349,1829
$STATE,18349,end climb,SURFACE_DEPTH_REACHED
$STATE,18349,begin surface coast
$FINISH,0.1,1.027651
$STATE,18372,end surface coast,CONTROL_FINISHED_OK
$STATE,18373,begin surface
$SM_CCo,18454,0.00,0.000,0,0,1823,309.32
$SM_GC,0.78,11.55,0.00,0.00,0.046,0.000,0.000,590,2225,1823,-10.84,-0.28,309.32
$IRIDIUM_FIX,6135.28,-2534.50,290897,151514
$TT8_MAMPS,0.02301
$HUMID,1664
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,120
$24V_AH,23.3,57.516
$10V_AH,10.6,47.110
$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,27.325,110.925,431.475,0.000,0.000,29.814,39.172,293.589,30.000,0.000,0.000,17.301,4049.671,10021.478,643.766,3500.408,734.982,0.000,2140.482,0.000,3503.198,0.000,0.468
$DEVICE_MAMPS,184.080,136.526,1349.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1385.009,1513.758,1866.039,597.927,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120080,1999
$CAP_FILE_SIZE,167970,0
$CFSIZE,260165632,230617088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.124,107.0,1
$GPS,050608,020137,6201.853,-2545.049,36,1.1,36,-18.6