version: 66.03
glider: 140
mission: 5
dive: 267
start: 6 5 108 7 47 28
data:
$ID,140
$MISSION,5
$DIVE,267
$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,-18170.236
$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,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
$GPS1,073902,6159.350,-2548.953,39,1.5,39,-18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-63.3
$GPS2,074709,6159.360,-2549.058,12,1.3,12,-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,246.3,60720,-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,-194.7,0.0,0.0,0,98,0.00,0.00,-75.22,0.000,2,0.000,0.000,593,2231,3482
$GC,101,-1.29,-194.7,3.5,-7.7,10,131,12.32,2.72,-8.52,0.000,4,0.185,0.107,2673,819,3880
$GC,279,-1.29,-194.7,26.7,-10.5,40,287,0.00,2.67,0.00,0.000,6,0.000,0.085,2673,2237,3881
$GC,423,-1.29,-194.7,42.3,-11.9,65,430,0.00,2.72,0.00,0.000,4,0.000,0.099,2673,3651,3881
$GC,454,-1.29,-194.7,46.2,-12.4,70,461,0.00,2.65,0.00,0.000,6,0.000,0.078,2673,2230,3881
$GC,598,-1.29,-194.7,63.0,-11.6,95,605,0.00,2.70,0.00,0.000,4,0.000,0.097,2673,820,3881
$GC,651,-1.29,-194.7,69.4,-11.7,104,658,0.00,2.65,0.00,0.000,6,0.000,0.086,2674,2225,3882
$GC,995,-1.29,-194.7,106.6,-10.3,165,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2225,3882
$GC,1339,-1.29,-194.7,140.6,-9.5,226,1347,0.00,2.72,0.00,0.000,4,0.000,0.103,2673,824,3882
$GC,1386,-1.29,-194.7,145.2,-9.5,234,1394,0.00,2.65,0.00,0.000,6,0.000,0.091,2673,2219,3882
$GC,1732,-1.29,-194.7,175.0,-8.4,295,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2219,3882
$GC,2076,-1.29,-194.7,203.9,-8.5,356,2083,0.00,2.72,0.00,0.000,4,0.000,0.104,2673,824,3882
$GC,2124,-1.29,-194.7,208.2,-9.0,364,2131,0.00,2.65,0.00,0.000,6,0.000,0.091,2673,2212,3882
$GC,2470,-1.29,-194.7,240.5,-9.9,425,2478,0.00,2.80,0.00,0.000,4,0.000,0.106,2674,3653,3882
$GC,2507,-1.29,-194.7,244.1,-9.8,431,2514,0.00,2.72,0.00,0.000,6,0.000,0.086,2673,2208,3882
$GC,2853,-1.29,-194.7,276.2,-9.2,492,2860,0.00,2.70,0.00,0.000,4,0.000,0.109,2674,826,3882
$GC,2889,-1.29,-194.7,279.8,-9.9,498,2897,0.00,2.65,0.00,0.000,6,0.000,0.094,2674,2211,3882
$GC,3235,-1.29,-194.7,312.0,-8.8,559,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2211,3882
$GC,3580,-1.29,-194.7,343.0,-9.0,620,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2211,3882
$GC,3917,-1.29,-194.7,372.9,-9.2,658,3919,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2211,3882
$GC,4233,-1.29,-194.7,402.1,-8.8,688,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2211,3882
$GC,4552,-1.29,-194.7,430.0,-8.5,718,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2211,3881
$GC,4870,-1.29,-194.7,458.7,-9.3,748,4872,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2211,3881
$GC,5190,-1.29,-194.7,488.2,-8.9,778,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2211,3881
$GC,5507,-1.29,-194.7,516.7,-9.1,808,5512,0.00,2.75,0.00,0.000,4,0.000,0.115,2673,827,3881
$GC,5536,-1.29,-194.7,519.4,-9.6,810,5540,0.00,2.67,0.00,0.000,6,0.000,0.099,2674,2214,3881
$GC,5863,-1.29,-194.7,549.4,-9.2,840,5868,0.00,2.83,0.00,0.000,4,0.000,0.114,2673,3645,3881
$GC,5907,-1.29,-194.7,553.9,-10.0,843,5914,0.00,2.72,0.00,0.000,6,0.000,0.091,2673,2213,3880
$GC,6234,-1.29,-194.7,584.6,-9.4,874,6238,0.00,2.78,0.00,0.000,4,0.000,0.120,2673,821,3880
$GC,6266,-1.29,-194.7,588.2,-10.2,876,6274,0.00,2.70,0.00,0.000,6,0.000,0.101,2673,2216,3880
$GC,6597,-1.29,-194.7,620.3,-9.8,898,6601,0.00,2.85,0.00,0.000,4,0.000,0.119,2673,3645,3880
$GC,6629,-1.29,-194.7,623.8,-10.2,899,6636,0.00,2.78,0.00,0.000,6,0.000,0.096,2673,2198,3880
$GC,6945,-1.29,-194.7,653.3,-9.3,915,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,3880
$GC,7255,-1.29,-194.7,679.1,-7.8,930,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2198,3880
$GC,7564,-1.29,-194.7,706.4,-9.4,945,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2198,3879
$GC,7872,-1.29,-194.7,737.4,-10.5,960,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2198,3880
$GC,8183,-1.29,-194.7,766.9,-9.2,975,8188,0.00,2.95,0.00,0.000,4,0.000,0.126,2674,3647,3879
$GC,8215,-1.29,-194.7,770.3,-10.2,976,8223,0.00,2.80,0.00,0.000,6,0.000,0.102,2673,2204,3879
$GC,8531,-1.29,-194.7,796.4,-7.5,992,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2204,3878
$GC,8842,-1.29,-194.7,819.6,-7.8,1007,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2204,3878
$GC,9150,-1.29,-194.7,845.0,-8.6,1022,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2204,3878
$GC,9460,-1.29,-194.7,871.4,-8.1,1037,9461,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3878
$GC,9769,-1.29,-194.7,894.9,-7.9,1052,9774,0.00,2.95,0.00,0.000,4,0.000,0.130,2674,3644,3878
$GC,9818,-1.29,-194.7,899.2,-8.4,1054,9823,0.00,2.83,0.00,0.000,6,0.000,0.107,2673,2198,3878
$GC,10135,-1.29,-194.7,924.5,-7.9,1069,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,3877
$GC,10444,-1.29,-194.7,949.0,-8.0,1084,10445,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,3877
$GC,10753,-1.29,-194.7,975.3,-8.4,1099,10757,0.00,2.97,0.00,0.000,4,0.000,0.129,2673,3650,3876
$GC,10797,-1.29,-194.7,979.2,-9.5,1101,10801,0.00,2.85,0.00,0.000,6,0.000,0.107,2674,2201,3876
$STATE,11053,end dive,NO_VERTICAL_VELOCITY
$STATE,11053,begin apogee
$GC,11060,-0.35,0.0,983.5,0.0,1114,11230,0.95,0.00,166.62,1.416,6,0.061,0.000,2885,2328,3086
$STATE,11231,end apogee,CONTROL_FINISHED_OK
$STATE,11231,begin climb
$GC,11233,1.29,194.7,983.4,0.0,1122,11405,1.60,3.03,163.35,1.379,4,0.058,0.128,3238,3736,2291
$GC,11491,1.17,194.7,962.7,13.7,1134,11497,0.12,2.85,0.00,0.000,6,0.121,0.110,3218,2330,2290
$GC,11807,1.11,194.7,924.9,11.6,1149,11808,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2330,2289
$GC,12117,1.06,194.7,888.4,11.9,1164,12119,0.15,0.00,0.00,0.000,6,0.113,0.000,3190,2330,2288
$GC,12426,1.06,194.7,856.3,10.3,1179,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2330,2287
$GC,12735,1.06,197.1,824.8,9.9,1194,12736,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2330,2287
$GC,13045,1.11,241.4,796.6,8.5,1209,13088,0.00,0.00,40.97,1.282,6,0.000,0.000,3190,2330,2100
$GC,13393,1.11,241.4,762.1,10.6,1226,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2330,2097
$GC,13703,1.11,241.4,726.8,11.7,1241,13704,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2330,2096
$GC,14012,1.11,241.4,690.9,11.2,1256,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2329,2096
$GC,14321,1.11,241.4,658.4,10.7,1271,14322,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2329,2096
$GC,14630,1.11,241.4,625.1,10.7,1286,14631,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2329,2095
$GC,14942,1.16,281.5,596.2,8.6,1303,14983,0.10,0.00,34.90,1.145,6,0.073,0.000,3215,2329,1937
$GC,15300,1.17,287.4,561.5,9.8,1337,15310,0.00,0.00,6.25,0.953,6,0.000,0.000,3215,2329,1912
$GC,15630,1.17,287.4,525.6,12.1,1368,15634,0.00,2.85,0.00,0.000,4,0.000,0.111,3215,3738,1910
$GC,15647,1.17,287.4,523.3,11.7,1369,15652,0.00,2.78,0.00,0.000,6,0.000,0.091,3215,2313,1910
$GC,15972,1.17,287.4,484.1,12.5,1399,15973,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2313,1911
$GC,16294,1.17,287.4,443.4,13.0,1429,16300,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2313,1911
$GC,16619,1.17,287.4,403.3,11.9,1460,16624,0.00,2.83,0.00,0.000,4,0.000,0.107,3215,3737,1910
$GC,16637,1.17,287.4,401.2,11.8,1461,16641,0.00,2.72,0.00,0.000,6,0.000,0.088,3215,2320,1910
$GC,16962,1.17,287.4,364.6,10.7,1491,16963,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2320,1911
$GC,17289,1.17,287.4,330.4,10.8,1537,17296,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2320,1911
$GC,17633,1.21,316.2,295.8,9.0,1598,17666,0.00,0.00,26.05,0.937,6,0.000,0.000,3215,2320,1794
$GC,18004,1.21,316.2,257.5,10.3,1663,18012,0.00,2.83,0.00,0.000,4,0.000,0.104,3215,3737,1790
$GC,18026,1.22,324.0,255.5,9.7,1666,18040,0.00,2.72,7.45,0.837,6,0.000,0.087,3215,2320,1764
$GC,18378,1.22,324.0,221.0,10.2,1728,18385,0.00,2.72,0.00,0.000,4,0.000,0.104,3216,918,1763
$GC,18403,1.22,324.0,218.6,10.2,1732,18410,0.00,2.67,0.00,0.000,6,0.000,0.087,3215,2327,1763
$GC,18748,1.22,324.0,183.5,10.2,1793,18754,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2327,1762
$GC,19092,1.22,324.0,147.4,10.8,1854,19098,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2327,1762
$GC,19436,1.22,324.0,106.8,13.3,1915,19442,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2327,1763
$GC,19779,1.22,324.0,63.9,12.7,1976,19786,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2327,1762
$GC,20126,1.22,324.0,26.7,10.8,2037,20133,0.00,2.75,0.00,0.000,4,0.000,0.101,3216,3738,1761
$GC,20140,1.22,324.0,24.8,11.6,2039,20148,0.00,2.70,0.00,0.000,6,0.000,0.083,3216,2315,1761
$GC,20284,1.23,337.2,8.5,9.5,2064,20306,0.00,2.75,12.55,0.759,4,0.000,0.101,3216,911,1709
$STATE,20333,end climb,SURFACE_DEPTH_REACHED
$STATE,20334,begin surface coast
$FINISH,0.9,1.027625
$STATE,20340,end surface coast,CONTROL_FINISHED_OK
$STATE,20340,begin surface
$SM_CCo,20423,0.00,0.000,0,0,1704,338.76
$SM_GC,0.93,11.55,0.00,0.00,0.042,0.000,0.000,589,2242,1704,-10.85,0.20,338.76
$IRIDIUM_FIX,6135.28,-2550.86,300897,020247
$TT8_MAMPS,0.02301
$HUMID,1692
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.80
$XPDR_PINGS,175
$24V_AH,23.2,57.896
$10V_AH,10.6,47.460
$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,26.800,116.200,458.150,0.000,0.000,29.408,32.695,277.586,43.750,0.000,0.000,12.610,4184.528,11729.456,675.019,3581.449,719.253,0.000,2225.237,0.000,3589.416,0.000,0.467
$DEVICE_MAMPS,184.847,129.623,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1436.460,1580.638,1822.793,573.081,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123181,2073
$CAP_FILE_SIZE,175013,0
$CFSIZE,260165632,230416384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.116,127.6,1
$GPS,050608,132908,6156.543,-2551.574,42,1.5,42,-18.6