version: 66.03
glider: 140
mission: 5
dive: 268
start: 6 5 108 13 37 22
data:
$ID,140
$MISSION,5
$DIVE,268
$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,-18183.236
$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,10
$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
$GPS1,132908,6156.543,-2551.574,42,1.5,42,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-60.6
$GPS2,133703,6156.554,-2551.599,12,1.6,12,-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,248.7,55617,-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,20,-1.29,-194.7,0.0,0.0,0,101,0.00,0.00,-77.97,0.000,2,0.000,0.000,588,2242,3506
$GC,104,-1.29,-194.7,3.5,-6.4,11,134,12.27,2.75,-8.02,0.000,4,0.183,0.109,2672,3643,3881
$GC,390,-1.29,-194.7,37.9,-11.2,60,397,0.00,2.65,0.00,0.000,6,0.000,0.081,2672,2224,3882
$GC,533,-1.29,-194.7,54.0,-10.6,85,540,0.00,2.75,0.00,0.000,4,0.000,0.097,2672,3644,3883
$GC,575,-1.29,-194.7,58.3,-10.0,92,582,0.00,2.67,0.00,0.000,6,0.000,0.081,2672,2218,3882
$GC,920,-1.29,-194.7,92.6,-10.0,153,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2217,3883
$GC,1262,-1.29,-194.7,129.0,-11.0,214,1269,0.00,2.72,0.00,0.000,4,0.000,0.104,2672,820,3883
$GC,1305,-1.29,-194.7,133.8,-11.5,221,1312,0.00,2.67,0.00,0.000,6,0.000,0.087,2671,2228,3883
$GC,1651,-1.29,-194.7,169.3,-8.8,282,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3883
$GC,1996,-1.29,-194.7,201.3,-9.7,343,2003,0.00,2.75,0.00,0.000,4,0.000,0.106,2672,824,3883
$GC,2044,-1.29,-194.7,206.2,-9.9,351,2051,0.00,2.65,0.00,0.000,6,0.000,0.091,2672,2219,3884
$GC,2388,-1.29,-194.7,244.4,-12.1,412,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2219,3883
$GC,2733,-1.29,-194.7,285.0,-11.1,473,2740,0.00,2.72,0.00,0.000,4,0.000,0.109,2672,827,3883
$GC,2775,-1.29,-194.7,289.9,-11.8,480,2782,0.00,2.65,0.00,0.000,6,0.000,0.093,2672,2211,3883
$GC,3121,-1.29,-194.7,327.3,-10.2,541,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3883
$GC,3465,-1.29,-194.7,358.3,-8.3,594,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3883
$GC,3785,-1.29,-194.7,383.5,-7.7,624,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3883
$GC,4103,-1.29,-194.7,407.4,-7.6,654,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3883
$GC,4423,-1.29,-194.7,431.1,-7.5,684,4428,0.00,2.75,0.00,0.000,4,0.000,0.115,2672,827,3883
$GC,4456,-1.29,-194.7,434.1,-8.1,686,4464,0.00,2.65,0.00,0.000,6,0.000,0.097,2672,2210,3883
$GC,4785,-1.29,-194.7,462.1,-9.4,717,4789,0.00,2.80,0.00,0.000,4,0.000,0.108,2672,3644,3883
$GC,4817,-1.29,-194.7,465.8,-10.3,719,4825,0.00,2.75,0.00,0.000,6,0.000,0.091,2672,2199,3882
$GC,5144,-1.29,-194.7,498.5,-10.9,750,5148,0.00,2.75,0.00,0.000,4,0.000,0.119,2672,824,3882
$GC,5172,-1.29,-194.7,501.8,-11.6,752,5176,0.00,2.67,0.00,0.000,6,0.000,0.096,2672,2214,3882
$GC,5499,-1.29,-194.7,537.5,-10.2,782,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3882
$GC,5815,-1.29,-194.7,568.3,-9.5,812,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3882
$GC,6134,-1.29,-194.7,596.6,-8.3,842,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2214,3882
$GC,6445,-1.29,-194.7,621.3,-7.6,859,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2214,3881
$GC,6756,-1.29,-194.7,644.7,-7.9,874,6760,0.00,2.80,0.00,0.000,4,0.000,0.120,2672,824,3881
$GC,6795,-1.29,-194.7,648.0,-8.3,876,6800,0.00,2.67,0.00,0.000,6,0.000,0.099,2671,2205,3882
$GC,7123,-1.29,-194.7,670.4,-6.6,892,7127,0.00,2.88,0.00,0.000,4,0.000,0.120,2672,3646,3882
$GC,7156,-1.29,-194.7,672.9,-8.0,893,7163,0.00,2.78,0.00,0.000,6,0.000,0.097,2672,2201,3881
$GC,7472,-1.29,-194.7,700.2,-9.4,909,7476,0.00,2.78,0.00,0.000,4,0.000,0.126,2672,824,3881
$GC,7498,-1.29,-194.7,703.2,-10.8,910,7503,0.00,2.70,0.00,0.000,6,0.000,0.104,2672,2208,3881
$GC,7816,-1.29,-194.7,735.0,-9.4,925,7820,0.00,2.90,0.00,0.000,4,0.000,0.123,2672,3649,3881
$GC,7855,-1.29,-194.7,738.9,-10.1,927,7860,0.00,2.80,0.00,0.000,6,0.000,0.100,2672,2204,3881
$GC,8182,-1.29,-194.7,771.3,-10.9,943,8184,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2203,3881
$GC,8493,-1.29,-194.7,806.8,-10.7,958,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3880
$GC,8801,-1.29,-194.7,832.8,-8.0,973,8806,0.00,2.92,0.00,0.000,4,0.000,0.124,2672,3645,3880
$GC,8845,-1.29,-194.7,836.8,-9.1,975,8849,0.00,2.80,0.00,0.000,6,0.000,0.104,2671,2211,3880
$GC,9168,-1.29,-194.7,867.1,-9.4,991,9170,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2211,3879
$GC,9477,-1.29,-194.7,895.5,-8.3,1006,9482,0.00,2.92,0.00,0.000,4,0.000,0.125,2672,3652,3879
$GC,9509,-1.29,-194.7,898.6,-9.0,1007,9518,0.00,2.80,0.00,0.000,6,0.000,0.107,2672,2221,3879
$GC,9826,-1.29,-194.7,925.8,-9.6,1023,9830,0.00,2.90,0.00,0.000,4,0.000,0.137,2671,819,3879
$GC,9858,-1.29,-194.7,929.2,-9.5,1024,9865,0.00,2.75,0.00,0.000,6,0.000,0.108,2672,2217,3879
$GC,10174,-1.29,-194.7,958.6,-9.3,1040,10179,0.00,2.88,0.00,0.000,4,0.000,0.123,2671,3648,3878
$GC,10215,-1.29,-194.7,962.5,-9.7,1042,10219,0.00,2.83,0.00,0.000,6,0.000,0.108,2671,2215,3879
$GC,10542,-1.50,-194.7,975.5,-0.0,1058,10547,0.17,2.90,0.00,0.000,4,0.066,0.138,2624,820,3878
$STATE,10557,end dive,NO_VERTICAL_VELOCITY
$STATE,10557,begin apogee
$GC,10566,-0.35,0.0,975.5,0.0,1059,10740,1.20,0.00,166.88,1.407,6,0.072,0.000,2882,2329,3085
$STATE,10741,end apogee,CONTROL_FINISHED_OK
$STATE,10741,begin climb
$GC,10743,1.29,194.7,975.3,0.0,1068,10921,1.60,3.03,162.85,1.368,4,0.061,0.124,3236,3736,2291
$GC,10994,1.17,194.7,952.8,12.0,1079,10998,0.00,2.85,0.00,0.000,6,0.000,0.109,3236,2329,2290
$GC,11315,1.09,194.7,920.3,10.3,1095,11321,0.17,2.95,0.00,0.000,4,0.112,0.125,3200,3739,2289
$GC,11337,1.02,194.7,917.8,10.5,1096,11342,0.00,2.83,0.00,0.000,6,0.000,0.107,3200,2331,2289
$GC,11661,1.02,194.7,886.5,10.1,1112,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2331,2288
$GC,11968,1.02,194.7,855.7,10.3,1127,11973,0.00,2.90,0.00,0.000,4,0.000,0.123,3201,3739,2287
$GC,12018,0.96,194.7,850.1,11.2,1129,12024,0.17,2.80,0.00,0.000,6,0.109,0.106,3168,2340,2287
$GC,12334,0.96,194.7,819.5,10.1,1144,12335,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2340,2287
$GC,12644,1.00,227.7,790.9,8.9,1159,12675,0.00,0.00,29.30,1.276,6,0.000,0.000,3168,2341,2156
$GC,12973,1.00,227.7,758.6,10.2,1175,12978,0.00,2.92,0.00,0.000,4,0.000,0.132,3168,917,2153
$GC,13005,1.04,227.7,755.1,10.0,1176,13013,0.00,2.80,0.00,0.000,6,0.000,0.101,3167,2352,2153
$GC,13321,1.05,233.5,724.9,9.8,1192,13330,0.00,0.00,6.38,1.049,6,0.000,0.000,3168,2352,2132
$GC,13631,1.10,278.2,697.4,8.4,1207,13674,0.15,0.00,39.97,1.212,6,0.062,0.000,3205,2351,1950
$GC,13980,1.11,286.0,662.7,9.7,1224,13994,0.00,2.97,7.68,1.062,4,0.000,0.115,3205,920,1918
$GC,14006,1.12,288.9,660.0,9.9,1225,14015,0.00,2.80,4.20,0.758,6,0.000,0.098,3205,2346,1907
$GC,14326,1.12,288.9,625.6,11.3,1240,14331,0.00,2.83,0.00,0.000,4,0.000,0.117,3205,3738,1906
$GC,14366,1.12,288.9,620.9,12.4,1242,14370,0.00,2.75,0.00,0.000,6,0.000,0.096,3205,2336,1905
$GC,14686,1.12,288.9,582.6,12.3,1264,14690,0.00,2.83,0.00,0.000,4,0.000,0.114,3205,921,1905
$GC,14707,1.12,288.9,579.5,13.8,1265,14714,0.00,2.75,0.00,0.000,6,0.000,0.095,3205,2344,1905
$GC,15034,1.12,288.9,535.7,14.4,1296,15038,0.00,2.83,0.00,0.000,4,0.000,0.112,3205,920,1904
$GC,15055,1.12,288.9,532.2,14.1,1297,15062,0.00,2.72,0.00,0.000,6,0.000,0.094,3205,2339,1904
$GC,15381,1.12,288.9,487.5,13.7,1328,15383,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2339,1904
$GC,15699,1.12,288.9,449.0,11.0,1358,15700,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2339,1904
$GC,16017,1.12,288.9,414.4,11.0,1388,16018,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2339,1904
$GC,16336,1.12,288.9,377.2,12.2,1418,16337,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2339,1904
$GC,16659,1.12,288.9,337.4,11.5,1457,16667,0.00,2.80,0.00,0.000,4,0.000,0.107,3205,919,1904
$GC,16685,1.12,288.9,334.2,12.5,1461,16693,0.00,2.72,0.00,0.000,6,0.000,0.092,3205,2345,1904
$GC,17031,1.12,288.9,292.1,12.4,1522,17037,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2345,1904
$GC,17375,1.12,288.9,250.9,12.3,1583,17382,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2345,1904
$GC,17719,1.12,288.9,209.9,11.6,1644,17726,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2345,1905
$GC,18064,1.12,288.9,168.9,11.1,1705,18071,0.00,2.78,0.00,0.000,4,0.000,0.104,3205,918,1904
$GC,18094,1.12,288.9,165.1,12.6,1710,18101,0.00,2.67,0.00,0.000,6,0.000,0.088,3205,2332,1904
$GC,18439,1.12,288.9,126.4,10.2,1771,18445,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2332,1904
$GC,18780,1.12,288.9,91.7,10.2,1832,18787,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2332,1905
$GC,19124,1.12,288.9,53.6,10.3,1893,19130,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2332,1904
$GC,19468,1.15,317.0,19.7,9.0,1954,19495,0.00,0.00,24.55,0.763,6,0.000,0.000,3205,2332,1792
$GC,19633,1.15,317.0,3.3,12.1,1982,19641,0.00,2.72,0.00,0.000,4,0.000,0.099,3205,3735,1788
$STATE,19646,end climb,SURFACE_DEPTH_REACHED
$STATE,19646,begin surface coast
$FINISH,0.1,1.027472
$STATE,19664,end surface coast,CONTROL_FINISHED_OK
$STATE,19664,begin surface
$SM_CCo,19748,0.00,0.000,0,0,1786,318.64
$SM_GC,0.81,11.48,0.00,0.00,0.041,0.000,0.000,586,2233,1786,-10.86,-0.06,318.64
$IRIDIUM_FIX,6135.28,-2544.74,300897,070712
$TT8_MAMPS,0.02301
$HUMID,1687
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,164
$24V_AH,23.3,58.086
$10V_AH,10.6,47.632
$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,27.225,156.525,441.800,0.000,0.000,29.057,38.569,258.880,41.000,0.000,0.000,12.373,4073.414,11214.550,673.615,3546.197,694.613,0.000,2226.109,0.000,3536.086,0.000,0.467
$DEVICE_MAMPS,182.546,138.060,1406.678,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1377.333,1502.805,1769.600,571.133,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116866,1987
$CAP_FILE_SIZE,178005,0
$CFSIZE,260165632,230326272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.075,163.2,1
$GPS,050608,190737,6153.901,-2555.885,32,1.6,32,-18.6