version: 66.03
glider: 140
mission: 5
dive: 269
start: 6 5 108 19 15 52
data:
$ID,140
$MISSION,5
$DIVE,269
$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,-18198.58
$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,13
$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
$GPS1,190737,6153.901,-2555.885,32,1.6,32,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-62.4
$GPS2,191533,6153.906,-2555.852,14,1.5,14,-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,250.3,49618,-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,-194.7,0.0,0.0,0,96,0.00,0.00,-73.03,0.000,2,0.000,0.000,586,2232,3467
$GC,99,-1.29,-194.7,3.8,-8.7,10,127,12.25,2.80,-8.68,0.000,4,0.182,0.108,2671,3644,3881
$GC,198,-1.29,-194.7,17.1,-8.6,26,206,0.00,2.62,0.00,0.000,6,0.000,0.080,2671,2233,3882
$GC,342,-1.29,-194.7,27.7,-6.7,51,349,0.00,2.70,0.00,0.000,4,0.000,0.096,2671,820,3881
$GC,417,-1.29,-194.7,33.9,-8.8,64,425,0.00,2.58,0.00,0.000,6,0.000,0.081,2671,2196,3882
$GC,562,-1.29,-194.7,47.2,-9.7,89,569,0.00,2.75,0.00,0.000,4,0.000,0.093,2671,3643,3882
$GC,637,-1.29,-194.7,55.6,-11.8,102,645,0.00,2.67,0.00,0.000,6,0.000,0.080,2671,2212,3882
$GC,982,-1.29,-194.7,92.2,-8.2,163,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2210,3883
$GC,1325,-1.29,-194.7,116.6,-7.6,224,1332,0.00,2.67,0.00,0.000,4,0.000,0.103,2671,821,3883
$GC,1368,-1.29,-194.7,119.9,-7.8,231,1374,0.00,2.62,0.00,0.000,6,0.000,0.086,2671,2211,3883
$GC,1713,-1.29,-194.7,151.6,-10.4,292,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3883
$GC,2057,-1.29,-194.7,188.0,-10.9,353,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3883
$GC,2402,-1.29,-194.7,222.8,-10.3,414,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3883
$GC,2747,-1.29,-194.7,254.6,-8.7,475,2754,0.00,2.72,0.00,0.000,4,0.000,0.109,2671,824,3883
$GC,2777,-1.29,-194.7,257.4,-9.2,480,2785,0.00,2.65,0.00,0.000,6,0.000,0.091,2671,2218,3883
$GC,3124,-1.29,-194.7,287.9,-8.7,541,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3883
$GC,3467,-1.29,-194.7,319.4,-9.4,602,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2219,3883
$GC,3811,-1.29,-194.7,351.2,-8.9,662,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3883
$GC,4130,-1.29,-194.7,379.6,-8.6,692,4135,0.00,2.75,0.00,0.000,4,0.000,0.112,2671,827,3883
$GC,4173,-1.29,-194.7,383.6,-8.6,695,4180,0.00,2.65,0.00,0.000,6,0.000,0.095,2671,2208,3883
$GC,4502,-1.29,-194.7,410.2,-7.9,726,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2208,3882
$GC,4828,-1.29,-194.7,435.4,-7.2,757,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2208,3882
$GC,5148,-1.29,-194.7,457.3,-6.8,787,5154,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3883
$GC,5474,-1.29,-194.7,479.3,-6.8,818,5478,0.00,2.75,0.00,0.000,4,0.000,0.114,2672,827,3882
$GC,5515,-1.29,-194.7,482.1,-7.1,821,5520,0.00,2.65,0.00,0.000,6,0.000,0.097,2671,2201,3882
$GC,5844,-1.29,-194.7,507.1,-8.3,851,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3881
$GC,6169,-1.29,-194.7,536.3,-9.6,882,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2201,3881
$GC,6490,-1.29,-194.7,565.2,-8.5,912,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3881
$GC,6806,-1.29,-194.7,592.1,-8.6,942,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3881
$GC,7129,-1.29,-194.7,621.4,-9.5,962,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2201,3881
$GC,7438,-1.29,-194.7,651.4,-9.6,977,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2201,3881
$GC,7747,-1.29,-194.7,678.0,-7.9,992,7752,0.00,2.85,0.00,0.000,4,0.000,0.112,2671,3651,3880
$GC,7780,-1.29,-194.7,680.8,-8.4,993,7788,0.00,2.78,0.00,0.000,6,0.000,0.097,2671,2209,3880
$GC,8097,-1.29,-194.7,708.2,-9.2,1009,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3880
$GC,8406,-1.29,-194.7,738.2,-9.9,1024,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3879
$GC,8715,-1.29,-194.7,767.6,-9.0,1039,8720,0.00,2.90,0.00,0.000,4,0.000,0.121,2671,3648,3880
$GC,8756,-1.29,-194.7,771.4,-9.7,1041,8760,0.00,2.80,0.00,0.000,6,0.000,0.103,2671,2211,3879
$GC,9083,-1.29,-194.7,801.0,-8.8,1057,9088,0.00,2.85,0.00,0.000,4,0.000,0.131,2671,822,3879
$GC,9124,-1.29,-194.7,804.7,-9.0,1059,9128,0.00,2.72,0.00,0.000,6,0.000,0.106,2671,2209,3879
$GC,9451,-1.29,-194.7,832.7,-8.7,1075,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3879
$GC,9762,-1.29,-194.7,858.7,-8.2,1090,9766,0.00,2.90,0.00,0.000,4,0.000,0.125,2671,3647,3879
$GC,9794,-1.29,-194.7,861.6,-8.4,1091,9801,0.00,2.80,0.00,0.000,6,0.000,0.104,2672,2213,3879
$GC,10111,-1.29,-194.7,885.1,-7.1,1107,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2213,3879
$GC,10420,-1.29,-194.7,912.2,-9.3,1122,10421,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2213,3878
$GC,10728,-1.29,-194.7,939.6,-9.0,1137,10733,0.00,2.90,0.00,0.000,4,0.000,0.124,2672,3645,3878
$GC,10761,-1.29,-194.7,942.5,-9.3,1138,10768,0.00,2.80,0.00,0.000,6,0.000,0.107,2671,2218,3878
$GC,11078,-1.29,-194.7,969.4,-8.5,1154,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3877
$STATE,11321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11322,begin apogee
$GC,11327,-0.35,0.0,990.9,8.3,1166,11498,1.02,0.00,166.93,1.421,6,0.098,0.000,2880,2330,3085
$STATE,11499,end apogee,CONTROL_FINISHED_OK
$STATE,11499,begin climb
$GC,11501,1.29,194.7,995.5,0.0,1174,11679,1.62,2.97,163.20,1.387,4,0.060,0.120,3237,3737,2291
$GC,11752,1.17,194.7,973.1,13.9,1185,11757,0.12,2.88,0.00,0.000,6,0.120,0.111,3217,2324,2289
$GC,12074,1.11,194.7,935.8,11.7,1201,12078,0.00,2.92,0.00,0.000,4,0.000,0.119,3217,3738,2288
$GC,12141,1.02,194.7,927.8,11.8,1204,12146,0.17,2.80,0.00,0.000,6,0.113,0.109,3184,2354,2288
$GC,12463,1.05,221.0,898.1,9.1,1220,12493,0.00,3.12,23.52,1.305,4,0.000,0.133,3184,914,2184
$GC,12530,1.05,221.0,891.4,10.0,1223,12535,0.00,2.88,0.00,0.000,6,0.000,0.108,3184,2353,2183
$GC,12857,1.05,221.0,858.1,10.2,1239,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2353,2182
$GC,13168,1.06,228.6,827.7,9.7,1254,13182,0.00,3.03,8.00,1.160,4,0.000,0.123,3184,917,2153
$GC,13205,1.12,278.1,823.8,8.3,1255,13257,0.00,2.85,44.20,1.282,6,0.000,0.106,3184,2350,1950
$GC,13568,1.12,278.1,787.8,10.7,1273,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2350,1946
$GC,13874,1.12,278.1,753.7,11.4,1288,13879,0.00,2.90,0.00,0.000,4,0.000,0.121,3184,918,1944
$GC,13918,1.16,278.1,748.3,11.9,1290,13923,0.12,2.78,0.00,0.000,6,0.065,0.103,3216,2340,1944
$GC,14239,1.16,278.1,708.5,12.9,1306,14241,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2340,1944
$GC,14549,1.16,278.1,665.9,14.1,1321,14550,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2340,1943
$GC,14857,1.16,278.1,627.2,11.5,1336,14859,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2340,1943
$GC,15169,1.16,278.1,592.0,11.6,1354,15174,0.00,2.85,0.00,0.000,4,0.000,0.115,3216,909,1943
$GC,15197,1.16,278.1,588.5,12.5,1356,15202,0.00,2.78,0.00,0.000,6,0.000,0.097,3216,2348,1942
$GC,15522,1.16,278.1,553.4,10.3,1386,15523,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2348,1942
$GC,15842,1.16,278.1,515.7,12.6,1416,15844,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2348,1942
$GC,16158,1.16,278.1,475.4,12.3,1446,16159,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2348,1942
$GC,16477,1.16,278.1,438.9,10.8,1476,16478,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2348,1942
$GC,16795,1.16,278.1,403.8,11.3,1506,16796,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2348,1942
$GC,17114,1.16,278.1,367.2,11.3,1536,17118,0.00,2.85,0.00,0.000,4,0.000,0.108,3216,910,1943
$GC,17135,1.16,278.1,364.4,11.9,1537,17142,0.00,2.75,0.00,0.000,6,0.000,0.092,3216,2345,1943
$GC,17472,1.16,278.1,324.2,12.2,1587,17478,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2345,1943
$GC,17816,1.16,278.1,282.4,12.8,1648,17822,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2345,1943
$GC,18161,1.16,278.1,240.1,11.1,1709,18168,0.00,2.80,0.00,0.000,4,0.000,0.104,3216,915,1943
$GC,18180,1.16,278.1,237.5,11.9,1712,18188,0.00,2.72,0.00,0.000,6,0.000,0.091,3216,2349,1943
$GC,18527,1.16,278.1,196.3,11.5,1773,18534,0.00,2.72,0.00,0.000,4,0.000,0.104,3216,3736,1943
$GC,18546,1.16,278.1,193.9,11.7,1776,18554,0.00,2.67,0.00,0.000,6,0.000,0.084,3216,2333,1943
$GC,18893,1.18,294.5,157.8,9.4,1837,18912,0.00,0.00,14.30,0.858,6,0.000,0.000,3216,2334,1883
$GC,19253,1.19,304.3,122.6,9.7,1900,19266,0.00,0.00,9.70,0.805,6,0.000,0.000,3216,2334,1843
$GC,19604,1.19,304.3,85.8,10.5,1962,19611,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2333,1842
$GC,19949,1.19,304.3,49.2,10.7,2023,19956,0.00,2.75,0.00,0.000,4,0.000,0.102,3216,3737,1841
$GC,19969,1.19,304.3,46.9,11.0,2026,19977,0.00,2.65,0.00,0.000,6,0.000,0.084,3217,2342,1841
$GC,20112,1.19,304.3,31.4,10.0,2051,20119,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2342,1842
$GC,20257,1.19,304.3,12.8,14.1,2076,20263,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2342,1841
$STATE,20347,end climb,SURFACE_DEPTH_REACHED
$STATE,20347,begin surface coast
$FINISH,0.1,1.010802
$STATE,20365,end surface coast,CONTROL_FINISHED_OK
$STATE,20365,begin surface
$SM_CCo,20446,0.00,0.000,0,0,1837,305.89
$SM_GC,0.92,11.52,0.00,0.00,0.044,0.000,0.000,586,2227,1837,-10.86,-0.23,305.89
$IRIDIUM_FIX,6121.73,-2835.90,300897,131321
$TT8_MAMPS,0.02301
$HUMID,1680
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,180
$24V_AH,23.2,58.276
$10V_AH,10.6,47.810
$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,26.850,123.050,429.850,0.000,0.000,27.279,34.676,261.899,45.000,0.000,0.000,14.718,4270.195,11591.631,639.146,3710.131,690.005,0.000,2249.336,0.000,3694.153,0.000,0.467
$DEVICE_MAMPS,181.779,138.827,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1452.488,1582.914,1855.800,601.169,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123128,2095
$CAP_FILE_SIZE,180172,0
$CFSIZE,260165632,230219776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.096,153.4,1
$GPS,060608,005737,6151.116,-2559.950,24,1.5,24,-18.7