version: 66.03
glider: 140
mission: 5
dive: 273
start: 6 6 108 18 41 4
data:
$ID,140
$MISSION,5
$DIVE,273
$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,-18293.398
$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,14
$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
$GPS1,183255,6141.745,-2613.279,44,1.0,44,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-57.5
$GPS2,184045,6141.776,-2613.400,12,1.2,12,-18.7
$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,269.2,24903,-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,-194.7,0.0,0.0,0,112,0.00,0.00,-89.30,0.000,2,0.000,0.000,591,2229,3557
$GC,115,-1.29,-194.7,3.4,-6.0,12,146,12.35,2.78,-6.80,0.000,4,0.186,0.107,2673,827,3882
$GC,217,-1.29,-194.7,19.0,-9.6,28,224,0.00,2.65,0.00,0.000,6,0.000,0.082,2673,2244,3882
$GC,360,-1.29,-194.7,34.3,-10.3,53,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2244,3882
$GC,502,-1.29,-194.7,47.4,-8.2,78,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2244,3882
$GC,646,-1.29,-194.7,56.8,-7.2,103,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2244,3883
$GC,989,-1.29,-194.7,85.4,-8.1,164,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2244,3883
$GC,1331,-1.29,-194.7,110.3,-7.5,225,1339,0.00,2.78,0.00,0.000,4,0.000,0.102,2673,821,3883
$GC,1380,-1.29,-194.7,114.1,-7.9,233,1387,0.00,2.67,0.00,0.000,6,0.000,0.085,2674,2234,3883
$GC,1726,-1.29,-194.7,142.0,-8.0,294,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2234,3883
$GC,2071,-1.29,-194.7,171.2,-8.8,355,2078,0.00,2.75,0.00,0.000,4,0.000,0.105,2673,827,3883
$GC,2119,-1.29,-194.7,175.6,-9.2,363,2126,0.00,2.65,0.00,0.000,6,0.000,0.090,2673,2223,3883
$GC,2463,-1.29,-194.7,207.9,-10.2,424,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2223,3883
$GC,2808,-1.29,-194.7,241.1,-9.9,485,2815,0.00,2.75,0.00,0.000,4,0.000,0.108,2673,828,3883
$GC,2845,-1.29,-194.7,244.9,-10.5,491,2852,0.00,2.65,0.00,0.000,6,0.000,0.093,2673,2213,3883
$GC,3190,-1.29,-194.7,278.1,-9.3,552,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3883
$GC,3534,-1.29,-194.7,310.4,-9.0,613,3541,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3883
$GC,3879,-1.29,-194.7,342.0,-9.5,674,3887,0.00,2.75,0.00,0.000,4,0.000,0.113,2673,824,3883
$GC,3916,-1.29,-194.7,345.6,-10.0,680,3923,0.00,2.67,0.00,0.000,6,0.000,0.096,2674,2213,3883
$GC,4251,-1.29,-194.7,378.8,-9.8,715,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3883
$GC,4571,-1.29,-194.7,409.4,-9.3,745,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3882
$GC,4888,-1.29,-194.7,439.5,-9.6,775,4893,0.00,2.78,0.00,0.000,4,0.000,0.115,2673,820,3882
$GC,4928,-1.29,-194.7,443.5,-10.2,778,4933,0.00,2.65,0.00,0.000,6,0.000,0.096,2673,2205,3882
$GC,5255,-1.29,-194.7,473.2,-9.3,808,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3882
$GC,5571,-1.29,-194.7,499.9,-8.1,838,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3882
$GC,5890,-1.29,-194.7,525.1,-8.1,868,5891,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3882
$GC,6209,-1.29,-194.7,552.3,-9.1,898,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3881
$GC,6527,-1.29,-194.7,582.7,-9.5,928,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3881
$GC,6842,-1.29,-194.7,611.3,-8.9,952,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3881
$GC,7152,-1.29,-194.7,637.9,-8.7,967,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3880
$GC,7460,-1.29,-194.7,664.3,-8.4,982,7461,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3881
$GC,7770,-1.29,-194.7,690.0,-7.9,997,7775,0.00,2.80,0.00,0.000,4,0.000,0.123,2673,824,3880
$GC,7811,-1.29,-194.7,693.5,-9.1,999,7815,0.00,2.67,0.00,0.000,6,0.000,0.101,2673,2200,3880
$GC,8138,-1.29,-194.7,721.0,-8.3,1015,8142,0.00,2.85,0.00,0.000,4,0.000,0.113,2673,3647,3880
$GC,8178,-1.29,-194.7,724.5,-8.9,1017,8183,0.00,2.78,0.00,0.000,6,0.000,0.098,2673,2205,3880
$GC,8506,-1.29,-194.7,752.7,-8.8,1033,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2205,3879
$GC,8816,-1.29,-194.7,779.7,-8.5,1048,8820,0.00,2.83,0.00,0.000,4,0.000,0.131,2673,824,3880
$GC,8849,-1.29,-194.7,782.7,-8.6,1049,8856,0.00,2.67,0.00,0.000,6,0.000,0.103,2673,2201,3880
$GC,9165,-1.29,-194.7,807.7,-8.1,1065,9169,0.00,2.88,0.00,0.000,4,0.000,0.120,2674,3646,3879
$GC,9214,-1.29,-194.7,812.0,-8.7,1067,9219,0.00,2.83,0.00,0.000,6,0.000,0.103,2673,2193,3879
$GC,9531,-1.29,-194.7,835.5,-7.1,1082,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2193,3879
$GC,9840,-1.29,-194.7,859.9,-8.3,1097,9844,0.00,2.92,0.00,0.000,4,0.000,0.122,2674,3645,3879
$GC,9872,-1.29,-194.7,862.8,-8.6,1098,9880,0.00,2.83,0.00,0.000,6,0.000,0.105,2673,2199,3879
$GC,10189,-1.29,-194.7,891.4,-9.0,1114,10190,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,3878
$GC,10497,-1.29,-194.7,918.5,-8.4,1129,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2198,3878
$GC,10807,-1.29,-194.7,942.6,-8.2,1144,10808,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,3877
$GC,11116,-1.29,-194.7,970.1,-8.9,1159,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2199,3878
$STATE,11361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11361,begin apogee
$GC,11367,-0.35,0.0,991.6,8.3,1171,11537,1.02,0.00,166.60,1.424,6,0.101,0.000,2879,2332,3085
$STATE,11538,end apogee,CONTROL_FINISHED_OK
$STATE,11538,begin climb
$GC,11540,1.29,194.7,997.5,0.0,1179,11718,1.62,3.05,163.07,1.389,4,0.059,0.134,3238,916,2290
$GC,11729,1.21,194.7,983.9,12.7,1187,11733,0.00,2.80,0.00,0.000,6,0.000,0.100,3238,2333,2290
$GC,12045,1.12,194.7,944.0,12.1,1202,12047,0.17,0.00,0.00,0.000,6,0.112,0.000,3207,2333,2288
$GC,12355,1.09,206.3,912.8,9.6,1217,12368,0.00,0.00,11.20,1.253,6,0.000,0.000,3207,2333,2244
$GC,12663,1.04,206.3,881.8,10.3,1232,12664,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2333,2243
$GC,12974,1.00,206.3,847.2,11.6,1247,12975,0.15,0.00,0.00,0.000,6,0.111,0.000,3179,2333,2242
$GC,13283,1.04,236.9,818.6,8.9,1262,13313,0.00,0.00,27.62,1.285,6,0.000,0.000,3179,2333,2119
$GC,13611,1.06,252.6,786.9,9.5,1278,13635,0.00,2.90,14.77,1.230,4,0.000,0.116,3179,3738,2054
$GC,13651,1.10,288.7,782.8,8.7,1279,13690,0.00,2.85,32.70,1.235,6,0.000,0.104,3179,2323,1908
$GC,14015,1.10,288.7,745.2,11.7,1297,14019,0.00,2.90,0.00,0.000,4,0.000,0.130,3179,914,1903
$GC,14036,1.10,288.7,742.2,12.4,1298,14041,0.00,2.75,0.00,0.000,6,0.000,0.100,3179,2320,1902
$GC,14356,1.10,288.7,704.1,11.5,1314,14358,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2320,1902
$GC,14667,1.10,288.7,671.3,10.1,1329,14668,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2320,1902
$GC,14976,1.14,318.7,644.5,9.0,1344,15005,0.12,0.00,26.83,1.172,6,0.065,0.000,3210,2321,1785
$GC,15304,1.14,318.7,603.2,12.6,1360,15309,0.00,2.83,0.00,0.000,4,0.000,0.114,3210,912,1781
$GC,15331,1.14,318.7,599.4,13.3,1361,15335,0.00,2.72,0.00,0.000,6,0.000,0.096,3210,2317,1781
$GC,15656,1.14,318.7,558.7,12.2,1391,15661,0.00,2.85,0.00,0.000,4,0.000,0.114,3210,3738,1781
$GC,15677,1.14,318.7,555.9,12.7,1392,15685,0.00,2.78,0.00,0.000,6,0.000,0.094,3210,2307,1780
$GC,16005,1.14,318.7,518.4,11.7,1423,16006,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2306,1780
$GC,16321,1.14,318.7,481.5,11.7,1453,16322,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2306,1780
$GC,16641,1.14,318.7,446.2,10.8,1483,16646,0.00,2.85,0.00,0.000,4,0.000,0.108,3210,3738,1780
$GC,16670,1.14,318.7,442.9,10.7,1485,16674,0.00,2.78,0.00,0.000,6,0.000,0.090,3210,2304,1780
$GC,16995,1.14,318.7,408.6,10.5,1515,16996,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2304,1780
$GC,17314,1.14,318.7,374.0,11.0,1545,17319,0.00,2.85,0.00,0.000,4,0.000,0.107,3210,3738,1780
$GC,17335,1.14,318.7,371.3,12.0,1546,17343,0.00,2.72,0.00,0.000,6,0.000,0.090,3210,2315,1780
$GC,17667,1.16,335.0,336.5,9.4,1588,17689,0.00,2.80,14.90,0.958,4,0.000,0.108,3210,915,1718
$GC,17702,1.16,335.0,332.9,11.4,1593,17709,0.00,2.72,0.00,0.000,6,0.000,0.091,3210,2327,1717
$GC,18047,1.16,335.0,297.7,10.1,1654,18053,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2327,1716
$GC,18393,1.16,337.3,263.2,9.9,1715,18400,0.00,2.78,0.00,0.000,4,0.000,0.106,3210,3737,1715
$GC,18418,1.16,337.3,260.4,11.1,1719,18425,0.00,2.72,0.00,0.000,6,0.000,0.087,3210,2318,1715
$GC,18763,1.17,346.0,224.8,9.7,1780,18777,0.00,0.00,10.70,0.877,6,0.000,0.000,3210,2319,1674
$GC,19115,1.17,346.0,188.7,11.9,1842,19122,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2319,1672
$GC,19460,1.17,346.0,146.5,14.0,1903,19467,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2319,1672
$GC,19803,1.17,346.0,103.0,11.9,1964,19811,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2319,1672
$GC,20146,1.17,346.0,61.0,11.6,2025,20153,0.00,2.80,0.00,0.000,4,0.000,0.101,3210,3738,1671
$GC,20183,1.17,346.0,56.4,11.9,2031,20190,0.00,2.70,0.00,0.000,6,0.000,0.085,3210,2327,1672
$GC,20527,1.21,371.5,23.1,9.1,2092,20556,0.00,2.85,22.23,0.764,4,0.000,0.100,3211,912,1570
$GC,20597,1.27,371.5,15.6,11.7,2103,20605,0.12,2.65,0.00,0.000,6,0.062,0.082,3244,2317,1569
$STATE,20710,end climb,SURFACE_DEPTH_REACHED
$STATE,20710,begin surface coast
$FINISH,0.4,1.027579
$STATE,20725,end surface coast,CONTROL_FINISHED_OK
$STATE,20725,begin surface
$SM_CCo,20806,0.00,0.000,0,0,1563,373.59
$SM_GC,0.78,11.65,0.00,0.00,0.043,0.000,0.000,593,2225,1563,-10.84,-0.28,373.59
$IRIDIUM_FIX,6121.73,-2609.55,310897,121250
$TT8_MAMPS,0.02301
$HUMID,1688
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,16.60
$XPDR_PINGS,236
$24V_AH,23.2,59.093
$10V_AH,10.6,48.533
$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,27.225,122.725,490.625,0.000,0.000,28.948,34.672,256.795,59.000,0.000,0.000,12.603,4310.981,11802.100,702.242,3731.016,708.292,0.000,2317.630,0.000,3729.519,0.000,0.467
$DEVICE_MAMPS,186.381,137.293,1424.319,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1472.942,1596.408,1883.387,614.668,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126107,2125
$CAP_FILE_SIZE,182474,0
$CFSIZE,260165632,229822464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.140,208.8,1
$GPS,070608,002908,6139.322,-2621.238,43,1.2,43,-18.7