version: 66.03
glider: 140
mission: 5
dive: 274
start: 6 7 108 0 37 46
data:
$ID,140
$MISSION,5
$DIVE,274
$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,-18309.758
$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,11
$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
$GPS1,002908,6139.322,-2621.238,43,1.2,43,-18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-56.0
$GPS2,003727,6139.328,-2621.410,15,1.3,15,-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,275.8,16853,-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,-194.7,0.0,0.0,0,105,0.00,0.00,-82.35,0.000,2,0.000,0.000,593,2224,3494
$GC,108,-1.29,-194.7,3.4,-5.9,11,139,12.30,2.78,-7.95,0.000,4,0.184,0.110,2671,827,3882
$GC,271,-1.24,-194.7,25.9,-10.4,38,278,0.00,2.67,0.00,0.000,6,0.000,0.083,2671,2244,3882
$GC,413,-1.24,-194.7,39.5,-8.8,63,421,0.00,2.72,0.00,0.000,4,0.000,0.096,2671,826,3883
$GC,458,-1.20,-194.7,43.5,-9.5,70,466,0.12,2.60,0.00,0.000,6,0.111,0.081,2694,2217,3883
$GC,603,-1.20,-194.7,55.6,-9.1,95,610,0.00,2.70,0.00,0.000,4,0.000,0.097,2694,820,3883
$GC,633,-1.20,-194.7,58.6,-9.7,100,640,0.00,2.58,0.00,0.000,6,0.000,0.081,2694,2197,3883
$GC,979,-1.20,-194.7,83.8,-6.1,161,986,0.00,2.78,0.00,0.000,4,0.000,0.097,2694,3646,3883
$GC,1032,-1.20,-194.7,87.3,-6.5,170,1040,0.00,2.72,0.00,0.000,6,0.000,0.083,2694,2192,3884
$GC,1377,-1.20,-194.7,111.8,-7.9,231,1384,0.00,2.65,0.00,0.000,4,0.000,0.103,2693,824,3884
$GC,1415,-1.20,-194.7,114.7,-7.9,237,1422,0.00,2.60,0.00,0.000,6,0.000,0.087,2694,2195,3884
$GC,1760,-1.20,-194.7,140.8,-7.5,298,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2194,3884
$GC,2105,-1.20,-194.7,168.8,-8.5,359,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2195,3884
$GC,2448,-1.20,-194.7,199.1,-9.3,420,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2195,3884
$GC,2794,-1.20,-194.7,229.7,-8.9,481,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2195,3884
$GC,3138,-1.20,-194.7,259.2,-9.1,542,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2195,3883
$GC,3483,-1.20,-194.7,290.8,-9.5,603,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2195,3884
$GC,3826,-1.20,-194.7,321.4,-8.4,664,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2195,3884
$GC,4176,-1.20,-194.7,352.2,-9.0,724,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2195,3883
$GC,4495,-1.20,-194.7,381.1,-9.2,754,4499,0.00,2.72,0.00,0.000,4,0.000,0.113,2694,823,3883
$GC,4523,-1.20,-194.7,384.0,-10.1,756,4527,0.00,2.62,0.00,0.000,6,0.000,0.094,2694,2191,3883
$GC,4850,-1.20,-194.7,413.9,-9.0,786,4854,0.00,2.78,0.00,0.000,4,0.000,0.097,2694,3645,3883
$GC,4891,-1.25,-194.7,417.8,-9.7,789,4895,0.00,2.78,0.00,0.000,6,0.000,0.090,2694,2184,3883
$GC,5218,-1.25,-194.7,448.1,-9.4,819,5219,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2184,3883
$GC,5539,-1.25,-194.7,477.2,-9.0,849,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2183,3883
$GC,5864,-1.25,-194.7,504.7,-8.1,880,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2184,3883
$GC,6183,-1.25,-194.7,530.2,-8.4,910,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2183,3882
$GC,6501,-1.25,-194.7,558.1,-8.9,940,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2183,3882
$GC,6820,-1.25,-194.7,586.8,-8.6,970,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2183,3882
$GC,7144,-1.25,-194.7,614.6,-8.8,993,7148,0.00,2.90,0.00,0.000,4,0.000,0.113,2694,3645,3882
$GC,7185,-1.29,-194.7,618.3,-9.4,995,7190,0.00,2.78,0.00,0.000,6,0.000,0.096,2693,2199,3882
$GC,7512,-1.29,-194.7,647.4,-8.9,1011,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2199,3882
$GC,7822,-1.29,-194.7,672.2,-7.5,1026,7824,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2200,3881
$GC,8131,-1.29,-194.7,693.4,-6.7,1041,8133,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2200,3881
$GC,8441,-1.29,-194.7,715.9,-8.0,1056,8445,0.00,2.90,0.00,0.000,4,0.000,0.117,2694,3649,3881
$GC,8485,-1.34,-194.7,719.9,-8.3,1058,8491,0.12,2.80,0.00,0.000,6,0.067,0.100,2662,2202,3881
$GC,8808,-1.34,-194.7,750.8,-9.8,1074,8813,0.00,2.83,0.00,0.000,4,0.000,0.128,2662,821,3881
$GC,8851,-1.34,-194.7,755.7,-11.2,1076,8856,0.00,2.67,0.00,0.000,6,0.000,0.103,2662,2194,3881
$GC,9175,-1.34,-194.7,789.1,-10.1,1092,9180,0.00,2.95,0.00,0.000,4,0.000,0.127,2662,3651,3880
$GC,9201,-1.34,-194.7,792.2,-11.1,1093,9206,0.00,2.83,0.00,0.000,6,0.000,0.101,2662,2196,3880
$GC,9518,-1.34,-194.7,822.1,-9.7,1108,9519,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2197,3880
$GC,9828,-1.34,-194.7,852.7,-9.6,1123,9829,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2197,3880
$GC,10136,-1.34,-194.7,883.5,-10.4,1138,10137,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2196,3879
$GC,10445,-1.34,-194.7,918.7,-11.8,1153,10450,0.00,2.95,0.00,0.000,4,0.000,0.125,2662,3649,3879
$GC,10489,-1.34,-194.7,923.9,-11.8,1155,10494,0.00,2.83,0.00,0.000,6,0.000,0.107,2662,2204,3879
$GC,10810,-1.34,-194.7,957.0,-9.7,1171,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2204,3879
$GC,11119,-1.34,-194.7,979.1,-7.2,1186,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2204,3879
$STATE,11281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11281,begin apogee
$GC,11288,-0.35,0.0,990.4,6.5,1194,11459,1.08,0.00,166.93,1.417,6,0.096,0.000,2880,2328,3085
$STATE,11459,end apogee,CONTROL_FINISHED_OK
$STATE,11459,begin climb
$GC,11462,1.29,194.7,994.1,0.0,1202,11634,1.62,3.05,164.23,1.386,4,0.060,0.130,3238,3738,2291
$GC,11651,1.17,194.7,978.4,12.6,1212,11656,0.12,2.88,0.00,0.000,6,0.120,0.108,3217,2331,2290
$GC,11973,1.11,194.7,939.3,11.6,1228,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2330,2288
$GC,12282,1.05,194.7,905.2,11.2,1243,12287,0.15,2.95,0.00,0.000,4,0.112,0.127,3186,3738,2288
$GC,12323,1.01,194.7,900.8,10.3,1245,12327,0.00,2.85,0.00,0.000,6,0.000,0.108,3186,2329,2288
$GC,12650,1.06,235.9,872.1,8.6,1261,12695,0.00,3.00,36.17,1.310,4,0.000,0.122,3186,3739,2121
$GC,12723,1.06,235.9,864.2,10.9,1264,12727,0.00,2.83,0.00,0.000,6,0.000,0.107,3186,2350,2120
$GC,13045,1.06,235.9,830.6,10.6,1280,13049,0.00,3.00,0.00,0.000,4,0.000,0.134,3186,911,2120
$GC,13071,1.06,235.9,827.3,10.7,1281,13076,0.00,2.85,0.00,0.000,6,0.000,0.104,3186,2354,2120
$GC,13388,1.07,245.7,795.8,9.7,1296,13399,0.00,0.00,9.45,1.188,6,0.000,0.000,3186,2354,2083
$GC,13697,1.07,245.7,762.0,11.3,1311,13701,0.00,2.92,0.00,0.000,4,0.000,0.119,3186,911,2082
$GC,13723,1.07,245.7,758.5,12.6,1312,13728,0.00,2.83,0.00,0.000,6,0.000,0.100,3186,2354,2082
$GC,14040,1.07,245.7,721.6,11.8,1327,14041,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2354,2082
$GC,14348,1.07,245.7,682.0,12.9,1342,14349,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2354,2081
$GC,14658,1.07,245.7,642.9,13.5,1357,14659,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2354,2081
$GC,14967,1.07,245.7,601.0,12.7,1372,14968,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2354,2081
$GC,15285,1.07,245.7,565.5,10.8,1401,15290,0.00,2.85,0.00,0.000,4,0.000,0.114,3186,917,2081
$GC,15324,1.07,245.7,561.1,10.7,1404,15329,0.00,2.75,0.00,0.000,6,0.000,0.093,3186,2353,2082
$GC,15649,1.08,253.2,530.1,9.7,1434,15663,0.00,2.83,7.88,1.011,4,0.000,0.105,3186,3738,2052
$GC,15679,1.08,253.2,526.7,10.6,1436,15687,0.00,2.70,0.00,0.000,6,0.000,0.091,3186,2346,2051
$GC,16005,1.08,253.7,495.0,10.0,1467,16006,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2346,2051
$GC,16325,1.08,253.7,462.0,10.5,1497,16330,0.00,2.83,0.00,0.000,4,0.000,0.112,3185,915,2052
$GC,16343,1.08,253.7,459.9,10.4,1498,16347,0.00,2.75,0.00,0.000,6,0.000,0.093,3186,2356,2052
$GC,16668,1.08,253.7,425.5,10.4,1528,16669,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2356,2051
$GC,16988,1.11,275.5,391.6,9.2,1558,17014,0.00,2.95,20.23,0.993,4,0.000,0.106,3186,920,1961
$GC,17042,1.15,275.5,385.8,10.9,1562,17050,0.10,2.75,0.00,0.000,6,0.070,0.091,3213,2344,1960
$GC,17369,1.15,275.5,349.0,10.7,1593,17375,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2344,1958
$GC,17713,1.15,279.2,313.7,9.9,1654,17721,0.00,0.00,4.60,0.726,6,0.000,0.000,3213,2344,1946
$GC,18059,1.15,279.2,277.2,11.5,1715,18066,0.00,2.80,0.00,0.000,4,0.000,0.105,3213,915,1945
$GC,18090,1.15,279.2,273.7,10.4,1720,18098,0.00,2.72,0.00,0.000,6,0.000,0.089,3213,2346,1945
$GC,18436,1.15,279.8,237.7,10.0,1781,18442,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2346,1945
$GC,18779,1.18,301.6,206.0,9.2,1842,18807,0.00,2.80,20.62,0.876,4,0.000,0.104,3213,910,1854
$GC,18825,1.18,301.6,201.4,10.2,1849,18833,0.00,2.72,0.00,0.000,6,0.000,0.086,3213,2337,1853
$GC,19170,1.18,301.6,167.4,10.7,1910,19177,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2338,1852
$GC,19514,1.18,301.6,132.7,10.4,1971,19521,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2338,1851
$GC,19857,1.19,310.0,98.9,9.7,2032,19870,0.00,0.00,8.30,0.782,6,0.000,0.000,3213,2338,1820
$GC,20208,1.19,310.0,60.7,10.5,2094,20216,0.00,2.78,0.00,0.000,4,0.000,0.102,3213,908,1819
$GC,20234,1.19,310.0,57.7,11.2,2098,20241,0.00,2.67,0.00,0.000,6,0.000,0.084,3213,2330,1819
$GC,20578,1.19,310.0,18.9,11.9,2159,20585,0.00,2.72,0.00,0.000,4,0.000,0.099,3213,917,1819
$GC,20657,1.24,310.0,8.5,12.7,2172,20664,0.00,2.62,0.00,0.000,6,0.000,0.083,3213,2320,1819
$STATE,20708,end climb,SURFACE_DEPTH_REACHED
$STATE,20709,begin surface coast
$FINISH,0.1,1.027590
$STATE,20731,end surface coast,CONTROL_FINISHED_OK
$STATE,20731,begin surface
$SM_CCo,20812,0.00,0.000,0,0,1815,311.29
$SM_GC,0.87,11.45,0.00,0.00,0.041,0.000,0.000,590,2224,1815,-10.85,-0.31,311.29
$IRIDIUM_FIX,6117.23,-2611.62,310897,181806
$TT8_MAMPS,0.02301
$HUMID,1674
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.70
$XPDR_PINGS,242
$24V_AH,23.2,59.286
$10V_AH,10.6,48.719
$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,27.075,140.000,438.400,0.000,0.000,28.344,34.073,284.925,60.500,0.000,0.000,15.731,4462.253,11586.303,686.590,3796.128,757.341,0.000,2317.993,0.000,3805.470,0.000,0.467
$DEVICE_MAMPS,184.080,136.526,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1514.928,1668.945,1929.694,633.473,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129356,2185
$CAP_FILE_SIZE,188145,0
$CFSIZE,260165632,229715968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.221,173.9,1
$GPS,070608,062555,6136.196,-2627.327,25,1.3,42,-18.8