version: 66.03
glider: 140
mission: 5
dive: 275
start: 6 7 108 6 34 46
data:
$ID,140
$MISSION,5
$DIVE,275
$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,-18323.164
$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,15
$R_STBD_OVSHOOT,14
$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
$GPS1,062555,6136.196,-2627.327,25,1.3,42,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-61.2
$GPS2,063427,6136.229,-2627.448,12,1.7,12,-18.8
$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,298.8,11283,-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,22,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-72.05,0.000,2,0.000,0.000,589,2222,3476
$GC,99,-1.29,-194.7,3.3,-6.2,10,130,12.20,2.75,-8.45,0.000,4,0.180,0.108,2673,826,3882
$GC,328,-1.29,-194.7,35.2,-10.9,49,336,0.00,2.65,0.00,0.000,6,0.000,0.083,2673,2243,3882
$GC,472,-1.29,-194.7,49.7,-10.3,74,479,0.00,2.72,0.00,0.000,4,0.000,0.096,2673,827,3882
$GC,508,-1.29,-194.7,53.5,-10.9,80,516,0.00,2.62,0.00,0.000,6,0.000,0.081,2673,2230,3882
$GC,854,-1.29,-194.7,84.4,-9.2,141,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2230,3882
$GC,1196,-1.29,-194.7,116.6,-9.5,202,1204,0.00,2.72,0.00,0.000,4,0.000,0.101,2673,828,3883
$GC,1239,-1.29,-194.7,120.7,-9.7,209,1246,0.00,2.65,0.00,0.000,6,0.000,0.087,2673,2227,3882
$GC,1585,-1.29,-194.7,151.5,-8.4,270,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2227,3882
$GC,1930,-1.29,-194.7,181.0,-8.9,331,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2227,3883
$GC,2273,-1.29,-194.7,214.4,-9.3,392,2280,0.00,2.75,0.00,0.000,4,0.000,0.106,2673,825,3882
$GC,2315,-1.29,-194.7,218.6,-10.5,399,2322,0.00,2.65,0.00,0.000,6,0.000,0.091,2673,2215,3883
$GC,2660,-1.29,-194.7,252.4,-9.7,460,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2215,3883
$GC,3005,-1.29,-194.7,283.7,-9.1,521,3012,0.00,2.72,0.00,0.000,4,0.000,0.108,2673,828,3883
$GC,3059,-1.29,-194.7,288.7,-9.6,530,3066,0.00,2.65,0.00,0.000,6,0.000,0.093,2674,2219,3882
$GC,3404,-1.29,-194.7,321.1,-9.7,591,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2219,3883
$GC,3745,-1.29,-194.7,354.2,-9.6,648,3750,0.00,2.75,0.00,0.000,4,0.000,0.112,2673,827,3882
$GC,3787,-1.29,-194.7,358.1,-10.0,651,3791,0.00,2.65,0.00,0.000,6,0.000,0.094,2673,2210,3882
$GC,4116,-1.29,-194.7,390.0,-9.9,681,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3882
$GC,4441,-1.29,-194.7,421.9,-9.6,712,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2210,3882
$GC,4760,-1.29,-194.7,451.8,-9.3,742,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2210,3882
$GC,5078,-1.29,-194.7,480.8,-9.1,772,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2210,3882
$GC,5397,-1.29,-194.7,511.1,-9.4,802,5401,0.00,2.75,0.00,0.000,4,0.000,0.115,2673,825,3882
$GC,5437,-1.29,-194.7,514.9,-9.7,805,5441,0.00,2.65,0.00,0.000,6,0.000,0.096,2673,2207,3882
$GC,5764,-1.29,-194.7,546.8,-9.6,835,5766,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2208,3882
$GC,6081,-1.29,-194.7,575.3,-8.8,865,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2208,3882
$GC,6409,-1.29,-194.7,604.5,-9.1,894,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2208,3881
$GC,6718,-1.29,-194.7,635.1,-10.9,909,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2208,3881
$GC,7028,-1.29,-194.7,668.5,-10.8,924,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2208,3881
$GC,7338,-1.29,-194.7,697.3,-8.9,939,7343,0.00,2.88,0.00,0.000,4,0.000,0.120,2674,3649,3881
$GC,7371,-1.29,-194.7,700.5,-9.3,940,7379,0.00,2.75,0.00,0.000,6,0.000,0.097,2674,2213,3881
$GC,7687,-1.29,-194.7,729.9,-9.9,956,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2213,3881
$GC,7997,-1.29,-194.7,763.0,-10.7,971,7998,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3880
$GC,8305,-1.29,-194.7,796.4,-10.8,986,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2212,3879
$GC,8615,-1.29,-194.7,827.9,-10.2,1001,8619,0.00,2.90,0.00,0.000,4,0.000,0.123,2674,3648,3879
$GC,8655,-1.29,-194.7,832.0,-10.5,1003,8660,0.00,2.80,0.00,0.000,6,0.000,0.104,2673,2210,3879
$GC,8982,-1.29,-194.7,864.8,-9.8,1019,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2211,3879
$GC,9292,-1.29,-194.7,892.2,-8.1,1034,9297,0.00,2.88,0.00,0.000,4,0.000,0.137,2674,824,3879
$GC,9319,-1.29,-194.7,894.5,-8.7,1035,9324,0.00,2.70,0.00,0.000,6,0.000,0.104,2673,2208,3879
$STATE,9612,end dive,NO_VERTICAL_VELOCITY
$STATE,9612,begin apogee
$GC,9618,-0.35,0.0,902.0,0.0,1049,9786,0.98,0.00,164.93,1.357,6,0.070,0.000,2885,2336,3085
$STATE,9787,end apogee,CONTROL_FINISHED_OK
$STATE,9787,begin climb
$GC,9789,1.29,194.7,901.9,0.0,1057,9960,1.60,3.05,161.73,1.318,4,0.064,0.126,3235,917,2291
$GC,9978,1.28,242.9,895.0,8.3,1065,10030,0.00,2.83,42.33,1.274,6,0.000,0.106,3234,2332,2093
$GC,10341,1.21,242.9,853.0,13.5,1083,10345,0.00,2.90,0.00,0.000,4,0.000,0.127,3235,916,2089
$GC,10373,1.16,242.9,847.9,13.8,1084,10381,0.12,2.78,0.00,0.000,6,0.115,0.106,3213,2321,2089
$GC,10689,1.16,242.9,806.6,13.7,1100,10693,0.00,2.95,0.00,0.000,4,0.000,0.130,3213,3738,2088
$GC,10733,1.10,242.9,800.0,15.6,1102,10737,0.00,2.83,0.00,0.000,6,0.000,0.103,3213,2316,2088
$GC,11054,1.10,242.9,759.6,13.2,1118,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2316,2088
$GC,11363,1.10,242.9,720.9,12.4,1133,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2316,2087
$GC,11672,1.10,242.9,687.1,10.3,1148,11677,0.00,2.88,0.00,0.000,4,0.000,0.113,3213,3738,2087
$GC,11704,1.04,242.9,683.3,11.0,1149,11712,0.12,2.78,0.00,0.000,6,0.114,0.097,3190,2317,2087
$GC,12020,1.04,242.9,650.4,10.7,1165,12022,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2317,2087
$GC,12330,1.06,254.0,618.9,9.6,1180,12341,0.00,0.00,9.68,1.107,6,0.000,0.000,3190,2317,2049
$GC,12641,1.06,254.0,586.5,10.8,1200,12646,0.00,2.85,0.00,0.000,4,0.000,0.111,3190,3738,2048
$GC,12673,1.06,254.0,582.7,11.5,1202,12682,0.00,2.72,0.00,0.000,6,0.000,0.095,3190,2327,2048
$GC,12999,1.06,254.0,549.1,10.5,1233,13004,0.00,2.80,0.00,0.000,4,0.000,0.116,3190,919,2048
$GC,13027,1.06,254.0,546.1,10.8,1235,13032,0.00,2.72,0.00,0.000,6,0.000,0.094,3190,2335,2048
$GC,13354,1.11,293.7,515.3,8.6,1265,13394,0.00,0.00,35.67,1.086,6,0.000,0.000,3190,2336,1887
$GC,13712,1.11,296.2,483.1,9.9,1299,13713,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2335,1883
$GC,14030,1.11,296.2,449.2,10.6,1329,14031,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2336,1882
$GC,14348,1.11,296.2,415.3,10.7,1359,14353,0.00,2.80,0.00,0.000,4,0.000,0.110,3190,919,1882
$GC,14377,1.11,296.2,412.1,10.7,1361,14382,0.00,2.70,0.00,0.000,6,0.000,0.092,3190,2330,1882
$GC,14702,1.11,296.2,376.6,11.0,1391,14704,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2330,1881
$GC,15025,1.11,296.2,340.7,11.3,1428,15032,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2330,1881
$GC,15370,1.11,296.2,302.5,10.2,1489,15376,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2330,1881
$GC,15714,1.13,317.8,267.8,9.3,1550,15740,0.00,0.00,20.95,0.920,6,0.000,0.000,3190,2330,1788
$GC,16079,1.19,326.2,233.7,9.7,1614,16093,0.12,0.00,8.30,0.848,6,0.064,0.000,3223,2329,1754
$GC,16431,1.19,326.2,191.3,12.9,1676,16439,0.00,2.78,0.00,0.000,4,0.000,0.104,3223,911,1753
$GC,16462,1.19,326.2,187.0,14.3,1681,16470,0.00,2.70,0.00,0.000,6,0.000,0.088,3223,2329,1754
$GC,16806,1.19,326.2,142.9,11.9,1742,16813,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2329,1753
$GC,17151,1.19,326.2,99.8,12.6,1803,17158,0.00,2.75,0.00,0.000,4,0.000,0.103,3223,916,1753
$GC,17181,1.19,326.2,95.7,13.5,1808,17189,0.00,2.65,0.00,0.000,6,0.000,0.086,3223,2318,1753
$GC,17525,1.20,337.6,56.8,9.6,1869,17546,0.00,2.83,11.10,0.785,4,0.000,0.100,3223,3730,1706
$GC,17558,1.23,364.6,53.8,9.1,1874,17592,0.00,2.72,24.25,0.752,6,0.000,0.084,3223,2309,1596
$GC,17932,1.23,364.6,15.5,10.4,1939,17940,0.00,2.80,0.00,0.000,4,0.000,0.098,3223,3739,1591
$GC,17985,1.23,364.6,8.7,12.3,1948,17993,0.00,2.72,0.00,0.000,6,0.000,0.084,3223,2312,1591
$STATE,18047,end climb,SURFACE_DEPTH_REACHED
$STATE,18048,begin surface coast
$FINISH,0.1,1.027616
$STATE,18071,end surface coast,CONTROL_FINISHED_OK
$STATE,18071,begin surface
$SM_CCo,18152,0.00,0.000,0,0,1588,367.46
$SM_GC,0.80,11.57,0.00,0.00,0.044,0.000,0.000,589,2230,1588,-10.85,-0.17,367.46
$IRIDIUM_FIX,6112.75,-2619.74,010997,000017
$TT8_MAMPS,0.02301
$HUMID,1682
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,16.80
$XPDR_PINGS,200
$24V_AH,23.3,59.481
$10V_AH,10.6,48.888
$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,26.725,116.575,478.925,0.000,0.000,29.203,36.931,287.899,50.000,0.000,0.000,12.778,3967.018,9859.762,665.341,3444.742,703.245,0.000,2155.899,0.000,3434.293,0.000,0.467
$DEVICE_MAMPS,180.245,137.293,1356.823,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1359.393,1485.041,1800.855,575.742,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116914,1963
$CAP_FILE_SIZE,166013,0
$CFSIZE,260165632,229650432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.129,202.1,1
$GPS,070608,113832,6135.430,-2634.212,39,1.1,39,-18.8