version: 66.03
glider: 140
mission: 5
dive: 276
start: 6 7 108 11 48 40
data:
$ID,140
$MISSION,5
$DIVE,276
$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,-18338.125
$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,11
$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
$GPS1,113832,6135.430,-2634.212,39,1.1,39,-18.8
$_CALLS,1
$_XMS_NAKs,27
$_XMS_TOUTs,3
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-60.3
$GPS2,114821,6135.353,-2634.006,14,1.0,14,-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,322.7,6431,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.29,-194.7,0.0,0.0,0,107,0.00,0.00,-83.93,0.000,2,0.000,0.000,588,2227,3492
$GC,110,-1.29,-194.7,3.1,-6.0,11,141,12.35,2.75,-8.40,0.000,4,0.184,0.107,2673,823,3880
$GC,319,-1.29,-194.7,29.3,-10.9,47,327,0.00,2.65,0.00,0.000,6,0.000,0.083,2673,2243,3881
$GC,464,-1.29,-194.7,41.6,-7.6,72,471,0.00,2.65,0.00,0.000,4,0.000,0.091,2673,3647,3881
$GC,512,-1.29,-194.7,45.8,-8.9,80,519,0.00,2.62,0.00,0.000,6,0.000,0.081,2672,2247,3881
$GC,656,-1.29,-194.7,58.7,-9.1,105,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2247,3881
$GC,998,-1.29,-194.7,92.0,-9.3,166,1006,0.00,2.75,0.00,0.000,4,0.000,0.102,2673,824,3882
$GC,1047,-1.29,-194.7,96.7,-9.9,174,1054,0.00,2.70,0.00,0.000,6,0.000,0.084,2673,2260,3882
$GC,1394,-1.29,-194.7,127.8,-9.0,235,1401,0.00,2.80,0.00,0.000,4,0.000,0.103,2672,820,3881
$GC,1431,-1.29,-194.7,131.2,-9.0,241,1438,0.00,2.70,0.00,0.000,6,0.000,0.087,2673,2247,3882
$GC,1777,-1.29,-194.7,161.7,-8.9,302,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2247,3882
$GC,2122,-1.29,-194.7,193.7,-9.7,363,2129,0.00,2.80,0.00,0.000,4,0.000,0.107,2673,821,3881
$GC,2170,-1.29,-194.7,198.6,-10.4,371,2177,0.00,2.70,0.00,0.000,6,0.000,0.088,2673,2242,3882
$GC,2515,-1.29,-194.7,232.8,-10.2,432,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2243,3882
$GC,2860,-1.29,-194.7,267.1,-10.0,493,2867,0.00,2.80,0.00,0.000,4,0.000,0.109,2672,823,3881
$GC,2902,-1.29,-194.7,271.5,-10.5,500,2909,0.00,2.70,0.00,0.000,6,0.000,0.092,2673,2238,3881
$GC,3247,-1.29,-194.7,307.9,-10.7,561,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2238,3881
$GC,3590,-1.29,-194.7,341.0,-8.9,622,3597,0.00,2.80,0.00,0.000,4,0.000,0.112,2673,819,3881
$GC,3633,-1.29,-194.7,345.0,-9.4,629,3640,0.00,2.72,0.00,0.000,6,0.000,0.094,2673,2239,3881
$GC,3968,-1.29,-194.7,375.3,-9.1,665,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2239,3881
$GC,4287,-1.29,-194.7,402.4,-8.3,695,4291,0.00,2.80,0.00,0.000,4,0.000,0.111,2673,827,3881
$GC,4316,-1.29,-194.7,404.9,-8.8,697,4320,0.00,2.70,0.00,0.000,6,0.000,0.096,2673,2233,3881
$GC,4644,-1.29,-194.7,431.7,-8.4,727,4650,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2233,3881
$GC,4969,-1.29,-194.7,459.9,-9.2,758,4974,0.00,2.80,0.00,0.000,4,0.000,0.114,2673,823,3880
$GC,5013,-1.29,-194.7,464.0,-9.3,761,5020,0.00,2.70,0.00,0.000,6,0.000,0.094,2673,2234,3880
$GC,5342,-1.29,-194.7,490.1,-7.6,792,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2234,3880
$GC,5668,-1.29,-194.7,516.0,-7.8,823,5673,0.00,2.80,0.00,0.000,4,0.000,0.115,2673,825,3880
$GC,5697,-1.29,-194.7,518.6,-9.0,825,5701,0.00,2.70,0.00,0.000,6,0.000,0.096,2673,2231,3880
$GC,6024,-1.29,-194.7,548.0,-9.0,855,6025,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2232,3880
$GC,6341,-1.29,-194.7,578.1,-9.7,885,6345,0.00,2.80,0.00,0.000,4,0.000,0.117,2673,825,3880
$GC,6371,-1.29,-194.7,580.9,-10.0,887,6376,0.00,2.70,0.00,0.000,6,0.000,0.097,2673,2229,3880
$GC,6706,-1.29,-194.7,611.5,-9.0,912,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2229,3880
$GC,7013,-1.29,-194.7,638.6,-8.7,927,7018,0.00,2.83,0.00,0.000,4,0.000,0.117,2672,820,3880
$GC,7046,-1.29,-194.7,641.9,-9.5,928,7054,0.00,2.70,0.00,0.000,6,0.000,0.099,2673,2220,3879
$GC,7363,-1.29,-194.7,670.9,-9.0,944,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2220,3879
$GC,7673,-1.29,-194.7,697.6,-9.0,959,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2220,3879
$GC,7981,-1.29,-194.7,725.3,-9.0,974,7982,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2220,3879
$GC,8291,-1.29,-194.7,756.2,-9.9,989,8296,0.00,2.83,0.00,0.000,4,0.000,0.123,2673,824,3879
$GC,8323,-1.29,-194.7,759.9,-10.6,990,8331,0.00,2.70,0.00,0.000,6,0.000,0.101,2673,2218,3879
$GC,8640,-1.29,-194.7,790.5,-9.5,1006,8641,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2218,3878
$GC,8950,-1.29,-194.7,819.7,-9.7,1021,8954,0.00,2.83,0.00,0.000,4,0.000,0.125,2673,824,3878
$GC,8976,-1.29,-194.7,822.6,-10.2,1022,8981,0.00,2.70,0.00,0.000,6,0.000,0.103,2673,2211,3878
$GC,9293,-1.29,-194.7,854.2,-10.1,1037,9297,0.00,2.80,0.00,0.000,4,0.000,0.124,2673,829,3878
$GC,9325,-1.29,-194.7,857.7,-10.8,1038,9333,0.00,2.67,0.00,0.000,6,0.000,0.103,2673,2208,3879
$GC,9641,-1.29,-194.7,887.9,-9.4,1054,9646,0.00,2.90,0.00,0.000,4,0.000,0.127,2673,3644,3878
$GC,9685,-1.29,-194.7,892.2,-9.8,1056,9690,0.00,2.78,0.00,0.000,6,0.000,0.102,2673,2213,3878
$GC,10007,-1.29,-194.7,921.3,-8.7,1072,10008,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2213,3878
$STATE,10209,end dive,NO_VERTICAL_VELOCITY
$STATE,10210,begin apogee
$GC,10215,-0.35,0.0,921.3,0.0,1082,10384,0.95,0.00,164.68,1.371,6,0.064,0.000,2882,2338,3085
$STATE,10384,end apogee,CONTROL_FINISHED_OK
$STATE,10384,begin climb
$GC,10387,1.29,194.7,921.2,0.0,1090,10565,1.60,3.03,161.75,1.325,4,0.057,0.123,3237,3739,2291
$GC,10621,1.17,194.7,903.3,12.9,1100,10626,0.12,2.83,0.00,0.000,6,0.120,0.105,3216,2324,2290
$GC,10938,1.11,194.7,868.4,11.9,1115,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2323,2289
$GC,11247,1.05,194.7,829.8,11.7,1130,11249,0.12,0.00,0.00,0.000,6,0.115,0.000,3193,2324,2288
$GC,11555,1.05,194.7,797.2,10.6,1145,11560,0.00,2.88,0.00,0.000,4,0.000,0.127,3193,913,2288
$GC,11617,1.05,194.7,790.2,11.5,1148,11622,0.00,2.80,0.00,0.000,6,0.000,0.102,3193,2343,2288
$GC,11944,1.05,194.7,755.1,11.1,1164,11948,0.00,2.85,0.00,0.000,4,0.000,0.123,3193,3738,2287
$GC,11987,1.00,194.7,749.8,12.3,1166,11992,0.00,2.75,0.00,0.000,6,0.000,0.099,3193,2333,2287
$GC,12309,1.00,196.8,717.4,9.9,1182,12313,0.00,2.85,0.00,0.000,4,0.000,0.122,3193,918,2287
$GC,12371,1.00,201.7,711.2,9.8,1185,12385,0.00,2.75,7.20,1.068,6,0.000,0.098,3193,2337,2262
$GC,12705,1.00,201.7,678.2,10.3,1201,12706,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2337,2261
$GC,13013,1.00,201.7,645.3,11.2,1216,13014,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2337,2261
$GC,13323,1.03,223.1,614.3,9.3,1231,13349,0.00,2.92,19.45,1.141,4,0.000,0.110,3193,918,2175
$GC,13394,1.05,237.0,607.2,9.5,1234,13413,0.00,2.72,13.43,1.081,6,0.000,0.095,3193,2333,2118
$GC,13727,1.08,261.9,577.1,9.1,1261,13755,0.00,2.83,22.45,1.103,4,0.000,0.102,3193,3738,2016
$GC,13790,1.08,261.9,571.1,10.5,1266,13795,0.00,2.75,0.00,0.000,6,0.000,0.092,3193,2332,2014
$GC,14115,1.12,291.6,541.6,9.0,1296,14151,0.00,2.88,26.77,1.081,4,0.000,0.110,3193,917,1895
$GC,14179,1.14,311.0,535.4,9.3,1301,14202,0.00,2.75,17.98,1.031,6,0.000,0.093,3193,2339,1817
$GC,14523,1.15,323.9,503.1,9.6,1333,14542,0.00,0.00,12.20,1.018,6,0.000,0.000,3193,2339,1764
$GC,14863,1.15,323.9,470.2,10.4,1365,14867,0.00,2.83,0.00,0.000,4,0.000,0.109,3193,916,1761
$GC,14902,1.21,323.9,465.7,10.9,1368,14907,0.12,2.72,0.00,0.000,6,0.063,0.092,3226,2332,1761
$GC,15227,1.21,323.9,426.6,11.5,1398,15231,0.00,2.78,0.00,0.000,4,0.000,0.107,3226,3738,1760
$GC,15248,1.21,323.9,423.9,11.8,1399,15255,0.00,2.70,0.00,0.000,6,0.000,0.087,3226,2326,1760
$GC,15574,1.21,323.9,384.2,12.8,1430,15579,0.00,2.75,0.00,0.000,4,0.000,0.108,3226,918,1760
$GC,15604,1.21,323.9,380.2,13.3,1432,15608,0.00,2.70,0.00,0.000,6,0.000,0.091,3226,2329,1760
$GC,15933,1.21,323.9,338.8,12.9,1469,15939,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2329,1760
$GC,16276,1.21,323.9,294.7,12.9,1530,16283,0.00,2.75,0.00,0.000,4,0.000,0.102,3226,3738,1759
$GC,16301,1.21,323.9,291.4,13.3,1534,16309,0.00,2.70,0.00,0.000,6,0.000,0.087,3226,2326,1759
$GC,16647,1.21,323.9,249.2,11.4,1595,16655,0.00,2.75,0.00,0.000,4,0.000,0.106,3226,913,1760
$GC,16678,1.21,323.9,245.4,12.7,1600,16686,0.00,2.70,0.00,0.000,6,0.000,0.090,3227,2336,1760
$GC,17025,1.21,323.9,205.1,11.9,1661,17031,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2336,1760
$GC,17368,1.21,323.9,166.9,10.8,1722,17376,0.00,2.78,0.00,0.000,4,0.000,0.104,3227,913,1760
$GC,17405,1.21,323.9,162.7,11.6,1728,17412,0.00,2.67,0.00,0.000,6,0.000,0.088,3227,2323,1760
$GC,17753,1.21,323.9,123.3,11.0,1789,17760,0.00,2.78,0.00,0.000,4,0.000,0.103,3226,3738,1759
$GC,17784,1.21,323.9,119.2,13.0,1794,17791,0.00,2.70,0.00,0.000,6,0.000,0.086,3226,2317,1760
$GC,18130,1.23,338.6,82.1,9.5,1855,18150,0.00,0.00,13.35,0.803,6,0.000,0.000,3226,2317,1703
$GC,18489,1.23,338.6,47.4,10.7,1918,18496,0.00,2.80,0.00,0.000,4,0.000,0.100,3227,3738,1701
$GC,18520,1.23,340.1,44.1,9.9,1923,18528,0.00,2.67,0.00,0.000,6,0.000,0.084,3226,2330,1701
$GC,18664,1.23,340.1,28.9,11.5,1948,18670,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2331,1701
$GC,18807,1.23,340.1,11.9,10.7,1973,18814,0.00,2.70,0.00,0.000,4,0.000,0.099,3227,919,1701
$GC,18849,1.23,340.1,6.5,11.8,1980,18857,0.00,2.67,0.00,0.000,6,0.000,0.083,3227,2351,1701
$STATE,18890,end climb,SURFACE_DEPTH_REACHED
$STATE,18890,begin surface coast
$FINISH,0.0,1.014619
$STATE,18908,end surface coast,CONTROL_FINISHED_OK
$STATE,18908,begin surface
$SM_CCo,18990,0.00,0.000,0,0,1697,340.48
$SM_GC,0.83,11.60,0.00,0.00,0.044,0.000,0.000,588,2231,1697,-10.86,-0.14,340.48
$IRIDIUM_FIX,6112.75,-2631.88,010997,060612
$TT8_MAMPS,0.02301
$HUMID,1700
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.60
$XPDR_PINGS,213
$24V_AH,23.3,59.680
$10V_AH,10.6,49.063
$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,26.875,177.125,459.250,0.000,0.000,23.452,40.703,378.238,53.250,0.000,0.000,14.331,4074.681,10372.445,707.530,3568.645,836.996,0.000,2300.648,0.000,3564.808,0.000,0.468
$DEVICE_MAMPS,184.080,126.555,1370.629,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1377.460,1519.261,1818.329,586.091,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116683,1990
$CAP_FILE_SIZE,184968,0
$CFSIZE,260165632,229531648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.111,146.4,1
$GPS,070608,170626,6135.873,-2637.604,41,1.1,41,-18.8