version: 66.03
glider: 140
mission: 5
dive: 321
start: 6 17 108 20 36 34
data:
$ID,140
$MISSION,5
$DIVE,321
$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,-19111.48
$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,12
$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
$GPS1,202801,6201.580,-2545.848,38,0.8,43,-18.6
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.6
$GPS2,203615,6201.575,-2545.812,15,1.4,15,-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,245.3,65604,-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,21,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-72.40,0.000,2,0.000,0.000,589,2223,3446
$GC,99,-1.29,-194.7,3.2,-5.6,10,129,12.32,2.78,-9.52,0.000,4,0.184,0.107,2672,3649,3881
$GC,356,-1.29,-194.7,34.0,-10.3,54,364,0.00,2.62,0.00,0.000,6,0.000,0.078,2672,2234,3881
$GC,502,-1.29,-194.7,48.9,-10.4,79,509,0.00,2.72,0.00,0.000,4,0.000,0.096,2672,3645,3881
$GC,539,-1.29,-194.7,52.7,-10.3,85,546,0.00,2.62,0.00,0.000,6,0.000,0.078,2672,2242,3881
$GC,884,-1.29,-194.7,86.4,-10.3,146,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2241,3882
$GC,1231,-1.29,-194.7,119.3,-8.2,207,1238,0.00,2.75,0.00,0.000,4,0.000,0.102,2672,824,3883
$GC,1278,-1.29,-194.7,123.5,-8.5,215,1285,0.00,2.70,0.00,0.000,6,0.000,0.087,2672,2244,3882
$GC,1624,-1.29,-194.7,150.9,-7.9,276,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3883
$GC,1969,-1.29,-194.7,180.2,-9.0,337,1976,0.00,2.78,0.00,0.000,4,0.000,0.104,2672,826,3883
$GC,2012,-1.29,-194.7,184.0,-9.4,344,2019,0.00,2.70,0.00,0.000,6,0.000,0.091,2672,2241,3883
$GC,2358,-1.29,-194.7,214.5,-9.2,405,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2241,3882
$GC,2703,-1.29,-194.7,246.8,-9.6,466,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2241,3883
$GC,3048,-1.29,-194.7,279.1,-9.2,527,3055,0.00,2.80,0.00,0.000,4,0.000,0.107,2672,827,3883
$GC,3096,-1.29,-194.7,283.7,-9.9,535,3103,0.00,2.72,0.00,0.000,6,0.000,0.096,2672,2237,3882
$GC,3441,-1.29,-194.7,316.0,-9.4,596,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2237,3882
$GC,3786,-1.29,-194.7,349.3,-9.3,657,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2237,3882
$GC,4120,-1.29,-194.7,379.2,-8.7,689,4124,0.00,2.80,0.00,0.000,4,0.000,0.112,2672,828,3882
$GC,4152,-1.29,-194.7,382.6,-9.1,691,4159,0.00,2.70,0.00,0.000,6,0.000,0.097,2672,2230,3882
$GC,4479,-1.29,-194.7,409.2,-8.1,722,4484,0.00,2.80,0.00,0.000,4,0.000,0.112,2672,3648,3881
$GC,4513,-1.29,-194.7,412.2,-8.4,724,4521,0.00,2.72,0.00,0.000,6,0.000,0.090,2672,2214,3881
$GC,4842,-1.29,-194.7,438.1,-8.5,755,4846,0.00,2.78,0.00,0.000,4,0.000,0.114,2672,819,3881
$GC,4894,-1.29,-194.7,443.1,-9.2,759,4898,0.00,2.67,0.00,0.000,6,0.000,0.098,2672,2206,3881
$GC,5221,-1.29,-194.7,472.7,-9.3,789,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2206,3881
$GC,5547,-1.29,-194.7,502.5,-8.8,820,5552,0.00,2.85,0.00,0.000,4,0.000,0.114,2672,3646,3881
$GC,5598,-1.29,-194.7,507.3,-9.6,824,5603,0.00,2.78,0.00,0.000,6,0.000,0.093,2672,2196,3881
$GC,5926,-1.29,-194.7,534.8,-8.8,854,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,3880
$GC,6252,-1.29,-194.7,562.0,-8.5,885,6256,0.00,2.90,0.00,0.000,4,0.000,0.115,2672,3646,3880
$GC,6281,-1.29,-194.7,564.6,-9.3,887,6286,0.00,2.78,0.00,0.000,6,0.000,0.094,2672,2201,3880
$GC,6609,-1.29,-194.7,594.3,-9.1,917,6613,0.00,2.78,0.00,0.000,4,0.000,0.120,2672,821,3880
$GC,6641,-1.29,-194.7,597.9,-9.9,919,6649,0.00,2.70,0.00,0.000,6,0.000,0.101,2672,2210,3880
$GC,6960,-1.29,-194.7,626.1,-8.9,936,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3880
$GC,7268,-1.29,-194.7,652.7,-8.3,951,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3880
$GC,7578,-1.29,-194.7,676.7,-7.6,966,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3879
$GC,7887,-1.29,-194.7,700.9,-7.7,981,7888,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3879
$GC,8197,-1.29,-194.7,725.1,-7.9,996,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2210,3879
$GC,8505,-1.29,-194.7,750.6,-8.5,1011,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2210,3878
$GC,8816,-1.29,-194.7,778.8,-9.4,1026,8821,0.00,2.85,0.00,0.000,4,0.000,0.127,2672,818,3879
$GC,8849,-1.29,-194.7,782.2,-9.6,1027,8856,0.00,2.72,0.00,0.000,6,0.000,0.107,2672,2200,3879
$GC,9165,-1.29,-194.7,810.2,-9.0,1043,9170,0.00,2.92,0.00,0.000,4,0.000,0.124,2672,3648,3878
$GC,9206,-1.29,-194.7,814.0,-9.6,1045,9211,0.00,2.80,0.00,0.000,6,0.000,0.100,2672,2203,3878
$GC,9535,-1.29,-194.7,844.7,-9.2,1061,9539,0.00,2.83,0.00,0.000,4,0.000,0.133,2672,825,3878
$GC,9574,-1.29,-194.7,848.6,-10.0,1063,9579,0.00,2.72,0.00,0.000,6,0.000,0.109,2672,2206,3878
$GC,9902,-1.29,-194.7,877.4,-8.7,1079,9907,0.00,2.97,0.00,0.000,4,0.000,0.134,2672,3647,3877
$GC,9935,-1.29,-194.7,880.5,-9.3,1080,9943,0.00,2.83,0.00,0.000,6,0.000,0.104,2672,2198,3877
$GC,10251,-1.29,-194.7,907.8,-8.5,1096,10252,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2198,3877
$GC,10561,-1.29,-194.7,933.7,-8.1,1111,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2198,3877
$STATE,10867,end dive,NO_VERTICAL_VELOCITY
$STATE,10867,begin apogee
$GC,10873,-0.35,0.0,942.1,0.0,1126,11049,1.00,0.00,167.95,1.392,6,0.078,0.000,2884,2333,3085
$STATE,11050,end apogee,CONTROL_FINISHED_OK
$STATE,11050,begin climb
$GC,11053,1.29,194.7,941.9,0.0,1135,11231,1.60,3.05,164.07,1.354,4,0.064,0.132,3234,3736,2290
$GC,11309,1.18,194.7,921.7,13.2,1146,11314,0.00,2.85,0.00,0.000,6,0.000,0.107,3234,2332,2290
$GC,11628,1.10,194.7,885.2,11.3,1161,11630,0.17,0.00,0.00,0.000,6,0.111,0.000,3202,2332,2288
$GC,11936,1.10,194.7,854.1,10.1,1176,11937,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2332,2288
$GC,12244,1.13,221.0,824.4,9.1,1191,12270,0.00,0.00,23.80,1.275,6,0.000,0.000,3203,2332,2184
$GC,12574,1.14,222.5,793.3,9.9,1207,12575,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2332,2182
$GC,12882,1.14,222.5,757.5,12.2,1222,12883,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2332,2182
$GC,13192,1.14,222.5,723.0,10.1,1237,13196,0.00,2.88,0.00,0.000,4,0.000,0.123,3202,916,2181
$GC,13214,1.15,230.5,720.7,9.7,1238,13232,0.00,2.78,9.62,1.166,6,0.000,0.101,3202,2329,2145
$GC,13540,1.16,242.0,689.4,9.6,1254,13553,0.00,0.00,11.65,1.165,6,0.000,0.000,3202,2329,2098
$GC,13850,1.16,242.0,659.1,10.1,1269,13854,0.00,2.83,0.00,0.000,4,0.000,0.115,3202,917,2097
$GC,13871,1.16,242.0,656.5,10.2,1270,13875,0.00,2.78,0.00,0.000,6,0.000,0.100,3202,2334,2097
$GC,14194,1.16,242.0,622.6,10.7,1286,14195,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2335,2097
$GC,14506,1.16,242.0,588.6,10.7,1305,14507,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2335,2097
$GC,14823,1.16,242.0,553.7,11.2,1335,14824,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2334,2097
$GC,15146,1.16,242.0,519.2,10.6,1365,15152,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2334,2097
$GC,15471,1.16,242.0,482.9,11.1,1396,15475,0.00,2.83,0.00,0.000,4,0.000,0.110,3202,907,2097
$GC,15500,1.16,242.0,479.7,11.7,1398,15505,0.00,2.78,0.00,0.000,6,0.000,0.098,3202,2338,2096
$GC,15825,1.16,242.0,444.2,10.8,1428,15826,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2337,2096
$GC,16146,1.17,246.6,411.9,9.8,1458,16155,0.00,0.00,5.43,0.842,6,0.000,0.000,3202,2337,2079
$GC,16475,1.18,260.6,381.1,9.5,1489,16499,0.00,2.90,13.57,0.998,4,0.000,0.107,3202,918,2022
$GC,16523,1.18,260.6,376.3,10.0,1493,16528,0.00,2.72,0.00,0.000,6,0.000,0.095,3202,2323,2021
$GC,16852,1.18,260.6,344.9,10.3,1527,16859,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2324,2020
$GC,17196,1.18,260.6,311.0,10.3,1588,17204,0.00,2.78,0.00,0.000,4,0.000,0.107,3202,911,2020
$GC,17217,1.18,260.6,308.7,10.6,1591,17224,0.00,2.70,0.00,0.000,6,0.000,0.092,3202,2316,2020
$GC,17563,1.18,260.6,272.2,11.2,1652,17570,0.00,2.80,0.00,0.000,4,0.000,0.107,3203,3737,2020
$GC,17583,1.18,260.6,270.0,10.5,1655,17591,0.00,2.75,0.00,0.000,6,0.000,0.087,3202,2312,2020
$GC,17928,1.20,272.4,233.5,9.6,1716,17942,0.00,0.00,11.38,0.909,6,0.000,0.000,3202,2312,1974
$GC,18280,1.20,272.4,197.0,10.1,1778,18287,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2312,1972
$GC,18625,1.20,272.4,162.3,10.5,1839,18632,0.00,2.72,0.00,0.000,4,0.000,0.104,3202,914,1972
$GC,18655,1.20,272.4,158.9,11.0,1844,18663,0.00,2.67,0.00,0.000,6,0.000,0.089,3202,2316,1972
$GC,19000,1.20,272.4,122.6,10.6,1905,19006,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2317,1972
$GC,19344,1.22,292.8,86.6,9.3,1966,19372,0.10,2.80,18.70,0.821,4,0.071,0.100,3229,913,1891
$GC,19391,1.22,292.8,81.8,11.6,1973,19398,0.00,2.70,0.00,0.000,6,0.000,0.088,3229,2318,1890
$GC,19737,1.27,328.0,47.8,8.8,2034,19772,0.00,0.00,30.62,0.785,6,0.000,0.000,3229,2318,1747
$GC,19913,1.31,359.5,32.4,8.9,2063,19947,0.00,0.00,27.27,0.763,6,0.000,0.000,3229,2318,1617
$GC,20086,1.31,359.5,14.4,10.8,2092,20093,0.00,2.72,0.00,0.000,4,0.000,0.097,3229,912,1613
$GC,20106,1.31,359.5,11.7,12.3,2095,20113,0.00,2.67,0.00,0.000,6,0.000,0.086,3229,2319,1613
$STATE,20191,end climb,SURFACE_DEPTH_REACHED
$STATE,20191,begin surface coast
$FINISH,0.2,1.027528
$STATE,20209,end surface coast,CONTROL_FINISHED_OK
$STATE,20209,begin surface
$SM_CCo,20292,0.00,0.000,0,0,1609,362.06
$SM_GC,1.08,11.60,0.00,0.00,0.041,0.000,0.000,589,2223,1609,-10.86,-0.34,362.06
$IRIDIUM_FIX,6139.81,-2546.73,110997,141411
$TT8_MAMPS,0.02301
$HUMID,1707
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.60
$XPDR_PINGS,632
$24V_AH,23.1,68.797
$10V_AH,10.6,56.886
$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,26.800,139.300,484.075,0.000,0.000,22.329,31.615,281.653,158.000,0.000,0.000,15.676,4294.011,11286.882,703.292,3702.507,777.663,0.000,2330.584,0.000,3704.178,0.000,0.467
$DEVICE_MAMPS,184.080,134.225,1392.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1463.576,1626.147,1902.153,612.448,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126157,2113
$CAP_FILE_SIZE,183027,0
$CFSIZE,260165632,225148928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,125.3,1
$GPS,180608,021601,6158.517,-2546.829,39,1.2,39,-18.6