version: 66.03
glider: 140
mission: 5
dive: 330
start: 6 20 108 2 36 22
data:
$ID,140
$MISSION,5
$DIVE,330
$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,-19279.668
$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
$GPS1,022708,6137.402,-2624.021,36,0.9,36,-18.7
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.8
$GPS2,023603,6137.384,-2624.073,14,1.0,14,-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,288.0,14082,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.29,-194.7,0.0,0.0,0,90,0.00,0.00,-65.18,0.000,2,0.000,0.000,591,2229,3329
$GC,94,-1.29,-194.7,3.0,-5.8,9,125,12.32,2.80,-13.20,0.000,4,0.185,0.104,2673,3646,3879
$GC,364,-1.29,-194.7,31.6,-9.7,55,371,0.00,2.62,0.00,0.000,6,0.000,0.079,2673,2231,3880
$GC,506,-1.29,-194.7,43.8,-7.8,80,514,0.00,2.70,0.00,0.000,4,0.000,0.095,2673,820,3881
$GC,555,-1.29,-194.7,47.8,-7.9,88,562,0.00,2.65,0.00,0.000,6,0.000,0.082,2673,2228,3881
$GC,698,-1.29,-194.7,59.7,-8.1,113,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2229,3881
$GC,1042,-1.29,-194.7,92.3,-8.9,174,1050,0.00,2.72,0.00,0.000,4,0.000,0.097,2673,821,3882
$GC,1074,-1.29,-194.7,95.1,-9.1,179,1082,0.00,2.62,0.00,0.000,6,0.000,0.085,2673,2203,3882
$GC,1420,-1.29,-194.7,124.1,-8.4,240,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,3882
$GC,1765,-1.29,-194.7,156.1,-9.6,301,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,3882
$GC,2111,-1.29,-194.7,187.9,-9.1,362,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2204,3882
$GC,2456,-1.29,-194.7,220.6,-10.0,423,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2203,3882
$GC,2801,-1.29,-194.7,253.6,-9.6,484,2808,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2204,3882
$GC,3146,-1.29,-194.7,286.4,-9.2,545,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2204,3882
$GC,3490,-1.29,-194.7,317.4,-8.8,606,3497,0.00,2.72,0.00,0.000,4,0.000,0.108,2673,825,3882
$GC,3527,-1.29,-194.7,320.7,-9.2,612,3534,0.00,2.65,0.00,0.000,6,0.000,0.095,2673,2197,3882
$GC,3877,-1.29,-194.7,351.1,-8.8,673,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,3882
$GC,4197,-1.29,-194.7,378.0,-8.6,703,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,3882
$GC,4518,-1.29,-194.7,404.1,-8.0,733,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,3881
$GC,4844,-1.29,-194.7,430.8,-8.2,764,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2197,3881
$GC,5162,-1.29,-194.7,456.0,-7.9,794,5166,0.00,2.72,0.00,0.000,4,0.000,0.112,2673,825,3881
$GC,5204,-1.29,-194.7,459.2,-8.5,797,5209,0.00,2.65,0.00,0.000,6,0.000,0.098,2673,2192,3881
$GC,5533,-1.29,-194.7,485.4,-7.8,827,5538,0.00,2.83,0.00,0.000,4,0.000,0.102,2673,3653,3881
$GC,5563,-1.29,-194.7,488.0,-8.4,829,5568,0.00,2.78,0.00,0.000,6,0.000,0.091,2673,2196,3881
$GC,5890,-1.29,-194.7,513.2,-7.4,859,5892,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2196,3881
$GC,6208,-1.29,-194.7,535.8,-6.9,889,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2196,3880
$GC,6525,-1.29,-194.7,558.7,-7.4,919,6530,0.00,2.75,0.00,0.000,4,0.000,0.117,2673,818,3880
$GC,6558,-1.29,-194.7,561.3,-7.8,921,6565,0.00,2.67,0.00,0.000,6,0.000,0.099,2673,2200,3880
$GC,6886,-1.29,-194.7,586.0,-7.8,952,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2200,3880
$GC,7207,-1.29,-194.7,613.6,-9.2,976,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3880
$GC,7517,-1.29,-194.7,640.3,-7.7,991,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,3880
$GC,7825,-1.29,-194.7,664.8,-8.3,1006,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,3880
$GC,8135,-1.29,-194.7,693.0,-8.9,1021,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,3880
$GC,8445,-1.29,-194.7,720.8,-8.8,1036,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2201,3880
$GC,8754,-1.29,-194.7,746.9,-8.1,1051,8758,0.00,2.80,0.00,0.000,4,0.000,0.123,2673,822,3879
$GC,8794,-1.29,-194.7,750.2,-8.7,1053,8798,0.00,2.67,0.00,0.000,6,0.000,0.103,2673,2191,3879
$GC,9122,-1.29,-194.7,775.6,-7.7,1069,9127,0.00,2.95,0.00,0.000,4,0.000,0.125,2673,3651,3879
$GC,9165,-1.29,-194.7,779.4,-8.2,1071,9170,0.00,2.83,0.00,0.000,6,0.000,0.099,2673,2186,3879
$GC,9490,-1.29,-194.7,805.1,-8.1,1087,9494,0.00,2.78,0.00,0.000,4,0.000,0.129,2673,822,3879
$GC,9522,-1.29,-194.7,808.3,-8.8,1088,9530,0.00,2.70,0.00,0.000,6,0.000,0.106,2673,2201,3879
$GC,9839,-1.29,-194.7,834.7,-8.5,1104,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3878
$GC,10149,-1.29,-194.7,860.4,-8.1,1119,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3878
$GC,10457,-1.29,-194.7,883.7,-7.6,1134,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2202,3878
$GC,10766,-1.29,-194.7,906.0,-7.2,1149,10771,0.00,2.83,0.00,0.000,4,0.000,0.130,2673,823,3878
$GC,10823,-1.29,-194.7,910.2,-7.7,1151,10830,0.00,2.70,0.00,0.000,6,0.000,0.110,2673,2191,3878
$GC,11139,-1.29,-194.7,933.8,-7.9,1167,11143,0.00,2.95,0.00,0.000,4,0.000,0.128,2673,3645,3877
$GC,11171,-1.29,-194.7,936.8,-8.9,1168,11179,0.00,2.85,0.00,0.000,6,0.000,0.106,2673,2189,3877
$GC,11488,-1.29,-194.7,962.9,-7.7,1184,11489,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2188,3877
$STATE,11711,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11712,begin apogee
$GC,11718,-0.35,0.0,979.5,7.5,1195,11894,1.02,0.00,168.40,1.420,6,0.100,0.000,2879,2330,3085
$STATE,11895,end apogee,CONTROL_FINISHED_OK
$STATE,11895,begin climb
$GC,11898,1.29,194.7,985.7,0.0,1204,12077,1.62,3.05,164.77,1.383,4,0.059,0.136,3239,916,2291
$GC,12093,1.21,194.7,972.3,10.8,1212,12101,0.00,2.85,0.00,0.000,6,0.000,0.112,3239,2329,2290
$GC,12410,1.12,194.7,931.9,13.1,1228,12415,0.17,2.95,0.00,0.000,4,0.112,0.131,3205,3737,2289
$GC,12444,1.05,194.7,927.4,12.0,1229,12451,0.00,2.83,0.00,0.000,6,0.000,0.107,3205,2334,2288
$GC,12760,1.07,215.1,895.8,9.3,1245,12781,0.00,0.00,19.02,1.279,6,0.000,0.000,3205,2334,2207
$GC,13090,1.07,216.7,863.5,9.9,1261,13095,0.00,2.92,0.00,0.000,4,0.000,0.133,3205,918,2205
$GC,13116,1.07,216.7,860.2,10.7,1262,13121,0.00,2.80,0.00,0.000,6,0.000,0.108,3205,2333,2206
$GC,13433,1.07,216.7,824.1,11.7,1277,13438,0.00,2.90,0.00,0.000,4,0.000,0.123,3205,912,2206
$GC,13467,1.07,216.7,820.1,10.8,1278,13474,0.00,2.80,0.00,0.000,6,0.000,0.107,3205,2325,2205
$GC,13783,1.07,216.7,785.9,10.4,1294,13784,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2326,2205
$GC,14092,1.08,221.8,755.2,9.8,1309,14101,0.00,0.00,7.22,1.098,6,0.000,0.000,3205,2325,2180
$GC,14402,1.08,221.8,722.4,11.1,1324,14406,0.00,2.92,0.00,0.000,4,0.000,0.127,3205,3737,2179
$GC,14434,1.02,221.8,718.2,12.0,1325,14442,0.12,2.83,0.00,0.000,6,0.116,0.100,3183,2308,2179
$GC,14750,1.02,221.8,682.3,11.7,1341,14755,0.00,2.80,0.00,0.000,4,0.000,0.120,3183,918,2179
$GC,14783,1.02,221.8,678.2,12.1,1342,14791,0.00,2.72,0.00,0.000,6,0.000,0.100,3183,2316,2179
$GC,15099,1.02,221.8,642.8,10.7,1358,15100,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2316,2179
$GC,15409,1.02,221.8,612.3,10.2,1373,15410,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2316,2179
$GC,15724,1.02,221.8,579.3,10.2,1397,15729,0.00,2.78,0.00,0.000,4,0.000,0.112,3183,916,2179
$GC,15745,1.02,221.9,576.8,10.0,1398,15753,0.00,2.70,0.00,0.000,6,0.000,0.098,3183,2314,2179
$GC,16074,1.06,254.1,546.3,8.9,1429,16104,0.00,0.00,28.75,1.118,6,0.000,0.000,3183,2314,2049
$GC,16419,1.09,281.2,515.4,9.1,1462,16450,0.00,0.00,24.50,1.078,6,0.000,0.000,3183,2314,1938
$GC,16768,1.09,281.2,481.9,10.2,1495,16772,0.00,2.78,0.00,0.000,4,0.000,0.109,3182,914,1935
$GC,16797,1.14,281.2,478.9,10.6,1497,16802,0.12,2.72,0.00,0.000,6,0.065,0.096,3215,2320,1935
$GC,17123,1.14,281.2,442.1,11.1,1527,17124,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2321,1934
$GC,17441,1.14,281.2,406.7,11.0,1557,17446,0.00,2.78,0.00,0.000,4,0.000,0.107,3216,912,1934
$GC,17463,1.14,281.2,404.0,11.4,1558,17471,0.00,2.67,0.00,0.000,6,0.000,0.095,3216,2305,1934
$GC,17793,1.14,281.2,369.3,10.4,1589,17799,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2306,1934
$GC,18125,1.16,297.8,338.0,9.4,1632,18145,0.00,0.00,15.32,0.966,6,0.000,0.000,3215,2306,1871
$GC,18483,1.16,297.8,301.1,11.6,1695,18491,0.00,2.72,0.00,0.000,4,0.000,0.104,3216,915,1869
$GC,18510,1.16,297.8,298.0,12.0,1699,18517,0.00,2.67,0.00,0.000,6,0.000,0.092,3216,2309,1869
$GC,18854,1.16,297.8,257.2,11.2,1760,18861,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2309,1868
$GC,19199,1.16,297.8,215.0,13.3,1821,19205,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2309,1868
$GC,19544,1.16,297.8,174.1,11.5,1882,19552,0.00,2.70,0.00,0.000,4,0.000,0.102,3216,915,1868
$GC,19576,1.16,297.8,170.3,12.8,1887,19583,0.00,2.62,0.00,0.000,6,0.000,0.090,3215,2295,1868
$GC,19922,1.18,312.2,134.0,9.5,1948,19942,0.00,0.00,13.60,0.840,6,0.000,0.000,3216,2295,1810
$GC,20281,1.18,312.2,96.7,10.3,2011,20287,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2296,1809
$GC,20626,1.18,312.2,62.5,11.1,2072,20633,0.00,2.67,0.00,0.000,4,0.000,0.100,3215,910,1809
$GC,20685,1.18,312.2,55.8,10.7,2082,20693,0.00,2.62,0.00,0.000,6,0.000,0.088,3216,2295,1809
$GC,21029,1.18,312.2,21.7,10.1,2143,21037,0.00,2.80,0.00,0.000,4,0.000,0.100,3216,3736,1808
$GC,21078,1.18,312.2,16.4,10.8,2151,21086,0.00,2.78,0.00,0.000,6,0.000,0.081,3216,2268,1808
$STATE,21221,end climb,SURFACE_DEPTH_REACHED
$STATE,21221,begin surface coast
$FINISH,0.3,1.014633
$STATE,21245,end surface coast,CONTROL_FINISHED_OK
$STATE,21245,begin surface
$SM_CCo,21328,0.00,0.000,0,0,1805,313.98
$SM_GC,1.17,11.50,0.00,0.00,0.042,0.000,0.000,587,2229,1805,-10.85,-0.17,313.98
$IRIDIUM_FIX,6117.23,-2631.88,130997,202056
$TT8_MAMPS,0.02301
$HUMID,1725
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.10
$XPDR_PINGS,731
$24V_AH,23.0,70.763
$10V_AH,10.6,58.530
$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,26.900,138.725,441.600,0.000,0.000,30.372,31.362,315.334,182.750,0.000,0.000,14.840,4424.220,12109.999,680.130,3816.706,810.728,0.000,2338.212,0.000,3808.698,0.000,0.467
$DEVICE_MAMPS,184.847,135.759,1420.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1510.591,1666.873,1945.722,628.511,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129546,2180
$CAP_FILE_SIZE,189065,0
$CFSIZE,260165632,224256000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,214.5,1
$GPS,200608,083322,6136.721,-2631.412,36,2.6,55,-18.8