version: 66.03
glider: 140
mission: 5
dive: 331
start: 6 20 108 8 45 16
data:
$ID,140
$MISSION,5
$DIVE,331
$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,-19313.025
$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
$GPS1,083322,6136.721,-2631.412,36,2.6,55,-18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.6
$GPS2,084459,6136.779,-2631.442,12,4.2,31,-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,295.9,7654,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.29,-194.7,0.0,0.0,0,91,0.00,0.00,-65.43,0.000,2,0.000,0.000,587,2229,3361
$GC,94,-1.29,-194.7,3.1,-6.2,9,130,12.35,2.78,-12.07,0.000,4,0.182,0.105,2674,822,3880
$GC,246,-1.29,-194.7,19.7,-9.3,34,254,0.00,2.67,0.00,0.000,6,0.000,0.082,2674,2238,3880
$GC,390,-1.29,-194.7,32.9,-9.1,59,397,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2239,3880
$GC,536,-1.29,-194.7,45.0,-8.4,84,543,0.00,2.70,0.00,0.000,4,0.000,0.097,2674,3646,3880
$GC,580,-1.29,-194.7,49.4,-9.9,91,588,0.00,2.67,0.00,0.000,6,0.000,0.080,2674,2214,3880
$GC,723,-1.29,-194.7,64.0,-9.9,116,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2213,3881
$GC,1069,-1.29,-194.7,96.5,-9.5,177,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2213,3881
$GC,1414,-1.29,-194.7,130.1,-9.1,238,1422,0.00,2.67,0.00,0.000,4,0.000,0.100,2674,827,3881
$GC,1462,-1.29,-194.7,134.6,-9.2,246,1470,0.00,2.67,0.00,0.000,6,0.000,0.087,2674,2234,3881
$GC,1809,-1.29,-194.7,164.9,-8.5,307,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3881
$GC,2153,-1.29,-194.7,196.7,-9.2,368,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3881
$GC,2499,-1.29,-194.7,229.1,-9.6,429,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3882
$GC,2844,-1.29,-194.7,259.1,-7.4,490,2851,0.00,2.78,0.00,0.000,4,0.000,0.107,2674,819,3881
$GC,2870,-1.29,-194.7,261.2,-7.9,494,2877,0.00,2.70,0.00,0.000,6,0.000,0.093,2674,2229,3881
$GC,3215,-1.29,-194.7,285.2,-6.8,555,3222,0.00,2.78,0.00,0.000,4,0.000,0.109,2674,3645,3881
$GC,3246,-1.29,-194.7,287.4,-7.6,560,3254,0.00,2.67,0.00,0.000,6,0.000,0.087,2674,2228,3881
$GC,3594,-1.29,-194.7,312.0,-7.0,621,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3881
$GC,3938,-1.29,-194.7,338.5,-8.0,682,3945,0.00,2.78,0.00,0.000,4,0.000,0.110,2674,817,3881
$GC,3975,-1.29,-194.7,341.6,-8.4,688,3982,0.00,2.70,0.00,0.000,6,0.000,0.095,2674,2220,3881
$GC,4308,-1.29,-194.7,368.9,-8.5,728,4312,0.00,2.83,0.00,0.000,4,0.000,0.112,2674,3650,3881
$GC,4340,-1.29,-194.7,371.9,-9.2,730,4348,0.00,2.72,0.00,0.000,6,0.000,0.090,2674,2217,3881
$GC,4670,-1.29,-194.7,401.0,-8.8,761,4674,0.00,2.75,0.00,0.000,4,0.000,0.114,2674,824,3880
$GC,4702,-1.29,-194.7,404.4,-9.2,763,4709,0.00,2.67,0.00,0.000,6,0.000,0.096,2674,2220,3880
$GC,5029,-1.29,-194.7,434.9,-9.7,794,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3880
$GC,5346,-1.29,-194.7,464.8,-8.9,824,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3880
$GC,5664,-1.29,-194.7,494.3,-9.4,854,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3880
$GC,5983,-1.29,-194.7,522.3,-8.1,884,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3879
$GC,6301,-1.29,-194.7,549.9,-9.1,914,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3879
$GC,6621,-1.29,-194.7,579.0,-9.1,944,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3879
$GC,6947,-1.29,-194.7,608.8,-9.5,971,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2220,3879
$GC,7256,-1.29,-194.7,636.0,-7.8,986,7261,0.00,2.80,0.00,0.000,4,0.000,0.117,2674,824,3879
$GC,7288,-1.29,-194.7,638.6,-7.9,987,7295,0.00,2.70,0.00,0.000,6,0.000,0.100,2674,2215,3879
$GC,7605,-1.29,-194.7,662.1,-7.7,1003,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2216,3879
$GC,7914,-1.29,-194.7,687.5,-8.4,1018,7915,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2216,3879
$GC,8223,-1.29,-194.7,714.6,-9.1,1033,8228,0.00,2.80,0.00,0.000,4,0.000,0.120,2675,824,3879
$GC,8256,-1.29,-194.7,718.0,-10.2,1034,8263,0.00,2.70,0.00,0.000,6,0.000,0.104,2674,2214,3878
$GC,8573,-1.29,-194.7,749.0,-9.8,1050,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2214,3878
$GC,8882,-1.29,-194.7,778.0,-9.6,1065,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2214,3878
$GC,9191,-1.29,-194.7,807.3,-9.6,1080,9195,0.00,2.83,0.00,0.000,4,0.000,0.123,2674,820,3878
$GC,9223,-1.29,-194.7,810.6,-10.3,1081,9231,0.00,2.72,0.00,0.000,6,0.000,0.105,2674,2214,3878
$GC,9540,-1.29,-194.7,838.8,-8.8,1097,9545,0.00,2.92,0.00,0.000,4,0.000,0.131,2674,3645,3877
$GC,9567,-1.29,-194.7,841.4,-9.5,1098,9572,0.00,2.78,0.00,0.000,6,0.000,0.100,2674,2208,3877
$GC,9884,-1.29,-194.7,869.1,-8.9,1113,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2207,3877
$STATE,10189,end dive,NO_VERTICAL_VELOCITY
$STATE,10190,begin apogee
$GC,10196,-0.35,0.0,878.3,0.0,1128,10365,0.95,0.00,165.38,1.345,6,0.064,0.000,2882,2334,3085
$STATE,10366,end apogee,CONTROL_FINISHED_OK
$STATE,10366,begin climb
$GC,10369,1.29,194.7,878.2,0.0,1136,10542,1.62,3.00,162.40,1.304,4,0.061,0.126,3238,3736,2290
$GC,10615,1.17,194.7,861.7,12.3,1146,10620,0.12,2.83,0.00,0.000,6,0.121,0.103,3218,2329,2289
$GC,10939,1.11,194.7,826.1,11.7,1162,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2329,2288
$GC,11247,1.06,194.7,790.5,11.3,1177,11249,0.12,0.00,0.00,0.000,6,0.117,0.000,3194,2329,2288
$GC,11557,1.12,241.5,764.5,8.4,1192,11606,0.00,3.00,40.80,1.243,4,0.000,0.127,3194,922,2099
$GC,11656,1.12,241.5,753.7,11.0,1196,11661,0.00,2.75,0.00,0.000,6,0.000,0.105,3194,2306,2098
$GC,11973,1.12,241.5,719.5,10.5,1211,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2307,2096
$GC,12282,1.12,241.5,686.6,10.7,1226,12283,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2307,2096
$GC,12591,1.13,253.4,656.4,9.6,1241,12613,0.00,2.85,11.05,1.146,4,0.000,0.114,3194,911,2051
$GC,12640,1.13,253.4,651.1,10.1,1243,12645,0.00,2.75,0.00,0.000,6,0.000,0.098,3194,2314,2050
$GC,12965,1.15,268.7,619.9,9.5,1259,12987,0.00,2.97,14.62,1.131,4,0.000,0.120,3194,3738,1988
$GC,13012,1.16,275.2,615.1,9.8,1261,13026,0.00,2.83,7.03,0.958,6,0.000,0.094,3194,2304,1963
$GC,13352,1.20,309.8,584.9,8.8,1285,13390,0.12,2.88,31.95,1.124,4,0.067,0.112,3226,918,1822
$GC,13418,1.20,309.8,577.2,11.4,1290,13426,0.00,2.72,0.00,0.000,6,0.000,0.095,3226,2312,1820
$GC,13748,1.20,309.8,539.7,12.0,1321,13752,0.00,2.88,0.00,0.000,4,0.000,0.114,3227,3738,1817
$GC,13768,1.20,309.8,536.4,12.4,1322,13776,0.00,2.78,0.00,0.000,6,0.000,0.091,3227,2302,1816
$GC,14096,1.20,309.8,498.8,11.3,1353,14097,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2302,1816
$GC,14413,1.20,309.8,461.7,11.8,1383,14415,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2302,1816
$GC,14731,1.20,309.8,423.9,11.9,1413,14733,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2302,1816
$GC,15050,1.20,309.8,385.7,11.8,1443,15055,0.00,2.72,0.00,0.000,4,0.000,0.108,3226,915,1816
$GC,15071,1.20,309.8,382.8,11.6,1444,15079,0.00,2.67,0.00,0.000,6,0.000,0.092,3226,2309,1816
$GC,15400,1.20,309.8,343.3,12.1,1479,15406,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2309,1816
$GC,15744,1.20,309.8,303.6,11.5,1540,15750,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2309,1816
$GC,16090,1.20,309.8,265.5,10.4,1601,16096,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2309,1815
$GC,16434,1.20,309.8,228.2,10.3,1662,16440,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2309,1816
$GC,16778,1.20,309.8,192.9,11.0,1723,16786,0.00,2.70,0.00,0.000,4,0.000,0.101,3226,919,1816
$GC,16816,1.20,309.8,188.9,11.1,1729,16823,0.00,2.62,0.00,0.000,6,0.000,0.088,3226,2301,1817
$GC,17160,1.20,309.8,150.1,11.6,1790,17167,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2302,1816
$GC,17505,1.20,309.8,108.3,11.1,1851,17512,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2302,1816
$GC,17850,1.20,309.8,65.6,14.9,1912,17857,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2302,1816
$GC,18196,1.20,309.8,30.3,10.2,1973,18203,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2302,1816
$GC,18340,1.20,309.8,15.0,10.6,1998,18347,0.00,0.00,0.00,0.000,6,0.000,0.000,3226,2302,1816
$STATE,18453,end climb,SURFACE_DEPTH_REACHED
$STATE,18453,begin surface coast
$FINISH,0.3,1.027629
$STATE,18471,end surface coast,CONTROL_FINISHED_OK
$STATE,18471,begin surface
$SM_CCo,18554,0.00,0.000,0,0,1811,312.27
$SM_GC,1.12,11.57,0.00,0.00,0.044,0.000,0.000,589,2233,1811,-10.85,-0.06,312.27
$IRIDIUM_FIX,6112.75,-2637.95,140997,080841
$TT8_MAMPS,0.02301
$HUMID,1728
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.10
$XPDR_PINGS,663
$24V_AH,23.1,70.965
$10V_AH,10.6,58.708
$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,26.875,111.175,433.225,0.000,0.000,55.774,126.152,273.062,165.750,0.000,0.000,32.729,4094.732,10036.292,634.786,3599.738,859.723,0.000,2189.100,0.000,3580.127,0.000,0.467
$DEVICE_MAMPS,181.779,131.157,1344.551,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1400.674,1540.542,1892.377,601.581,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120230,2021
$CAP_FILE_SIZE,170706,0
$CFSIZE,260165632,224190464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.059,165.8,1
$GPS,200608,135538,6136.533,-2636.788,33,1.1,33,-18.8