version: 66.03
glider: 140
mission: 5
dive: 332
start: 6 20 108 14 4 44
data:
$ID,140
$MISSION,5
$DIVE,332
$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,-19327.967
$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,13
$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
$GPS1,135538,6136.533,-2636.788,33,1.1,33,-18.8
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.2
$GPS2,140421,6136.543,-2636.795,14,1.1,14,-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,314.4,3197,-24.5,-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,23,-1.82,-77.2,0.0,0.0,0,91,0.00,0.00,-65.95,0.000,2,0.000,0.000,589,2232,3383
$GC,94,-1.87,-116.6,3.2,-6.6,9,118,11.55,2.70,-4.22,0.000,4,0.182,0.102,2547,825,3561
$GC,366,-1.83,-116.6,41.3,-12.2,56,373,0.00,2.65,0.00,0.000,6,0.000,0.081,2547,2238,3562
$GC,509,-1.83,-116.6,57.4,-12.3,81,516,0.00,2.72,0.00,0.000,4,0.000,0.094,2547,819,3563
$GC,541,-1.79,-116.6,61.4,-13.0,86,549,0.12,2.62,0.00,0.000,6,0.148,0.077,2566,2226,3563
$GC,888,-1.79,-116.6,103.8,-12.7,147,895,0.00,2.70,0.00,0.000,4,0.000,0.095,2566,825,3563
$GC,924,-1.79,-116.6,108.7,-13.9,153,931,0.00,2.62,0.00,0.000,6,0.000,0.082,2566,2217,3563
$GC,1270,-1.79,-116.6,152.2,-12.1,214,1277,0.00,2.70,0.00,0.000,4,0.000,0.099,2566,823,3563
$GC,1318,-1.79,-116.6,158.3,-12.4,222,1325,0.00,2.62,0.00,0.000,6,0.000,0.085,2566,2212,3563
$GC,1664,-1.79,-116.6,198.0,-11.4,283,1671,0.00,2.70,0.00,0.000,4,0.000,0.102,2566,824,3564
$GC,1773,-1.79,-116.6,211.1,-11.6,302,1780,0.00,2.62,0.00,0.000,6,0.000,0.089,2566,2206,3563
$GC,2119,-1.79,-116.6,253.4,-12.2,363,2126,0.00,2.70,0.00,0.000,4,0.000,0.102,2566,818,3563
$GC,2183,-1.79,-116.6,261.8,-13.5,374,2190,0.00,2.62,0.00,0.000,6,0.000,0.093,2566,2190,3563
$GC,2529,-1.79,-116.6,302.7,-11.2,435,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2191,3564
$GC,2873,-1.79,-116.6,341.5,-11.6,496,2881,0.00,2.67,0.00,0.000,4,0.000,0.107,2566,827,3563
$GC,2978,-1.79,-116.6,354.1,-12.3,511,2982,0.00,2.62,0.00,0.000,6,0.000,0.096,2566,2187,3563
$GC,3305,-1.79,-116.6,392.7,-11.6,541,3310,0.00,2.70,0.00,0.000,4,0.000,0.110,2566,822,3563
$GC,3380,-1.79,-116.6,402.1,-12.3,547,3384,0.00,2.62,0.00,0.000,6,0.000,0.097,2566,2180,3563
$GC,3707,-1.79,-116.6,441.0,-12.7,577,3712,0.00,2.67,0.00,0.000,4,0.000,0.110,2566,822,3563
$GC,3781,-1.79,-116.6,451.2,-12.9,583,3786,0.00,2.62,0.00,0.000,6,0.000,0.098,2566,2174,3563
$GC,4109,-1.79,-116.6,494.6,-13.4,613,4114,0.00,2.67,0.00,0.000,4,0.000,0.111,2566,827,3562
$GC,4153,-1.79,-116.6,501.3,-14.3,616,4161,0.00,2.62,0.00,0.000,6,0.000,0.100,2566,2179,3563
$GC,4483,-1.79,-116.6,542.7,-12.3,647,4488,0.00,2.70,0.00,0.000,4,0.000,0.114,2566,821,3562
$GC,4549,-1.79,-116.6,551.5,-11.7,652,4557,0.00,2.60,0.00,0.000,6,0.000,0.100,2566,2159,3562
$GC,4877,-1.79,-116.6,588.6,-11.7,683,4882,0.00,2.65,0.00,0.000,4,0.000,0.116,2566,827,3562
$GC,4922,-1.79,-116.6,594.2,-11.3,686,4929,0.00,2.58,0.00,0.000,6,0.000,0.101,2566,2159,3562
$GC,5251,-1.80,-127.6,625.4,-9.0,705,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2160,3562
$GC,5560,-1.81,-130.3,654.9,-9.8,720,5565,0.00,2.65,0.00,0.000,4,0.000,0.117,2566,828,3561
$GC,5587,-1.81,-130.3,658.0,-10.9,721,5591,0.00,2.58,0.00,0.000,6,0.000,0.102,2566,2155,3561
$GC,5903,-1.81,-130.3,691.3,-10.9,736,5908,0.00,2.67,0.00,0.000,4,0.000,0.118,2566,823,3561
$GC,5943,-1.81,-130.3,695.2,-10.1,738,5947,0.00,2.58,0.00,0.000,6,0.000,0.100,2567,2146,3561
$GC,6270,-1.81,-130.3,728.6,-10.7,754,6274,0.00,2.65,0.00,0.000,4,0.000,0.121,2566,828,3561
$GC,6313,-1.81,-130.3,733.9,-11.8,756,6318,0.00,2.55,0.00,0.000,6,0.000,0.104,2566,2137,3561
$GC,6637,-1.81,-130.3,771.6,-12.1,772,6641,0.00,2.62,0.00,0.000,4,0.000,0.120,2566,828,3561
$GC,6686,-1.81,-130.3,778.6,-13.9,774,6691,0.00,2.55,0.00,0.000,6,0.000,0.106,2566,2137,3561
$GC,7002,-1.81,-130.3,824.4,-14.4,789,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2137,3561
$GC,7311,-1.84,-157.3,858.7,-7.6,804,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2138,3560
$GC,7621,-1.84,-157.3,887.4,-10.0,819,7626,0.00,2.67,0.00,0.000,4,0.000,0.126,2566,821,3560
$GC,7774,-1.84,-157.3,904.1,-11.3,826,7778,0.00,2.60,0.00,0.000,6,0.000,0.109,2566,2139,3560
$STATE,7994,end dive,NO_VERTICAL_VELOCITY
$STATE,7995,begin apogee
$GC,8002,-0.35,0.0,906.6,0.0,837,8106,1.45,0.00,100.60,1.361,6,0.069,0.000,2881,2328,3085
$STATE,8107,end apogee,CONTROL_FINISHED_OK
$STATE,8107,begin climb
$GC,8109,1.92,157.3,906.4,0.0,842,8253,2.20,2.92,132.73,1.326,4,0.054,0.123,3378,924,2443
$GC,8330,1.87,157.3,878.1,18.7,852,8335,0.00,2.83,0.00,0.000,6,0.000,0.108,3377,2335,2442
$GC,8657,1.80,157.3,818.5,18.6,868,8659,0.12,0.00,0.00,0.000,6,0.133,0.000,3358,2335,2441
$GC,8966,1.80,157.3,766.0,16.8,883,8971,0.00,2.90,0.00,0.000,4,0.000,0.127,3358,3738,2440
$GC,8994,1.72,157.3,761.0,18.5,884,8999,0.12,2.78,0.00,0.000,6,0.133,0.100,3337,2338,2440
$GC,9310,1.72,157.3,712.8,14.8,899,9315,0.00,2.88,0.00,0.000,4,0.000,0.119,3337,3738,2440
$GC,9343,1.67,157.3,707.6,15.3,900,9350,0.00,2.78,0.00,0.000,6,0.000,0.100,3337,2335,2440
$GC,9659,1.67,157.3,663.6,13.7,916,9660,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2334,2440
$GC,9968,1.67,157.3,620.1,14.1,931,9973,0.00,2.83,0.00,0.000,4,0.000,0.120,3337,919,2440
$GC,10000,1.67,157.3,615.1,14.2,932,10008,0.00,2.78,0.00,0.000,6,0.000,0.098,3337,2353,2440
$GC,10323,1.67,157.3,570.0,14.4,958,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2353,2439
$GC,10643,1.67,157.3,525.0,14.4,988,10647,0.00,2.78,0.00,0.000,4,0.000,0.114,3337,3737,2439
$GC,10717,1.61,157.3,513.4,15.1,994,10722,0.15,2.67,0.00,0.000,6,0.128,0.092,3311,2352,2439
$GC,11042,1.61,157.3,468.5,13.6,1024,11047,0.00,2.83,0.00,0.000,4,0.000,0.111,3311,914,2439
$GC,11093,1.61,157.3,461.3,14.4,1028,11098,0.00,2.75,0.00,0.000,6,0.000,0.095,3311,2345,2439
$GC,11418,1.61,157.3,417.9,12.5,1058,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2345,2439
$GC,11741,1.61,157.3,380.7,11.4,1088,11747,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2344,2439
$GC,12070,1.61,157.3,339.5,12.1,1126,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2345,2439
$GC,12415,1.61,157.3,297.1,11.5,1187,12421,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2345,2439
$GC,12759,1.61,157.3,257.3,11.2,1248,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2345,2439
$GC,13105,1.61,157.3,217.9,11.8,1309,13111,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2345,2439
$GC,13448,1.61,157.3,176.5,11.0,1370,13456,0.00,2.75,0.00,0.000,4,0.000,0.107,3311,3737,2440
$GC,13485,1.61,157.3,172.0,13.1,1376,13493,0.00,2.70,0.00,0.000,6,0.000,0.085,3311,2325,2439
$GC,13832,1.61,157.3,131.3,12.3,1437,13838,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2325,2439
$GC,14174,1.61,157.3,89.9,11.5,1498,14181,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2325,2440
$GC,14519,1.61,157.3,51.6,12.1,1559,14525,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2325,2440
$GC,14863,1.61,157.3,13.2,10.3,1620,14870,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2325,2440
$STATE,14972,end climb,SURFACE_DEPTH_REACHED
$STATE,14972,begin surface coast
$FINISH,0.3,1.027448
$STATE,14990,end surface coast,CONTROL_FINISHED_OK
$STATE,14990,begin surface
$SM_CCo,15012,35.80,0.708,2,0,2269,200.16
$SM_GC,1.94,0.00,0.00,35.80,0.000,0.000,0.708,590,2227,2269,-10.90,-0.20,200.16
$IRIDIUM_FIX,6112.75,-2627.84,140997,080839
$TT8_MAMPS,0.02301
$HUMID,1724
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,16.70
$XPDR_PINGS,571
$24V_AH,23.1,71.101
$10V_AH,10.6,58.853
$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,27.725,129.625,233.325,35.800,0.000,31.002,39.919,292.910,142.750,0.000,0.000,14.313,3385.237,7975.577,485.580,2999.219,722.806,0.000,1786.794,0.000,2993.839,0.000,0.467
$DEVICE_MAMPS,181.779,128.089,1361.425,707.941,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1138.738,1252.495,1524.165,506.053,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97989,1642
$CAP_FILE_SIZE,146493,0
$CFSIZE,260165632,224145408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.068,241.9,1
$GPS,200608,181701,6136.956,-2641.475,40,2.0,40,-18.9