version: 66.03
glider: 140
mission: 5
dive: 234
start: 5 28 108 17 18 38
data:
$ID,140
$MISSION,5
$DIVE,234
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,-17621.547
$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,10
$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
$GPS1,171025,6147.270,-2659.573,24,1.1,42,-19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-65.0
$GPS2,171820,6147.330,-2659.620,11,1.7,16,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6147.330,-2704.725
$TGT_RADIUS,1852.000
$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,289.2,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-65.47,0.000,2,0.000,0.000,589,2234,3474
$GC,98,-1.29,-194.7,3.5,-6.8,12,128,12.32,2.78,-8.95,0.000,4,0.186,0.109,2668,825,3882
$GC,325,-1.29,-194.7,32.0,-11.1,52,332,0.00,2.65,0.00,0.000,6,0.000,0.084,2668,2238,3883
$GC,467,-1.29,-194.7,46.9,-10.0,77,474,0.00,2.72,0.00,0.000,4,0.000,0.095,2668,818,3883
$GC,514,-1.29,-194.7,51.7,-10.4,85,520,0.00,2.65,0.00,0.000,6,0.000,0.084,2668,2224,3883
$GC,857,-1.29,-194.7,89.1,-9.5,146,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2224,3884
$GC,1200,-1.29,-194.7,124.3,-10.8,207,1206,0.00,2.75,0.00,0.000,4,0.000,0.102,2668,3647,3883
$GC,1235,-1.29,-194.7,128.1,-11.0,213,1241,0.00,2.67,0.00,0.000,6,0.000,0.083,2668,2219,3884
$GC,1580,-1.29,-194.7,162.3,-9.1,274,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2219,3884
$GC,1925,-1.29,-194.7,193.9,-9.4,335,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3884
$GC,2268,-1.29,-194.7,226.3,-9.1,396,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2219,3884
$GC,2611,-1.29,-194.7,260.1,-10.4,457,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2219,3883
$GC,2954,-1.29,-194.7,295.6,-10.3,518,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2219,3883
$GC,3297,-1.29,-194.7,333.2,-11.1,579,3303,0.00,2.80,0.00,0.000,4,0.000,0.109,2668,3643,3883
$GC,3326,-1.29,-194.7,336.5,-11.5,584,3333,0.00,2.70,0.00,0.000,6,0.000,0.090,2668,2217,3883
$GC,3663,-1.29,-194.7,374.3,-11.3,626,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2217,3884
$GC,3982,-1.29,-194.7,408.7,-10.8,656,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2217,3883
$GC,4301,-1.29,-194.7,442.2,-10.5,686,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2217,3883
$GC,4620,-1.29,-194.7,474.4,-9.7,716,4624,0.00,2.83,0.00,0.000,4,0.000,0.111,2668,3648,3883
$GC,4652,-1.29,-194.7,477.8,-9.9,718,4659,0.00,2.70,0.00,0.000,6,0.000,0.091,2668,2226,3883
$GC,4979,-1.29,-194.7,508.7,-9.5,749,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3883
$GC,5295,-1.29,-194.7,537.8,-9.1,779,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3882
$GC,5614,-1.29,-194.7,566.3,-9.2,809,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3883
$GC,5932,-1.29,-194.7,599.6,-10.3,839,5937,0.00,2.83,0.00,0.000,4,0.000,0.115,2668,3649,3883
$GC,5998,-1.29,-194.7,606.7,-10.2,842,6002,0.00,2.72,0.00,0.000,6,0.000,0.094,2668,2221,3882
$GC,6319,-1.29,-194.7,639.9,-10.9,858,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3882
$GC,6629,-1.29,-194.7,670.9,-9.4,873,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3882
$GC,6938,-1.29,-194.7,701.9,-9.5,888,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3882
$GC,7248,-1.29,-194.7,728.1,-8.3,903,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2222,3882
$GC,7556,-1.29,-194.7,753.2,-8.2,918,7561,0.00,2.88,0.00,0.000,4,0.000,0.126,2668,3642,3881
$GC,7583,-1.29,-194.7,755.7,-9.5,919,7588,0.00,2.72,0.00,0.000,6,0.000,0.100,2668,2233,3881
$GC,7899,-1.29,-194.7,785.3,-9.2,934,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3881
$GC,8208,-1.29,-194.7,816.8,-10.6,949,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3881
$GC,8517,-1.29,-194.7,845.0,-8.8,964,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3880
$GC,8827,-1.29,-194.7,872.3,-8.1,979,8829,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3880
$GC,9136,-1.34,-194.7,898.9,-9.2,994,9141,0.00,2.92,0.00,0.000,4,0.000,0.139,2668,824,3880
$STATE,9278,end dive,NO_VERTICAL_VELOCITY
$STATE,9279,begin apogee
$GC,9289,-0.35,0.0,898.9,0.0,1000,9457,0.95,0.00,163.88,1.364,6,0.064,0.000,2882,2326,3085
$STATE,9457,end apogee,CONTROL_FINISHED_OK
$STATE,9457,begin climb
$GC,9460,1.29,194.7,898.9,0.0,1009,9632,1.62,2.95,161.27,1.319,4,0.065,0.123,3236,918,2290
$GC,9835,1.22,194.7,865.0,13.4,1026,9840,0.00,2.80,0.00,0.000,6,0.000,0.108,3236,2328,2288
$GC,10151,1.14,194.7,825.2,12.3,1041,10153,0.15,0.00,0.00,0.000,6,0.114,0.000,3209,2328,2288
$GC,10460,1.11,206.8,794.4,9.6,1056,10481,0.00,2.97,11.32,1.207,4,0.000,0.130,3209,3739,2241
$GC,10498,1.04,206.8,790.5,10.1,1057,10505,0.12,2.80,0.00,0.000,6,0.115,0.100,3187,2325,2241
$GC,10814,1.05,217.9,763.0,9.6,1073,10835,0.00,2.97,11.27,1.187,4,0.000,0.122,3187,3739,2195
$GC,10851,1.05,217.9,758.7,11.3,1074,10858,0.00,2.80,0.00,0.000,6,0.000,0.100,3187,2327,2195
$GC,11166,1.05,217.9,719.6,12.6,1090,11168,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2327,2195
$GC,11477,1.05,217.9,680.3,12.3,1105,11481,0.00,2.88,0.00,0.000,4,0.000,0.118,3187,3739,2194
$GC,11565,1.05,217.9,668.6,12.4,1109,11569,0.00,2.75,0.00,0.000,6,0.000,0.099,3186,2336,2194
$GC,11887,1.05,217.9,631.3,11.4,1125,11888,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2337,2194
$GC,12196,1.12,274.3,602.8,8.0,1140,12246,0.00,0.00,48.85,1.157,6,0.000,0.000,3187,2337,1966
$GC,12565,1.18,325.3,572.7,8.2,1173,12615,0.15,0.00,44.97,1.119,6,0.063,0.000,3224,2337,1758
$GC,12933,1.18,325.3,526.7,13.2,1208,12937,0.00,2.85,0.00,0.000,4,0.000,0.113,3224,3740,1752
$GC,12960,1.18,325.3,522.9,13.5,1210,12965,0.00,2.75,0.00,0.000,6,0.000,0.092,3224,2329,1751
$GC,13285,1.18,325.3,479.1,13.4,1240,13286,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2330,1751
$GC,13603,1.18,325.3,436.1,13.4,1270,13604,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2330,1750
$GC,13922,1.18,325.3,396.1,12.7,1300,13923,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2330,1749
$GC,14240,1.18,325.3,354.1,13.5,1330,14245,0.00,2.85,0.00,0.000,4,0.000,0.110,3223,3741,1750
$GC,14268,1.18,325.3,350.3,14.0,1332,14272,0.00,2.70,0.00,0.000,6,0.000,0.087,3224,2340,1749
$GC,14610,1.18,325.3,300.3,15.0,1392,14616,0.00,2.80,0.00,0.000,4,0.000,0.108,3224,915,1749
$GC,14633,1.18,325.3,296.6,15.5,1396,14640,0.00,2.75,0.00,0.000,6,0.000,0.093,3224,2351,1749
$GC,14978,1.18,325.3,249.9,12.7,1457,14984,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2352,1749
$GC,15321,1.18,325.3,206.2,11.9,1518,15327,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2352,1749
$GC,15664,1.18,325.3,162.7,13.2,1579,15669,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2352,1749
$GC,16006,1.18,325.3,121.1,10.6,1640,16012,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2352,1749
$GC,16349,1.18,325.3,83.3,11.3,1701,16354,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2352,1749
$GC,16693,1.18,325.3,43.8,12.6,1762,16699,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,2352,1749
$GC,16834,1.18,325.3,26.5,12.3,1787,16841,0.00,2.78,0.00,0.000,4,0.000,0.100,3224,914,1749
$GC,16870,1.18,325.3,21.9,11.9,1793,16876,0.00,2.67,0.00,0.000,6,0.000,0.085,3223,2341,1749
$GC,17012,1.18,325.3,3.8,12.8,1818,17018,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,2341,1749
$STATE,17028,end climb,SURFACE_DEPTH_REACHED
$STATE,17028,begin surface coast
$FINISH,0.2,1.013707
$STATE,17046,end surface coast,CONTROL_FINISHED_OK
$STATE,17046,begin surface
$SM_CCo,17128,0.00,0.000,0,0,1745,328.70
$SM_GC,1.13,11.55,0.00,0.00,0.045,0.000,0.000,592,2232,1745,-10.84,-0.08,328.70
$IRIDIUM_FIX,6121.73,-2650.19,220897,111104
$TT8_MAMPS,0.022243
$HUMID,1698
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.70
$XPDR_PINGS,94
$24V_AH,23.3,51.714
$10V_AH,10.6,41.787
$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,26.875,89.600,441.575,0.000,0.000,30.870,37.559,255.668,23.500,0.000,0.000,16.516,2834.067,10263.223,565.710,3286.572,633.886,0.000,1985.138,0.000,3263.651,0.000,0.467
$DEVICE_MAMPS,186.381,138.827,1364.493,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1263.975,1354.524,1701.090,536.469,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107187,1824
$CAP_FILE_SIZE,152539,0
$CFSIZE,260165632,233631744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,280508,220508,6147.871,-2704.717,28,1.5,28,-19.2