version: 66.03
glider: 140
mission: 5
dive: 235
start: 5 28 108 22 13 27
data:
$ID,140
$MISSION,5
$DIVE,235
$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,-17652.672
$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,11
$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
$GPS1,220508,6147.871,-2704.717,28,1.5,28,-19.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-63.6
$GPS2,221308,6147.927,-2704.778,13,1.7,30,-19.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6147.927,-2709.881
$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,-194.7,0.0,0.0,0,100,0.00,0.00,-71.28,0.000,2,0.000,0.000,592,2231,3419
$GC,103,-1.29,-194.7,3.5,-8.9,13,133,12.30,2.72,-10.15,0.000,4,0.186,0.108,2668,824,3881
$GC,325,-1.29,-194.7,29.3,-10.6,52,331,0.00,2.65,0.00,0.000,6,0.000,0.084,2669,2239,3882
$GC,468,-1.29,-194.7,44.7,-10.3,77,475,0.00,2.72,0.00,0.000,4,0.000,0.096,2669,820,3882
$GC,498,-1.29,-194.7,48.0,-10.7,82,504,0.00,2.65,0.00,0.000,6,0.000,0.083,2668,2228,3882
$GC,641,-1.29,-194.7,61.9,-10.1,107,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,984,-1.29,-194.7,99.9,-11.6,168,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,1328,-1.29,-194.7,137.9,-9.6,229,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,1672,-1.29,-194.7,171.9,-10.3,290,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,2015,-1.29,-194.7,206.6,-10.2,351,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3882
$GC,2357,-1.29,-194.7,241.6,-10.3,412,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3882
$GC,2701,-1.29,-194.7,276.0,-9.9,473,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3882
$GC,3043,-1.29,-194.7,309.1,-9.6,534,3049,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,3387,-1.29,-194.7,340.7,-9.7,595,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3882
$GC,3717,-1.29,-194.7,371.1,-9.6,635,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3882
$GC,4036,-1.29,-194.7,401.1,-9.4,665,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,4355,-1.29,-194.7,431.2,-9.5,695,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3881
$GC,4673,-1.29,-194.7,461.2,-9.3,725,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,4991,-1.29,-194.7,492.1,-10.1,755,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,5310,-1.29,-194.7,523.6,-9.5,785,5314,0.00,2.80,0.00,0.000,4,0.000,0.115,2669,3645,3881
$GC,5343,-1.29,-194.7,527.0,-9.9,787,5349,0.00,2.72,0.00,0.000,6,0.000,0.091,2669,2205,3881
$GC,5669,-1.29,-194.7,557.8,-9.4,818,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2206,3881
$GC,5988,-1.29,-194.7,585.6,-7.9,848,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2206,3881
$GC,6301,-1.29,-194.7,610.4,-8.2,872,6306,0.00,2.85,0.00,0.000,4,0.000,0.115,2668,3643,3881
$GC,6328,-1.29,-194.7,612.8,-8.9,873,6333,0.00,2.75,0.00,0.000,6,0.000,0.095,2669,2206,3881
$GC,6644,-1.29,-194.7,641.5,-9.2,888,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2206,3880
$GC,6953,-1.29,-194.7,668.8,-8.2,903,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2206,3880
$GC,7263,-1.29,-194.7,694.8,-8.4,918,7267,0.00,2.90,0.00,0.000,4,0.000,0.121,2668,3647,3880
$GC,7302,-1.29,-194.7,698.2,-9.3,920,7306,0.00,2.78,0.00,0.000,6,0.000,0.100,2668,2209,3880
$GC,7628,-1.29,-194.7,726.1,-8.7,936,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2209,3880
$GC,7938,-1.29,-194.7,751.9,-6.9,951,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2209,3879
$GC,8246,-1.29,-194.7,782.6,-12.6,966,8247,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2209,3879
$GC,8556,-1.29,-194.7,803.0,-4.4,981,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2209,3879
$GC,8865,-1.29,-194.7,831.0,-8.3,996,8870,0.00,2.90,0.00,0.000,4,0.000,0.126,2669,3644,3878
$GC,8937,-1.33,-194.7,834.9,-2.9,999,8942,0.00,2.83,0.00,0.000,6,0.000,0.105,2668,2202,3878
$GC,9252,-1.33,-194.7,854.2,-12.1,1014,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2203,3878
$GC,9563,-1.33,-194.7,878.6,-7.0,1029,9567,0.00,2.92,0.00,0.000,4,0.000,0.126,2668,3642,3878
$GC,9602,-1.33,-194.7,882.0,-8.6,1031,9607,0.00,2.83,0.00,0.000,6,0.000,0.105,2668,2197,3878
$GC,9928,-1.33,-194.7,908.7,-9.0,1047,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2198,3878
$GC,10238,-1.33,-194.7,935.6,-8.3,1062,10243,0.00,2.92,0.00,0.000,4,0.000,0.126,2668,3642,3877
$GC,10270,-1.33,-194.7,938.7,-9.7,1063,10277,0.00,2.80,0.00,0.000,6,0.000,0.109,2669,2216,3877
$STATE,10439,end dive,NO_VERTICAL_VELOCITY
$STATE,10439,begin apogee
$GC,10446,-0.35,0.0,938.7,0.0,1072,10614,0.98,0.00,164.75,1.392,6,0.069,0.000,2881,2330,3085
$STATE,10615,end apogee,CONTROL_FINISHED_OK
$STATE,10615,begin climb
$GC,10617,1.29,194.7,938.4,0.0,1080,10790,1.62,3.05,161.98,1.353,4,0.061,0.135,3238,917,2291
$GC,10983,1.22,194.7,906.9,15.5,1097,10988,0.00,2.83,0.00,0.000,6,0.000,0.109,3238,2333,2289
$GC,11310,1.14,194.7,863.0,12.5,1113,11315,0.15,2.92,0.00,0.000,4,0.115,0.129,3207,3739,2288
$GC,11368,1.05,194.7,855.9,12.6,1115,11374,0.00,2.80,0.00,0.000,6,0.000,0.102,3208,2332,2288
$GC,11684,1.01,194.7,819.1,10.9,1131,11689,0.15,2.90,0.00,0.000,4,0.111,0.122,3176,3739,2287
$GC,11705,1.01,194.7,816.6,10.2,1132,11710,0.00,2.78,0.00,0.000,6,0.000,0.102,3176,2338,2287
$GC,12027,1.01,194.7,784.4,10.4,1148,12028,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2338,2287
$GC,12336,1.02,206.4,753.0,9.6,1163,12357,0.00,2.95,11.15,1.212,4,0.000,0.121,3176,3740,2242
$GC,12396,1.02,206.4,745.9,12.5,1165,12402,0.00,2.78,0.00,0.000,6,0.000,0.101,3176,2344,2242
$GC,12711,1.02,206.4,710.7,11.1,1181,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2344,2242
$GC,13020,1.02,206.4,678.5,10.6,1196,13021,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2344,2242
$GC,13330,1.02,206.4,647.0,10.2,1211,13331,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2344,2242
$GC,13639,1.07,248.3,619.2,8.5,1226,13679,0.00,0.00,36.78,1.173,6,0.000,0.000,3176,2344,2071
$GC,13992,1.10,271.2,585.8,9.2,1250,14019,0.10,2.90,20.67,1.124,4,0.074,0.114,3201,3740,1978
$GC,14043,1.10,271.2,580.4,10.6,1254,14047,0.00,2.78,0.00,0.000,6,0.000,0.094,3201,2338,1976
$GC,14367,1.10,271.2,544.4,12.0,1284,14368,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2339,1974
$GC,14686,1.10,271.2,508.3,10.2,1314,14687,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2338,1974
$GC,15004,1.10,271.2,475.8,10.3,1344,15008,0.00,2.83,0.00,0.000,4,0.000,0.111,3201,3740,1973
$GC,15032,1.10,271.2,472.8,11.1,1346,15036,0.00,2.72,0.00,0.000,6,0.000,0.091,3201,2338,1972
$GC,15356,1.10,271.2,438.0,11.1,1376,15357,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2338,1973
$GC,15677,1.10,271.2,401.0,12.4,1406,15678,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2338,1973
$GC,15993,1.10,271.2,364.0,11.5,1436,15998,0.00,2.80,0.00,0.000,4,0.000,0.110,3201,3740,1972
$GC,16021,1.10,271.2,360.6,12.7,1438,16025,0.00,2.70,0.00,0.000,6,0.000,0.091,3201,2344,1972
$GC,16359,1.10,271.2,321.3,11.2,1490,16365,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2344,1973
$GC,16702,1.10,271.2,281.8,11.8,1551,16707,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2344,1973
$GC,17044,1.10,271.2,243.4,10.8,1612,17050,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2344,1973
$GC,17387,1.10,271.2,207.1,10.9,1673,17393,0.00,2.78,0.00,0.000,4,0.000,0.107,3202,3740,1973
$GC,17416,1.10,271.2,204.1,12.2,1678,17423,0.00,2.70,0.00,0.000,6,0.000,0.088,3201,2335,1973
$GC,17761,1.11,275.7,168.7,9.8,1739,17773,0.00,2.85,4.40,0.659,4,0.000,0.105,3201,3739,1961
$GC,17796,1.11,275.7,164.6,12.2,1745,17802,0.00,2.67,0.00,0.000,6,0.000,0.085,3201,2348,1960
$GC,18139,1.11,275.7,126.5,10.7,1806,18146,0.00,2.78,0.00,0.000,4,0.000,0.104,3201,918,1961
$GC,18169,1.11,275.7,123.2,13.0,1811,18175,0.00,2.75,0.00,0.000,6,0.000,0.088,3201,2366,1961
$GC,18512,1.11,275.7,84.5,11.4,1872,18518,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2367,1961
$GC,18855,1.11,275.7,45.1,11.0,1933,18861,0.00,2.80,0.00,0.000,4,0.000,0.100,3201,916,1961
$GC,18902,1.11,275.7,39.6,11.0,1941,18908,0.00,2.70,0.00,0.000,6,0.000,0.087,3201,2353,1961
$GC,19046,1.11,275.7,24.0,10.8,1966,19052,0.00,2.70,0.00,0.000,4,0.000,0.103,3201,3739,1960
$GC,19081,1.11,275.7,19.5,13.8,1972,19088,0.00,2.62,0.00,0.000,6,0.000,0.081,3201,2346,1960
$GC,19224,1.11,275.7,4.0,10.5,1997,19230,0.00,2.72,0.00,0.000,4,0.000,0.099,3201,915,1961
$STATE,19247,end climb,SURFACE_DEPTH_REACHED
$STATE,19247,begin surface coast
$FINISH,0.8,1.027564
$STATE,19258,end surface coast,CONTROL_FINISHED_OK
$STATE,19258,begin surface
$SM_CCo,19342,0.00,0.000,0,0,1959,276.21
$SM_GC,0.99,11.50,0.00,0.00,0.047,0.000,0.000,594,2243,1959,-10.84,0.23,276.21
$IRIDIUM_FIX,6121.73,-2654.24,220897,171734
$TT8_MAMPS,0.02301
$HUMID,1678
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.70
$XPDR_PINGS,111
$24V_AH,23.3,51.887
$10V_AH,10.6,41.953
$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,26.800,117.325,399.725,0.000,0.000,30.428,34.882,257.502,27.750,0.000,0.000,30.498,3131.979,11855.517,557.708,3575.917,685.735,0.000,2104.370,0.000,3549.233,0.000,0.467
$DEVICE_MAMPS,185.614,134.992,1392.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1390.268,1498.518,1812.848,574.434,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119937,2003
$CAP_FILE_SIZE,171184,0
$CFSIZE,260165632,233512960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,290508,033701,6148.522,-2710.754,37,2.0,37,-19.3