version: 66.03
glider: 140
mission: 5
dive: 340
start: 6 22 108 6 31 11
data:
$ID,140
$MISSION,5
$DIVE,340
$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,-19480.908
$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,14
$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
$GPS1,061907,6157.220,-2632.246,36,1.2,41,-19.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.5
$GPS2,063051,6157.285,-2632.282,12,1.3,12,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NW
$TGT_LATLONG,6204.210,-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,351.2,14495,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.29,-194.7,0.0,0.0,0,97,0.00,0.00,-73.05,0.000,2,0.000,0.000,588,2232,3442
$GC,100,-1.29,-194.7,3.3,-6.3,10,131,12.35,2.70,-9.40,0.000,4,0.183,0.104,2673,825,3880
$GC,258,-1.29,-194.7,23.2,-10.1,36,265,0.00,2.65,0.00,0.000,6,0.000,0.082,2673,2237,3882
$GC,404,-1.29,-194.7,36.8,-9.7,61,411,0.00,2.70,0.00,0.000,4,0.000,0.094,2672,3653,3882
$GC,434,-1.29,-194.7,40.1,-10.1,66,442,0.00,2.65,0.00,0.000,6,0.000,0.077,2673,2226,3882
$GC,578,-1.29,-194.7,54.3,-9.3,91,585,0.00,2.72,0.00,0.000,4,0.000,0.094,2673,3645,3882
$GC,609,-1.29,-194.7,57.3,-9.9,96,616,0.00,2.62,0.00,0.000,6,0.000,0.077,2673,2237,3883
$GC,954,-1.29,-194.7,88.5,-8.5,157,961,0.00,2.70,0.00,0.000,4,0.000,0.098,2673,827,3883
$GC,997,-1.29,-194.7,92.6,-9.4,164,1004,0.00,2.65,0.00,0.000,6,0.000,0.084,2673,2238,3883
$GC,1342,-1.29,-194.7,124.8,-9.1,225,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2238,3883
$GC,1688,-1.29,-194.7,155.6,-9.0,286,1695,0.00,2.78,0.00,0.000,4,0.000,0.103,2673,820,3884
$GC,1713,-1.29,-194.7,158.1,-9.4,290,1721,0.00,2.70,0.00,0.000,6,0.000,0.088,2673,2238,3883
$GC,2060,-1.29,-194.7,189.3,-8.6,351,2067,0.00,2.78,0.00,0.000,4,0.000,0.104,2673,823,3883
$GC,2108,-1.29,-194.7,193.6,-8.6,359,2115,0.00,2.67,0.00,0.000,6,0.000,0.090,2673,2224,3883
$GC,2454,-1.29,-194.7,224.9,-9.3,420,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2224,3883
$GC,2799,-1.29,-194.7,256.4,-8.9,481,2806,0.00,2.75,0.00,0.000,4,0.000,0.107,2673,826,3883
$GC,2842,-1.29,-194.7,260.4,-9.7,488,2849,0.00,2.65,0.00,0.000,6,0.000,0.091,2673,2217,3882
$GC,3188,-1.29,-194.7,290.8,-8.2,549,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2217,3882
$GC,3532,-1.29,-194.7,321.0,-8.8,610,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3882
$GC,3882,-1.29,-194.7,351.2,-8.5,671,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3882
$GC,4200,-1.29,-194.7,378.3,-8.5,701,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3881
$GC,4522,-1.29,-194.7,406.5,-9.3,731,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3881
$GC,4847,-1.29,-194.7,438.5,-9.8,762,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2216,3881
$GC,5166,-1.29,-194.7,469.2,-9.1,792,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3881
$GC,5484,-1.29,-194.7,492.3,-5.9,822,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3880
$GC,5803,-1.29,-194.7,512.7,-7.4,852,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3880
$GC,6121,-1.29,-194.7,534.9,-7.2,882,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3880
$GC,6440,-1.29,-194.7,557.2,-7.2,912,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3880
$GC,6758,-1.29,-194.7,580.5,-7.6,942,6759,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2217,3880
$GC,7086,-1.29,-194.7,607.1,-8.4,969,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2217,3879
$GC,7394,-1.29,-194.7,629.2,-6.3,984,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2218,3879
$STATE,7597,end dive,NO_VERTICAL_VELOCITY
$STATE,7597,begin apogee
$GC,7604,-0.35,0.0,629.9,0.0,994,7769,0.93,0.00,161.30,1.173,6,0.042,0.000,2891,2334,3085
$STATE,7770,end apogee,CONTROL_FINISHED_OK
$STATE,7770,begin climb
$GC,7773,1.29,194.7,629.8,0.0,1002,7940,1.50,2.85,158.88,1.131,4,0.038,0.100,3244,916,2290
$GC,8055,1.22,194.7,616.9,13.4,1014,8059,0.00,2.78,0.00,0.000,6,0.000,0.098,3244,2331,2288
$GC,8376,1.12,194.7,576.1,16.2,1037,8382,0.17,2.88,0.00,0.000,4,0.108,0.117,3208,3738,2286
$GC,8417,1.06,194.7,569.5,16.3,1040,8421,0.00,2.75,0.00,0.000,6,0.000,0.093,3208,2334,2287
$GC,8744,1.09,215.7,535.5,9.3,1070,8765,0.00,0.00,18.48,1.058,6,0.000,0.000,3208,2333,2205
$GC,9083,1.09,223.1,502.3,9.7,1102,9097,0.00,2.95,7.80,0.967,4,0.000,0.111,3208,3737,2175
$GC,9121,1.05,225.3,498.4,9.9,1105,9134,0.00,2.75,3.70,0.627,6,0.000,0.090,3208,2331,2166
$GC,9452,1.05,225.3,464.9,11.3,1136,9456,0.00,2.80,0.00,0.000,4,0.000,0.110,3208,918,2165
$GC,9514,1.05,225.3,457.6,11.9,1141,9519,0.00,2.75,0.00,0.000,6,0.000,0.096,3208,2334,2165
$GC,9842,1.08,248.5,424.8,9.2,1171,9870,0.00,0.00,20.77,1.007,6,0.000,0.000,3208,2334,2070
$GC,10188,1.09,253.6,391.8,9.8,1204,10199,0.00,0.00,5.75,0.841,6,0.000,0.000,3208,2334,2051
$GC,10519,1.10,262.4,360.7,9.7,1235,10535,0.00,2.88,9.02,0.931,4,0.000,0.107,3208,919,2015
$GC,10565,1.10,262.4,355.6,10.4,1239,10570,0.00,2.72,0.00,0.000,6,0.000,0.094,3208,2324,2015
$GC,10906,1.10,262.4,319.9,10.5,1294,10913,0.00,2.83,0.00,0.000,4,0.000,0.111,3208,3737,2013
$GC,10937,1.10,262.4,316.4,11.5,1299,10944,0.00,2.75,0.00,0.000,6,0.000,0.089,3208,2318,2013
$GC,11282,1.10,262.4,281.8,10.0,1360,11289,0.00,2.75,0.00,0.000,4,0.000,0.108,3208,916,2013
$GC,11328,1.10,262.4,277.1,10.1,1368,11336,0.00,2.70,0.00,0.000,6,0.000,0.091,3208,2325,2014
$GC,11675,1.11,271.0,243.5,9.7,1429,11689,0.00,0.00,8.60,0.871,6,0.000,0.000,3208,2325,1979
$GC,12028,1.13,291.9,210.4,9.3,1491,12054,0.00,0.00,19.67,0.876,6,0.000,0.000,3208,2325,1893
$GC,12393,1.14,295.5,174.4,9.9,1555,12407,0.00,2.80,4.25,0.641,4,0.000,0.101,3208,921,1879
$GC,12436,1.14,300.5,170.0,9.8,1562,12450,0.00,2.67,5.95,0.745,6,0.000,0.088,3208,2319,1859
$GC,12789,1.15,305.4,136.7,9.8,1624,12797,0.00,0.00,5.93,0.734,6,0.000,0.000,3208,2319,1839
$GC,13136,1.15,305.4,99.5,10.5,1685,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2318,1838
$GC,13480,1.15,305.4,62.5,10.0,1746,13487,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2318,1837
$GC,13825,1.19,334.0,30.2,9.0,1807,13859,0.00,2.78,25.12,0.770,4,0.000,0.097,3208,909,1723
$GC,13897,1.27,353.6,23.7,9.3,1818,13926,0.12,2.67,17.98,0.734,6,0.062,0.084,3242,2321,1641
$GC,14063,1.27,353.6,5.0,11.1,1846,14070,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2321,1638
$STATE,14091,end climb,SURFACE_DEPTH_REACHED
$STATE,14091,begin surface coast
$FINISH,0.3,1.013575
$STATE,14110,end surface coast,CONTROL_FINISHED_OK
$STATE,14110,begin surface
$SM_CCo,14192,0.00,0.000,0,0,1634,355.93
$SM_GC,1.14,11.62,0.00,0.00,0.041,0.000,0.000,591,2227,1634,-10.84,-0.23,355.93
$IRIDIUM_FIX,6135.28,-2635.95,160997,060627
$TT8_MAMPS,0.022243
$HUMID,1711
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.80
$XPDR_PINGS,670
$24V_AH,23.2,72.749
$10V_AH,10.6,60.191
$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,26.700,88.225,473.200,0.000,0.000,56.612,66.048,356.357,167.500,0.000,0.000,14.704,3685.330,6487.746,632.179,3222.844,847.326,0.000,2024.112,0.000,3227.271,0.000,0.469
$DEVICE_MAMPS,183.313,118.885,1172.743,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1282.813,1415.259,1739.341,616.061,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110544,1854
$CAP_FILE_SIZE,151177,0
$CFSIZE,260165632,223404032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 18.7,1
$GPS,220608,102855,6159.553,-2633.710,37,1.5,37,-19.0