version: 66.03
glider: 140
mission: 5
dive: 368
start: 6 28 108 9 56 35
data:
$ID,140
$MISSION,5
$DIVE,368
$D_SURF,2
$D_FLARE,3
$D_TGT,650
$D_ABORT,900
$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,210
$T_MISSION,250
$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,180
$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,450
$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,-19997.594
$T_RSLEEP,6
$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,12
$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
$GPS1,095208,6141.263,-2537.865,7,1.9,18,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-50.7
$GPS2,095615,6141.237,-2537.894,13,2.0,13,-18.4
$SPEED_LIMITS,0.179,0.298
$TGT_NAME,HEADING
$TGT_LATLONG,6130.438,-2537.894
$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,198.4,20000,-15.4,-10.317
$D_GRID,650
$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,28,-1.32,-194.7,0.0,0.0,0,122,0.00,0.00,-91.62,0.000,2,0.000,0.000,592,2236,3508
$GC,125,-1.32,-194.7,3.5,-7.9,17,155,12.05,2.75,-7.70,0.000,4,0.179,0.099,2664,824,3882
$GC,289,-1.28,-194.7,22.6,-8.3,45,295,0.00,2.62,0.00,0.000,6,0.000,0.077,2664,2238,3882
$GC,431,-1.28,-194.7,37.4,-10.5,70,438,0.00,2.67,0.00,0.000,4,0.000,0.092,2664,3648,3882
$GC,485,-1.28,-194.7,43.0,-10.1,79,492,0.00,2.58,0.00,0.000,6,0.000,0.074,2664,2247,3883
$GC,627,-1.28,-194.7,55.1,-8.1,104,634,0.00,2.70,0.00,0.000,4,0.000,0.091,2664,819,3883
$GC,669,-1.28,-194.7,58.6,-8.3,111,675,0.00,2.70,0.00,0.000,6,0.000,0.079,2664,2260,3882
$GC,1013,-1.28,-194.7,89.8,-9.2,172,1019,0.00,2.75,0.00,0.000,4,0.000,0.093,2664,823,3883
$GC,1044,-1.28,-194.7,92.7,-9.6,177,1050,0.00,2.65,0.00,0.000,6,0.000,0.080,2664,2235,3883
$GC,1388,-1.28,-194.7,126.3,-10.0,238,1394,0.00,2.65,0.00,0.000,4,0.000,0.087,2664,3648,3883
$GC,1435,-1.28,-194.7,131.1,-9.8,246,1442,0.00,2.67,0.00,0.000,6,0.000,0.081,2664,2217,3883
$GC,1781,-1.28,-194.7,162.4,-9.0,307,1787,0.00,2.70,0.00,0.000,4,0.000,0.101,2664,819,3883
$GC,1809,-1.28,-194.7,165.2,-9.5,312,1816,0.00,2.65,0.00,0.000,6,0.000,0.085,2664,2222,3882
$GC,2157,-1.28,-194.7,197.7,-9.1,373,2163,0.00,2.75,0.00,0.000,4,0.000,0.100,2664,3644,3881
$GC,2181,-1.28,-194.7,200.2,-9.4,377,2187,0.00,2.70,0.00,0.000,6,0.000,0.082,2664,2212,3882
$GC,2525,-1.28,-194.7,232.4,-9.3,438,2532,0.00,2.70,0.00,0.000,4,0.000,0.105,2664,827,3881
$GC,2556,-1.28,-194.7,235.2,-9.6,443,2562,0.00,2.67,0.00,0.000,6,0.000,0.091,2664,2217,3881
$GC,2902,-1.28,-194.7,265.9,-8.9,504,2908,0.00,2.80,0.00,0.000,4,0.000,0.106,2664,3650,3880
$GC,2939,-1.28,-194.7,269.3,-9.6,510,2945,0.00,2.72,0.00,0.000,6,0.000,0.087,2664,2215,3880
$GC,3284,-1.28,-194.7,299.8,-8.9,571,3290,0.00,2.75,0.00,0.000,4,0.000,0.108,2664,819,3879
$GC,3313,-1.28,-194.7,302.6,-9.3,576,3321,0.00,2.70,0.00,0.000,6,0.000,0.093,2664,2222,3880
$GC,3659,-1.28,-194.7,333.7,-9.3,637,3665,0.00,2.80,0.00,0.000,4,0.000,0.109,2664,3644,3879
$GC,3700,-1.28,-194.7,337.4,-9.2,644,3707,0.00,2.72,0.00,0.000,6,0.000,0.088,2664,2212,3879
$GC,4034,-1.28,-194.7,367.8,-9.2,687,4038,0.00,2.75,0.00,0.000,4,0.000,0.110,2664,821,3879
$GC,4063,-1.28,-194.7,370.5,-9.5,689,4068,0.00,2.70,0.00,0.000,6,0.000,0.094,2664,2219,3878
$GC,4390,-1.28,-194.7,400.5,-9.2,719,4395,0.00,2.83,0.00,0.000,4,0.000,0.110,2664,3652,3878
$GC,4419,-1.28,-194.7,403.3,-9.7,721,4424,0.00,2.75,0.00,0.000,6,0.000,0.088,2664,2208,3878
$GC,4747,-1.28,-194.7,431.7,-8.4,751,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2208,3878
$GC,5072,-1.28,-194.7,458.5,-8.3,782,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2208,3877
$GC,5391,-1.28,-194.7,485.3,-8.6,812,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2208,3877
$GC,5709,-1.28,-194.7,514.0,-9.2,842,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2208,3876
$GC,6028,-1.28,-194.7,542.9,-8.8,872,6033,0.00,2.88,0.00,0.000,4,0.000,0.112,2664,3652,3876
$GC,6050,-1.28,-194.7,545.0,-9.3,873,6056,0.00,2.72,0.00,0.000,6,0.000,0.092,2664,2227,3876
$GC,6377,-1.28,-194.7,573.7,-8.3,904,6382,0.00,2.80,0.00,0.000,4,0.000,0.116,2664,824,3875
$GC,6410,-1.28,-194.7,576.9,-9.0,906,6416,0.00,2.72,0.00,0.000,6,0.000,0.097,2664,2236,3875
$GC,6746,-1.28,-194.7,605.9,-9.0,935,6751,0.00,2.83,0.00,0.000,4,0.000,0.117,2664,3650,3875
$GC,6774,-1.28,-194.7,608.6,-9.4,936,6778,0.00,2.72,0.00,0.000,6,0.000,0.091,2664,2221,3875
$GC,7090,-1.28,-194.7,636.9,-9.1,951,7094,0.00,2.80,0.00,0.000,4,0.000,0.116,2664,821,3874
$GC,7123,-1.28,-194.7,640.1,-9.6,952,7129,0.00,2.72,0.00,0.000,6,0.000,0.101,2664,2217,3874
$STATE,7251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7251,begin apogee
$GC,7257,-0.35,0.0,651.8,9.1,959,7421,1.05,0.00,159.95,1.173,6,0.094,0.000,2878,2334,3085
$STATE,7422,end apogee,CONTROL_FINISHED_OK
$STATE,7422,begin climb
$GC,7424,1.32,194.7,658.7,0.0,967,7588,1.65,0.00,158.77,1.131,6,0.059,0.000,3244,2333,2291
$GC,7896,1.25,194.7,614.5,11.5,990,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2333,2289
$GC,8211,1.18,194.7,577.0,12.1,1014,8213,0.15,0.00,0.00,0.000,6,0.111,0.000,3217,2333,2288
$GC,8531,1.18,194.7,541.5,10.8,1044,8533,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2333,2287
$GC,8847,1.18,194.7,506.9,11.3,1074,8852,0.00,2.80,0.00,0.000,4,0.000,0.108,3217,918,2288
$GC,8865,1.18,194.7,505.0,11.3,1075,8869,0.00,2.75,0.00,0.000,6,0.000,0.097,3217,2331,2287
$GC,9194,1.18,198.3,469.7,10.2,1105,9200,0.00,0.00,4.20,0.730,6,0.000,0.000,3217,2331,2276
$GC,9521,1.20,208.2,436.6,10.0,1136,9536,0.00,2.85,9.85,0.979,4,0.000,0.106,3217,919,2236
$GC,9543,1.20,208.2,434.0,10.5,1138,9547,0.00,2.72,0.00,0.000,6,0.000,0.094,3217,2311,2236
$GC,9869,1.20,208.2,399.8,10.6,1168,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2312,2235
$GC,10187,1.20,208.2,365.7,10.8,1198,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2312,2235
$GC,10515,1.21,220.7,331.2,9.9,1244,10531,0.00,0.00,11.95,0.939,6,0.000,0.000,3217,2312,2184
$GC,10870,1.23,237.0,295.6,9.7,1307,10893,0.00,2.80,15.15,0.917,4,0.000,0.104,3217,914,2118
$GC,10906,1.24,246.5,291.9,10.0,1313,10923,0.00,2.70,9.27,0.811,6,0.000,0.089,3217,2308,2079
$GC,11261,1.24,246.5,255.6,10.5,1376,11267,0.00,2.83,0.00,0.000,4,0.000,0.103,3217,3735,2077
$GC,11285,1.24,246.5,252.9,11.2,1380,11291,0.00,2.75,0.00,0.000,6,0.000,0.084,3217,2307,2077
$GC,11629,1.24,246.5,217.3,10.7,1441,11635,0.00,2.70,0.00,0.000,4,0.000,0.103,3217,918,2077
$GC,11658,1.24,246.5,214.1,11.5,1446,11665,0.00,2.65,0.00,0.000,6,0.000,0.089,3217,2307,2077
$GC,12003,1.25,256.0,177.8,10.0,1507,12020,0.00,2.90,9.30,0.831,4,0.000,0.105,3217,3737,2039
$GC,12028,1.26,262.1,175.2,10.1,1511,12040,0.00,2.78,6.72,0.696,6,0.000,0.082,3217,2301,2016
$GC,12379,1.29,285.8,139.4,9.5,1573,12406,0.10,0.00,21.17,0.821,6,0.071,0.000,3244,2301,1918
$GC,12744,1.29,285.8,94.8,12.7,1638,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2301,1914
$GC,13087,1.29,285.8,54.7,11.2,1699,13093,0.00,0.00,0.00,0.000,6,0.000,0.000,3244,2301,1914
$GC,13431,1.29,285.8,13.0,10.8,1760,13437,0.00,2.65,0.00,0.000,4,0.000,0.097,3244,914,1914
$STATE,13531,end climb,SURFACE_DEPTH_REACHED
$STATE,13531,begin surface coast
$FINISH,0.2,1.027344
$STATE,13549,end surface coast,CONTROL_FINISHED_OK
$STATE,13549,begin surface
$SM_CCo,13574,137.73,0.683,6,0,1250,450.13
$SM_GC,0.92,0.00,0.00,137.73,0.000,0.000,0.683,586,2241,1250,-10.92,0.17,450.13
$IRIDIUM_FIX,6121.73,-2551.24,220997,090955
$TT8_MAMPS,0.02301
$HUMID,1706
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.00
$XPDR_PINGS,695
$24V_AH,23.2,78.495
$10V_AH,10.6,64.915
$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,26.625,131.325,406.350,137.725,0.000,0.000,0.000,0.000,173.750,0.000,0.000,13.535,2731.436,6952.796,740.664,3096.261,293.526,0.000,2087.909,0.000,3074.503,0.000,0.469
$DEVICE_MAMPS,178.711,121.953,1172.743,682.630,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1231.172,1322.605,1675.943,593.095,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107244,1781
$CAP_FILE_SIZE,158839,0
$CFSIZE,260165632,220704768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,280608,134655,6139.121,-2537.978,39,1.3,39,-18.3