version: 66.03
glider: 140
mission: 5
dive: 232
start: 5 28 108 6 56 52
data:
$ID,140
$MISSION,5
$DIVE,232
$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,-17588.266
$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,12
$R_STBD_OVSHOOT,8
$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
$GPS1,064857,6145.242,-2648.594,38,1.4,39,-19.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-59.4
$GPS2,065632,6145.259,-2648.573,10,1.3,15,-19.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6145.259,-2653.683
$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,289.0,20000,-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,-194.7,0.0,0.0,0,117,0.00,0.00,-87.25,0.000,2,0.000,0.000,588,2232,3426
$GC,120,-1.29,-194.7,3.3,-6.6,16,150,12.35,2.75,-10.10,0.000,4,0.186,0.108,2668,3648,3880
$GC,404,-1.29,-194.7,31.3,-7.9,66,410,0.00,2.65,0.00,0.000,6,0.000,0.081,2668,2226,3881
$GC,546,-1.29,-194.7,44.1,-10.0,91,552,0.00,2.75,0.00,0.000,4,0.000,0.096,2668,3651,3881
$GC,582,-1.29,-194.7,48.1,-11.5,97,588,0.00,2.62,0.00,0.000,6,0.000,0.080,2668,2246,3881
$GC,723,-1.29,-194.7,66.1,-13.8,122,729,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2246,3881
$GC,1066,-1.29,-194.7,115.4,-11.9,183,1071,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2246,3881
$GC,1409,-1.29,-194.7,148.9,-8.4,244,1415,0.00,2.78,0.00,0.000,4,0.000,0.105,2668,821,3882
$GC,1439,-1.29,-194.7,151.5,-8.5,249,1445,0.00,2.72,0.00,0.000,6,0.000,0.088,2668,2260,3882
$GC,1784,-1.29,-194.7,179.7,-8.4,310,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3882
$GC,2128,-1.29,-194.7,209.9,-9.0,371,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3882
$GC,2470,-1.29,-194.7,243.3,-10.2,432,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3882
$GC,2813,-1.29,-194.7,278.7,-10.6,493,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3881
$GC,3155,-1.29,-194.7,315.2,-10.6,554,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3881
$GC,3497,-1.29,-194.7,350.2,-9.9,615,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3881
$GC,3816,-1.29,-194.7,381.0,-9.2,645,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3881
$GC,4135,-1.29,-194.7,408.7,-8.6,675,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3881
$GC,4453,-1.29,-194.7,436.7,-8.7,705,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3881
$GC,4772,-1.29,-194.7,465.2,-9.0,735,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2260,3881
$GC,5090,-1.29,-194.7,495.5,-9.8,765,5095,0.00,2.88,0.00,0.000,4,0.000,0.117,2668,824,3881
$GC,5129,-1.29,-194.7,499.5,-10.4,768,5134,0.00,2.78,0.00,0.000,6,0.000,0.097,2668,2265,3881
$GC,5455,-1.29,-194.7,531.5,-9.8,798,5460,0.00,2.72,0.00,0.000,4,0.000,0.114,2668,3650,3880
$GC,5483,-1.29,-194.7,534.5,-10.2,800,5488,0.00,2.65,0.00,0.000,6,0.000,0.091,2668,2252,3880
$GC,5810,-1.29,-194.7,564.1,-8.9,830,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2253,3880
$GC,6126,-1.29,-194.7,591.6,-8.7,860,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2253,3880
$GC,6448,-1.29,-194.7,620.1,-8.6,880,6453,0.00,2.78,0.00,0.000,4,0.000,0.114,2667,3650,3880
$GC,6487,-1.29,-194.7,623.7,-9.4,882,6492,0.00,2.65,0.00,0.000,6,0.000,0.094,2668,2265,3880
$GC,6814,-1.29,-194.7,652.6,-9.1,898,6819,0.00,2.90,0.00,0.000,4,0.000,0.122,2668,818,3880
$GC,6858,-1.29,-194.7,656.9,-10.0,900,6862,0.00,2.80,0.00,0.000,6,0.000,0.100,2667,2264,3880
$GC,7178,-1.29,-194.7,685.4,-8.6,916,7183,0.00,2.75,0.00,0.000,4,0.000,0.123,2668,3646,3880
$GC,7228,-1.29,-194.7,690.0,-8.9,918,7233,0.00,2.65,0.00,0.000,6,0.000,0.095,2668,2267,3879
$GC,7544,-1.29,-194.7,717.6,-9.1,933,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2266,3879
$GC,7853,-1.29,-194.7,745.6,-9.0,948,7858,0.00,2.92,0.00,0.000,4,0.000,0.125,2668,821,3879
$GC,7893,-1.29,-194.7,749.4,-9.9,950,7897,0.00,2.83,0.00,0.000,6,0.000,0.104,2668,2268,3879
$GC,8219,-1.61,-194.7,771.0,-0.0,966,8224,0.25,2.92,0.00,0.000,4,0.070,0.124,2610,824,3879
$STATE,8317,end dive,NO_VERTICAL_VELOCITY
$STATE,8317,begin apogee
$GC,8326,-0.35,0.0,771.0,0.0,970,8494,1.20,0.00,161.73,1.268,6,0.054,0.000,2884,2333,3085
$STATE,8494,end apogee,CONTROL_FINISHED_OK
$STATE,8494,begin climb
$GC,8497,1.29,194.7,770.9,0.0,979,8667,1.58,3.00,159.20,1.228,4,0.050,0.126,3240,3738,2291
$GC,8711,1.16,194.7,763.0,12.9,989,8717,0.15,2.80,0.00,0.000,6,0.115,0.100,3214,2328,2289
$GC,9033,1.12,194.7,724.9,11.9,1005,9034,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2327,2288
$GC,9343,1.07,194.7,688.5,11.8,1020,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2327,2288
$GC,9651,1.03,194.7,653.5,11.8,1035,9653,0.15,0.00,0.00,0.000,6,0.108,0.000,3186,2327,2288
$GC,9960,1.03,194.7,620.7,10.6,1050,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2327,2287
$GC,10273,1.03,194.7,588.3,10.2,1070,10277,0.00,2.85,0.00,0.000,4,0.000,0.120,3186,911,2287
$GC,10316,1.03,194.7,583.5,11.0,1073,10323,0.00,2.72,0.00,0.000,6,0.000,0.096,3186,2323,2287
$GC,10643,1.03,194.7,550.2,10.3,1104,10644,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2324,2287
$GC,10961,1.05,210.6,519.3,9.4,1134,10979,0.00,0.00,14.10,1.085,6,0.000,0.000,3186,2324,2225
$GC,11300,1.05,210.6,486.4,10.1,1166,11301,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2324,2225
$GC,11616,1.05,210.6,454.2,10.5,1196,11618,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2324,2225
$GC,11937,1.08,233.8,423.6,9.2,1226,11964,0.00,0.00,20.75,1.024,6,0.000,0.000,3186,2324,2131
$GC,12283,1.08,234.6,389.1,10.0,1259,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2324,2130
$GC,12602,1.08,234.6,356.4,10.3,1289,12603,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2324,2130
$GC,12935,1.10,250.7,323.5,9.4,1343,12957,0.00,2.85,15.32,0.955,4,0.000,0.107,3186,3737,2061
$GC,12992,1.10,250.7,317.7,10.3,1353,12998,0.00,2.78,0.00,0.000,6,0.000,0.087,3186,2306,2060
$GC,13336,1.13,277.0,285.9,9.1,1414,13363,0.00,0.00,23.08,0.927,6,0.000,0.000,3186,2306,1954
$GC,13701,1.16,298.9,252.2,9.2,1479,13729,0.12,2.92,19.50,0.900,4,0.064,0.107,3218,3737,1865
$GC,13764,1.12,298.9,245.0,11.7,1490,13770,0.00,2.75,0.00,0.000,6,0.000,0.087,3218,2317,1864
$GC,14108,1.12,298.9,204.4,11.3,1551,14113,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2318,1862
$GC,14450,1.12,298.9,160.4,13.6,1612,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2317,1861
$GC,14793,1.12,298.9,114.0,13.4,1673,14799,0.00,2.80,0.00,0.000,4,0.000,0.104,3219,3737,1860
$GC,14828,1.12,298.9,108.9,14.4,1679,14834,0.00,2.72,0.00,0.000,6,0.000,0.085,3219,2314,1860
$GC,15172,1.12,298.9,63.8,12.8,1740,15178,0.00,2.80,0.00,0.000,4,0.000,0.101,3219,3737,1860
$GC,15196,1.12,298.9,60.5,14.1,1744,15202,0.00,2.67,0.00,0.000,6,0.000,0.083,3218,2331,1860
$GC,15540,1.12,298.9,16.3,12.2,1805,15546,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2331,1861
$STATE,15657,end climb,SURFACE_DEPTH_REACHED
$STATE,15657,begin surface coast
$FINISH,0.4,1.027642
$STATE,15670,end surface coast,CONTROL_FINISHED_OK
$STATE,15670,begin surface
$SM_CCo,15751,0.00,0.000,0,0,1857,301.23
$SM_GC,1.07,11.48,0.00,0.00,0.041,0.000,0.000,585,2235,1857,-10.86,0.00,301.23
$IRIDIUM_FIX,6121.73,-2644.07,220897,020246
$TT8_MAMPS,0.02301
$HUMID,1676
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,102
$24V_AH,23.4,51.338
$10V_AH,10.7,41.464
$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,27.275,89.375,413.675,0.000,0.000,23.674,33.960,252.581,25.500,0.000,0.000,15.303,2809.397,8987.892,536.323,3238.429,617.101,0.000,1936.388,0.000,3221.290,0.000,0.467
$DEVICE_MAMPS,185.614,125.788,1267.851,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1266.556,1353.604,1716.686,557.271,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,107397,1828
$CAP_FILE_SIZE,149180,0
$CFSIZE,260165632,233807872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,280508,112038,6146.054,-2653.058,40,0.9,40,-19.1