version: 66.03
glider: 140
mission: 5
dive: 348
start: 6 23 108 23 6 33
data:
$ID,140
$MISSION,5
$DIVE,348
$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,-19606.229
$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,13
$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
$GPS1,225807,6156.203,-2619.036,38,1.1,43,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-63.9
$GPS2,230614,6156.258,-2619.029,11,1.1,16,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,SE
$TGT_LATLONG,6137.290,-2543.110
$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,156.9,47262,-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,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,97,0.00,0.00,-72.93,0.000,2,0.000,0.000,583,2227,3332
$GC,100,-1.29,-194.7,3.3,-7.2,10,131,12.43,2.80,-12.12,0.000,4,0.185,0.104,2672,3644,3881
$GC,145,-1.03,-194.7,10.9,-13.1,16,154,0.30,2.65,0.00,0.000,6,0.097,0.078,2731,2230,3881
$GC,291,-1.09,-194.7,22.1,-7.3,41,298,0.00,2.72,0.00,0.000,4,0.000,0.093,2731,3653,3882
$GC,323,-1.18,-194.7,24.5,-7.1,46,331,0.12,2.58,0.00,0.000,6,0.060,0.077,2697,2263,3882
$GC,470,-1.18,-194.7,36.0,-8.1,71,477,0.00,2.70,0.00,0.000,4,0.000,0.090,2697,824,3882
$GC,490,-1.18,-194.7,37.8,-7.9,74,498,0.00,2.72,0.00,0.000,6,0.000,0.077,2697,2292,3882
$GC,635,-1.18,-194.7,49.0,-7.4,99,642,0.00,2.55,0.00,0.000,4,0.000,0.091,2697,3644,3882
$GC,678,-1.18,-194.7,52.6,-8.3,106,686,0.00,2.53,0.00,0.000,6,0.000,0.076,2697,2281,3882
$GC,1025,-1.18,-194.7,83.1,-9.4,167,1032,0.00,2.80,0.00,0.000,4,0.000,0.098,2697,821,3883
$GC,1079,-1.18,-194.7,88.3,-9.7,176,1086,0.00,2.75,0.00,0.000,6,0.000,0.081,2697,2294,3883
$GC,1425,-1.18,-194.7,121.2,-9.9,237,1432,0.00,2.60,0.00,0.000,4,0.000,0.099,2697,3643,3883
$GC,1462,-1.22,-194.7,125.1,-10.3,243,1469,0.00,2.58,0.00,0.000,6,0.000,0.083,2697,2276,3883
$GC,1808,-1.22,-194.7,157.3,-9.1,304,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2277,3883
$GC,2154,-1.22,-194.7,186.5,-8.6,365,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2277,3884
$GC,2499,-1.22,-194.7,215.4,-8.3,426,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2277,3884
$GC,2843,-1.22,-194.7,243.4,-8.0,487,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2277,3883
$GC,3187,-1.22,-194.7,271.1,-7.9,548,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2277,3883
$GC,3532,-1.22,-194.7,297.9,-8.0,609,3539,0.00,2.85,0.00,0.000,4,0.000,0.109,2697,827,3883
$GC,3563,-1.22,-194.7,300.5,-8.1,614,3570,0.00,2.78,0.00,0.000,6,0.000,0.090,2696,2286,3883
$GC,3910,-1.22,-194.7,327.7,-7.6,675,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2286,3882
$GC,4257,-1.22,-194.7,355.3,-7.9,731,4262,0.00,2.85,0.00,0.000,4,0.000,0.105,2697,830,3883
$GC,4289,-1.22,-194.7,357.7,-8.5,733,4293,0.00,2.75,0.00,0.000,6,0.000,0.091,2697,2271,3882
$GC,4619,-1.22,-194.7,382.8,-7.5,763,4623,0.00,2.70,0.00,0.000,4,0.000,0.107,2697,3650,3882
$GC,4648,-1.27,-194.7,385.4,-8.0,765,4653,0.00,2.62,0.00,0.000,6,0.000,0.086,2697,2265,3882
$GC,4977,-1.27,-194.7,408.3,-7.0,795,4981,0.00,2.85,0.00,0.000,4,0.000,0.111,2697,821,3881
$GC,5021,-1.27,-194.7,411.8,-7.3,798,5028,0.00,2.78,0.00,0.000,6,0.000,0.094,2697,2264,3881
$GC,5349,-1.27,-194.7,435.0,-7.2,829,5354,0.00,2.67,0.00,0.000,4,0.000,0.100,2696,3653,3881
$GC,5380,-1.32,-194.7,437.4,-7.6,831,5385,0.10,2.67,0.00,0.000,6,0.071,0.091,2669,2252,3881
$GC,5706,-1.32,-194.7,465.3,-9.6,861,5711,0.00,2.85,0.00,0.000,4,0.000,0.115,2669,818,3881
$GC,5762,-1.32,-194.7,471.2,-10.3,865,5769,0.00,2.75,0.00,0.000,6,0.000,0.097,2669,2247,3881
$GC,6089,-1.32,-194.7,505.1,-10.6,896,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3881
$GC,6406,-1.32,-194.7,538.2,-10.3,926,6410,0.00,2.85,0.00,0.000,4,0.000,0.115,2669,820,3881
$GC,6445,-1.32,-194.7,542.4,-11.0,929,6450,0.00,2.72,0.00,0.000,6,0.000,0.097,2669,2236,3881
$GC,6774,-1.32,-194.7,573.8,-9.4,959,6778,0.00,2.78,0.00,0.000,4,0.000,0.112,2669,3644,3881
$GC,6806,-1.32,-194.7,577.4,-9.9,961,6814,0.00,2.70,0.00,0.000,6,0.000,0.094,2669,2240,3880
$GC,7132,-1.32,-194.7,606.1,-8.8,989,7137,0.00,2.83,0.00,0.000,4,0.000,0.119,2669,826,3880
$GC,7160,-1.32,-194.7,608.9,-9.6,990,7165,0.00,2.70,0.00,0.000,6,0.000,0.096,2669,2237,3880
$GC,7477,-1.32,-194.7,637.8,-9.3,1005,7482,0.00,2.80,0.00,0.000,4,0.000,0.116,2669,3646,3880
$GC,7498,-1.32,-194.7,640.0,-9.5,1006,7503,0.00,2.70,0.00,0.000,6,0.000,0.094,2668,2238,3880
$GC,7821,-1.32,-194.7,669.4,-8.9,1022,7825,0.00,2.83,0.00,0.000,4,0.000,0.120,2669,826,3880
$GC,7853,-1.32,-194.7,672.6,-9.6,1023,7861,0.00,2.72,0.00,0.000,6,0.000,0.099,2669,2239,3880
$GC,8171,-1.32,-194.7,698.9,-7.5,1039,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3879
$GC,8479,-1.32,-194.7,727.1,-9.4,1054,8483,0.00,2.85,0.00,0.000,4,0.000,0.120,2669,823,3879
$GC,8500,-1.32,-194.7,729.3,-9.7,1055,8505,0.00,2.72,0.00,0.000,6,0.000,0.100,2669,2226,3879
$GC,8825,-1.32,-194.7,756.9,-8.6,1071,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3879
$GC,9133,-1.61,-194.7,770.3,-0.0,1086,9135,0.28,0.00,0.00,0.000,6,0.065,0.000,2607,2226,3879
$STATE,9170,end dive,NO_VERTICAL_VELOCITY
$STATE,9170,begin apogee
$GC,9176,-0.35,0.0,770.3,0.0,1088,9343,1.25,0.00,163.52,1.265,6,0.054,0.000,2888,2331,3085
$STATE,9344,end apogee,CONTROL_FINISHED_OK
$STATE,9344,begin climb
$GC,9347,1.29,194.7,770.2,0.0,1096,9513,1.58,0.00,161.10,1.219,6,0.053,0.000,3241,2331,2291
$GC,9817,1.21,194.7,726.1,11.8,1119,9818,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2331,2289
$GC,10126,1.13,194.7,689.2,12.0,1134,10128,0.17,0.00,0.00,0.000,6,0.109,0.000,3209,2331,2288
$GC,10434,1.14,206.0,658.3,9.6,1149,10446,0.00,0.00,10.88,1.106,6,0.000,0.000,3209,2331,2245
$GC,10742,1.17,225.3,629.1,9.3,1164,10766,0.00,2.95,18.10,1.123,4,0.000,0.115,3209,3732,2166
$GC,10773,1.18,239.9,626.1,9.5,1165,10793,0.00,2.78,13.90,1.042,6,0.000,0.095,3209,2331,2106
$GC,11110,1.19,249.3,594.1,9.7,1184,11126,0.00,2.92,9.45,1.048,4,0.000,0.116,3209,918,2068
$GC,11138,1.20,254.7,591.0,9.8,1186,11149,0.00,2.75,6.47,0.883,6,0.000,0.095,3209,2335,2046
$GC,11470,1.21,261.7,558.1,9.8,1217,11480,0.00,0.00,7.62,0.999,6,0.000,0.000,3209,2335,2017
$GC,11801,1.24,282.4,526.7,9.3,1248,11826,0.00,2.95,19.23,1.065,4,0.000,0.112,3209,915,1933
$GC,11839,1.25,296.1,522.8,9.5,1251,11864,0.10,2.78,13.85,0.992,6,0.071,0.094,3235,2339,1876
$GC,12182,1.25,296.1,483.6,11.8,1283,12186,0.00,2.80,0.00,0.000,4,0.000,0.108,3235,919,1873
$GC,12203,1.25,296.1,480.7,12.8,1284,12211,0.00,2.70,0.00,0.000,6,0.000,0.094,3235,2322,1872
$GC,12530,1.25,296.1,441.7,12.6,1315,12532,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,2323,1872
$GC,12847,1.25,296.1,401.7,12.7,1345,12852,0.00,2.72,0.00,0.000,4,0.000,0.105,3235,919,1872
$GC,12865,1.25,296.1,399.2,12.4,1346,12870,0.00,2.67,0.00,0.000,6,0.000,0.090,3235,2322,1872
$GC,13190,1.25,296.1,356.8,12.6,1376,13195,0.00,2.72,0.00,0.000,4,0.000,0.102,3235,919,1871
$GC,13208,1.25,296.1,354.5,13.1,1377,13212,0.00,2.62,0.00,0.000,6,0.000,0.090,3235,2299,1872
$GC,13549,1.25,296.1,310.0,12.6,1434,13557,0.00,2.83,0.00,0.000,4,0.000,0.106,3235,3736,1870
$GC,13575,1.21,296.1,306.5,13.7,1438,13583,0.00,2.78,0.00,0.000,6,0.000,0.087,3235,2295,1870
$GC,13921,1.21,296.1,261.7,12.4,1499,13929,0.00,2.70,0.00,0.000,4,0.000,0.107,3235,910,1871
$GC,13943,1.21,296.1,259.1,12.9,1502,13950,0.00,2.65,0.00,0.000,6,0.000,0.087,3235,2312,1871
$GC,14288,1.21,296.1,214.3,12.6,1563,14295,0.00,2.80,0.00,0.000,4,0.000,0.104,3236,3737,1870
$GC,14302,1.21,296.1,212.4,13.0,1565,14310,0.00,2.75,0.00,0.000,6,0.000,0.085,3235,2303,1870
$GC,14648,1.21,296.1,168.6,12.6,1626,14655,0.00,2.70,0.00,0.000,4,0.000,0.104,3235,916,1871
$GC,14673,1.21,296.1,165.3,13.2,1630,14681,0.00,2.60,0.00,0.000,6,0.000,0.087,3235,2295,1871
$GC,15019,1.21,296.1,122.9,11.2,1691,15026,0.00,2.83,0.00,0.000,4,0.000,0.099,3235,3737,1870
$GC,15038,1.21,296.1,120.5,12.4,1694,15046,0.00,2.80,0.00,0.000,6,0.000,0.084,3235,2276,1870
$GC,15384,1.21,296.1,81.8,11.3,1755,15391,0.00,2.62,0.00,0.000,4,0.000,0.103,3235,918,1870
$GC,15398,1.21,296.1,80.0,11.5,1757,15406,0.00,2.58,0.00,0.000,6,0.000,0.084,3235,2282,1871
$GC,15746,1.21,296.1,38.0,11.5,1818,15753,0.00,2.83,0.00,0.000,4,0.000,0.099,3235,3734,1870
$GC,15790,1.21,296.1,32.3,12.4,1825,15797,0.00,2.75,0.00,0.000,6,0.000,0.082,3235,2287,1870
$GC,15933,1.21,296.1,15.9,10.3,1850,15941,0.00,2.62,0.00,0.000,4,0.000,0.100,3236,916,1871
$GC,15967,1.21,296.1,12.5,11.8,1855,15974,0.00,2.55,0.00,0.000,6,0.000,0.084,3235,2279,1870
$STATE,16057,end climb,SURFACE_DEPTH_REACHED
$STATE,16057,begin surface coast
$FINISH,0.3,1.027242
$STATE,16077,end surface coast,CONTROL_FINISHED_OK
$STATE,16077,begin surface
$SM_CCo,16159,0.00,0.000,0,0,1868,298.53
$SM_GC,0.99,11.60,0.00,0.00,0.043,0.000,0.000,591,2224,1868,-10.84,-0.31,298.53
$IRIDIUM_FIX,6135.28,-2617.54,170997,171730
$TT8_MAMPS,0.02301
$HUMID,1733
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,17.90
$XPDR_PINGS,718
$24V_AH,23.1,74.355
$10V_AH,10.6,61.567
$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,27.925,175.400,424.125,0.000,0.000,23.437,33.896,259.732,179.500,0.000,0.000,16.373,3819.228,8079.787,673.641,3298.124,750.168,0.000,2133.397,0.000,3295.720,0.000,0.469
$DEVICE_MAMPS,184.847,120.419,1264.783,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1297.350,1438.149,1761.865,592.021,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113744,1874
$CAP_FILE_SIZE,171539,0
$CFSIZE,260165632,222601216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090, 75.9,1
$GPS,240608,033707,6154.833,-2614.164,39,1.0,39,-18.8