version: 66.03
glider: 140
mission: 5
dive: 354
start: 6 25 108 8 50 25
data:
$ID,140
$MISSION,5
$DIVE,354
$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,-19705.924
$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,16
$R_STBD_OVSHOOT,10
$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
$GPS1,084101,6139.733,-2548.520,38,1.3,43,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-58.7
$GPS2,085005,6139.726,-2548.560,11,2.6,30,-18.4
$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,151.6,6585,-26.1,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.92,-68.4,0.0,0.0,0,112,0.00,0.00,-83.90,0.000,6,0.000,0.000,584,2225,3365
$GC,115,-1.98,-116.1,3.1,-5.3,12,138,11.45,2.67,-4.62,0.000,4,0.183,0.102,2522,828,3559
$GC,227,-1.94,-116.1,21.5,-15.1,30,234,0.00,2.62,0.00,0.000,6,0.000,0.078,2522,2238,3560
$GC,370,-1.94,-116.1,43.3,-14.8,55,377,0.00,2.67,0.00,0.000,4,0.000,0.089,2522,828,3561
$GC,414,-1.88,-116.1,49.8,-16.0,62,422,0.15,2.55,0.00,0.000,6,0.131,0.064,2547,2229,3561
$GC,559,-1.88,-116.1,68.1,-13.0,87,566,0.00,2.62,0.00,0.000,4,0.000,0.080,2547,3642,3561
$GC,618,-1.88,-116.1,76.2,-13.8,97,625,0.00,2.53,0.00,0.000,6,0.000,0.071,2547,2268,3562
$GC,961,-1.88,-116.1,123.1,-14.5,158,968,0.00,2.78,0.00,0.000,4,0.000,0.097,2547,822,3562
$GC,1066,-1.88,-116.1,138.7,-15.0,176,1074,0.00,2.70,0.00,0.000,6,0.000,0.091,2547,2243,3562
$GC,1413,-1.88,-116.1,189.2,-14.0,237,1419,0.00,2.75,0.00,0.000,4,0.000,0.100,2547,827,3562
$GC,1477,-1.88,-116.1,198.5,-13.9,248,1485,0.00,2.67,0.00,0.000,6,0.000,0.090,2547,2231,3562
$GC,1825,-1.88,-116.1,245.2,-12.9,309,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2231,3562
$GC,2169,-1.88,-116.1,287.9,-11.9,370,2176,0.00,2.75,0.00,0.000,4,0.000,0.104,2547,823,3562
$GC,2262,-1.88,-116.1,299.6,-12.5,386,2269,0.00,2.65,0.00,0.000,6,0.000,0.089,2547,2214,3562
$GC,2608,-1.88,-116.1,342.8,-12.7,447,2615,0.00,2.70,0.00,0.000,4,0.000,0.097,2547,819,3562
$GC,2667,-1.88,-116.1,350.7,-13.3,457,2671,0.00,2.62,0.00,0.000,6,0.000,0.092,2547,2186,3561
$GC,2994,-1.88,-116.1,392.4,-12.7,487,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2187,3562
$GC,3320,-1.88,-116.1,434.0,-12.8,518,3324,0.00,2.65,0.00,0.000,4,0.000,0.100,2547,823,3561
$GC,3364,-1.88,-116.1,440.0,-13.3,521,3372,0.00,2.60,0.00,0.000,6,0.000,0.094,2547,2179,3561
$GC,3693,-1.88,-116.1,482.7,-13.2,552,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2180,3560
$GC,4019,-1.88,-116.1,525.7,-12.0,583,4023,0.00,2.62,0.00,0.000,4,0.000,0.101,2547,828,3560
$GC,4116,-1.88,-116.1,537.6,-12.1,591,4121,0.00,2.60,0.00,0.000,6,0.000,0.097,2547,2169,3560
$GC,4444,-1.88,-116.1,577.9,-12.2,621,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2169,3560
$GC,4776,-1.88,-116.1,618.3,-12.4,646,4781,0.00,2.65,0.00,0.000,4,0.000,0.112,2547,828,3559
$GC,4808,-1.88,-116.1,622.7,-13.1,647,4816,0.00,2.58,0.00,0.000,6,0.000,0.099,2547,2154,3559
$GC,5125,-1.88,-116.1,663.1,-12.9,663,5129,0.00,2.65,0.00,0.000,4,0.000,0.114,2547,828,3559
$GC,5180,-1.88,-116.1,670.6,-13.3,665,5187,0.00,2.55,0.00,0.000,6,0.000,0.100,2548,2141,3559
$GC,5497,-1.88,-116.1,711.8,-13.0,681,5501,0.00,2.62,0.00,0.000,4,0.000,0.117,2547,829,3559
$GC,5546,-1.88,-116.1,718.6,-12.9,683,5550,0.00,2.50,0.00,0.000,6,0.000,0.100,2547,2114,3559
$GC,5869,-1.88,-116.1,757.6,-11.9,699,5873,0.00,3.08,0.00,0.000,4,0.000,0.120,2547,3644,3558
$GC,5890,-1.88,-116.1,760.6,-13.3,700,5895,0.00,2.97,0.00,0.000,6,0.000,0.097,2547,2103,3558
$GC,6211,-1.88,-116.1,798.8,-12.0,716,6216,0.00,2.60,0.00,0.000,4,0.000,0.124,2547,821,3558
$GC,6284,-1.88,-116.1,807.9,-12.6,719,6288,0.00,2.47,0.00,0.000,6,0.000,0.101,2547,2090,3558
$GC,6600,-1.88,-116.1,845.8,-12.2,734,6604,0.00,2.53,0.00,0.000,4,0.000,0.114,2547,823,3558
$GC,6672,-1.88,-116.1,855.3,-13.1,737,6677,0.00,2.42,0.00,0.000,6,0.000,0.104,2547,2066,3558
$GC,6989,-1.88,-116.1,893.4,-11.9,752,6994,0.00,3.22,0.00,0.000,4,0.000,0.127,2547,3648,3557
$GC,7033,-1.88,-116.1,899.2,-12.8,754,7038,0.00,3.08,0.00,0.000,6,0.000,0.104,2547,2076,3558
$GC,7354,-1.88,-116.1,936.2,-12.0,770,7355,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2076,3557
$GC,7665,-1.88,-116.1,975.1,-13.4,785,7666,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2076,3556
$STATE,7784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7784,begin apogee
$GC,7791,-0.35,0.0,991.1,12.7,791,7897,1.75,0.00,101.55,1.415,6,0.130,0.000,2879,2331,3085
$STATE,7898,end apogee,CONTROL_FINISHED_OK
$STATE,7898,begin climb
$GC,7901,1.98,116.1,994.3,0.0,796,8010,2.33,0.00,100.65,1.377,6,0.062,0.000,3394,2331,2610
$GC,8321,1.91,116.1,942.2,14.7,817,8326,0.00,2.92,0.00,0.000,4,0.000,0.126,3394,3737,2609
$GC,8399,1.79,116.1,929.5,15.7,820,8407,0.22,2.80,0.00,0.000,6,0.127,0.102,3354,2337,2608
$GC,8715,1.79,116.1,886.9,13.5,836,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2336,2608
$GC,9025,1.79,116.1,845.6,13.1,851,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2336,2607
$GC,9333,1.79,116.1,803.1,14.0,866,9338,0.00,2.90,0.00,0.000,4,0.000,0.124,3354,909,2607
$GC,9377,1.79,116.1,796.3,14.8,868,9382,0.00,2.78,0.00,0.000,6,0.000,0.104,3354,2318,2607
$GC,9699,1.79,116.1,751.3,14.1,884,9704,0.00,2.95,0.00,0.000,4,0.000,0.127,3354,3738,2606
$GC,9726,1.73,116.1,746.9,15.5,885,9731,0.00,2.80,0.00,0.000,6,0.000,0.099,3354,2323,2606
$GC,10042,1.73,116.1,702.3,13.5,900,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2323,2606
$GC,10353,1.73,116.1,663.1,12.4,915,10357,0.00,2.80,0.00,0.000,4,0.000,0.115,3354,916,2606
$GC,10374,1.73,116.1,659.9,13.2,916,10379,0.00,2.75,0.00,0.000,6,0.000,0.099,3354,2331,2606
$GC,10695,1.73,116.1,620.1,12.5,932,10700,0.00,2.85,0.00,0.000,4,0.000,0.117,3354,3737,2606
$GC,10736,1.66,116.1,615.1,12.6,934,10742,0.17,2.75,0.00,0.000,6,0.127,0.096,3323,2334,2605
$GC,11060,1.66,116.1,578.2,11.5,958,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2334,2605
$GC,11376,1.66,116.1,542.9,11.2,988,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2334,2605
$GC,11695,1.66,116.1,508.6,10.2,1018,11699,0.00,2.83,0.00,0.000,4,0.000,0.109,3323,3738,2605
$GC,11782,1.66,116.1,499.3,11.2,1025,11786,0.00,2.72,0.00,0.000,6,0.000,0.092,3323,2340,2605
$GC,12108,1.66,116.1,464.2,10.8,1055,12112,0.00,2.80,0.00,0.000,4,0.000,0.108,3323,3737,2605
$GC,12136,1.66,116.1,460.8,12.0,1057,12141,0.00,2.67,0.00,0.000,6,0.000,0.089,3323,2357,2605
$GC,12463,1.66,116.1,423.3,11.5,1087,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2357,2605
$GC,12780,1.66,116.1,386.7,11.6,1117,12785,0.00,2.75,0.00,0.000,4,0.000,0.107,3323,3737,2605
$GC,12799,1.66,116.1,384.4,11.8,1118,12803,0.00,2.67,0.00,0.000,6,0.000,0.088,3323,2354,2605
$GC,13127,1.66,116.1,346.4,12.0,1150,13133,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2355,2605
$GC,13472,1.66,116.1,305.6,11.4,1211,13478,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2355,2606
$GC,13816,1.66,116.1,267.3,11.3,1272,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2355,2606
$GC,14162,1.66,116.1,231.5,10.4,1333,14169,0.00,2.75,0.00,0.000,4,0.000,0.105,3322,3737,2606
$GC,14204,1.66,116.1,226.8,11.2,1340,14211,0.00,2.65,0.00,0.000,6,0.000,0.084,3323,2355,2607
$GC,14550,1.66,116.1,190.7,10.8,1401,14556,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2356,2606
$GC,14895,1.67,120.0,156.3,9.6,1462,14902,0.00,0.00,4.30,0.633,6,0.000,0.000,3323,2355,2595
$GC,15242,1.67,120.0,120.5,10.6,1523,15248,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2356,2595
$GC,15586,1.67,122.2,85.9,9.8,1584,15593,0.00,0.00,3.67,0.549,6,0.000,0.000,3323,2355,2586
$GC,15933,1.67,125.1,50.0,9.7,1645,15949,0.00,2.78,4.22,0.591,4,0.000,0.098,3323,3734,2574
$GC,15969,1.68,128.3,46.5,9.7,1650,15984,0.00,2.60,4.35,0.596,6,0.000,0.081,3323,2365,2562
$GC,16125,1.74,144.6,32.3,8.4,1676,16146,0.00,2.80,14.80,0.769,4,0.000,0.095,3323,920,2494
$GC,16245,1.80,144.6,20.8,10.1,1696,16253,0.12,2.67,0.00,0.000,6,0.067,0.081,3354,2338,2494
$GC,16390,1.80,146.4,5.1,9.8,1721,16398,0.00,2.70,0.00,0.000,4,0.000,0.091,3354,916,2494
$GC,16411,1.80,146.4,2.1,12.8,1724,16419,0.00,2.58,0.00,0.000,6,0.000,0.081,3354,2293,2494
$STATE,16424,end climb,SURFACE_DEPTH_REACHED
$STATE,16424,begin surface coast
$FINISH,0.4,1.027238
$STATE,16436,end surface coast,CONTROL_FINISHED_OK
$STATE,16437,begin surface
$SM_CCo,16459,42.65,0.738,0,0,2269,200.16
$SM_GC,1.46,0.00,0.00,42.65,0.000,0.000,0.738,587,2233,2269,-10.92,-0.06,200.16
$IRIDIUM_FIX,6121.73,-2654.24,190997,020226
$TT8_MAMPS,0.02301
$HUMID,1712
$INTERNAL_PRESSURE,8.47689
$TCM_TEMP,18.10
$XPDR_PINGS,682
$24V_AH,23.0,75.582
$10V_AH,10.6,62.633
$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,28.375,152.650,233.550,42.650,0.000,28.707,34.323,291.505,170.500,0.000,0.000,31.488,3528.112,9070.018,545.218,3109.539,770.026,0.000,1902.544,0.000,3095.030,0.000,0.468
$DEVICE_MAMPS,182.546,127.322,1415.115,737.854,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1197.696,1316.578,1546.529,511.145,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104236,1728
$CAP_FILE_SIZE,159365,0
$CFSIZE,260165632,221999104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,194.2,1
$GPS,250608,132658,6137.688,-2545.869,32,4.1,51,-18.4