version: 66.03
glider: 140
mission: 5
dive: 211
start: 5 23 108 18 56 39
data:
$ID,140
$MISSION,5
$DIVE,211
$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,-17252.912
$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,10
$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
$GPS1,184808,6139.045,-2613.781,31,0.9,31,-18.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.7
$GPS2,185621,6139.060,-2613.931,14,1.1,14,-18.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6139.060,-2619.059
$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,288.7,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-64.07,0.000,2,0.000,0.000,587,2231,3378
$GC,98,-1.29,-194.7,3.1,-6.0,12,128,12.35,2.80,-12.18,0.000,4,0.186,0.110,2669,821,3881
$GC,336,-1.29,-194.7,29.5,-10.4,54,343,0.00,2.67,0.00,0.000,6,0.000,0.085,2670,2241,3882
$GC,480,-1.29,-194.7,45.2,-11.7,79,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,621,-1.29,-194.7,62.1,-12.2,104,628,0.00,2.72,0.00,0.000,4,0.000,0.097,2670,823,3882
$GC,651,-1.29,-194.7,65.6,-11.8,109,657,0.00,2.65,0.00,0.000,6,0.000,0.085,2669,2229,3883
$GC,995,-1.29,-194.7,97.4,-8.5,170,1001,0.00,2.72,0.00,0.000,4,0.000,0.101,2669,824,3883
$GC,1036,-1.29,-194.7,100.8,-8.4,177,1042,0.00,2.65,0.00,0.000,6,0.000,0.087,2669,2223,3883
$GC,1380,-1.29,-194.7,128.9,-8.3,238,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3883
$GC,1723,-1.29,-194.7,158.6,-8.1,299,1729,0.00,2.75,0.00,0.000,4,0.000,0.106,2670,820,3883
$GC,1758,-1.29,-194.7,161.5,-8.6,305,1764,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2223,3884
$GC,2102,-1.29,-194.7,187.2,-7.4,366,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3883
$GC,2444,-1.29,-194.7,213.3,-8.0,427,2450,0.00,2.75,0.00,0.000,4,0.000,0.107,2670,819,3883
$GC,2479,-1.29,-194.7,216.2,-8.5,433,2485,0.00,2.67,0.00,0.000,6,0.000,0.092,2670,2220,3883
$GC,2823,-1.29,-194.7,242.0,-7.4,494,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2220,3883
$GC,3166,-1.29,-194.7,268.5,-7.4,555,3172,0.00,2.78,0.00,0.000,4,0.000,0.111,2670,818,3883
$GC,3206,-1.29,-194.7,271.8,-8.5,562,3212,0.00,2.67,0.00,0.000,6,0.000,0.094,2669,2214,3883
$GC,3550,-1.29,-194.7,299.3,-8.0,623,3555,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2214,3883
$GC,3893,-1.29,-194.7,327.9,-8.1,684,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2214,3883
$GC,4237,-1.29,-194.7,356.4,-8.3,739,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2214,3883
$GC,4555,-1.29,-194.7,383.6,-8.9,769,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2214,3882
$GC,4874,-1.29,-194.7,412.4,-9.4,799,4875,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2214,3883
$GC,5192,-1.29,-194.7,443.6,-10.2,829,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2214,3883
$GC,5511,-1.29,-194.7,475.7,-9.7,859,5515,0.00,2.80,0.00,0.000,4,0.000,0.113,2669,3645,3883
$GC,5543,-1.29,-194.7,479.2,-10.0,861,5549,0.00,2.72,0.00,0.000,6,0.000,0.091,2670,2204,3882
$GC,5869,-1.29,-194.7,508.1,-8.5,892,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2205,3883
$GC,6187,-1.29,-194.7,534.9,-8.4,922,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2205,3882
$GC,6507,-1.29,-194.7,560.8,-8.4,952,6511,0.00,2.85,0.00,0.000,4,0.000,0.111,2670,3652,3882
$GC,6547,-1.29,-194.7,564.5,-9.4,955,6551,0.00,2.75,0.00,0.000,6,0.000,0.094,2670,2211,3882
$GC,6873,-1.29,-194.7,593.1,-9.3,985,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2211,3882
$GC,7183,-1.29,-194.7,619.3,-7.8,1004,7184,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2211,3882
$GC,7493,-1.29,-194.7,642.3,-7.2,1019,7498,0.00,2.85,0.00,0.000,4,0.000,0.116,2670,3644,3882
$GC,7520,-1.29,-194.7,644.5,-7.8,1020,7525,0.00,2.72,0.00,0.000,6,0.000,0.095,2670,2221,3882
$GC,7836,-1.29,-194.7,667.6,-7.8,1035,7837,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3882
$GC,8145,-1.29,-194.7,694.1,-8.7,1050,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3881
$GC,8454,-1.29,-194.7,720.7,-8.7,1065,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2221,3881
$GC,8764,-1.29,-194.7,747.2,-8.5,1080,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3881
$GC,9073,-1.29,-194.7,770.6,-6.9,1095,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2221,3880
$GC,9382,-1.29,-194.7,792.3,-7.0,1110,9386,0.00,2.88,0.00,0.000,4,0.000,0.126,2670,3644,3880
$GC,9421,-1.29,-194.7,795.1,-7.5,1112,9426,0.00,2.75,0.00,0.000,6,0.000,0.101,2669,2224,3880
$GC,9748,-1.29,-194.7,818.4,-7.6,1128,9749,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2224,3880
$GC,10058,-1.29,-194.7,842.7,-8.1,1143,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2223,3879
$GC,10367,-1.29,-194.7,868.5,-8.4,1158,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3879
$GC,10676,-1.29,-194.7,891.5,-6.5,1173,10677,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3879
$GC,10985,-1.29,-194.7,910.2,-5.8,1188,10987,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2223,3879
$GC,11294,-1.29,-194.7,931.0,-7.3,1203,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3879
$GC,11603,-1.29,-194.7,954.3,-7.6,1218,11608,0.00,2.92,0.00,0.000,4,0.000,0.131,2669,3650,3878
$GC,11630,-1.29,-194.7,956.5,-8.2,1219,11635,0.00,2.80,0.00,0.000,6,0.000,0.109,2670,2228,3878
$STATE,11716,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11716,begin apogee
$GC,11723,-0.35,0.0,963.1,7.7,1223,11892,1.05,0.00,165.57,1.398,6,0.100,0.000,2882,2329,3085
$STATE,11893,end apogee,CONTROL_FINISHED_OK
$STATE,11893,begin climb
$GC,11895,1.29,194.7,968.2,0.0,1231,12069,1.60,3.08,162.43,1.362,4,0.058,0.131,3237,3736,2290
$GC,12097,1.17,194.7,952.2,13.5,1241,12103,0.12,2.85,0.00,0.000,6,0.120,0.108,3217,2328,2289
$GC,12413,1.11,194.7,916.3,10.8,1256,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2328,2288
$GC,12723,1.05,194.7,885.3,10.0,1271,12728,0.12,2.95,0.00,0.000,4,0.116,0.127,3193,3738,2287
$GC,12745,1.00,194.7,882.8,10.5,1272,12749,0.00,2.83,0.00,0.000,6,0.000,0.106,3193,2322,2287
$GC,13065,1.00,194.7,849.9,10.7,1288,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2323,2287
$GC,13375,1.01,201.6,818.8,9.8,1303,13384,0.00,0.00,6.95,1.107,6,0.000,0.000,3193,2323,2263
$GC,13684,1.04,225.7,790.1,9.2,1318,13708,0.00,0.00,22.42,1.256,6,0.000,0.000,3193,2322,2164
$GC,14013,1.04,225.7,753.9,11.9,1334,14018,0.00,2.92,0.00,0.000,4,0.000,0.121,3193,3738,2162
$GC,14045,0.99,225.7,749.8,12.2,1335,14052,0.00,2.80,0.00,0.000,6,0.000,0.102,3193,2325,2162
$GC,14361,0.99,225.7,713.2,10.9,1351,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2325,2161
$GC,14670,0.99,227.8,681.5,9.9,1366,14672,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2326,2162
$GC,14980,0.99,227.8,651.0,10.4,1381,14981,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2326,2161
$GC,15288,0.99,227.8,616.1,11.6,1396,15289,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2326,2161
$GC,15603,0.99,227.8,579.8,10.5,1419,15605,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2326,2161
$GC,15923,1.00,234.7,547.8,9.8,1449,15938,0.00,2.92,8.70,1.042,4,0.000,0.114,3193,3733,2128
$GC,15968,1.02,246.4,543.3,9.6,1453,15989,0.00,2.72,11.57,1.037,6,0.000,0.092,3193,2328,2079
$GC,16308,1.02,250.6,509.6,9.9,1485,16317,0.00,0.00,5.22,0.867,6,0.000,0.000,3193,2328,2063
$GC,16638,1.02,250.6,474.1,11.2,1516,16639,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2328,2062
$GC,16954,1.02,250.6,437.5,11.6,1546,16955,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2329,2062
$GC,17273,1.02,250.6,400.4,12.0,1576,17278,0.00,2.83,0.00,0.000,4,0.000,0.108,3193,3738,2062
$GC,17314,1.02,250.6,395.4,12.3,1579,17318,0.00,2.72,0.00,0.000,6,0.000,0.088,3193,2324,2062
$GC,17640,1.02,250.6,357.1,11.7,1609,17641,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2324,2063
$GC,17971,1.02,250.6,316.5,13.2,1663,17977,0.00,2.83,0.00,0.000,4,0.000,0.107,3193,3739,2063
$GC,17995,1.02,250.6,313.4,12.7,1667,18001,0.00,2.72,0.00,0.000,6,0.000,0.088,3193,2323,2063
$GC,18338,1.02,250.6,268.4,12.4,1728,18344,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2324,2063
$GC,18682,1.02,250.6,226.9,11.6,1789,18688,0.00,2.80,0.00,0.000,4,0.000,0.105,3193,3738,2063
$GC,18722,1.02,250.6,222.3,10.8,1796,18728,0.00,2.70,0.00,0.000,6,0.000,0.087,3193,2332,2063
$GC,19067,1.04,260.7,188.4,9.6,1857,19085,0.00,2.85,10.18,0.855,4,0.000,0.105,3193,3739,2021
$GC,19108,1.04,260.7,184.2,10.7,1864,19114,0.00,2.70,0.00,0.000,6,0.000,0.086,3193,2343,2021
$GC,19452,1.04,263.6,150.0,9.9,1925,19464,0.00,2.83,4.05,0.618,4,0.000,0.104,3193,919,2010
$GC,19487,1.04,263.6,146.2,10.5,1931,19493,0.00,2.72,0.00,0.000,6,0.000,0.087,3193,2349,2010
$GC,19830,1.06,279.8,113.1,9.4,1992,19847,0.00,0.00,15.02,0.815,6,0.000,0.000,3193,2349,1944
$GC,20185,1.06,279.8,73.9,12.8,2055,20191,0.00,2.72,0.00,0.000,4,0.000,0.104,3193,3735,1941
$GC,20220,1.06,279.8,69.4,13.1,2061,20226,0.00,2.65,0.00,0.000,6,0.000,0.083,3193,2344,1940
$GC,20564,1.14,343.4,36.0,7.8,2122,20626,0.00,2.85,53.17,0.762,4,0.000,0.100,3193,920,1684
$GC,20646,1.24,385.5,29.8,8.5,2136,20692,0.15,2.72,35.30,0.731,6,0.058,0.085,3233,2354,1512
$GC,20828,1.24,385.5,9.2,12.4,2168,20835,0.00,2.72,0.00,0.000,4,0.000,0.102,3233,3736,1505
$GC,20875,1.24,385.5,2.5,13.7,2176,20881,0.00,2.62,0.00,0.000,6,0.000,0.082,3233,2358,1503
$STATE,20885,end climb,SURFACE_DEPTH_REACHED
$STATE,20885,begin surface coast
$FINISH,0.3,1.017059
$STATE,20899,end surface coast,CONTROL_FINISHED_OK
$STATE,20899,begin surface
$SM_CCo,20981,0.00,0.000,0,0,1500,388.80
$SM_GC,1.11,11.68,0.00,0.00,0.044,0.000,0.000,587,2235,1500,-10.86,0.00,388.80
$IRIDIUM_FIX,6117.23,-2611.62,170897,131312
$TT8_MAMPS,0.02301
$HUMID,1646
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,17.90
$XPDR_PINGS,110
$24V_AH,23.3,47.329
$10V_AH,10.6,38.030
$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,27.075,128.125,500.600,0.000,0.000,22.694,41.362,282.207,27.500,0.000,0.000,14.093,3366.800,12955.176,631.946,3778.731,718.599,0.000,2283.952,0.000,3764.342,0.000,0.469
$DEVICE_MAMPS,185.614,131.157,1398.241,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1515.081,1617.481,1952.276,629.327,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129380,2180
$CAP_FILE_SIZE,186519,0
$CFSIZE,260165632,235704320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,240508,004757,6138.479,-2626.135,42,2.4,61,-18.8