version: 66.03
glider: 140
mission: 5
dive: 212
start: 5 24 108 0 56 45
data:
$ID,140
$MISSION,5
$DIVE,212
$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,-17267.299
$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,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
$GPS1,004757,6138.479,-2626.135,42,2.4,61,-18.8
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.0
$GPS2,005627,6138.500,-2626.167,13,1.9,13,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6138.500,-2631.297
$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,288.8,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,107,0.00,0.00,-76.03,0.000,2,0.000,0.000,586,2233,3303
$GC,110,-1.29,-194.7,3.1,-7.1,14,145,12.27,2.78,-14.30,0.000,4,0.183,0.109,2671,824,3881
$GC,326,-1.29,-194.7,24.4,-4.6,52,333,0.00,2.67,0.00,0.000,6,0.000,0.085,2671,2240,3882
$GC,469,-1.29,-194.7,32.8,-6.2,77,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,612,-1.29,-194.7,39.2,-2.7,102,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3882
$GC,753,-1.29,-194.7,43.6,-5.1,127,760,0.00,2.72,0.00,0.000,4,0.000,0.097,2671,821,3882
$GC,807,-1.29,-194.7,46.9,-6.1,136,813,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2229,3882
$GC,949,-1.29,-194.7,56.6,-7.0,161,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3882
$GC,1292,-1.29,-194.7,85.4,-8.9,222,1298,0.00,2.72,0.00,0.000,4,0.000,0.100,2671,824,3882
$GC,1338,-1.29,-194.7,89.8,-9.8,230,1344,0.00,2.65,0.00,0.000,6,0.000,0.086,2671,2230,3883
$GC,1682,-1.29,-194.7,122.0,-8.8,291,1688,0.00,2.75,0.00,0.000,4,0.000,0.103,2671,817,3883
$GC,1717,-1.29,-194.7,125.1,-8.9,297,1723,0.00,2.65,0.00,0.000,6,0.000,0.088,2671,2216,3883
$GC,2061,-1.29,-194.7,150.5,-6.6,358,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3883
$GC,2406,-1.29,-194.7,176.2,-8.1,419,2412,0.00,2.70,0.00,0.000,4,0.000,0.104,2671,826,3882
$GC,2452,-1.29,-194.7,180.5,-9.4,427,2458,0.00,2.65,0.00,0.000,6,0.000,0.091,2671,2219,3883
$GC,2796,-1.29,-194.7,210.5,-8.6,488,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,3139,-1.29,-194.7,241.3,-8.9,549,3145,0.00,2.72,0.00,0.000,4,0.000,0.108,2671,826,3882
$GC,3168,-1.29,-194.7,244.0,-9.5,554,3174,0.00,2.65,0.00,0.000,6,0.000,0.094,2671,2212,3883
$GC,3512,-1.29,-194.7,275.6,-8.9,615,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3883
$GC,3855,-1.29,-194.7,308.0,-9.8,676,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3882
$GC,4198,-1.29,-194.7,342.8,-10.6,737,4204,0.00,2.75,0.00,0.000,4,0.000,0.114,2671,820,3882
$GC,4238,-1.29,-194.7,347.2,-11.3,744,4244,0.00,2.65,0.00,0.000,6,0.000,0.096,2672,2204,3882
$GC,4567,-1.29,-194.7,378.9,-9.3,777,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3882
$GC,4883,-1.29,-194.7,404.4,-7.5,807,4884,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3882
$GC,5202,-1.29,-194.7,433.5,-10.7,837,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3881
$GC,5520,-1.29,-194.7,470.9,-10.6,867,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2204,3881
$GC,5841,-1.29,-194.7,498.8,-7.9,897,5845,0.00,2.72,0.00,0.000,4,0.000,0.117,2671,825,3881
$GC,5880,-1.29,-194.7,502.1,-8.4,900,5884,0.00,2.67,0.00,0.000,6,0.000,0.102,2671,2205,3881
$GC,6206,-1.29,-194.7,526.4,-8.5,930,6207,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2205,3881
$GC,6523,-1.29,-194.7,553.1,-9.2,960,6528,0.00,2.75,0.00,0.000,4,0.000,0.117,2671,824,3881
$GC,6555,-1.29,-194.7,556.5,-10.6,962,6562,0.00,2.70,0.00,0.000,6,0.000,0.104,2671,2197,3881
$GC,6884,-1.29,-194.7,588.5,-9.7,993,6889,0.00,2.88,0.00,0.000,4,0.000,0.118,2671,3646,3881
$GC,6935,-1.29,-194.7,593.9,-10.1,997,6939,0.00,2.72,0.00,0.000,6,0.000,0.093,2671,2205,3881
$GC,7253,-1.29,-194.7,618.4,-6.6,1015,7257,0.00,2.78,0.00,0.000,4,0.000,0.123,2671,818,3880
$GC,7293,-1.29,-194.7,620.9,-6.9,1017,7297,0.00,2.70,0.00,0.000,6,0.000,0.103,2671,2209,3881
$GC,7619,-1.29,-194.7,644.2,-7.7,1033,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3880
$GC,7929,-1.29,-194.7,669.6,-7.9,1048,7930,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3880
$GC,8238,-1.29,-194.7,694.5,-9.4,1063,8243,0.00,2.90,0.00,0.000,4,0.000,0.127,2671,3647,3879
$GC,8304,-1.29,-194.7,701.2,-10.3,1066,8308,0.00,2.78,0.00,0.000,6,0.000,0.097,2671,2203,3879
$GC,8626,-1.29,-194.7,732.4,-9.2,1082,8630,0.00,2.83,0.00,0.000,4,0.000,0.130,2671,821,3879
$GC,8688,-1.29,-194.7,738.0,-8.9,1085,8692,0.00,2.70,0.00,0.000,6,0.000,0.107,2671,2201,3879
$GC,9014,-1.29,-194.7,765.8,-9.5,1101,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2201,3879
$GC,9323,-1.29,-194.7,790.9,-7.6,1116,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2201,3879
$GC,9633,-1.29,-194.7,813.5,-6.8,1131,9637,0.00,2.95,0.00,0.000,4,0.000,0.133,2671,3645,3879
$GC,9676,-1.29,-194.7,816.7,-7.0,1133,9681,0.00,2.78,0.00,0.000,6,0.000,0.101,2671,2211,3878
$GC,9998,-1.29,-194.7,840.5,-7.8,1149,10003,0.00,2.88,0.00,0.000,4,0.000,0.136,2671,817,3878
$GC,10030,-1.29,-194.7,843.3,-9.2,1150,10037,0.00,2.72,0.00,0.000,6,0.000,0.108,2671,2208,3878
$GC,10346,-1.29,-194.7,868.1,-7.8,1166,10351,0.00,2.95,0.00,0.000,4,0.000,0.133,2671,3646,3878
$GC,10373,-1.29,-194.7,870.4,-8.4,1167,10378,0.00,2.80,0.00,0.000,6,0.000,0.104,2671,2209,3878
$GC,10689,-1.29,-194.7,895.1,-8.0,1182,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2210,3877
$GC,10999,-1.45,-194.7,914.0,-0.1,1197,11004,0.12,2.92,0.00,0.000,4,0.070,0.127,2639,3646,3877
$STATE,11114,end dive,NO_VERTICAL_VELOCITY
$STATE,11114,begin apogee
$GC,11123,-0.35,0.0,914.0,0.0,1202,11295,1.10,0.00,164.52,1.367,6,0.073,0.000,2878,2321,3085
$STATE,11296,end apogee,CONTROL_FINISHED_OK
$STATE,11296,begin climb
$GC,11299,1.29,194.7,913.8,0.0,1211,11471,1.62,3.08,161.60,1.329,4,0.056,0.127,3240,3733,2290
$GC,11544,1.16,194.7,893.1,12.9,1222,11551,0.15,2.80,0.00,0.000,6,0.115,0.104,3214,2329,2289
$GC,11860,1.11,194.7,855.9,11.5,1238,11865,0.00,2.95,0.00,0.000,4,0.000,0.126,3214,3738,2288
$GC,11892,1.02,194.7,851.8,12.0,1239,11899,0.17,2.83,0.00,0.000,6,0.111,0.106,3182,2330,2288
$GC,12208,1.02,194.7,818.1,11.1,1255,12210,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2330,2288
$GC,12517,1.02,194.7,785.1,10.2,1270,12521,0.00,2.92,0.00,0.000,4,0.000,0.135,3182,919,2287
$GC,12555,1.02,194.7,781.0,10.8,1272,12560,0.00,2.80,0.00,0.000,6,0.000,0.107,3182,2333,2288
$GC,12882,1.02,194.7,747.1,10.5,1288,12886,0.00,2.92,0.00,0.000,4,0.000,0.129,3182,3739,2287
$GC,12921,0.98,194.7,742.6,10.5,1290,12925,0.00,2.80,0.00,0.000,6,0.000,0.101,3182,2330,2287
$GC,13247,1.00,215.3,709.6,9.3,1306,13267,0.00,0.00,18.35,1.215,6,0.000,0.000,3182,2331,2207
$GC,13576,1.00,215.3,673.0,11.5,1322,13577,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2330,2206
$GC,13885,1.00,215.3,635.4,12.0,1337,13887,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2330,2205
$GC,14194,1.00,215.3,600.1,11.9,1352,14195,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2331,2205
$GC,14513,1.00,215.3,565.8,10.3,1381,14515,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2331,2205
$GC,14831,1.00,215.3,532.9,11.1,1411,14832,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2331,2205
$GC,15150,1.00,215.3,497.2,10.5,1441,15155,0.00,2.85,0.00,0.000,4,0.000,0.114,3182,3739,2205
$GC,15182,1.00,215.3,493.4,11.6,1443,15189,0.00,2.70,0.00,0.000,6,0.000,0.091,3182,2339,2205
$GC,15509,1.06,264.6,464.1,8.3,1474,15559,0.00,2.90,42.22,1.057,4,0.000,0.112,3182,916,2006
$GC,15575,1.11,301.8,457.9,8.7,1480,15614,0.00,2.78,33.22,1.017,6,0.000,0.096,3182,2336,1853
$GC,15932,1.11,301.8,420.0,11.9,1514,15936,0.00,2.83,0.00,0.000,4,0.000,0.112,3182,3738,1847
$GC,15952,1.11,301.8,417.3,12.6,1515,15959,0.00,2.72,0.00,0.000,6,0.000,0.090,3182,2332,1847
$GC,16279,1.11,301.8,375.4,13.7,1546,16280,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2332,1847
$GC,16602,1.11,301.8,331.6,11.9,1588,16608,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2332,1846
$GC,16946,1.12,311.6,293.7,9.7,1649,16963,0.00,2.90,8.48,0.890,4,0.000,0.109,3182,3737,1814
$GC,16986,1.12,311.6,289.4,10.9,1656,16992,0.00,2.70,0.00,0.000,6,0.000,0.088,3182,2343,1813
$GC,17330,1.16,339.3,254.3,9.0,1717,17357,0.12,0.00,24.75,0.906,6,0.064,0.000,3214,2343,1701
$GC,17695,1.16,339.3,209.8,12.2,1782,17700,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2344,1697
$GC,18038,1.16,339.3,164.7,13.7,1843,18043,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2344,1696
$GC,18380,1.16,339.3,113.5,14.2,1904,18387,0.00,2.78,0.00,0.000,4,0.000,0.104,3214,916,1696
$GC,18404,1.16,339.3,109.8,16.0,1908,18410,0.00,2.72,0.00,0.000,6,0.000,0.089,3214,2353,1696
$GC,18748,1.16,339.3,62.6,11.5,1969,18754,0.00,2.72,0.00,0.000,4,0.000,0.105,3214,3736,1695
$GC,18794,1.16,339.3,57.1,13.2,1977,18800,0.00,2.65,0.00,0.000,6,0.000,0.085,3214,2347,1695
$GC,19138,1.16,339.3,13.5,11.3,2038,19145,0.00,2.75,0.00,0.000,4,0.000,0.101,3214,912,1696
$GC,19168,1.16,339.3,9.7,12.3,2043,19175,0.00,2.70,0.00,0.000,6,0.000,0.086,3214,2352,1696
$STATE,19229,end climb,SURFACE_DEPTH_REACHED
$STATE,19230,begin surface coast
$FINISH,0.3,1.016277
$STATE,19248,end surface coast,CONTROL_FINISHED_OK
$STATE,19248,begin surface
$SM_CCo,19329,0.00,0.000,0,0,1692,341.70
$SM_GC,1.24,11.52,0.00,0.00,0.044,0.000,0.000,589,2232,1692,-10.85,-0.08,341.70
$IRIDIUM_FIX,6117.23,-2527.02,170897,191916
$TT8_MAMPS,0.02301
$HUMID,1659
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.80
$XPDR_PINGS,98
$24V_AH,23.1,47.517
$10V_AH,10.7,38.205
$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,27.100,155.550,453.150,0.000,0.000,22.586,31.549,307.436,24.500,0.000,0.000,13.758,3212.526,11542.895,628.829,3699.526,732.587,0.000,2253.902,0.000,3686.872,0.000,0.467
$DEVICE_MAMPS,182.546,135.759,1366.794,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1424.730,1534.670,1921.347,632.788,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123172,2057
$CAP_FILE_SIZE,183074,0
$CFSIZE,260165632,235614208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,240508,062026,6137.219,-2635.631,38,1.4,57,-18.8