version: 66.03
glider: 140
mission: 5
dive: 213
start: 5 24 108 6 28 39
data:
$ID,140
$MISSION,5
$DIVE,213
$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,30
$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,-17282.215
$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,14
$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
$GPS1,062026,6137.219,-2635.631,38,1.4,57,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.2
$GPS2,062821,6137.216,-2635.739,14,1.4,14,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6146.568,-2633.186
$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,48.8,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,101,0.00,0.00,-70.95,0.000,2,0.000,0.000,589,2231,3382
$GC,104,-1.29,-194.7,3.4,-7.5,13,134,12.27,2.75,-11.65,0.000,4,0.184,0.110,2670,3644,3878
$GC,221,-1.29,-194.7,17.5,-9.9,33,227,0.00,2.62,0.00,0.000,6,0.000,0.082,2671,2235,3879
$GC,363,-1.29,-194.7,30.4,-8.6,58,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3879
$GC,506,-1.29,-194.7,42.3,-8.0,83,512,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3879
$GC,647,-1.29,-194.7,52.3,-6.7,108,653,0.00,2.72,0.00,0.000,4,0.000,0.099,2670,3644,3879
$GC,666,-1.29,-194.7,53.6,-7.2,111,672,0.00,2.62,0.00,0.000,6,0.000,0.081,2670,2245,3879
$GC,1009,-1.29,-194.7,78.5,-7.9,172,1016,0.00,2.75,0.00,0.000,4,0.000,0.101,2670,821,3879
$GC,1062,-1.29,-194.7,82.7,-8.6,181,1068,0.00,2.70,0.00,0.000,6,0.000,0.088,2670,2242,3879
$GC,1406,-1.29,-194.7,105.9,-5.8,242,1412,0.00,2.75,0.00,0.000,4,0.000,0.101,2670,825,3880
$GC,1430,-1.29,-194.7,107.4,-6.2,246,1436,0.00,2.67,0.00,0.000,6,0.000,0.088,2670,2238,3880
$GC,1774,-1.29,-194.7,129.3,-6.4,307,1780,0.00,2.75,0.00,0.000,4,0.000,0.104,2670,827,3880
$GC,1803,-1.29,-194.7,131.3,-6.9,312,1810,0.00,2.65,0.00,0.000,6,0.000,0.089,2670,2226,3879
$GC,2148,-1.29,-194.7,154.1,-7.3,373,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,2491,-1.29,-194.7,179.8,-7.4,434,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3880
$GC,2836,-1.29,-194.7,203.5,-7.4,495,2842,0.00,2.75,0.00,0.000,4,0.000,0.107,2670,822,3880
$GC,2871,-1.29,-194.7,206.2,-7.8,501,2877,0.00,2.67,0.00,0.000,6,0.000,0.094,2670,2218,3880
$GC,3215,-1.29,-194.7,233.1,-8.2,562,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2218,3880
$GC,3559,-1.29,-194.7,262.4,-9.2,623,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2218,3880
$GC,3902,-1.29,-194.7,295.4,-9.2,684,3908,0.00,2.75,0.00,0.000,4,0.000,0.110,2670,823,3879
$GC,3937,-1.29,-194.7,298.7,-9.5,690,3945,0.00,2.67,0.00,0.000,6,0.000,0.098,2670,2219,3880
$GC,4282,-1.29,-194.7,330.9,-8.8,751,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3879
$GC,4624,-1.29,-194.7,361.9,-9.2,801,4628,0.00,2.75,0.00,0.000,4,0.000,0.114,2670,823,3879
$GC,4656,-1.29,-194.7,365.1,-9.6,803,4662,0.00,2.67,0.00,0.000,6,0.000,0.097,2670,2218,3879
$GC,4982,-1.29,-194.7,397.1,-10.0,834,4987,0.00,2.75,0.00,0.000,4,0.000,0.114,2670,828,3879
$GC,5003,-1.29,-194.7,399.6,-10.3,835,5009,0.00,2.67,0.00,0.000,6,0.000,0.099,2670,2212,3879
$GC,5329,-1.29,-194.7,433.6,-11.4,866,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2212,3879
$GC,5647,-1.29,-194.7,468.9,-10.4,896,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2212,3879
$GC,5965,-1.29,-194.7,501.6,-10.3,926,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2212,3879
$GC,6284,-1.29,-194.7,536.2,-11.3,956,6288,0.00,2.83,0.00,0.000,4,0.000,0.115,2670,3645,3879
$GC,6305,-1.29,-194.7,538.9,-12.1,957,6311,0.00,2.72,0.00,0.000,6,0.000,0.092,2670,2213,3878
$GC,6631,-1.29,-194.7,576.4,-11.8,988,6635,0.00,2.80,0.00,0.000,4,0.000,0.121,2670,818,3878
$GC,6672,-1.29,-194.7,581.4,-12.8,991,6677,0.00,2.72,0.00,0.000,6,0.000,0.102,2670,2222,3879
$GC,6992,-1.29,-194.7,622.2,-13.3,1013,6996,0.00,2.85,0.00,0.000,4,0.000,0.122,2670,3647,3878
$GC,7018,-1.29,-194.7,625.8,-13.3,1014,7023,0.00,2.72,0.00,0.000,6,0.000,0.095,2670,2222,3878
$GC,7335,-1.29,-194.7,658.6,-9.8,1029,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3878
$GC,7644,-1.29,-194.7,687.2,-8.9,1044,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3878
$GC,7953,-1.29,-194.7,716.4,-9.8,1059,7958,0.00,2.88,0.00,0.000,4,0.000,0.123,2671,3645,3878
$GC,8002,-1.29,-194.7,721.1,-9.5,1061,8007,0.00,2.72,0.00,0.000,6,0.000,0.100,2670,2227,3878
$GC,8318,-1.29,-194.7,752.3,-9.2,1076,8322,0.00,2.88,0.00,0.000,4,0.000,0.124,2670,3644,3878
$GC,8362,-1.29,-194.7,756.1,-9.2,1078,8366,0.00,2.75,0.00,0.000,6,0.000,0.101,2670,2228,3878
$GC,8682,-1.29,-194.7,783.2,-7.8,1094,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3878
$GC,8992,-1.29,-194.7,801.3,0.4,1109,8997,0.00,2.90,0.00,0.000,4,0.000,0.126,2670,3650,3877
$GC,9122,-1.29,-194.7,801.1,0.5,1115,9126,0.00,2.62,0.00,0.000,6,0.000,0.105,2670,2308,3876
$STATE,9157,end dive,NO_VERTICAL_VELOCITY
$STATE,9157,begin apogee
$GC,9163,-0.35,0.0,801.1,0.0,1117,9328,1.02,0.00,161.65,1.295,6,0.095,0.000,2879,2329,3085
$STATE,9329,end apogee,CONTROL_FINISHED_OK
$STATE,9329,begin climb
$GC,9331,1.29,194.7,800.7,0.0,1125,9502,1.65,3.00,159.55,1.254,4,0.063,0.127,3238,3735,2290
$GC,9755,1.16,194.7,767.7,14.6,1144,9762,0.12,2.83,0.00,0.000,6,0.120,0.104,3216,2323,2289
$GC,10071,1.10,194.7,727.8,11.9,1160,10075,0.00,2.92,0.00,0.000,4,0.000,0.121,3216,3737,2288
$GC,10224,1.01,194.7,709.2,12.2,1167,10229,0.17,2.80,0.00,0.000,6,0.111,0.103,3183,2335,2288
$GC,10551,1.01,194.7,676.5,10.2,1183,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2334,2287
$GC,10860,1.02,201.8,645.0,9.8,1198,10874,0.00,2.97,7.07,1.035,4,0.000,0.124,3183,915,2262
$GC,10931,1.02,206.5,637.7,9.8,1201,10942,0.00,2.80,5.78,0.960,6,0.000,0.104,3183,2338,2243
$GC,11251,1.03,210.0,603.9,9.9,1216,11261,0.00,2.90,4.68,0.861,4,0.000,0.120,3183,3739,2229
$GC,11305,0.98,210.0,597.8,11.8,1219,11312,0.00,2.78,0.00,0.000,6,0.000,0.097,3183,2321,2228
$GC,11632,0.98,210.0,562.3,11.0,1250,11633,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2321,2228
$GC,11948,0.98,210.0,530.3,10.6,1280,11949,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2321,2228
$GC,12266,0.98,210.0,497.9,10.4,1310,12267,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2321,2228
$GC,12585,0.98,210.0,465.6,10.0,1340,12590,0.00,2.85,0.00,0.000,4,0.000,0.111,3183,3738,2228
$GC,12630,0.98,210.0,460.8,10.4,1343,12636,0.00,2.67,0.00,0.000,6,0.000,0.091,3183,2347,2228
$GC,12956,1.00,226.5,430.3,9.4,1374,12978,0.00,2.88,15.52,1.024,4,0.000,0.110,3183,919,2160
$GC,13001,1.00,226.5,425.6,10.0,1378,13006,0.00,2.78,0.00,0.000,6,0.000,0.094,3183,2350,2160
$GC,13325,1.00,226.5,392.4,10.2,1408,13330,0.00,2.78,0.00,0.000,4,0.000,0.112,3183,3736,2160
$GC,13388,1.00,226.5,385.3,11.3,1413,13392,0.00,2.70,0.00,0.000,6,0.000,0.090,3183,2339,2159
$GC,13713,1.00,226.5,346.1,12.8,1445,13719,0.00,2.78,0.00,0.000,4,0.000,0.109,3183,919,2159
$GC,13742,1.00,226.5,342.3,13.4,1450,13749,0.00,2.75,0.00,0.000,6,0.000,0.094,3183,2357,2159
$GC,14086,1.00,226.5,298.6,11.9,1511,14092,0.00,2.72,0.00,0.000,4,0.000,0.109,3183,3734,2160
$GC,14133,1.00,226.5,292.7,12.8,1519,14139,0.00,2.65,0.00,0.000,6,0.000,0.088,3183,2355,2160
$GC,14475,1.00,226.5,252.3,10.8,1580,14481,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2355,2159
$GC,14818,1.00,226.5,214.2,10.9,1641,14823,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2355,2160
$GC,15161,1.00,226.5,177.5,10.4,1702,15166,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2354,2160
$GC,15503,1.00,226.5,140.8,10.9,1763,15508,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2355,2160
$GC,15845,1.00,226.5,102.3,11.6,1824,15851,0.00,2.72,0.00,0.000,4,0.000,0.104,3183,3734,2160
$GC,15886,1.00,226.5,97.3,12.0,1831,15892,0.00,2.62,0.00,0.000,6,0.000,0.084,3183,2357,2160
$GC,16229,1.00,226.5,56.8,11.1,1892,16235,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2357,2161
$GC,16573,1.10,300.5,30.3,7.4,1953,16640,0.00,0.00,60.70,0.763,6,0.000,0.000,3184,2357,1857
$GC,16776,1.10,300.5,12.6,10.3,1989,16782,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2357,1853
$STATE,16876,end climb,SURFACE_DEPTH_REACHED
$STATE,16876,begin surface coast
$FINISH,0.3,1.026741
$STATE,16894,end surface coast,CONTROL_FINISHED_OK
$STATE,16894,begin surface
$SM_CCo,16976,0.00,0.000,0,0,1848,303.44
$SM_GC,1.22,11.48,0.00,0.00,0.046,0.000,0.000,588,2232,1848,-10.86,-0.08,303.44
$IRIDIUM_FIX,6112.75,-2623.79,180897,000057
$TT8_MAMPS,0.02301
$HUMID,1666
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,109
$24V_AH,23.4,47.680
$10V_AH,10.7,38.376
$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,26.725,138.300,414.950,0.000,0.000,28.094,34.318,263.600,27.250,0.000,0.000,14.287,3122.315,9396.594,569.132,3670.068,669.992,0.000,2167.967,0.000,3647.171,0.000,0.467
$DEVICE_MAMPS,184.080,154.934,1294.696,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1392.919,1499.210,1907.371,669.939,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119947,2010
$CAP_FILE_SIZE,170666,0
$CFSIZE,260165632,235536384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,240508,111238,6138.624,-2635.339,29,1.6,29,-18.8