version: 66.03
glider: 140
mission: 5
dive: 214
start: 5 24 108 11 20 51
data:
$ID,140
$MISSION,5
$DIVE,214
$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,-17297.352
$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
$GPS1,111238,6138.624,-2635.339,29,1.6,29,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.6
$GPS2,112033,6138.654,-2635.450,14,1.8,14,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6148.006,-2632.899
$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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.47,0.000,2,0.000,0.000,588,2230,3424
$GC,98,-1.29,-194.7,3.4,-6.9,12,128,12.27,2.78,-10.30,0.000,4,0.183,0.110,2672,3652,3879
$GC,232,-1.29,-194.7,19.4,-10.0,35,238,0.00,2.65,0.00,0.000,6,0.000,0.081,2672,2234,3881
$GC,374,-1.29,-194.7,33.5,-10.4,60,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3881
$GC,516,-1.29,-194.7,47.8,-9.2,85,522,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3882
$GC,657,-1.29,-194.7,59.3,-6.4,110,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3881
$GC,1001,-1.29,-194.7,86.5,-9.0,171,1006,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3882
$GC,1343,-1.29,-194.7,121.3,-10.3,232,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3881
$GC,1687,-1.29,-194.7,154.3,-9.1,293,1693,0.00,2.75,0.00,0.000,4,0.000,0.104,2672,824,3881
$GC,1711,-1.29,-194.7,156.5,-9.4,297,1717,0.00,2.70,0.00,0.000,6,0.000,0.089,2672,2243,3881
$GC,2054,-1.29,-194.7,190.3,-10.2,358,2061,0.00,2.78,0.00,0.000,4,0.000,0.104,2672,822,3881
$GC,2084,-1.29,-194.7,193.5,-11.1,363,2090,0.00,2.70,0.00,0.000,6,0.000,0.091,2671,2241,3881
$GC,2428,-1.29,-194.7,228.0,-9.4,424,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2241,3881
$GC,2772,-1.29,-194.7,256.5,-7.6,485,2778,0.00,2.78,0.00,0.000,4,0.000,0.110,2672,827,3881
$GC,2832,-1.29,-194.7,261.2,-8.3,495,2838,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2237,3881
$GC,3176,-1.29,-194.7,288.9,-8.3,556,3182,0.00,2.78,0.00,0.000,4,0.000,0.110,2672,822,3881
$GC,3206,-1.29,-194.7,291.6,-8.9,561,3212,0.00,2.67,0.00,0.000,6,0.000,0.094,2672,2223,3882
$GC,3550,-1.29,-194.7,323.7,-10.0,622,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2223,3881
$GC,3896,-1.29,-194.7,357.4,-9.7,677,3901,0.00,2.78,0.00,0.000,4,0.000,0.113,2672,819,3881
$GC,3935,-1.29,-194.7,361.5,-10.2,680,3940,0.00,2.70,0.00,0.000,6,0.000,0.098,2672,2220,3881
$GC,4261,-1.29,-194.7,392.6,-9.2,710,4266,0.00,2.78,0.00,0.000,4,0.000,0.113,2672,818,3881
$GC,4283,-1.29,-194.7,394.8,-9.3,711,4289,0.00,2.67,0.00,0.000,6,0.000,0.097,2672,2214,3881
$GC,4609,-1.29,-194.7,423.2,-8.6,742,4610,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2214,3882
$GC,4928,-1.29,-194.7,453.0,-9.8,772,4932,0.00,2.78,0.00,0.000,4,0.000,0.115,2671,821,3881
$GC,4955,-1.29,-194.7,456.0,-10.5,774,4960,0.00,2.67,0.00,0.000,6,0.000,0.099,2672,2209,3881
$GC,5281,-1.29,-194.7,488.7,-10.3,804,5282,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3881
$GC,5600,-1.29,-194.7,521.2,-10.0,834,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3881
$GC,5917,-1.29,-194.7,553.3,-10.0,864,5921,0.00,2.85,0.00,0.000,4,0.000,0.116,2672,3650,3881
$GC,5944,-1.29,-194.7,556.0,-10.7,866,5949,0.00,2.72,0.00,0.000,6,0.000,0.091,2672,2215,3881
$GC,6270,-1.29,-194.7,587.5,-9.9,896,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3880
$GC,6582,-1.29,-194.7,619.9,-10.6,917,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2215,3880
$GC,6891,-1.29,-194.7,650.3,-9.3,932,6896,0.00,2.85,0.00,0.000,4,0.000,0.119,2672,3648,3880
$GC,6924,-1.29,-194.7,653.9,-10.7,933,6930,0.00,2.75,0.00,0.000,6,0.000,0.096,2672,2211,3880
$GC,7240,-1.29,-194.7,683.9,-9.1,949,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2212,3880
$GC,7550,-1.29,-194.7,711.1,-8.2,964,7554,0.00,2.90,0.00,0.000,4,0.000,0.122,2672,3650,3880
$GC,7576,-1.29,-194.7,713.4,-8.8,965,7581,0.00,2.75,0.00,0.000,6,0.000,0.098,2672,2222,3880
$GC,7892,-1.29,-194.7,738.0,-7.9,980,7893,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3879
$GC,8202,-1.29,-194.7,760.5,-7.2,995,8203,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3879
$GC,8510,-1.29,-194.7,783.8,-7.8,1010,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2222,3879
$GC,8820,-1.29,-194.7,808.5,-8.2,1025,8825,0.00,2.90,0.00,0.000,4,0.000,0.128,2672,3645,3878
$GC,8842,-1.29,-194.7,810.4,-8.3,1026,8846,0.00,2.78,0.00,0.000,6,0.000,0.104,2672,2222,3878
$GC,9162,-1.29,-194.7,836.5,-8.4,1042,9167,0.00,2.88,0.00,0.000,4,0.000,0.126,2671,3646,3878
$GC,9189,-1.29,-194.7,838.9,-8.9,1043,9193,0.00,2.78,0.00,0.000,6,0.000,0.105,2672,2229,3878
$GC,9505,-1.29,-194.7,864.1,-7.8,1058,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3878
$GC,9814,-1.29,-194.7,888.3,-8.5,1073,9815,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2229,3878
$GC,10123,-1.29,-194.7,913.5,-8.0,1088,10124,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2229,3877
$GC,10433,-1.50,-194.7,930.0,0.0,1103,10438,0.17,2.92,0.00,0.000,4,0.065,0.140,2626,824,3877
$STATE,10531,end dive,NO_VERTICAL_VELOCITY
$STATE,10531,begin apogee
$GC,10540,-0.35,0.0,930.0,0.0,1107,10709,1.17,0.00,164.85,1.374,6,0.070,0.000,2882,2332,3085
$STATE,10709,end apogee,CONTROL_FINISHED_OK
$STATE,10710,begin climb
$GC,10712,1.29,194.7,929.9,0.0,1116,10880,1.62,0.00,162.40,1.336,6,0.061,0.000,3240,2333,2290
$GC,11185,1.19,194.7,875.4,14.9,1139,11190,0.00,2.90,0.00,0.000,4,0.000,0.124,3239,915,2288
$GC,11213,1.12,194.7,870.9,14.7,1140,11218,0.17,2.83,0.00,0.000,6,0.108,0.110,3207,2332,2288
$GC,11529,1.07,194.7,826.9,13.8,1155,11533,0.00,2.95,0.00,0.000,4,0.000,0.132,3207,3738,2288
$GC,11595,0.99,194.7,816.9,15.4,1158,11600,0.15,2.80,0.00,0.000,6,0.113,0.104,3178,2329,2287
$GC,11916,0.99,194.7,776.1,12.3,1174,11921,0.00,2.90,0.00,0.000,4,0.000,0.131,3178,917,2287
$GC,11965,0.99,194.7,769.8,12.5,1176,11969,0.00,2.78,0.00,0.000,6,0.000,0.107,3178,2332,2287
$GC,12287,0.99,194.7,732.2,11.8,1192,12291,0.00,2.92,0.00,0.000,4,0.000,0.130,3178,3739,2287
$GC,12386,0.99,194.7,718.9,12.2,1196,12393,0.00,2.75,0.00,0.000,6,0.000,0.101,3178,2336,2287
$GC,12702,0.99,194.7,683.5,11.1,1212,12706,0.00,2.88,0.00,0.000,4,0.000,0.123,3178,914,2286
$GC,12745,0.99,194.7,678.4,11.5,1214,12750,0.00,2.80,0.00,0.000,6,0.000,0.104,3178,2342,2286
$GC,13066,0.99,194.7,640.6,12.3,1230,13071,0.00,2.85,0.00,0.000,4,0.000,0.124,3178,3739,2286
$GC,13105,0.99,194.7,635.6,12.3,1232,13110,0.00,2.78,0.00,0.000,6,0.000,0.097,3178,2324,2286
$GC,13431,0.99,194.7,600.9,10.4,1248,13432,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2325,2286
$GC,13749,0.99,194.7,560.3,13.5,1277,13754,0.00,2.85,0.00,0.000,4,0.000,0.114,3178,3739,2286
$GC,13811,0.99,194.7,552.1,12.6,1282,13815,0.00,2.72,0.00,0.000,6,0.000,0.092,3178,2333,2286
$GC,14136,0.99,194.7,513.0,11.4,1312,14141,0.00,2.78,0.00,0.000,4,0.000,0.114,3178,921,2286
$GC,14169,0.99,194.7,508.9,11.8,1314,14176,0.00,2.75,0.00,0.000,6,0.000,0.097,3178,2334,2286
$GC,14497,0.99,194.7,474.0,10.2,1345,14503,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2334,2286
$GC,14822,0.99,194.7,439.6,10.3,1376,14823,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2333,2286
$GC,15143,1.00,206.8,407.7,9.6,1406,15159,0.00,0.00,11.05,0.996,6,0.000,0.000,3178,2334,2241
$GC,15480,1.02,220.2,374.9,9.5,1438,15498,0.00,0.00,12.62,0.968,6,0.000,0.000,3178,2334,2186
$GC,15823,1.03,229.8,342.1,9.7,1477,15834,0.00,0.00,9.52,0.924,6,0.000,0.000,3178,2334,2148
$GC,16172,1.11,293.6,312.3,7.8,1539,16231,0.10,0.00,54.22,0.943,6,0.071,0.000,3205,2334,1887
$GC,16570,1.11,293.6,272.2,11.8,1610,16576,0.00,2.80,0.00,0.000,4,0.000,0.110,3204,3739,1881
$GC,16611,1.11,293.6,267.3,12.6,1617,16617,0.00,2.72,0.00,0.000,6,0.000,0.087,3205,2327,1881
$GC,16954,1.11,293.6,229.2,10.3,1678,16960,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2328,1881
$GC,17297,1.11,293.6,191.6,11.4,1739,17303,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2328,1880
$GC,17640,1.11,293.6,149.8,14.8,1800,17647,0.00,2.83,0.00,0.000,4,0.000,0.107,3205,3739,1880
$GC,17670,1.11,293.6,145.9,12.8,1805,17676,0.00,2.70,0.00,0.000,6,0.000,0.085,3205,2332,1879
$GC,18013,1.11,293.6,97.6,14.0,1866,18020,0.00,2.75,0.00,0.000,4,0.000,0.104,3204,918,1880
$GC,18043,1.11,293.6,93.3,14.4,1871,18049,0.00,2.70,0.00,0.000,6,0.000,0.087,3205,2343,1880
$GC,18387,1.11,293.6,48.0,11.5,1932,18393,0.00,2.75,0.00,0.000,4,0.000,0.105,3205,3736,1879
$GC,18434,1.11,293.6,42.1,13.0,1940,18440,0.00,2.67,0.00,0.000,6,0.000,0.084,3205,2325,1879
$GC,18576,1.11,293.6,24.9,11.0,1965,18583,0.00,2.70,0.00,0.000,4,0.000,0.100,3205,916,1880
$GC,18606,1.11,293.6,21.3,12.7,1970,18612,0.00,2.65,0.00,0.000,6,0.000,0.086,3205,2332,1880
$GC,18750,1.11,293.6,4.2,11.6,1995,18757,0.00,2.75,0.00,0.000,4,0.000,0.103,3205,3736,1879
$STATE,18767,end climb,SURFACE_DEPTH_REACHED
$STATE,18767,begin surface coast
$FINISH,0.3,1.027649
$STATE,18785,end surface coast,CONTROL_FINISHED_OK
$STATE,18785,begin surface
$SM_CCo,18869,0.00,0.000,0,0,1876,296.32
$SM_GC,1.14,11.50,0.00,0.00,0.045,0.000,0.000,587,2234,1876,-10.85,0.00,296.32
$IRIDIUM_FIX,6112.75,-2633.90,180897,060634
$TT8_MAMPS,0.023777
$HUMID,1659
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,115
$24V_AH,23.4,47.853
$10V_AH,10.7,38.542
$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,27.175,155.875,414.675,0.000,0.000,28.941,34.795,264.419,28.750,0.000,0.000,14.508,3122.355,11332.206,605.916,3552.645,711.290,0.000,2159.576,0.000,3550.429,0.000,0.467
$DEVICE_MAMPS,183.313,140.361,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1388.992,1490.065,1812.925,581.137,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120025,2001
$CAP_FILE_SIZE,174880,0
$CFSIZE,260165632,235433984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,240508,163637,6140.310,-2632.918,36,1.2,42,-18.8