version: 66.03
glider: 140
mission: 5
dive: 215
start: 5 24 108 16 45 32
data:
$ID,140
$MISSION,5
$DIVE,215
$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,-17315.846
$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,11
$R_STBD_OVSHOOT,11
$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
$GPS1,163637,6140.310,-2632.918,36,1.2,42,-18.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-65.6
$GPS2,164514,6140.336,-2632.955,12,1.1,17,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6149.689,-2630.406
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-65.18,0.000,2,0.000,0.000,587,2233,3454
$GC,99,-1.29,-194.7,3.4,-6.4,12,129,12.27,2.78,-9.70,0.000,4,0.184,0.111,2668,3653,3882
$GC,261,-1.29,-194.7,21.9,-9.2,40,268,0.00,2.65,0.00,0.000,6,0.000,0.082,2668,2233,3882
$GC,404,-1.29,-194.7,33.8,-8.3,65,409,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2233,3883
$GC,547,-1.29,-194.7,46.3,-8.6,90,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2232,3883
$GC,689,-1.29,-194.7,58.6,-8.9,115,694,0.00,2.72,0.00,0.000,4,0.000,0.100,2668,822,3883
$GC,729,-1.29,-194.7,62.2,-9.0,122,736,0.00,2.67,0.00,0.000,6,0.000,0.084,2668,2239,3883
$GC,1073,-1.29,-194.7,89.0,-6.9,183,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2239,3883
$GC,1416,-1.29,-194.7,113.9,-8.1,244,1422,0.00,2.75,0.00,0.000,4,0.000,0.101,2668,823,3883
$GC,1440,-1.29,-194.7,116.0,-8.5,248,1446,0.00,2.67,0.00,0.000,6,0.000,0.088,2668,2234,3883
$GC,1785,-1.29,-194.7,146.0,-9.4,309,1790,0.00,2.75,0.00,0.000,4,0.000,0.104,2668,823,3883
$GC,1814,-1.29,-194.7,148.9,-9.8,314,1820,0.00,2.65,0.00,0.000,6,0.000,0.089,2668,2219,3883
$GC,2158,-1.29,-194.7,180.6,-9.4,375,2164,0.00,2.72,0.00,0.000,4,0.000,0.104,2668,820,3883
$GC,2182,-1.29,-194.7,183.0,-10.0,379,2188,0.00,2.67,0.00,0.000,6,0.000,0.092,2668,2223,3883
$GC,2526,-1.29,-194.7,215.9,-9.2,440,2532,0.00,2.72,0.00,0.000,4,0.000,0.107,2668,825,3883
$GC,2556,-1.29,-194.7,218.7,-9.5,445,2562,0.00,2.65,0.00,0.000,6,0.000,0.093,2667,2213,3883
$GC,2900,-1.29,-194.7,250.1,-8.6,506,2906,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2213,3883
$GC,3243,-1.29,-194.7,278.9,-8.0,567,3249,0.00,2.75,0.00,0.000,4,0.000,0.112,2668,818,3883
$GC,3279,-1.29,-194.7,281.8,-8.9,573,3285,0.00,2.65,0.00,0.000,6,0.000,0.094,2668,2204,3883
$GC,3623,-1.29,-194.7,309.1,-8.0,634,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2204,3883
$GC,3966,-1.29,-194.7,335.4,-7.5,695,3973,0.00,2.70,0.00,0.000,4,0.000,0.113,2668,828,3882
$GC,3996,-1.29,-194.7,337.7,-8.1,700,4003,0.00,2.62,0.00,0.000,6,0.000,0.097,2668,2197,3882
$GC,4331,-1.29,-194.7,364.0,-8.1,745,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2198,3883
$GC,4651,-1.29,-194.7,391.2,-8.8,775,4656,0.00,2.72,0.00,0.000,4,0.000,0.115,2668,824,3882
$GC,4680,-1.29,-194.7,393.9,-9.3,777,4684,0.00,2.65,0.00,0.000,6,0.000,0.097,2668,2200,3882
$GC,5007,-1.29,-194.7,422.7,-8.7,807,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2200,3882
$GC,5323,-1.29,-194.7,450.2,-8.6,837,5327,0.00,2.72,0.00,0.000,4,0.000,0.116,2668,827,3882
$GC,5353,-1.29,-194.7,452.7,-9.3,839,5357,0.00,2.65,0.00,0.000,6,0.000,0.098,2668,2200,3882
$GC,5681,-1.29,-194.7,482.5,-9.3,869,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2200,3882
$GC,6006,-1.29,-194.7,513.7,-9.3,900,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2200,3882
$GC,6324,-1.29,-194.7,544.0,-9.7,930,6329,0.00,2.75,0.00,0.000,4,0.000,0.117,2668,822,3882
$GC,6345,-1.29,-194.7,546.3,-10.4,931,6352,0.00,2.65,0.00,0.000,6,0.000,0.100,2668,2192,3882
$GC,6672,-1.29,-194.7,581.4,-11.3,962,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2193,3882
$GC,6995,-1.29,-194.7,621.3,-11.9,985,6999,0.00,2.90,0.00,0.000,4,0.000,0.120,2668,3650,3882
$GC,7015,-1.29,-194.7,624.0,-12.7,986,7020,0.00,2.78,0.00,0.000,6,0.000,0.094,2668,2193,3881
$GC,7336,-1.29,-194.7,664.0,-13.0,1002,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2193,3881
$GC,7646,-1.29,-194.7,702.2,-11.9,1017,7650,0.00,2.92,0.00,0.000,4,0.000,0.120,2668,3650,3881
$GC,7678,-1.29,-194.7,706.3,-13.2,1018,7684,0.00,2.78,0.00,0.000,6,0.000,0.097,2668,2203,3881
$GC,7994,-1.29,-194.7,742.9,-11.5,1034,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2203,3882
$GC,8303,-1.29,-194.7,776.9,-11.1,1049,8308,0.00,2.92,0.00,0.000,4,0.000,0.123,2668,3647,3881
$GC,8342,-1.29,-194.7,781.5,-12.3,1051,8347,0.00,2.80,0.00,0.000,6,0.000,0.101,2668,2204,3880
$GC,8669,-1.29,-194.7,815.0,-10.5,1067,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2204,3880
$GC,8977,-1.29,-194.7,847.5,-10.5,1082,8978,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2204,3880
$GC,9287,-1.29,-194.7,878.4,-9.7,1097,9292,0.00,2.95,0.00,0.000,4,0.000,0.127,2668,3647,3880
$GC,9309,-1.29,-194.7,880.5,-9.7,1098,9313,0.00,2.80,0.00,0.000,6,0.000,0.104,2668,2211,3880
$GC,9629,-1.29,-194.7,908.9,-8.7,1114,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2211,3879
$GC,9939,-1.40,-194.7,918.6,-0.0,1129,9943,0.00,2.92,0.00,0.000,4,0.000,0.127,2668,3647,3880
$STATE,9955,end dive,NO_VERTICAL_VELOCITY
$STATE,9955,begin apogee
$GC,9963,-0.35,0.0,918.6,0.0,1130,10135,1.02,0.00,164.48,1.369,6,0.083,0.000,2883,2330,3085
$STATE,10136,end apogee,CONTROL_FINISHED_OK
$STATE,10136,begin climb
$GC,10139,1.29,194.7,918.5,0.0,1139,10305,1.60,0.00,161.40,1.330,6,0.057,0.000,3239,2330,2291
$GC,10610,1.21,194.7,871.6,12.8,1162,10615,0.00,2.95,0.00,0.000,4,0.000,0.126,3238,3738,2289
$GC,10654,1.09,194.7,865.4,14.6,1164,10660,0.22,2.83,0.00,0.000,6,0.108,0.105,3197,2330,2288
$GC,10976,1.09,194.7,827.5,11.7,1180,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2329,2288
$GC,11285,1.10,201.2,795.4,9.8,1195,11294,0.00,0.00,6.97,1.091,6,0.000,0.000,3197,2329,2264
$GC,11594,1.10,201.2,760.5,11.5,1210,11595,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2330,2263
$GC,11904,1.10,201.2,725.8,10.7,1225,11908,0.00,2.92,0.00,0.000,4,0.000,0.123,3197,3738,2263
$GC,11953,1.04,201.2,720.0,11.9,1227,11958,0.00,2.75,0.00,0.000,6,0.000,0.101,3197,2340,2263
$GC,12268,1.04,201.2,685.9,11.2,1242,12269,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2340,2262
$GC,12579,1.04,201.2,652.6,10.6,1257,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2340,2262
$GC,12887,1.06,215.4,622.3,9.5,1272,12908,0.00,2.95,13.27,1.139,4,0.000,0.118,3197,3735,2205
$GC,12955,1.01,215.4,615.6,11.3,1275,12959,0.00,2.72,0.00,0.000,6,0.000,0.098,3197,2358,2205
$GC,13275,1.05,242.1,586.3,9.1,1297,13307,0.00,3.00,23.67,1.121,4,0.000,0.120,3197,921,2097
$GC,13330,1.05,242.1,580.9,10.1,1302,13334,0.00,2.83,0.00,0.000,6,0.000,0.101,3197,2357,2097
$GC,13656,1.05,242.1,547.4,10.9,1332,13661,0.00,2.83,0.00,0.000,4,0.000,0.120,3197,3738,2095
$GC,13722,1.05,242.1,539.2,11.8,1337,13728,0.00,2.70,0.00,0.000,6,0.000,0.096,3197,2359,2095
$GC,14048,1.05,242.1,503.8,11.1,1368,14053,0.00,2.88,0.00,0.000,4,0.000,0.116,3197,914,2095
$GC,14092,1.05,242.1,498.5,11.6,1371,14098,0.00,2.80,0.00,0.000,6,0.000,0.098,3197,2357,2095
$GC,14419,1.05,242.1,461.7,11.5,1402,14423,0.00,2.78,0.00,0.000,4,0.000,0.117,3197,3735,2096
$GC,14462,1.05,242.1,456.1,12.3,1405,14468,0.00,2.67,0.00,0.000,6,0.000,0.092,3197,2351,2095
$GC,14788,1.05,242.1,419.1,10.5,1436,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2352,2096
$GC,15107,1.05,242.1,386.2,10.1,1466,15108,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2352,2095
$GC,15425,1.06,254.6,355.2,9.6,1496,15443,0.00,0.00,11.62,0.963,6,0.000,0.000,3197,2351,2047
$GC,15777,1.08,267.1,320.2,9.6,1554,15795,0.00,2.83,12.25,0.932,4,0.000,0.110,3197,3736,1994
$GC,15830,1.08,267.1,314.4,11.6,1563,15836,0.00,2.67,0.00,0.000,6,0.000,0.091,3197,2364,1994
$GC,16173,1.08,267.1,278.3,11.2,1624,16179,0.00,2.85,0.00,0.000,4,0.000,0.110,3197,916,1993
$GC,16203,1.08,267.1,275.0,11.4,1629,16209,0.00,2.78,0.00,0.000,6,0.000,0.093,3197,2363,1993
$GC,16547,1.08,267.1,233.4,13.4,1690,16554,0.00,2.75,0.00,0.000,4,0.000,0.112,3197,3737,1992
$GC,16577,1.08,267.1,229.1,15.0,1695,16583,0.00,2.65,0.00,0.000,6,0.000,0.089,3197,2364,1993
$GC,16921,1.08,267.1,181.6,13.9,1756,16927,0.00,2.80,0.00,0.000,4,0.000,0.107,3197,918,1993
$GC,16956,1.08,267.1,176.6,13.8,1762,16962,0.00,2.75,0.00,0.000,6,0.000,0.092,3197,2364,1992
$GC,17299,1.08,267.1,128.7,14.7,1823,17304,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2364,1993
$GC,17642,1.08,267.1,77.1,17.9,1884,17648,0.00,2.70,0.00,0.000,4,0.000,0.108,3197,3736,1993
$GC,17699,1.08,267.1,66.6,18.3,1894,17706,0.00,2.62,0.00,0.000,6,0.000,0.087,3197,2367,1993
$GC,18044,1.08,267.1,13.7,10.5,1955,18050,0.00,2.80,0.00,0.000,4,0.000,0.105,3197,917,1993
$GC,18113,1.21,328.6,7.3,7.9,1967,18171,0.12,2.72,51.08,0.749,6,0.064,0.090,3230,2359,1745
$STATE,18175,end climb,SURFACE_DEPTH_REACHED
$STATE,18175,begin surface coast
$FINISH,0.4,1.022088
$STATE,18191,end surface coast,CONTROL_FINISHED_OK
$STATE,18191,begin surface
$SM_CCo,18272,0.00,0.000,0,0,1737,330.42
$SM_GC,1.32,11.70,0.00,0.00,0.044,0.000,0.000,588,2227,1737,-10.85,-0.23,330.42
$IRIDIUM_FIX,6112.75,-2635.93,180897,111141
$TT8_MAMPS,0.02301
$HUMID,1654
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,17.50
$XPDR_PINGS,112
$24V_AH,23.4,48.036
$10V_AH,10.6,38.708
$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,26.950,160.500,444.750,0.000,0.000,29.221,38.842,300.894,28.000,0.000,0.000,17.865,3076.661,10836.213,613.408,3500.901,742.159,0.000,2160.992,0.000,3488.787,0.000,0.467
$DEVICE_MAMPS,184.080,127.322,1369.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1370.389,1476.903,1811.009,587.890,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116831,1980
$CAP_FILE_SIZE,174188,0
$CFSIZE,260165632,235343872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,240508,215107,6142.447,-2631.486,28,1.4,28,-18.9