version: 66.03
glider: 140
mission: 5
dive: 217
start: 5 25 108 2 51 57
data:
$ID,140
$MISSION,5
$DIVE,217
$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,285
$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,-17340.551
$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
$GPS1,024408,6143.566,-2638.038,30,1.4,30,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-61.0
$GPS2,025139,6143.615,-2637.980,10,1.8,10,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6146.410,-2642.913
$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,303.9,20000,-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,-71.28,0.000,2,0.000,0.000,591,2229,3374
$GC,104,-1.29,-194.7,3.4,-7.9,13,134,12.25,2.72,-11.85,0.000,4,0.183,0.108,2670,820,3879
$GC,309,-1.29,-194.7,24.8,-7.6,49,315,0.00,2.65,0.00,0.000,6,0.000,0.085,2670,2236,3880
$GC,453,-1.29,-194.7,37.0,-9.6,74,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3880
$GC,595,-1.29,-194.7,51.3,-9.9,99,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3880
$GC,938,-1.29,-194.7,83.7,-6.1,160,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,1281,-1.29,-194.7,107.0,-8.2,221,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3880
$GC,1623,-1.29,-194.7,135.7,-7.8,282,1630,0.00,2.75,0.00,0.000,4,0.000,0.104,2670,825,3880
$GC,1654,-1.29,-194.7,138.1,-8.5,287,1660,0.00,2.67,0.00,0.000,6,0.000,0.088,2670,2236,3880
$GC,1998,-1.29,-194.7,166.5,-9.7,348,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3880
$GC,2341,-1.29,-194.7,203.0,-10.7,409,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3880
$GC,2685,-1.29,-194.7,239.6,-9.5,470,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3880
$GC,3029,-1.29,-194.7,268.9,-8.4,531,3036,0.00,2.78,0.00,0.000,4,0.000,0.111,2670,823,3880
$GC,3059,-1.29,-194.7,271.6,-9.0,536,3065,0.00,2.67,0.00,0.000,6,0.000,0.094,2670,2230,3880
$GC,3404,-1.29,-194.7,303.4,-9.6,597,3409,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$GC,3748,-1.29,-194.7,337.6,-10.0,658,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$GC,4084,-1.29,-194.7,371.9,-9.6,700,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$GC,4403,-1.29,-194.7,400.6,-8.5,730,4404,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$GC,4721,-1.29,-194.7,427.7,-9.5,760,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$GC,5040,-1.29,-194.7,461.2,-10.8,790,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$GC,5358,-1.29,-194.7,494.0,-9.8,820,5363,0.00,2.80,0.00,0.000,4,0.000,0.116,2670,826,3880
$GC,5392,-1.29,-194.7,497.3,-9.6,822,5398,0.00,2.70,0.00,0.000,6,0.000,0.100,2670,2228,3880
$GC,5718,-1.29,-194.7,526.8,-8.7,853,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3880
$GC,6036,-1.29,-194.7,555.7,-9.6,883,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3880
$GC,6354,-1.29,-194.7,585.3,-8.1,913,6355,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3879
$GC,6669,-1.29,-194.7,604.6,-3.9,938,6674,0.00,2.83,0.00,0.000,4,0.000,0.120,2670,818,3879
$GC,6696,-1.29,-194.7,605.4,-3.1,939,6700,0.00,2.75,0.00,0.000,6,0.000,0.103,2670,2233,3879
$GC,7011,-1.29,-194.7,626.2,-10.7,954,7016,0.00,2.83,0.00,0.000,4,0.000,0.121,2670,823,3879
$GC,7044,-1.29,-194.7,630.0,-11.8,955,7050,0.00,2.72,0.00,0.000,6,0.000,0.105,2670,2223,3879
$GC,7360,-1.29,-194.7,659.7,-7.9,971,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3879
$GC,7668,-1.29,-194.7,682.2,-7.7,986,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3878
$GC,7978,-1.29,-194.7,712.1,-10.4,1001,7983,0.00,2.88,0.00,0.000,4,0.000,0.127,2670,3647,3878
$GC,8004,-1.29,-194.7,715.1,-11.1,1002,8009,0.00,2.75,0.00,0.000,6,0.000,0.098,2670,2216,3878
$GC,8321,-1.29,-194.7,744.6,-9.3,1017,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3878
$GC,8630,-1.29,-194.7,770.3,-8.0,1032,8631,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3878
$GC,8939,-1.29,-194.7,798.0,-9.6,1047,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3878
$GC,9248,-1.29,-194.7,825.3,-7.1,1062,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3878
$GC,9558,-1.29,-194.7,846.3,-7.2,1077,9559,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3877
$GC,9867,-1.29,-194.7,873.1,-9.5,1092,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2216,3877
$GC,10177,-1.29,-194.7,897.3,-7.9,1107,10181,0.00,2.90,0.00,0.000,4,0.000,0.138,2670,817,3876
$STATE,10319,end dive,NO_VERTICAL_VELOCITY
$STATE,10321,begin apogee
$GC,10330,-0.35,0.0,897.3,0.0,1113,10497,0.95,0.00,163.45,1.355,6,0.071,0.000,2879,2328,3086
$STATE,10497,end apogee,CONTROL_FINISHED_OK
$STATE,10497,begin climb
$GC,10500,1.29,194.7,897.2,0.0,1122,10674,1.65,3.05,161.20,1.316,4,0.065,0.136,3237,3737,2290
$GC,10690,1.17,194.7,882.9,12.0,1131,10695,0.12,2.83,0.00,0.000,6,0.119,0.104,3216,2331,2289
$GC,11012,1.12,194.7,843.7,12.7,1147,11016,0.00,2.92,0.00,0.000,4,0.000,0.133,3216,918,2287
$GC,11044,1.12,194.7,839.3,12.6,1148,11051,0.00,2.80,0.00,0.000,6,0.000,0.108,3215,2331,2288
$GC,11359,1.06,194.7,802.5,11.2,1164,11365,0.12,2.92,0.00,0.000,4,0.114,0.127,3193,3739,2287
$GC,11399,0.99,194.7,798.1,10.2,1166,11404,0.00,2.80,0.00,0.000,6,0.000,0.101,3193,2330,2287
$GC,11726,0.99,194.7,761.9,11.7,1182,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2330,2287
$GC,12036,0.99,194.7,727.8,10.6,1197,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2331,2286
$GC,12344,0.99,194.7,696.3,10.3,1212,12345,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2330,2287
$GC,12654,0.99,194.7,663.3,10.9,1227,12655,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2331,2286
$GC,12963,0.99,194.7,628.3,10.6,1242,12964,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2330,2286
$GC,13273,1.05,242.1,600.4,8.4,1257,13318,0.00,2.95,40.10,1.150,4,0.000,0.117,3193,3739,2097
$GC,13364,1.05,242.1,591.6,10.9,1264,13369,0.00,2.78,0.00,0.000,6,0.000,0.094,3194,2333,2095
$GC,13688,1.05,242.1,559.8,11.5,1294,13693,0.00,2.83,0.00,0.000,4,0.000,0.117,3193,917,2094
$GC,13721,1.05,242.1,555.6,12.4,1296,13728,0.00,2.75,0.00,0.000,6,0.000,0.098,3193,2340,2094
$GC,14048,1.05,242.1,516.9,12.1,1327,14052,0.00,2.83,0.00,0.000,4,0.000,0.115,3193,3739,2094
$GC,14103,1.05,242.1,509.6,13.3,1331,14109,0.00,2.70,0.00,0.000,6,0.000,0.091,3193,2341,2094
$GC,14429,1.05,242.1,470.8,12.1,1362,14430,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2341,2094
$GC,14746,1.05,242.1,434.0,11.3,1392,14747,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2341,2094
$GC,15064,1.05,242.1,398.2,11.3,1422,15065,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2341,2094
$GC,15383,1.05,242.1,362.5,11.3,1452,15388,0.00,2.80,0.00,0.000,4,0.000,0.110,3193,3738,2094
$GC,15415,1.05,242.1,358.6,11.4,1454,15422,0.00,2.67,0.00,0.000,6,0.000,0.090,3193,2341,2094
$GC,15756,1.05,242.1,321.9,11.0,1508,15763,0.00,2.80,0.00,0.000,4,0.000,0.110,3193,3739,2094
$GC,15786,1.05,242.1,318.2,11.9,1513,15792,0.00,2.67,0.00,0.000,6,0.000,0.088,3193,2349,2094
$GC,16129,1.05,242.1,280.3,10.4,1574,16135,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2349,2095
$GC,16473,1.05,242.1,244.7,10.5,1635,16478,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2349,2095
$GC,16816,1.07,254.5,210.8,9.6,1696,16833,0.00,0.00,11.43,0.877,6,0.000,0.000,3193,2349,2046
$GC,17171,1.07,254.5,169.9,11.7,1759,17176,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2349,2045
$GC,17513,1.07,254.5,130.3,12.1,1820,17520,0.00,2.75,0.00,0.000,4,0.000,0.105,3193,3739,2044
$GC,17543,1.07,254.5,126.9,12.0,1825,17549,0.00,2.65,0.00,0.000,6,0.000,0.085,3193,2354,2044
$GC,17887,1.07,254.5,86.0,11.3,1886,17893,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2355,2045
$GC,18231,1.11,290.1,48.9,8.8,1947,18265,0.00,0.00,30.20,0.781,6,0.000,0.000,3193,2355,1902
$GC,18404,1.14,310.3,34.1,9.3,1977,18427,0.00,0.00,18.02,0.754,6,0.000,0.000,3193,2355,1818
$GC,18566,1.15,321.6,19.3,9.6,2005,18584,0.00,2.80,10.27,0.731,4,0.000,0.100,3193,921,1773
$GC,18624,1.20,321.6,12.3,11.9,2015,18631,0.12,2.75,0.00,0.000,6,0.062,0.085,3227,2376,1772
$STATE,18703,end climb,SURFACE_DEPTH_REACHED
$STATE,18703,begin surface coast
$FINISH,0.4,1.027693
$STATE,18717,end surface coast,CONTROL_FINISHED_OK
$STATE,18719,begin surface
$SM_CCo,18801,0.00,0.000,0,0,1766,323.31
$SM_GC,1.26,11.60,0.00,0.00,0.044,0.000,0.000,593,2229,1766,-10.84,-0.17,323.31
$IRIDIUM_FIX,6117.23,-2627.82,180897,222212
$TT8_MAMPS,0.022243
$HUMID,1649
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,108
$24V_AH,23.4,48.388
$10V_AH,10.7,39.037
$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,26.825,100.775,434.675,0.000,0.000,25.145,32.815,251.158,27.000,0.000,0.000,10.946,3141.645,11287.414,556.507,3595.771,653.337,0.000,2118.484,0.000,3583.280,0.000,0.468
$DEVICE_MAMPS,182.546,138.060,1355.289,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1410.883,1510.410,1904.419,613.821,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120038,2031
$CAP_FILE_SIZE,168722,0
$CFSIZE,260165632,235163648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,250508,080652,6144.788,-2644.189,39,2.1,58,-19.0