version: 66.03
glider: 140
mission: 5
dive: 219
start: 5 25 108 13 18 9
data:
$ID,140
$MISSION,5
$DIVE,219
$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,-17371.828
$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,15
$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
$GPS1,131008,6146.576,-2650.622,32,0.9,32,-19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-58.7
$GPS2,131751,6146.622,-2650.587,14,1.5,14,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6149.417,-2655.513
$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,304.1,20000,-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,-194.7,0.0,0.0,0,106,0.00,0.00,-76.35,0.000,2,0.000,0.000,591,2223,3377
$GC,109,-1.29,-194.7,3.2,-7.1,14,139,12.23,2.70,-11.90,0.000,4,0.183,0.108,2667,824,3879
$GC,325,-1.29,-194.7,27.1,-10.6,52,332,0.00,2.65,0.00,0.000,6,0.000,0.084,2666,2245,3880
$GC,468,-1.29,-194.7,40.3,-8.9,77,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2245,3880
$GC,609,-1.29,-194.7,52.7,-9.0,102,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2245,3880
$GC,952,-1.29,-194.7,90.0,-11.6,163,957,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2245,3880
$GC,1295,-1.29,-194.7,127.3,-9.4,224,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2245,3880
$GC,1638,-1.29,-194.7,155.7,-8.0,285,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2245,3881
$GC,1981,-1.29,-194.7,184.8,-9.1,346,1987,0.00,2.78,0.00,0.000,4,0.000,0.107,2667,822,3881
$GC,2027,-1.29,-194.7,189.1,-9.4,354,2034,0.00,2.70,0.00,0.000,6,0.000,0.091,2666,2245,3881
$GC,2371,-1.29,-194.7,224.3,-10.2,415,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2245,3880
$GC,2713,-1.29,-194.7,261.2,-10.6,476,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2245,3880
$GC,3057,-1.29,-194.7,296.1,-9.9,537,3063,0.00,2.80,0.00,0.000,4,0.000,0.111,2666,829,3880
$GC,3086,-1.29,-194.7,299.1,-10.5,542,3092,0.00,2.70,0.00,0.000,6,0.000,0.094,2667,2240,3880
$GC,3430,-1.29,-194.7,331.6,-8.9,603,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3880
$GC,3767,-1.29,-194.7,359.8,-8.1,653,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3881
$GC,4085,-1.29,-194.7,385.5,-8.1,683,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3880
$GC,4404,-1.29,-194.7,413.9,-9.5,713,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3880
$GC,4722,-1.29,-194.7,444.3,-9.1,743,4723,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3880
$GC,5041,-1.29,-194.7,471.0,-8.2,773,5046,0.00,2.72,0.00,0.000,4,0.000,0.111,2666,3645,3880
$GC,5069,-1.29,-194.7,473.5,-9.1,775,5074,0.00,2.65,0.00,0.000,6,0.000,0.088,2666,2239,3880
$GC,5396,-1.29,-194.7,498.9,-7.8,805,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3880
$GC,5713,-1.29,-194.7,522.2,-7.9,835,5714,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2240,3880
$GC,6031,-1.29,-194.7,545.7,-7.2,865,6035,0.00,2.83,0.00,0.000,4,0.000,0.120,2667,825,3880
$GC,6082,-1.29,-194.7,549.8,-8.2,869,6087,0.00,2.72,0.00,0.000,6,0.000,0.100,2666,2234,3880
$GC,6411,-1.29,-194.7,578.3,-9.9,899,6416,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2234,3879
$GC,6733,-1.29,-194.7,610.6,-9.6,925,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2234,3879
$GC,7041,-1.29,-194.7,643.2,-10.5,940,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2234,3879
$GC,7352,-1.29,-194.7,672.9,-9.5,955,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2234,3879
$GC,7661,-1.29,-194.7,702.3,-8.9,970,7665,0.00,2.85,0.00,0.000,4,0.000,0.125,2667,824,3878
$GC,7710,-1.29,-194.7,707.2,-10.0,972,7714,0.00,2.75,0.00,0.000,6,0.000,0.106,2667,2231,3878
$GC,8026,-1.29,-194.7,735.6,-9.8,987,8027,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2231,3878
$GC,8335,-1.29,-194.7,763.8,-8.4,1002,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2231,3879
$GC,8644,-1.29,-194.7,791.9,-10.2,1017,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2231,3878
$GC,8954,-1.29,-194.7,817.3,-7.7,1032,8955,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2231,3878
$GC,9263,-1.29,-194.7,842.8,-8.5,1047,9267,0.00,2.88,0.00,0.000,4,0.000,0.131,2667,825,3878
$GC,9306,-1.29,-194.7,846.2,-7.4,1049,9311,0.00,2.78,0.00,0.000,6,0.000,0.110,2666,2235,3877
$GC,9628,-1.29,-194.7,869.8,-6.8,1065,9633,0.00,2.88,0.00,0.000,4,0.000,0.128,2667,824,3877
$GC,9678,-1.29,-194.7,873.7,-7.7,1067,9682,0.00,2.75,0.00,0.000,6,0.000,0.108,2667,2224,3877
$GC,9993,-1.29,-194.7,901.0,-7.8,1082,9998,0.00,2.92,0.00,0.000,4,0.000,0.133,2667,3649,3877
$GC,10043,-1.29,-194.7,905.0,-8.3,1084,10048,0.00,2.78,0.00,0.000,6,0.000,0.103,2667,2222,3877
$GC,10359,-1.58,-194.7,922.7,0.0,1099,10361,0.22,0.00,0.00,0.000,6,0.068,0.000,2617,2222,3877
$STATE,10459,end dive,NO_VERTICAL_VELOCITY
$STATE,10459,begin apogee
$GC,10465,-0.35,0.0,922.8,0.0,1104,10633,1.20,0.00,164.15,1.374,6,0.053,0.000,2887,2337,3085
$STATE,10634,end apogee,CONTROL_FINISHED_OK
$STATE,10634,begin climb
$GC,10637,1.29,194.7,922.6,0.0,1112,10804,1.58,0.00,162.10,1.333,6,0.056,0.000,3239,2337,2291
$GC,11113,1.20,194.7,870.1,13.1,1136,11117,0.00,2.92,0.00,0.000,4,0.000,0.130,3239,919,2289
$GC,11134,1.12,194.7,867.5,11.9,1137,11140,0.17,2.80,0.00,0.000,6,0.107,0.107,3207,2331,2289
$GC,11456,1.08,194.7,831.8,14.0,1153,11460,0.00,2.92,0.00,0.000,4,0.000,0.130,3207,3738,2288
$GC,11511,0.99,194.7,824.2,14.2,1155,11518,0.15,2.80,0.00,0.000,6,0.110,0.102,3179,2329,2288
$GC,11827,0.99,194.7,786.8,12.9,1171,11831,0.00,2.90,0.00,0.000,4,0.000,0.121,3179,3739,2288
$GC,11871,0.99,232.5,782.6,8.7,1173,11911,0.00,2.80,33.17,1.251,6,0.000,0.101,3179,2333,2136
$GC,12241,1.00,244.6,746.5,9.6,1191,12259,0.00,0.00,11.62,1.174,6,0.000,0.000,3179,2333,2086
$GC,12569,1.01,253.9,714.2,9.7,1207,12582,0.00,0.00,9.12,1.131,6,0.000,0.000,3179,2333,2050
$GC,12901,1.01,253.9,679.3,11.4,1223,12906,0.00,2.88,0.00,0.000,4,0.000,0.119,3179,3739,2048
$GC,12956,1.01,253.9,672.2,13.2,1225,12962,0.00,2.75,0.00,0.000,6,0.000,0.100,3179,2341,2048
$GC,13272,1.01,253.9,636.0,10.9,1241,13273,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2341,2047
$GC,13581,1.03,265.8,605.4,9.6,1256,13603,0.00,2.95,11.80,1.118,4,0.000,0.116,3180,3739,1998
$GC,13626,1.05,282.2,601.2,9.4,1258,13648,0.00,2.78,15.55,1.085,6,0.000,0.096,3179,2336,1934
$GC,13966,1.07,299.5,570.7,9.4,1289,13989,0.00,2.88,16.60,1.098,4,0.000,0.117,3179,918,1862
$GC,14005,1.08,310.8,566.7,9.6,1292,14023,0.00,2.78,11.32,1.007,6,0.000,0.097,3179,2344,1817
$GC,14340,1.08,310.8,532.1,10.7,1324,14342,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2344,1814
$GC,14659,1.08,310.8,498.3,10.9,1354,14660,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2344,1813
$GC,14979,1.08,310.8,463.7,10.5,1384,14984,0.00,2.80,0.00,0.000,4,0.000,0.113,3179,3738,1812
$GC,15001,1.08,310.8,461.0,10.7,1385,15007,0.00,2.70,0.00,0.000,6,0.000,0.091,3179,2335,1811
$GC,15327,1.08,310.8,426.6,10.5,1416,15328,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2335,1812
$GC,15644,1.08,310.8,390.9,11.1,1446,15646,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2335,1812
$GC,15963,1.08,310.8,354.9,10.8,1476,15964,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2335,1812
$GC,16296,1.08,310.8,320.0,10.5,1531,16301,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2335,1812
$GC,16638,1.08,310.8,287.3,10.6,1592,16643,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2335,1812
$GC,16981,1.08,310.8,251.3,10.9,1653,16987,0.00,2.80,0.00,0.000,4,0.000,0.107,3179,3739,1812
$GC,17010,1.08,310.8,247.9,10.4,1658,17016,0.00,2.67,0.00,0.000,6,0.000,0.087,3179,2344,1811
$GC,17354,1.08,310.8,210.1,11.0,1719,17359,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2344,1812
$GC,17696,1.08,310.8,172.8,11.0,1780,17702,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2344,1812
$GC,18039,1.08,310.8,136.6,10.9,1841,18045,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2344,1812
$GC,18382,1.13,310.8,102.2,12.0,1902,18389,0.12,2.78,0.00,0.000,4,0.064,0.102,3212,911,1812
$GC,18413,1.13,310.8,98.0,14.6,1907,18419,0.00,2.72,0.00,0.000,6,0.000,0.088,3213,2350,1812
$GC,18756,1.21,382.6,58.4,7.5,1968,18820,0.00,0.00,59.58,0.785,6,0.000,0.000,3212,2350,1524
$GC,19159,1.21,382.6,5.3,13.7,2040,19166,0.00,2.78,0.00,0.000,4,0.000,0.099,3213,916,1515
$STATE,19181,end climb,SURFACE_DEPTH_REACHED
$STATE,19182,begin surface coast
$FINISH,0.4,1.015060
$STATE,19199,end surface coast,CONTROL_FINISHED_OK
$STATE,19200,begin surface
$SM_CCo,19283,0.00,0.000,0,0,1510,386.35
$SM_GC,1.03,11.57,0.00,0.00,0.045,0.000,0.000,590,2243,1510,-10.85,0.23,386.35
$IRIDIUM_FIX,6121.73,-2642.03,190897,080857
$TT8_MAMPS,0.02301
$HUMID,1663
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,17.80
$XPDR_PINGS,107
$24V_AH,23.4,48.768
$10V_AH,10.7,39.369
$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,27.250,106.025,495.025,0.000,0.000,29.126,32.873,254.545,26.750,0.000,0.000,14.543,3166.494,11642.816,648.707,3602.274,668.191,0.000,2203.683,0.000,3587.562,0.000,0.467
$DEVICE_MAMPS,182.546,133.458,1374.464,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1421.099,1519.119,1859.368,586.263,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119796,2047
$CAP_FILE_SIZE,171896,0
$CFSIZE,260165632,234979328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,250508,184038,6147.276,-2656.882,31,1.1,31,-19.1