version: 66.03
glider: 140
mission: 5
dive: 220
start: 5 25 108 18 49 58
data:
$ID,140
$MISSION,5
$DIVE,220
$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,35
$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,-17387.529
$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,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
$GPS1,184038,6147.276,-2656.882,31,1.1,31,-19.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-55.9
$GPS2,184939,6147.364,-2656.946,15,1.1,15,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6156.210,-2654.032
$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,54.1,20000,-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,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,111,0.00,0.00,-81.25,0.000,2,0.000,0.000,590,2244,3434
$GC,115,-1.29,-194.7,3.5,-7.8,15,144,12.30,2.72,-9.75,0.000,4,0.184,0.110,2671,3652,3880
$GC,280,-1.29,-194.7,25.4,-11.6,44,286,0.00,2.65,0.00,0.000,6,0.000,0.081,2671,2234,3881
$GC,422,-1.29,-194.7,41.5,-11.2,69,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3882
$GC,564,-1.29,-194.7,56.1,-9.3,94,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3882
$GC,907,-1.29,-194.7,88.2,-9.9,155,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3882
$GC,1249,-1.29,-194.7,123.2,-10.2,216,1255,0.00,2.78,0.00,0.000,4,0.000,0.104,2671,3650,3882
$GC,1268,-1.29,-194.7,125.0,-10.2,219,1274,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2244,3882
$GC,1612,-1.29,-194.7,158.2,-8.8,280,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3882
$GC,1956,-1.29,-194.7,190.6,-9.7,341,1962,0.00,2.75,0.00,0.000,4,0.000,0.107,2671,3645,3882
$GC,1980,-1.29,-194.7,193.0,-10.1,345,1986,0.00,2.65,0.00,0.000,6,0.000,0.086,2671,2242,3882
$GC,2323,-1.29,-194.7,224.1,-9.1,406,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3882
$GC,2666,-1.29,-194.7,255.2,-9.1,467,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3882
$GC,3009,-1.29,-194.7,287.3,-9.3,528,3016,0.00,2.78,0.00,0.000,4,0.000,0.110,2672,3649,3882
$GC,3028,-1.29,-194.7,289.2,-9.6,531,3034,0.00,2.65,0.00,0.000,6,0.000,0.088,2671,2252,3882
$GC,3371,-1.29,-194.7,322.4,-9.7,592,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3882
$GC,3713,-1.29,-194.7,353.1,-8.8,650,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3882
$GC,4031,-1.29,-194.7,381.6,-9.3,680,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3882
$GC,4352,-1.29,-194.7,410.8,-8.9,710,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3881
$GC,4668,-1.29,-194.7,438.4,-8.9,740,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3882
$GC,4987,-1.29,-194.7,465.4,-8.3,770,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3882
$GC,5305,-1.29,-194.7,494.7,-9.9,800,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3882
$GC,5624,-1.29,-194.7,524.9,-9.2,830,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3881
$GC,5942,-1.29,-194.7,553.6,-9.4,860,5946,0.00,2.88,0.00,0.000,4,0.000,0.120,2671,819,3881
$GC,5960,-1.29,-194.7,555.2,-9.2,861,5964,0.00,2.80,0.00,0.000,6,0.000,0.101,2672,2262,3881
$GC,6288,-1.36,-194.7,584.6,-9.5,891,6293,0.00,2.88,0.00,0.000,4,0.000,0.118,2672,825,3880
$GC,6332,-1.36,-194.7,589.3,-10.0,894,6339,0.00,2.72,0.00,0.000,6,0.000,0.102,2671,2238,3881
$GC,6662,-1.44,-194.7,618.4,-8.4,916,6667,0.12,2.85,0.00,0.000,4,0.063,0.118,2638,818,3881
$GC,6836,-1.38,-194.7,635.7,-10.4,924,6841,0.10,2.65,0.00,0.000,6,0.113,0.104,2656,2181,3880
$GC,7163,-1.38,-194.7,665.8,-9.1,940,7167,0.00,2.72,0.00,0.000,4,0.000,0.120,2656,822,3880
$GC,7219,-1.38,-194.7,671.0,-9.7,942,7226,0.00,2.62,0.00,0.000,6,0.000,0.104,2656,2172,3881
$GC,7535,-1.38,-194.7,699.4,-9.1,958,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2173,3880
$GC,7844,-1.38,-194.7,727.3,-9.2,973,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2173,3880
$GC,8154,-1.38,-194.7,755.2,-8.8,988,8158,0.00,3.00,0.00,0.000,4,0.000,0.129,2656,3653,3880
$GC,8175,-1.38,-194.7,757.5,-9.9,989,8179,0.00,2.85,0.00,0.000,6,0.000,0.100,2656,2173,3879
$GC,8496,-1.38,-194.7,787.4,-7.3,1005,8500,0.00,2.75,0.00,0.000,4,0.000,0.133,2656,826,3879
$GC,8517,-1.38,-194.7,789.0,-7.6,1006,8521,0.00,2.62,0.00,0.000,6,0.000,0.106,2656,2174,3880
$GC,8839,-1.38,-194.7,817.3,-9.1,1022,8843,0.00,3.00,0.00,0.000,4,0.000,0.130,2656,3652,3879
$GC,8862,-1.38,-194.7,819.3,-8.9,1023,8866,0.00,2.85,0.00,0.000,6,0.000,0.100,2656,2178,3880
$GC,9183,-1.38,-194.7,847.7,-9.6,1039,9187,0.00,2.97,0.00,0.000,4,0.000,0.123,2656,3650,3879
$GC,9204,-1.38,-194.7,850.0,-10.1,1040,9208,0.00,2.85,0.00,0.000,6,0.000,0.102,2656,2182,3879
$GC,9524,-1.38,-194.7,883.6,-10.9,1056,9525,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2183,3879
$GC,9833,-1.38,-194.7,923.1,-13.1,1071,9835,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2183,3878
$GC,10144,-1.53,-194.7,956.0,-6.8,1086,10149,0.15,2.97,0.00,0.000,4,0.087,0.126,2625,3645,3878
$STATE,10283,end dive,NO_VERTICAL_VELOCITY
$STATE,10283,begin apogee
$GC,10292,-0.35,0.0,956.0,0.0,1092,10463,1.10,0.00,165.05,1.393,6,0.044,0.000,2887,2332,3084
$STATE,10464,end apogee,CONTROL_FINISHED_OK
$STATE,10464,begin climb
$GC,10466,1.29,194.7,955.9,0.0,1101,10637,1.58,3.03,161.73,1.354,4,0.051,0.126,3241,3737,2291
$GC,10689,1.15,194.7,941.1,10.5,1111,10696,0.17,2.85,0.00,0.000,6,0.112,0.105,3210,2324,2289
$GC,11005,1.10,194.7,904.9,11.4,1127,11009,0.00,2.95,0.00,0.000,4,0.000,0.139,3210,913,2288
$GC,11039,1.06,194.7,900.9,11.5,1128,11045,0.00,2.83,0.00,0.000,6,0.000,0.107,3210,2343,2288
$GC,11354,1.00,194.7,862.1,12.6,1144,11360,0.15,2.92,0.00,0.000,4,0.109,0.130,3178,3738,2288
$GC,11404,0.96,194.7,855.8,12.4,1146,11409,0.00,2.78,0.00,0.000,6,0.000,0.103,3178,2335,2287
$GC,11720,0.96,194.7,823.4,10.4,1161,11725,0.00,2.92,0.00,0.000,4,0.000,0.132,3178,913,2288
$GC,11753,0.96,197.5,819.7,9.9,1162,11759,0.00,2.80,0.00,0.000,6,0.000,0.104,3178,2339,2288
$GC,12068,0.98,211.4,790.0,9.5,1178,12090,0.00,2.97,15.25,1.237,4,0.000,0.130,3178,3738,2222
$GC,12113,0.98,211.4,785.0,11.1,1180,12118,0.00,2.78,0.00,0.000,6,0.000,0.099,3178,2342,2222
$GC,12440,0.98,211.4,751.7,11.1,1196,12445,0.00,2.90,0.00,0.000,4,0.000,0.128,3178,918,2221
$GC,12489,0.98,211.4,745.9,11.1,1198,12494,0.00,2.78,0.00,0.000,6,0.000,0.104,3178,2337,2221
$GC,12805,0.98,214.8,714.1,9.9,1213,12815,0.00,2.92,4.45,0.877,4,0.000,0.127,3178,3738,2209
$GC,12871,0.98,214.8,707.0,10.8,1216,12875,0.00,2.75,0.00,0.000,6,0.000,0.097,3178,2336,2209
$GC,13191,0.98,214.8,673.9,10.9,1232,13196,0.00,2.85,0.00,0.000,4,0.000,0.122,3178,918,2209
$GC,13230,0.98,214.8,669.4,11.2,1234,13235,0.00,2.78,0.00,0.000,6,0.000,0.101,3178,2344,2209
$GC,13557,0.98,214.8,635.4,10.3,1250,13561,0.00,2.85,0.00,0.000,4,0.000,0.124,3178,3738,2209
$GC,13600,0.98,214.8,630.5,10.3,1252,13605,0.00,2.75,0.00,0.000,6,0.000,0.096,3178,2326,2208
$GC,13922,1.01,239.3,600.8,9.1,1268,13949,0.00,2.88,22.15,1.147,4,0.000,0.118,3178,917,2108
$GC,13973,1.01,239.3,595.9,10.3,1271,13977,0.00,2.78,0.00,0.000,6,0.000,0.097,3178,2338,2107
$GC,14300,1.01,239.3,562.3,11.1,1301,14304,0.00,2.85,0.00,0.000,4,0.000,0.117,3178,3740,2106
$GC,14361,1.01,239.3,554.7,11.8,1306,14365,0.00,2.72,0.00,0.000,6,0.000,0.092,3178,2342,2106
$GC,14686,1.01,239.3,520.3,10.6,1336,14691,0.00,2.80,0.00,0.000,4,0.000,0.112,3178,920,2106
$GC,14749,1.01,239.3,513.9,10.8,1341,14753,0.00,2.72,0.00,0.000,6,0.000,0.097,3178,2333,2106
$GC,15075,1.02,251.2,482.6,9.6,1371,15096,0.00,2.88,11.23,1.041,4,0.000,0.114,3178,3739,2059
$GC,15135,1.04,263.6,476.2,9.6,1376,15153,0.00,2.75,11.93,0.995,6,0.000,0.089,3178,2321,2010
$GC,15470,1.04,263.6,442.6,10.3,1408,15475,0.00,2.75,0.00,0.000,4,0.000,0.110,3178,919,2008
$GC,15512,1.04,263.6,438.2,11.2,1411,15517,0.00,2.70,0.00,0.000,6,0.000,0.095,3178,2322,2008
$GC,15840,1.06,277.8,405.4,9.5,1441,15862,0.00,2.92,13.35,0.993,4,0.000,0.114,3178,3734,1951
$GC,15912,1.06,277.8,397.4,10.3,1447,15919,0.00,2.72,0.00,0.000,6,0.000,0.088,3178,2317,1950
$GC,16238,1.06,277.8,364.8,10.4,1478,16243,0.00,2.75,0.00,0.000,4,0.000,0.110,3178,917,1950
$GC,16266,1.06,277.8,361.6,11.3,1480,16270,0.00,2.70,0.00,0.000,6,0.000,0.093,3178,2328,1950
$GC,16602,1.07,289.9,327.0,9.6,1530,16620,0.00,2.85,11.80,0.941,4,0.000,0.110,3178,3736,1901
$GC,16644,1.07,289.9,322.8,11.0,1537,16650,0.00,2.75,0.00,0.000,6,0.000,0.088,3178,2319,1901
$GC,16987,1.07,289.9,288.2,10.9,1598,16992,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2319,1901
$GC,17330,1.11,317.9,254.0,9.0,1659,17363,0.10,2.92,24.83,0.912,4,0.070,0.108,3205,3732,1787
$GC,17393,1.11,317.9,246.7,13.6,1670,17399,0.00,2.70,0.00,0.000,6,0.000,0.087,3206,2331,1786
$GC,17736,1.11,317.9,206.7,11.2,1731,17743,0.00,2.72,0.00,0.000,4,0.000,0.105,3206,924,1786
$GC,17766,1.11,317.9,203.0,11.8,1736,17773,0.00,2.70,0.00,0.000,6,0.000,0.091,3205,2337,1785
$GC,18111,1.11,317.9,163.5,12.8,1797,18117,0.00,2.78,0.00,0.000,4,0.000,0.107,3206,3736,1784
$GC,18139,1.11,317.9,159.8,12.2,1802,18146,0.00,2.70,0.00,0.000,6,0.000,0.086,3206,2329,1784
$GC,18484,1.11,317.9,119.1,12.4,1863,18490,0.00,2.75,0.00,0.000,4,0.000,0.104,3206,911,1785
$GC,18512,1.11,317.9,115.4,13.2,1868,18519,0.00,2.70,0.00,0.000,6,0.000,0.088,3205,2337,1784
$GC,18857,1.11,317.9,74.3,14.0,1929,18863,0.00,2.75,0.00,0.000,4,0.000,0.106,3206,3735,1784
$GC,18881,1.11,317.9,71.3,13.3,1933,18887,0.00,2.67,0.00,0.000,6,0.000,0.085,3206,2335,1784
$GC,19224,1.11,317.9,31.1,12.1,1994,19230,0.00,2.72,0.00,0.000,4,0.000,0.100,3205,911,1784
$GC,19253,1.11,317.9,27.4,12.3,1999,19260,0.00,2.72,0.00,0.000,6,0.000,0.086,3206,2361,1784
$GC,19398,1.11,317.9,11.0,10.9,2024,19404,0.00,2.67,0.00,0.000,4,0.000,0.103,3206,3736,1784
$GC,19457,1.11,317.9,2.3,15.8,2034,19463,0.00,2.62,0.00,0.000,6,0.000,0.084,3206,2351,1783
$STATE,19468,end climb,SURFACE_DEPTH_REACHED
$STATE,19468,begin surface coast
$FINISH,0.3,1.027118
$STATE,19480,end surface coast,CONTROL_FINISHED_OK
$STATE,19480,begin surface
$SM_CCo,19562,0.00,0.000,0,0,1780,320.12
$SM_GC,1.11,11.50,0.00,0.00,0.045,0.000,0.000,588,2234,1780,-10.85,-0.03,320.12
$IRIDIUM_FIX,6126.23,-2654.24,190897,131310
$TT8_MAMPS,0.02301
$HUMID,1654
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.80
$XPDR_PINGS,131
$24V_AH,23.3,48.959
$10V_AH,10.7,39.541
$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,27.275,206.525,441.750,0.000,0.000,22.495,42.958,325.483,32.750,0.000,0.000,15.072,3231.477,11679.716,643.960,3738.484,790.220,0.000,2323.420,0.000,3723.045,0.000,0.467
$DEVICE_MAMPS,184.080,138.827,1392.872,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1412.179,1524.820,1826.656,582.101,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120036,2038
$CAP_FILE_SIZE,192576,0
$CFSIZE,260165632,234856448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260508,001708,6148.950,-2652.602,32,1.1,32,-19.1