version: 66.03
glider: 140
mission: 5
dive: 221
start: 5 26 108 0 42 39
data:
$ID,140
$MISSION,5
$DIVE,221
$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,-17403.566
$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,13
$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
$GPS1,001708,6148.950,-2652.602,32,1.1,32,-19.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-54.4
$GPS2,004221,6149.180,-2652.573,15,1.6,15,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6158.026,-2649.662
$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,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-65.35,0.000,2,0.000,0.000,587,2232,3339
$GC,98,-1.29,-194.7,3.2,-7.5,12,134,12.30,2.80,-13.00,0.000,4,0.184,0.110,2671,3644,3880
$GC,239,-1.29,-194.7,19.7,-9.7,36,245,0.00,2.65,0.00,0.000,6,0.000,0.081,2671,2227,3882
$GC,381,-1.29,-194.7,35.1,-10.7,61,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3882
$GC,522,-1.29,-194.7,50.3,-11.1,86,529,0.00,2.70,0.00,0.000,4,0.000,0.097,2671,820,3882
$GC,563,-1.29,-194.7,55.0,-11.5,93,569,0.00,2.70,0.00,0.000,6,0.000,0.085,2671,2248,3882
$GC,907,-1.29,-194.7,90.0,-10.0,154,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3882
$GC,1250,-1.29,-194.7,121.3,-9.2,215,1256,0.00,2.78,0.00,0.000,4,0.000,0.102,2671,827,3882
$GC,1313,-1.29,-194.7,127.6,-10.3,226,1319,0.00,2.67,0.00,0.000,6,0.000,0.089,2671,2237,3882
$GC,1657,-1.29,-194.7,162.6,-11.1,287,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3882
$GC,1999,-1.29,-194.7,198.4,-10.6,348,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3882
$GC,2342,-1.29,-194.7,233.0,-10.0,409,2348,0.00,2.78,0.00,0.000,4,0.000,0.108,2671,827,3882
$GC,2360,-1.29,-194.7,234.9,-10.4,412,2366,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2233,3882
$GC,2705,-1.29,-194.7,269.5,-9.8,473,2711,0.00,2.78,0.00,0.000,4,0.000,0.107,2671,826,3882
$GC,2728,-1.29,-194.7,271.9,-10.0,477,2734,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2238,3882
$GC,3072,-1.29,-194.7,305.1,-9.4,538,3078,0.00,2.80,0.00,0.000,4,0.000,0.111,2671,821,3882
$GC,3091,-1.29,-194.7,307.0,-9.6,541,3097,0.00,2.67,0.00,0.000,6,0.000,0.094,2671,2221,3882
$GC,3434,-1.29,-194.7,337.4,-9.1,602,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3882
$GC,3772,-1.29,-194.7,367.1,-8.7,646,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3881
$GC,4091,-1.29,-194.7,393.4,-7.9,676,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3881
$GC,4410,-1.29,-194.7,417.2,-7.8,706,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3881
$GC,4728,-1.29,-194.7,439.2,-7.1,736,4729,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3881
$GC,5047,-1.29,-194.7,464.0,-8.6,766,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3881
$GC,5365,-1.29,-194.7,491.5,-9.1,796,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3880
$GC,5685,-1.29,-194.7,517.9,-8.2,826,5690,0.00,2.80,0.00,0.000,4,0.000,0.114,2671,3645,3880
$GC,5718,-1.29,-194.7,520.9,-8.8,828,5724,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2230,3880
$GC,6044,-1.29,-194.7,548.8,-8.9,859,6049,0.00,2.80,0.00,0.000,4,0.000,0.120,2671,825,3880
$GC,6066,-1.29,-194.7,551.0,-9.5,860,6072,0.00,2.70,0.00,0.000,6,0.000,0.100,2671,2230,3880
$GC,6392,-1.29,-194.7,581.5,-9.6,891,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3880
$GC,6716,-1.29,-194.7,611.6,-9.3,916,6721,0.00,2.80,0.00,0.000,4,0.000,0.117,2671,3643,3880
$GC,6743,-1.29,-194.7,614.3,-9.9,917,6748,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2224,3880
$GC,7059,-1.29,-194.7,642.5,-9.1,932,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3879
$GC,7369,-1.29,-194.7,669.4,-8.4,947,7373,0.00,2.83,0.00,0.000,4,0.000,0.124,2671,821,3879
$GC,7385,-1.29,-194.7,670.9,-8.5,948,7390,0.00,2.72,0.00,0.000,6,0.000,0.103,2671,2226,3879
$GC,7711,-1.29,-194.7,701.3,-9.4,964,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3879
$GC,8021,-1.29,-194.7,731.1,-10.3,979,8022,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3879
$GC,8330,-1.29,-194.7,761.2,-9.3,994,8335,0.00,2.88,0.00,0.000,4,0.000,0.129,2671,3644,3879
$GC,8351,-1.29,-194.7,763.3,-9.6,995,8356,0.00,2.72,0.00,0.000,6,0.000,0.099,2671,2229,3879
$GC,8675,-1.29,-194.7,792.3,-8.7,1011,8680,0.00,2.85,0.00,0.000,4,0.000,0.123,2672,3645,3879
$GC,8698,-1.29,-194.7,794.8,-9.9,1012,8702,0.00,2.70,0.00,0.000,6,0.000,0.100,2671,2246,3879
$GC,9018,-1.29,-194.7,820.5,-7.4,1028,9023,0.00,2.92,0.00,0.000,4,0.000,0.136,2671,824,3878
$GC,9062,-1.29,-194.7,824.4,-9.8,1030,9067,0.00,2.78,0.00,0.000,6,0.000,0.107,2671,2247,3878
$GC,9383,-1.29,-194.7,853.3,-8.9,1046,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3878
$GC,9692,-1.29,-194.7,881.5,-9.0,1061,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3877
$GC,10002,-1.29,-194.7,910.2,-9.1,1076,10006,0.00,2.92,0.00,0.000,4,0.000,0.131,2671,821,3877
$GC,10063,-1.29,-194.7,915.8,-9.1,1079,10068,0.00,2.75,0.00,0.000,6,0.000,0.108,2671,2231,3877
$STATE,10243,end dive,NO_VERTICAL_VELOCITY
$STATE,10243,begin apogee
$GC,10249,-0.35,0.0,916.4,0.0,1088,10416,0.98,0.00,163.80,1.370,6,0.066,0.000,2885,2331,3085
$STATE,10417,end apogee,CONTROL_FINISHED_OK
$STATE,10417,begin climb
$GC,10420,1.29,194.7,916.2,0.0,1096,10592,1.60,3.00,161.27,1.328,4,0.057,0.123,3239,917,2291
$GC,10651,1.22,194.7,896.5,12.8,1107,10655,0.00,2.83,0.00,0.000,6,0.000,0.110,3238,2328,2290
$GC,10977,1.13,194.7,854.8,13.3,1123,10983,0.15,3.00,0.00,0.000,4,0.114,0.136,3208,3739,2288
$GC,11044,1.04,194.7,846.4,11.9,1126,11049,0.00,2.80,0.00,0.000,6,0.000,0.102,3208,2333,2288
$GC,11366,1.02,219.3,816.1,9.1,1142,11396,0.12,3.05,21.90,1.252,4,0.114,0.130,3186,913,2190
$GC,11441,1.05,241.2,809.5,9.2,1145,11466,0.00,2.78,20.33,1.220,6,0.000,0.106,3186,2320,2101
$GC,11777,1.09,272.4,779.2,8.9,1161,11811,0.00,3.08,27.65,1.233,4,0.000,0.130,3186,3735,1973
$GC,11887,1.09,272.4,767.2,11.4,1166,11891,0.00,2.83,0.00,0.000,6,0.000,0.099,3186,2314,1971
$GC,12213,1.09,272.4,731.5,11.2,1182,12214,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2313,1969
$GC,12522,1.09,272.4,693.3,12.8,1197,12527,0.00,2.92,0.00,0.000,4,0.000,0.118,3186,3739,1968
$GC,12561,1.09,272.4,688.1,12.8,1199,12566,0.00,2.80,0.00,0.000,6,0.000,0.097,3186,2321,1968
$GC,12888,1.09,272.4,648.8,11.4,1215,12892,0.00,2.83,0.00,0.000,4,0.000,0.121,3186,917,1969
$GC,12920,1.09,272.4,644.9,10.8,1216,12927,0.00,2.75,0.00,0.000,6,0.000,0.100,3186,2330,1968
$GC,13236,1.10,278.2,613.2,9.8,1232,13247,0.00,2.90,5.93,0.963,4,0.000,0.120,3186,3739,1949
$GC,13303,1.10,278.2,606.4,10.2,1235,13308,0.00,2.75,0.00,0.000,6,0.000,0.094,3186,2335,1948
$GC,13633,1.11,289.5,576.1,9.6,1263,13654,0.00,2.92,11.50,1.094,4,0.000,0.113,3186,918,1903
$GC,13678,1.11,289.5,571.3,10.5,1267,13683,0.00,2.78,0.00,0.000,6,0.000,0.097,3186,2338,1903
$GC,14003,1.11,289.5,537.0,10.7,1297,14008,0.00,2.83,0.00,0.000,4,0.000,0.116,3186,3738,1902
$GC,14054,1.11,289.5,531.4,11.2,1301,14058,0.00,2.72,0.00,0.000,6,0.000,0.092,3186,2338,1901
$GC,14380,1.11,289.5,496.3,10.6,1331,14385,0.00,2.80,0.00,0.000,4,0.000,0.111,3186,914,1902
$GC,14401,1.11,289.5,493.6,11.0,1332,14408,0.00,2.78,0.00,0.000,6,0.000,0.094,3186,2363,1903
$GC,14730,1.11,289.5,459.6,10.3,1363,14735,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2363,1902
$GC,15054,1.11,289.5,424.6,10.9,1394,15059,0.00,2.75,0.00,0.000,4,0.000,0.113,3186,3737,1902
$GC,15082,1.11,289.5,421.3,11.8,1396,15087,0.00,2.67,0.00,0.000,6,0.000,0.087,3186,2342,1901
$GC,15409,1.11,289.5,387.1,10.1,1426,15413,0.00,2.78,0.00,0.000,4,0.000,0.108,3186,918,1902
$GC,15436,1.11,289.5,384.0,11.0,1428,15441,0.00,2.75,0.00,0.000,6,0.000,0.093,3186,2357,1902
$GC,15762,1.11,289.5,350.6,10.0,1458,15767,0.00,2.72,0.00,0.000,4,0.000,0.110,3185,3736,1902
$GC,15801,1.11,289.5,346.3,10.4,1464,15808,0.00,2.65,0.00,0.000,6,0.000,0.087,3186,2352,1901
$GC,16145,1.11,289.5,311.0,10.2,1525,16151,0.00,2.80,0.00,0.000,4,0.000,0.107,3186,914,1901
$GC,16180,1.11,289.5,307.1,10.9,1531,16186,0.00,2.75,0.00,0.000,6,0.000,0.092,3186,2355,1901
$GC,16523,1.11,289.5,269.5,12.0,1592,16529,0.00,2.72,0.00,0.000,4,0.000,0.108,3186,3737,1901
$GC,16569,1.11,289.5,263.5,13.6,1600,16575,0.00,2.65,0.00,0.000,6,0.000,0.086,3186,2347,1901
$GC,16913,1.11,289.5,221.6,11.6,1661,16919,0.00,2.78,0.00,0.000,4,0.000,0.105,3186,915,1902
$GC,16954,1.11,289.5,216.7,11.7,1668,16960,0.00,2.75,0.00,0.000,6,0.000,0.091,3186,2362,1902
$GC,17298,1.12,293.2,177.8,9.9,1729,17310,0.00,2.72,4.68,0.683,4,0.000,0.107,3186,3736,1888
$GC,17339,1.12,293.2,173.1,12.3,1736,17345,0.00,2.65,0.00,0.000,6,0.000,0.084,3185,2346,1888
$GC,17683,1.13,304.3,137.6,9.6,1797,17701,0.00,2.80,11.02,0.836,4,0.000,0.102,3186,919,1843
$GC,17719,1.13,304.3,133.9,10.0,1803,17725,0.00,2.75,0.00,0.000,6,0.000,0.088,3186,2356,1843
$GC,18062,1.13,304.3,98.7,10.8,1864,18068,0.00,2.72,0.00,0.000,4,0.000,0.106,3186,3737,1842
$GC,18091,1.13,304.3,95.4,11.4,1869,18097,0.00,2.65,0.00,0.000,6,0.000,0.084,3186,2349,1841
$GC,18434,1.13,304.3,58.8,11.0,1930,18439,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2348,1842
$GC,18777,1.13,304.3,20.7,13.4,1991,18784,0.00,2.75,0.00,0.000,4,0.000,0.100,3186,916,1842
$GC,18813,1.18,304.3,16.3,11.3,1997,18820,0.12,2.72,0.00,0.000,6,0.063,0.085,3220,2370,1841
$STATE,18920,end climb,SURFACE_DEPTH_REACHED
$STATE,18920,begin surface coast
$FINISH,0.3,1.027687
$STATE,18935,end surface coast,CONTROL_FINISHED_OK
$STATE,18935,begin surface
$SM_CCo,19017,0.00,0.000,0,0,1839,305.64
$SM_GC,1.14,11.55,0.00,0.00,0.046,0.000,0.000,589,2232,1839,-10.84,-0.11,305.64
$IRIDIUM_FIX,6121.73,-2654.24,200897,000026
$TT8_MAMPS,0.02301
$HUMID,1663
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.50
$XPDR_PINGS,124
$24V_AH,23.4,49.181
$10V_AH,10.7,39.721
$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,26.825,189.425,428.075,0.000,0.000,139.408,191.006,729.190,31.000,0.000,0.000,15.410,3178.916,11553.994,608.036,3644.405,1522.060,0.000,2233.930,0.000,3640.130,0.000,0.467
$DEVICE_MAMPS,184.080,138.827,1369.862,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1400.025,1512.803,1843.911,587.764,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119955,2018
$CAP_FILE_SIZE,198319,0
$CFSIZE,260165632,234754048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,260508,060037,6151.000,-2646.362,26,1.3,26,-19.1