version: 66.03
glider: 140
mission: 5
dive: 222
start: 5 26 108 6 8 51
data:
$ID,140
$MISSION,5
$DIVE,222
$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,145
$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,-17416.871
$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,14
$R_STBD_OVSHOOT,14
$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
$GPS1,060037,6151.000,-2646.362,26,1.3,26,-19.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-56.3
$GPS2,060833,6151.089,-2646.356,12,1.4,12,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6142.243,-2643.420
$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,164.1,20000,-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,-194.7,0.0,0.0,0,101,0.00,0.00,-71.07,0.000,2,0.000,0.000,589,2230,3562
$GC,104,-1.29,-194.7,3.5,-5.5,13,129,12.30,2.80,-6.62,0.000,4,0.185,0.110,2668,3643,3882
$GC,149,-1.16,-194.7,13.1,-14.9,20,156,0.20,2.62,0.00,0.000,6,0.104,0.078,2706,2233,3883
$GC,292,-1.16,-194.7,24.1,-7.2,45,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2233,3883
$GC,434,-1.16,-194.7,32.4,-5.3,70,440,0.00,2.75,0.00,0.000,4,0.000,0.100,2707,3651,3883
$GC,464,-1.21,-194.7,34.0,-5.6,75,471,0.00,2.60,0.00,0.000,6,0.000,0.081,2706,2257,3883
$GC,608,-1.21,-194.7,40.8,-4.9,100,615,0.00,2.75,0.00,0.000,4,0.000,0.098,2706,820,3883
$GC,638,-1.21,-194.7,42.6,-5.7,105,645,0.00,2.72,0.00,0.000,6,0.000,0.084,2707,2267,3883
$GC,781,-1.21,-194.7,51.3,-6.4,130,788,0.00,2.65,0.00,0.000,4,0.000,0.100,2706,3645,3883
$GC,812,-1.27,-194.7,53.3,-6.8,135,818,0.10,2.58,0.00,0.000,6,0.070,0.080,2679,2265,3883
$GC,1156,-1.27,-194.7,81.1,-8.0,196,1162,0.00,2.78,0.00,0.000,4,0.000,0.101,2679,822,3883
$GC,1219,-1.27,-194.7,86.5,-8.6,207,1225,0.00,2.70,0.00,0.000,6,0.000,0.087,2678,2252,3883
$GC,1563,-1.27,-194.7,116.1,-8.4,268,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2253,3883
$GC,1906,-1.27,-194.7,145.1,-8.2,329,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2253,3883
$GC,2249,-1.27,-194.7,178.7,-9.9,390,2256,0.00,2.72,0.00,0.000,4,0.000,0.106,2678,3650,3883
$GC,2273,-1.27,-194.7,181.2,-10.8,394,2279,0.00,2.65,0.00,0.000,6,0.000,0.084,2678,2241,3883
$GC,2617,-1.27,-194.7,214.0,-9.6,455,2623,0.00,2.75,0.00,0.000,4,0.000,0.107,2678,825,3883
$GC,2646,-1.27,-194.7,216.7,-9.7,460,2653,0.00,2.70,0.00,0.000,6,0.000,0.091,2678,2244,3883
$GC,2991,-1.27,-194.7,249.5,-10.2,521,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2244,3883
$GC,3333,-1.27,-194.7,284.0,-9.8,582,3340,0.00,2.80,0.00,0.000,4,0.000,0.110,2678,821,3883
$GC,3357,-1.27,-194.7,286.3,-9.6,586,3363,0.00,2.72,0.00,0.000,6,0.000,0.094,2679,2244,3883
$GC,3701,-1.27,-194.7,318.2,-9.1,647,3707,0.00,2.75,0.00,0.000,4,0.000,0.109,2679,3651,3883
$GC,3719,-1.27,-194.7,320.0,-9.3,650,3725,0.00,2.70,0.00,0.000,6,0.000,0.087,2678,2222,3883
$GC,4062,-1.27,-194.7,351.4,-9.4,710,4066,0.00,2.78,0.00,0.000,4,0.000,0.115,2678,818,3883
$GC,4095,-1.27,-194.7,354.7,-9.8,712,4101,0.00,2.70,0.00,0.000,6,0.000,0.097,2678,2230,3883
$GC,4421,-1.27,-194.7,385.0,-9.1,743,4426,0.00,2.78,0.00,0.000,4,0.000,0.110,2678,3646,3883
$GC,4443,-1.27,-194.7,387.3,-9.7,744,4449,0.00,2.70,0.00,0.000,6,0.000,0.088,2678,2213,3883
$GC,4770,-1.27,-194.7,416.8,-8.7,775,4774,0.00,2.75,0.00,0.000,4,0.000,0.117,2678,825,3883
$GC,4791,-1.27,-194.7,419.1,-9.3,776,4797,0.00,2.70,0.00,0.000,6,0.000,0.098,2678,2225,3883
$GC,5118,-1.27,-194.7,447.0,-8.6,807,5123,0.00,2.80,0.00,0.000,4,0.000,0.112,2678,3649,3883
$GC,5157,-1.27,-194.7,450.7,-9.1,810,5162,0.00,2.70,0.00,0.000,6,0.000,0.090,2678,2224,3882
$GC,5484,-1.27,-194.7,477.6,-9.3,840,5485,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2224,3883
$GC,5800,-1.27,-194.7,505.3,-9.1,870,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2225,3883
$GC,6118,-1.27,-194.7,532.6,-8.3,900,6123,0.00,2.80,0.00,0.000,4,0.000,0.119,2678,824,3882
$GC,6151,-1.27,-194.7,535.5,-8.8,902,6158,0.00,2.72,0.00,0.000,6,0.000,0.101,2678,2238,3882
$GC,6479,-1.27,-194.7,561.9,-7.3,933,6484,0.00,2.80,0.00,0.000,4,0.000,0.116,2678,3653,3882
$GC,6502,-1.27,-194.7,564.0,-7.9,934,6508,0.00,2.67,0.00,0.000,6,0.000,0.091,2678,2231,3882
$GC,6830,-1.27,-194.7,586.9,-7.8,965,6834,0.00,2.83,0.00,0.000,4,0.000,0.120,2678,819,3882
$GC,6862,-1.27,-194.7,590.1,-8.9,967,6868,0.00,2.75,0.00,0.000,6,0.000,0.102,2678,2237,3882
$GC,7181,-1.27,-194.7,620.2,-9.8,988,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2237,3882
$GC,7491,-1.27,-194.7,648.9,-9.2,1003,7492,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2237,3882
$GC,7800,-1.27,-194.7,678.8,-9.6,1018,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2237,3882
$GC,8109,-1.27,-194.7,707.4,-9.2,1033,8113,0.00,2.85,0.00,0.000,4,0.000,0.123,2678,827,3882
$GC,8141,-1.27,-194.7,710.5,-9.4,1034,8148,0.00,2.72,0.00,0.000,6,0.000,0.105,2678,2226,3882
$GC,8457,-1.27,-194.7,735.9,-7.0,1050,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2226,3881
$GC,8767,-1.27,-194.7,758.9,-6.9,1065,8768,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2226,3881
$GC,9075,-1.27,-194.7,781.7,-7.0,1080,9080,0.00,2.90,0.00,0.000,4,0.000,0.130,2678,3649,3880
$GC,9119,-1.27,-194.7,785.1,-8.2,1082,9124,0.00,2.72,0.00,0.000,6,0.000,0.099,2678,2228,3880
$GC,9440,-1.27,-194.7,809.8,-9.1,1098,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2229,3880
$GC,9751,-1.46,-194.7,833.2,-5.4,1113,9753,0.17,0.00,0.00,0.000,6,0.093,0.000,2643,2228,3880
$STATE,10036,end dive,NO_VERTICAL_VELOCITY
$STATE,10036,begin apogee
$GC,10043,-0.35,0.0,836.9,0.0,1127,10209,1.10,0.00,162.93,1.315,6,0.070,0.000,2880,2331,3086
$STATE,10210,end apogee,CONTROL_FINISHED_OK
$STATE,10210,begin climb
$GC,10212,1.29,194.7,836.9,0.0,1135,10384,1.65,2.88,160.55,1.276,4,0.071,0.109,3235,919,2290
$GC,10637,1.75,477.1,836.4,0.2,1154,10890,0.47,2.90,241.02,1.264,6,0.044,0.124,3347,2332,1138
$GC,11199,1.61,477.1,792.9,25.9,1182,11205,0.15,2.92,0.00,0.000,4,0.119,0.127,3316,917,1123
$GC,11257,1.54,477.1,778.8,23.7,1184,11264,0.12,2.83,0.00,0.000,6,0.117,0.109,3294,2342,1123
$GC,11572,1.47,477.1,709.5,21.8,1200,11577,0.00,2.90,0.00,0.000,4,0.000,0.129,3294,3739,1120
$GC,11605,1.39,477.1,701.9,23.8,1201,11612,0.15,2.80,0.00,0.000,6,0.110,0.099,3265,2321,1119
$GC,11920,1.39,477.1,645.3,17.8,1217,11925,0.00,2.85,0.00,0.000,4,0.000,0.123,3265,913,1118
$GC,11964,1.39,477.1,637.1,18.7,1219,11968,0.00,2.75,0.00,0.000,6,0.000,0.101,3265,2329,1118
$GC,12284,1.39,477.1,581.9,18.1,1239,12288,0.00,2.80,0.00,0.000,4,0.000,0.114,3265,917,1118
$GC,12300,1.39,477.1,578.8,17.9,1240,12305,0.00,2.72,0.00,0.000,6,0.000,0.096,3265,2329,1118
$GC,12625,1.39,477.1,523.7,17.1,1270,12629,0.00,2.80,0.00,0.000,4,0.000,0.111,3265,910,1117
$GC,12642,1.39,477.1,520.7,17.6,1271,12646,0.00,2.70,0.00,0.000,6,0.000,0.094,3265,2314,1117
$GC,12966,1.39,477.1,463.2,17.4,1301,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2314,1117
$GC,13285,1.39,477.1,409.1,16.6,1331,13290,0.00,2.75,0.00,0.000,4,0.000,0.110,3265,918,1117
$GC,13314,1.39,477.1,404.3,16.9,1333,13318,0.00,2.65,0.00,0.000,6,0.000,0.094,3265,2301,1116
$GC,13638,1.39,477.1,351.4,16.6,1363,13640,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2301,1116
$GC,13976,1.39,477.1,294.6,16.4,1422,13982,0.00,2.72,0.00,0.000,4,0.000,0.107,3265,913,1116
$GC,14006,1.39,477.1,288.9,18.3,1427,14012,0.00,2.65,0.00,0.000,6,0.000,0.092,3265,2302,1116
$GC,14349,1.39,477.1,226.9,18.3,1488,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2302,1116
$GC,14693,1.39,477.1,167.2,16.4,1549,14699,0.00,2.70,0.00,0.000,4,0.000,0.103,3265,912,1116
$GC,14721,1.39,477.1,162.1,17.3,1554,14728,0.00,2.58,0.00,0.000,6,0.000,0.088,3265,2277,1116
$GC,15066,1.39,477.1,105.2,15.8,1615,15072,0.00,2.88,0.00,0.000,4,0.000,0.104,3265,3736,1116
$GC,15078,1.39,477.1,103.1,16.6,1617,15085,0.00,2.75,0.00,0.000,6,0.000,0.084,3265,2267,1116
$GC,15424,1.39,477.1,46.8,16.8,1678,15429,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2267,1116
$GC,15565,1.39,477.1,24.0,15.5,1703,15571,0.00,2.88,0.00,0.000,4,0.000,0.101,3265,3733,1115
$GC,15584,1.39,477.1,21.0,15.7,1706,15590,0.00,2.75,0.00,0.000,6,0.000,0.082,3265,2280,1115
$STATE,15701,end climb,SURFACE_DEPTH_REACHED
$STATE,15701,begin surface coast
$FINISH,0.4,1.027700
$STATE,15716,end surface coast,CONTROL_FINISHED_OK
$STATE,15716,begin surface
$SM_CCo,15797,0.00,0.000,0,0,1114,483.73
$SM_GC,0.99,11.65,0.00,0.00,0.041,0.000,0.000,593,2235,1114,-10.84,0.00,483.73
$IRIDIUM_FIX,6126.23,-2650.19,200897,000013
$TT8_MAMPS,0.02301
$HUMID,1669
$INTERNAL_PRESSURE,8.34993
$TCM_TEMP,16.50
$XPDR_PINGS,125
$24V_AH,23.4,49.410
$10V_AH,10.7,39.872
$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,28.075,159.900,564.500,0.000,0.000,28.423,33.447,264.456,31.250,0.000,0.000,12.675,2728.769,8993.998,674.357,3182.788,670.438,0.000,2130.870,0.000,3169.981,0.000,0.467
$DEVICE_MAMPS,184.847,130.390,1315.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1196.331,1292.153,1642.333,550.079,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,104285,1729
$CAP_FILE_SIZE,162818,0
$CFSIZE,260165632,234704896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260508,103325,6149.840,-2643.248,26,1.2,43,-19.0