version: 66.03
glider: 140
mission: 5
dive: 226
start: 5 27 108 0 51 2
data:
$ID,140
$MISSION,5
$DIVE,226
$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,-17474.262
$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,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
$GPS1,004332,6146.168,-2629.745,42,1.7,42,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-56.0
$GPS2,005044,6146.229,-2629.747,12,1.9,12,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6137.382,-2626.803
$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,163.9,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,156,0.00,0.00,-124.28,0.000,2,0.000,0.000,590,2231,3438
$GC,159,-1.29,-194.7,3.2,-6.1,23,189,12.35,2.75,-10.15,0.000,4,0.186,0.107,2671,3652,3880
$GC,246,-1.29,-194.7,14.8,-9.3,38,252,0.00,2.65,0.00,0.000,6,0.000,0.081,2671,2232,3880
$GC,390,-1.29,-194.7,26.9,-9.1,63,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3880
$GC,532,-1.29,-194.7,39.2,-8.8,88,539,0.00,2.72,0.00,0.000,4,0.000,0.097,2671,3647,3880
$GC,563,-1.29,-194.7,42.1,-9.4,93,569,0.00,2.62,0.00,0.000,6,0.000,0.082,2671,2252,3881
$GC,705,-1.29,-194.7,56.0,-9.9,118,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2252,3881
$GC,1048,-1.29,-194.7,88.0,-9.3,179,1054,0.00,2.78,0.00,0.000,4,0.000,0.103,2671,820,3881
$GC,1100,-1.29,-194.7,92.8,-9.0,188,1107,0.00,2.70,0.00,0.000,6,0.000,0.087,2671,2246,3881
$GC,1444,-1.29,-194.7,123.5,-9.3,249,1450,0.00,2.70,0.00,0.000,4,0.000,0.101,2671,3645,3881
$GC,1468,-1.29,-194.7,125.8,-9.7,253,1475,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2236,3881
$GC,1812,-1.29,-194.7,159.0,-9.9,314,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,2155,-1.29,-194.7,192.6,-10.2,375,2161,0.00,2.75,0.00,0.000,4,0.000,0.104,2671,3644,3881
$GC,2178,-1.29,-194.7,195.1,-10.2,379,2184,0.00,2.67,0.00,0.000,6,0.000,0.087,2670,2233,3881
$GC,2522,-1.29,-194.7,228.9,-9.5,440,2528,0.00,2.78,0.00,0.000,4,0.000,0.111,2671,822,3881
$GC,2552,-1.29,-194.7,231.8,-9.9,445,2558,0.00,2.70,0.00,0.000,6,0.000,0.091,2671,2237,3881
$GC,2896,-1.29,-194.7,263.7,-8.6,506,2902,0.00,2.75,0.00,0.000,4,0.000,0.107,2671,3644,3881
$GC,2926,-1.29,-194.7,266.5,-9.2,511,2932,0.00,2.67,0.00,0.000,6,0.000,0.086,2672,2227,3881
$GC,3270,-1.29,-194.7,295.3,-8.3,572,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,3613,-1.29,-194.7,324.0,-8.5,633,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,3959,-1.29,-194.7,353.3,-8.8,692,3964,0.00,2.80,0.00,0.000,4,0.000,0.108,2671,3649,3881
$GC,3991,-1.29,-194.7,356.3,-9.1,694,3998,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2241,3881
$GC,4319,-1.29,-194.7,386.8,-9.8,725,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3881
$GC,4634,-1.29,-194.7,420.5,-11.1,755,4639,0.00,2.85,0.00,0.000,4,0.000,0.119,2671,817,3881
$GC,4667,-1.29,-194.7,424.5,-11.4,757,4674,0.00,2.72,0.00,0.000,6,0.000,0.096,2671,2234,3881
$GC,4993,-1.29,-194.7,458.4,-10.0,788,4998,0.00,2.78,0.00,0.000,4,0.000,0.110,2671,3647,3881
$GC,5026,-1.29,-194.7,462.1,-10.4,790,5033,0.00,2.72,0.00,0.000,6,0.000,0.091,2671,2233,3880
$GC,5354,-1.29,-194.7,492.7,-9.4,821,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3881
$GC,5671,-1.29,-194.7,522.7,-8.6,851,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3881
$GC,5988,-1.29,-194.7,549.1,-8.0,881,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3881
$GC,6306,-1.29,-194.7,574.4,-7.7,911,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3880
$GC,6625,-1.29,-194.7,598.2,-7.7,941,6630,0.00,2.80,0.00,0.000,4,0.000,0.113,2671,3648,3880
$GC,6658,-1.29,-194.7,601.0,-8.6,943,6664,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2239,3881
$GC,6974,-1.29,-194.7,627.5,-9.0,959,6979,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,825,3880
$GC,7019,-1.29,-194.7,631.9,-9.7,961,7023,0.00,2.72,0.00,0.000,6,0.000,0.101,2671,2228,3880
$GC,7340,-1.29,-194.7,659.2,-8.5,977,7344,0.00,2.85,0.00,0.000,4,0.000,0.120,2671,3651,3880
$GC,7361,-1.29,-194.7,661.1,-8.7,978,7366,0.00,2.72,0.00,0.000,6,0.000,0.095,2671,2226,3880
$GC,7682,-1.29,-194.7,688.8,-8.8,994,7684,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3880
$GC,7992,-1.29,-194.7,716.9,-9.0,1009,7997,0.00,2.85,0.00,0.000,4,0.000,0.117,2671,3648,3879
$GC,8025,-1.29,-194.7,720.0,-9.4,1010,8031,0.00,2.72,0.00,0.000,6,0.000,0.098,2671,2234,3879
$GC,8340,-1.29,-194.7,746.3,-8.1,1026,8341,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3879
$GC,8650,-1.29,-194.7,771.1,-8.2,1041,8654,0.00,2.85,0.00,0.000,4,0.000,0.120,2671,3646,3879
$GC,8672,-1.29,-194.7,773.0,-9.1,1042,8676,0.00,2.70,0.00,0.000,6,0.000,0.099,2671,2248,3879
$GC,8992,-1.29,-194.7,797.9,-7.6,1058,8997,0.00,2.92,0.00,0.000,4,0.000,0.132,2671,825,3879
$GC,9013,-1.29,-194.7,799.7,-7.7,1059,9018,0.00,2.83,0.00,0.000,6,0.000,0.104,2670,2274,3879
$GC,9335,-1.29,-194.7,825.6,-7.9,1075,9340,0.00,2.78,0.00,0.000,4,0.000,0.129,2671,3644,3879
$GC,9368,-1.29,-194.7,828.9,-9.2,1076,9375,0.00,2.65,0.00,0.000,6,0.000,0.099,2670,2268,3879
$GC,9684,-1.29,-194.7,858.1,-9.0,1092,9685,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2268,3878
$GC,9994,-1.44,-194.7,869.6,0.0,1107,9996,0.12,0.00,0.00,0.000,6,0.065,0.000,2636,2269,3878
$STATE,10011,end dive,NO_VERTICAL_VELOCITY
$STATE,10011,begin apogee
$GC,10017,-0.35,0.0,869.6,0.0,1108,10183,1.15,0.00,162.68,1.334,6,0.074,0.000,2881,2330,3085
$STATE,10184,end apogee,CONTROL_FINISHED_OK
$STATE,10184,begin climb
$GC,10187,1.29,194.7,869.5,0.0,1116,10361,1.62,3.03,160.40,1.290,4,0.061,0.130,3238,923,2291
$GC,10372,1.21,194.7,856.5,13.6,1125,10377,0.00,2.80,0.00,0.000,6,0.000,0.105,3238,2328,2290
$GC,10688,1.13,194.7,815.8,13.0,1140,10693,0.15,2.95,0.00,0.000,4,0.113,0.129,3208,3738,2288
$GC,10755,1.06,194.7,807.1,12.2,1143,10759,0.00,2.75,0.00,0.000,6,0.000,0.100,3208,2352,2288
$GC,11076,1.02,194.7,770.1,11.6,1159,11081,0.12,2.83,0.00,0.000,4,0.114,0.118,3185,3739,2288
$GC,11104,0.98,194.7,766.7,11.5,1160,11108,0.00,2.72,0.00,0.000,6,0.000,0.097,3185,2353,2287
$GC,11420,0.98,194.7,734.9,10.2,1175,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2354,2287
$GC,11728,0.99,202.5,703.8,9.7,1190,11742,0.00,3.00,7.88,1.090,4,0.000,0.125,3185,920,2259
$GC,11755,0.99,202.5,700.9,10.8,1191,11759,0.00,2.85,0.00,0.000,6,0.000,0.100,3185,2373,2259
$GC,12075,0.99,202.5,668.7,10.2,1207,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2374,2258
$GC,12384,1.01,218.4,638.4,9.4,1222,12406,0.00,2.97,14.90,1.142,4,0.000,0.113,3185,916,2193
$GC,12434,1.02,227.2,633.5,9.7,1224,12452,0.00,2.83,9.32,1.043,6,0.000,0.098,3185,2364,2157
$GC,12760,1.03,234.8,602.2,9.7,1240,12769,0.00,0.00,7.80,1.038,6,0.000,0.000,3185,2364,2127
$GC,13080,1.04,245.5,571.4,9.6,1268,13097,0.00,0.00,10.38,1.062,6,0.000,0.000,3185,2364,2084
$GC,13417,1.04,245.5,537.2,10.3,1300,13418,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2364,2082
$GC,13734,1.04,245.5,503.6,10.7,1330,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2364,2083
$GC,14052,1.04,245.5,468.5,11.7,1360,14057,0.00,2.75,0.00,0.000,4,0.000,0.113,3185,3738,2082
$GC,14073,1.04,245.5,465.7,12.1,1361,14080,0.00,2.65,0.00,0.000,6,0.000,0.088,3185,2349,2082
$GC,14400,1.04,245.5,427.8,11.2,1392,14404,0.00,2.80,0.00,0.000,4,0.000,0.110,3185,917,2082
$GC,14417,1.04,245.5,425.6,11.3,1393,14421,0.00,2.75,0.00,0.000,6,0.000,0.093,3185,2355,2082
$GC,14741,1.04,245.5,391.0,10.4,1423,14746,0.00,2.75,0.00,0.000,4,0.000,0.110,3185,3738,2082
$GC,14762,1.04,245.5,388.6,10.6,1424,14769,0.00,2.62,0.00,0.000,6,0.000,0.086,3185,2351,2082
$GC,15087,1.04,245.5,354.7,10.3,1455,15088,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2351,2083
$GC,15420,1.04,245.5,320.0,10.3,1510,15427,0.00,2.75,0.00,0.000,4,0.000,0.107,3185,3737,2083
$GC,15439,1.04,245.5,318.1,10.1,1513,15445,0.00,2.65,0.00,0.000,6,0.000,0.087,3185,2358,2083
$GC,15783,1.04,245.5,281.6,11.4,1574,15789,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2358,2083
$GC,16126,1.04,245.5,243.9,10.9,1635,16131,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2358,2083
$GC,16468,1.04,245.5,207.4,10.8,1696,16474,0.00,2.75,0.00,0.000,4,0.000,0.106,3185,3739,2083
$GC,16492,1.04,245.9,204.9,10.0,1700,16498,0.00,2.62,0.00,0.000,6,0.000,0.084,3185,2363,2083
$GC,16836,1.04,245.9,169.1,11.0,1761,16842,0.00,2.83,0.00,0.000,4,0.000,0.104,3185,910,2084
$GC,16854,1.04,245.9,167.1,10.2,1764,16861,0.00,2.75,0.00,0.000,6,0.000,0.087,3185,2368,2083
$GC,17199,1.04,245.9,131.0,11.4,1825,17205,0.00,2.70,0.00,0.000,4,0.000,0.106,3185,3736,2083
$GC,17239,1.04,245.9,126.7,10.1,1832,17245,0.00,2.60,0.00,0.000,6,0.000,0.084,3185,2369,2083
$GC,17583,1.05,255.2,92.9,9.7,1893,17600,0.00,2.85,9.55,0.796,4,0.000,0.102,3185,916,2043
$GC,17629,1.05,255.2,88.3,10.7,1901,17635,0.00,2.75,0.00,0.000,6,0.000,0.086,3185,2368,2043
$GC,17973,1.14,323.8,56.6,7.6,1962,18038,0.10,2.88,56.45,0.778,4,0.070,0.100,3212,921,1764
$GC,18057,1.14,323.8,48.3,12.3,1977,18063,0.00,2.72,0.00,0.000,6,0.000,0.085,3212,2353,1762
$GC,18199,1.14,323.8,32.5,10.5,2002,18204,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2353,1759
$GC,18340,1.14,323.8,16.0,12.4,2027,18347,0.00,2.75,0.00,0.000,4,0.000,0.099,3212,920,1759
$GC,18366,1.14,323.8,12.9,13.6,2031,18373,0.00,2.62,0.00,0.000,6,0.000,0.083,3212,2326,1759
$STATE,18450,end climb,SURFACE_DEPTH_REACHED
$STATE,18450,begin surface coast
$FINISH,0.3,1.027198
$STATE,18468,end surface coast,CONTROL_FINISHED_OK
$STATE,18468,begin surface
$SM_CCo,18549,0.00,0.000,0,0,1756,326.00
$SM_GC,0.96,11.52,0.00,0.00,0.043,0.000,0.000,584,2232,1756,-10.86,-0.11,326.00
$IRIDIUM_FIX,6121.73,-2633.90,200897,212159
$TT8_MAMPS,0.02301
$HUMID,1659
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.80
$XPDR_PINGS,132
$24V_AH,23.4,50.311
$10V_AH,10.7,40.497
$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,27.150,177.025,439.350,0.000,0.000,29.458,41.108,232.123,33.000,0.000,0.000,12.036,3185.240,10813.627,660.322,3623.530,685.723,0.000,2288.227,0.000,3621.586,0.000,0.467
$DEVICE_MAMPS,185.614,135.759,1333.813,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1417.955,1529.474,1919.988,623.465,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123021,2049
$CAP_FILE_SIZE,183490,0
$CFSIZE,260165632,234299392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270508,060125,6144.274,-2623.874,39,1.3,39,-18.8