version: 66.03
glider: 140
mission: 5
dive: 228
start: 5 27 108 11 14 3
data:
$ID,140
$MISSION,5
$DIVE,228
$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,270
$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,-17506.572
$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
$GPS1,110556,6143.563,-2628.912,40,1.2,40,-18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-59.6
$GPS2,111345,6143.630,-2628.987,14,1.3,14,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6143.630,-2634.103
$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,288.8,20000,-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,-65.45,0.000,2,0.000,0.000,589,2232,3369
$GC,98,-1.29,-194.7,3.1,-6.4,12,128,12.35,2.80,-12.25,0.000,4,0.186,0.107,2670,3647,3880
$GC,382,-1.29,-194.7,34.1,-10.1,62,388,0.00,2.65,0.00,0.000,6,0.000,0.083,2670,2231,3882
$GC,524,-1.29,-194.7,47.1,-8.9,87,531,0.00,2.75,0.00,0.000,4,0.000,0.099,2671,3645,3882
$GC,549,-1.29,-194.7,49.2,-8.7,91,556,0.00,2.67,0.00,0.000,6,0.000,0.081,2670,2214,3882
$GC,691,-1.29,-194.7,60.6,-8.1,116,698,0.00,2.67,0.00,0.000,4,0.000,0.100,2671,824,3882
$GC,749,-1.29,-194.7,65.4,-8.5,126,755,0.00,2.60,0.00,0.000,6,0.000,0.082,2670,2208,3882
$GC,1093,-1.29,-194.7,95.4,-8.9,187,1099,0.00,2.78,0.00,0.000,4,0.000,0.101,2671,3645,3882
$GC,1146,-1.29,-194.7,100.3,-9.0,196,1152,0.00,2.72,0.00,0.000,6,0.000,0.084,2670,2195,3882
$GC,1491,-1.29,-194.7,133.0,-9.6,257,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2194,3882
$GC,1833,-1.29,-194.7,165.8,-9.7,318,1839,0.00,2.83,0.00,0.000,4,0.000,0.104,2671,3644,3882
$GC,1908,-1.29,-194.7,173.2,-9.6,331,1914,0.00,2.72,0.00,0.000,6,0.000,0.087,2670,2203,3882
$GC,2252,-1.29,-194.7,206.6,-9.5,392,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2204,3883
$GC,2596,-1.29,-194.7,240.9,-9.9,453,2602,0.00,2.83,0.00,0.000,4,0.000,0.105,2671,3646,3882
$GC,2643,-1.29,-194.7,245.5,-9.9,461,2649,0.00,2.72,0.00,0.000,6,0.000,0.089,2670,2213,3882
$GC,2987,-1.29,-194.7,277.3,-9.2,522,2992,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3882
$GC,3330,-1.29,-194.7,309.2,-9.2,583,3336,0.00,2.80,0.00,0.000,4,0.000,0.107,2671,3644,3882
$GC,3366,-1.29,-194.7,312.5,-9.7,589,3372,0.00,2.72,0.00,0.000,6,0.000,0.089,2671,2209,3882
$GC,3710,-1.29,-194.7,343.9,-9.1,650,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2210,3882
$GC,4045,-1.29,-194.7,376.1,-9.6,687,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2210,3882
$GC,4363,-1.29,-194.7,406.9,-9.6,717,4367,0.00,2.83,0.00,0.000,4,0.000,0.107,2670,3649,3882
$GC,4406,-1.29,-194.7,411.3,-9.7,720,4413,0.00,2.72,0.00,0.000,6,0.000,0.091,2670,2216,3882
$GC,4735,-1.29,-194.7,441.3,-9.1,751,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2216,3882
$GC,5060,-1.29,-194.7,470.8,-8.6,782,5064,0.00,2.83,0.00,0.000,4,0.000,0.110,2670,3650,3882
$GC,5101,-1.29,-194.7,474.4,-9.1,785,5105,0.00,2.72,0.00,0.000,6,0.000,0.091,2670,2222,3882
$GC,5429,-1.29,-194.7,503.2,-9.0,815,5435,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3882
$GC,5754,-1.29,-194.7,531.6,-8.6,846,5758,0.00,2.80,0.00,0.000,4,0.000,0.110,2670,3645,3882
$GC,5798,-1.29,-194.7,535.4,-8.6,849,5804,0.00,2.70,0.00,0.000,6,0.000,0.093,2671,2226,3882
$GC,6124,-1.29,-194.7,560.6,-7.5,880,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3881
$GC,6442,-1.29,-194.7,584.4,-7.9,910,6446,0.00,2.80,0.00,0.000,4,0.000,0.110,2670,3648,3881
$GC,6474,-1.29,-194.7,587.2,-8.2,912,6481,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2228,3881
$GC,6805,-1.29,-194.7,614.9,-8.9,936,6806,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,7114,-1.29,-194.7,645.4,-10.3,951,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,7423,-1.29,-194.7,679.1,-10.8,966,7427,0.00,2.85,0.00,0.000,4,0.000,0.118,2671,3649,3881
$GC,7455,-1.29,-194.7,682.9,-12.0,967,7461,0.00,2.72,0.00,0.000,6,0.000,0.096,2670,2229,3881
$GC,7771,-1.29,-194.7,716.1,-10.3,983,7772,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3881
$GC,8080,-1.29,-194.7,746.4,-9.7,998,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$GC,8389,-1.29,-194.7,775.1,-9.0,1013,8394,0.00,2.85,0.00,0.000,4,0.000,0.120,2670,3649,3880
$GC,8416,-1.29,-194.7,777.8,-10.2,1014,8421,0.00,2.75,0.00,0.000,6,0.000,0.100,2670,2229,3880
$GC,8732,-1.29,-194.7,806.2,-9.2,1029,8733,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$GC,9041,-1.29,-194.7,832.9,-8.4,1044,9042,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3880
$STATE,9286,end dive,NO_VERTICAL_VELOCITY
$STATE,9286,begin apogee
$GC,9292,-0.35,0.0,837.3,0.0,1056,9459,0.98,0.00,162.70,1.317,6,0.071,0.000,2881,2333,3085
$STATE,9459,end apogee,CONTROL_FINISHED_OK
$STATE,9459,begin climb
$GC,9462,1.29,194.7,837.2,0.0,1064,9635,1.65,2.97,160.35,1.269,4,0.067,0.124,3237,3734,2290
$GC,9696,1.17,194.7,816.4,14.3,1075,9703,0.12,2.80,0.00,0.000,6,0.120,0.101,3216,2325,2289
$GC,10013,1.12,194.7,776.4,12.4,1091,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2325,2288
$GC,10322,1.07,194.7,738.0,12.2,1106,10324,0.12,0.00,0.00,0.000,6,0.114,0.000,3193,2325,2287
$GC,10631,1.08,197.2,705.3,9.9,1121,10632,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2325,2287
$GC,10940,1.09,206.3,675.0,9.7,1136,10953,0.00,0.00,11.15,1.141,6,0.000,0.000,3194,2325,2243
$GC,11250,1.15,257.9,647.5,8.2,1151,11297,0.00,0.00,44.90,1.162,6,0.000,0.000,3193,2324,2033
$GC,11598,1.17,276.1,616.6,9.4,1168,11621,0.00,2.92,16.42,1.111,4,0.000,0.114,3193,3736,1957
$GC,11654,1.17,276.1,611.0,10.5,1170,11658,0.00,2.78,0.00,0.000,6,0.000,0.096,3193,2326,1955
$GC,11977,1.18,280.5,580.5,9.8,1194,11986,0.10,0.00,4.93,0.855,6,0.072,0.000,3219,2326,1941
$GC,12304,1.18,280.5,542.2,12.3,1225,12309,0.00,2.83,0.00,0.000,4,0.000,0.110,3219,3734,1939
$GC,12336,1.13,280.5,537.9,12.4,1227,12343,0.00,2.70,0.00,0.000,6,0.000,0.092,3219,2338,1939
$GC,12662,1.13,280.5,499.9,11.5,1258,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2338,1939
$GC,12981,1.13,280.5,463.0,12.1,1288,12982,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2338,1939
$GC,13298,1.13,280.5,423.2,12.8,1318,13299,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2338,1938
$GC,13617,1.13,280.5,381.4,13.3,1348,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2339,1938
$GC,13940,1.13,280.5,336.4,14.7,1386,13946,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2339,1938
$GC,14283,1.13,280.5,287.8,13.9,1447,14289,0.00,2.78,0.00,0.000,4,0.000,0.107,3219,3735,1938
$GC,14330,1.08,280.5,281.0,14.3,1455,14337,0.12,2.67,0.00,0.000,6,0.114,0.088,3198,2342,1938
$GC,14674,1.08,280.5,238.6,12.3,1516,14680,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2343,1938
$GC,15017,1.08,280.5,198.7,11.3,1577,15023,0.00,2.78,0.00,0.000,4,0.000,0.105,3197,916,1938
$GC,15041,1.08,280.5,195.8,11.2,1581,15047,0.00,2.72,0.00,0.000,6,0.000,0.089,3197,2350,1938
$GC,15385,1.08,282.4,159.0,9.9,1642,15391,0.00,2.72,0.00,0.000,4,0.000,0.107,3197,3735,1938
$GC,15408,1.08,282.4,156.4,10.5,1646,15415,0.00,2.65,0.00,0.000,6,0.000,0.084,3197,2341,1937
$GC,15754,1.09,289.0,121.8,9.8,1707,15770,0.00,2.83,8.60,0.804,4,0.000,0.103,3197,924,1905
$GC,15793,1.09,289.0,117.2,11.4,1714,15800,0.00,2.70,0.00,0.000,6,0.000,0.086,3197,2341,1905
$GC,16138,1.09,289.0,72.7,14.6,1775,16143,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2341,1905
$GC,16481,1.15,334.6,32.5,8.4,1836,16526,0.00,0.00,38.83,0.773,6,0.000,0.000,3197,2341,1718
$GC,16664,1.15,334.6,14.6,11.8,1868,16671,0.00,2.75,0.00,0.000,4,0.000,0.096,3197,914,1715
$GC,16689,1.19,334.6,11.7,10.2,1872,16696,0.00,2.70,0.00,0.000,6,0.000,0.084,3197,2350,1715
$STATE,16769,end climb,SURFACE_DEPTH_REACHED
$STATE,16769,begin surface coast
$FINISH,0.3,1.027530
$STATE,16786,end surface coast,CONTROL_FINISHED_OK
$STATE,16786,begin surface
$SM_CCo,16867,0.00,0.000,0,0,1708,337.78
$SM_GC,1.06,11.50,0.00,0.00,0.045,0.000,0.000,589,2230,1708,-10.86,-0.14,337.78
$IRIDIUM_FIX,6117.23,-2623.76,210897,060632
$TT8_MAMPS,0.02301
$HUMID,1660
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.50
$XPDR_PINGS,128
$24V_AH,23.4,50.656
$10V_AH,10.7,40.824
$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,26.950,116.325,447.875,0.000,0.000,31.028,33.079,258.303,32.000,0.000,0.000,14.865,2919.247,9837.263,597.107,3312.016,651.217,0.000,2036.164,0.000,3297.301,0.000,0.467
$DEVICE_MAMPS,185.614,124.254,1316.939,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1309.347,1404.350,1777.267,586.281,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110562,1889
$CAP_FILE_SIZE,159368,0
$CFSIZE,260165632,234151936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,270508,155626,6143.992,-2633.765,41,1.3,41,-18.9