version: 66.03
glider: 140
mission: 5
dive: 216
start: 5 24 108 21 59 15
data:
$ID,140
$MISSION,5
$DIVE,216
$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,285
$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,-17328.977
$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,13
$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
$GPS1,215107,6142.447,-2631.486,28,1.4,28,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-61.4
$GPS2,215857,6142.486,-2631.630,12,1.9,12,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6145.281,-2636.567
$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,303.9,20000,-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,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,-65.47,0.000,2,0.000,0.000,588,2227,3293
$GC,98,-1.29,-194.7,3.1,-6.7,12,133,12.32,2.72,-14.93,0.000,4,0.185,0.111,2670,827,3880
$GC,353,-1.29,-194.7,32.7,-12.8,57,359,0.00,2.65,0.00,0.000,6,0.000,0.087,2671,2236,3881
$GC,494,-1.29,-194.7,51.4,-14.1,82,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,838,-1.29,-194.7,91.5,-10.8,143,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,1180,-1.29,-194.7,116.0,-5.4,204,1186,0.00,2.75,0.00,0.000,4,0.000,0.103,2671,819,3882
$GC,1210,-1.29,-194.7,117.8,-5.9,209,1216,0.00,2.70,0.00,0.000,6,0.000,0.087,2671,2244,3883
$GC,1553,-1.29,-194.7,140.9,-7.9,270,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3882
$GC,1897,-1.29,-194.7,172.5,-10.1,331,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3883
$GC,2240,-1.29,-194.7,209.7,-10.6,392,2246,0.00,2.78,0.00,0.000,4,0.000,0.107,2671,825,3882
$GC,2276,-1.29,-194.7,213.6,-10.7,398,2282,0.00,2.70,0.00,0.000,6,0.000,0.093,2671,2241,3882
$GC,2621,-1.29,-194.7,243.8,-7.7,459,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3882
$GC,2964,-1.29,-194.7,271.3,-8.7,520,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3882
$GC,3308,-1.29,-194.7,303.2,-9.2,581,3314,0.00,2.80,0.00,0.000,4,0.000,0.110,2671,825,3882
$GC,3359,-1.29,-194.7,308.1,-9.2,590,3366,0.00,2.70,0.00,0.000,6,0.000,0.096,2671,2231,3882
$GC,3705,-1.29,-194.7,340.0,-9.8,651,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3882
$GC,4040,-1.29,-194.7,374.7,-10.2,691,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3882
$GC,4360,-1.29,-194.7,405.8,-9.0,721,4364,0.00,2.78,0.00,0.000,4,0.000,0.113,2671,826,3882
$GC,4399,-1.29,-194.7,409.6,-9.6,724,4403,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2230,3882
$GC,4726,-1.29,-194.7,438.1,-9.3,754,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,5042,-1.29,-194.7,467.8,-8.9,784,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,5361,-1.29,-194.7,495.4,-9.0,814,5366,0.00,2.80,0.00,0.000,4,0.000,0.117,2671,821,3882
$GC,5411,-1.29,-194.7,500.4,-9.8,818,5416,0.00,2.72,0.00,0.000,6,0.000,0.100,2671,2234,3882
$GC,5738,-1.29,-194.7,528.3,-8.3,848,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3881
$GC,6056,-1.29,-194.7,553.8,-7.6,878,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3881
$GC,6374,-1.29,-194.7,579.2,-8.4,908,6378,0.00,2.83,0.00,0.000,4,0.000,0.117,2671,820,3881
$GC,6413,-1.29,-194.7,582.7,-9.4,911,6418,0.00,2.72,0.00,0.000,6,0.000,0.101,2671,2223,3881
$GC,6745,-1.29,-194.7,614.7,-9.7,935,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3881
$GC,7053,-1.29,-194.7,645.2,-10.1,950,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3881
$GC,7363,-1.29,-194.7,676.8,-10.8,965,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3881
$GC,7672,-1.29,-194.7,708.9,-8.9,980,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3880
$GC,7982,-1.29,-194.7,732.9,-7.0,995,7983,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3880
$GC,8290,-1.29,-194.7,755.5,-7.2,1010,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3880
$GC,8600,-1.29,-194.7,780.5,-8.3,1025,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3880
$GC,8909,-1.29,-194.7,807.7,-9.0,1040,8910,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3879
$GC,9219,-1.45,-194.7,830.3,-4.2,1055,9225,0.15,2.92,0.00,0.000,4,0.078,0.133,2634,3650,3879
$STATE,9353,end dive,NO_VERTICAL_VELOCITY
$STATE,9353,begin apogee
$GC,9361,-0.35,0.0,830.3,0.0,1061,9528,1.10,0.00,162.68,1.309,6,0.053,0.000,2886,2332,3085
$STATE,9528,end apogee,CONTROL_FINISHED_OK
$STATE,9528,begin climb
$GC,9531,1.29,194.7,830.1,0.0,1069,9702,1.58,3.03,159.98,1.269,4,0.054,0.137,3238,920,2291
$GC,9753,1.21,194.7,811.9,14.2,1079,9758,0.00,2.80,0.00,0.000,6,0.000,0.107,3238,2330,2290
$GC,10069,1.13,194.7,770.7,13.6,1094,10074,0.15,2.95,0.00,0.000,4,0.112,0.130,3208,3738,2288
$GC,10132,1.05,194.7,764.0,10.0,1097,10137,0.00,2.80,0.00,0.000,6,0.000,0.101,3208,2333,2288
$GC,10459,1.03,229.2,731.8,8.8,1113,10493,0.12,0.00,30.33,1.199,6,0.113,0.000,3186,2333,2149
$GC,10811,1.04,236.1,700.2,9.8,1130,10819,0.00,0.00,6.97,1.040,6,0.000,0.000,3186,2332,2122
$GC,11119,1.04,236.1,670.5,10.9,1145,11124,0.00,2.88,0.00,0.000,4,0.000,0.126,3186,919,2121
$GC,11181,1.04,236.1,663.7,11.3,1148,11185,0.00,2.78,0.00,0.000,6,0.000,0.104,3185,2332,2121
$GC,11507,1.04,236.1,630.5,10.7,1164,11511,0.00,2.88,0.00,0.000,4,0.000,0.122,3185,3737,2121
$GC,11545,1.04,236.1,625.5,13.3,1166,11550,0.00,2.78,0.00,0.000,6,0.000,0.096,3186,2323,2121
$GC,11863,1.04,236.1,588.7,11.5,1186,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2323,2121
$GC,12184,1.04,236.1,552.3,11.4,1216,12189,0.00,2.88,0.00,0.000,4,0.000,0.114,3186,3739,2120
$GC,12238,1.04,236.1,545.4,11.9,1220,12246,0.00,2.72,0.00,0.000,6,0.000,0.092,3185,2330,2121
$GC,12566,1.10,280.3,514.0,8.5,1251,12606,0.00,0.00,38.60,1.087,6,0.000,0.000,3185,2330,1941
$GC,12922,1.10,280.3,479.7,10.6,1285,12927,0.00,2.85,0.00,0.000,4,0.000,0.111,3186,3739,1937
$GC,12951,1.10,280.3,476.5,10.7,1287,12955,0.00,2.75,0.00,0.000,6,0.000,0.092,3185,2331,1936
$GC,13275,1.10,280.3,439.3,11.8,1317,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2331,1936
$GC,13594,1.10,280.3,401.0,12.0,1347,13596,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2331,1936
$GC,13913,1.10,280.3,364.9,10.5,1377,13914,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2332,1936
$GC,14241,1.14,318.3,332.6,8.7,1423,14280,0.10,2.88,32.88,0.963,4,0.071,0.107,3212,3738,1785
$GC,14298,1.14,318.3,326.6,11.4,1433,14304,0.00,2.72,0.00,0.000,6,0.000,0.089,3212,2343,1783
$GC,14641,1.14,318.3,288.6,11.5,1494,14647,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2344,1781
$GC,14985,1.14,318.3,248.4,12.9,1555,14991,0.00,2.80,0.00,0.000,4,0.000,0.107,3212,914,1781
$GC,15013,1.14,318.3,244.2,13.9,1560,15020,0.00,2.75,0.00,0.000,6,0.000,0.091,3212,2355,1781
$GC,15358,1.14,318.3,194.2,13.9,1621,15363,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2355,1780
$GC,15700,1.14,318.3,148.6,10.8,1682,15705,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2355,1780
$GC,16043,1.14,318.3,115.1,11.3,1743,16048,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2355,1780
$GC,16386,1.18,345.4,68.9,9.1,1804,16413,0.00,0.00,22.98,0.798,6,0.000,0.000,3212,2355,1676
$GC,16752,1.18,345.4,22.9,10.7,1869,16759,0.00,2.78,0.00,0.000,4,0.000,0.100,3212,916,1673
$GC,16799,1.18,345.4,17.2,11.1,1877,16805,0.00,2.70,0.00,0.000,6,0.000,0.087,3212,2349,1673
$STATE,16927,end climb,SURFACE_DEPTH_REACHED
$STATE,16928,begin surface coast
$FINISH,0.4,1.015754
$STATE,16947,end surface coast,CONTROL_FINISHED_OK
$STATE,16947,begin surface
$SM_CCo,17029,0.00,0.000,0,0,1668,347.59
$SM_GC,1.23,11.50,0.00,0.00,0.044,0.000,0.000,591,2231,1668,-10.84,-0.14,347.59
$IRIDIUM_FIX,6117.23,-2637.96,180897,161648
$TT8_MAMPS,0.02301
$HUMID,1655
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.70
$XPDR_PINGS,116
$24V_AH,23.4,48.215
$10V_AH,10.7,38.867
$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,27.025,94.825,454.400,0.000,0.000,31.321,32.784,262.778,29.000,0.000,0.000,12.503,2942.361,9942.356,553.854,3384.641,656.897,0.000,2022.746,0.000,3372.855,0.000,0.467
$DEVICE_MAMPS,184.847,137.293,1308.502,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1320.934,1416.899,1766.634,570.330,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113642,1903
$CAP_FILE_SIZE,157020,0
$CFSIZE,260165632,235274240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250508,024408,6143.566,-2638.038,30,1.4,30,-18.9