version: 66.03
glider: 140
mission: 5
dive: 225
start: 5 26 108 20 57 59
data:
$ID,140
$MISSION,5
$DIVE,225
$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,-17461.598
$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,10
$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
$GPS1,204907,6147.098,-2632.618,34,1.1,34,-18.9
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-56.5
$GPS2,205739,6147.138,-2632.658,12,1.3,12,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6138.292,-2629.715
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.29,-194.7,0.0,0.0,0,159,0.00,0.00,-129.80,0.000,2,0.000,0.000,592,2238,3622
$GC,163,-1.29,-194.7,3.7,-6.2,24,187,12.32,2.75,-5.25,0.000,4,0.186,0.107,2670,817,3880
$GC,223,-1.29,-194.7,15.3,-10.8,34,230,0.00,2.67,0.00,0.000,6,0.000,0.083,2670,2245,3880
$GC,366,-1.29,-194.7,29.2,-9.7,59,372,0.00,2.70,0.00,0.000,4,0.000,0.098,2670,3653,3880
$GC,397,-1.29,-194.7,32.2,-10.3,64,404,0.00,2.62,0.00,0.000,6,0.000,0.078,2670,2239,3880
$GC,540,-1.29,-194.7,46.3,-9.6,89,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,681,-1.29,-194.7,61.1,-10.9,114,687,0.00,2.70,0.00,0.000,4,0.000,0.096,2669,824,3880
$GC,710,-1.29,-194.7,64.4,-11.6,119,716,0.00,2.72,0.00,0.000,6,0.000,0.083,2670,2270,3880
$GC,1054,-1.29,-194.7,102.5,-10.4,180,1060,0.00,2.67,0.00,0.000,4,0.000,0.102,2670,3650,3881
$GC,1089,-1.29,-194.7,106.3,-11.3,186,1095,0.00,2.60,0.00,0.000,6,0.000,0.082,2670,2264,3880
$GC,1433,-1.29,-194.7,140.3,-9.4,247,1439,0.00,2.78,0.00,0.000,4,0.000,0.104,2669,827,3881
$GC,1480,-1.29,-194.7,144.9,-9.6,255,1486,0.00,2.70,0.00,0.000,6,0.000,0.089,2669,2253,3880
$GC,1824,-1.29,-194.7,175.8,-8.9,316,1831,0.00,2.72,0.00,0.000,4,0.000,0.105,2670,3649,3880
$GC,1854,-1.29,-194.7,178.6,-9.5,321,1861,0.00,2.62,0.00,0.000,6,0.000,0.084,2670,2254,3881
$GC,2198,-1.29,-194.7,207.5,-8.2,382,2204,0.00,2.80,0.00,0.000,4,0.000,0.107,2670,818,3881
$GC,2222,-1.29,-194.7,209.6,-8.5,386,2228,0.00,2.75,0.00,0.000,6,0.000,0.091,2670,2260,3881
$GC,2566,-1.29,-194.7,239.0,-8.5,447,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2260,3881
$GC,2908,-1.29,-194.7,268.8,-8.3,508,2915,0.00,2.83,0.00,0.000,4,0.000,0.108,2669,823,3881
$GC,2944,-1.29,-194.7,272.1,-9.5,514,2950,0.00,2.72,0.00,0.000,6,0.000,0.093,2669,2251,3880
$GC,3288,-1.29,-194.7,301.4,-8.0,575,3294,0.00,2.72,0.00,0.000,4,0.000,0.107,2669,3644,3880
$GC,3317,-1.29,-194.7,303.9,-8.6,580,3323,0.00,2.65,0.00,0.000,6,0.000,0.087,2670,2239,3880
$GC,3662,-1.29,-194.7,331.6,-8.3,641,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3880
$GC,3999,-1.29,-194.7,358.4,-7.5,692,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,4318,-1.29,-194.7,382.8,-7.5,722,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,4636,-1.29,-194.7,407.6,-8.1,752,4640,0.00,2.78,0.00,0.000,4,0.000,0.110,2670,3643,3880
$GC,4657,-1.29,-194.7,409.6,-8.7,753,4663,0.00,2.65,0.00,0.000,6,0.000,0.088,2670,2246,3880
$GC,4983,-1.29,-194.7,435.7,-7.9,784,4988,0.00,2.83,0.00,0.000,4,0.000,0.117,2669,826,3880
$GC,5005,-1.29,-194.7,437.6,-8.1,785,5011,0.00,2.75,0.00,0.000,6,0.000,0.098,2670,2249,3879
$GC,5331,-1.29,-194.7,462.8,-7.7,816,5336,0.00,2.75,0.00,0.000,4,0.000,0.110,2670,3649,3880
$GC,5353,-1.29,-194.7,464.8,-8.4,817,5359,0.00,2.65,0.00,0.000,6,0.000,0.089,2670,2253,3880
$GC,5679,-1.29,-194.7,489.4,-7.5,848,5684,0.00,2.85,0.00,0.000,4,0.000,0.117,2669,820,3880
$GC,5708,-1.29,-194.7,491.7,-8.0,850,5712,0.00,2.78,0.00,0.000,6,0.000,0.099,2670,2255,3880
$GC,6034,-1.29,-194.7,516.7,-8.2,880,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2255,3880
$GC,6352,-1.29,-194.7,542.2,-7.7,910,6356,0.00,2.85,0.00,0.000,4,0.000,0.115,2670,821,3879
$GC,6373,-1.29,-194.7,544.0,-8.0,911,6379,0.00,2.75,0.00,0.000,6,0.000,0.100,2670,2244,3879
$GC,6700,-1.29,-194.7,570.5,-8.2,942,6704,0.00,2.78,0.00,0.000,4,0.000,0.116,2669,3645,3879
$GC,6740,-1.29,-194.7,574.1,-9.2,945,6744,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2237,3879
$GC,7075,-1.29,-194.7,603.8,-9.1,974,7080,0.00,2.83,0.00,0.000,4,0.000,0.119,2669,821,3879
$GC,7102,-1.29,-194.7,606.6,-9.8,975,7107,0.00,2.78,0.00,0.000,6,0.000,0.101,2669,2250,3879
$GC,7417,-1.29,-194.7,638.2,-10.4,990,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2250,3879
$GC,7727,-1.29,-194.7,665.2,-8.2,1005,7732,0.00,2.85,0.00,0.000,4,0.000,0.117,2670,825,3879
$GC,7755,-1.29,-194.7,667.8,-9.6,1006,7759,0.00,2.75,0.00,0.000,6,0.000,0.103,2669,2236,3878
$GC,8070,-1.29,-194.7,698.6,-10.3,1021,8075,0.00,2.85,0.00,0.000,4,0.000,0.123,2669,3652,3879
$GC,8103,-1.29,-194.7,701.9,-9.9,1022,8109,0.00,2.72,0.00,0.000,6,0.000,0.095,2669,2228,3879
$GC,8418,-1.29,-194.7,731.6,-12.0,1038,8423,0.00,2.85,0.00,0.000,4,0.000,0.119,2670,3649,3878
$GC,8676,-1.49,-194.7,745.0,-5.8,1049,8682,0.17,2.62,0.00,0.000,6,0.068,0.095,2627,2277,3878
$STATE,8885,end dive,NO_VERTICAL_VELOCITY
$STATE,8886,begin apogee
$GC,8892,-0.35,0.0,745.9,0.0,1060,9057,1.25,0.00,161.02,1.243,6,0.099,0.000,2879,2332,3085
$STATE,9058,end apogee,CONTROL_FINISHED_OK
$STATE,9058,begin climb
$GC,9060,1.29,194.7,745.6,0.0,1068,9230,1.62,3.00,158.43,1.206,4,0.058,0.125,3240,921,2291
$GC,9405,1.28,253.8,724.4,7.9,1084,9461,0.00,2.78,50.15,1.172,6,0.000,0.102,3241,2331,2050
$GC,9774,1.82,481.5,711.3,2.1,1101,9978,0.47,2.88,192.93,1.179,4,0.048,0.104,3358,919,1120
$GC,10003,2.11,626.2,703.2,5.0,1112,10135,0.28,2.92,122.45,1.159,6,0.076,0.100,3416,2403,532
$GC,10458,2.62,914.0,701.7,0.0,1134,10468,0.47,3.10,2.67,0.439,4,0.045,0.125,3535,921,520
$GC,10481,3.14,1195.2,701.6,0.2,1135,10487,0.52,2.88,0.00,0.000,6,0.087,0.097,3641,2398,519
$GC,10809,3.04,1483.8,696.4,-0.0,1151,10814,0.00,2.85,0.00,0.000,4,0.000,0.094,3642,911,518
$GC,10999,2.81,1483.8,688.8,30.0,1159,11006,0.38,2.88,0.00,0.000,6,0.132,0.095,3575,2401,517
$GC,11319,2.49,1483.8,545.1,44.5,1180,11324,0.32,2.67,0.00,0.000,4,0.127,0.110,3510,3739,517
$GC,11352,2.22,1483.8,530.0,40.8,1182,11360,0.35,2.62,0.00,0.000,6,0.116,0.094,3445,2387,517
$GC,11678,2.02,1483.8,420.0,34.4,1213,11683,0.20,2.90,0.00,0.000,4,0.121,0.113,3404,918,517
$GC,11722,1.90,1483.8,405.0,30.2,1216,11730,0.17,2.78,0.00,0.000,6,0.120,0.093,3374,2372,517
$GC,12054,1.78,1483.8,315.0,27.3,1258,12061,0.12,2.88,0.00,0.000,4,0.130,0.110,3351,917,517
$GC,12102,1.72,1483.8,302.5,26.3,1266,12108,0.00,2.72,0.00,0.000,6,0.000,0.091,3351,2342,517
$GC,12447,1.63,1483.8,208.9,27.4,1327,12453,0.17,2.80,0.00,0.000,4,0.117,0.105,3316,914,517
$GC,12482,1.63,1483.8,199.3,26.6,1333,12488,0.00,2.67,0.00,0.000,6,0.000,0.089,3316,2322,517
$GC,12825,1.57,1483.8,116.2,22.4,1394,12832,0.00,2.75,0.00,0.000,4,0.000,0.104,3316,913,517
$GC,12866,1.57,1483.8,106.8,22.6,1401,12872,0.00,2.60,0.00,0.000,6,0.000,0.087,3316,2289,517
$GC,13210,1.53,1483.8,32.2,20.3,1462,13217,0.12,2.65,0.00,0.000,4,0.115,0.101,3294,916,517
$GC,13236,1.53,1483.8,27.1,20.5,1466,13244,0.00,2.58,0.00,0.000,6,0.000,0.085,3294,2290,517
$STATE,13366,end climb,SURFACE_DEPTH_REACHED
$STATE,13366,begin surface coast
$FINISH,0.3,1.010668
$STATE,13375,end surface coast,CONTROL_FINISHED_OK
$STATE,13375,begin surface
$SM_CCo,13457,0.00,0.000,0,0,515,630.42
$SM_GC,0.87,11.82,0.00,0.00,0.042,0.000,0.000,589,2231,515,-10.84,-0.11,630.42
$IRIDIUM_FIX,6126.23,-2637.98,200897,161644
$TT8_MAMPS,0.02301
$HUMID,1675
$INTERNAL_PRESSURE,8.3011
$TCM_TEMP,17.70
$XPDR_PINGS,95
$24V_AH,23.4,50.137
$10V_AH,10.7,40.325
$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,30.800,160.225,687.650,0.000,0.000,25.247,33.260,319.235,23.750,0.000,0.000,12.240,2355.384,7260.550,805.945,2848.489,684.483,0.000,2158.893,0.000,2828.291,0.000,0.467
$DEVICE_MAMPS,186.381,125.021,1243.307,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1029.223,1100.558,1401.942,455.657,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88668,1490
$CAP_FILE_SIZE,150524,0
$CFSIZE,260165632,234455040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270508,004332,6146.168,-2629.745,42,1.7,42,-18.9