version: 66.03
glider: 140
mission: 5
dive: 227
start: 5 27 108 6 9 51
data:
$ID,140
$MISSION,5
$DIVE,227
$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,-17491.078
$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
$GPS1,060125,6144.274,-2623.874,39,1.3,39,-18.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-61.3
$GPS2,060933,6144.271,-2623.903,16,1.4,16,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6144.271,-2629.017
$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,-194.7,0.0,0.0,0,101,0.00,0.00,-71.15,0.000,2,0.000,0.000,584,2231,3427
$GC,104,-1.29,-194.7,3.1,-5.3,13,134,12.43,2.72,-10.60,0.000,4,0.187,0.110,2669,822,3880
$GC,266,-1.29,-194.7,21.0,-9.1,41,272,0.00,2.65,0.00,0.000,6,0.000,0.085,2669,2237,3881
$GC,409,-1.29,-194.7,34.3,-9.3,66,415,0.00,2.67,0.00,0.000,4,0.000,0.097,2669,3641,3881
$GC,452,-1.29,-194.7,38.2,-9.5,73,458,0.00,2.62,0.00,0.000,6,0.000,0.081,2669,2235,3881
$GC,594,-1.29,-194.7,51.1,-9.2,98,600,0.00,2.70,0.00,0.000,4,0.000,0.099,2669,826,3881
$GC,646,-1.29,-194.7,56.0,-9.2,107,653,0.00,2.62,0.00,0.000,6,0.000,0.084,2669,2232,3881
$GC,991,-1.29,-194.7,88.3,-9.6,168,997,0.00,2.75,0.00,0.000,4,0.000,0.103,2669,3650,3881
$GC,1037,-1.29,-194.7,93.0,-9.8,176,1044,0.00,2.65,0.00,0.000,6,0.000,0.082,2669,2237,3881
$GC,1381,-1.29,-194.7,124.6,-8.8,237,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,1726,-1.29,-194.7,155.4,-9.2,298,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,2069,-1.29,-194.7,187.4,-9.5,359,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,2411,-1.29,-194.7,221.3,-9.8,420,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3881
$GC,2755,-1.29,-194.7,257.1,-10.4,481,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,3098,-1.29,-194.7,292.3,-9.4,542,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,3442,-1.29,-194.7,322.6,-8.0,603,3448,0.00,2.78,0.00,0.000,4,0.000,0.108,2669,3645,3881
$GC,3477,-1.29,-194.7,325.5,-8.5,609,3484,0.00,2.65,0.00,0.000,6,0.000,0.088,2669,2246,3881
$GC,3825,-1.29,-194.7,352.8,-8.0,668,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,4144,-1.29,-194.7,378.0,-7.9,698,4145,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,4462,-1.29,-194.7,404.9,-8.9,728,4463,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,4781,-1.29,-194.7,434.9,-9.7,758,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,5099,-1.29,-194.7,464.5,-8.9,788,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,5419,-1.29,-194.7,494.5,-9.7,818,5420,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,5736,-1.29,-194.7,525.2,-9.6,848,5737,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3881
$GC,6054,-1.29,-194.7,554.6,-9.5,878,6055,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3881
$GC,6373,-1.29,-194.7,584.6,-9.0,908,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3880
$GC,6687,-1.29,-194.7,611.4,-9.0,932,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,6997,-1.29,-194.7,645.6,-11.7,947,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,7306,-1.29,-194.7,678.9,-10.3,962,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3879
$GC,7615,-1.29,-194.7,708.3,-9.1,977,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,7924,-1.29,-194.7,734.9,-8.6,992,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3879
$GC,8234,-1.29,-194.7,762.5,-9.1,1007,8235,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,8543,-1.29,-194.7,789.9,-8.9,1022,8547,0.00,2.90,0.00,0.000,4,0.000,0.130,2669,825,3879
$GC,8582,-1.29,-194.7,793.5,-9.6,1024,8586,0.00,2.78,0.00,0.000,6,0.000,0.105,2669,2248,3879
$GC,8908,-1.29,-194.7,821.4,-8.4,1040,8913,0.00,2.85,0.00,0.000,4,0.000,0.128,2669,3652,3879
$GC,8941,-1.29,-194.7,824.5,-9.5,1041,8947,0.00,2.70,0.00,0.000,6,0.000,0.098,2669,2250,3879
$GC,9257,-1.55,-194.7,840.9,0.0,1057,9262,0.20,2.83,0.00,0.000,4,0.067,0.120,2621,3651,3879
$STATE,9317,end dive,NO_VERTICAL_VELOCITY
$STATE,9317,begin apogee
$GC,9326,-0.35,0.0,841.0,0.0,1060,9492,1.17,0.00,162.48,1.315,6,0.057,0.000,2883,2330,3085
$STATE,9493,end apogee,CONTROL_FINISHED_OK
$STATE,9493,begin climb
$GC,9495,1.29,194.7,840.9,0.0,1068,9666,1.60,2.97,159.93,1.271,4,0.055,0.120,3239,3738,2291
$GC,9778,1.17,194.7,815.5,13.4,1081,9783,0.12,2.78,0.00,0.000,6,0.117,0.099,3218,2333,2289
$GC,10093,1.12,194.7,779.1,11.9,1096,10098,0.00,2.90,0.00,0.000,4,0.000,0.119,3218,3738,2288
$GC,10121,1.04,194.7,775.6,13.0,1097,10126,0.15,2.78,0.00,0.000,6,0.114,0.099,3190,2337,2288
$GC,10436,1.06,210.9,743.6,9.4,1112,10456,0.00,0.00,14.68,1.177,6,0.000,0.000,3190,2337,2225
$GC,10765,1.06,210.9,708.4,11.5,1128,10770,0.00,2.90,0.00,0.000,4,0.000,0.125,3190,912,2225
$GC,10792,1.06,210.9,705.1,11.9,1129,10796,0.00,2.78,0.00,0.000,6,0.000,0.098,3190,2338,2225
$GC,11107,1.06,210.9,665.9,13.3,1144,11108,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,2224
$GC,11417,1.06,210.9,630.5,11.8,1159,11422,0.00,2.85,0.00,0.000,4,0.000,0.119,3190,3738,2224
$GC,11474,1.02,210.9,623.2,13.3,1161,11480,0.00,2.72,0.00,0.000,6,0.000,0.094,3190,2339,2224
$GC,11792,1.02,210.9,586.1,10.9,1182,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2340,2224
$GC,12111,1.02,210.9,551.8,11.1,1212,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2340,2224
$GC,12431,1.02,210.9,518.3,10.1,1242,12432,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2339,2224
$GC,12748,1.02,210.9,486.0,10.1,1272,12753,0.00,2.80,0.00,0.000,4,0.000,0.108,3190,3738,2223
$GC,12780,0.98,210.9,482.5,10.3,1274,12787,0.00,2.67,0.00,0.000,6,0.000,0.090,3190,2344,2223
$GC,13107,0.98,217.6,451.8,9.8,1305,13117,0.00,0.00,7.35,0.940,6,0.000,0.000,3190,2344,2197
$GC,13433,0.98,217.6,418.0,10.2,1336,13438,0.00,2.80,0.00,0.000,4,0.000,0.110,3190,3738,2196
$GC,13466,0.98,217.6,414.3,10.7,1338,13473,0.00,2.65,0.00,0.000,6,0.000,0.089,3190,2347,2197
$GC,13793,0.98,217.6,379.9,10.8,1369,13794,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2348,2197
$GC,14113,0.99,220.7,347.2,9.9,1401,14125,0.00,2.80,4.22,0.705,4,0.000,0.105,3190,3740,2185
$GC,14148,0.99,220.7,343.2,11.0,1407,14154,0.00,2.70,0.00,0.000,6,0.000,0.088,3190,2346,2185
$GC,14492,1.00,232.3,309.5,9.6,1468,14510,0.00,2.85,11.20,0.932,4,0.000,0.107,3190,914,2138
$GC,14534,1.00,232.3,305.2,10.5,1475,14540,0.00,2.78,0.00,0.000,6,0.000,0.091,3190,2356,2138
$GC,14877,1.00,232.3,270.5,10.3,1536,14882,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2356,2137
$GC,15220,1.00,232.3,235.3,10.1,1597,15225,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2356,2137
$GC,15563,1.03,256.3,201.7,9.2,1658,15590,0.00,0.00,20.98,0.880,6,0.000,0.000,3190,2356,2039
$GC,15928,1.05,268.8,166.4,9.6,1723,15946,0.00,2.85,11.57,0.841,4,0.000,0.100,3190,917,1988
$GC,15963,1.05,268.8,162.9,10.5,1729,15969,0.00,2.75,0.00,0.000,6,0.000,0.088,3190,2352,1988
$GC,16307,1.07,285.8,129.3,9.4,1790,16330,0.00,2.80,15.27,0.826,4,0.000,0.106,3190,3737,1918
$GC,16347,1.07,285.8,125.4,10.3,1797,16354,0.00,2.70,0.00,0.000,6,0.000,0.085,3190,2337,1918
$GC,16691,1.09,304.0,92.5,9.4,1858,16712,0.00,0.00,16.77,0.805,6,0.000,0.000,3190,2338,1844
$GC,17049,1.09,304.0,55.2,11.3,1922,17055,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2337,1841
$GC,17392,1.09,304.0,21.7,11.8,1983,17398,0.00,2.72,0.00,0.000,4,0.000,0.100,3190,918,1841
$GC,17444,1.14,304.0,16.0,11.6,1992,17451,0.00,2.70,0.00,0.000,6,0.000,0.085,3190,2353,1841
$STATE,17585,end climb,SURFACE_DEPTH_REACHED
$STATE,17585,begin surface coast
$FINISH,0.3,1.027753
$STATE,17609,end surface coast,CONTROL_FINISHED_OK
$STATE,17609,begin surface
$SM_CCo,17690,0.00,0.000,0,0,1835,306.38
$SM_GC,0.98,11.38,0.00,0.00,0.042,0.000,0.000,590,2233,1835,-10.85,-0.06,306.38
$IRIDIUM_FIX,6121.73,-2631.87,210897,000027
$TT8_MAMPS,0.02301
$HUMID,1682
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,137
$24V_AH,23.4,50.480
$10V_AH,10.7,40.665
$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,27.050,104.975,424.450,0.000,0.000,30.338,31.797,277.180,34.250,0.000,0.000,16.188,3112.440,10243.738,560.142,3554.452,685.667,0.000,2086.458,0.000,3546.197,0.000,0.467
$DEVICE_MAMPS,187.148,129.623,1315.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1400.955,1499.712,1897.412,628.847,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119951,2021
$CAP_FILE_SIZE,166778,0
$CFSIZE,260165632,234225664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,270508,110556,6143.563,-2628.912,40,1.2,40,-18.8