version: 66.03
glider: 140
mission: 5
dive: 229
start: 5 27 108 16 4 17
data:
$ID,140
$MISSION,5
$DIVE,229
$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,-17522.258
$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,14
$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
$GPS1,155626,6143.992,-2633.765,41,1.3,41,-18.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-60.8
$GPS2,160357,6144.042,-2633.712,15,1.3,15,-18.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6144.042,-2638.826
$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,288.9,20000,-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,-194.7,0.0,0.0,0,101,0.00,0.00,-71.43,0.000,2,0.000,0.000,589,2229,3377
$GC,104,-1.29,-194.7,3.1,-5.9,13,134,12.30,2.80,-11.90,0.000,4,0.185,0.109,2667,820,3881
$GC,292,-1.29,-194.7,25.8,-12.0,46,298,0.00,2.65,0.00,0.000,6,0.000,0.084,2667,2236,3883
$GC,435,-1.29,-194.7,43.6,-13.2,71,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,576,-1.29,-194.7,61.7,-11.7,96,583,0.00,2.70,0.00,0.000,4,0.000,0.099,2667,3645,3882
$GC,651,-1.29,-194.7,69.6,-10.1,109,657,0.00,2.62,0.00,0.000,6,0.000,0.081,2667,2243,3883
$GC,994,-1.29,-194.7,99.4,-9.2,170,1001,0.00,2.75,0.00,0.000,4,0.000,0.100,2667,822,3883
$GC,1040,-1.29,-194.7,103.9,-10.0,178,1047,0.00,2.67,0.00,0.000,6,0.000,0.085,2667,2240,3883
$GC,1385,-1.29,-194.7,137.1,-10.1,239,1390,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3883
$GC,1727,-1.29,-194.7,173.4,-10.6,300,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2240,3883
$GC,2071,-1.29,-194.7,209.8,-10.8,361,2077,0.00,2.75,0.00,0.000,4,0.000,0.107,2667,3651,3883
$GC,2107,-1.29,-194.7,213.7,-11.4,367,2114,0.00,2.67,0.00,0.000,6,0.000,0.086,2667,2236,3883
$GC,2451,-1.29,-194.7,249.8,-9.9,428,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3883
$GC,2795,-1.29,-194.7,281.1,-8.3,489,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3883
$GC,3138,-1.29,-194.7,311.0,-8.7,550,3144,0.00,2.78,0.00,0.000,4,0.000,0.107,2667,3645,3883
$GC,3173,-1.29,-194.7,314.3,-9.6,556,3179,0.00,2.67,0.00,0.000,6,0.000,0.090,2667,2236,3883
$GC,3517,-1.29,-194.7,345.7,-9.2,617,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3883
$GC,3847,-1.29,-194.7,376.2,-9.3,652,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3883
$GC,4172,-1.29,-194.7,404.9,-8.6,683,4177,0.00,2.75,0.00,0.000,4,0.000,0.109,2667,3644,3883
$GC,4203,-1.29,-194.7,407.3,-8.8,685,4207,0.00,2.67,0.00,0.000,6,0.000,0.090,2667,2234,3883
$GC,4531,-1.29,-194.7,435.6,-9.2,715,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3883
$GC,4856,-1.29,-194.7,466.3,-9.6,746,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2234,3883
$GC,5174,-1.29,-194.7,498.6,-10.6,776,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3883
$GC,5492,-1.29,-194.7,531.7,-10.1,806,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,5811,-1.29,-194.7,564.6,-10.4,836,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,6130,-1.29,-194.7,594.5,-8.6,866,6131,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,6441,-1.29,-194.7,621.6,-9.0,884,6445,0.00,2.80,0.00,0.000,4,0.000,0.114,2667,3643,3882
$GC,6484,-1.29,-194.7,625.9,-9.8,886,6489,0.00,2.67,0.00,0.000,6,0.000,0.094,2667,2244,3882
$GC,6806,-1.29,-194.7,660.1,-11.4,902,6810,0.00,2.85,0.00,0.000,4,0.000,0.122,2667,823,3882
$GC,6838,-1.29,-194.7,663.9,-12.0,903,6844,0.00,2.72,0.00,0.000,6,0.000,0.099,2667,2234,3882
$GC,7153,-1.29,-194.7,697.3,-10.3,919,7155,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3881
$GC,7463,-1.29,-194.7,728.7,-9.5,934,7464,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3881
$GC,7772,-1.29,-194.7,759.1,-9.6,949,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3881
$GC,8082,-1.37,-194.7,782.7,-4.8,964,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3881
$STATE,8244,end dive,NO_VERTICAL_VELOCITY
$STATE,8244,begin apogee
$GC,8250,-0.35,0.0,782.8,0.0,972,8416,0.98,0.00,162.23,1.275,6,0.065,0.000,2882,2331,3085
$STATE,8416,end apogee,CONTROL_FINISHED_OK
$STATE,8417,begin climb
$GC,8419,1.29,194.7,782.6,0.0,980,8589,1.60,2.97,159.95,1.236,4,0.057,0.124,3238,917,2290
$GC,8607,1.21,194.7,769.4,13.6,989,8612,0.00,2.83,0.00,0.000,6,0.000,0.105,3238,2336,2289
$GC,8928,1.12,194.7,729.0,11.9,1005,8934,0.15,2.92,0.00,0.000,4,0.111,0.127,3207,3738,2287
$GC,8956,1.04,194.7,725.6,11.4,1006,8960,0.00,2.75,0.00,0.000,6,0.000,0.097,3207,2331,2287
$GC,9272,1.04,194.7,691.5,10.8,1021,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2331,2287
$GC,9581,1.00,202.5,661.7,9.7,1036,9596,0.15,2.92,7.65,1.048,4,0.110,0.114,3176,3735,2259
$GC,9674,1.00,202.5,652.1,10.1,1040,9679,0.00,2.70,0.00,0.000,6,0.000,0.096,3175,2351,2258
$GC,9995,1.03,221.2,621.0,9.4,1056,10018,0.00,3.00,17.05,1.122,4,0.000,0.118,3176,915,2183
$GC,10064,1.04,228.9,614.5,9.7,1059,10078,0.00,2.83,8.60,1.016,6,0.000,0.099,3176,2361,2150
$GC,10404,1.04,228.9,581.3,10.1,1083,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2361,2149
$GC,10730,1.06,245.1,549.6,9.4,1114,10748,0.00,0.00,14.80,1.080,6,0.000,0.000,3176,2361,2085
$GC,11069,1.06,245.1,517.2,10.4,1146,11073,0.00,2.78,0.00,0.000,4,0.000,0.114,3176,3738,2082
$GC,11096,1.06,245.1,514.1,10.6,1148,11101,0.00,2.70,0.00,0.000,6,0.000,0.091,3175,2348,2082
$GC,11420,1.06,245.1,481.4,10.1,1178,11421,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2348,2083
$GC,11741,1.07,253.0,449.8,9.7,1208,11755,0.00,2.85,7.95,0.965,4,0.000,0.109,3176,3732,2053
$GC,11779,1.07,253.0,445.4,10.8,1211,11785,0.00,2.67,0.00,0.000,6,0.000,0.090,3176,2354,2053
$GC,12105,1.07,253.0,412.0,10.2,1242,12106,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2354,2053
$GC,12422,1.07,253.0,379.2,10.6,1272,12427,0.00,2.78,0.00,0.000,4,0.000,0.107,3176,3739,2052
$GC,12450,1.07,253.0,376.0,11.4,1274,12455,0.00,2.67,0.00,0.000,6,0.000,0.089,3175,2355,2052
$GC,12779,1.07,253.0,340.7,10.5,1311,12784,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2356,2052
$GC,13121,1.08,263.5,304.6,9.6,1372,13134,0.00,0.00,10.25,0.926,6,0.000,0.000,3175,2356,2010
$GC,13471,1.08,263.5,270.6,10.0,1434,13476,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2356,2009
$GC,13814,1.08,266.6,236.5,9.9,1495,13821,0.00,0.00,4.05,0.645,6,0.000,0.000,3176,2356,1998
$GC,14158,1.14,309.3,203.7,8.5,1556,14201,0.15,0.00,37.33,0.876,6,0.061,0.000,3218,2356,1823
$GC,14540,1.14,309.3,161.9,10.5,1624,14546,0.00,2.75,0.00,0.000,4,0.000,0.104,3218,3739,1818
$GC,14565,1.14,309.3,159.1,11.0,1628,14571,0.00,2.65,0.00,0.000,6,0.000,0.085,3218,2361,1818
$GC,14909,1.14,309.3,118.8,12.4,1689,14914,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2361,1817
$GC,15251,1.14,309.3,74.3,12.4,1750,15258,0.00,2.72,0.00,0.000,4,0.000,0.102,3218,3739,1816
$GC,15270,1.14,309.3,72.0,13.2,1753,15276,0.00,2.62,0.00,0.000,6,0.000,0.084,3218,2368,1816
$GC,15613,1.14,309.3,24.7,12.2,1814,15620,0.00,2.78,0.00,0.000,4,0.000,0.100,3218,919,1817
$GC,15655,1.14,309.3,19.7,11.7,1821,15661,0.00,2.72,0.00,0.000,6,0.000,0.085,3218,2373,1817
$GC,15798,1.14,309.3,2.1,10.4,1846,15804,0.00,2.65,0.00,0.000,4,0.000,0.103,3218,3734,1816
$STATE,15808,end climb,SURFACE_DEPTH_REACHED
$STATE,15808,begin surface coast
$FINISH,0.2,1.027719
$STATE,15821,end surface coast,CONTROL_FINISHED_OK
$STATE,15821,begin surface
$SM_CCo,15904,0.00,0.000,0,0,1812,312.27
$SM_GC,1.06,11.62,0.00,0.00,0.050,0.000,0.000,593,2233,1812,-10.84,-0.06,312.27
$IRIDIUM_FIX,6121.73,-2625.78,210897,111102
$TT8_MAMPS,0.022243
$HUMID,1661
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.80
$XPDR_PINGS,121
$24V_AH,23.4,50.823
$10V_AH,10.7,40.978
$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,26.950,104.900,429.850,0.000,0.000,25.508,38.454,246.080,30.250,0.000,0.000,15.057,2858.012,9031.148,572.726,3240.974,637.027,0.000,1978.705,0.000,3232.114,0.000,0.467
$DEVICE_MAMPS,184.847,127.322,1274.754,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1284.459,1371.988,1720.431,559.671,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110518,1850
$CAP_FILE_SIZE,151882,0
$CFSIZE,260165632,234070016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,270508,203037,6144.013,-2638.084,35,1.0,41,-18.9