version: 66.03
glider: 140
mission: 5
dive: 2
start: 4 4 108 8 49 58
data:
$ID,140
$MISSION,5
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,180
$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,150
$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,-1
$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,300
$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,-13194.038
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,592
$PITCH_MAX,3894
$C_PITCH,2990
$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,2048
$C_ROLL_CLIMB,2048
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0.029999999
$ROLL_ADJ_DBAND,3
$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
$GPS1,084547,5859.949,-2030.272,10,99.0,29,-14.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-46.3
$GPS2,084938,5859.968,-2030.310,16,1.9,21,-14.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,VM
$TGT_LATLONG,5859.850,-2029.850
$TGT_RADIUS,400.000
$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,130.6,490,-27.2,-10.000
$D_GRID,450
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.00,-63.0,0.0,0.0,0,146,0.00,0.00,-121.80,0.000,6,0.000,0.000,592,2037,3342
$GC,149,-2.06,-118.4,2.0,-4.1,23,173,11.23,2.90,-7.93,0.000,4,0.175,0.130,2534,637,3568
$GC,428,-2.06,-118.4,32.0,-14.2,72,434,0.00,2.75,0.00,0.000,6,0.000,0.100,2535,2053,3569
$GC,502,-2.06,-118.4,40.2,-10.2,85,509,0.00,2.85,0.00,0.000,4,0.000,0.120,2535,639,3569
$GC,761,-2.06,-118.4,75.0,-13.6,131,768,0.00,2.75,0.00,0.000,6,0.000,0.103,2534,2047,3569
$GC,905,-2.10,-118.4,94.4,-14.2,156,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2047,3569
$GC,1046,-2.10,-118.4,113.8,-12.6,181,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2047,3569
$GC,1188,-2.10,-118.4,132.4,-13.6,206,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2047,3569
$GC,1329,-2.15,-118.4,153.1,-14.4,231,1335,0.00,2.78,0.00,0.000,4,0.000,0.108,2535,3467,3569
$GC,1353,-2.19,-118.4,156.3,-13.3,235,1359,0.00,2.72,0.00,0.000,6,0.000,0.096,2535,2047,3569
$GC,1494,-2.19,-118.4,174.6,-13.5,260,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2047,3569
$GC,1635,-2.19,-118.4,192.7,-12.0,285,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2047,3569
$GC,1775,-2.19,-118.4,211.3,-13.6,310,1782,0.00,2.78,0.00,0.000,4,0.000,0.110,2535,3460,3569
$GC,1810,-2.24,-118.4,216.2,-14.0,316,1817,0.15,2.72,0.00,0.000,6,0.071,0.098,2502,2043,3569
$GC,1953,-2.24,-118.4,237.5,-15.5,341,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2043,3569
$GC,2093,-2.24,-118.4,258.5,-15.3,366,2099,0.00,2.80,0.00,0.000,4,0.000,0.111,2502,3466,3569
$GC,2122,-2.24,-118.4,263.1,-16.2,371,2128,0.00,2.75,0.00,0.000,6,0.000,0.100,2502,2042,3569
$GC,2264,-2.24,-118.4,284.7,-14.9,396,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2043,3569
$GC,2405,-2.24,-118.4,306.0,-15.1,421,2411,0.00,2.80,0.00,0.000,4,0.000,0.113,2502,3461,3569
$GC,2428,-2.24,-118.4,309.7,-16.2,425,2434,0.00,2.72,0.00,0.000,6,0.000,0.100,2501,2049,3569
$GC,2569,-2.24,-118.4,331.5,-15.6,450,2575,0.00,2.78,0.00,0.000,4,0.000,0.113,2502,3459,3569
$GC,2599,-2.24,-118.4,336.3,-17.1,455,2605,0.00,2.75,0.00,0.000,6,0.000,0.102,2501,2040,3569
$GC,2740,-2.24,-118.4,359.4,-15.8,480,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2041,3569
$GC,2881,-2.24,-118.4,381.4,-15.2,505,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2041,3569
$GC,3021,-2.24,-118.4,402.8,-14.9,530,3027,0.00,2.80,0.00,0.000,4,0.000,0.114,2501,3458,3569
$GC,3039,-2.24,-118.4,405.5,-15.6,533,3045,0.00,2.75,0.00,0.000,6,0.000,0.103,2501,2042,3568
$GC,3180,-2.24,-118.4,427.8,-15.7,558,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2042,3569
$GC,3320,-2.24,-118.4,448.4,-14.5,583,3326,0.00,2.80,0.00,0.000,4,0.000,0.114,2501,3457,3569
$STATE,3331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3331,begin apogee
$GC,3339,-0.35,0.0,450.1,13.8,585,3443,2.05,0.00,97.03,1.127,6,0.119,0.000,2910,2046,3085
$STATE,3444,end apogee,CONTROL_FINISHED_OK
$STATE,3444,begin climb
$GC,3446,2.06,118.4,452.9,0.0,605,3551,2.35,3.12,96.15,1.078,4,0.057,0.145,3443,637,2602
$GC,3591,1.97,118.4,437.6,18.3,632,3598,0.12,2.83,0.00,0.000,6,0.130,0.112,3422,2044,2601
$GC,3736,1.90,118.4,412.6,17.2,657,3742,0.00,2.85,0.00,0.000,4,0.000,0.119,3423,3463,2601
$GC,3843,1.79,118.4,392.6,17.7,676,3851,0.22,2.75,0.00,0.000,6,0.120,0.101,3383,2046,2601
$GC,3986,1.79,118.4,370.1,15.8,701,3992,0.00,2.80,0.00,0.000,4,0.000,0.111,3383,3462,2601
$GC,4060,1.73,118.4,358.0,16.1,714,4066,0.00,2.75,0.00,0.000,6,0.000,0.099,3383,2043,2600
$GC,4202,1.73,118.4,336.1,15.7,739,4208,0.00,2.80,0.00,0.000,4,0.000,0.108,3383,3467,2601
$GC,4265,1.67,118.4,326.2,16.2,750,4271,0.15,2.75,0.00,0.000,6,0.127,0.100,3357,2048,2600
$GC,4407,1.67,118.4,306.1,14.1,775,4413,0.00,2.78,0.00,0.000,4,0.000,0.108,3357,3463,2600
$GC,4464,1.67,118.4,297.6,14.8,785,4470,0.00,2.72,0.00,0.000,6,0.000,0.098,3357,2048,2600
$GC,4605,1.67,118.4,277.3,13.6,810,4611,0.00,2.78,0.00,0.000,4,0.000,0.107,3357,3471,2600
$GC,4662,1.67,118.4,268.9,15.2,820,4669,0.00,2.75,0.00,0.000,6,0.000,0.098,3357,2044,2600
$GC,4804,1.67,118.4,248.7,14.6,845,4810,0.00,2.78,0.00,0.000,4,0.000,0.107,3357,3467,2601
$GC,4889,1.67,118.4,235.3,15.5,860,4895,0.00,2.72,0.00,0.000,6,0.000,0.097,3357,2048,2601
$GC,5031,1.67,118.4,213.5,16.0,885,5037,0.00,2.75,0.00,0.000,4,0.000,0.106,3357,3464,2601
$GC,5127,1.67,118.4,197.5,16.6,902,5133,0.00,2.72,0.00,0.000,6,0.000,0.097,3357,2039,2601
$GC,5269,1.67,118.4,176.1,13.8,927,5275,0.00,2.78,0.00,0.000,4,0.000,0.107,3357,3464,2601
$GC,5315,1.67,118.4,169.6,14.3,935,5321,0.00,2.70,0.00,0.000,6,0.000,0.095,3357,2046,2601
$GC,5456,1.67,118.4,150.3,14.7,960,5462,0.00,2.75,0.00,0.000,4,0.000,0.104,3357,3467,2600
$GC,5581,1.67,118.4,131.7,15.1,982,5587,0.00,2.70,0.00,0.000,6,0.000,0.096,3357,2048,2600
$GC,5723,1.67,118.4,111.5,13.8,1007,5729,0.00,2.75,0.00,0.000,4,0.000,0.105,3357,3471,2600
$GC,5782,1.67,118.4,102.5,15.9,1017,5788,0.00,2.72,0.00,0.000,6,0.000,0.095,3357,2042,2600
$GC,5924,1.67,118.4,80.7,15.2,1042,5930,0.00,2.75,0.00,0.000,4,0.000,0.103,3357,3472,2600
$GC,5976,1.67,118.4,71.8,17.5,1051,5982,0.00,2.70,0.00,0.000,6,0.000,0.094,3357,2046,2600
$GC,6118,1.67,118.4,51.3,12.8,1076,6125,0.00,2.72,0.00,0.000,4,0.000,0.102,3357,3465,2600
$GC,6164,1.67,118.4,44.9,14.7,1084,6171,0.00,2.70,0.00,0.000,6,0.000,0.094,3357,2042,2600
$GC,6239,1.67,118.4,34.0,15.6,1097,6245,0.00,2.72,0.00,0.000,4,0.000,0.100,3357,3464,2600
$GC,6285,1.67,118.4,27.0,14.3,1105,6292,0.00,2.67,0.00,0.000,6,0.000,0.093,3357,2048,2600
$GC,6361,1.67,118.4,15.8,17.7,1118,6368,0.00,2.72,0.00,0.000,4,0.000,0.101,3357,3469,2600
$GC,6413,1.67,118.4,5.3,20.7,1127,6420,0.00,2.70,0.00,0.000,6,0.000,0.094,3357,2044,2600
$STATE,6429,end climb,SURFACE_DEPTH_REACHED
$STATE,6429,begin surface coast
$FINISH,0.6,1.027771
$STATE,6438,end surface coast,CONTROL_FINISHED_OK
$STATE,6438,begin surface
$SM_CCo,6459,143.45,0.802,1,0,1862,300.00
$SM_GC,0.93,0.00,0.00,143.45,0.000,0.000,0.802,593,2042,1862,-11.03,-0.20,300.00
$IRIDIUM_FIX,5837.82,-2032.87,290697,080847
$TT8_MAMPS,0.02301
$HUMID,1547
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.40
$XPDR_PINGS,53
$24V_AH,23.6,9.602
$10V_AH,10.7,1.606
$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,28.575,132.725,193.175,143.450,0.000,0.000,0.000,0.000,13.250,0.000,0.000,21.772,1699.749,2285.040,571.413,1985.696,144.241,0.000,1498.862,0.000,1970.635,0.000,0.468
$DEVICE_MAMPS,174.876,144.963,1126.723,802.282,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,775.142,834.591,1204.748,716.839,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66586,1131
$CAP_FILE_SIZE,108271,0
$CFSIZE,260165632,257413120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040408,104128,5900.317,-2028.714,26,2.5,46,-14.2