version: 66.03
glider: 140
mission: 5
dive: 117
start: 5 1 108 2 8 24
data:
$ID,140
$MISSION,5
$DIVE,117
$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,320
$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,-15384.511
$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,12
$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
$GPS1,015958,6111.207,-2454.012,24,99.0,43,-17.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-57.9
$GPS2,020807,6111.199,-2454.235,31,1.2,41,-17.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6119.472,-2457.565
$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,337.7,20000,-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,26,-1.29,-194.7,0.0,0.0,0,100,0.00,0.00,-71.38,0.000,2,0.000,0.000,590,2226,3441
$GC,103,-1.29,-194.7,3.0,-4.9,13,134,12.82,2.78,-10.40,0.000,4,0.202,0.114,2669,3645,3879
$GC,265,-1.29,-194.7,25.5,-11.6,41,272,0.00,2.62,0.00,0.000,6,0.000,0.082,2669,2231,3880
$GC,408,-1.29,-194.7,37.6,-7.9,66,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2231,3880
$GC,549,-1.29,-194.7,51.8,-9.6,91,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3880
$GC,891,-1.29,-194.7,86.3,-12.6,152,897,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2232,3880
$GC,1234,-1.29,-194.7,124.8,-10.4,213,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2232,3880
$GC,1576,-1.29,-194.7,159.8,-9.8,274,1582,0.00,2.72,0.00,0.000,4,0.000,0.105,2668,824,3880
$GC,1605,-1.29,-194.7,162.8,-10.6,279,1611,0.00,2.70,0.00,0.000,6,0.000,0.089,2669,2248,3880
$GC,1949,-1.29,-194.7,193.7,-8.7,340,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3880
$GC,2292,-1.29,-194.7,223.4,-8.5,401,2297,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2249,3880
$GC,2634,-1.29,-194.7,250.6,-7.2,462,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2249,3880
$GC,2977,-1.29,-194.7,274.2,-7.1,523,2982,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2249,3880
$GC,3319,-1.29,-194.7,299.1,-7.3,584,3326,0.00,2.80,0.00,0.000,4,0.000,0.111,2668,822,3880
$GC,3355,-1.29,-194.7,301.9,-8.1,590,3361,0.00,2.75,0.00,0.000,6,0.000,0.097,2669,2252,3880
$GC,3698,-1.29,-194.7,329.8,-8.8,651,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2252,3880
$GC,4033,-1.29,-194.7,362.2,-10.3,701,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2252,3880
$GC,4352,-1.29,-194.7,394.6,-10.2,731,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2253,3880
$GC,4671,-1.29,-194.7,427.6,-10.3,761,4675,0.00,2.75,0.00,0.000,4,0.000,0.113,2668,3653,3880
$GC,4698,-1.29,-194.7,430.6,-10.6,763,4703,0.00,2.65,0.00,0.000,6,0.000,0.090,2669,2245,3880
$GC,5025,-1.29,-194.7,463.3,-10.2,793,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2246,3880
$GC,5341,-1.29,-194.7,495.3,-9.5,823,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,5661,-1.29,-194.7,525.7,-9.3,853,5665,0.00,2.83,0.00,0.000,4,0.000,0.119,2669,824,3880
$GC,5683,-1.29,-194.7,527.9,-9.4,854,5689,0.00,2.72,0.00,0.000,6,0.000,0.100,2669,2241,3880
$GC,6010,-1.29,-194.7,557.2,-9.4,885,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3880
$GC,6328,-1.29,-194.7,588.8,-10.1,915,6332,0.00,2.75,0.00,0.000,4,0.000,0.117,2669,3645,3880
$GC,6360,-1.29,-194.7,592.4,-10.8,917,6366,0.00,2.67,0.00,0.000,6,0.000,0.093,2669,2234,3880
$GC,6688,-1.29,-194.7,623.7,-9.1,937,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3880
$GC,6997,-1.29,-194.7,650.4,-8.4,952,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3879
$GC,7307,-1.29,-194.7,675.5,-8.4,967,7311,0.00,2.83,0.00,0.000,4,0.000,0.121,2668,3647,3880
$GC,7362,-1.29,-194.7,680.7,-9.4,969,7368,0.00,2.67,0.00,0.000,6,0.000,0.097,2669,2245,3879
$GC,7677,-1.29,-194.7,710.3,-9.9,985,7678,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2246,3879
$GC,7987,-1.29,-194.7,740.5,-9.7,1000,7988,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3879
$GC,8296,-1.29,-194.7,769.3,-9.0,1015,8300,0.00,2.83,0.00,0.000,4,0.000,0.125,2668,3645,3879
$GC,8328,-1.29,-194.7,772.4,-9.1,1016,8334,0.00,2.70,0.00,0.000,6,0.000,0.101,2668,2245,3879
$GC,8644,-1.29,-194.7,801.4,-9.2,1032,8645,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3878
$GC,8953,-1.29,-194.7,829.7,-8.9,1047,8957,0.00,2.83,0.00,0.000,4,0.000,0.127,2669,3645,3878
$GC,8985,-1.29,-194.7,832.7,-8.9,1048,8991,0.00,2.70,0.00,0.000,6,0.000,0.103,2668,2247,3878
$GC,9301,-1.29,-194.7,858.8,-8.2,1064,9302,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3879
$GC,9610,-1.29,-194.7,883.3,-7.9,1079,9615,0.00,2.83,0.00,0.000,4,0.000,0.128,2669,3647,3878
$GC,9637,-1.29,-194.7,885.5,-8.3,1080,9641,0.00,2.70,0.00,0.000,6,0.000,0.104,2668,2258,3878
$GC,9953,-1.29,-194.7,910.3,-7.9,1095,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2259,3877
$GC,10262,-1.29,-194.7,935.0,-7.8,1110,10266,0.00,2.83,0.00,0.000,4,0.000,0.128,2669,3649,3877
$GC,10301,-1.29,-194.7,938.3,-8.5,1112,10305,0.00,2.70,0.00,0.000,6,0.000,0.107,2668,2263,3877
$GC,10627,-1.29,-194.7,965.6,-8.8,1128,10628,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2264,3876
$STATE,10913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10913,begin apogee
$GC,10919,-0.35,0.0,991.8,8.9,1142,11088,1.05,0.00,165.90,1.440,6,0.107,0.000,2878,2334,3085
$STATE,11089,end apogee,CONTROL_FINISHED_OK
$STATE,11089,begin climb
$GC,11092,1.29,194.7,998.7,0.0,1150,11261,1.65,0.00,162.27,1.402,6,0.062,0.000,3240,2334,2291
$GC,11582,1.20,194.7,944.5,13.2,1174,11584,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2334,2289
$GC,11892,1.11,194.7,903.2,13.1,1189,11894,0.20,0.00,0.00,0.000,6,0.110,0.000,3204,2334,2288
$GC,12201,1.07,194.7,869.6,10.9,1204,12202,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2335,2287
$GC,12510,1.07,194.7,834.9,11.6,1219,12514,0.00,2.90,0.00,0.000,4,0.000,0.127,3204,3739,2287
$GC,12542,1.00,194.7,830.9,12.4,1220,12549,0.12,2.80,0.00,0.000,6,0.117,0.104,3181,2327,2288
$GC,12857,1.00,194.7,797.8,10.5,1236,12862,0.00,2.90,0.00,0.000,4,0.000,0.123,3181,3739,2287
$GC,12907,0.96,194.7,792.0,11.5,1238,12911,0.00,2.75,0.00,0.000,6,0.000,0.100,3181,2342,2287
$GC,13222,0.96,194.7,758.5,10.3,1253,13226,0.00,2.90,0.00,0.000,4,0.000,0.127,3181,914,2287
$GC,13261,0.96,194.7,754.5,11.0,1255,13265,0.00,2.83,0.00,0.000,6,0.000,0.104,3181,2358,2287
$GC,13586,0.96,194.7,722.2,10.2,1271,13591,0.00,2.85,0.00,0.000,4,0.000,0.129,3181,3739,2287
$GC,13618,0.96,194.7,718.6,10.9,1272,13625,0.00,2.70,0.00,0.000,6,0.000,0.097,3181,2347,2287
$GC,13934,0.96,194.7,686.9,10.0,1288,13939,0.00,2.85,0.00,0.000,4,0.000,0.120,3181,916,2286
$GC,13960,0.96,194.7,684.0,10.6,1289,13965,0.00,2.78,0.00,0.000,6,0.000,0.101,3181,2344,2287
$GC,14276,0.96,194.7,649.5,11.3,1304,14277,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2345,2287
$GC,14585,0.96,194.7,615.4,10.5,1319,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2345,2286
$GC,14899,0.97,202.8,584.6,9.7,1341,14909,0.00,0.00,7.72,1.048,6,0.000,0.000,3181,2345,2258
$GC,15231,0.98,214.7,552.2,9.6,1372,15247,0.00,0.00,11.88,1.101,6,0.000,0.000,3181,2345,2208
$GC,15568,1.03,249.5,521.1,8.8,1404,15600,0.00,0.00,30.38,1.098,6,0.000,0.000,3181,2345,2067
$GC,15914,1.04,257.7,488.0,9.7,1437,15924,0.00,0.00,8.10,0.991,6,0.000,0.000,3181,2345,2034
$GC,16246,1.04,257.7,453.9,10.5,1468,16250,0.00,2.80,0.00,0.000,4,0.000,0.107,3180,917,2032
$GC,16275,1.04,257.7,450.4,11.6,1470,16279,0.00,2.75,0.00,0.000,6,0.000,0.094,3181,2352,2033
$GC,16599,1.04,257.7,413.9,11.1,1500,16600,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2353,2032
$GC,16918,1.04,257.7,379.2,10.7,1530,16919,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2353,2032
$GC,17240,1.04,257.7,344.9,10.1,1564,17246,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2353,2032
$GC,17584,1.04,257.7,309.2,10.8,1625,17589,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2353,2032
$GC,17926,1.04,257.7,273.2,10.6,1686,17932,0.00,2.80,0.00,0.000,4,0.000,0.104,3181,912,2032
$GC,17978,1.04,257.7,267.4,10.7,1695,17984,0.00,2.72,0.00,0.000,6,0.000,0.091,3181,2348,2033
$GC,18322,1.04,257.7,231.1,10.1,1756,18327,0.00,0.00,0.00,0.000,6,0.000,0.000,3181,2347,2033
$GC,18665,1.04,257.7,193.9,11.2,1817,18670,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2348,2033
$GC,19007,1.08,292.5,160.3,8.8,1878,19044,0.00,0.00,30.05,0.873,6,0.000,0.000,3181,2348,1892
$GC,19382,1.08,295.4,124.7,9.9,1945,19388,0.00,2.78,0.00,0.000,4,0.000,0.101,3181,915,1888
$GC,19417,1.14,295.4,121.0,10.3,1951,19424,0.12,2.70,0.00,0.000,6,0.061,0.087,3215,2344,1888
$GC,19761,1.14,295.4,74.7,13.6,2012,19767,0.00,2.70,0.00,0.000,4,0.000,0.104,3215,3737,1887
$GC,19784,1.14,295.4,71.4,14.9,2016,19791,0.00,2.65,0.00,0.000,6,0.000,0.082,3215,2332,1887
$GC,20129,1.23,367.0,27.2,7.5,2077,20196,0.00,2.80,61.12,0.778,4,0.000,0.100,3215,3737,1586
$GC,20220,1.23,367.0,18.0,14.3,2093,20227,0.00,2.67,0.00,0.000,6,0.000,0.081,3215,2333,1582
$STATE,20332,end climb,SURFACE_DEPTH_REACHED
$STATE,20332,begin surface coast
$FINISH,0.4,1.027846
$STATE,20348,end surface coast,CONTROL_FINISHED_OK
$STATE,20348,begin surface
$SM_CCo,20429,0.00,0.000,0,0,1575,370.40
$SM_GC,0.98,11.60,0.00,0.00,0.046,0.000,0.000,594,2235,1575,-10.84,0.00,370.40
$IRIDIUM_FIX,6041.65,-2452.41,250797,202001
$TT8_MAMPS,0.02301
$HUMID,1602
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,17.90
$XPDR_PINGS,79
$24V_AH,23.4,29.776
$10V_AH,10.7,23.051
$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,27.575,116.350,477.425,0.000,0.000,30.529,32.540,262.232,19.750,0.000,0.000,43.313,3253.712,12860.099,613.295,3519.463,652.991,0.000,2232.262,0.000,3472.221,0.000,0.467
$DEVICE_MAMPS,201.721,151.866,1440.426,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1463.424,1568.989,977.510,589.948,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119581,2115
$CAP_FILE_SIZE,178033,0
$CFSIZE,260165632,244781056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,010508,075008,6114.438,-2502.163,40,1.1,40,-17.8