version: 66.03
glider: 140
mission: 5
dive: 120
start: 5 1 108 19 38 46
data:
$ID,140
$MISSION,5
$DIVE,120
$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,-15428.732
$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,11
$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
$GPS1,193107,6118.969,-2519.246,37,1.0,37,-18.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.7
$GPS2,193826,6118.928,-2519.379,11,1.3,11,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6127.201,-2522.697
$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,338.0,20000,-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,-194.7,0.0,0.0,0,99,0.00,0.00,-70.40,0.000,2,0.000,0.000,591,2226,3430
$GC,102,-1.29,-194.7,3.3,-7.5,13,132,12.80,2.78,-10.50,0.000,4,0.200,0.114,2670,3645,3880
$GC,202,-1.29,-194.7,16.1,-12.9,30,208,0.00,2.65,0.00,0.000,6,0.000,0.082,2670,2230,3881
$GC,345,-1.29,-194.7,30.6,-9.5,55,350,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3881
$GC,486,-1.29,-194.7,43.7,-10.0,80,492,0.00,2.75,0.00,0.000,4,0.000,0.101,2670,3651,3881
$GC,529,-1.29,-194.7,47.4,-9.3,87,535,0.00,2.62,0.00,0.000,6,0.000,0.082,2670,2241,3881
$GC,671,-1.29,-194.7,59.9,-8.8,112,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3881
$GC,1014,-1.29,-194.7,92.6,-10.6,173,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3881
$GC,1357,-1.29,-194.7,125.8,-9.2,234,1363,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3881
$GC,1700,-1.29,-194.7,154.8,-9.0,295,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3881
$GC,2042,-1.29,-194.7,186.6,-9.3,356,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3881
$GC,2386,-1.29,-194.7,219.0,-8.7,417,2392,0.00,2.75,0.00,0.000,4,0.000,0.107,2670,3649,3881
$GC,2427,-1.29,-194.7,222.9,-9.4,424,2433,0.00,2.62,0.00,0.000,6,0.000,0.086,2670,2245,3881
$GC,2772,-1.29,-194.7,252.6,-8.5,485,2777,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,3114,-1.29,-194.7,284.1,-8.6,546,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,3457,-1.29,-194.7,314.0,-9.1,607,3462,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,3801,-1.29,-194.7,344.1,-8.5,668,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,4136,-1.29,-194.7,374.6,-8.9,705,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3880
$GC,4453,-1.29,-194.7,401.4,-8.7,735,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3880
$GC,4771,-1.29,-194.7,428.0,-8.6,765,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3881
$GC,5092,-1.29,-194.7,457.8,-9.5,795,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3881
$GC,5410,-1.29,-194.7,484.9,-7.7,825,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2244,3881
$GC,5727,-1.29,-194.7,511.1,-8.7,855,5732,0.00,2.75,0.00,0.000,4,0.000,0.113,2670,3645,3881
$GC,5760,-1.29,-194.7,514.2,-9.5,857,5766,0.00,2.62,0.00,0.000,6,0.000,0.090,2670,2247,3880
$GC,6086,-1.29,-194.7,543.7,-9.4,888,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3881
$GC,6403,-1.29,-194.7,572.6,-8.7,918,6404,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3880
$GC,6722,-1.29,-194.7,601.0,-9.2,948,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3880
$GC,7031,-1.29,-194.7,630.1,-9.7,963,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3880
$GC,7340,-1.29,-194.7,658.4,-9.1,978,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3880
$GC,7650,-1.29,-194.7,684.5,-8.1,993,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3880
$GC,7959,-1.29,-194.7,707.9,-7.1,1008,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3879
$GC,8268,-1.29,-194.7,732.5,-7.8,1023,8269,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3880
$GC,8578,-1.29,-194.7,760.5,-9.6,1038,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2248,3880
$GC,8886,-1.29,-194.7,789.5,-9.3,1053,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3879
$GC,9196,-1.29,-194.7,816.1,-8.6,1068,9200,0.00,2.83,0.00,0.000,4,0.000,0.127,2670,3644,3880
$GC,9235,-1.29,-194.7,819.6,-9.3,1070,9239,0.00,2.67,0.00,0.000,6,0.000,0.098,2670,2247,3879
$GC,9561,-1.29,-194.7,846.6,-8.0,1086,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3879
$GC,9870,-1.29,-194.7,871.9,-8.5,1101,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3879
$GC,10180,-1.29,-194.7,899.7,-9.1,1116,10184,0.00,2.83,0.00,0.000,4,0.000,0.127,2670,3646,3878
$GC,10206,-1.29,-194.7,902.5,-10.2,1117,10211,0.00,2.67,0.00,0.000,6,0.000,0.102,2670,2256,3878
$GC,10522,-1.29,-194.7,930.8,-8.9,1132,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3878
$GC,10831,-1.29,-194.7,956.5,-8.5,1147,10832,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3878
$GC,11140,-1.29,-194.7,982.5,-8.3,1162,11142,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3878
$STATE,11241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11241,begin apogee
$GC,11247,-0.35,0.0,991.1,8.3,1167,11417,1.05,0.00,165.95,1.421,6,0.103,0.000,2882,2329,3085
$STATE,11417,end apogee,CONTROL_FINISHED_OK
$STATE,11418,begin climb
$GC,11420,1.29,194.7,997.2,0.0,1175,11588,1.62,0.00,163.55,1.386,6,0.059,0.000,3240,2329,2291
$GC,11897,1.20,194.7,944.5,13.7,1199,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,2329,2289
$GC,12205,1.11,194.7,900.9,14.0,1214,12207,0.20,0.00,0.00,0.000,6,0.107,0.000,3203,2329,2288
$GC,12514,1.07,194.7,865.4,11.1,1229,12519,0.00,2.90,0.00,0.000,4,0.000,0.124,3203,3738,2287
$GC,12554,0.99,194.7,860.8,11.4,1231,12559,0.12,2.80,0.00,0.000,6,0.115,0.102,3180,2328,2288
$GC,12880,0.99,194.7,826.7,10.6,1247,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2328,2287
$GC,13189,0.99,194.7,795.8,10.1,1262,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2328,2287
$GC,13499,0.99,194.7,764.3,10.5,1277,13500,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2327,2287
$GC,13808,0.99,194.7,731.8,10.2,1292,13812,0.00,2.88,0.00,0.000,4,0.000,0.118,3180,3740,2286
$GC,13840,0.99,194.7,728.3,10.2,1293,13846,0.00,2.72,0.00,0.000,6,0.000,0.096,3180,2331,2287
$GC,14156,1.00,199.1,696.9,9.8,1309,14166,0.00,2.85,4.78,0.904,4,0.000,0.118,3180,917,2273
$GC,14204,1.00,199.1,691.6,11.0,1311,14209,0.00,2.75,0.00,0.000,6,0.000,0.100,3180,2335,2273
$GC,14520,1.00,199.1,660.4,10.1,1326,14524,0.00,2.83,0.00,0.000,4,0.000,0.119,3180,3739,2273
$GC,14563,1.00,199.1,655.6,11.1,1328,14568,0.00,2.70,0.00,0.000,6,0.000,0.093,3180,2333,2272
$GC,14884,1.00,199.1,622.0,10.4,1344,14885,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2333,2273
$GC,15196,1.03,225.7,592.1,9.1,1363,15226,0.00,0.00,23.83,1.132,6,0.000,0.000,3180,2333,2165
$GC,15544,1.03,225.7,558.8,10.0,1396,15546,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2334,2163
$GC,15865,1.04,229.7,527.3,9.9,1426,15873,0.00,0.00,5.05,0.853,6,0.000,0.000,3180,2333,2148
$GC,16195,1.05,238.1,495.4,9.7,1457,16206,0.00,0.00,8.85,1.005,6,0.000,0.000,3180,2333,2114
$GC,16520,1.05,238.1,462.9,10.1,1488,16521,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2333,2113
$GC,16840,1.08,262.2,432.0,9.2,1518,16868,0.00,0.00,21.52,1.022,6,0.000,0.000,3180,2333,2015
$GC,17186,1.10,277.5,397.9,9.5,1551,17207,0.00,0.00,14.25,0.981,6,0.000,0.000,3180,2333,1952
$GC,17526,1.10,279.8,363.5,9.9,1583,17527,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2333,1949
$GC,17853,1.10,279.8,330.5,10.1,1630,17859,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2333,1949
$GC,18196,1.10,279.8,295.7,11.3,1691,18202,0.00,2.75,0.00,0.000,4,0.000,0.107,3180,918,1949
$GC,18231,1.15,279.8,291.7,12.1,1697,18238,0.12,2.70,0.00,0.000,6,0.063,0.092,3213,2335,1949
$GC,18575,1.15,279.8,247.9,13.2,1758,18581,0.00,2.75,0.00,0.000,4,0.000,0.108,3214,3737,1948
$GC,18609,1.15,279.8,243.3,13.2,1764,18616,0.00,2.67,0.00,0.000,6,0.000,0.085,3213,2327,1948
$GC,18954,1.15,279.8,199.7,11.8,1825,18960,0.00,2.72,0.00,0.000,4,0.000,0.105,3214,914,1949
$GC,18983,1.15,279.8,195.8,13.1,1830,18989,0.00,2.67,0.00,0.000,6,0.000,0.089,3214,2331,1949
$GC,19327,1.15,279.8,151.8,13.6,1891,19333,0.00,2.75,0.00,0.000,4,0.000,0.106,3213,3735,1948
$GC,19364,1.15,279.8,147.3,13.4,1897,19370,0.00,2.65,0.00,0.000,6,0.000,0.084,3214,2329,1949
$GC,19707,1.15,279.8,104.9,11.8,1958,19713,0.00,2.70,0.00,0.000,4,0.000,0.102,3213,915,1950
$GC,19742,1.15,279.8,100.6,12.2,1964,19748,0.00,2.65,0.00,0.000,6,0.000,0.087,3213,2332,1949
$GC,20086,1.15,279.8,60.5,10.4,2025,20091,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2332,1949
$GC,20428,1.15,279.8,20.6,10.6,2086,20435,0.00,2.70,0.00,0.000,4,0.000,0.102,3214,3735,1949
$GC,20459,1.11,279.8,17.4,11.4,2091,20465,0.00,2.62,0.00,0.000,6,0.000,0.082,3214,2330,1949
$STATE,20593,end climb,SURFACE_DEPTH_REACHED
$STATE,20593,begin surface coast
$FINISH,0.3,1.027867
$STATE,20613,end surface coast,CONTROL_FINISHED_OK
$STATE,20613,begin surface
$SM_CCo,20694,0.00,0.000,0,0,1948,278.91
$SM_GC,0.96,11.43,0.00,0.00,0.042,0.000,0.000,586,2229,1948,-10.85,-0.17,278.91
$IRIDIUM_FIX,6054.92,-2507.78,260797,131328
$TT8_MAMPS,0.02301
$HUMID,1611
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,16.60
$XPDR_PINGS,60
$24V_AH,23.4,30.315
$10V_AH,10.7,23.483
$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,27.350,87.700,407.775,0.000,0.000,31.576,32.427,241.276,15.000,0.000,0.000,11.954,3266.808,13216.903,595.089,3405.059,632.215,0.000,2125.858,0.000,3398.905,0.000,0.467
$DEVICE_MAMPS,200.187,150.332,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1469.784,1567.207,992.029,598.076,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120045,2118
$CAP_FILE_SIZE,172766,0
$CFSIZE,260165632,244498432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,020508,012455,6120.812,-2523.819,40,1.1,40,-18.0