version: 66.03
glider: 140
mission: 5
dive: 122
start: 5 2 108 7 33 23
data:
$ID,140
$MISSION,5
$DIVE,122
$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,250
$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,-15456.753
$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
$GPS1,071624,6121.239,-2519.110,37,1.9,53,-18.0
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-59.6
$GPS2,073303,6121.182,-2519.121,13,1.4,13,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6117.489,-2523.996
$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,268.0,20000,-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,27,-1.29,-194.7,0.0,0.0,0,100,0.00,0.00,-71.30,0.000,2,0.000,0.000,588,2230,3573
$GC,103,-1.29,-194.7,3.5,-7.0,13,133,12.77,2.80,-6.55,0.000,4,0.199,0.114,2669,3643,3881
$GC,387,-1.29,-194.7,37.1,-9.7,63,393,0.00,2.62,0.00,0.000,6,0.000,0.081,2670,2228,3882
$GC,529,-1.29,-194.7,49.9,-9.8,88,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,671,-1.29,-194.7,63.6,-10.1,113,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,1013,-1.29,-194.7,98.9,-9.9,174,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3882
$GC,1356,-1.29,-194.7,131.3,-9.2,235,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3882
$GC,1700,-1.29,-194.7,163.5,-9.2,296,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,2044,-1.29,-194.7,194.5,-9.3,357,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,2387,-1.29,-194.7,225.6,-8.9,418,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,2730,-1.29,-194.7,256.3,-9.0,479,2736,0.00,2.78,0.00,0.000,4,0.000,0.108,2669,3646,3882
$GC,2770,-1.29,-194.7,260.2,-9.6,486,2776,0.00,2.62,0.00,0.000,6,0.000,0.087,2669,2241,3882
$GC,3114,-1.29,-194.7,292.1,-9.4,547,3120,0.00,2.78,0.00,0.000,4,0.000,0.112,2669,825,3882
$GC,3149,-1.29,-194.7,295.4,-9.9,553,3155,0.00,2.72,0.00,0.000,6,0.000,0.096,2669,2249,3882
$GC,3493,-1.29,-194.7,326.5,-9.5,614,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3882
$GC,3831,-1.29,-194.7,357.2,-9.2,668,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3882
$GC,4150,-1.29,-194.7,385.4,-8.7,698,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2249,3882
$GC,4469,-1.29,-194.7,412.6,-8.4,728,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3882
$GC,4787,-1.29,-194.7,437.2,-7.8,758,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2249,3882
$GC,5106,-1.29,-194.7,462.9,-7.9,788,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2249,3882
$GC,5425,-1.29,-194.7,488.1,-7.8,818,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3882
$GC,5743,-1.29,-194.7,513.7,-8.1,848,5747,0.00,2.75,0.00,0.000,4,0.000,0.116,2669,3648,3882
$GC,5775,-1.29,-194.7,516.7,-8.6,850,5781,0.00,2.65,0.00,0.000,6,0.000,0.091,2669,2242,3881
$GC,6102,-1.29,-194.7,544.0,-8.6,881,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3882
$GC,6418,-1.29,-194.7,570.7,-8.3,911,6419,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2243,3882
$GC,6737,-1.29,-194.7,596.2,-8.4,941,6742,0.00,2.83,0.00,0.000,4,0.000,0.118,2669,820,3881
$GC,6769,-1.29,-194.7,599.3,-9.2,943,6776,0.00,2.75,0.00,0.000,6,0.000,0.102,2669,2241,3881
$GC,7096,-1.29,-194.7,627.1,-8.2,960,7097,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3881
$GC,7405,-1.29,-194.7,653.0,-8.6,975,7410,0.00,2.80,0.00,0.000,4,0.000,0.122,2669,3645,3881
$GC,7432,-1.29,-194.7,655.4,-9.0,976,7436,0.00,2.65,0.00,0.000,6,0.000,0.094,2669,2245,3881
$GC,7747,-1.29,-194.7,681.7,-8.1,991,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,8057,-1.29,-194.7,707.5,-8.3,1006,8058,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,8366,-1.29,-194.7,733.0,-8.3,1021,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,8675,-1.29,-194.7,759.0,-8.8,1036,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3880
$GC,8985,-1.29,-194.7,788.0,-9.5,1051,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,9294,-1.29,-194.7,816.6,-9.0,1066,9296,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,9603,-1.29,-194.7,842.6,-8.4,1081,9608,0.00,2.83,0.00,0.000,4,0.000,0.127,2669,3643,3880
$GC,9647,-1.29,-194.7,846.6,-9.2,1083,9651,0.00,2.67,0.00,0.000,6,0.000,0.100,2669,2248,3879
$GC,9967,-1.29,-194.7,874.1,-8.8,1099,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3880
$GC,10277,-1.29,-194.7,900.6,-8.9,1114,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2249,3879
$GC,10586,-1.29,-194.7,925.7,-8.0,1129,10587,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2249,3880
$GC,10895,-1.29,-194.7,950.0,-7.7,1144,10900,0.00,2.83,0.00,0.000,4,0.000,0.128,2669,3644,3879
$GC,10944,-1.29,-194.7,954.0,-8.2,1146,10949,0.00,2.70,0.00,0.000,6,0.000,0.105,2669,2250,3879
$GC,11260,-1.29,-194.7,976.8,-7.1,1161,11261,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2251,3879
$STATE,11443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11443,begin apogee
$GC,11449,-0.35,0.0,990.2,7.2,1170,11618,1.05,0.00,165.95,1.420,6,0.105,0.000,2880,2334,3085
$STATE,11619,end apogee,CONTROL_FINISHED_OK
$STATE,11619,begin climb
$GC,11621,1.29,194.7,994.3,0.0,1178,11795,1.62,3.03,162.27,1.382,4,0.062,0.126,3238,3736,2291
$GC,11884,1.17,194.7,966.7,15.4,1190,11890,0.12,2.80,0.00,0.000,6,0.117,0.105,3217,2333,2290
$GC,12200,1.11,194.7,924.1,13.5,1205,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2332,2289
$GC,12509,1.05,194.7,884.8,12.3,1220,12511,0.15,0.00,0.00,0.000,6,0.111,0.000,3189,2332,2288
$GC,12819,1.05,194.7,851.5,10.8,1235,12823,0.00,2.90,0.00,0.000,4,0.000,0.123,3189,3739,2287
$GC,12868,1.00,194.7,845.5,12.1,1237,12873,0.00,2.78,0.00,0.000,6,0.000,0.101,3189,2331,2288
$GC,13183,1.00,194.7,811.4,10.6,1252,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2287
$GC,13493,1.00,194.7,779.0,10.4,1267,13494,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2287
$GC,13802,1.01,203.9,748.2,9.7,1282,13816,0.00,2.90,8.95,1.157,4,0.000,0.118,3189,3739,2253
$GC,13850,0.96,203.9,743.1,10.7,1284,13854,0.00,2.75,0.00,0.000,6,0.000,0.096,3189,2334,2253
$GC,14170,0.96,203.9,710.5,10.4,1300,14171,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2335,2252
$GC,14479,0.96,203.9,679.3,10.1,1315,14484,0.00,2.85,0.00,0.000,4,0.000,0.116,3189,3741,2252
$GC,14501,0.96,203.9,676.9,10.4,1316,14505,0.00,2.72,0.00,0.000,6,0.000,0.094,3189,2332,2252
$GC,14823,0.98,218.9,645.4,9.5,1332,14844,0.00,2.92,14.02,1.151,4,0.000,0.114,3189,3740,2192
$GC,14860,0.98,218.9,641.5,10.3,1333,14867,0.00,2.72,0.00,0.000,6,0.000,0.093,3189,2346,2192
$GC,15176,0.98,218.9,609.8,10.4,1349,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2347,2191
$GC,15491,0.98,218.9,577.4,10.1,1374,15493,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2347,2191
$GC,15811,0.98,218.9,544.2,10.4,1404,15812,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2346,2191
$GC,16128,0.98,218.9,511.5,10.1,1434,16130,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2346,2191
$GC,16447,0.98,218.9,478.5,10.3,1464,16448,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2346,2191
$GC,16766,0.98,218.9,445.4,10.6,1494,16770,0.00,2.78,0.00,0.000,4,0.000,0.110,3189,3739,2191
$GC,16805,0.98,218.9,440.9,10.6,1497,16810,0.00,2.67,0.00,0.000,6,0.000,0.088,3189,2346,2192
$GC,17129,0.98,218.9,406.5,10.2,1527,17134,0.00,2.78,0.00,0.000,4,0.000,0.110,3189,918,2192
$GC,17150,1.00,237.4,404.2,9.4,1528,17172,0.00,2.75,16.92,1.009,6,0.000,0.094,3189,2362,2117
$GC,17491,1.00,237.4,366.4,11.4,1560,17492,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2361,2115
$GC,17818,1.00,237.4,329.7,11.9,1606,17823,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2362,2115
$GC,18161,1.00,237.4,291.2,11.0,1667,18166,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2362,2116
$GC,18505,1.00,237.4,252.6,10.8,1728,18511,0.00,2.80,0.00,0.000,4,0.000,0.105,3189,919,2116
$GC,18528,1.00,237.4,249.7,10.8,1732,18535,0.00,2.70,0.00,0.000,6,0.000,0.090,3189,2348,2115
$GC,18872,1.00,237.4,211.6,10.9,1793,18878,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2348,2115
$GC,19214,1.00,237.4,170.9,11.2,1854,19219,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2348,2116
$GC,19557,1.03,259.3,134.3,9.2,1915,19580,0.00,0.00,19.08,0.843,6,0.000,0.000,3189,2348,2026
$GC,19918,1.03,259.3,97.6,10.2,1979,19923,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2348,2024
$GC,20260,1.03,259.3,62.4,11.7,2040,20265,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2349,2024
$GC,20603,1.03,259.3,25.7,11.8,2101,20609,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2348,2024
$GC,20744,1.08,299.0,11.4,8.6,2126,20783,0.00,0.00,33.12,0.761,6,0.000,0.000,3189,2348,1865
$STATE,20827,end climb,SURFACE_DEPTH_REACHED
$STATE,20827,begin surface coast
$FINISH,0.2,1.027859
$STATE,20845,end surface coast,CONTROL_FINISHED_OK
$STATE,20845,begin surface
$SM_CCo,20927,0.00,0.000,0,0,1858,300.98
$SM_GC,1.06,11.52,0.00,0.00,0.047,0.000,0.000,588,2229,1858,-10.86,-0.17,300.98
$IRIDIUM_FIX,6054.92,-2523.75,270797,070746
$TT8_MAMPS,0.02301
$HUMID,1603
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,67
$24V_AH,23.4,30.699
$10V_AH,10.7,23.779
$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,27.250,89.075,420.325,0.000,0.000,110.271,135.971,422.840,16.750,0.000,0.000,13.981,3312.834,13497.634,541.673,3547.809,1008.703,0.000,2162.192,0.000,3532.732,0.000,0.468
$DEVICE_MAMPS,199.420,145.730,1419.717,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1491.536,1580.121,1014.112,611.496,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119998,2144
$CAP_FILE_SIZE,184956,0
$CFSIZE,260165632,244297728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,020508,132325,6118.368,-2524.536,40,1.2,40,-18.0