version: 66.03
glider: 140
mission: 5
dive: 140
start: 5 6 108 8 34 37
data:
$ID,140
$MISSION,5
$DIVE,140
$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,5
$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,-15964.621
$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,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
$GPS1,082608,6051.668,-2721.239,41,1.6,41,-18.8
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.3
$GPS2,083420,6051.700,-2721.302,16,1.5,33,-18.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6102.458,-2720.846
$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,23.8,20000,-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,-70.35,0.000,2,0.000,0.000,585,2226,3456
$GC,102,-1.29,-194.7,3.2,-6.8,13,131,12.55,0.00,-9.75,0.000,6,0.193,0.000,2671,2225,3880
$GC,270,-1.29,-194.7,22.4,-9.3,42,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3881
$GC,412,-1.29,-194.7,36.2,-9.5,67,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3881
$GC,554,-1.29,-194.7,50.2,-10.4,92,559,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3881
$GC,896,-1.29,-194.7,85.0,-10.1,153,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3881
$GC,1238,-1.29,-194.7,121.0,-10.4,214,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3882
$GC,1581,-1.29,-194.7,157.6,-10.3,275,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3881
$GC,1925,-1.29,-194.7,194.0,-9.6,336,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3882
$GC,2269,-1.29,-194.7,226.3,-9.2,397,2275,0.00,2.75,0.00,0.000,4,0.000,0.104,2671,3650,3881
$GC,2298,-1.29,-194.7,229.1,-9.9,402,2304,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2230,3882
$GC,2642,-1.29,-194.7,258.0,-8.0,463,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,2984,-1.29,-194.7,284.9,-7.5,524,2991,0.00,2.75,0.00,0.000,4,0.000,0.107,2671,3650,3882
$GC,3008,-1.29,-194.7,286.9,-7.9,528,3015,0.00,2.65,0.00,0.000,6,0.000,0.087,2671,2234,3882
$GC,3353,-1.29,-194.7,313.8,-8.0,589,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3881
$GC,3695,-1.29,-194.7,341.1,-8.1,650,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3882
$GC,4031,-1.29,-194.7,369.4,-8.9,691,4035,0.00,2.75,0.00,0.000,4,0.000,0.110,2671,3645,3882
$GC,4063,-1.29,-194.7,372.6,-9.6,693,4069,0.00,2.62,0.00,0.000,6,0.000,0.087,2671,2243,3882
$GC,4389,-1.29,-194.7,403.0,-9.9,724,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3882
$GC,4706,-1.29,-194.7,433.9,-9.3,754,4707,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3881
$GC,5027,-1.29,-194.7,463.6,-9.4,784,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3882
$GC,5344,-1.29,-194.7,492.9,-9.1,814,5348,0.00,2.75,0.00,0.000,4,0.000,0.110,2671,3652,3881
$GC,5372,-1.29,-194.7,495.5,-9.9,816,5376,0.00,2.65,0.00,0.000,6,0.000,0.090,2671,2244,3881
$GC,5698,-1.29,-194.7,523.3,-8.2,846,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3881
$GC,6017,-1.29,-194.7,549.2,-8.3,876,6021,0.00,2.75,0.00,0.000,4,0.000,0.111,2671,3650,3881
$GC,6056,-1.29,-194.7,552.7,-8.6,879,6060,0.00,2.62,0.00,0.000,6,0.000,0.091,2671,2257,3881
$GC,6382,-1.29,-194.7,578.9,-7.9,909,6383,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2258,3881
$GC,6708,-1.29,-194.7,605.1,-8.1,937,6713,0.00,2.72,0.00,0.000,4,0.000,0.114,2671,3646,3881
$GC,6729,-1.29,-194.7,606.9,-8.2,938,6734,0.00,2.60,0.00,0.000,6,0.000,0.091,2671,2262,3881
$GC,7051,-1.29,-194.7,633.0,-8.6,954,7052,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2263,3881
$GC,7359,-1.29,-194.7,664.2,-10.4,969,7364,0.00,2.72,0.00,0.000,4,0.000,0.116,2671,3643,3880
$GC,7392,-1.29,-194.7,667.8,-10.6,970,7398,0.00,2.60,0.00,0.000,6,0.000,0.094,2671,2269,3880
$GC,7707,-1.29,-194.7,699.6,-10.3,986,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2270,3880
$GC,8018,-1.29,-194.7,730.2,-9.8,1001,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2270,3880
$GC,8326,-1.29,-194.7,757.6,-8.6,1016,8328,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2270,3880
$GC,8636,-1.29,-194.7,784.8,-9.2,1031,8637,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2270,3879
$GC,8944,-1.29,-194.7,814.4,-10.1,1046,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2270,3880
$GC,9254,-1.29,-194.7,842.4,-9.3,1061,9259,0.00,2.78,0.00,0.000,4,0.000,0.127,2671,3643,3879
$GC,9280,-1.29,-194.7,845.2,-10.4,1062,9285,0.00,2.65,0.00,0.000,6,0.000,0.100,2671,2265,3879
$GC,9597,-1.29,-194.7,874.6,-9.0,1077,9601,0.00,2.78,0.00,0.000,4,0.000,0.125,2671,3644,3879
$GC,9629,-1.29,-194.7,877.6,-8.9,1078,9635,0.00,2.65,0.00,0.000,6,0.000,0.103,2672,2269,3879
$GC,9945,-1.29,-194.7,903.8,-8.4,1094,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2269,3879
$GC,10254,-1.29,-194.7,928.5,-7.8,1109,10259,0.00,2.75,0.00,0.000,4,0.000,0.126,2671,3644,3878
$GC,10293,-1.29,-194.7,931.8,-8.3,1111,10298,0.00,2.65,0.00,0.000,6,0.000,0.104,2671,2273,3878
$GC,10620,-1.29,-194.7,957.3,-8.2,1127,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2274,3878
$GC,10929,-1.29,-194.7,985.6,-9.8,1142,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2273,3877
$STATE,10988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10988,begin apogee
$GC,10994,-0.35,0.0,991.5,9.6,1145,11163,1.02,0.00,165.32,1.426,6,0.103,0.000,2878,2333,3085
$STATE,11163,end apogee,CONTROL_FINISHED_OK
$STATE,11164,begin climb
$GC,11166,1.29,194.7,1000.4,0.0,1153,11337,1.65,3.03,162.95,1.392,4,0.062,0.130,3239,3738,2290
$GC,11378,1.16,194.7,988.4,12.4,1163,11383,0.15,2.88,0.00,0.000,6,0.116,0.110,3214,2325,2290
$GC,11693,1.10,194.7,955.7,11.1,1178,11698,0.00,2.92,0.00,0.000,4,0.000,0.135,3213,917,2288
$GC,11737,1.06,194.7,950.6,11.4,1180,11742,0.12,2.78,0.00,0.000,6,0.113,0.109,3191,2321,2289
$GC,12058,1.10,220.3,919.8,9.1,1196,12087,0.00,3.00,23.17,1.316,4,0.000,0.123,3191,3733,2185
$GC,12134,1.04,220.3,912.2,10.3,1199,12138,0.00,2.83,0.00,0.000,6,0.000,0.105,3191,2318,2184
$GC,12449,1.04,220.3,880.1,10.8,1214,12450,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2319,2184
$GC,12758,1.04,220.3,845.3,11.5,1229,12763,0.00,2.92,0.00,0.000,4,0.000,0.125,3192,3738,2183
$GC,12798,1.00,220.3,840.5,12.4,1231,12803,0.00,2.83,0.00,0.000,6,0.000,0.104,3191,2319,2183
$GC,13124,1.00,220.3,803.5,11.1,1247,13125,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2319,2182
$GC,13433,1.00,220.3,769.4,11.3,1262,13438,0.00,2.90,0.00,0.000,4,0.000,0.120,3191,3739,2182
$GC,13482,0.95,220.3,763.2,11.7,1264,13488,0.12,2.75,0.00,0.000,6,0.118,0.100,3169,2335,2182
$GC,13798,0.95,220.3,729.1,10.7,1279,13802,0.00,2.85,0.00,0.000,4,0.000,0.123,3169,915,2182
$GC,13859,0.95,220.3,722.2,10.9,1282,13864,0.00,2.75,0.00,0.000,6,0.000,0.100,3169,2340,2182
$GC,14185,0.96,232.6,689.9,9.6,1298,14198,0.00,0.00,11.40,1.184,6,0.000,0.000,3169,2340,2136
$GC,14494,0.97,240.2,658.6,9.7,1313,14508,0.00,2.90,8.02,1.091,4,0.000,0.120,3169,3733,2105
$GC,14543,0.98,245.7,653.8,9.8,1315,14558,0.00,2.75,6.53,0.984,6,0.000,0.094,3169,2322,2083
$GC,14867,1.02,274.5,624.2,9.0,1331,14901,0.00,2.83,26.23,1.152,4,0.000,0.114,3169,915,1964
$GC,14919,1.08,288.8,619.3,9.5,1333,14939,0.12,2.72,13.93,1.075,6,0.064,0.095,3201,2329,1907
$GC,15255,1.08,288.8,579.6,12.1,1357,15259,0.00,2.83,0.00,0.000,4,0.000,0.114,3201,3735,1902
$GC,15305,1.08,288.8,573.1,13.0,1361,15310,0.00,2.72,0.00,0.000,6,0.000,0.091,3201,2323,1902
$GC,15629,1.08,288.8,532.7,12.1,1391,15630,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2323,1902
$GC,15949,1.08,288.8,494.2,11.7,1421,15953,0.00,2.75,0.00,0.000,4,0.000,0.110,3201,916,1902
$GC,15981,1.08,288.8,490.0,12.1,1423,15987,0.00,2.70,0.00,0.000,6,0.000,0.093,3201,2333,1902
$GC,16307,1.08,288.8,451.8,11.8,1454,16311,0.00,2.78,0.00,0.000,4,0.000,0.110,3201,3736,1902
$GC,16350,1.08,288.8,445.9,12.9,1457,16356,0.00,2.67,0.00,0.000,6,0.000,0.087,3201,2328,1901
$GC,16676,1.08,288.8,408.7,11.5,1488,16681,0.00,2.72,0.00,0.000,4,0.000,0.107,3201,919,1902
$GC,16704,1.08,288.8,405.3,11.5,1490,16709,0.00,2.67,0.00,0.000,6,0.000,0.092,3201,2331,1902
$GC,17030,1.08,288.8,368.3,11.3,1520,17035,0.00,2.78,0.00,0.000,4,0.000,0.109,3201,3736,1901
$GC,17074,1.08,288.8,362.8,12.3,1523,17080,0.00,2.67,0.00,0.000,6,0.000,0.087,3201,2327,1901
$GC,17410,1.08,288.8,323.9,11.6,1573,17415,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2328,1902
$GC,17753,1.08,288.8,283.4,13.1,1634,17758,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2327,1902
$GC,18095,1.08,288.8,243.0,10.9,1695,18101,0.00,2.78,0.00,0.000,4,0.000,0.104,3201,3737,1902
$GC,18130,1.08,288.8,238.6,11.8,1701,18136,0.00,2.67,0.00,0.000,6,0.000,0.085,3201,2328,1902
$GC,18474,1.08,288.8,195.1,13.4,1762,18479,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2329,1902
$GC,18817,1.08,288.8,150.4,13.2,1823,18823,0.00,2.78,0.00,0.000,4,0.000,0.104,3201,3737,1902
$GC,18857,1.08,288.8,144.7,16.6,1830,18863,0.00,2.62,0.00,0.000,6,0.000,0.083,3201,2340,1902
$GC,19201,1.08,288.8,99.0,11.9,1891,19207,0.00,2.72,0.00,0.000,4,0.000,0.102,3201,918,1902
$GC,19230,1.08,288.8,95.0,13.5,1896,19236,0.00,2.65,0.00,0.000,6,0.000,0.084,3201,2343,1902
$GC,19574,1.08,288.8,50.8,11.3,1957,19579,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2343,1902
$GC,19917,1.08,288.8,9.5,11.6,2018,19922,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2343,1903
$STATE,19977,end climb,SURFACE_DEPTH_REACHED
$STATE,19977,begin surface coast
$FINISH,0.1,1.014104
$STATE,19995,end surface coast,CONTROL_FINISHED_OK
$STATE,19995,begin surface
$SM_CCo,20076,0.00,0.000,0,0,1900,290.68
$SM_GC,1.00,11.40,0.00,0.00,0.043,0.000,0.000,590,2232,1900,-10.85,-0.08,290.68
$IRIDIUM_FIX,6024.11,-2719.24,310797,020233
$TT8_MAMPS,0.02301
$HUMID,1628
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.80
$XPDR_PINGS,100
$24V_AH,23.4,34.010
$10V_AH,10.7,26.231
$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,27.150,143.375,417.550,0.000,0.000,30.981,32.791,270.223,25.000,0.000,0.000,33.922,3181.057,12632.146,610.905,3429.398,695.904,0.000,2193.468,0.000,3403.897,0.000,0.467
$DEVICE_MAMPS,192.517,151.866,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1413.629,1517.591,947.755,576.907,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,113549,2032
$CAP_FILE_SIZE,179787,0
$CFSIZE,260165632,242708480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,060508,141031,6054.411,-2718.253,37,1.0,43,-18.8