version: 66.03
glider: 140
mission: 5
dive: 153
start: 5 9 108 13 4 9
data:
$ID,140
$MISSION,5
$DIVE,153
$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,280
$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,-16186.327
$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,11
$R_STBD_OVSHOOT,10
$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
$GPS1,125625,6110.684,-2625.751,36,1.2,36,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-54.8
$GPS2,130351,6110.706,-2625.854,10,1.7,10,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.581,-2630.976
$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,298.5,20000,-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,-194.7,0.0,0.0,0,111,0.00,0.00,-81.53,0.000,2,0.000,0.000,592,2230,3527
$GC,114,-1.29,-194.7,3.1,-5.1,15,144,12.30,2.80,-8.00,0.000,4,0.186,0.113,2668,3643,3881
$GC,398,-1.29,-194.7,36.3,-9.8,65,404,0.00,2.62,0.00,0.000,6,0.000,0.081,2668,2229,3882
$GC,540,-1.29,-194.7,50.4,-9.4,90,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3882
$GC,884,-1.29,-194.7,79.6,-8.2,151,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3882
$GC,1226,-1.29,-194.7,107.7,-8.6,212,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,1569,-1.29,-194.7,138.9,-9.5,273,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3882
$GC,1912,-1.29,-194.7,171.0,-9.5,334,1917,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3882
$GC,2256,-1.29,-194.7,201.6,-9.3,395,2262,0.00,2.78,0.00,0.000,4,0.000,0.106,2669,3648,3882
$GC,2296,-1.29,-194.7,205.6,-9.9,402,2302,0.00,2.67,0.00,0.000,6,0.000,0.085,2669,2220,3882
$GC,2640,-1.29,-194.7,235.2,-8.9,463,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3882
$GC,2982,-1.29,-194.7,265.6,-8.7,524,2988,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2219,3882
$GC,3326,-1.29,-194.7,294.7,-8.1,585,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2220,3882
$GC,3668,-1.29,-194.7,323.9,-8.8,646,3674,0.00,2.80,0.00,0.000,4,0.000,0.109,2668,3648,3882
$GC,3703,-1.29,-194.7,327.1,-9.4,652,3709,0.00,2.70,0.00,0.000,6,0.000,0.088,2669,2213,3882
$GC,4042,-1.29,-194.7,358.0,-9.4,705,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2213,3882
$GC,4362,-1.29,-194.7,388.8,-9.8,735,4367,0.00,2.83,0.00,0.000,4,0.000,0.111,2669,3651,3882
$GC,4394,-1.29,-194.7,392.6,-10.7,737,4401,0.00,2.70,0.00,0.000,6,0.000,0.090,2668,2220,3882
$GC,4721,-1.29,-194.7,424.7,-9.8,768,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2220,3882
$GC,5039,-1.29,-194.7,454.8,-9.5,798,5043,0.00,2.80,0.00,0.000,4,0.000,0.111,2668,3647,3882
$GC,5078,-1.29,-194.7,458.7,-9.9,801,5083,0.00,2.67,0.00,0.000,6,0.000,0.091,2668,2230,3882
$GC,5404,-1.29,-194.7,487.7,-8.7,831,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3882
$GC,5721,-1.29,-194.7,516.3,-9.4,861,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3882
$GC,6040,-1.29,-194.7,544.5,-8.7,891,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2231,3882
$GC,6359,-1.29,-194.7,572.1,-8.3,921,6363,0.00,2.78,0.00,0.000,4,0.000,0.113,2669,3645,3882
$GC,6398,-1.29,-194.7,575.5,-9.0,924,6403,0.00,2.67,0.00,0.000,6,0.000,0.092,2668,2234,3881
$GC,6733,-1.29,-194.7,603.3,-8.0,953,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2234,3881
$GC,7042,-1.29,-194.7,627.8,-7.7,968,7046,0.00,2.80,0.00,0.000,4,0.000,0.115,2669,3645,3881
$GC,7074,-1.29,-194.7,630.5,-8.8,969,7080,0.00,2.70,0.00,0.000,6,0.000,0.093,2669,2227,3881
$GC,7389,-1.29,-194.7,655.6,-8.1,985,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3881
$GC,7699,-1.29,-194.7,680.1,-7.9,1000,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3881
$GC,8008,-1.29,-194.7,704.7,-7.9,1015,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2227,3881
$GC,8317,-1.29,-194.7,730.5,-8.7,1030,8322,0.00,2.85,0.00,0.000,4,0.000,0.121,2668,3648,3880
$GC,8351,-1.29,-194.7,733.6,-9.2,1031,8357,0.00,2.70,0.00,0.000,6,0.000,0.097,2669,2234,3880
$GC,8666,-1.29,-194.7,761.3,-8.7,1047,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3880
$GC,8975,-1.29,-194.7,788.5,-9.1,1062,8980,0.00,2.83,0.00,0.000,4,0.000,0.122,2669,3644,3880
$GC,9019,-1.29,-194.7,792.8,-10.1,1064,9023,0.00,2.70,0.00,0.000,6,0.000,0.099,2668,2235,3880
$GC,9339,-1.29,-194.7,821.5,-8.8,1080,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,9649,-1.29,-194.7,849.8,-9.4,1095,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,9958,-1.29,-194.7,877.9,-9.2,1110,9959,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3879
$GC,10267,-1.29,-194.7,905.7,-8.7,1125,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3879
$GC,10577,-1.29,-194.7,932.3,-8.6,1140,10578,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3879
$GC,10886,-1.29,-194.7,959.2,-8.6,1155,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3879
$GC,11195,-1.29,-194.7,985.1,-8.3,1170,11200,0.00,2.90,0.00,0.000,4,0.000,0.134,2669,3645,3878
$GC,11244,-1.29,-194.7,989.6,-9.0,1172,11249,0.00,2.72,0.00,0.000,6,0.000,0.107,2669,2247,3878
$STATE,11268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11269,begin apogee
$GC,11275,-0.35,0.0,991.8,8.9,1173,11444,1.05,0.00,165.60,1.418,6,0.103,0.000,2879,2334,3085
$STATE,11445,end apogee,CONTROL_FINISHED_OK
$STATE,11445,begin climb
$GC,11447,1.29,194.7,998.3,0.0,1181,11615,1.62,0.00,163.50,1.382,6,0.059,0.000,3237,2334,2291
$GC,11925,1.20,194.7,947.5,13.2,1205,11926,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2334,2288
$GC,12232,1.11,194.7,905.1,13.7,1220,12238,0.15,2.95,0.00,0.000,4,0.115,0.130,3207,3738,2287
$GC,12265,1.03,194.7,900.4,13.1,1221,12272,0.10,2.83,0.00,0.000,6,0.124,0.105,3188,2322,2288
$GC,12581,1.03,194.7,864.9,11.3,1237,12585,0.00,2.88,0.00,0.000,4,0.000,0.130,3189,918,2288
$GC,12613,1.03,194.7,861.1,10.5,1238,12619,0.00,2.78,0.00,0.000,6,0.000,0.109,3188,2325,2287
$GC,12928,1.03,194.7,828.1,10.2,1254,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2325,2287
$GC,13238,1.03,194.7,796.9,10.1,1269,13243,0.00,2.95,0.00,0.000,4,0.000,0.131,3188,3738,2286
$GC,13282,0.97,194.7,791.9,11.2,1271,13287,0.00,2.75,0.00,0.000,6,0.000,0.100,3188,2335,2286
$GC,13602,0.97,194.7,757.8,10.8,1287,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2336,2286
$GC,13912,0.97,194.7,724.4,10.6,1302,13913,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2336,2285
$GC,14221,0.98,200.4,692.9,9.8,1317,14234,0.00,2.85,6.00,1.010,4,0.000,0.119,3188,918,2266
$GC,14257,1.01,221.9,689.3,9.3,1318,14283,0.00,2.78,19.58,1.186,6,0.000,0.101,3188,2341,2179
$GC,14593,1.01,223.1,656.5,10.0,1335,14597,0.00,2.85,0.00,0.000,4,0.000,0.120,3188,3738,2178
$GC,14619,1.01,223.1,653.5,11.1,1336,14623,0.00,2.75,0.00,0.000,6,0.000,0.094,3188,2323,2178
$GC,14935,1.01,223.1,620.9,10.1,1351,14939,0.00,2.88,0.00,0.000,4,0.000,0.114,3188,3739,2178
$GC,14961,1.01,223.1,617.9,10.9,1352,14966,0.00,2.72,0.00,0.000,6,0.000,0.093,3188,2331,2178
$GC,15280,1.01,223.1,584.4,10.5,1373,15281,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2331,2178
$GC,15601,1.01,223.1,549.2,11.4,1403,15602,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,2178
$GC,15918,1.01,223.1,514.0,10.8,1433,15922,0.00,2.83,0.00,0.000,4,0.000,0.110,3188,3739,2178
$GC,15945,1.01,223.1,510.7,11.6,1435,15950,0.00,2.70,0.00,0.000,6,0.000,0.090,3188,2343,2178
$GC,16270,1.01,223.1,475.2,10.9,1465,16271,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2344,2178
$GC,16588,1.01,223.1,441.1,10.2,1495,16589,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2344,2178
$GC,16910,1.01,223.1,407.9,10.1,1525,16911,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2343,2178
$GC,17227,1.02,229.2,376.1,9.8,1555,17239,0.00,2.83,7.65,0.910,4,0.000,0.109,3188,3739,2149
$GC,17262,1.02,229.2,372.3,10.4,1558,17267,0.00,2.70,0.00,0.000,6,0.000,0.087,3188,2340,2149
$GC,17593,1.07,273.4,340.2,8.5,1597,17636,0.00,2.92,37.50,0.966,4,0.000,0.107,3188,3739,1970
$GC,17659,1.07,273.4,333.3,11.7,1609,17665,0.00,2.72,0.00,0.000,6,0.000,0.087,3188,2340,1967
$GC,18002,1.07,273.4,297.6,10.4,1670,18007,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2341,1965
$GC,18345,1.08,279.3,262.1,9.8,1731,18357,0.00,2.83,6.03,0.798,4,0.000,0.106,3188,3739,1944
$GC,18397,1.08,279.3,256.5,10.8,1740,18403,0.00,2.65,0.00,0.000,6,0.000,0.084,3188,2354,1944
$GC,18741,1.08,279.3,219.8,11.3,1801,18746,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2355,1944
$GC,19084,1.08,279.3,179.5,11.3,1862,19089,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2355,1943
$GC,19427,1.08,279.3,139.6,11.5,1923,19432,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2355,1943
$GC,19769,1.08,279.3,102.7,10.9,1984,19775,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2355,1943
$GC,20113,1.09,285.7,66.3,9.8,2045,20126,0.00,2.75,6.78,0.734,4,0.000,0.104,3188,3738,1919
$GC,20155,1.09,285.7,61.6,11.6,2052,20162,0.00,2.65,0.00,0.000,6,0.000,0.083,3188,2347,1919
$GC,20500,1.09,285.7,24.7,11.5,2113,20505,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2348,1918
$GC,20641,1.10,295.3,9.7,9.7,2138,20654,0.00,0.00,9.62,0.749,6,0.000,0.000,3188,2348,1880
$STATE,20714,end climb,SURFACE_DEPTH_REACHED
$STATE,20714,begin surface coast
$FINISH,0.3,1.027778
$STATE,20733,end surface coast,CONTROL_FINISHED_OK
$STATE,20733,begin surface
$SM_CCo,20814,0.00,0.000,0,0,1875,296.81
$SM_GC,0.77,11.52,0.00,0.00,0.049,0.000,0.000,592,2235,1875,-10.85,0.00,296.81
$IRIDIUM_FIX,6046.07,-2617.97,030897,070733
$TT8_MAMPS,0.02301
$HUMID,1623
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,126
$24V_AH,23.4,36.453
$10V_AH,10.7,28.141
$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,26.750,116.975,422.250,0.000,0.000,30.654,30.923,244.431,31.500,0.000,0.000,11.669,3328.567,13126.779,606.899,3530.392,646.162,0.000,2209.729,0.000,3517.917,0.000,0.467
$DEVICE_MAMPS,186.381,134.225,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1499.630,1589.258,1030.102,620.396,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122959,2154
$CAP_FILE_SIZE,181392,0
$CFSIZE,260165632,241418240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,090508,185207,6111.577,-2631.237,29,1.0,29,-18.5