version: 66.03
glider: 140
mission: 5
dive: 199
start: 5 20 108 20 1 21
data:
$ID,140
$MISSION,5
$DIVE,199
$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,260
$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,-17069.408
$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,13
$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
$GPS1,195232,6121.153,-2509.305,41,1.8,41,-17.9
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-56.3
$GPS2,200103,6121.182,-2509.333,15,1.5,15,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6119.307,-2514.436
$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,277.9,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,90,0.00,0.00,-59.70,0.000,2,0.000,0.000,587,2228,3386
$GC,93,-1.29,-194.7,3.3,-5.9,11,123,12.30,2.75,-11.20,0.000,4,0.185,0.108,2670,3647,3880
$GC,378,-1.29,-194.7,36.0,-9.7,61,385,0.00,2.62,0.00,0.000,6,0.000,0.081,2670,2235,3880
$GC,521,-1.29,-194.7,49.8,-9.8,86,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3880
$GC,663,-1.29,-194.7,62.5,-9.5,111,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,1005,-1.29,-194.7,96.9,-9.9,172,1011,0.00,2.72,0.00,0.000,4,0.000,0.101,2670,823,3881
$GC,1051,-1.29,-194.7,101.6,-10.4,180,1057,0.00,2.62,0.00,0.000,6,0.000,0.084,2670,2222,3881
$GC,1395,-1.29,-194.7,135.5,-9.6,241,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,1738,-1.29,-194.7,169.0,-9.6,302,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,2081,-1.29,-194.7,202.7,-9.5,363,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,2424,-1.29,-194.7,234.2,-9.0,424,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,2768,-1.29,-194.7,263.9,-8.3,485,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,3110,-1.29,-194.7,293.2,-8.3,546,3116,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,3453,-1.29,-194.7,322.3,-8.2,607,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,3796,-1.29,-194.7,351.2,-8.7,667,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,4114,-1.29,-194.7,378.7,-8.7,697,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2222,3881
$GC,4433,-1.29,-194.7,406.8,-9.1,727,4437,0.00,2.78,0.00,0.000,4,0.000,0.110,2670,3642,3881
$GC,4465,-1.29,-194.7,410.0,-9.4,729,4471,0.00,2.70,0.00,0.000,6,0.000,0.087,2670,2211,3881
$GC,4792,-1.29,-194.7,439.2,-9.3,760,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2211,3881
$GC,5110,-1.29,-194.7,469.1,-9.5,790,5114,0.00,2.80,0.00,0.000,4,0.000,0.108,2670,3643,3881
$GC,5137,-1.29,-194.7,472.0,-10.3,792,5142,0.00,2.70,0.00,0.000,6,0.000,0.090,2670,2217,3881
$GC,5463,-1.29,-194.7,502.9,-9.4,822,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3881
$GC,5780,-1.29,-194.7,532.7,-9.3,852,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3880
$GC,6101,-1.29,-194.7,562.6,-9.5,882,6102,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3880
$GC,6417,-1.29,-194.7,593.8,-10.0,912,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3880
$GC,6740,-1.29,-194.7,623.8,-9.1,931,6741,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2217,3880
$GC,7048,-1.29,-194.7,651.3,-9.0,946,7053,0.00,2.85,0.00,0.000,4,0.000,0.117,2670,3648,3880
$GC,7081,-1.29,-194.7,654.4,-10.0,947,7087,0.00,2.75,0.00,0.000,6,0.000,0.095,2670,2211,3880
$GC,7397,-1.29,-194.7,682.6,-8.8,963,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2212,3880
$GC,7705,-1.29,-194.7,709.5,-8.8,978,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2212,3880
$GC,8015,-1.29,-194.7,735.6,-8.3,993,8020,0.00,2.88,0.00,0.000,4,0.000,0.122,2670,3642,3879
$GC,8065,-1.29,-194.7,740.1,-8.9,995,8069,0.00,2.72,0.00,0.000,6,0.000,0.099,2670,2220,3879
$GC,8380,-1.29,-194.7,765.6,-8.0,1010,8381,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2220,3879
$GC,8690,-1.29,-194.7,789.6,-7.5,1025,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2220,3879
$GC,8999,-1.29,-194.7,812.6,-7.4,1040,9003,0.00,2.88,0.00,0.000,4,0.000,0.124,2670,3642,3878
$GC,9031,-1.29,-194.7,815.2,-8.1,1041,9037,0.00,2.72,0.00,0.000,6,0.000,0.101,2670,2234,3878
$GC,9348,-1.29,-194.7,839.4,-7.9,1057,9349,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3878
$GC,9656,-1.29,-194.7,864.7,-8.2,1072,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3878
$GC,9966,-1.29,-194.7,890.7,-8.4,1087,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3878
$GC,10275,-1.29,-194.7,916.2,-8.4,1102,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3877
$GC,10584,-1.29,-194.7,942.1,-7.9,1117,10588,0.00,2.88,0.00,0.000,4,0.000,0.129,2670,3641,3877
$GC,10633,-1.29,-194.7,946.4,-8.7,1119,10637,0.00,2.75,0.00,0.000,6,0.000,0.106,2670,2236,3876
$GC,10949,-1.29,-194.7,971.8,-7.9,1134,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3876
$STATE,11193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11193,begin apogee
$GC,11199,-0.35,0.0,991.0,7.6,1146,11368,1.02,0.00,165.20,1.422,6,0.097,0.000,2878,2325,3085
$STATE,11369,end apogee,CONTROL_FINISHED_OK
$STATE,11369,begin climb
$GC,11371,1.29,194.7,996.3,0.0,1154,11544,1.62,3.08,162.38,1.382,4,0.060,0.141,3237,918,2291
$GC,11567,1.21,194.7,981.7,13.1,1163,11573,0.00,2.85,0.00,0.000,6,0.000,0.111,3237,2332,2290
$GC,11883,1.12,194.7,939.8,13.4,1179,11888,0.17,2.97,0.00,0.000,4,0.111,0.133,3204,3738,2288
$GC,11922,1.04,194.7,934.4,12.9,1181,11927,0.00,2.83,0.00,0.000,6,0.000,0.107,3203,2336,2288
$GC,12249,0.99,194.7,896.9,11.1,1197,12254,0.12,2.92,0.00,0.000,4,0.115,0.127,3180,3738,2288
$GC,12282,0.95,194.7,893.1,10.9,1198,12289,0.00,2.83,0.00,0.000,6,0.000,0.105,3180,2328,2288
$GC,12598,0.96,199.7,862.1,9.8,1214,12609,0.00,2.97,5.55,1.032,4,0.000,0.137,3180,918,2270
$GC,12631,0.97,213.0,858.5,9.5,1215,12651,0.00,2.80,13.23,1.237,6,0.000,0.107,3180,2332,2216
$GC,12969,0.97,213.0,823.2,10.7,1232,12970,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2331,2214
$GC,13277,0.97,213.0,791.0,10.3,1247,13282,0.00,2.92,0.00,0.000,4,0.000,0.130,3180,3738,2214
$GC,13304,0.97,213.0,787.9,11.4,1248,13308,0.00,2.78,0.00,0.000,6,0.000,0.101,3179,2331,2214
$GC,13620,0.97,213.0,756.1,10.2,1263,13625,0.00,2.88,0.00,0.000,4,0.000,0.128,3179,918,2213
$GC,13652,0.97,213.0,752.4,10.4,1264,13659,0.00,2.75,0.00,0.000,6,0.000,0.104,3179,2326,2214
$GC,13968,0.97,213.0,719.6,10.4,1280,13969,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2326,2213
$GC,14278,0.98,222.3,689.2,9.7,1295,14289,0.00,0.00,9.35,1.144,6,0.000,0.000,3179,2326,2178
$GC,14587,0.98,223.6,658.5,10.0,1310,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2326,2177
$GC,14896,0.98,223.6,626.1,10.5,1325,14897,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2326,2177
$GC,15207,0.98,223.6,593.4,10.6,1343,15211,0.00,2.80,0.00,0.000,4,0.000,0.112,3179,914,2177
$GC,15250,0.98,223.6,588.6,10.1,1346,15257,0.00,2.75,0.00,0.000,6,0.000,0.099,3180,2336,2177
$GC,15579,0.99,226.3,556.5,9.9,1377,15586,0.00,0.00,4.97,0.871,6,0.000,0.000,3179,2336,2162
$GC,15904,1.02,250.4,526.1,9.2,1408,15927,0.00,0.00,21.70,1.083,6,0.000,0.000,3180,2336,2064
$GC,16242,1.05,276.2,495.1,9.1,1440,16274,0.00,2.92,23.20,1.058,4,0.000,0.109,3179,915,1957
$GC,16298,1.09,278.8,489.8,9.9,1445,16303,0.00,2.78,0.00,0.000,6,0.000,0.097,3180,2335,1956
$GC,16623,1.10,285.4,458.7,9.8,1475,16634,0.00,0.00,9.00,0.977,6,0.000,0.000,3179,2335,1921
$GC,16951,1.10,285.4,424.3,10.6,1506,16956,0.00,2.80,0.00,0.000,4,0.000,0.107,3180,912,1919
$GC,16993,1.15,285.4,420.0,11.3,1509,16998,0.12,2.72,0.00,0.000,6,0.063,0.094,3212,2329,1919
$GC,17317,1.15,285.4,378.1,12.6,1539,17322,0.00,2.80,0.00,0.000,4,0.000,0.109,3213,3737,1919
$GC,17348,1.11,285.4,374.4,12.8,1541,17352,0.00,2.72,0.00,0.000,6,0.000,0.087,3213,2320,1918
$GC,17679,1.11,285.4,332.2,12.9,1583,17684,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2320,1918
$GC,18021,1.11,285.4,288.5,11.8,1644,18027,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2319,1918
$GC,18364,1.11,285.4,245.5,11.9,1705,18370,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2319,1919
$GC,18707,1.11,285.4,203.1,11.9,1766,18713,0.00,2.72,0.00,0.000,4,0.000,0.104,3213,910,1918
$GC,18730,1.11,285.4,200.1,13.6,1770,18737,0.00,2.67,0.00,0.000,6,0.000,0.088,3213,2325,1919
$GC,19075,1.11,285.4,156.3,11.8,1831,19080,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2325,1918
$GC,19417,1.11,285.4,112.9,14.3,1892,19423,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2325,1918
$GC,19763,1.11,285.4,68.3,15.3,1953,19768,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2325,1919
$GC,20106,1.11,285.4,20.0,15.6,2014,20111,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2325,1919
$STATE,20239,end climb,SURFACE_DEPTH_REACHED
$STATE,20239,begin surface coast
$FINISH,0.6,1.027736
$STATE,20252,end surface coast,CONTROL_FINISHED_OK
$STATE,20253,begin surface
$SM_CCo,20334,0.00,0.000,0,0,1916,286.51
$SM_GC,0.93,11.45,0.00,0.00,0.043,0.000,0.000,588,2229,1916,-10.85,-0.17,286.51
$IRIDIUM_FIX,6050.49,-2513.97,140897,141429
$TT8_MAMPS,0.022243
$HUMID,1653
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.10
$XPDR_PINGS,111
$24V_AH,23.4,45.116
$10V_AH,10.7,35.939
$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,26.825,106.800,414.575,0.000,0.000,26.433,39.111,298.212,27.750,0.000,0.000,15.083,3189.548,12764.405,553.315,3587.542,730.098,0.000,2113.391,0.000,3577.166,0.000,0.468
$DEVICE_MAMPS,184.847,144.196,1422.018,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1417.029,1528.828,1795.711,559.907,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120175,2040
$CAP_FILE_SIZE,175841,0
$CFSIZE,260165632,236883968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210508,014131,6120.709,-2513.159,35,1.4,41,-17.9