version: 66.03
glider: 140
mission: 5
dive: 200
start: 5 21 108 1 53 56
data:
$ID,140
$MISSION,5
$DIVE,200
$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,-17085.945
$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,14
$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
$GPS1,014131,6120.709,-2513.159,35,1.4,41,-17.9
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.1
$GPS2,015338,6120.775,-2513.188,11,1.5,15,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6118.900,-2518.293
$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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,89,0.00,0.00,-59.97,0.000,2,0.000,0.000,587,2229,3323
$GC,92,-1.29,-194.7,3.0,-7.3,11,128,12.25,2.78,-13.15,0.000,4,0.183,0.109,2671,3642,3880
$GC,381,-1.29,-194.7,36.0,-10.4,62,388,0.00,2.62,0.00,0.000,6,0.000,0.081,2671,2231,3881
$GC,523,-1.29,-194.7,52.4,-13.2,87,529,0.00,2.72,0.00,0.000,4,0.000,0.100,2671,817,3882
$GC,558,-1.29,-194.7,56.1,-10.4,93,564,0.00,2.67,0.00,0.000,6,0.000,0.084,2671,2238,3881
$GC,902,-1.29,-194.7,88.7,-8.9,154,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3881
$GC,1245,-1.29,-194.7,117.1,-8.9,215,1251,0.00,2.72,0.00,0.000,4,0.000,0.100,2671,825,3882
$GC,1303,-1.29,-194.7,122.6,-9.3,225,1310,0.00,2.62,0.00,0.000,6,0.000,0.087,2671,2223,3882
$GC,1649,-1.29,-194.7,153.6,-9.0,286,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3882
$GC,1992,-1.29,-194.7,184.0,-8.5,347,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3882
$GC,2334,-1.29,-194.7,214.6,-8.6,408,2341,0.00,2.75,0.00,0.000,4,0.000,0.107,2671,818,3882
$GC,2370,-1.29,-194.7,217.7,-8.9,414,2376,0.00,2.65,0.00,0.000,6,0.000,0.090,2671,2218,3882
$GC,2714,-1.29,-194.7,248.3,-8.6,475,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,3056,-1.29,-194.7,278.1,-8.5,536,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,3399,-1.29,-194.7,307.9,-8.7,597,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,3741,-1.29,-194.7,337.7,-8.5,658,3747,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,4080,-1.29,-194.7,366.5,-8.5,702,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3882
$GC,4398,-1.29,-194.7,393.0,-8.2,732,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,4717,-1.29,-194.7,419.6,-8.4,762,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,5035,-1.29,-194.7,446.1,-8.5,792,5036,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,5354,-1.29,-194.7,472.7,-8.3,822,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2218,3881
$GC,5672,-1.29,-194.7,500.9,-9.4,852,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3881
$GC,5991,-1.29,-194.7,529.9,-9.0,882,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3881
$GC,6309,-1.29,-194.7,558.4,-8.9,912,6310,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3881
$GC,6628,-1.29,-194.7,586.8,-9.2,942,6629,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3881
$GC,6941,-1.29,-194.7,615.1,-8.8,964,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3881
$GC,7251,-1.29,-194.7,642.5,-9.0,979,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3881
$GC,7560,-1.29,-194.7,670.4,-9.0,994,7561,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3880
$GC,7870,-1.29,-194.7,696.8,-8.3,1009,7874,0.00,2.85,0.00,0.000,4,0.000,0.121,2671,3645,3880
$GC,7902,-1.29,-194.7,699.8,-9.2,1010,7908,0.00,2.72,0.00,0.000,6,0.000,0.096,2671,2219,3880
$GC,8218,-1.29,-194.7,725.5,-8.1,1026,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3880
$GC,8527,-1.29,-194.7,750.8,-8.1,1041,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3880
$GC,8836,-1.29,-194.7,777.3,-8.7,1056,8840,0.00,2.88,0.00,0.000,4,0.000,0.122,2671,3646,3879
$GC,8875,-1.29,-194.7,780.9,-9.6,1058,8880,0.00,2.75,0.00,0.000,6,0.000,0.100,2671,2223,3880
$GC,9201,-1.29,-194.7,809.6,-8.9,1074,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3879
$GC,9512,-1.29,-194.7,838.5,-9.6,1089,9513,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3879
$GC,9820,-1.29,-194.7,868.1,-9.5,1104,9821,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2224,3879
$GC,10130,-1.29,-194.7,897.0,-9.3,1119,10134,0.00,2.90,0.00,0.000,4,0.000,0.128,2670,3645,3878
$GC,10170,-1.29,-194.7,900.6,-10.2,1121,10174,0.00,2.78,0.00,0.000,6,0.000,0.105,2671,2226,3879
$GC,10496,-1.29,-194.7,929.1,-8.4,1137,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3878
$GC,10805,-1.29,-194.7,953.7,-7.9,1152,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3878
$GC,11114,-1.29,-194.7,976.9,-7.4,1167,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3877
$STATE,11297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11297,begin apogee
$GC,11303,-0.35,0.0,990.4,7.3,1176,11472,1.02,0.00,165.23,1.421,6,0.101,0.000,2877,2327,3085
$STATE,11473,end apogee,CONTROL_FINISHED_OK
$STATE,11473,begin climb
$GC,11476,1.29,194.7,995.2,0.0,1184,11647,1.62,3.08,163.68,1.387,4,0.063,0.133,3241,3738,2290
$GC,11670,1.17,194.7,979.7,13.7,1194,11675,0.15,2.88,0.00,0.000,6,0.115,0.108,3216,2330,2288
$GC,11985,1.11,194.7,939.3,12.7,1209,11990,0.00,3.00,0.00,0.000,4,0.000,0.142,3215,913,2288
$GC,12006,1.05,194.7,936.5,12.6,1210,12012,0.12,2.83,0.00,0.000,6,0.111,0.110,3192,2330,2288
$GC,12327,1.05,194.7,900.9,11.1,1226,12328,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2330,2287
$GC,12636,1.05,194.7,865.0,11.3,1241,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2330,2286
$GC,12946,1.05,194.7,831.0,10.9,1256,12950,0.00,2.92,0.00,0.000,4,0.000,0.130,3192,3738,2285
$GC,12978,0.99,194.7,827.2,11.1,1257,12984,0.00,2.80,0.00,0.000,6,0.000,0.103,3192,2326,2285
$GC,13294,0.99,194.7,794.5,10.0,1273,13298,0.00,2.90,0.00,0.000,4,0.000,0.132,3192,912,2285
$GC,13333,0.99,194.7,790.3,11.0,1275,13338,0.00,2.75,0.00,0.000,6,0.000,0.102,3192,2320,2285
$GC,13660,1.00,202.6,758.0,9.7,1291,13674,0.00,3.03,7.57,1.131,4,0.000,0.131,3192,3732,2259
$GC,13697,0.95,206.3,754.2,9.9,1292,13708,0.12,2.80,4.72,0.924,6,0.112,0.099,3170,2319,2244
$GC,14031,0.99,233.5,724.5,9.1,1309,14058,0.00,0.00,24.98,1.225,6,0.000,0.000,3170,2319,2133
$GC,14359,0.99,234.7,691.8,10.0,1325,14360,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2320,2130
$GC,14667,0.99,234.7,660.7,10.3,1340,14668,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2320,2129
$GC,14977,0.99,234.7,628.9,10.2,1355,14979,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2319,2129
$GC,15286,1.01,251.7,599.3,9.4,1370,15306,0.00,0.00,16.60,1.133,6,0.000,0.000,3170,2319,2058
$GC,15627,1.04,274.9,567.8,9.2,1402,15649,0.00,0.00,20.83,1.108,6,0.000,0.000,3169,2319,1964
$GC,15963,1.04,278.3,534.8,9.9,1434,15974,0.00,0.00,4.60,0.818,6,0.000,0.000,3170,2319,1949
$GC,16294,1.04,278.3,501.7,10.3,1465,16299,0.00,2.78,0.00,0.000,4,0.000,0.111,3170,914,1949
$GC,16322,1.09,278.3,498.5,10.2,1467,16328,0.12,2.72,0.00,0.000,6,0.065,0.094,3202,2328,1948
$GC,16647,1.09,278.3,459.9,11.3,1497,16651,0.00,2.83,0.00,0.000,4,0.000,0.111,3202,3738,1948
$GC,16675,1.09,278.3,456.5,11.6,1499,16679,0.00,2.72,0.00,0.000,6,0.000,0.088,3202,2323,1948
$GC,17000,1.09,278.3,418.0,11.8,1529,17004,0.00,2.75,0.00,0.000,4,0.000,0.110,3202,918,1947
$GC,17027,1.09,278.3,414.5,13.9,1531,17032,0.00,2.70,0.00,0.000,6,0.000,0.094,3202,2327,1947
$GC,17352,1.09,278.3,374.5,12.5,1561,17357,0.00,2.80,0.00,0.000,4,0.000,0.110,3202,3737,1947
$GC,17373,1.09,278.3,371.7,12.5,1562,17380,0.00,2.70,0.00,0.000,6,0.000,0.085,3202,2313,1947
$GC,17706,1.09,278.3,329.5,13.6,1607,17711,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2313,1947
$GC,18048,1.09,278.3,285.2,11.8,1668,18054,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2313,1947
$GC,18391,1.09,278.3,241.8,12.2,1729,18396,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2313,1948
$GC,18733,1.09,278.3,200.6,11.1,1790,18738,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2313,1948
$GC,19076,1.09,278.3,159.9,12.0,1851,19081,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2313,1948
$GC,19419,1.09,278.3,116.0,13.5,1912,19424,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2313,1948
$GC,19762,1.09,278.3,72.2,11.0,1973,19767,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2313,1948
$GC,20105,1.09,278.3,32.6,11.7,2034,20111,0.00,2.78,0.00,0.000,4,0.000,0.100,3202,3737,1948
$GC,20135,1.14,313.0,29.9,8.8,2039,20170,0.00,2.67,29.70,0.769,6,0.000,0.081,3202,2319,1808
$GC,20307,1.15,320.2,9.6,9.7,2069,20319,0.00,0.00,7.32,0.696,6,0.000,0.000,3203,2319,1778
$STATE,20369,end climb,SURFACE_DEPTH_REACHED
$STATE,20370,begin surface coast
$FINISH,0.2,1.012286
$STATE,20387,end surface coast,CONTROL_FINISHED_OK
$STATE,20387,begin surface
$SM_CCo,20468,0.00,0.000,0,0,1772,321.83
$SM_GC,0.99,11.48,0.00,0.00,0.042,0.000,0.000,589,2234,1772,-10.86,-0.03,321.83
$IRIDIUM_FIX,6054.92,-2515.65,150897,010134
$TT8_MAMPS,0.02301
$HUMID,1650
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,16.90
$XPDR_PINGS,122
$24V_AH,23.4,45.312
$10V_AH,10.7,36.112
$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,26.900,95.250,445.225,0.000,0.000,60.242,71.236,383.816,30.500,0.000,0.000,15.907,3226.349,12873.995,607.593,3583.157,883.476,0.000,2139.615,0.000,3577.139,0.000,0.468
$DEVICE_MAMPS,183.313,141.895,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1446.770,1562.833,1837.124,584.401,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123018,2083
$CAP_FILE_SIZE,177833,0
$CFSIZE,260165632,236781568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,210508,073625,6120.523,-2518.269,28,1.0,46,-18.0