version: 66.03
glider: 140
mission: 5
dive: 204
start: 5 22 108 1 26 2
data:
$ID,140
$MISSION,5
$DIVE,204
$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,300
$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,-17146.066
$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
$GPS1,011725,6126.446,-2538.525,28,1.3,45,-18.2
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-54.8
$GPS2,012544,6126.467,-2538.630,10,1.5,15,-18.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6131.867,-2543.088
$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,318.2,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.38,0.000,2,0.000,0.000,586,2223,3514
$GC,98,-1.29,-194.7,3.5,-5.8,12,128,12.25,2.80,-7.85,0.000,4,0.183,0.110,2670,3643,3881
$GC,325,-1.29,-194.7,33.5,-14.9,52,331,0.00,2.65,0.00,0.000,6,0.000,0.081,2669,2230,3883
$GC,467,-1.29,-194.7,51.6,-11.1,77,473,0.00,2.70,0.00,0.000,4,0.000,0.099,2669,824,3883
$GC,503,-1.29,-194.7,55.5,-11.0,83,509,0.00,2.65,0.00,0.000,6,0.000,0.086,2670,2226,3883
$GC,847,-1.29,-194.7,88.1,-10.0,144,853,0.00,2.70,0.00,0.000,4,0.000,0.099,2670,824,3882
$GC,911,-1.29,-194.7,94.6,-10.2,155,917,0.00,2.65,0.00,0.000,6,0.000,0.086,2669,2229,3883
$GC,1255,-1.29,-194.7,128.3,-9.4,216,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,1599,-1.29,-194.7,160.9,-9.0,277,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3883
$GC,1944,-1.29,-194.7,193.6,-9.3,338,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,2287,-1.29,-194.7,227.9,-10.5,399,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3883
$GC,2629,-1.29,-194.7,265.4,-10.6,460,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,2973,-1.29,-194.7,300.4,-9.4,521,2978,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,3315,-1.29,-194.7,334.2,-10.2,582,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,3654,-1.29,-194.7,366.3,-9.0,628,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3882
$GC,3973,-1.29,-194.7,396.2,-9.2,658,3974,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3883
$GC,4293,-1.29,-194.7,425.3,-9.6,688,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3882
$GC,4610,-1.29,-194.7,456.6,-10.1,718,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,4928,-1.29,-194.7,488.6,-9.7,748,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3883
$GC,5247,-1.29,-194.7,517.1,-8.8,778,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3883
$GC,5565,-1.29,-194.7,544.5,-8.3,808,5570,0.00,2.80,0.00,0.000,4,0.000,0.114,2670,3649,3882
$GC,5598,-1.29,-194.7,547.5,-9.1,810,5605,0.00,2.70,0.00,0.000,6,0.000,0.092,2670,2227,3882
$GC,5925,-1.29,-194.7,574.5,-8.2,841,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,6242,-1.29,-194.7,600.1,-7.7,871,6243,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3882
$GC,6550,-1.29,-194.7,624.3,-7.9,886,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,6860,-1.29,-194.7,648.5,-8.0,901,6865,0.00,2.83,0.00,0.000,4,0.000,0.117,2670,3644,3881
$GC,6887,-1.29,-194.7,650.8,-8.1,902,6891,0.00,2.72,0.00,0.000,6,0.000,0.095,2669,2221,3881
$GC,7203,-1.29,-194.7,674.1,-7.3,917,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2221,3881
$GC,7512,-1.29,-194.7,698.1,-8.4,932,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2221,3881
$GC,7822,-1.29,-194.7,725.5,-8.6,947,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2221,3881
$GC,8130,-1.29,-194.7,750.7,-8.1,962,8135,0.00,2.88,0.00,0.000,4,0.000,0.122,2670,3647,3881
$GC,8174,-1.29,-194.7,754.5,-8.7,964,8178,0.00,2.72,0.00,0.000,6,0.000,0.100,2669,2237,3880
$GC,8495,-1.29,-194.7,779.8,-7.9,980,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3880
$GC,8804,-1.29,-194.7,803.8,-7.8,995,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3880
$GC,9113,-1.29,-194.7,827.7,-7.7,1010,9118,0.00,2.90,0.00,0.000,4,0.000,0.134,2669,825,3879
$GC,9153,-1.29,-194.7,831.0,-8.8,1012,9157,0.00,2.78,0.00,0.000,6,0.000,0.110,2670,2235,3879
$GC,9479,-1.29,-194.7,858.4,-7.8,1028,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3879
$GC,9789,-1.29,-194.7,881.0,-7.6,1043,9790,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3879
$GC,10097,-1.29,-194.7,906.0,-7.8,1058,10102,0.00,2.90,0.00,0.000,4,0.000,0.135,2670,3646,3879
$GC,10137,-1.29,-194.7,909.2,-8.2,1060,10141,0.00,2.78,0.00,0.000,6,0.000,0.105,2669,2223,3879
$GC,10463,-1.29,-194.7,933.7,-7.6,1076,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3878
$GC,10772,-1.29,-194.7,958.7,-8.2,1091,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3878
$GC,11081,-1.29,-194.7,984.6,-8.5,1106,11086,0.00,2.92,0.00,0.000,4,0.000,0.130,2670,3649,3878
$GC,11125,-1.29,-194.7,988.7,-9.9,1108,11130,0.00,2.80,0.00,0.000,6,0.000,0.109,2669,2227,3878
$STATE,11154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11154,begin apogee
$GC,11161,-0.35,0.0,991.4,9.1,1110,11330,1.05,0.00,165.45,1.424,6,0.103,0.000,2880,2338,3085
$STATE,11331,end apogee,CONTROL_FINISHED_OK
$STATE,11331,begin climb
$GC,11333,1.29,194.7,998.9,0.0,1118,11501,1.62,0.00,163.48,1.389,6,0.059,0.000,3247,2338,2291
$GC,11811,1.19,194.7,951.5,12.7,1142,11816,0.15,2.95,0.00,0.000,4,0.116,0.131,3217,3736,2288
$GC,11844,1.09,194.7,947.0,12.3,1143,11850,0.00,2.83,0.00,0.000,6,0.000,0.107,3217,2330,2288
$GC,12160,1.04,194.7,910.1,12.2,1159,12165,0.15,2.95,0.00,0.000,4,0.113,0.137,3186,918,2288
$GC,12199,1.04,194.7,905.4,11.3,1161,12204,0.00,2.80,0.00,0.000,6,0.000,0.109,3186,2328,2288
$GC,12526,1.04,194.7,869.6,10.9,1177,12530,0.00,2.95,0.00,0.000,4,0.000,0.133,3186,3739,2287
$GC,12566,0.99,194.7,865.0,12.0,1179,12570,0.00,2.83,0.00,0.000,6,0.000,0.104,3185,2324,2287
$GC,12892,0.99,194.7,830.5,10.5,1195,12897,0.00,2.92,0.00,0.000,4,0.000,0.123,3185,3738,2287
$GC,12936,0.93,194.7,825.5,10.8,1197,12941,0.12,2.78,0.00,0.000,6,0.115,0.103,3163,2337,2286
$GC,13258,0.96,220.3,795.6,9.1,1213,13287,0.00,3.03,22.42,1.271,4,0.000,0.130,3163,915,2187
$GC,13332,0.96,220.3,788.1,10.4,1216,13336,0.00,2.80,0.00,0.000,6,0.000,0.107,3163,2332,2186
$GC,13654,0.99,247.1,758.2,9.1,1232,13680,0.00,0.00,24.38,1.239,6,0.000,0.000,3163,2332,2077
$GC,13983,0.99,247.1,724.5,10.5,1248,13984,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2332,2074
$GC,14292,0.99,247.1,689.8,11.5,1263,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2332,2073
$GC,14601,0.99,247.1,656.0,10.6,1278,14606,0.00,2.83,0.00,0.000,4,0.000,0.114,3163,910,2073
$GC,14635,1.05,248.6,652.3,9.9,1279,14641,0.10,2.78,0.00,0.000,6,0.071,0.100,3190,2338,2073
$GC,14950,1.05,248.6,617.1,10.7,1295,14951,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,2073
$GC,15264,1.06,255.0,585.3,9.8,1317,15274,0.00,0.00,7.85,1.045,6,0.000,0.000,3190,2338,2045
$GC,15593,1.06,255.0,551.1,10.5,1348,15594,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,2044
$GC,15912,1.07,268.4,519.1,9.5,1378,15930,0.00,0.00,13.07,1.065,6,0.000,0.000,3190,2338,1989
$GC,16250,1.07,268.4,483.5,11.4,1410,16251,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,1988
$GC,16568,1.07,268.4,445.7,12.0,1440,16569,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,1987
$GC,16886,1.07,268.4,408.8,11.3,1470,16887,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,1987
$GC,17205,1.07,268.4,372.8,11.2,1500,17206,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,1987
$GC,17531,1.07,268.4,335.9,10.9,1541,17537,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,1987
$GC,17874,1.07,268.4,296.0,11.8,1602,17880,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2338,1987
$GC,18217,1.07,268.4,256.0,12.8,1663,18222,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,1987
$GC,18559,1.07,268.4,216.2,11.2,1724,18564,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,1987
$GC,18902,1.07,268.4,174.8,11.8,1785,18907,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,1987
$GC,19245,1.07,268.4,133.6,11.9,1846,19250,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,1988
$GC,19588,1.07,268.4,95.8,10.7,1907,19593,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2338,1988
$GC,19930,1.10,291.1,61.5,9.2,1968,19953,0.00,0.00,19.95,0.797,6,0.000,0.000,3190,2338,1897
$GC,20290,1.10,291.1,24.2,11.3,2032,20297,0.00,2.75,0.00,0.000,4,0.000,0.098,3190,915,1896
$GC,20337,1.10,291.1,19.3,10.6,2040,20344,0.00,2.65,0.00,0.000,6,0.000,0.085,3190,2327,1896
$GC,20480,1.10,291.1,3.6,14.1,2065,20486,0.00,2.72,0.00,0.000,4,0.000,0.100,3190,3735,1894
$STATE,20496,end climb,SURFACE_DEPTH_REACHED
$STATE,20496,begin surface coast
$FINISH,0.2,1.014387
$STATE,20509,end surface coast,CONTROL_FINISHED_OK
$STATE,20509,begin surface
$SM_CCo,20593,0.00,0.000,0,0,1892,292.64
$SM_GC,0.90,11.43,0.00,0.00,0.044,0.000,0.000,586,2224,1892,-10.86,-0.31,292.64
$IRIDIUM_FIX,6103.81,-2529.54,150897,191933
$TT8_MAMPS,0.02301
$HUMID,1653
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.80
$XPDR_PINGS,95
$24V_AH,23.3,46.065
$10V_AH,10.7,36.802
$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,26.875,95.550,416.600,0.000,0.000,27.642,33.415,289.133,23.750,0.000,0.000,15.414,3222.536,12962.901,583.293,3595.124,705.711,0.000,2112.360,0.000,3587.799,0.000,0.467
$DEVICE_MAMPS,183.313,136.526,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1438.515,1543.750,1821.499,577.795,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123322,2070
$CAP_FILE_SIZE,172983,0
$CFSIZE,260165632,236404736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,220508,071031,6127.247,-2546.298,35,1.5,41,-18.3