version: 66.03
glider: 140
mission: 5
dive: 209
start: 5 23 108 7 6 51
data:
$ID,140
$MISSION,5
$DIVE,209
$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,350
$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,-17224.908
$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,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
$GPS1,065837,6136.151,-2611.710,38,1.8,50,-18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.3
$GPS2,070633,6136.183,-2611.937,17,1.4,17,-18.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6146.817,-2612.824
$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,8.6,20000,-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,-60.17,0.000,2,0.000,0.000,588,2226,3334
$GC,92,-1.29,-194.7,3.0,-6.4,11,128,12.32,2.80,-13.65,0.000,4,0.186,0.111,2669,3642,3881
$GC,280,-1.29,-194.7,23.5,-10.1,44,286,0.00,2.62,0.00,0.000,6,0.000,0.081,2669,2235,3882
$GC,422,-1.29,-194.7,38.0,-10.3,69,429,0.00,2.72,0.00,0.000,4,0.000,0.099,2669,824,3882
$GC,452,-1.29,-194.7,41.1,-10.9,74,458,0.00,2.65,0.00,0.000,6,0.000,0.084,2669,2228,3882
$GC,594,-1.29,-194.7,54.8,-9.5,99,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,937,-1.29,-194.7,84.7,-9.2,160,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,1281,-1.29,-194.7,115.7,-9.1,221,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,1624,-1.29,-194.7,146.2,-8.4,282,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,1967,-1.29,-194.7,173.7,-8.7,343,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,2310,-1.29,-194.7,203.8,-9.2,404,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,2653,-1.29,-194.7,235.6,-8.9,465,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,2996,-1.29,-194.7,265.0,-8.3,526,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,3340,-1.29,-194.7,294.4,-8.6,587,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,3683,-1.29,-194.7,326.0,-8.8,648,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,4027,-1.29,-194.7,356.9,-8.7,703,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,4346,-1.29,-194.7,382.7,-7.4,733,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,4665,-1.29,-194.7,406.5,-7.7,763,4666,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,4983,-1.29,-194.7,431.8,-8.1,793,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,5302,-1.29,-194.7,459.7,-9.4,823,5303,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,5620,-1.29,-194.7,492.0,-10.3,853,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3882
$GC,5939,-1.29,-194.7,524.3,-9.7,883,5944,0.00,2.80,0.00,0.000,4,0.000,0.114,2669,3645,3882
$GC,5960,-1.29,-194.7,526.6,-9.7,884,5967,0.00,2.70,0.00,0.000,6,0.000,0.091,2669,2221,3882
$GC,6287,-1.29,-194.7,556.0,-9.2,915,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2221,3882
$GC,6605,-1.29,-194.7,584.7,-9.4,945,6610,0.00,2.83,0.00,0.000,4,0.000,0.115,2669,3645,3881
$GC,6635,-1.29,-194.7,587.7,-10.2,947,6639,0.00,2.70,0.00,0.000,6,0.000,0.092,2669,2226,3881
$GC,6954,-1.29,-194.7,619.0,-9.6,968,6955,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3881
$GC,7263,-1.29,-194.7,648.8,-9.6,983,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3881
$GC,7572,-1.29,-194.7,677.8,-9.1,998,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3881
$GC,7882,-1.29,-194.7,703.9,-8.0,1013,7887,0.00,2.85,0.00,0.000,4,0.000,0.121,2669,3643,3880
$GC,7932,-1.29,-194.7,708.1,-8.5,1015,7936,0.00,2.72,0.00,0.000,6,0.000,0.099,2669,2225,3881
$GC,8248,-1.29,-194.7,729.8,-6.6,1030,8252,0.00,2.85,0.00,0.000,4,0.000,0.119,2669,3647,3880
$GC,8287,-1.29,-194.7,732.5,-7.1,1032,8291,0.00,2.72,0.00,0.000,6,0.000,0.098,2669,2234,3880
$GC,8613,-1.29,-194.7,755.5,-7.8,1048,8614,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,8923,-1.29,-194.7,783.4,-9.6,1063,8927,0.00,2.85,0.00,0.000,4,0.000,0.123,2669,3642,3880
$GC,8949,-1.29,-194.7,786.2,-10.7,1064,8954,0.00,2.72,0.00,0.000,6,0.000,0.100,2669,2234,3879
$GC,9266,-1.29,-194.7,815.5,-8.9,1079,9267,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,9575,-1.29,-194.7,839.9,-7.4,1094,9579,0.00,2.88,0.00,0.000,4,0.000,0.126,2668,3646,3879
$GC,9618,-1.29,-194.7,843.2,-7.5,1096,9623,0.00,2.75,0.00,0.000,6,0.000,0.104,2669,2238,3879
$GC,9939,-1.29,-194.7,867.2,-7.4,1112,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3879
$GC,10249,-1.29,-194.7,890.6,-7.6,1127,10250,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3878
$GC,10557,-1.29,-194.7,913.8,-7.4,1142,10562,0.00,2.88,0.00,0.000,4,0.000,0.129,2669,3643,3878
$GC,10579,-1.29,-194.7,915.5,-8.1,1143,10583,0.00,2.72,0.00,0.000,6,0.000,0.105,2669,2244,3878
$GC,10900,-1.29,-194.7,941.5,-8.4,1159,10904,0.00,2.88,0.00,0.000,4,0.000,0.129,2669,3648,3878
$GC,10926,-1.29,-194.7,943.9,-9.1,1160,10931,0.00,2.75,0.00,0.000,6,0.000,0.106,2669,2243,3877
$GC,11242,-1.29,-194.7,968.7,-7.4,1175,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2243,3877
$STATE,11507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11507,begin apogee
$GC,11514,-0.35,0.0,990.7,8.9,1188,11683,1.02,0.00,165.82,1.418,6,0.099,0.000,2878,2329,3086
$STATE,11684,end apogee,CONTROL_FINISHED_OK
$STATE,11684,begin climb
$GC,11686,1.29,194.7,998.0,0.0,1196,11860,1.62,3.08,162.90,1.388,4,0.058,0.140,3237,917,2291
$GC,11889,1.21,194.7,985.3,11.5,1206,11894,0.00,2.85,0.00,0.000,6,0.000,0.113,3237,2327,2289
$GC,12215,1.13,194.7,943.1,13.9,1222,12221,0.15,3.00,0.00,0.000,4,0.114,0.134,3207,3739,2288
$GC,12280,1.05,194.7,934.5,14.4,1225,12284,0.00,2.85,0.00,0.000,6,0.000,0.107,3207,2330,2287
$GC,12606,1.01,194.7,891.6,13.1,1241,12608,0.12,0.00,0.00,0.000,6,0.116,0.000,3183,2331,2287
$GC,12915,1.01,194.7,858.2,10.2,1256,12916,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2331,2287
$GC,13225,1.04,221.0,829.5,9.1,1271,13250,0.00,0.00,23.42,1.282,6,0.000,0.000,3183,2331,2182
$GC,13554,1.04,221.0,794.4,11.2,1287,13558,0.00,2.92,0.00,0.000,4,0.000,0.123,3183,3739,2181
$GC,13615,1.04,221.0,787.0,12.0,1290,13619,0.00,2.80,0.00,0.000,6,0.000,0.104,3184,2340,2181
$GC,13941,1.04,221.0,752.0,10.5,1306,13946,0.00,2.92,0.00,0.000,4,0.000,0.129,3183,914,2181
$GC,13980,1.04,221.0,747.6,11.2,1308,13984,0.00,2.83,0.00,0.000,6,0.000,0.105,3183,2345,2180
$GC,14306,1.06,231.6,715.1,9.6,1324,14322,0.00,2.95,10.55,1.177,4,0.000,0.127,3184,3739,2139
$GC,14360,1.06,231.6,709.2,10.9,1325,14367,0.00,2.78,0.00,0.000,6,0.000,0.098,3184,2333,2139
$GC,14677,1.06,231.6,676.6,10.5,1341,14678,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2333,2138
$GC,14986,1.06,231.6,644.7,10.1,1356,14987,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2333,2138
$GC,15295,1.07,245.9,614.9,9.5,1371,15317,0.00,2.95,13.32,1.134,4,0.000,0.115,3183,3735,2081
$GC,15340,1.07,247.3,610.3,10.0,1373,15345,0.00,2.75,0.00,0.000,6,0.000,0.093,3183,2337,2080
$GC,15664,1.07,247.3,577.5,10.2,1398,15665,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2337,2080
$GC,15980,1.07,247.3,542.9,11.1,1428,15985,0.00,2.83,0.00,0.000,4,0.000,0.111,3183,3739,2080
$GC,16022,1.07,247.3,538.3,11.9,1431,16026,0.00,2.70,0.00,0.000,6,0.000,0.090,3183,2350,2080
$GC,16348,1.07,247.3,500.9,11.0,1461,16352,0.00,2.83,0.00,0.000,4,0.000,0.114,3183,919,2080
$GC,16391,1.07,247.3,495.8,11.0,1464,16398,0.00,2.78,0.00,0.000,6,0.000,0.096,3183,2359,2080
$GC,16719,1.07,247.3,462.3,10.6,1495,16725,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2358,2080
$GC,17046,1.08,249.1,429.3,9.9,1526,17055,0.00,0.00,4.32,0.752,6,0.000,0.000,3183,2359,2069
$GC,17375,1.08,249.1,395.3,10.7,1557,17379,0.00,2.85,0.00,0.000,4,0.000,0.108,3183,915,2068
$GC,17407,1.08,249.1,391.5,10.7,1559,17413,0.00,2.75,0.00,0.000,6,0.000,0.094,3183,2350,2068
$GC,17733,1.08,249.1,357.4,10.9,1590,17734,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2350,2069
$GC,18065,1.08,249.1,321.8,10.7,1643,18070,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2350,2069
$GC,18407,1.08,249.1,284.4,11.4,1704,18412,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2350,2069
$GC,18751,1.12,285.2,249.7,8.7,1765,18788,0.00,0.00,31.67,0.908,6,0.000,0.000,3183,2350,1921
$GC,19126,1.13,296.4,213.1,9.6,1832,19144,0.10,2.85,10.75,0.853,4,0.070,0.104,3210,918,1875
$GC,19179,1.13,296.4,207.1,11.4,1841,19185,0.00,2.75,0.00,0.000,6,0.000,0.090,3210,2352,1874
$GC,19522,1.13,296.4,168.2,12.2,1902,19528,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2352,1873
$GC,19865,1.13,296.4,127.5,13.1,1963,19870,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2352,1873
$GC,20207,1.13,296.4,86.3,10.2,2024,20213,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2352,1872
$GC,20551,1.13,296.4,46.0,12.3,2085,20556,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2352,1872
$GC,20692,1.13,296.4,28.5,13.7,2110,20699,0.00,2.75,0.00,0.000,4,0.000,0.098,3210,918,1873
$GC,20733,1.13,296.4,23.1,12.5,2117,20740,0.00,2.67,0.00,0.000,6,0.000,0.084,3210,2344,1873
$GC,20877,1.13,296.4,5.4,11.4,2142,20883,0.00,2.70,0.00,0.000,4,0.000,0.102,3210,3736,1872
$GC,20901,1.13,296.4,2.2,12.9,2146,20908,0.00,2.67,0.00,0.000,6,0.000,0.081,3210,2324,1872
$STATE,20912,end climb,SURFACE_DEPTH_REACHED
$STATE,20912,begin surface coast
$FINISH,0.3,1.018150
$STATE,20930,end surface coast,CONTROL_FINISHED_OK
$STATE,20930,begin surface
$SM_CCo,21012,0.00,0.000,0,0,1869,298.04
$SM_GC,1.08,11.50,0.00,0.00,0.044,0.000,0.000,588,2226,1869,-10.85,-0.25,298.04
$IRIDIUM_FIX,6108.28,-2611.69,170897,010100
$TT8_MAMPS,0.02301
$HUMID,1649
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,109
$24V_AH,23.3,46.948
$10V_AH,10.7,37.678
$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,26.850,123.600,422.775,0.000,0.000,29.430,31.433,265.668,27.250,0.000,0.000,17.252,3346.486,13021.269,576.716,3813.059,710.872,0.000,2238.903,0.000,3799.709,0.000,0.467
$DEVICE_MAMPS,185.614,139.594,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1493.426,1602.908,1898.896,604.920,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126115,2151
$CAP_FILE_SIZE,182223,0
$CFSIZE,260165632,235913216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230508,125807,6139.629,-2615.814,29,1.0,29,-18.7