version: 66.03
glider: 140
mission: 5
dive: 240
start: 5 30 108 1 35 51
data:
$ID,140
$MISSION,5
$DIVE,240
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-17745.23
$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,8
$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
$GPS1,012626,6149.260,-2648.134,42,1.8,42,-19.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-60.8
$GPS2,013527,6149.372,-2648.127,14,1.8,14,-19.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NWentry
$TGT_LATLONG,6148.460,-2643.240
$TGT_RADIUS,2000.000
$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,130.7,4597,-19.4,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.51,-121.4,0.0,0.0,0,89,0.00,0.00,-66.05,0.000,2,0.000,0.000,579,2228,3488
$GC,92,-1.57,-170.9,3.4,-7.3,9,116,12.10,2.83,-6.43,0.000,4,0.186,0.108,2612,3648,3785
$GC,179,-1.57,-170.9,17.7,-12.1,23,186,0.00,2.65,0.00,0.000,6,0.000,0.081,2612,2229,3786
$GC,323,-1.57,-170.9,35.6,-13.0,48,330,0.00,2.72,0.00,0.000,4,0.000,0.098,2611,817,3787
$GC,370,-1.53,-170.9,41.8,-13.3,56,378,0.00,2.60,0.00,0.000,6,0.000,0.083,2611,2202,3786
$GC,514,-1.53,-170.9,60.6,-13.0,81,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2202,3786
$GC,857,-1.53,-170.9,103.9,-11.6,142,864,0.00,2.78,0.00,0.000,4,0.000,0.100,2611,3649,3787
$GC,882,-1.53,-170.9,106.9,-12.2,146,889,0.00,2.78,0.00,0.000,6,0.000,0.084,2611,2171,3787
$GC,1230,-1.53,-170.9,146.2,-12.0,207,1237,0.00,2.65,0.00,0.000,4,0.000,0.104,2611,816,3787
$GC,1260,-1.53,-170.9,150.3,-12.5,212,1268,0.00,2.60,0.00,0.000,6,0.000,0.087,2611,2188,3787
$GC,1606,-1.53,-170.9,190.4,-11.6,273,1613,0.00,2.85,0.00,0.000,4,0.000,0.106,2611,3651,3787
$GC,1642,-1.53,-170.9,194.7,-12.2,279,1649,0.00,2.78,0.00,0.000,6,0.000,0.087,2611,2185,3787
$GC,1988,-1.53,-170.9,234.4,-10.9,340,1995,0.00,2.67,0.00,0.000,4,0.000,0.108,2611,818,3787
$GC,2008,-1.53,-170.9,236.6,-11.0,343,2015,0.00,2.65,0.00,0.000,6,0.000,0.093,2611,2200,3786
$GC,2353,-1.53,-170.9,274.7,-11.1,404,2360,0.00,2.83,0.00,0.000,4,0.000,0.108,2611,3646,3787
$GC,2378,-1.53,-170.9,277.6,-11.6,408,2385,0.00,2.78,0.00,0.000,6,0.000,0.089,2611,2183,3787
$GC,2724,-1.53,-170.9,315.9,-11.3,469,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2183,3787
$GC,3065,-1.53,-170.9,355.2,-11.5,526,3070,0.00,2.90,0.00,0.000,4,0.000,0.110,2611,3652,3787
$GC,3083,-1.53,-170.9,357.1,-11.8,527,3087,0.00,2.75,0.00,0.000,6,0.000,0.090,2611,2202,3787
$GC,3412,-1.53,-170.9,394.3,-11.4,557,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2202,3787
$GC,3736,-1.53,-170.9,431.1,-11.2,588,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2203,3787
$GC,4055,-1.53,-170.9,467.3,-11.4,618,4060,0.00,2.75,0.00,0.000,4,0.000,0.117,2611,822,3786
$GC,4083,-1.53,-170.9,470.5,-12.3,620,4087,0.00,2.67,0.00,0.000,6,0.000,0.098,2611,2211,3786
$GC,4409,-1.53,-170.9,507.8,-11.2,650,4414,0.00,2.83,0.00,0.000,4,0.000,0.112,2612,3650,3786
$GC,4431,-1.53,-170.9,510.7,-11.8,651,4438,0.00,2.72,0.00,0.000,6,0.000,0.091,2611,2214,3786
$GC,4758,-1.53,-170.9,548.0,-11.3,682,4759,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2214,3786
$GC,5075,-1.53,-170.9,584.3,-11.3,712,5080,0.00,2.85,0.00,0.000,4,0.000,0.114,2611,3650,3786
$GC,5103,-1.53,-170.9,587.6,-11.8,714,5108,0.00,2.72,0.00,0.000,6,0.000,0.093,2611,2225,3786
$GC,5422,-1.53,-170.9,623.1,-11.4,734,5426,0.00,2.83,0.00,0.000,4,0.000,0.120,2611,819,3786
$GC,5454,-1.53,-170.9,627.1,-12.8,735,5461,0.00,2.75,0.00,0.000,6,0.000,0.101,2611,2235,3786
$GC,5770,-1.53,-170.9,663.9,-11.4,751,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2236,3786
$GC,6079,-1.53,-170.9,699.4,-11.8,766,6083,0.00,2.85,0.00,0.000,4,0.000,0.120,2611,819,3786
$GC,6106,-1.53,-170.9,702.8,-12.3,767,6110,0.00,2.75,0.00,0.000,6,0.000,0.103,2612,2232,3785
$GC,6421,-1.53,-170.9,740.7,-11.8,782,6426,0.00,2.85,0.00,0.000,4,0.000,0.125,2611,3644,3785
$GC,6442,-1.53,-170.9,743.4,-12.3,783,6447,0.00,2.75,0.00,0.000,6,0.000,0.097,2611,2210,3785
$GC,6767,-1.53,-170.9,783.1,-13.1,799,6771,0.00,2.90,0.00,0.000,4,0.000,0.121,2611,3649,3785
$GC,6789,-1.53,-170.9,786.2,-12.9,800,6793,0.00,2.72,0.00,0.000,6,0.000,0.099,2611,2233,3785
$GC,7110,-1.53,-170.9,822.9,-11.0,816,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2233,3785
$GC,7419,-1.53,-170.9,856.5,-10.6,831,7424,0.00,2.90,0.00,0.000,4,0.000,0.133,2611,821,3785
$GC,7463,-1.53,-170.9,861.6,-11.7,833,7468,0.00,2.80,0.00,0.000,6,0.000,0.107,2611,2255,3785
$GC,7785,-1.88,-194.7,885.6,0.0,849,7790,0.25,2.90,0.00,0.000,4,0.061,0.125,2550,823,3784
$STATE,7883,end dive,NO_VERTICAL_VELOCITY
$STATE,7883,begin apogee
$GC,7892,-0.35,0.0,885.6,0.0,853,8041,1.50,0.00,144.43,1.348,6,0.063,0.000,2882,2334,3085
$STATE,8042,end apogee,CONTROL_FINISHED_OK
$STATE,8042,begin climb
$GC,8044,1.60,194.7,885.5,0.0,861,8216,1.95,3.05,160.95,1.305,4,0.063,0.134,3307,3740,2290
$GC,8255,1.50,194.7,869.0,15.5,870,8260,0.00,2.83,0.00,0.000,6,0.000,0.103,3307,2326,2289
$GC,8572,1.43,194.7,822.9,15.1,885,8577,0.15,2.90,0.00,0.000,4,0.122,0.130,3277,919,2289
$GC,8644,1.43,194.7,811.5,16.1,888,8649,0.00,2.85,0.00,0.000,6,0.000,0.105,3277,2363,2289
$GC,8960,1.43,194.7,768.5,13.2,903,8965,0.00,2.80,0.00,0.000,4,0.000,0.121,3277,3739,2288
$GC,9015,1.37,194.7,760.0,16.0,905,9022,0.00,2.67,0.00,0.000,6,0.000,0.099,3277,2381,2288
$GC,9332,1.37,194.7,713.8,14.7,921,9336,0.00,2.78,0.00,0.000,4,0.000,0.117,3277,3740,2288
$GC,9417,1.30,194.7,699.9,17.3,925,9422,0.17,2.62,0.00,0.000,6,0.117,0.097,3244,2405,2288
$GC,9744,1.30,194.7,655.1,13.4,941,9748,0.00,2.70,0.00,0.000,4,0.000,0.114,3245,3739,2287
$GC,9784,1.30,194.7,649.4,14.6,943,9789,0.00,2.58,0.00,0.000,6,0.000,0.095,3244,2423,2287
$GC,10112,1.30,194.7,606.2,12.9,959,10117,0.00,3.00,0.00,0.000,4,0.000,0.117,3244,916,2287
$GC,10155,1.30,194.7,600.2,13.7,961,10160,0.00,2.92,0.00,0.000,6,0.000,0.099,3244,2427,2286
$GC,10486,1.30,194.7,558.5,12.6,992,10490,0.00,2.62,0.00,0.000,4,0.000,0.114,3244,3739,2287
$GC,10536,1.30,194.7,551.7,13.6,996,10540,0.00,2.53,0.00,0.000,6,0.000,0.090,3245,2430,2286
$GC,10861,1.30,194.7,513.6,12.1,1026,10865,0.00,2.97,0.00,0.000,4,0.000,0.112,3244,918,2286
$GC,10882,1.30,194.7,510.8,13.1,1027,10889,0.00,2.95,0.00,0.000,6,0.000,0.096,3244,2450,2286
$GC,11209,1.30,194.7,469.6,12.7,1058,11213,0.00,2.60,0.00,0.000,4,0.000,0.117,3245,3739,2287
$GC,11237,1.30,194.7,465.7,13.7,1060,11241,0.00,2.50,0.00,0.000,6,0.000,0.089,3244,2442,2286
$GC,11561,1.30,194.7,426.1,12.0,1090,11566,0.00,3.00,0.00,0.000,4,0.000,0.110,3244,911,2286
$GC,11579,1.30,194.7,424.0,12.5,1091,11584,0.00,2.95,0.00,0.000,6,0.000,0.093,3245,2454,2287
$GC,11904,1.30,194.7,386.5,11.3,1121,11908,0.00,2.55,0.00,0.000,4,0.000,0.110,3244,3739,2287
$GC,11937,1.30,194.7,382.3,12.6,1123,11944,0.00,2.45,0.00,0.000,6,0.000,0.088,3244,2454,2286
$GC,12263,1.30,194.7,345.4,11.0,1157,12271,0.00,3.00,0.00,0.000,4,0.000,0.105,3245,910,2287
$GC,12289,1.30,194.7,342.5,11.7,1161,12296,0.00,2.97,0.00,0.000,6,0.000,0.092,3245,2466,2287
$GC,12633,1.30,194.7,303.8,10.4,1222,12640,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2466,2286
$GC,12978,1.30,194.7,266.4,10.3,1283,12985,0.00,3.03,0.00,0.000,4,0.000,0.104,3244,915,2287
$GC,13003,1.30,194.7,263.6,11.3,1287,13010,0.00,2.95,0.00,0.000,6,0.000,0.091,3245,2465,2287
$GC,13349,1.30,194.7,226.9,10.9,1348,13355,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2465,2287
$GC,13693,1.30,194.7,189.0,11.4,1409,13700,0.00,0.00,0.00,0.000,6,0.000,0.000,3245,2465,2288
$GC,14037,1.30,194.7,150.7,10.7,1470,14044,0.00,3.03,0.00,0.000,4,0.000,0.101,3245,909,2288
$GC,14062,1.30,194.7,147.8,11.2,1474,14069,0.00,2.92,0.00,0.000,6,0.000,0.089,3245,2450,2288
$GC,14408,1.31,199.8,110.8,9.7,1535,14415,0.00,0.00,5.47,0.701,6,0.000,0.000,3244,2450,2270
$GC,14753,1.31,199.8,72.3,11.6,1596,14761,0.00,2.95,0.00,0.000,4,0.000,0.098,3245,915,2269
$GC,14784,1.31,199.8,68.4,13.5,1601,14791,0.00,2.90,0.00,0.000,6,0.000,0.089,3244,2442,2270
$GC,15130,1.31,199.8,23.4,11.8,1662,15138,0.00,2.92,0.00,0.000,4,0.000,0.098,3245,914,2269
$GC,15162,1.31,199.8,19.4,12.8,1667,15169,0.00,2.85,0.00,0.000,6,0.000,0.087,3245,2428,2270
$GC,15306,1.31,199.8,2.6,10.9,1692,15313,0.00,2.55,0.00,0.000,4,0.000,0.102,3244,3740,2270
$STATE,15318,end climb,SURFACE_DEPTH_REACHED
$STATE,15318,begin surface coast
$FINISH,0.2,1.026561
$STATE,15336,end surface coast,CONTROL_FINISHED_OK
$STATE,15336,begin surface
$SM_CCo,15419,0.00,0.000,0,0,2269,200.41
$SM_GC,1.17,11.65,0.00,0.00,0.044,0.000,0.000,584,2222,2269,-10.85,-0.37,200.41
$IRIDIUM_FIX,6126.23,-2656.31,230897,202046
$TT8_MAMPS,0.02301
$HUMID,1666
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,17.70
$XPDR_PINGS,99
$24V_AH,23.4,52.752
$10V_AH,10.7,42.802
$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,27.775,190.175,310.850,0.000,0.000,29.178,32.602,328.765,24.750,0.000,0.000,14.092,3474.574,8094.028,548.882,3087.775,738.702,0.000,1921.159,0.000,3084.638,0.000,0.467
$DEVICE_MAMPS,186.381,134.225,1348.386,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1177.751,1294.624,1577.558,505.183,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100935,1697
$CAP_FILE_SIZE,159482,0
$CFSIZE,260165632,233050112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.084, 14.5,1
$GPS,300508,055407,6149.323,-2643.671,38,1.2,43,-19.0