version: 66.03
glider: 140
mission: 5
dive: 119
start: 5 1 108 13 53 50
data:
$ID,140
$MISSION,5
$DIVE,119
$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,320
$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,-15416.15
$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
$GPS1,134531,6116.862,-2511.383,37,1.0,42,-17.9
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-56.9
$GPS2,135332,6116.810,-2511.586,12,1.0,17,-17.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6125.082,-2514.907
$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,337.9,20000,-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,-194.7,0.0,0.0,0,100,0.00,0.00,-71.18,0.000,2,0.000,0.000,592,2227,3559
$GC,103,-1.29,-194.7,3.6,-6.6,13,129,12.82,2.80,-6.82,0.000,4,0.202,0.112,2669,3644,3881
$GC,208,-1.29,-194.7,21.1,-11.5,31,215,0.00,2.62,0.00,0.000,6,0.000,0.082,2669,2236,3882
$GC,351,-1.29,-194.7,34.1,-9.2,56,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,494,-1.29,-194.7,45.9,-7.7,81,500,0.00,2.72,0.00,0.000,4,0.000,0.100,2669,3650,3882
$GC,524,-1.29,-194.7,48.6,-8.5,86,530,0.00,2.62,0.00,0.000,6,0.000,0.081,2669,2234,3882
$GC,666,-1.29,-194.7,60.5,-8.9,111,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,1008,-1.29,-194.7,92.6,-9.4,172,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,1352,-1.29,-194.7,125.3,-9.7,233,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,1694,-1.29,-194.7,160.3,-10.4,294,1700,0.00,2.75,0.00,0.000,4,0.000,0.104,2669,3647,3882
$GC,1723,-1.29,-194.7,163.5,-11.3,299,1729,0.00,2.65,0.00,0.000,6,0.000,0.083,2669,2227,3883
$GC,2067,-1.29,-194.7,201.1,-11.2,360,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,2411,-1.29,-194.7,235.6,-9.7,421,2417,0.00,2.78,0.00,0.000,4,0.000,0.107,2669,3649,3882
$GC,2451,-1.29,-194.7,239.7,-9.8,428,2458,0.00,2.65,0.00,0.000,6,0.000,0.086,2669,2234,3882
$GC,2796,-1.29,-194.7,269.5,-7.8,489,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3882
$GC,3139,-1.29,-194.7,298.2,-9.1,550,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,3482,-1.29,-194.7,328.9,-9.3,611,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2233,3882
$GC,3823,-1.29,-194.7,361.0,-9.3,662,3827,0.00,2.78,0.00,0.000,4,0.000,0.110,2669,3649,3882
$GC,3851,-1.29,-194.7,363.7,-9.8,664,3855,0.00,2.67,0.00,0.000,6,0.000,0.089,2669,2229,3882
$GC,4177,-1.29,-194.7,393.0,-8.6,694,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3882
$GC,4494,-1.29,-194.7,419.2,-8.1,724,4499,0.00,2.75,0.00,0.000,4,0.000,0.110,2669,3644,3882
$GC,4523,-1.29,-194.7,421.6,-8.9,726,4527,0.00,2.65,0.00,0.000,6,0.000,0.088,2669,2233,3882
$GC,4850,-1.29,-194.7,449.4,-9.1,756,4855,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,5175,-1.29,-194.7,478.0,-8.8,787,5176,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,5494,-1.29,-194.7,504.8,-8.3,817,5498,0.00,2.78,0.00,0.000,4,0.000,0.110,2669,3650,3882
$GC,5527,-1.29,-194.7,507.8,-8.9,819,5533,0.00,2.65,0.00,0.000,6,0.000,0.090,2669,2238,3882
$GC,5853,-1.29,-194.7,537.2,-9.8,850,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,6170,-1.29,-194.7,567.4,-10.0,880,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,6488,-1.29,-194.7,598.7,-9.6,910,6493,0.00,2.78,0.00,0.000,4,0.000,0.113,2669,3648,3881
$GC,6515,-1.29,-194.7,601.5,-10.4,911,6519,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2233,3881
$GC,6837,-1.29,-194.7,631.8,-9.6,927,6838,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3881
$GC,7146,-1.29,-194.7,659.7,-8.8,942,7151,0.00,2.80,0.00,0.000,4,0.000,0.116,2669,3649,3881
$GC,7173,-1.29,-194.7,662.3,-9.6,943,7178,0.00,2.67,0.00,0.000,6,0.000,0.094,2669,2234,3881
$GC,7489,-1.29,-194.7,690.1,-8.9,958,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3881
$GC,7798,-1.29,-194.7,717.1,-8.5,973,7802,0.00,2.80,0.00,0.000,4,0.000,0.119,2669,3643,3881
$GC,7819,-1.29,-194.7,719.1,-9.4,974,7823,0.00,2.67,0.00,0.000,6,0.000,0.095,2669,2236,3880
$GC,8140,-1.29,-194.7,747.4,-8.8,990,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,8449,-1.29,-194.7,775.1,-8.9,1005,8453,0.00,2.83,0.00,0.000,4,0.000,0.121,2669,3649,3880
$GC,8526,-1.29,-194.7,782.6,-10.3,1008,8532,0.00,2.70,0.00,0.000,6,0.000,0.097,2669,2237,3880
$GC,8842,-1.29,-194.7,812.6,-9.9,1024,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3880
$GC,9151,-1.29,-194.7,841.3,-8.7,1039,9155,0.00,2.83,0.00,0.000,4,0.000,0.122,2669,3647,3880
$GC,9194,-1.29,-194.7,845.2,-8.9,1041,9199,0.00,2.70,0.00,0.000,6,0.000,0.100,2669,2241,3880
$GC,9516,-1.29,-194.7,869.9,-7.8,1057,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3880
$GC,9825,-1.29,-194.7,895.3,-8.3,1072,9829,0.00,2.83,0.00,0.000,4,0.000,0.125,2669,3643,3880
$GC,9864,-1.29,-194.7,898.6,-9.2,1074,9868,0.00,2.70,0.00,0.000,6,0.000,0.103,2669,2244,3879
$GC,10190,-1.29,-194.7,923.3,-7.7,1090,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3879
$GC,10499,-1.29,-194.7,948.4,-9.1,1105,10504,0.00,2.83,0.00,0.000,4,0.000,0.125,2669,3647,3879
$GC,10532,-1.29,-194.7,951.7,-10.0,1106,10538,0.00,2.70,0.00,0.000,6,0.000,0.104,2669,2253,3879
$GC,10847,-1.29,-194.7,978.9,-8.0,1122,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3878
$STATE,10989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10989,begin apogee
$GC,10995,-0.35,0.0,990.9,8.4,1129,11165,1.05,0.00,165.93,1.428,6,0.109,0.000,2878,2326,3085
$STATE,11165,end apogee,CONTROL_FINISHED_OK
$STATE,11165,begin climb
$GC,11168,1.29,194.7,997.1,0.0,1137,11336,1.62,0.00,163.30,1.388,6,0.063,0.000,3242,2326,2291
$GC,11645,1.20,194.7,947.6,12.7,1161,11650,0.00,2.95,0.00,0.000,4,0.000,0.128,3242,3738,2289
$GC,11717,1.08,194.7,937.6,12.7,1164,11723,0.25,2.83,0.00,0.000,6,0.108,0.106,3195,2326,2289
$GC,12032,1.08,194.7,900.9,12.8,1179,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2326,2288
$GC,12342,1.08,194.7,862.5,12.1,1194,12343,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2326,2288
$GC,12651,1.11,222.4,832.5,9.0,1209,12678,0.00,0.00,24.70,1.292,6,0.000,0.000,3195,2326,2178
$GC,12980,1.11,222.4,798.2,11.5,1225,12981,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2326,2176
$GC,13289,1.11,222.4,763.3,10.8,1240,13294,0.00,2.88,0.00,0.000,4,0.000,0.119,3195,3739,2175
$GC,13329,1.07,222.4,758.8,11.0,1242,13334,0.00,2.75,0.00,0.000,6,0.000,0.097,3195,2334,2175
$GC,13654,1.07,222.4,721.7,11.7,1258,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2334,2175
$GC,13964,1.07,222.4,685.3,11.6,1273,13966,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2334,2175
$GC,14274,1.07,222.4,650.7,11.1,1288,14275,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2334,2175
$GC,14582,1.07,222.4,613.9,12.6,1303,14584,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2333,2175
$GC,14897,1.07,222.4,576.5,11.0,1327,14902,0.00,2.83,0.00,0.000,4,0.000,0.111,3195,3741,2175
$GC,14941,1.02,222.4,571.4,11.4,1330,14947,0.00,2.67,0.00,0.000,6,0.000,0.091,3195,2342,2175
$GC,15267,1.02,222.4,537.2,11.0,1361,15268,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2342,2175
$GC,15584,1.02,222.4,503.3,10.7,1391,15585,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2342,2175
$GC,15902,1.02,222.4,468.4,10.4,1421,15904,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2342,2175
$GC,16225,1.05,239.1,436.9,9.4,1451,16246,0.00,2.85,15.23,1.034,4,0.000,0.109,3195,915,2109
$GC,16269,1.05,239.1,431.9,10.5,1455,16274,0.00,2.75,0.00,0.000,6,0.000,0.091,3195,2345,2108
$GC,16593,1.05,239.1,395.3,12.2,1485,16594,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2345,2107
$GC,16912,1.05,239.1,356.9,11.4,1515,16914,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2345,2107
$GC,17246,1.06,253.1,319.1,9.5,1569,17262,0.00,0.00,12.85,0.948,6,0.000,0.000,3195,2345,2053
$GC,17599,1.06,253.1,280.9,10.2,1632,17605,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2346,2051
$GC,17943,1.08,269.3,243.8,9.4,1693,17965,0.00,2.83,14.57,0.905,4,0.000,0.100,3195,915,1987
$GC,17993,1.08,269.3,238.9,10.4,1702,17999,0.00,2.72,0.00,0.000,6,0.000,0.088,3195,2345,1986
$GC,18337,1.08,269.3,201.4,11.4,1763,18343,0.00,2.75,0.00,0.000,4,0.000,0.107,3195,3739,1985
$GC,18366,1.08,269.3,197.9,12.3,1768,18373,0.00,2.67,0.00,0.000,6,0.000,0.084,3195,2329,1985
$GC,18710,1.08,269.3,159.3,12.3,1829,18716,0.00,2.72,0.00,0.000,4,0.000,0.103,3195,912,1985
$GC,18739,1.08,269.3,155.6,14.3,1834,18745,0.00,2.67,0.00,0.000,6,0.000,0.086,3195,2335,1985
$GC,19083,1.08,269.3,113.5,12.8,1895,19089,0.00,2.72,0.00,0.000,4,0.000,0.104,3195,3737,1984
$GC,19129,1.08,269.3,107.9,13.0,1903,19135,0.00,2.65,0.00,0.000,6,0.000,0.082,3195,2333,1984
$GC,19472,1.08,269.3,69.7,12.2,1964,19479,0.00,2.70,0.00,0.000,4,0.000,0.101,3195,919,1984
$GC,19515,1.08,269.3,64.9,13.5,1971,19521,0.00,2.67,0.00,0.000,6,0.000,0.085,3195,2347,1984
$GC,19859,1.10,281.0,26.1,9.6,2032,19876,0.00,0.00,11.05,0.783,6,0.000,0.000,3195,2347,1939
$GC,20014,1.14,318.8,9.8,8.7,2059,20054,0.00,2.75,32.20,0.755,4,0.000,0.100,3195,3736,1784
$STATE,20075,end climb,SURFACE_DEPTH_REACHED
$STATE,20075,begin surface coast
$FINISH,0.5,1.027850
$STATE,20081,end surface coast,CONTROL_FINISHED_OK
$STATE,20082,begin surface
$SM_CCo,20165,0.00,0.000,0,0,1777,320.85
$SM_GC,1.00,11.52,0.00,0.00,0.044,0.000,0.000,591,2228,1777,-10.85,-0.20,320.85
$IRIDIUM_FIX,6050.49,-2503.98,260797,080808
$TT8_MAMPS,0.02301
$HUMID,1617
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,61
$24V_AH,23.4,30.142
$10V_AH,10.7,23.339
$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,27.275,131.825,439.825,0.000,0.000,27.628,30.178,279.054,15.250,0.000,0.000,17.681,3210.198,12710.253,620.001,3406.985,679.520,0.000,2178.383,0.000,3391.672,0.000,0.467
$DEVICE_MAMPS,201.721,145.730,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1431.838,1538.387,979.319,593.210,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116780,2071
$CAP_FILE_SIZE,178587,0
$CFSIZE,260165632,244592640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,010508,193107,6118.969,-2519.246,37,1.0,37,-18.0