version: 66.03
glider: 140
mission: 5
dive: 123
start: 5 2 108 13 34 59
data:
$ID,140
$MISSION,5
$DIVE,123
$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,250
$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,-15470.515
$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,11
$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
$GPS1,132325,6118.368,-2524.536,40,1.2,40,-18.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-62.2
$GPS2,133439,6118.320,-2524.606,13,1.2,13,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6114.627,-2529.488
$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,268.0,20000,-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,26,-1.29,-194.7,0.0,0.0,0,100,0.00,0.00,-71.38,0.000,2,0.000,0.000,587,2229,3543
$GC,103,-1.29,-194.7,3.6,-7.6,13,133,12.80,2.83,-7.03,0.000,4,0.199,0.112,2671,3649,3881
$GC,387,-1.29,-194.7,36.2,-10.6,63,393,0.00,2.62,0.00,0.000,6,0.000,0.081,2670,2235,3882
$GC,529,-1.29,-194.7,49.4,-9.2,88,535,0.00,2.72,0.00,0.000,4,0.000,0.100,2670,3651,3882
$GC,598,-1.29,-194.7,56.2,-10.0,100,604,0.00,2.65,0.00,0.000,6,0.000,0.082,2670,2230,3882
$GC,942,-1.29,-194.7,88.1,-9.3,161,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,1285,-1.29,-194.7,121.1,-10.0,222,1290,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,1628,-1.29,-194.7,153.9,-10.2,283,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,1971,-1.29,-194.7,188.3,-9.5,344,1978,0.00,2.75,0.00,0.000,4,0.000,0.104,2670,3647,3882
$GC,2006,-1.29,-194.7,191.8,-9.9,350,2012,0.00,2.65,0.00,0.000,6,0.000,0.084,2670,2232,3882
$GC,2350,-1.29,-194.7,224.1,-9.5,411,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3882
$GC,2693,-1.29,-194.7,254.7,-8.6,472,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3882
$GC,3037,-1.29,-194.7,284.7,-8.6,533,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3882
$GC,3380,-1.29,-194.7,313.8,-8.4,594,3386,0.00,2.78,0.00,0.000,4,0.000,0.110,2670,3646,3882
$GC,3421,-1.29,-194.7,317.3,-8.9,601,3427,0.00,2.65,0.00,0.000,6,0.000,0.087,2670,2236,3883
$GC,3764,-1.29,-194.7,345.8,-8.3,662,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,4100,-1.29,-194.7,373.5,-8.5,698,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,4425,-1.29,-194.7,399.7,-8.1,729,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,4743,-1.29,-194.7,428.6,-9.5,759,4748,0.00,2.78,0.00,0.000,4,0.000,0.111,2670,3649,3882
$GC,4771,-1.29,-194.7,431.3,-10.1,761,4776,0.00,2.67,0.00,0.000,6,0.000,0.089,2670,2228,3882
$GC,5097,-1.29,-194.7,461.5,-9.7,791,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,5414,-1.29,-194.7,492.7,-10.0,821,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,5735,-1.29,-194.7,523.6,-9.6,851,5739,0.00,2.80,0.00,0.000,4,0.000,0.113,2670,3653,3882
$GC,5767,-1.29,-194.7,527.2,-10.1,853,5773,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2233,3882
$GC,6095,-1.29,-194.7,557.5,-9.1,884,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,6420,-1.29,-194.7,586.2,-9.2,915,6425,0.00,2.78,0.00,0.000,4,0.000,0.114,2670,3645,3882
$GC,6453,-1.29,-194.7,589.3,-9.6,917,6459,0.00,2.65,0.00,0.000,6,0.000,0.091,2670,2238,3882
$GC,6782,-1.29,-194.7,618.8,-8.8,939,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3881
$GC,7091,-1.29,-194.7,645.0,-8.4,954,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3881
$GC,7401,-1.29,-194.7,671.7,-9.0,969,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3881
$GC,7709,-1.29,-194.7,700.8,-9.5,984,7714,0.00,2.80,0.00,0.000,4,0.000,0.120,2670,3644,3881
$GC,7741,-1.29,-194.7,704.1,-10.2,985,7748,0.00,2.67,0.00,0.000,6,0.000,0.096,2670,2239,3881
$GC,8058,-1.29,-194.7,734.1,-9.4,1001,8059,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3880
$GC,8367,-1.29,-194.7,762.6,-9.0,1016,8371,0.00,2.83,0.00,0.000,4,0.000,0.121,2670,3651,3881
$GC,8399,-1.29,-194.7,765.8,-9.4,1017,8405,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2238,3880
$GC,8715,-1.29,-194.7,793.2,-8.4,1033,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,9024,-1.29,-194.7,817.3,-7.7,1048,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,9333,-1.29,-194.7,840.6,-7.8,1063,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,9643,-1.29,-194.7,865.7,-7.8,1078,9647,0.00,2.85,0.00,0.000,4,0.000,0.126,2670,3649,3880
$GC,9682,-1.29,-194.7,868.8,-7.9,1080,9686,0.00,2.70,0.00,0.000,6,0.000,0.100,2670,2245,3880
$GC,10008,-1.29,-194.7,894.7,-8.3,1096,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3880
$GC,10317,-1.29,-194.7,921.7,-9.0,1111,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3879
$GC,10626,-1.29,-194.7,948.8,-8.4,1126,10627,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3879
$GC,10936,-1.29,-194.7,973.6,-7.8,1141,10940,0.00,2.85,0.00,0.000,4,0.000,0.129,2670,3650,3879
$GC,10985,-1.29,-194.7,977.7,-8.4,1143,10990,0.00,2.70,0.00,0.000,6,0.000,0.105,2670,2252,3879
$STATE,11154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11154,begin apogee
$GC,11159,-0.35,0.0,991.0,7.9,1151,11329,1.02,0.00,165.60,1.424,6,0.102,0.000,2877,2327,3085
$STATE,11329,end apogee,CONTROL_FINISHED_OK
$STATE,11329,begin climb
$GC,11332,1.29,194.7,996.8,0.0,1159,11505,1.65,3.05,162.07,1.385,4,0.062,0.130,3240,3739,2291
$GC,11562,1.17,194.7,976.9,14.1,1170,11567,0.15,2.83,0.00,0.000,6,0.114,0.104,3214,2330,2290
$GC,11889,1.11,194.7,936.8,12.1,1186,11893,0.00,2.95,0.00,0.000,4,0.000,0.127,3214,3738,2289
$GC,11915,1.02,194.7,933.1,13.3,1187,11921,0.15,2.80,0.00,0.000,6,0.114,0.104,3186,2328,2289
$GC,12231,1.02,194.7,897.6,10.9,1202,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2329,2288
$GC,12540,1.03,201.4,866.3,9.8,1217,12549,0.00,0.00,7.28,1.134,6,0.000,0.000,3187,2329,2263
$GC,12849,1.03,201.4,835.8,10.2,1232,12854,0.00,2.90,0.00,0.000,4,0.000,0.124,3186,3738,2262
$GC,12882,0.99,201.4,832.2,10.8,1233,12888,0.00,2.80,0.00,0.000,6,0.000,0.101,3187,2322,2262
$GC,13197,0.99,201.9,800.2,10.0,1249,13201,0.00,2.85,0.00,0.000,4,0.000,0.128,3187,918,2262
$GC,13218,0.99,208.0,797.9,9.8,1250,13234,0.00,2.72,7.22,1.117,6,0.000,0.100,3186,2325,2236
$GC,13543,0.99,208.0,765.0,10.2,1266,13548,0.00,2.88,0.00,0.000,4,0.000,0.122,3186,3739,2235
$GC,13592,0.99,208.0,759.4,11.1,1268,13597,0.00,2.75,0.00,0.000,6,0.000,0.098,3186,2331,2235
$GC,13908,0.99,208.0,726.5,10.4,1283,13909,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2332,2235
$GC,14218,0.99,208.0,693.8,10.8,1298,14219,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2331,2235
$GC,14526,0.99,208.0,661.3,10.1,1313,14531,0.00,2.83,0.00,0.000,4,0.000,0.112,3186,3739,2235
$GC,14547,0.99,208.0,659.1,10.2,1314,14552,0.00,2.70,0.00,0.000,6,0.000,0.095,3186,2339,2235
$GC,14869,1.01,218.3,627.8,9.6,1330,14881,0.00,0.00,10.05,1.114,6,0.000,0.000,3186,2340,2195
$GC,15178,1.02,227.3,598.0,9.7,1345,15189,0.00,0.00,9.50,1.071,6,0.000,0.000,3186,2340,2158
$GC,15506,1.02,231.9,565.5,9.8,1376,15519,0.00,2.83,5.70,0.921,4,0.000,0.108,3186,3739,2139
$GC,15546,1.02,231.9,561.2,10.5,1379,15552,0.00,2.70,0.00,0.000,6,0.000,0.091,3186,2342,2138
$GC,15874,1.02,231.9,528.1,10.7,1410,15875,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2342,2138
$GC,16189,1.02,231.9,494.5,10.4,1440,16190,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2342,2138
$GC,16509,1.02,231.9,460.6,10.4,1470,16510,0.00,0.00,0.00,0.000,6,0.000,0.000,3187,2342,2138
$GC,16826,1.02,231.9,427.9,10.5,1500,16830,0.00,2.78,0.00,0.000,4,0.000,0.107,3186,3739,2138
$GC,16853,1.02,231.9,424.9,11.1,1502,16858,0.00,2.67,0.00,0.000,6,0.000,0.089,3186,2348,2138
$GC,17177,1.02,231.9,390.5,10.0,1532,17178,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2349,2138
$GC,17498,1.02,231.9,357.1,10.8,1562,17499,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2349,2138
$GC,17829,1.06,258.3,322.6,9.1,1615,17856,0.00,0.00,23.12,0.960,6,0.000,0.000,3186,2349,2031
$GC,18193,1.06,258.3,286.7,10.8,1680,18199,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2349,2029
$GC,18537,1.08,277.2,252.8,9.3,1741,18559,0.00,0.00,16.90,0.905,6,0.000,0.000,3186,2349,1953
$GC,18897,1.12,312.3,217.8,8.8,1805,18933,0.00,0.00,30.45,0.884,6,0.000,0.000,3186,2349,1810
$GC,19270,1.12,312.3,178.4,11.0,1872,19276,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2349,1806
$GC,19614,1.12,312.3,139.3,11.6,1933,19619,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2349,1805
$GC,19957,1.12,312.3,98.8,11.0,1994,19963,0.00,2.78,0.00,0.000,4,0.000,0.103,3186,910,1805
$GC,19987,1.17,312.3,95.3,10.9,1999,19994,0.12,2.72,0.00,0.000,6,0.063,0.083,3220,2363,1805
$GC,20332,1.17,312.3,49.7,12.7,2060,20337,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2364,1805
$GC,20474,1.17,312.3,29.4,16.3,2085,20480,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,2363,1805
$GC,20616,1.17,312.3,9.4,12.6,2110,20622,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2364,1805
$STATE,20671,end climb,SURFACE_DEPTH_REACHED
$STATE,20671,begin surface coast
$FINISH,0.3,1.027855
$STATE,20683,end surface coast,CONTROL_FINISHED_OK
$STATE,20683,begin surface
$SM_CCo,20764,0.00,0.000,0,0,1801,314.97
$SM_GC,1.01,11.60,0.00,0.00,0.048,0.000,0.000,594,2231,1801,-10.84,-0.11,314.97
$IRIDIUM_FIX,6059.36,-2529.73,270797,131323
$TT8_MAMPS,0.02301
$HUMID,1600
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,18.00
$XPDR_PINGS,89
$24V_AH,23.4,30.889
$10V_AH,10.7,23.926
$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,27.500,111.075,437.900,0.000,0.000,57.075,60.463,348.173,22.250,0.000,0.000,13.133,3286.113,13228.854,587.585,3501.868,816.095,0.000,2207.749,0.000,3491.001,0.000,0.468
$DEVICE_MAMPS,199.420,144.196,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1467.316,1578.219,969.015,587.506,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119773,2122
$CAP_FILE_SIZE,183528,0
$CFSIZE,260165632,244203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,020508,192207,6115.740,-2531.991,29,1.4,29,-18.1