version: 66.03
glider: 140
mission: 5
dive: 131
start: 5 4 108 11 44 23
data:
$ID,140
$MISSION,5
$DIVE,131
$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,240
$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,-15643.031
$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,14
$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
$GPS1,113658,6047.559,-2636.570,29,4.3,48,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-62.8
$GPS2,114405,6047.539,-2636.795,13,3.8,32,-18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6042.139,-2641.372
$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,258.3,20000,-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,-194.7,0.0,0.0,0,128,0.00,0.00,-97.95,0.000,2,0.000,0.000,587,2228,3600
$GC,131,-1.29,-194.7,3.3,-5.9,18,155,12.70,2.70,-5.97,0.000,4,0.198,0.110,2668,825,3880
$GC,347,-1.29,-194.7,31.1,-10.6,56,353,0.00,2.62,0.00,0.000,6,0.000,0.085,2668,2236,3881
$GC,490,-1.29,-194.7,44.9,-9.6,81,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3881
$GC,632,-1.29,-194.7,58.8,-9.9,106,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3881
$GC,974,-1.29,-194.7,91.9,-9.0,167,980,0.00,2.72,0.00,0.000,4,0.000,0.100,2668,823,3881
$GC,1026,-1.29,-194.7,96.8,-9.2,176,1033,0.00,2.62,0.00,0.000,6,0.000,0.087,2669,2227,3882
$GC,1370,-1.29,-194.7,127.6,-10.4,237,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3881
$GC,1712,-1.29,-194.7,163.2,-10.5,298,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3881
$GC,2055,-1.29,-194.7,196.9,-8.9,359,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3881
$GC,2398,-1.29,-194.7,227.8,-9.3,420,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3881
$GC,2742,-1.29,-194.7,261.4,-10.0,481,2747,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,3085,-1.29,-194.7,296.0,-10.2,542,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3881
$GC,3428,-1.29,-194.7,328.9,-9.0,603,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3882
$GC,3772,-1.29,-194.7,357.0,-7.7,657,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3881
$GC,4090,-1.29,-194.7,382.1,-8.4,687,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3881
$GC,4408,-1.29,-194.7,408.5,-8.0,717,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3880
$GC,4727,-1.29,-194.7,433.1,-7.2,747,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3881
$GC,5046,-1.29,-194.7,456.4,-7.4,777,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3881
$GC,5364,-1.29,-194.7,480.1,-7.5,807,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3881
$GC,5682,-1.29,-194.7,505.4,-8.1,837,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3880
$GC,6001,-1.29,-194.7,530.3,-7.9,867,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3880
$GC,6320,-1.29,-194.7,557.3,-9.0,897,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3880
$GC,6638,-1.29,-194.7,585.9,-8.9,927,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2228,3880
$GC,6952,-1.29,-194.7,613.8,-9.2,950,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2228,3880
$GC,7262,-1.29,-194.7,641.7,-8.7,965,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3880
$GC,7571,-1.29,-194.7,666.3,-7.5,980,7575,0.00,2.80,0.00,0.000,4,0.000,0.120,2668,3644,3880
$GC,7614,-1.29,-194.7,670.1,-8.8,982,7619,0.00,2.70,0.00,0.000,6,0.000,0.097,2668,2225,3880
$GC,7935,-1.29,-194.7,699.4,-10.6,998,7936,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3880
$GC,8245,-1.29,-194.7,732.8,-9.7,1013,8246,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3880
$GC,8554,-1.29,-194.7,754.4,-6.5,1028,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3879
$GC,8863,-1.29,-194.7,777.6,-8.2,1043,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3879
$GC,9172,-1.29,-194.7,803.3,-8.2,1058,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2226,3879
$GC,9482,-1.29,-194.7,825.6,-7.6,1073,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3878
$GC,9791,-1.29,-194.7,853.6,-9.9,1088,9796,0.00,2.85,0.00,0.000,4,0.000,0.127,2668,3643,3878
$GC,9846,-1.29,-194.7,859.3,-10.2,1090,9852,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2229,3878
$GC,10162,-1.29,-194.7,885.9,-8.8,1106,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2229,3878
$GC,10471,-1.29,-194.7,914.3,-8.8,1121,10473,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3878
$GC,10780,-1.29,-194.7,937.2,-6.7,1136,10785,0.00,2.85,0.00,0.000,4,0.000,0.126,2668,3647,3878
$GC,10825,-1.29,-194.7,940.4,-7.7,1138,10829,0.00,2.78,0.00,0.000,6,0.000,0.108,2668,2225,3877
$GC,11146,-1.29,-194.7,961.7,-7.2,1154,11147,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2225,3877
$GC,11454,-1.29,-194.7,984.8,-7.5,1169,11456,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2225,3876
$STATE,11534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11534,begin apogee
$GC,11540,-0.35,0.0,991.4,8.0,1173,11709,1.05,0.00,164.73,1.426,6,0.104,0.000,2879,2327,3085
$STATE,11709,end apogee,CONTROL_FINISHED_OK
$STATE,11709,begin climb
$GC,11712,1.29,194.7,997.2,0.0,1181,11885,1.62,3.03,161.75,1.388,4,0.062,0.127,3236,3732,2291
$GC,11901,1.17,194.7,984.3,11.9,1190,11906,0.00,2.85,0.00,0.000,6,0.000,0.111,3236,2324,2290
$GC,12222,1.09,194.7,942.2,13.3,1206,12224,0.20,0.00,0.00,0.000,6,0.110,0.000,3200,2325,2288
$GC,12531,1.09,194.7,906.5,11.3,1221,12536,0.00,2.92,0.00,0.000,4,0.000,0.126,3200,3738,2288
$GC,12575,1.02,194.7,901.0,13.7,1223,12579,0.00,2.83,0.00,0.000,6,0.000,0.108,3200,2325,2288
$GC,12895,1.02,194.7,864.8,10.9,1239,12900,0.00,2.90,0.00,0.000,4,0.000,0.133,3200,914,2288
$GC,12916,1.02,194.7,862.3,11.5,1240,12920,0.00,2.78,0.00,0.000,6,0.000,0.107,3200,2323,2288
$GC,13237,1.05,222.2,830.4,9.0,1256,13267,0.00,2.97,24.17,1.289,4,0.000,0.127,3200,3737,2179
$GC,13296,0.99,223.3,824.7,10.0,1259,13302,0.12,2.83,0.00,0.000,6,0.117,0.104,3178,2324,2178
$GC,13623,1.00,231.2,794.7,9.7,1275,13637,0.00,2.92,9.20,1.184,4,0.000,0.127,3179,913,2143
$GC,13659,1.00,231.2,790.4,11.3,1276,13666,0.00,2.78,0.00,0.000,6,0.000,0.103,3178,2327,2142
$GC,13975,1.00,231.2,751.8,12.2,1292,13980,0.00,2.88,0.00,0.000,4,0.000,0.124,3178,3738,2141
$GC,14007,1.00,231.2,747.4,12.5,1293,14013,0.00,2.75,0.00,0.000,6,0.000,0.100,3178,2329,2141
$GC,14323,1.00,235.3,713.3,9.9,1309,14334,0.00,2.85,5.28,0.972,4,0.000,0.120,3178,918,2124
$GC,14356,1.01,240.8,710.1,9.8,1310,14367,0.00,2.75,6.22,1.025,6,0.000,0.100,3178,2331,2104
$GC,14688,1.09,308.7,682.5,7.6,1327,14754,0.00,2.92,59.42,1.199,4,0.000,0.120,3178,3738,1825
$GC,14766,1.16,364.7,676.3,8.1,1331,14821,0.15,2.80,48.83,1.163,6,0.064,0.096,3214,2320,1598
$GC,15137,1.16,364.7,632.1,12.3,1349,15138,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2321,1588
$GC,15447,1.16,364.7,589.8,14.0,1367,15448,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2320,1587
$GC,15766,1.16,364.7,542.2,15.2,1397,15767,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2320,1586
$GC,16084,1.16,364.7,493.5,15.6,1427,16089,0.00,2.75,0.00,0.000,4,0.000,0.113,3214,917,1586
$GC,16106,1.16,364.7,489.9,16.1,1428,16112,0.00,2.67,0.00,0.000,6,0.000,0.093,3214,2321,1586
$GC,16434,1.16,364.7,440.9,14.3,1459,16435,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2321,1586
$GC,16750,1.16,364.7,398.0,13.4,1489,16751,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2321,1586
$GC,17068,1.16,364.7,354.4,14.2,1519,17069,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2321,1586
$GC,17402,1.16,364.7,306.7,14.4,1576,17408,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2321,1586
$GC,17746,1.16,364.7,258.0,13.4,1637,17751,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2321,1586
$GC,18088,1.16,364.7,212.3,12.6,1698,18094,0.00,2.75,0.00,0.000,4,0.000,0.106,3214,911,1587
$GC,18111,1.16,364.7,209.3,14.6,1702,18118,0.00,2.67,0.00,0.000,6,0.000,0.089,3214,2329,1586
$GC,18454,1.16,364.7,167.4,12.1,1763,18460,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2329,1586
$GC,18796,1.16,364.7,124.9,12.0,1824,18802,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2329,1586
$GC,19139,1.16,364.7,80.2,13.5,1885,19145,0.00,2.75,0.00,0.000,4,0.000,0.102,3214,908,1587
$GC,19174,1.16,364.7,75.4,13.3,1891,19180,0.00,2.62,0.00,0.000,6,0.000,0.086,3214,2314,1587
$GC,19518,1.16,364.7,28.7,13.3,1952,19523,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2314,1586
$GC,19659,1.16,364.7,9.7,13.3,1977,19666,0.00,2.75,0.00,0.000,4,0.000,0.100,3213,3736,1586
$GC,19683,1.16,364.7,6.1,15.6,1981,19690,0.00,2.67,0.00,0.000,6,0.000,0.084,3214,2315,1586
$STATE,19711,end climb,SURFACE_DEPTH_REACHED
$STATE,19711,begin surface coast
$FINISH,0.4,1.027859
$STATE,19725,end surface coast,CONTROL_FINISHED_OK
$STATE,19725,begin surface
$SM_CCo,19807,0.00,0.000,0,0,1584,368.20
$SM_GC,0.84,11.45,0.00,0.00,0.042,0.000,0.000,583,2231,1584,-10.85,-0.11,368.20
$IRIDIUM_FIX,6028.48,-2622.06,290797,060610
$TT8_MAMPS,0.02301
$HUMID,1634
$INTERNAL_PRESSURE,8.37923
$TCM_TEMP,17.70
$XPDR_PINGS,104
$24V_AH,22.9,32.419
$10V_AH,10.7,25.051
$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,27.300,95.175,479.600,0.000,0.000,25.952,28.850,220.176,26.000,0.000,0.000,33.494,3081.169,12632.579,600.303,3331.328,573.037,0.000,2143.064,0.000,3287.819,0.000,0.467
$DEVICE_MAMPS,197.886,142.662,1425.853,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1383.259,1466.958,915.045,552.821,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110443,1988
$CAP_FILE_SIZE,168543,0
$CFSIZE,260165632,243482624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,040508,171538,6044.792,-2647.122,33,1.3,33,-18.4