version: 66.03
glider: 140
mission: 5
dive: 132
start: 5 4 108 17 23 17
data:
$ID,140
$MISSION,5
$DIVE,132
$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,-15658.854
$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,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
$GPS1,171538,6044.792,-2647.122,33,1.3,33,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-60.5
$GPS2,172257,6044.859,-2647.382,15,1.8,15,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6039.460,-2651.965
$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,258.4,20000,-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,-194.7,0.0,0.0,0,116,0.00,0.00,-86.57,0.000,2,0.000,0.000,583,2229,3554
$GC,119,-1.29,-194.7,3.6,-6.9,16,148,12.65,2.75,-7.07,0.000,4,0.196,0.113,2669,829,3882
$GC,189,-1.29,-194.7,15.0,-9.9,28,195,0.00,2.65,0.00,0.000,6,0.000,0.087,2669,2241,3882
$GC,333,-1.29,-194.7,28.5,-9.1,53,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,474,-1.29,-194.7,41.6,-9.5,78,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,616,-1.29,-194.7,54.4,-9.1,103,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,959,-1.29,-194.7,85.8,-9.0,164,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3883
$GC,1302,-1.29,-194.7,118.0,-9.6,225,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,1645,-1.29,-194.7,149.5,-8.8,286,1651,0.00,2.78,0.00,0.000,4,0.000,0.107,2669,817,3882
$GC,1680,-1.29,-194.7,152.7,-9.2,292,1686,0.00,2.67,0.00,0.000,6,0.000,0.090,2669,2240,3882
$GC,2024,-1.29,-194.7,177.8,-7.1,353,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,2367,-1.29,-194.7,203.5,-8.1,414,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,2709,-1.29,-194.7,237.5,-10.3,475,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,3053,-1.29,-194.7,274.4,-10.7,536,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3883
$GC,3396,-1.29,-194.7,312.6,-11.0,597,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,3739,-1.29,-194.7,346.8,-9.4,658,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3882
$GC,4072,-1.29,-194.7,376.6,-8.6,692,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3883
$GC,4389,-1.29,-194.7,404.0,-8.4,722,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,4708,-1.29,-194.7,431.2,-8.6,752,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,5026,-1.29,-194.7,458.1,-8.7,782,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3883
$GC,5344,-1.29,-194.7,490.0,-11.0,812,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,5664,-1.29,-194.7,524.8,-10.2,842,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,5982,-1.29,-194.7,553.8,-8.0,872,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2241,3882
$GC,6300,-1.29,-194.7,581.7,-10.1,902,6305,0.00,2.75,0.00,0.000,4,0.000,0.114,2669,3645,3882
$GC,6328,-1.29,-194.7,584.6,-10.6,904,6332,0.00,2.67,0.00,0.000,6,0.000,0.095,2669,2234,3882
$GC,6648,-1.29,-194.7,617.1,-9.7,926,6652,0.00,2.83,0.00,0.000,4,0.000,0.122,2669,817,3882
$GC,6691,-1.29,-194.7,621.6,-10.1,928,6695,0.00,2.70,0.00,0.000,6,0.000,0.100,2669,2223,3882
$GC,7013,-1.29,-194.7,649.9,-8.6,944,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2224,3882
$GC,7322,-1.29,-194.7,675.9,-8.2,959,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2224,3882
$GC,7631,-1.29,-194.7,705.2,-10.6,974,7632,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2224,3882
$GC,7940,-1.29,-194.7,736.0,-9.7,989,7945,0.00,2.85,0.00,0.000,4,0.000,0.123,2669,3653,3881
$GC,7984,-1.29,-194.7,740.3,-9.8,991,7988,0.00,2.72,0.00,0.000,6,0.000,0.100,2669,2231,3881
$GC,8305,-1.29,-194.7,766.3,-8.0,1007,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2232,3881
$GC,8613,-1.29,-194.7,787.6,-6.5,1022,8618,0.00,2.83,0.00,0.000,4,0.000,0.123,2670,3646,3881
$GC,8663,-1.29,-194.7,791.5,-8.1,1024,8667,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2234,3880
$GC,8979,-1.29,-194.7,814.3,-7.7,1039,8983,0.00,2.83,0.00,0.000,4,0.000,0.122,2669,3649,3880
$GC,9011,-1.29,-194.7,817.0,-8.5,1040,9017,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2241,3880
$GC,9327,-1.29,-194.7,841.2,-9.0,1056,9331,0.00,2.90,0.00,0.000,4,0.000,0.133,2669,819,3880
$GC,9376,-1.29,-194.7,846.3,-10.4,1058,9380,0.00,2.78,0.00,0.000,6,0.000,0.107,2669,2243,3880
$GC,9691,-1.29,-194.7,870.1,-7.0,1073,9696,0.00,2.83,0.00,0.000,4,0.000,0.128,2669,3646,3880
$GC,9718,-1.29,-194.7,872.0,-7.0,1074,9723,0.00,2.72,0.00,0.000,6,0.000,0.104,2669,2236,3880
$GC,10034,-1.29,-194.7,892.9,-7.7,1089,10039,0.00,2.88,0.00,0.000,4,0.000,0.133,2669,823,3879
$GC,10066,-1.29,-194.7,896.1,-9.9,1090,10073,0.00,2.78,0.00,0.000,6,0.000,0.109,2669,2242,3879
$GC,10382,-1.29,-194.7,926.9,-10.4,1106,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3879
$GC,10691,-1.29,-194.7,960.7,-11.2,1121,10692,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3878
$STATE,10977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10977,begin apogee
$GC,10983,-0.35,0.0,990.5,9.4,1135,11152,1.05,0.00,165.10,1.428,6,0.107,0.000,2879,2331,3085
$STATE,11153,end apogee,CONTROL_FINISHED_OK
$STATE,11153,begin climb
$GC,11155,1.29,194.7,997.3,0.0,1143,11328,1.62,3.00,161.93,1.391,4,0.061,0.128,3243,3738,2291
$GC,11378,1.16,194.7,979.4,14.4,1154,11383,0.17,2.85,0.00,0.000,6,0.114,0.111,3212,2329,2289
$GC,11694,1.10,194.7,945.1,10.7,1169,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2330,2288
$GC,12003,1.05,194.7,908.5,12.6,1184,12008,0.12,2.90,0.00,0.000,4,0.117,0.130,3190,916,2288
$GC,12024,1.05,194.7,905.6,12.3,1185,12029,0.00,2.80,0.00,0.000,6,0.000,0.108,3190,2331,2288
$GC,12345,1.05,194.7,866.6,12.0,1201,12350,0.00,2.90,0.00,0.000,4,0.000,0.127,3190,3738,2287
$GC,12389,0.98,194.7,860.7,12.9,1203,12393,0.00,2.80,0.00,0.000,6,0.000,0.106,3190,2327,2288
$GC,12709,0.98,194.7,821.4,12.0,1219,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2328,2287
$GC,13018,0.98,194.7,783.6,12.1,1234,13020,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2328,2287
$GC,13327,0.98,194.7,748.0,11.5,1249,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2328,2287
$GC,13637,0.98,194.7,711.5,11.4,1264,13638,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2327,2287
$GC,13947,0.98,194.7,677.9,10.9,1279,13948,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2327,2286
$GC,14255,0.99,199.9,646.2,9.8,1294,14266,0.00,2.88,5.38,0.960,4,0.000,0.115,3190,3738,2269
$GC,14295,0.95,203.1,642.2,9.9,1296,14305,0.12,2.78,4.43,0.865,6,0.116,0.097,3168,2327,2256
$GC,14623,1.01,251.8,615.0,8.3,1312,14667,0.00,0.00,42.33,1.168,6,0.000,0.000,3168,2327,2058
$GC,14976,1.01,251.8,580.1,10.6,1338,14977,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2327,2054
$GC,15295,1.01,251.8,543.4,11.9,1368,15296,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2326,2053
$GC,15613,1.01,251.8,503.9,12.0,1398,15614,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2326,2053
$GC,15933,1.01,258.0,471.9,9.8,1428,15942,0.00,0.00,5.95,0.911,6,0.000,0.000,3168,2326,2033
$GC,16262,1.01,258.0,438.1,10.4,1459,16263,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2326,2032
$GC,16579,1.01,258.0,405.2,10.8,1489,16580,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2326,2033
$GC,16899,1.04,280.6,374.3,9.2,1519,16921,0.00,0.00,20.60,0.997,6,0.000,0.000,3168,2326,1941
$GC,17239,1.07,300.4,341.4,9.3,1558,17261,0.10,0.00,18.10,0.966,6,0.072,0.000,3193,2326,1860
$GC,17598,1.07,300.4,297.8,13.7,1622,17604,0.00,2.78,0.00,0.000,4,0.000,0.110,3194,911,1856
$GC,17621,1.07,300.4,294.7,13.0,1626,17627,0.00,2.72,0.00,0.000,6,0.000,0.090,3194,2344,1856
$GC,17964,1.07,300.4,250.8,13.2,1687,17969,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2345,1856
$GC,18306,1.07,300.4,209.5,11.6,1748,18311,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,1856
$GC,18649,1.07,300.4,169.5,13.2,1809,18655,0.00,2.78,0.00,0.000,4,0.000,0.105,3193,916,1856
$GC,18672,1.07,300.4,166.6,11.6,1813,18678,0.00,2.67,0.00,0.000,6,0.000,0.089,3194,2336,1856
$GC,19015,1.07,300.4,123.9,12.1,1874,19022,0.00,2.70,0.00,0.000,4,0.000,0.103,3193,3737,1855
$GC,19039,1.07,300.4,120.8,14.2,1878,19045,0.00,2.65,0.00,0.000,6,0.000,0.085,3194,2333,1855
$GC,19383,1.07,300.4,80.3,10.9,1939,19389,0.00,2.70,0.00,0.000,4,0.000,0.104,3194,921,1856
$GC,19419,1.11,300.4,76.3,11.0,1945,19425,0.00,2.62,0.00,0.000,6,0.000,0.085,3194,2329,1856
$GC,19763,1.11,300.4,39.7,10.2,2006,19769,0.00,2.70,0.00,0.000,4,0.000,0.100,3194,3737,1855
$GC,19798,1.11,300.4,35.4,11.8,2012,19805,0.00,2.65,0.00,0.000,6,0.000,0.085,3193,2331,1856
$GC,19941,1.11,300.4,19.2,11.4,2037,19947,0.00,2.72,0.00,0.000,4,0.000,0.105,3194,912,1856
$GC,19976,1.11,300.4,15.1,10.3,2043,19983,0.00,2.65,0.00,0.000,6,0.000,0.085,3194,2329,1856
$STATE,20083,end climb,SURFACE_DEPTH_REACHED
$STATE,20083,begin surface coast
$FINISH,0.0,1.027883
$STATE,20103,end surface coast,CONTROL_FINISHED_OK
$STATE,20103,begin surface
$SM_CCo,20184,0.00,0.000,0,0,1853,302.21
$SM_GC,0.79,11.35,0.00,0.00,0.041,0.000,0.000,590,2234,1853,-10.85,-0.03,302.21
$IRIDIUM_FIX,6024.11,-2639.82,290797,111147
$TT8_MAMPS,0.022243
$HUMID,1632
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,17.70
$XPDR_PINGS,87
$24V_AH,23.4,32.600
$10V_AH,10.7,25.193
$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,27.200,111.000,423.800,0.000,0.000,23.957,42.886,236.937,21.750,0.000,0.000,15.194,3202.313,12776.075,583.813,3417.003,628.981,0.000,2155.065,0.000,3400.995,0.000,0.467
$DEVICE_MAMPS,195.585,140.361,1428.154,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1443.483,1522.612,982.043,591.703,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116684,2065
$CAP_FILE_SIZE,175171,0
$CFSIZE,260165632,243376128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,040508,230101,6042.230,-2658.201,39,1.5,45,-18.5