version: 66.03
glider: 140
mission: 5
dive: 133
start: 5 4 108 23 9 27
data:
$ID,140
$MISSION,5
$DIVE,133
$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,-15674.367
$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,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
$GPS1,230101,6042.230,-2658.201,39,1.5,45,-18.5
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-58.3
$GPS2,230909,6042.242,-2658.447,14,1.6,14,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6036.842,-2703.036
$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,258.5,20000,-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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,106,0.00,0.00,-75.07,0.000,2,0.000,0.000,590,2233,3589
$GC,109,-1.29,-194.7,3.6,-6.5,14,134,12.65,2.72,-6.15,0.000,4,0.196,0.112,2670,825,3881
$GC,321,-1.29,-194.7,30.2,-9.4,51,328,0.00,2.65,0.00,0.000,6,0.000,0.087,2670,2241,3881
$GC,464,-1.29,-194.7,43.5,-8.7,76,470,0.00,2.67,0.00,0.000,4,0.000,0.099,2670,3645,3882
$GC,505,-1.29,-194.7,47.5,-9.9,83,512,0.00,2.62,0.00,0.000,6,0.000,0.086,2670,2240,3882
$GC,647,-1.29,-194.7,61.2,-9.6,108,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3882
$GC,991,-1.29,-194.7,95.5,-9.9,169,997,0.00,2.75,0.00,0.000,4,0.000,0.106,2671,819,3882
$GC,1037,-1.29,-194.7,100.4,-10.9,177,1043,0.00,2.70,0.00,0.000,6,0.000,0.088,2671,2249,3882
$GC,1380,-1.29,-194.7,135.2,-9.7,238,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2248,3882
$GC,1724,-1.29,-194.7,167.4,-8.6,299,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2249,3882
$GC,2067,-1.29,-194.7,196.9,-8.3,360,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3882
$GC,2411,-1.29,-194.7,226.5,-8.6,421,2417,0.00,2.80,0.00,0.000,4,0.000,0.111,2671,824,3882
$GC,2440,-1.29,-194.7,229.1,-9.1,426,2446,0.00,2.70,0.00,0.000,6,0.000,0.093,2670,2243,3882
$GC,2784,-1.29,-194.7,256.9,-7.7,487,2790,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3882
$GC,3127,-1.29,-194.7,279.4,-6.3,548,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3882
$GC,3471,-1.29,-194.7,301.4,-7.2,609,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3882
$GC,3813,-1.29,-194.7,331.3,-9.6,670,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3882
$GC,4147,-1.29,-194.7,366.6,-11.0,717,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3882
$GC,4466,-1.29,-194.7,401.5,-10.8,747,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3882
$GC,4786,-1.29,-194.7,433.0,-9.3,777,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3882
$GC,5103,-1.29,-194.7,463.1,-9.3,807,5108,0.00,2.83,0.00,0.000,4,0.000,0.119,2671,826,3882
$GC,5136,-1.29,-194.7,466.4,-10.3,809,5142,0.00,2.72,0.00,0.000,6,0.000,0.099,2670,2244,3882
$GC,5462,-1.29,-194.7,496.8,-9.4,840,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,5781,-1.29,-194.7,526.1,-8.8,870,5786,0.00,2.72,0.00,0.000,4,0.000,0.112,2671,3646,3881
$GC,5814,-1.29,-194.7,529.3,-8.8,872,5821,0.00,2.65,0.00,0.000,6,0.000,0.095,2670,2246,3881
$GC,6141,-1.29,-194.7,553.3,-6.0,903,6145,0.00,2.83,0.00,0.000,4,0.000,0.121,2670,827,3881
$GC,6180,-1.29,-194.7,555.6,-6.0,906,6184,0.00,2.75,0.00,0.000,6,0.000,0.100,2670,2252,3881
$GC,6506,-1.29,-194.7,572.3,-4.2,936,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2252,3881
$GC,6825,-1.29,-194.7,588.8,-6.5,966,6829,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,824,3881
$GC,6891,-1.29,-194.7,593.3,-6.9,971,6897,0.00,2.75,0.00,0.000,6,0.000,0.104,2670,2244,3881
$GC,7220,-1.29,-194.7,619.8,-8.8,992,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3881
$GC,7528,-1.29,-194.7,649.5,-9.8,1007,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2244,3881
$GC,7838,-1.29,-194.7,677.3,-8.6,1022,7842,0.00,2.78,0.00,0.000,4,0.000,0.120,2670,3644,3880
$GC,7870,-1.29,-194.7,680.1,-8.5,1023,7877,0.00,2.70,0.00,0.000,6,0.000,0.100,2671,2234,3880
$GC,8185,-1.29,-194.7,709.2,-10.3,1039,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3880
$GC,8495,-1.29,-194.7,743.6,-11.0,1054,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3880
$GC,8804,-1.29,-194.7,774.3,-9.3,1069,8809,0.00,2.83,0.00,0.000,4,0.000,0.122,2671,3644,3880
$GC,8843,-1.29,-194.7,778.0,-9.3,1071,8848,0.00,2.72,0.00,0.000,6,0.000,0.104,2671,2233,3880
$GC,9169,-1.29,-194.7,802.6,-7.4,1087,9171,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3879
$GC,9479,-1.29,-194.7,827.0,-8.2,1102,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3880
$GC,9789,-1.29,-194.7,851.2,-7.5,1117,9793,0.00,2.85,0.00,0.000,4,0.000,0.126,2670,3650,3879
$GC,9855,-1.29,-194.7,857.0,-9.0,1120,9859,0.00,2.72,0.00,0.000,6,0.000,0.107,2670,2248,3879
$GC,10176,-1.29,-194.7,885.7,-9.0,1136,10180,0.00,2.95,0.00,0.000,4,0.000,0.137,2671,817,3878
$GC,10208,-1.29,-194.7,888.6,-9.4,1137,10214,0.00,2.83,0.00,0.000,6,0.000,0.109,2671,2257,3878
$GC,10524,-1.29,-194.7,918.1,-9.8,1153,10528,0.00,2.83,0.00,0.000,4,0.000,0.130,2670,3653,3878
$GC,10556,-1.29,-194.7,921.8,-10.8,1154,10562,0.00,2.72,0.00,0.000,6,0.000,0.107,2671,2254,3878
$GC,10872,-1.29,-194.7,950.0,-8.7,1170,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2254,3877
$GC,11181,-1.29,-194.7,973.2,-7.1,1185,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3877
$STATE,11426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11426,begin apogee
$GC,11431,-0.35,0.0,990.7,7.0,1197,11601,1.05,0.00,165.70,1.431,6,0.108,0.000,2879,2329,3085
$STATE,11602,end apogee,CONTROL_FINISHED_OK
$STATE,11602,begin climb
$GC,11604,1.29,194.7,994.7,0.0,1205,11777,1.62,3.00,162.25,1.394,4,0.062,0.127,3242,3738,2290
$GC,11827,1.15,194.7,975.1,15.8,1216,11832,0.17,2.85,0.00,0.000,6,0.117,0.111,3211,2327,2290
$GC,12143,1.10,201.0,939.2,9.8,1231,12152,0.00,0.00,7.03,1.140,6,0.000,0.000,3212,2326,2265
$GC,12452,1.08,231.2,911.2,9.0,1246,12486,0.00,3.03,27.27,1.318,4,0.000,0.124,3212,3735,2141
$GC,12504,1.10,300.7,906.9,7.6,1248,12571,0.00,2.83,60.80,1.322,6,0.000,0.107,3211,2334,1859
$GC,12880,1.10,300.7,867.0,12.8,1266,12881,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2334,1853
$GC,13189,1.10,300.7,823.7,15.4,1281,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2335,1852
$GC,13499,1.10,300.7,774.9,15.4,1296,13503,0.00,2.88,0.00,0.000,4,0.000,0.122,3212,3738,1851
$GC,13525,1.10,300.7,771.0,13.8,1297,13529,0.00,2.75,0.00,0.000,6,0.000,0.104,3211,2348,1850
$GC,13841,1.10,300.7,733.1,12.0,1312,13845,0.00,2.92,0.00,0.000,4,0.000,0.127,3211,911,1850
$GC,13895,1.10,300.7,726.5,10.8,1314,13902,0.00,2.83,0.00,0.000,6,0.000,0.104,3211,2355,1850
$GC,14211,1.10,300.7,690.2,11.9,1330,14212,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2356,1849
$GC,14520,1.10,300.7,652.0,11.7,1345,14525,0.00,2.88,0.00,0.000,4,0.000,0.117,3211,918,1849
$GC,14536,1.10,300.7,650.0,11.6,1346,14541,0.00,2.75,0.00,0.000,6,0.000,0.100,3211,2348,1849
$GC,14862,1.10,302.1,616.5,10.0,1362,14863,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2348,1849
$GC,15175,1.10,302.1,580.1,13.6,1384,15176,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2349,1849
$GC,15494,1.10,302.1,535.9,13.1,1414,15496,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2349,1849
$GC,15814,1.11,303.4,502.4,10.0,1444,15819,0.00,2.83,0.00,0.000,4,0.000,0.114,3211,918,1849
$GC,15843,1.11,303.4,499.3,10.5,1446,15847,0.00,2.72,0.00,0.000,6,0.000,0.097,3211,2336,1849
$GC,16167,1.11,303.4,462.5,13.9,1476,16168,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2336,1849
$GC,16486,1.11,303.4,414.8,14.2,1506,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2336,1849
$GC,16804,1.11,303.4,374.6,11.1,1536,16805,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2336,1849
$GC,17127,1.11,303.4,339.1,11.5,1574,17132,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2336,1849
$GC,17469,1.11,303.4,298.9,11.6,1635,17476,0.00,2.78,0.00,0.000,4,0.000,0.109,3211,917,1848
$GC,17493,1.11,303.4,296.0,12.2,1639,17499,0.00,2.70,0.00,0.000,6,0.000,0.093,3211,2337,1849
$GC,17838,1.12,317.8,257.7,9.5,1700,17855,0.00,0.00,14.12,0.934,6,0.000,0.000,3212,2338,1789
$GC,18193,1.12,317.8,218.9,11.0,1763,18198,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2338,1786
$GC,18536,1.12,317.8,178.0,12.8,1824,18542,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2337,1786
$GC,18880,1.12,317.8,130.8,14.7,1885,18885,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2337,1787
$GC,19222,1.12,317.8,81.3,14.7,1946,19228,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2337,1787
$GC,19567,1.12,317.8,35.4,12.0,2007,19572,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,2337,1787
$GC,19708,1.16,345.0,20.0,9.1,2032,19737,0.00,0.00,23.75,0.778,6,0.000,0.000,3211,2337,1678
$STATE,19864,end climb,SURFACE_DEPTH_REACHED
$STATE,19864,begin surface coast
$FINISH,0.1,1.012199
$STATE,19888,end surface coast,CONTROL_FINISHED_OK
$STATE,19888,begin surface
$SM_CCo,19969,0.00,0.000,0,0,1669,347.10
$SM_GC,0.77,11.62,0.00,0.00,0.049,0.000,0.000,592,2231,1669,-10.84,-0.11,347.10
$IRIDIUM_FIX,6024.11,-2645.74,290797,171729
$TT8_MAMPS,0.022243
$HUMID,1623
$INTERNAL_PRESSURE,8.3597
$TCM_TEMP,16.20
$XPDR_PINGS,97
$24V_AH,23.4,32.799
$10V_AH,10.7,25.336
$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,27.125,111.775,460.925,0.000,0.000,31.489,27.238,290.391,24.250,0.000,0.000,14.885,3203.712,12521.479,592.278,3441.519,679.542,0.000,2185.719,0.000,3424.821,0.000,0.467
$DEVICE_MAMPS,195.585,149.565,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1435.829,1533.155,964.930,586.287,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116589,2064
$CAP_FILE_SIZE,176048,0
$CFSIZE,260165632,243286016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,050508,044337,6039.037,-2706.655,40,1.4,46,-18.5