version: 66.03
glider: 140
mission: 5
dive: 134
start: 5 5 108 4 54 52
data:
$ID,140
$MISSION,5
$DIVE,134
$D_SURF,2
$D_FLARE,3
$D_TGT,650
$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,210
$T_MISSION,250
$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,350
$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,-15707.887
$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,10
$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
$GPS1,044337,6039.037,-2706.655,40,1.4,46,-18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-52.9
$GPS2,045432,6039.031,-2706.845,16,1.6,32,-18.5
$SPEED_LIMITS,0.179,0.298
$TGT_NAME,HEADING
$TGT_LATLONG,6049.666,-2707.759
$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,8.5,20000,-15.4,-10.317
$D_GRID,650
$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,-1.32,-194.7,0.0,0.0,0,111,0.00,0.00,-82.05,0.000,2,0.000,0.000,591,2230,3534
$GC,114,-1.32,-194.7,3.4,-6.4,15,144,12.45,2.78,-7.57,0.000,4,0.192,0.110,2663,3647,3881
$GC,314,-1.32,-194.7,28.5,-8.7,50,320,0.00,2.62,0.00,0.000,6,0.000,0.083,2663,2231,3881
$GC,456,-1.32,-194.7,41.2,-9.0,75,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2232,3881
$GC,598,-1.32,-194.7,55.0,-10.0,100,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2231,3881
$GC,940,-1.32,-194.7,90.4,-11.2,161,946,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2231,3881
$GC,1283,-1.32,-194.7,126.9,-11.1,222,1290,0.00,2.72,0.00,0.000,4,0.000,0.104,2663,819,3882
$GC,1307,-1.32,-194.7,129.6,-11.4,226,1313,0.00,2.67,0.00,0.000,6,0.000,0.090,2663,2232,3881
$GC,1651,-1.32,-194.7,163.2,-10.4,287,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2232,3881
$GC,1993,-1.32,-194.7,198.5,-9.9,348,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2232,3882
$GC,2337,-1.32,-194.7,231.4,-9.0,409,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2232,3882
$GC,2679,-1.32,-194.7,267.6,-11.7,470,2685,0.00,2.78,0.00,0.000,4,0.000,0.111,2663,822,3882
$GC,2714,-1.32,-194.7,271.7,-12.6,476,2720,0.00,2.70,0.00,0.000,6,0.000,0.096,2663,2233,3882
$GC,3057,-1.32,-194.7,310.4,-10.9,537,3063,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3881
$GC,3401,-1.32,-194.7,344.8,-9.3,598,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2233,3882
$GC,3732,-1.32,-194.7,372.8,-8.5,634,3736,0.00,2.80,0.00,0.000,4,0.000,0.117,2664,823,3882
$GC,3753,-1.32,-194.7,375.0,-8.3,635,3759,0.00,2.70,0.00,0.000,6,0.000,0.099,2663,2229,3882
$GC,4079,-1.32,-194.7,403.1,-9.0,666,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2229,3881
$GC,4398,-1.32,-194.7,430.7,-8.0,696,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2228,3881
$GC,4714,-1.32,-194.7,458.5,-8.7,726,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2228,3881
$GC,5033,-1.32,-194.7,486.8,-8.9,756,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2229,3882
$GC,5351,-1.32,-194.7,515.3,-9.2,786,5355,0.00,2.78,0.00,0.000,4,0.000,0.112,2664,3652,3881
$GC,5379,-1.32,-194.7,518.0,-9.6,788,5384,0.00,2.70,0.00,0.000,6,0.000,0.095,2664,2230,3881
$GC,5705,-1.32,-194.7,544.5,-9.5,818,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2231,3882
$GC,6022,-1.32,-194.7,581.7,-13.5,848,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2231,3881
$GC,6345,-1.32,-194.7,625.3,-13.6,870,6350,0.00,2.85,0.00,0.000,4,0.000,0.125,2664,816,3881
$GC,6377,-1.32,-194.7,629.9,-14.2,871,6384,0.00,2.72,0.00,0.000,6,0.000,0.104,2664,2224,3881
$STATE,6546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6546,begin apogee
$GC,6553,-0.35,0.0,651.4,12.2,880,6716,1.08,0.00,160.10,1.189,6,0.102,0.000,2880,2330,3085
$STATE,6717,end apogee,CONTROL_FINISHED_OK
$STATE,6717,begin climb
$GC,6720,1.32,194.7,661.9,0.0,888,6885,1.67,2.92,157.77,1.160,4,0.058,0.118,3247,3737,2290
$GC,6920,1.20,194.7,651.4,13.0,897,6926,0.15,2.78,0.00,0.000,6,0.114,0.097,3221,2330,2289
$GC,7236,1.15,194.7,615.4,11.7,912,7240,0.00,2.85,0.00,0.000,4,0.000,0.115,3221,3737,2288
$GC,7302,1.06,194.7,606.9,13.3,915,7307,0.15,2.75,0.00,0.000,6,0.113,0.099,3193,2337,2288
$GC,7632,1.06,194.7,569.7,11.7,943,7636,0.00,2.85,0.00,0.000,4,0.000,0.121,3193,919,2287
$GC,7682,1.06,194.7,563.1,13.5,947,7686,0.00,2.78,0.00,0.000,6,0.000,0.100,3193,2344,2287
$GC,8008,1.06,194.7,523.4,11.8,977,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,2287
$GC,8324,1.06,194.7,482.8,13.1,1007,8329,0.00,2.78,0.00,0.000,4,0.000,0.113,3193,3737,2287
$GC,8357,1.02,194.7,478.4,14.0,1009,8363,0.00,2.72,0.00,0.000,6,0.000,0.094,3194,2329,2287
$GC,8683,1.02,194.7,436.2,12.8,1040,8684,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2328,2287
$GC,9000,1.02,194.7,397.2,12.5,1070,9005,0.00,2.80,0.00,0.000,4,0.000,0.108,3193,3737,2287
$GC,9044,0.97,194.7,391.3,14.1,1073,9050,0.00,2.67,0.00,0.000,6,0.000,0.092,3194,2343,2287
$GC,9370,0.97,194.7,349.9,12.8,1104,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2343,2287
$GC,9713,0.97,194.7,307.8,11.6,1165,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2344,2287
$GC,10055,0.98,199.6,271.0,10.1,1226,10066,0.00,0.00,5.15,0.764,6,0.000,0.000,3193,2343,2270
$GC,10403,1.01,226.5,237.7,9.4,1288,10436,0.00,2.88,23.10,0.916,4,0.000,0.106,3193,3738,2160
$GC,10464,1.02,229.9,231.6,10.2,1299,10476,0.00,2.67,4.40,0.649,6,0.000,0.087,3193,2348,2147
$GC,10814,1.03,241.4,197.4,9.9,1361,10830,0.00,0.00,11.00,0.867,6,0.000,0.000,3193,2349,2099
$GC,11167,1.04,251.4,162.1,10.0,1424,11179,0.00,0.00,9.52,0.834,6,0.000,0.000,3193,2349,2059
$GC,11516,1.04,253.3,127.3,10.2,1486,11522,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2349,2058
$GC,11859,1.04,253.3,89.7,11.1,1547,11864,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2349,2058
$GC,12202,1.05,254.5,50.5,10.3,1608,12214,0.00,2.78,4.07,0.594,4,0.000,0.102,3193,3736,2046
$GC,12254,1.05,254.5,44.2,12.2,1617,12261,0.00,2.62,0.00,0.000,6,0.000,0.084,3194,2349,2046
$GC,12399,1.05,254.5,27.4,10.8,1642,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2349,2046
$GC,12540,1.05,254.5,12.9,12.5,1667,12546,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2349,2046
$STATE,12640,end climb,SURFACE_DEPTH_REACHED
$STATE,12640,begin surface coast
$FINISH,0.1,1.011219
$STATE,12658,end surface coast,CONTROL_FINISHED_OK
$STATE,12658,begin surface
$SM_CCo,12739,0.00,0.000,0,0,2044,255.36
$SM_GC,0.84,11.50,0.00,0.00,0.048,0.000,0.000,590,2227,2044,-10.84,-0.23,255.36
$IRIDIUM_FIX,6015.40,-2701.37,300797,040434
$TT8_MAMPS,0.02301
$HUMID,1626
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.50
$XPDR_PINGS,74
$24V_AH,23.5,32.945
$10V_AH,10.7,25.459
$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,27.000,72.150,375.125,0.000,0.000,55.158,56.667,318.442,18.500,0.000,0.000,32.891,2559.989,6776.822,525.572,2814.037,700.430,0.000,1776.919,0.000,2785.561,0.000,0.467
$DEVICE_MAMPS,191.750,125.021,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1173.111,1243.875,971.408,577.572,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94790,1688
$CAP_FILE_SIZE,132011,0
$CFSIZE,260165632,243257344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,050508,082826,6040.585,-2709.194,41,1.6,41,-18.6