version: 66.03
glider: 140
mission: 5
dive: 151
start: 5 9 108 1 10 15
data:
$ID,140
$MISSION,5
$DIVE,151
$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,280
$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,-16157.264
$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,14
$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
$GPS1,010225,6110.379,-2610.808,41,0.9,41,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-59.6
$GPS2,010957,6110.365,-2610.982,11,1.5,11,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.240,-2616.105
$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,298.4,20000,-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,27,-1.29,-194.7,0.0,0.0,0,89,0.00,0.00,-59.92,0.000,2,0.000,0.000,588,2232,3428
$GC,92,-1.29,-194.7,3.2,-6.2,11,122,12.30,2.75,-10.23,0.000,4,0.186,0.112,2670,3648,3880
$GC,364,-1.29,-194.7,33.8,-9.5,59,371,0.00,2.62,0.00,0.000,6,0.000,0.081,2670,2230,3881
$GC,508,-1.29,-194.7,47.1,-9.8,84,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3881
$GC,650,-1.29,-194.7,60.7,-8.8,109,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,993,-1.29,-194.7,91.8,-8.6,170,999,0.00,2.70,0.00,0.000,4,0.000,0.103,2670,826,3881
$GC,1034,-1.29,-194.7,95.6,-9.3,177,1040,0.00,2.65,0.00,0.000,6,0.000,0.087,2671,2238,3881
$GC,1378,-1.29,-194.7,125.8,-9.0,238,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3881
$GC,1722,-1.29,-194.7,156.4,-8.9,299,1728,0.00,2.70,0.00,0.000,4,0.000,0.103,2671,3644,3882
$GC,1768,-1.29,-194.7,160.8,-10.1,307,1774,0.00,2.62,0.00,0.000,6,0.000,0.085,2671,2242,3882
$GC,2113,-1.29,-194.7,192.3,-8.6,368,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3882
$GC,2456,-1.29,-194.7,222.7,-8.8,429,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3882
$GC,2799,-1.29,-194.7,254.0,-9.5,490,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3882
$GC,3142,-1.29,-194.7,286.3,-9.8,551,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3881
$GC,3484,-1.29,-194.7,319.3,-9.8,612,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3882
$GC,3826,-1.29,-194.7,352.2,-9.6,671,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3882
$GC,4144,-1.29,-194.7,381.3,-9.0,701,4149,0.00,2.75,0.00,0.000,4,0.000,0.110,2671,3643,3882
$GC,4177,-1.29,-194.7,384.3,-9.2,703,4183,0.00,2.65,0.00,0.000,6,0.000,0.090,2671,2236,3882
$GC,4503,-1.29,-194.7,413.6,-9.0,734,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,4820,-1.29,-194.7,443.1,-9.5,764,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,5138,-1.29,-194.7,472.1,-9.0,794,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,5457,-1.29,-194.7,500.8,-8.6,824,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3882
$GC,5778,-1.29,-194.7,528.6,-8.9,854,5783,0.00,2.78,0.00,0.000,4,0.000,0.111,2671,3649,3882
$GC,5811,-1.29,-194.7,532.1,-9.8,856,5817,0.00,2.65,0.00,0.000,6,0.000,0.092,2671,2245,3882
$GC,6138,-1.29,-194.7,561.8,-9.2,887,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2245,3882
$GC,6456,-1.29,-194.7,592.1,-9.8,917,6460,0.00,2.75,0.00,0.000,4,0.000,0.112,2670,3643,3881
$GC,6495,-1.29,-194.7,596.2,-10.5,920,6499,0.00,2.65,0.00,0.000,6,0.000,0.091,2671,2241,3881
$GC,6811,-1.29,-194.7,627.8,-10.0,937,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3881
$GC,7121,-1.29,-194.7,657.9,-9.5,952,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3881
$GC,7430,-1.29,-194.7,684.2,-8.3,967,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3881
$GC,7739,-1.29,-194.7,710.5,-8.5,982,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3881
$GC,8049,-1.29,-194.7,737.0,-8.4,997,8053,0.00,2.80,0.00,0.000,4,0.000,0.120,2670,3642,3880
$GC,8103,-1.29,-194.7,741.9,-8.7,999,8110,0.00,2.65,0.00,0.000,6,0.000,0.097,2670,2256,3880
$GC,8419,-1.29,-194.7,766.9,-7.8,1015,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2256,3880
$GC,8729,-1.29,-194.7,792.9,-8.4,1030,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2256,3880
$GC,9037,-1.29,-194.7,819.7,-8.4,1045,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2256,3880
$GC,9347,-1.29,-194.7,848.1,-9.6,1060,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2256,3880
$GC,9656,-1.29,-194.7,877.5,-9.2,1075,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3879
$GC,9965,-1.29,-194.7,904.1,-8.4,1090,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2256,3879
$GC,10275,-1.29,-194.7,931.0,-8.6,1105,10279,0.00,2.83,0.00,0.000,4,0.000,0.130,2671,3642,3879
$GC,10341,-1.29,-194.7,936.9,-9.2,1108,10346,0.00,2.70,0.00,0.000,6,0.000,0.104,2670,2247,3879
$GC,10662,-1.29,-194.7,963.6,-8.6,1124,10663,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2248,3879
$GC,10972,-1.29,-194.7,990.0,-8.6,1139,10976,0.00,2.50,0.00,0.000,3,0.000,0.128,2671,3493,3878
$STATE,10977,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10977,begin apogee
$GC,10984,-0.35,0.0,990.4,8.6,1139,11153,1.00,0.00,165.05,1.417,6,0.104,0.000,2875,2321,3085
$STATE,11154,end apogee,CONTROL_FINISHED_OK
$STATE,11154,begin climb
$GC,11156,1.29,194.7,996.8,0.0,1147,11324,1.65,0.00,162.45,1.383,6,0.063,0.000,3238,2321,2290
$GC,11628,1.20,194.7,945.5,13.2,1170,11632,0.00,2.97,0.00,0.000,4,0.000,0.129,3237,3736,2288
$GC,11667,1.07,194.7,940.1,14.0,1172,11672,0.22,2.83,0.00,0.000,6,0.110,0.106,3196,2331,2288
$GC,11994,1.07,194.7,905.5,10.3,1188,11995,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2331,2287
$GC,12302,1.07,194.7,871.1,11.6,1203,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2331,2286
$GC,12612,1.07,194.7,836.1,11.1,1218,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2331,2286
$GC,12921,1.07,194.7,803.7,10.0,1233,12926,0.00,2.85,0.00,0.000,4,0.000,0.119,3196,3734,2286
$GC,12961,1.01,194.7,799.5,10.6,1235,12966,0.00,2.80,0.00,0.000,6,0.000,0.101,3196,2318,2286
$GC,13287,1.01,194.7,767.0,10.3,1251,13288,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2319,2286
$GC,13596,1.01,194.7,731.6,11.9,1266,13601,0.00,2.88,0.00,0.000,4,0.000,0.118,3196,3734,2286
$GC,13628,0.95,194.7,727.6,12.0,1267,13635,0.15,2.75,0.00,0.000,6,0.110,0.097,3169,2321,2286
$GC,13944,0.95,194.7,695.3,10.1,1283,13945,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2322,2286
$GC,14253,0.98,217.2,664.5,9.2,1298,14275,0.00,0.00,19.65,1.193,6,0.000,0.000,3169,2322,2199
$GC,14582,1.00,240.0,633.9,9.2,1314,14609,0.00,2.92,20.70,1.147,4,0.000,0.113,3169,3734,2105
$GC,14643,1.00,240.0,627.9,10.5,1317,14647,0.00,2.75,0.00,0.000,6,0.000,0.094,3169,2329,2104
$GC,14959,1.03,265.0,597.7,9.1,1333,14983,0.00,0.00,22.25,1.121,6,0.000,0.000,3168,2329,2004
$GC,15297,1.05,280.5,566.3,9.5,1365,15317,0.00,0.00,14.70,1.081,6,0.000,0.000,3169,2329,1940
$GC,15638,1.10,281.7,534.1,10.0,1397,15640,0.12,0.00,0.00,0.000,6,0.065,0.000,3201,2329,1938
$GC,15955,1.10,281.7,498.5,11.5,1427,15960,0.00,2.83,0.00,0.000,4,0.000,0.110,3201,3735,1937
$GC,15983,1.10,281.7,494.9,12.6,1429,15987,0.00,2.72,0.00,0.000,6,0.000,0.091,3201,2326,1937
$GC,16307,1.10,281.7,456.9,11.7,1459,16308,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2327,1937
$GC,16626,1.10,281.7,418.9,11.6,1489,16628,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2327,1937
$GC,16944,1.10,281.7,382.2,11.3,1519,16945,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2327,1937
$GC,17268,1.10,281.7,344.5,10.7,1553,17273,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2326,1937
$GC,17609,1.10,281.7,304.4,11.0,1614,17615,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2326,1937
$GC,17952,1.10,281.7,265.2,10.2,1675,17958,0.00,2.78,0.00,0.000,4,0.000,0.106,3201,3736,1937
$GC,17981,1.10,281.7,261.8,12.1,1680,17988,0.00,2.67,0.00,0.000,6,0.000,0.087,3201,2329,1936
$GC,18325,1.10,281.7,224.7,10.5,1741,18331,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2329,1936
$GC,18669,1.10,281.7,185.7,10.7,1802,18674,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2330,1937
$GC,19014,1.10,281.7,146.2,11.5,1863,19020,0.00,2.78,0.00,0.000,4,0.000,0.104,3201,3735,1937
$GC,19042,1.10,281.7,142.6,13.3,1868,19049,0.00,2.67,0.00,0.000,6,0.000,0.084,3201,2322,1937
$GC,19387,1.10,281.7,104.3,10.4,1929,19392,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2323,1937
$GC,19729,1.10,281.7,67.0,10.7,1990,19736,0.00,2.75,0.00,0.000,4,0.000,0.101,3201,3734,1937
$GC,19764,1.10,281.7,62.7,12.1,1996,19771,0.00,2.67,0.00,0.000,6,0.000,0.082,3201,2320,1937
$GC,20108,1.10,281.7,20.4,12.3,2057,20115,0.00,2.67,0.00,0.000,4,0.000,0.101,3201,913,1937
$GC,20151,1.10,281.7,15.3,12.2,2064,20157,0.00,2.62,0.00,0.000,6,0.000,0.084,3201,2330,1937
$STATE,20251,end climb,SURFACE_DEPTH_REACHED
$STATE,20251,begin surface coast
$FINISH,0.1,1.027773
$STATE,20270,end surface coast,CONTROL_FINISHED_OK
$STATE,20272,begin surface
$SM_CCo,20353,0.00,0.000,0,0,1935,281.85
$SM_GC,1.03,11.32,0.00,0.00,0.040,0.000,0.000,591,2235,1935,-10.84,0.00,281.85
$IRIDIUM_FIX,6046.07,-2615.95,020897,191906
$TT8_MAMPS,0.02301
$HUMID,1634
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,128
$24V_AH,23.4,36.085
$10V_AH,10.7,27.841
$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,26.775,98.200,404.800,0.000,0.000,24.302,31.707,252.121,32.000,0.000,0.000,13.446,3235.054,12933.462,553.067,3418.376,643.359,0.000,2105.398,0.000,3407.773,0.000,0.468
$DEVICE_MAMPS,185.614,129.623,1417.416,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1444.024,1551.094,981.255,594.281,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116658,2085
$CAP_FILE_SIZE,173275,0
$CFSIZE,260165632,241627136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090508,065037,6110.326,-2618.274,34,1.1,34,-18.4