version: 66.03
glider: 140
mission: 5
dive: 152
start: 5 9 108 6 58 21
data:
$ID,140
$MISSION,5
$DIVE,152
$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,-16174.029
$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,13
$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
$GPS1,065037,6110.326,-2618.274,34,1.1,34,-18.4
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-54.1
$GPS2,065803,6110.335,-2618.386,16,1.1,16,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6112.210,-2623.509
$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,-194.7,0.0,0.0,0,101,0.00,0.00,-71.07,0.000,2,0.000,0.000,590,2234,3597
$GC,103,-1.29,-194.7,3.5,-7.5,13,128,12.43,2.72,-5.93,0.000,4,0.190,0.110,2669,3647,3880
$GC,366,-1.29,-194.7,35.3,-10.0,59,373,0.00,2.62,0.00,0.000,6,0.000,0.084,2670,2236,3881
$GC,509,-1.29,-194.7,48.1,-9.6,84,515,0.00,2.72,0.00,0.000,4,0.000,0.104,2670,824,3880
$GC,573,-1.29,-194.7,54.2,-9.1,95,579,0.00,2.62,0.00,0.000,6,0.000,0.084,2670,2224,3881
$GC,917,-1.29,-194.7,80.7,-7.3,156,922,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,1260,-1.29,-194.7,108.1,-8.0,217,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,1602,-1.29,-194.7,136.1,-8.4,278,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,1945,-1.29,-194.7,164.6,-8.3,339,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3881
$GC,2289,-1.29,-194.7,192.4,-8.3,400,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,2634,-1.29,-194.7,222.5,-9.0,461,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2224,3881
$GC,2976,-1.29,-194.7,254.4,-9.9,522,2982,0.00,2.72,0.00,0.000,4,0.000,0.109,2670,827,3881
$GC,3010,-1.29,-194.7,257.8,-10.0,528,3017,0.00,2.62,0.00,0.000,6,0.000,0.094,2670,2213,3881
$GC,3356,-1.29,-194.7,289.3,-9.6,589,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3881
$GC,3698,-1.29,-194.7,319.1,-7.6,650,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3881
$GC,4040,-1.29,-194.7,345.8,-8.0,711,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3881
$GC,4369,-1.29,-194.7,371.9,-7.9,746,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3881
$GC,4686,-1.29,-194.7,397.9,-8.6,776,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3881
$GC,5005,-1.29,-194.7,423.7,-8.2,806,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3881
$GC,5323,-1.29,-194.7,451.1,-9.1,836,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3881
$GC,5642,-1.29,-194.7,478.5,-8.3,866,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2213,3881
$GC,5962,-1.29,-194.7,505.6,-8.6,896,5966,0.00,2.83,0.00,0.000,4,0.000,0.114,2670,3655,3881
$GC,6001,-1.29,-194.7,509.3,-9.3,899,6006,0.00,2.70,0.00,0.000,6,0.000,0.091,2670,2224,3881
$GC,6328,-1.29,-194.7,537.4,-8.7,929,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,6645,-1.29,-194.7,566.9,-9.6,959,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,6963,-1.29,-194.7,595.0,-8.8,989,6967,0.00,2.80,0.00,0.000,4,0.000,0.114,2670,3646,3880
$GC,6996,-1.29,-194.7,598.0,-9.2,991,7002,0.00,2.70,0.00,0.000,6,0.000,0.093,2670,2218,3881
$GC,7312,-1.29,-194.7,624.5,-8.2,1008,7313,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2219,3880
$GC,7621,-1.29,-194.7,652.0,-9.3,1023,7625,0.00,2.83,0.00,0.000,4,0.000,0.115,2670,3648,3880
$GC,7653,-1.29,-194.7,655.2,-10.0,1024,7659,0.00,2.70,0.00,0.000,6,0.000,0.092,2670,2223,3880
$GC,7969,-1.29,-194.7,683.8,-8.6,1040,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3880
$GC,8278,-1.29,-194.7,704.7,-6.5,1055,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2223,3880
$GC,8587,-1.29,-194.7,728.7,-8.0,1070,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3880
$GC,8896,-1.29,-194.7,753.6,-7.9,1085,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3880
$GC,9206,-1.29,-194.7,777.7,-8.2,1100,9210,0.00,2.88,0.00,0.000,4,0.000,0.123,2670,3651,3880
$GC,9268,-1.29,-194.7,783.3,-9.1,1103,9272,0.00,2.72,0.00,0.000,6,0.000,0.099,2670,2230,3880
$GC,9594,-1.29,-194.7,812.1,-8.7,1119,9595,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3879
$GC,9903,-1.29,-194.7,837.3,-8.0,1134,9907,0.00,2.85,0.00,0.000,4,0.000,0.123,2670,3648,3879
$GC,9971,-1.29,-194.7,843.0,-8.6,1137,9975,0.00,2.72,0.00,0.000,6,0.000,0.101,2670,2230,3879
$GC,10291,-1.29,-194.7,868.4,-8.0,1153,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3879
$GC,10601,-1.29,-194.7,894.1,-8.2,1168,10605,0.00,2.85,0.00,0.000,4,0.000,0.127,2670,3647,3879
$GC,10667,-1.29,-194.7,899.9,-8.7,1171,10672,0.00,2.72,0.00,0.000,6,0.000,0.104,2670,2237,3878
$GC,10987,-1.29,-194.7,924.8,-7.6,1187,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3878
$GC,11297,-1.29,-194.7,951.8,-9.3,1202,11298,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3878
$GC,11606,-1.29,-194.7,979.3,-8.5,1217,11610,0.00,2.85,0.00,0.000,4,0.000,0.129,2670,3644,3877
$GC,11655,-1.29,-194.7,983.7,-8.7,1219,11660,0.00,2.75,0.00,0.000,6,0.000,0.108,2670,2237,3877
$STATE,11721,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,11721,begin apogee
$GC,11727,-0.35,0.0,989.2,8.3,1222,11896,1.02,0.00,165.25,1.418,6,0.100,0.000,2878,2329,3085
$STATE,11896,end apogee,CONTROL_FINISHED_OK
$STATE,11896,begin climb
$GC,11899,1.29,194.7,995.1,0.0,1230,12066,1.62,0.00,163.23,1.381,6,0.060,0.000,3237,2328,2291
$GC,12376,1.20,194.7,941.2,13.4,1254,12381,0.00,2.97,0.00,0.000,4,0.000,0.131,3237,3739,2289
$GC,12460,1.09,194.7,928.6,14.7,1258,12466,0.20,2.83,0.00,0.000,6,0.110,0.107,3200,2340,2288
$GC,12788,1.04,194.7,890.0,11.4,1274,12789,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2340,2287
$GC,13097,1.04,194.7,854.1,11.7,1289,13102,0.00,2.90,0.00,0.000,4,0.000,0.124,3201,3737,2287
$GC,13169,0.97,194.7,845.1,12.4,1292,13174,0.15,2.78,0.00,0.000,6,0.114,0.104,3173,2345,2286
$GC,13485,1.01,220.3,815.1,9.1,1307,13509,0.00,0.00,22.85,1.272,6,0.000,0.000,3173,2346,2186
$GC,13813,1.03,237.7,784.1,9.4,1323,13835,0.00,2.92,16.35,1.230,4,0.000,0.120,3173,3737,2114
$GC,13903,1.03,237.7,774.8,11.1,1327,13908,0.00,2.75,0.00,0.000,6,0.000,0.100,3173,2353,2113
$GC,14230,1.03,237.7,741.4,10.6,1343,14231,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2352,2112
$GC,14539,1.03,237.7,707.6,10.5,1358,14543,0.00,2.83,0.00,0.000,4,0.000,0.117,3173,3737,2112
$GC,14565,1.03,237.7,704.5,11.1,1359,14570,0.00,2.70,0.00,0.000,6,0.000,0.097,3173,2356,2111
$GC,14881,1.04,252.0,673.3,9.5,1374,14900,0.00,0.00,13.30,1.167,6,0.000,0.000,3173,2356,2056
$GC,15210,1.04,252.0,639.9,10.8,1390,15214,0.00,2.80,0.00,0.000,4,0.000,0.114,3173,3737,2055
$GC,15242,1.04,252.0,636.3,10.8,1391,15248,0.00,2.65,0.00,0.000,6,0.000,0.094,3173,2371,2055
$GC,15558,1.04,252.0,602.2,11.2,1407,15559,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2372,2055
$GC,15875,1.04,252.0,569.1,10.2,1436,15880,0.00,2.75,0.00,0.000,4,0.000,0.112,3173,3737,2055
$GC,15904,1.04,252.0,566.1,11.0,1438,15908,0.00,2.65,0.00,0.000,6,0.000,0.091,3173,2370,2055
$GC,16228,1.04,252.0,533.0,11.2,1468,16229,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2370,2055
$GC,16547,1.04,252.0,498.0,10.8,1498,16551,0.00,2.72,0.00,0.000,4,0.000,0.110,3173,3738,2055
$GC,16590,1.05,253.8,493.3,9.9,1501,16596,0.00,2.62,0.00,0.000,6,0.000,0.089,3173,2366,2055
$GC,16916,1.05,253.8,460.9,10.4,1532,16918,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2367,2056
$GC,17234,1.05,253.8,428.8,10.2,1562,17238,0.00,2.72,0.00,0.000,4,0.000,0.111,3173,3737,2055
$GC,17266,1.05,253.8,425.1,11.9,1564,17272,0.00,2.60,0.00,0.000,6,0.000,0.087,3173,2372,2056
$GC,17592,1.05,253.8,391.1,10.8,1595,17593,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2372,2055
$GC,17909,1.05,253.8,357.2,10.6,1625,17911,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2371,2055
$GC,18243,1.05,253.8,321.6,10.8,1678,18248,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2371,2055
$GC,18585,1.05,253.8,284.8,10.3,1739,18591,0.00,2.72,0.00,0.000,4,0.000,0.109,3173,3737,2056
$GC,18620,1.05,253.8,281.0,10.5,1745,18627,0.00,2.60,0.00,0.000,6,0.000,0.086,3173,2378,2056
$GC,18963,1.05,253.8,245.2,11.4,1806,18969,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2379,2056
$GC,19306,1.05,258.6,209.0,9.8,1867,19317,0.00,0.00,6.93,0.806,6,0.000,0.000,3173,2379,2030
$GC,19655,1.07,270.1,174.2,9.6,1929,19672,0.00,2.72,11.18,0.850,4,0.000,0.103,3173,3738,1982
$GC,19712,1.07,270.1,168.0,11.3,1939,19718,0.00,2.60,0.00,0.000,6,0.000,0.082,3173,2379,1981
$GC,20054,1.07,270.1,133.2,10.3,2000,20061,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2379,1981
$GC,20398,1.07,270.1,97.5,11.4,2061,20404,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2379,1982
$GC,20741,1.07,275.3,63.3,9.8,2122,20752,0.00,0.00,5.85,0.704,6,0.000,0.000,3173,2379,1961
$GC,21090,1.17,352.6,30.0,7.3,2184,21158,0.15,0.00,63.97,0.755,6,0.061,0.000,3215,2379,1647
$GC,21293,1.17,352.6,5.5,15.2,2220,21299,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2379,1640
$STATE,21321,end climb,SURFACE_DEPTH_REACHED
$STATE,21321,begin surface coast
$FINISH,0.7,1.027802
$STATE,21332,end surface coast,CONTROL_FINISHED_OK
$STATE,21332,begin surface
$SM_CCo,21413,0.00,0.000,0,0,1633,355.93
$SM_GC,0.85,11.62,0.00,0.00,0.047,0.000,0.000,592,2231,1633,-10.84,-0.11,355.93
$IRIDIUM_FIX,6046.07,-2605.97,030897,010123
$TT8_MAMPS,0.02301
$HUMID,1615
$INTERNAL_PRESSURE,8.38899
$TCM_TEMP,17.90
$XPDR_PINGS,135
$24V_AH,23.4,36.275
$10V_AH,10.7,27.993
$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,27.200,110.300,468.900,0.000,0.000,24.628,32.964,243.031,33.750,0.000,0.000,16.138,3448.814,13420.284,633.639,3693.447,643.928,0.000,2304.137,0.000,3673.210,0.000,0.467
$DEVICE_MAMPS,190.216,131.157,1418.183,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1541.302,1653.673,1060.845,638.326,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126149,2227
$CAP_FILE_SIZE,186494,0
$CFSIZE,260165632,241512448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,090508,125625,6110.684,-2625.751,36,1.2,36,-18.5