version: 66.03
glider: 140
mission: 5
dive: 201
start: 5 21 108 7 44 45
data:
$ID,140
$MISSION,5
$DIVE,201
$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,300
$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,-17100.836
$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
$GPS1,073625,6120.523,-2518.269,28,1.0,46,-18.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-57.6
$GPS2,074427,6120.590,-2518.330,14,1.0,14,-18.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6125.990,-2522.802
$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,318.0,20000,-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,-194.7,0.0,0.0,0,100,0.00,0.00,-70.80,0.000,2,0.000,0.000,589,2231,3455
$GC,103,-1.29,-194.7,3.3,-6.7,13,133,12.35,2.78,-9.57,0.000,4,0.186,0.111,2671,3653,3882
$GC,358,-1.29,-194.7,35.1,-8.9,58,365,0.00,2.65,0.00,0.000,6,0.000,0.081,2671,2231,3882
$GC,502,-1.29,-194.7,48.3,-10.2,83,508,0.00,2.70,0.00,0.000,4,0.000,0.100,2671,823,3882
$GC,531,-1.29,-194.7,51.5,-10.3,88,538,0.00,2.65,0.00,0.000,6,0.000,0.083,2672,2237,3882
$GC,875,-1.29,-194.7,87.2,-10.5,149,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2237,3882
$GC,1218,-1.29,-194.7,117.5,-8.0,210,1225,0.00,2.75,0.00,0.000,4,0.000,0.104,2671,821,3882
$GC,1254,-1.29,-194.7,120.5,-8.5,216,1260,0.00,2.65,0.00,0.000,6,0.000,0.085,2671,2231,3883
$GC,1598,-1.29,-194.7,148.6,-8.6,277,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3883
$GC,1942,-1.29,-194.7,179.6,-9.5,338,1948,0.00,2.75,0.00,0.000,4,0.000,0.106,2672,824,3883
$GC,1994,-1.29,-194.7,184.8,-10.3,347,2000,0.00,2.67,0.00,0.000,6,0.000,0.090,2672,2231,3883
$GC,2339,-1.29,-194.7,220.1,-10.3,408,2344,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3883
$GC,2682,-1.29,-194.7,255.7,-9.9,469,2687,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3883
$GC,3024,-1.29,-194.7,288.9,-9.4,530,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3883
$GC,3369,-1.29,-194.7,321.4,-9.8,591,3375,0.00,2.78,0.00,0.000,4,0.000,0.110,2671,824,3883
$GC,3403,-1.29,-194.7,325.0,-10.5,597,3409,0.00,2.67,0.00,0.000,6,0.000,0.097,2671,2215,3883
$GC,3747,-1.29,-194.7,358.9,-9.9,651,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2215,3882
$GC,4066,-1.29,-194.7,389.6,-9.3,681,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2215,3883
$GC,4385,-1.29,-194.7,419.8,-9.4,711,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3883
$GC,4703,-1.29,-194.7,449.1,-8.9,741,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3883
$GC,5022,-1.29,-194.7,476.0,-8.1,771,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3883
$GC,5341,-1.29,-194.7,500.0,-7.0,801,5342,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3883
$GC,5659,-1.29,-194.7,521.6,-6.9,831,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3882
$GC,5978,-1.29,-194.7,545.6,-7.5,861,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2216,3883
$GC,6296,-1.29,-194.7,573.9,-9.8,891,6300,0.00,2.83,0.00,0.000,4,0.000,0.114,2672,3650,3882
$GC,6328,-1.29,-194.7,577.4,-10.7,893,6334,0.00,2.72,0.00,0.000,6,0.000,0.091,2671,2211,3882
$GC,6662,-1.29,-194.7,610.3,-9.6,920,6664,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3882
$GC,6970,-1.29,-194.7,638.3,-8.6,935,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3882
$GC,7279,-1.29,-194.7,663.9,-8.4,950,7283,0.00,2.85,0.00,0.000,4,0.000,0.117,2671,3644,3882
$GC,7318,-1.29,-194.7,667.3,-9.4,952,7323,0.00,2.72,0.00,0.000,6,0.000,0.095,2671,2221,3881
$GC,7645,-1.29,-194.7,694.6,-8.3,968,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3881
$GC,7955,-1.29,-194.7,721.5,-8.7,983,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3881
$GC,8263,-1.29,-194.7,748.5,-8.9,998,8268,0.00,2.88,0.00,0.000,4,0.000,0.123,2672,3645,3881
$GC,8302,-1.29,-194.7,752.1,-9.7,1000,8307,0.00,2.75,0.00,0.000,6,0.000,0.099,2671,2221,3881
$GC,8628,-1.29,-194.7,780.3,-8.6,1016,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3880
$GC,8938,-1.29,-194.7,806.5,-8.5,1031,8939,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3880
$GC,9247,-1.29,-194.7,832.2,-8.3,1046,9248,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3880
$GC,9557,-1.29,-194.7,856.4,-7.8,1061,9561,0.00,2.90,0.00,0.000,4,0.000,0.127,2671,3644,3879
$GC,9596,-1.29,-194.7,859.8,-9.0,1063,9601,0.00,2.75,0.00,0.000,6,0.000,0.104,2671,2234,3879
$GC,9923,-1.29,-194.7,883.8,-7.1,1079,9928,0.00,2.88,0.00,0.000,4,0.000,0.127,2672,3649,3879
$GC,9950,-1.29,-194.7,885.9,-7.2,1080,9955,0.00,2.75,0.00,0.000,6,0.000,0.104,2671,2236,3879
$GC,10266,-1.29,-194.7,909.4,-7.8,1095,10267,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3879
$GC,10575,-1.29,-194.7,936.3,-9.1,1110,10576,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3879
$GC,10885,-1.29,-194.7,963.1,-8.5,1125,10889,0.00,2.90,0.00,0.000,4,0.000,0.132,2671,3647,3878
$GC,10917,-1.29,-194.7,966.1,-9.3,1126,10923,0.00,2.75,0.00,0.000,6,0.000,0.107,2671,2244,3878
$STATE,11209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11209,begin apogee
$GC,11215,-0.35,0.0,990.5,8.2,1141,11385,1.02,0.00,165.77,1.424,6,0.103,0.000,2878,2328,3085
$STATE,11385,end apogee,CONTROL_FINISHED_OK
$STATE,11386,begin climb
$GC,11388,1.29,194.7,996.9,0.0,1149,11556,1.62,0.00,163.43,1.388,6,0.062,0.000,3237,2328,2291
$GC,11859,1.20,194.7,945.4,13.7,1172,11861,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2328,2288
$GC,12169,1.11,194.7,902.1,14.5,1187,12171,0.17,0.00,0.00,0.000,6,0.112,0.000,3205,2328,2288
$GC,12478,1.06,194.7,862.2,12.8,1202,12479,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,2328,2287
$GC,12788,1.01,194.7,825.2,11.5,1217,12790,0.12,0.00,0.00,0.000,6,0.116,0.000,3183,2328,2286
$GC,13096,1.03,210.8,795.1,9.4,1232,13116,0.00,0.00,14.57,1.248,6,0.000,0.000,3183,2328,2225
$GC,13426,1.05,222.2,762.7,9.6,1248,13447,0.00,2.95,11.40,1.197,4,0.000,0.127,3183,913,2179
$GC,13486,1.05,222.2,756.6,10.1,1250,13492,0.00,2.80,0.00,0.000,6,0.000,0.107,3183,2326,2178
$GC,13801,1.05,222.2,725.5,10.1,1266,13806,0.00,2.95,0.00,0.000,4,0.000,0.130,3183,3739,2178
$GC,13840,1.05,222.2,721.2,11.8,1268,13844,0.00,2.80,0.00,0.000,6,0.000,0.099,3182,2323,2177
$GC,14166,1.05,222.2,685.8,10.9,1284,14167,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2323,2177
$GC,14475,1.05,222.2,652.2,10.9,1299,14480,0.00,2.83,0.00,0.000,4,0.000,0.120,3183,919,2177
$GC,14515,1.05,222.2,647.7,11.6,1301,14519,0.00,2.75,0.00,0.000,6,0.000,0.101,3183,2328,2177
$GC,14841,1.05,222.2,613.1,10.1,1317,14842,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2328,2177
$GC,15154,1.05,222.2,580.7,10.4,1340,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2329,2177
$GC,15473,1.05,222.2,548.3,10.0,1370,15475,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2329,2177
$GC,15791,1.05,222.2,516.6,10.1,1400,15796,0.00,2.78,0.00,0.000,4,0.000,0.110,3183,918,2177
$GC,15824,1.05,225.7,513.3,9.9,1402,15834,0.00,2.70,4.68,0.821,6,0.000,0.097,3183,2325,2164
$GC,16159,1.06,232.9,479.8,9.8,1434,16170,0.00,0.00,7.72,0.977,6,0.000,0.000,3183,2325,2135
$GC,16490,1.06,232.9,445.4,11.2,1465,16494,0.00,2.83,0.00,0.000,4,0.000,0.113,3183,3736,2134
$GC,16522,1.06,232.9,441.3,11.5,1467,16528,0.00,2.72,0.00,0.000,6,0.000,0.088,3183,2311,2134
$GC,16848,1.06,232.9,405.4,11.2,1498,16853,0.00,2.72,0.00,0.000,4,0.000,0.108,3183,912,2134
$GC,16877,1.06,232.9,401.9,11.4,1500,16881,0.00,2.67,0.00,0.000,6,0.000,0.094,3183,2312,2134
$GC,17201,1.06,232.9,363.5,12.3,1530,17202,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2312,2134
$GC,17532,1.06,232.9,325.0,11.6,1579,17537,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2313,2134
$GC,17875,1.06,232.9,289.0,10.5,1640,17882,0.00,2.83,0.00,0.000,4,0.000,0.109,3183,3736,2135
$GC,17905,1.06,232.9,285.7,11.2,1645,17911,0.00,2.72,0.00,0.000,6,0.000,0.086,3183,2310,2135
$GC,18248,1.06,232.9,251.4,11.0,1706,18254,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2310,2135
$GC,18592,1.08,249.8,215.9,9.4,1767,18614,0.00,2.88,15.52,0.886,4,0.000,0.104,3183,3736,2065
$GC,18643,1.08,249.8,210.4,10.9,1776,18650,0.00,2.72,0.00,0.000,6,0.000,0.084,3183,2321,2064
$GC,18988,1.10,267.9,176.4,9.4,1837,19010,0.00,0.00,16.10,0.851,6,0.000,0.000,3183,2321,1991
$GC,19348,1.10,268.1,142.9,10.0,1901,19353,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2321,1989
$GC,19690,1.10,268.1,108.8,10.3,1962,19696,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2321,1989
$GC,20033,1.14,296.1,72.9,9.0,2023,20061,0.10,0.00,24.33,0.792,6,0.071,0.000,3210,2321,1877
$GC,20400,1.14,296.1,30.6,12.5,2088,20405,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2321,1874
$GC,20542,1.14,296.1,14.2,10.2,2113,20548,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2320,1874
$STATE,20655,end climb,SURFACE_DEPTH_REACHED
$STATE,20655,begin surface coast
$FINISH,0.2,1.027695
$STATE,20677,end surface coast,CONTROL_FINISHED_OK
$STATE,20677,begin surface
$SM_CCo,20759,0.00,0.000,0,0,1868,298.53
$SM_GC,0.98,11.57,0.00,0.00,0.048,0.000,0.000,588,2232,1868,-10.86,-0.08,298.53
$IRIDIUM_FIX,6054.92,-2503.72,150897,010122
$TT8_MAMPS,0.02301
$HUMID,1657
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.10
$XPDR_PINGS,105
$24V_AH,23.4,45.492
$10V_AH,10.7,36.287
$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,26.975,105.750,423.525,0.000,0.000,24.352,37.310,274.783,26.250,0.000,0.000,14.261,3310.112,12915.188,590.547,3699.357,705.457,0.000,2180.386,0.000,3694.520,0.000,0.467
$DEVICE_MAMPS,185.614,140.361,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1481.572,1601.693,1895.279,608.739,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,126331,2137
$CAP_FILE_SIZE,178242,0
$CFSIZE,260165632,236687360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210508,133215,6122.985,-2523.585,36,2.3,55,-18.1