version: 66.03
glider: 140
mission: 5
dive: 203
start: 5 21 108 19 31 39
data:
$ID,140
$MISSION,5
$DIVE,203
$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,-17130.023
$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,12
$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
$GPS1,192231,6125.195,-2531.275,37,1.3,37,-18.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-53.3
$GPS2,193121,6125.231,-2531.361,14,1.3,14,-18.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6130.630,-2535.822
$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,318.1,20000,-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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,112,0.00,0.00,-81.18,0.000,2,0.000,0.000,587,2224,3463
$GC,115,-1.29,-194.7,3.4,-7.5,15,145,12.35,2.75,-9.43,0.000,4,0.186,0.108,2670,3645,3881
$GC,297,-1.29,-194.7,25.2,-10.5,47,304,0.00,2.62,0.00,0.000,6,0.000,0.079,2670,2228,3882
$GC,439,-1.29,-194.7,40.9,-11.2,72,446,0.00,2.70,0.00,0.000,4,0.000,0.098,2670,824,3882
$GC,503,-1.29,-194.7,48.3,-11.7,83,510,0.00,2.62,0.00,0.000,6,0.000,0.084,2671,2214,3882
$GC,645,-1.29,-194.7,66.2,-13.4,108,651,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2214,3882
$GC,989,-1.29,-194.7,98.8,-9.3,169,995,0.00,2.70,0.00,0.000,4,0.000,0.100,2671,823,3882
$GC,1023,-1.29,-194.7,102.3,-10.0,175,1029,0.00,2.62,0.00,0.000,6,0.000,0.085,2670,2214,3883
$GC,1368,-1.29,-194.7,136.4,-9.6,236,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2214,3883
$GC,1711,-1.29,-194.7,162.5,-7.0,297,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2214,3883
$GC,2054,-1.29,-194.7,191.1,-8.6,358,2060,0.00,2.70,0.00,0.000,4,0.000,0.105,2671,827,3883
$GC,2078,-1.29,-194.7,193.4,-9.5,362,2084,0.00,2.62,0.00,0.000,6,0.000,0.090,2671,2206,3883
$GC,2422,-1.29,-194.7,228.0,-9.8,423,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2206,3883
$GC,2765,-1.29,-194.7,261.3,-9.0,484,2771,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3883
$GC,3110,-1.29,-194.7,292.0,-9.3,545,3116,0.00,2.72,0.00,0.000,4,0.000,0.111,2670,824,3883
$GC,3139,-1.29,-194.7,295.0,-9.9,550,3145,0.00,2.65,0.00,0.000,6,0.000,0.095,2671,2208,3883
$GC,3484,-1.29,-194.7,327.0,-8.9,611,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2208,3883
$GC,3823,-1.29,-194.7,355.3,-8.0,666,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2208,3883
$GC,4141,-1.29,-194.7,381.0,-8.5,696,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2208,3882
$GC,4460,-1.29,-194.7,408.7,-8.8,726,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2208,3882
$GC,4778,-1.29,-194.7,439.7,-10.2,756,4782,0.00,2.83,0.00,0.000,4,0.000,0.114,2671,3646,3882
$GC,4805,-1.29,-194.7,442.6,-10.6,758,4810,0.00,2.72,0.00,0.000,6,0.000,0.091,2671,2208,3882
$GC,5132,-1.29,-194.7,473.2,-9.0,788,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2209,3882
$GC,5448,-1.29,-194.7,498.5,-7.8,818,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2209,3882
$GC,5769,-1.29,-194.7,525.7,-8.8,848,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2208,3881
$GC,6085,-1.29,-194.7,554.6,-9.4,878,6089,0.00,2.83,0.00,0.000,4,0.000,0.110,2670,3646,3882
$GC,6118,-1.29,-194.7,557.9,-9.9,880,6124,0.00,2.72,0.00,0.000,6,0.000,0.093,2670,2207,3881
$GC,6444,-1.29,-194.7,587.2,-9.0,911,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2207,3881
$GC,6757,-1.29,-194.7,614.5,-8.3,933,6761,0.00,2.85,0.00,0.000,4,0.000,0.114,2670,3646,3881
$GC,6778,-1.29,-194.7,616.4,-8.4,934,6782,0.00,2.75,0.00,0.000,6,0.000,0.094,2670,2210,3881
$GC,7099,-1.29,-194.7,642.5,-8.3,950,7100,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3881
$GC,7409,-1.29,-194.7,669.4,-8.6,965,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2211,3881
$GC,7717,-1.29,-194.7,696.5,-8.9,980,7721,0.00,2.88,0.00,0.000,4,0.000,0.118,2670,3650,3880
$GC,7773,-1.29,-194.7,701.5,-8.9,982,7780,0.00,2.75,0.00,0.000,6,0.000,0.098,2670,2221,3880
$GC,8089,-1.29,-194.7,728.0,-8.3,998,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2221,3880
$GC,8399,-1.29,-194.7,751.7,-8.1,1013,8404,0.00,2.88,0.00,0.000,4,0.000,0.120,2670,3650,3880
$GC,8426,-1.29,-194.7,754.2,-9.2,1014,8431,0.00,2.78,0.00,0.000,6,0.000,0.100,2670,2215,3880
$GC,8743,-1.29,-194.7,778.9,-8.0,1029,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2215,3880
$GC,9051,-1.29,-194.7,805.0,-8.7,1044,9055,0.00,2.90,0.00,0.000,4,0.000,0.125,2670,3645,3879
$GC,9077,-1.29,-194.7,807.4,-9.1,1045,9082,0.00,2.80,0.00,0.000,6,0.000,0.102,2670,2202,3879
$GC,9393,-1.29,-194.7,833.0,-7.9,1060,9395,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2203,3879
$GC,9703,-1.29,-194.7,856.8,-8.0,1075,9704,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2203,3879
$GC,10012,-1.29,-194.7,880.4,-7.2,1090,10016,0.00,2.95,0.00,0.000,4,0.000,0.127,2670,3647,3879
$GC,10056,-1.29,-194.7,883.9,-7.9,1092,10060,0.00,2.80,0.00,0.000,6,0.000,0.106,2670,2211,3879
$GC,10376,-1.29,-194.7,908.3,-8.0,1108,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3878
$GC,10685,-1.29,-194.7,935.6,-9.0,1123,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3878
$GC,10995,-1.29,-194.7,963.3,-9.2,1138,11000,0.00,2.95,0.00,0.000,4,0.000,0.131,2670,3645,3878
$GC,11034,-1.29,-194.7,967.0,-9.4,1140,11039,0.00,2.80,0.00,0.000,6,0.000,0.109,2671,2221,3877
$STATE,11276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11276,begin apogee
$GC,11282,-0.35,0.0,990.6,9.4,1152,11451,1.05,0.00,165.45,1.424,6,0.101,0.000,2882,2329,3085
$STATE,11452,end apogee,CONTROL_FINISHED_OK
$STATE,11452,begin climb
$GC,11454,1.29,194.7,997.7,0.0,1160,11627,1.60,3.08,162.02,1.387,4,0.058,0.135,3238,3738,2291
$GC,11717,1.16,194.7,972.7,16.6,1172,11722,0.12,2.88,0.00,0.000,6,0.118,0.110,3216,2330,2289
$GC,12032,1.10,194.7,929.2,13.4,1187,12034,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2330,2288
$GC,12342,1.04,194.7,886.7,13.2,1202,12348,0.15,2.95,0.00,0.000,4,0.113,0.127,3184,3738,2287
$GC,12375,0.99,194.7,882.4,11.6,1203,12382,0.00,2.83,0.00,0.000,6,0.000,0.109,3185,2336,2288
$GC,12691,1.00,201.0,850.3,9.8,1219,12700,0.00,0.00,6.65,1.108,6,0.000,0.000,3185,2336,2265
$GC,13000,1.00,201.0,819.7,10.1,1234,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2335,2265
$GC,13310,1.00,201.0,786.7,10.6,1249,13311,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2335,2264
$GC,13618,1.00,201.0,754.9,10.2,1264,13623,0.00,2.90,0.00,0.000,4,0.000,0.122,3185,3738,2264
$GC,13645,1.00,201.0,751.9,10.4,1265,13650,0.00,2.78,0.00,0.000,6,0.000,0.101,3185,2335,2263
$GC,13960,1.00,201.0,716.5,11.6,1280,13961,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2334,2264
$GC,14270,1.00,201.0,682.2,10.3,1295,14271,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2335,2263
$GC,14579,1.00,201.0,648.3,11.9,1310,14580,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2335,2263
$GC,14888,1.00,201.0,611.3,11.5,1325,14893,0.00,2.85,0.00,0.000,4,0.000,0.116,3185,3739,2263
$GC,14950,0.96,201.0,604.1,11.8,1328,14955,0.00,2.75,0.00,0.000,6,0.000,0.095,3185,2336,2263
$GC,15273,0.98,217.9,572.4,9.4,1356,15293,0.00,0.00,15.57,1.121,6,0.000,0.000,3185,2336,2195
$GC,15613,0.98,221.5,539.6,9.9,1388,15622,0.00,0.00,4.65,0.835,6,0.000,0.000,3185,2336,2181
$GC,15943,0.98,224.0,506.6,9.9,1419,15950,0.00,0.00,3.97,0.738,6,0.000,0.000,3185,2336,2171
$GC,16271,1.01,243.7,475.1,9.3,1450,16291,0.00,0.00,17.95,1.045,6,0.000,0.000,3185,2336,2091
$GC,16607,1.01,243.7,440.1,10.4,1482,16609,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2336,2089
$GC,16928,1.04,266.8,408.9,9.2,1512,16951,0.00,0.00,20.55,1.006,6,0.000,0.000,3185,2336,1997
$GC,17264,1.04,266.8,375.6,10.0,1544,17266,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2336,1994
$GC,17586,1.06,284.0,342.4,9.4,1580,17608,0.00,0.00,15.62,0.958,6,0.000,0.000,3184,2336,1926
$GC,17945,1.06,284.0,302.3,13.2,1644,17951,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2335,1924
$GC,18289,1.06,284.0,262.5,11.0,1705,18294,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2336,1924
$GC,18631,1.06,284.0,222.4,12.4,1766,18638,0.00,2.80,0.00,0.000,4,0.000,0.107,3185,3738,1923
$GC,18666,1.06,284.0,218.1,13.0,1772,18673,0.00,2.67,0.00,0.000,6,0.000,0.085,3185,2344,1923
$GC,19011,1.06,284.0,177.5,10.3,1833,19017,0.00,2.78,0.00,0.000,4,0.000,0.106,3184,919,1924
$GC,19040,1.10,284.0,174.0,12.7,1838,19047,0.00,2.72,0.00,0.000,6,0.000,0.088,3184,2356,1924
$GC,19384,1.10,284.0,134.6,11.6,1899,19390,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2356,1924
$GC,19728,1.10,284.0,100.1,10.1,1960,19734,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2355,1923
$GC,20071,1.10,284.0,61.9,11.2,2021,20077,0.00,2.80,0.00,0.000,4,0.000,0.103,3185,913,1924
$GC,20123,1.15,285.6,56.7,9.9,2030,20130,0.12,2.67,0.00,0.000,6,0.063,0.085,3218,2342,1924
$GC,20468,1.15,285.6,15.2,14.4,2091,20474,0.00,2.70,0.00,0.000,4,0.000,0.104,3218,3735,1923
$GC,20494,1.15,285.6,12.0,14.5,2095,20500,0.00,2.62,0.00,0.000,6,0.000,0.081,3218,2340,1923
$STATE,20566,end climb,SURFACE_DEPTH_REACHED
$STATE,20566,begin surface coast
$FINISH,0.2,1.027732
$STATE,20584,end surface coast,CONTROL_FINISHED_OK
$STATE,20584,begin surface
$SM_CCo,20666,0.00,0.000,0,0,1922,285.28
$SM_GC,1.04,11.52,0.00,0.00,0.045,0.000,0.000,587,2225,1922,-10.86,-0.28,285.28
$IRIDIUM_FIX,6059.36,-2521.62,150897,131334
$TT8_MAMPS,0.02301
$HUMID,1670
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.10
$XPDR_PINGS,98
$24V_AH,23.3,45.883
$10V_AH,10.7,36.632
$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,26.925,117.150,412.450,0.000,0.000,27.577,37.415,320.351,24.500,0.000,0.000,14.555,3284.351,12848.774,572.571,3697.380,772.784,0.000,2179.180,0.000,3696.399,0.000,0.467
$DEVICE_MAMPS,185.614,137.293,1423.552,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1466.610,1575.471,1867.780,589.105,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123318,2111
$CAP_FILE_SIZE,181422,0
$CFSIZE,260165632,236490752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,220508,011725,6126.446,-2538.525,28,1.3,45,-18.2