version: 66.03
glider: 140
mission: 5
dive: 207
start: 5 22 108 19 10 26
data:
$ID,140
$MISSION,5
$DIVE,207
$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,-17193.115
$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,11
$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
$GPS1,190208,6129.860,-2600.493,44,1.1,44,-18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-62.3
$GPS2,191008,6129.917,-2600.540,8,1.3,14,-18.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6135.316,-2604.990
$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,318.5,20000,-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,-194.7,0.0,0.0,0,90,0.00,0.00,-60.17,0.000,2,0.000,0.000,590,2232,3502
$GC,92,-1.29,-194.7,3.5,-7.1,11,122,12.23,2.80,-8.27,0.000,4,0.183,0.110,2670,3646,3881
$GC,376,-1.29,-194.7,36.2,-9.7,61,383,0.00,2.65,0.00,0.000,6,0.000,0.083,2670,2228,3882
$GC,518,-1.29,-194.7,51.0,-10.3,86,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,861,-1.29,-194.7,82.3,-10.5,147,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3883
$GC,1203,-1.29,-194.7,117.5,-9.1,208,1210,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3883
$GC,1547,-1.29,-194.7,148.1,-9.1,269,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3884
$GC,1889,-1.29,-194.7,178.3,-9.0,330,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3884
$GC,2233,-1.29,-194.7,208.0,-8.6,391,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3884
$GC,2575,-1.29,-194.7,237.0,-8.1,452,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3884
$GC,2919,-1.29,-194.7,265.2,-7.9,513,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3883
$GC,3261,-1.29,-194.7,293.2,-8.7,574,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3884
$GC,3605,-1.29,-194.7,323.6,-8.7,635,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3884
$GC,3951,-1.29,-194.7,353.1,-8.4,694,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3884
$GC,4270,-1.29,-194.7,379.0,-8.0,724,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3884
$GC,4589,-1.29,-194.7,404.4,-7.5,754,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3884
$GC,4907,-1.29,-194.7,429.4,-7.7,784,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3883
$GC,5226,-1.29,-194.7,456.0,-8.7,814,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3883
$GC,5544,-1.29,-194.7,485.2,-9.2,844,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3883
$GC,5863,-1.29,-194.7,515.6,-9.2,874,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,6181,-1.29,-194.7,545.7,-9.3,904,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3883
$GC,6500,-1.29,-194.7,575.8,-9.1,934,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,6828,-1.29,-194.7,604.3,-8.5,963,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,7137,-1.29,-194.7,631.6,-9.1,978,7138,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,7446,-1.29,-194.7,660.3,-9.3,993,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,7755,-1.29,-194.7,688.4,-9.0,1008,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,8065,-1.29,-194.7,715.5,-8.8,1023,8070,0.00,2.90,0.00,0.000,4,0.000,0.126,2670,3650,3881
$GC,8098,-1.29,-194.7,718.7,-9.6,1024,8104,0.00,2.75,0.00,0.000,6,0.000,0.100,2670,2223,3881
$GC,8413,-1.29,-194.7,746.5,-8.7,1040,8418,0.00,2.88,0.00,0.000,4,0.000,0.122,2670,3649,3881
$GC,8440,-1.29,-194.7,749.1,-9.6,1041,8445,0.00,2.75,0.00,0.000,6,0.000,0.099,2670,2225,3881
$GC,8756,-1.29,-194.7,777.3,-9.6,1056,8757,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,9065,-1.29,-194.7,802.4,-7.7,1071,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,9375,-1.29,-194.7,824.3,-6.4,1086,9379,0.00,2.88,0.00,0.000,4,0.000,0.124,2670,3646,3881
$GC,9418,-1.29,-194.7,827.4,-6.6,1088,9423,0.00,2.75,0.00,0.000,6,0.000,0.104,2670,2237,3881
$GC,9739,-1.29,-194.7,849.3,-6.9,1104,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3880
$GC,10049,-1.29,-194.7,873.5,-8.1,1119,10051,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3880
$GC,10358,-1.29,-194.7,898.0,-8.1,1134,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3880
$GC,10667,-1.29,-194.7,920.5,-6.8,1149,10672,0.00,2.88,0.00,0.000,4,0.000,0.129,2670,3644,3879
$GC,10694,-1.29,-194.7,922.6,-7.6,1150,10699,0.00,2.75,0.00,0.000,6,0.000,0.106,2670,2236,3879
$GC,11010,-1.29,-194.7,947.1,-8.2,1165,11015,0.00,2.88,0.00,0.000,4,0.000,0.129,2671,3644,3879
$GC,11042,-1.29,-194.7,949.9,-8.5,1166,11048,0.00,2.75,0.00,0.000,6,0.000,0.108,2670,2248,3878
$GC,11358,-1.29,-194.7,975.0,-8.1,1182,11359,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2248,3878
$STATE,11561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11561,begin apogee
$GC,11567,-0.35,0.0,990.4,7.2,1192,11737,1.02,0.00,165.90,1.421,6,0.100,0.000,2878,2333,3085
$STATE,11737,end apogee,CONTROL_FINISHED_OK
$STATE,11738,begin climb
$GC,11740,1.29,194.7,994.6,0.0,1200,11914,1.62,3.08,162.62,1.385,4,0.060,0.138,3237,917,2291
$GC,11981,1.22,194.7,970.6,14.6,1211,11987,0.00,2.85,0.00,0.000,6,0.000,0.114,3237,2327,2289
$GC,12297,1.13,194.7,926.1,14.0,1227,12302,0.15,3.00,0.00,0.000,4,0.114,0.137,3207,3738,2288
$GC,12337,1.05,194.7,920.7,12.8,1229,12341,0.00,2.85,0.00,0.000,6,0.000,0.107,3206,2329,2288
$GC,12663,1.01,194.7,882.6,11.5,1245,12669,0.15,2.95,0.00,0.000,4,0.112,0.127,3175,3739,2287
$GC,12704,0.97,194.7,878.2,11.4,1247,12709,0.00,2.83,0.00,0.000,6,0.000,0.106,3176,2336,2288
$GC,13030,0.97,194.7,844.1,10.9,1263,13035,0.00,2.95,0.00,0.000,4,0.000,0.137,3175,912,2287
$GC,13108,0.97,194.7,835.2,11.8,1266,13114,0.00,2.80,0.00,0.000,6,0.000,0.108,3175,2331,2287
$GC,13423,0.99,213.0,803.6,9.4,1282,13444,0.00,0.00,16.52,1.263,6,0.000,0.000,3175,2331,2216
$GC,13752,0.99,213.0,768.3,10.8,1298,13757,0.00,2.92,0.00,0.000,4,0.000,0.129,3175,3739,2215
$GC,13802,0.99,213.0,762.5,12.5,1300,13806,0.00,2.78,0.00,0.000,6,0.000,0.102,3175,2329,2215
$GC,14117,0.99,213.0,729.4,10.2,1315,14122,0.00,2.88,0.00,0.000,4,0.000,0.127,3175,920,2215
$GC,14157,0.99,213.0,725.2,10.7,1317,14162,0.00,2.78,0.00,0.000,6,0.000,0.105,3175,2331,2214
$GC,14484,1.00,219.0,692.5,9.8,1333,14498,0.00,3.00,6.57,1.058,4,0.000,0.127,3175,3739,2192
$GC,14538,1.00,219.0,686.8,10.1,1335,14542,0.00,2.78,0.00,0.000,6,0.000,0.098,3175,2323,2191
$GC,14860,1.02,237.8,656.5,9.3,1351,14884,0.00,2.92,17.65,1.173,4,0.000,0.121,3175,923,2115
$GC,14913,1.03,244.3,651.3,9.8,1353,14927,0.00,2.78,7.40,1.006,6,0.000,0.102,3175,2335,2087
$GC,15254,1.03,244.3,616.6,10.5,1370,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2335,2085
$GC,15568,1.03,244.3,582.5,10.8,1392,15569,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2335,2085
$GC,15888,1.03,244.3,549.3,10.5,1422,15893,0.00,2.83,0.00,0.000,4,0.000,0.113,3175,912,2085
$GC,15920,1.03,244.3,545.7,10.4,1424,15927,0.00,2.72,0.00,0.000,6,0.000,0.099,3175,2321,2085
$GC,16247,1.04,253.0,514.3,9.7,1455,16258,0.00,0.00,8.57,1.029,6,0.000,0.000,3175,2321,2053
$GC,16573,1.04,253.0,479.3,11.5,1486,16574,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2321,2052
$GC,16894,1.04,253.2,444.3,10.0,1516,16895,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2321,2052
$GC,17211,1.04,253.2,409.8,10.6,1546,17212,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2321,2052
$GC,17529,1.04,253.2,375.3,10.4,1576,17530,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2321,2052
$GC,17852,1.04,253.2,340.7,11.5,1614,17857,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2321,2052
$GC,18195,1.04,253.2,306.2,10.9,1675,18200,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2321,2052
$GC,18537,1.04,253.2,269.1,12.0,1736,18543,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2321,2052
$GC,18880,1.04,253.2,233.1,10.2,1797,18885,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2321,2053
$GC,19222,1.04,257.7,197.6,9.8,1858,19234,0.00,0.00,5.65,0.752,6,0.000,0.000,3175,2321,2033
$GC,19571,1.04,257.7,164.3,10.3,1920,19576,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2321,2033
$GC,19914,1.04,257.7,127.7,10.4,1981,19919,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2321,2033
$GC,20256,1.04,257.7,89.3,10.3,2042,20263,0.00,2.72,0.00,0.000,4,0.000,0.099,3175,911,2033
$GC,20286,1.09,257.7,85.9,12.6,2047,20293,0.10,2.70,0.00,0.000,6,0.070,0.089,3203,2332,2033
$GC,20631,1.09,257.7,44.8,11.6,2108,20637,0.00,2.75,0.00,0.000,4,0.000,0.106,3203,3736,2033
$GC,20660,1.09,257.7,41.2,11.9,2113,20667,0.00,2.67,0.00,0.000,6,0.000,0.083,3203,2322,2033
$GC,20806,1.11,271.9,26.5,9.5,2138,20824,0.00,0.00,13.12,0.775,6,0.000,0.000,3203,2322,1975
$GC,20961,1.11,272.5,9.8,10.0,2165,20967,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2322,1974
$STATE,21033,end climb,SURFACE_DEPTH_REACHED
$STATE,21033,begin surface coast
$FINISH,0.3,1.022597
$STATE,21051,end surface coast,CONTROL_FINISHED_OK
$STATE,21051,begin surface
$SM_CCo,21132,0.00,0.000,0,0,1971,273.26
$SM_GC,1.19,11.57,0.00,0.00,0.049,0.000,0.000,593,2234,1971,-10.84,-0.03,273.26
$IRIDIUM_FIX,6103.81,-2557.63,160897,131311
$TT8_MAMPS,0.022243
$HUMID,1658
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.80
$XPDR_PINGS,99
$24V_AH,23.3,46.587
$10V_AH,10.7,37.331
$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,26.850,96.500,404.025,0.000,0.000,30.345,31.108,267.875,24.750,0.000,0.000,14.916,3396.384,13107.643,541.819,3859.618,683.379,0.000,2198.104,0.000,3837.479,0.000,0.467
$DEVICE_MAMPS,183.313,138.060,1421.251,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1518.377,1620.850,1929.990,612.470,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,129209,2181
$CAP_FILE_SIZE,182147,0
$CFSIZE,260165632,236101632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,230508,010355,6132.453,-2608.881,42,1.1,42,-18.6