version: 66.03
glider: 140
mission: 5
dive: 252
start: 6 1 108 17 32 39
data:
$ID,140
$MISSION,5
$DIVE,252
$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,2
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-17936.039
$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
$GPS1,172438,6135.059,-2543.494,37,0.8,37,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-63.5
$GPS2,173221,6134.990,-2543.514,12,1.2,12,-18.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,NE
$TGT_LATLONG,6204.210,-2543.110
$TGT_RADIUS,2000.000
$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,18.8,54117,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-71.65,0.000,2,0.000,0.000,588,2231,3541
$GC,98,-1.29,-194.7,3.6,-6.7,10,127,12.48,2.72,-6.95,0.000,4,0.189,0.107,2671,3644,3881
$GC,269,-1.29,-194.7,27.6,-10.8,39,276,0.00,2.62,0.00,0.000,6,0.000,0.078,2671,2231,3883
$GC,413,-1.29,-194.7,43.0,-10.5,64,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3882
$GC,555,-1.29,-194.7,56.9,-9.1,89,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,899,-1.29,-194.7,88.4,-8.6,150,905,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3882
$GC,1243,-1.29,-194.7,118.9,-8.8,211,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3882
$GC,1585,-1.29,-194.7,150.0,-9.3,272,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3883
$GC,1931,-1.29,-194.7,182.7,-9.8,333,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3883
$GC,2275,-1.29,-194.7,216.1,-9.5,394,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3883
$GC,2620,-1.29,-194.7,249.2,-9.6,455,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3883
$GC,2963,-1.29,-194.7,283.2,-10.0,516,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,3308,-1.29,-194.7,317.2,-9.8,577,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3883
$GC,3651,-1.29,-194.7,349.5,-9.1,638,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2229,3883
$GC,3977,-1.29,-194.7,379.9,-9.6,669,3981,0.00,2.80,0.00,0.000,4,0.000,0.112,2672,3643,3882
$GC,4007,-1.29,-194.7,382.8,-10.2,671,4012,0.00,2.65,0.00,0.000,6,0.000,0.091,2671,2251,3883
$GC,4335,-1.29,-194.7,414.1,-9.7,701,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2251,3882
$GC,4651,-1.29,-194.7,445.0,-9.8,731,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2251,3882
$GC,4969,-1.29,-194.7,476.0,-9.7,761,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2251,3882
$GC,5288,-1.29,-194.7,506.8,-9.4,791,5290,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2251,3882
$GC,5606,-1.29,-194.7,538.2,-9.8,821,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2250,3882
$GC,5925,-1.29,-194.7,568.7,-9.3,851,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2250,3882
$GC,6243,-1.29,-194.7,599.2,-9.7,881,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3882
$GC,6565,-1.29,-194.7,629.8,-9.3,897,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2250,3882
$GC,6873,-1.29,-194.7,659.9,-9.7,912,6874,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2250,3881
$GC,7181,-1.29,-194.7,690.3,-10.2,927,7186,0.00,2.90,0.00,0.000,4,0.000,0.127,2672,826,3881
$GC,7208,-1.29,-194.7,693.3,-11.1,928,7212,0.00,2.78,0.00,0.000,6,0.000,0.105,2671,2243,3881
$GC,7525,-1.29,-194.7,724.5,-9.7,943,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3881
$GC,7834,-1.29,-194.7,752.1,-8.6,958,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3881
$GC,8143,-1.29,-194.7,776.9,-8.0,973,8148,0.00,2.90,0.00,0.000,4,0.000,0.127,2671,820,3880
$GC,8165,-1.29,-194.7,778.7,-7.9,974,8169,0.00,2.83,0.00,0.000,6,0.000,0.109,2671,2256,3880
$GC,8486,-1.29,-194.7,803.7,-7.7,990,8487,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2256,3880
$GC,8795,-1.29,-194.7,828.5,-8.5,1005,8800,0.00,2.92,0.00,0.000,4,0.000,0.130,2672,826,3880
$GC,8840,-1.29,-194.7,832.7,-9.9,1007,8844,0.00,2.80,0.00,0.000,6,0.000,0.111,2672,2247,3880
$GC,9161,-1.29,-194.7,860.2,-8.5,1023,9166,0.00,2.92,0.00,0.000,4,0.000,0.129,2672,822,3879
$GC,9205,-1.29,-194.7,864.2,-9.2,1025,9209,0.00,2.80,0.00,0.000,6,0.000,0.111,2672,2246,3879
$GC,9526,-1.29,-194.7,891.2,-8.4,1041,9531,0.00,2.90,0.00,0.000,4,0.000,0.129,2671,824,3879
$GC,9548,-1.29,-194.7,893.2,-8.7,1042,9552,0.00,2.80,0.00,0.000,6,0.000,0.110,2671,2243,3878
$GC,9870,-1.29,-194.7,919.8,-8.4,1058,9871,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2244,3878
$GC,10179,-1.29,-194.7,946.7,-8.6,1073,10183,0.00,2.92,0.00,0.000,4,0.000,0.132,2671,820,3878
$GC,10234,-1.29,-194.7,951.9,-9.4,1075,10241,0.00,2.80,0.00,0.000,6,0.000,0.114,2671,2232,3878
$GC,10550,-1.29,-194.7,977.0,-7.8,1091,10555,0.00,2.90,0.00,0.000,4,0.000,0.132,2672,825,3878
$GC,10577,-1.29,-194.7,979.3,-8.4,1092,10581,0.00,2.80,0.00,0.000,6,0.000,0.114,2671,2230,3877
$STATE,10725,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10725,begin apogee
$GC,10731,-0.35,0.0,991.2,7.9,1099,10901,1.02,0.00,166.65,1.429,6,0.098,0.000,2879,2331,3085
$STATE,10902,end apogee,CONTROL_FINISHED_OK
$STATE,10902,begin climb
$GC,10905,1.29,194.7,996.1,0.0,1107,11082,1.62,3.10,163.12,1.393,4,0.060,0.139,3238,3739,2290
$GC,11116,1.17,194.7,978.9,14.9,1116,11121,0.12,2.85,0.00,0.000,6,0.118,0.109,3218,2332,2289
$GC,11432,1.11,194.7,939.6,11.8,1131,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2332,2289
$GC,11741,1.06,194.7,905.2,11.1,1146,11746,0.12,2.97,0.00,0.000,4,0.117,0.131,3194,3739,2287
$GC,11791,1.00,194.7,899.3,11.4,1148,11796,0.00,2.80,0.00,0.000,6,0.000,0.107,3194,2339,2288
$GC,12107,1.00,194.7,865.9,10.9,1163,12112,0.00,2.90,0.00,0.000,4,0.000,0.127,3194,3739,2287
$GC,12140,0.95,194.7,861.9,12.1,1164,12148,0.15,2.75,0.00,0.000,6,0.111,0.105,3167,2352,2287
$GC,12456,0.95,198.3,829.9,9.9,1180,12462,0.00,0.00,4.20,0.880,6,0.000,0.000,3167,2352,2276
$GC,12765,0.98,224.1,800.8,9.1,1195,12796,0.00,2.97,23.62,1.279,4,0.000,0.125,3167,3732,2170
$GC,12819,1.01,246.1,795.8,9.2,1197,12844,0.00,2.75,20.38,1.239,6,0.000,0.103,3167,2353,2081
$GC,13157,1.02,258.1,762.9,9.6,1213,13175,0.00,0.00,11.57,1.203,6,0.000,0.000,3167,2353,2032
$GC,13484,1.05,280.0,732.6,9.2,1229,13510,0.00,2.95,20.45,1.222,4,0.000,0.122,3167,3739,1942
$GC,13546,1.06,286.0,726.6,9.8,1232,13560,0.10,2.75,6.90,1.026,6,0.074,0.100,3191,2367,1918
$GC,13878,1.06,286.0,690.0,11.3,1248,13883,0.00,2.97,0.00,0.000,4,0.000,0.128,3192,913,1915
$GC,13910,1.06,286.0,685.8,11.9,1249,13918,0.00,2.88,0.00,0.000,6,0.000,0.104,3192,2373,1915
$GC,14227,1.06,286.0,650.1,11.4,1265,14228,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2373,1914
$GC,14535,1.06,286.0,614.3,11.8,1280,14536,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2373,1914
$GC,14850,1.06,286.0,576.5,12.3,1304,14855,0.00,2.90,0.00,0.000,4,0.000,0.113,3192,912,1914
$GC,14882,1.06,286.0,572.3,11.8,1306,14890,0.00,2.83,0.00,0.000,6,0.000,0.099,3192,2374,1914
$GC,15211,1.06,286.0,534.3,11.6,1337,15217,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2374,1913
$GC,15536,1.06,286.0,498.1,10.6,1368,15541,0.00,2.90,0.00,0.000,4,0.000,0.111,3192,913,1913
$GC,15568,1.06,286.0,494.4,10.4,1370,15577,0.00,2.83,0.00,0.000,6,0.000,0.098,3192,2373,1913
$GC,15897,1.06,286.0,460.9,10.2,1401,15903,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2373,1913
$GC,16222,1.06,286.0,427.5,10.2,1432,16223,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2373,1913
$GC,16542,1.06,286.0,394.6,10.4,1462,16544,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2373,1913
$GC,16859,1.06,286.0,360.1,10.9,1492,16863,0.00,2.88,0.00,0.000,4,0.000,0.107,3192,910,1913
$GC,16900,1.06,286.0,355.7,10.2,1495,16905,0.00,2.78,0.00,0.000,6,0.000,0.094,3192,2355,1914
$GC,17240,1.06,286.0,317.2,10.0,1550,17246,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2356,1913
$GC,17584,1.06,286.0,279.6,11.4,1611,17590,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2356,1914
$GC,17928,1.06,290.5,243.0,9.8,1672,17943,0.00,2.88,5.12,0.742,4,0.000,0.105,3192,921,1900
$GC,17966,1.11,290.5,238.8,11.1,1678,17974,0.00,2.75,0.00,0.000,6,0.000,0.092,3192,2355,1900
$GC,18311,1.11,290.5,202.0,10.4,1739,18317,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2355,1900
$GC,18655,1.11,290.5,164.0,10.9,1800,18661,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2356,1900
$GC,18999,1.11,290.5,126.0,10.6,1861,19006,0.00,2.80,0.00,0.000,4,0.000,0.101,3192,911,1900
$GC,19047,1.16,290.5,120.6,10.8,1869,19054,0.00,2.75,0.00,0.000,6,0.000,0.091,3192,2354,1900
$GC,19392,1.16,290.5,82.1,11.4,1930,19399,0.00,2.72,0.00,0.000,4,0.000,0.106,3191,3738,1899
$GC,19423,1.16,290.5,78.4,12.2,1935,19430,0.00,2.67,0.00,0.000,6,0.000,0.083,3192,2331,1899
$GC,19769,1.16,291.9,38.0,10.0,1996,19776,0.00,2.72,0.00,0.000,4,0.000,0.101,3192,912,1900
$GC,19811,1.21,291.9,33.1,11.4,2003,19820,0.12,2.70,0.00,0.000,6,0.062,0.087,3226,2345,1900
$GC,19957,1.21,291.9,16.1,10.4,2028,19964,0.00,2.70,0.00,0.000,4,0.000,0.104,3226,3735,1899
$GC,20005,1.17,291.9,9.6,11.8,2036,20013,0.00,2.62,0.00,0.000,6,0.000,0.081,3226,2341,1899
$STATE,20068,end climb,SURFACE_DEPTH_REACHED
$STATE,20068,begin surface coast
$FINISH,0.2,1.027616
$STATE,20085,end surface coast,CONTROL_FINISHED_OK
$STATE,20086,begin surface
$SM_CCo,20167,0.00,0.000,0,0,1898,291.42
$SM_GC,0.89,11.52,0.00,0.00,0.044,0.000,0.000,592,2229,1898,-10.84,-0.17,291.42
$IRIDIUM_FIX,6108.28,-2541.39,260897,111114
$TT8_MAMPS,0.02301
$HUMID,1674
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,123
$24V_AH,23.3,54.993
$10V_AH,10.6,44.852
$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,27.275,130.300,422.025,0.000,0.000,29.747,32.454,252.216,30.750,0.000,0.000,12.518,4107.086,11546.457,633.877,3622.071,699.916,0.000,2224.658,0.000,3626.156,0.000,0.466
$DEVICE_MAMPS,188.682,140.361,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1422.422,1564.845,1804.114,578.748,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122884,2050
$CAP_FILE_SIZE,177773,0
$CFSIZE,260165632,231841792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.225,146.7,1
$GPS,010608,231002,6136.045,-2540.803,41,1.1,41,-18.3