version: 66.03
glider: 140
mission: 5
dive: 253
start: 6 1 108 23 18 22
data:
$ID,140
$MISSION,5
$DIVE,253
$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,-17952.191
$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,12
$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
$GPS1,231002,6136.045,-2540.803,41,1.1,41,-18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-62.2
$GPS2,231803,6136.033,-2540.835,15,0.9,15,-18.3
$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,16.1,52221,-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,18,begin dive
$GC,20,-1.29,-194.7,0.0,0.0,0,91,0.00,0.00,-68.68,0.000,2,0.000,0.000,592,2228,3533
$GC,94,-1.29,-194.7,3.7,-7.8,10,120,12.32,2.78,-7.15,0.000,4,0.185,0.108,2672,825,3881
$GC,371,-1.29,-194.7,38.1,-10.9,58,379,0.00,2.65,0.00,0.000,6,0.000,0.084,2671,2236,3882
$GC,515,-1.29,-194.7,54.9,-12.2,83,522,0.00,2.75,0.00,0.000,4,0.000,0.097,2671,816,3882
$GC,608,-1.29,-194.7,66.4,-12.5,99,614,0.00,2.67,0.00,0.000,6,0.000,0.084,2671,2234,3882
$GC,952,-1.29,-194.7,106.6,-11.4,160,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,1296,-1.29,-194.7,144.8,-10.7,221,1303,0.00,2.75,0.00,0.000,4,0.000,0.103,2671,826,3883
$GC,1321,-1.29,-194.7,147.6,-11.2,225,1328,0.00,2.67,0.00,0.000,6,0.000,0.089,2671,2234,3883
$GC,1667,-1.29,-194.7,183.1,-9.8,286,1674,0.00,2.75,0.00,0.000,4,0.000,0.104,2671,819,3883
$GC,1692,-1.29,-194.7,185.7,-10.1,290,1699,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2223,3883
$GC,2038,-1.29,-194.7,219.3,-9.5,351,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3883
$GC,2381,-1.29,-194.7,252.7,-9.8,412,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3883
$GC,2727,-1.29,-194.7,286.4,-10.0,473,2734,0.00,2.75,0.00,0.000,4,0.000,0.109,2672,825,3883
$GC,2763,-1.29,-194.7,290.0,-9.9,479,2771,0.00,2.67,0.00,0.000,6,0.000,0.097,2671,2219,3883
$GC,3108,-1.29,-194.7,324.3,-10.0,540,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3883
$GC,3454,-1.29,-194.7,359.0,-10.0,594,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3883
$GC,3773,-1.29,-194.7,390.1,-9.9,624,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2219,3883
$GC,4092,-1.29,-194.7,420.8,-9.5,654,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3883
$GC,4410,-1.29,-194.7,449.6,-9.1,684,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3883
$GC,4729,-1.29,-194.7,477.9,-8.9,714,4730,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2219,3882
$GC,5047,-1.29,-194.7,507.6,-9.6,744,5051,0.00,2.78,0.00,0.000,4,0.000,0.116,2671,826,3882
$GC,5075,-1.29,-194.7,510.5,-10.4,746,5080,0.00,2.72,0.00,0.000,6,0.000,0.100,2672,2230,3882
$GC,5402,-1.29,-194.7,542.9,-9.8,776,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3882
$GC,5719,-1.29,-194.7,574.1,-9.6,806,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,6036,-1.29,-194.7,604.9,-9.8,834,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2231,3882
$GC,6345,-1.29,-194.7,635.0,-9.9,849,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3882
$GC,6655,-1.29,-194.7,664.2,-9.5,864,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3882
$GC,6964,-1.29,-194.7,692.0,-9.1,879,6969,0.00,2.85,0.00,0.000,4,0.000,0.123,2671,825,3881
$GC,6991,-1.29,-194.7,694.8,-10.0,880,6995,0.00,2.75,0.00,0.000,6,0.000,0.107,2671,2223,3881
$GC,7308,-1.29,-194.7,723.0,-8.7,895,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3881
$GC,7616,-1.29,-194.7,750.5,-9.3,910,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3881
$GC,7926,-1.29,-194.7,777.6,-8.6,925,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2224,3880
$GC,8235,-1.29,-194.7,803.8,-8.5,940,8240,0.00,2.85,0.00,0.000,4,0.000,0.128,2671,826,3880
$GC,8284,-1.29,-194.7,808.3,-9.2,942,8289,0.00,2.78,0.00,0.000,6,0.000,0.111,2671,2229,3880
$GC,8601,-1.29,-194.7,834.2,-8.3,957,8605,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,824,3880
$GC,8622,-1.29,-194.7,836.2,-8.5,958,8627,0.00,2.78,0.00,0.000,6,0.000,0.110,2672,2228,3880
$GC,8944,-1.29,-194.7,860.9,-7.5,974,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3879
$GC,9253,-1.29,-194.7,884.3,-7.5,989,9258,0.00,2.88,0.00,0.000,4,0.000,0.129,2671,823,3879
$GC,9309,-1.29,-194.7,888.8,-8.0,991,9316,0.00,2.78,0.00,0.000,6,0.000,0.112,2671,2226,3879
$GC,9625,-1.29,-194.7,911.9,-7.3,1007,9629,0.00,2.85,0.00,0.000,4,0.000,0.128,2671,823,3879
$GC,9646,-1.29,-194.7,913.6,-7.5,1008,9651,0.00,2.78,0.00,0.000,6,0.000,0.110,2671,2226,3878
$GC,9968,-1.29,-194.7,939.2,-8.6,1024,9969,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2226,3878
$GC,10277,-1.29,-194.7,966.1,-8.6,1039,10281,0.00,2.88,0.00,0.000,4,0.000,0.132,2671,827,3878
$GC,10317,-1.29,-194.7,969.7,-9.8,1041,10321,0.00,2.78,0.00,0.000,6,0.000,0.113,2672,2226,3878
$STATE,10558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10558,begin apogee
$GC,10564,-0.35,0.0,990.7,8.7,1053,10734,1.02,0.00,166.50,1.431,6,0.100,0.000,2879,2330,3085
$STATE,10735,end apogee,CONTROL_FINISHED_OK
$STATE,10735,begin climb
$GC,10738,1.29,194.7,997.6,0.0,1061,10917,1.65,3.12,163.12,1.396,4,0.061,0.142,3240,3734,2290
$GC,10956,1.17,194.7,982.2,13.5,1070,10964,0.15,2.83,0.00,0.000,6,0.117,0.107,3215,2330,2290
$GC,11272,1.12,194.7,947.2,10.9,1086,11277,0.00,2.95,0.00,0.000,4,0.000,0.130,3215,3738,2288
$GC,11327,1.03,194.7,940.4,12.0,1088,11335,0.15,2.83,0.00,0.000,6,0.116,0.105,3188,2327,2288
$GC,11643,1.03,194.7,907.5,10.6,1104,11648,0.00,2.95,0.00,0.000,4,0.000,0.130,3188,3738,2288
$GC,11693,0.98,194.7,901.9,11.0,1106,11697,0.00,2.80,0.00,0.000,6,0.000,0.105,3188,2338,2287
$GC,12009,0.98,194.7,867.8,11.1,1121,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2339,2287
$GC,12317,0.98,194.7,835.9,10.3,1136,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2338,2287
$GC,12628,1.00,211.7,805.9,9.4,1151,12651,0.00,2.95,15.65,1.275,4,0.000,0.122,3188,3738,2220
$GC,12678,1.01,215.9,800.8,9.9,1153,12689,0.00,2.78,5.30,0.960,6,0.000,0.101,3188,2346,2203
$GC,12999,1.03,233.1,769.7,9.4,1168,13020,0.00,0.00,16.35,1.241,6,0.000,0.000,3188,2346,2133
$GC,13329,1.04,241.5,737.8,9.7,1184,13343,0.00,2.92,8.55,1.150,4,0.000,0.120,3188,3738,2100
$GC,13389,1.04,241.5,731.3,10.8,1186,13396,0.00,2.72,0.00,0.000,6,0.000,0.100,3187,2361,2099
$GC,13705,1.04,244.4,700.1,9.9,1202,13715,0.00,2.95,4.15,0.839,4,0.000,0.124,3188,918,2088
$GC,13759,1.04,244.4,694.4,10.3,1204,13767,0.00,2.83,0.00,0.000,6,0.000,0.104,3188,2357,2088
$GC,14075,1.06,261.3,664.6,9.4,1220,14099,0.00,2.85,16.48,1.182,4,0.000,0.123,3188,3739,2017
$GC,14138,1.06,261.3,658.2,10.2,1222,14146,0.00,2.72,0.00,0.000,6,0.000,0.096,3187,2354,2017
$GC,14454,1.09,286.7,628.7,9.1,1238,14479,0.00,0.00,23.27,1.161,6,0.000,0.000,3188,2355,1916
$GC,14784,1.09,286.7,596.2,10.3,1255,14789,0.00,2.88,0.00,0.000,4,0.000,0.114,3188,917,1912
$GC,14814,1.09,286.7,592.9,11.9,1257,14819,0.00,2.83,0.00,0.000,6,0.000,0.099,3188,2364,1912
$GC,15143,1.09,286.7,558.8,10.3,1287,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2364,1911
$GC,15468,1.09,286.7,523.7,11.0,1318,15469,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2364,1911
$GC,15786,1.09,286.7,488.2,10.8,1348,15787,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2364,1911
$GC,16105,1.09,286.7,454.9,10.3,1378,16110,0.00,2.88,0.00,0.000,4,0.000,0.109,3187,911,1911
$GC,16133,1.14,286.7,451.8,11.2,1380,16138,0.00,2.80,0.00,0.000,6,0.000,0.097,3188,2359,1911
$GC,16460,1.14,286.7,418.1,10.4,1410,16461,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2359,1911
$GC,16777,1.14,286.7,384.5,10.9,1440,16779,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2359,1911
$GC,17095,1.14,286.7,350.4,10.7,1470,17096,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2359,1911
$GC,17432,1.14,286.7,315.1,10.9,1529,17440,0.00,2.80,0.00,0.000,4,0.000,0.105,3188,919,1911
$GC,17464,1.18,286.7,311.6,10.8,1534,17473,0.12,2.78,0.00,0.000,6,0.064,0.095,3221,2363,1911
$GC,17810,1.18,286.7,269.2,12.2,1595,17817,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2363,1911
$GC,18154,1.18,286.7,227.3,11.3,1656,18162,0.00,2.83,0.00,0.000,4,0.000,0.104,3221,918,1911
$GC,18186,1.18,286.7,223.4,13.8,1661,18193,0.00,2.72,0.00,0.000,6,0.000,0.091,3221,2346,1911
$GC,18529,1.18,286.7,180.3,12.7,1722,18537,0.00,2.75,0.00,0.000,4,0.000,0.107,3221,3737,1911
$GC,18555,1.18,286.7,177.1,13.0,1726,18562,0.00,2.65,0.00,0.000,6,0.000,0.084,3221,2344,1911
$GC,18900,1.18,286.7,133.3,12.5,1787,18907,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2343,1911
$GC,19242,1.18,286.7,89.9,11.8,1848,19249,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2343,1912
$GC,19588,1.18,286.7,48.9,13.8,1909,19595,0.00,2.75,0.00,0.000,4,0.000,0.104,3221,3737,1911
$GC,19631,1.14,286.7,42.9,14.5,1916,19639,0.00,2.67,0.00,0.000,6,0.000,0.083,3221,2326,1911
$GC,19776,1.14,286.7,24.3,12.2,1941,19783,0.00,2.70,0.00,0.000,4,0.000,0.100,3221,919,1911
$GC,19840,1.14,286.7,16.0,13.2,1952,19848,0.00,2.62,0.00,0.000,6,0.000,0.084,3221,2322,1911
$STATE,19964,end climb,SURFACE_DEPTH_REACHED
$STATE,19964,begin surface coast
$FINISH,0.2,1.026565
$STATE,19985,end surface coast,CONTROL_FINISHED_OK
$STATE,19985,begin surface
$SM_CCo,20066,0.00,0.000,0,0,1909,288.23
$SM_GC,1.07,11.52,0.00,0.00,0.044,0.000,0.000,588,2228,1909,-10.85,-0.20,288.23
$IRIDIUM_FIX,6108.28,-2545.46,260897,171745
$TT8_MAMPS,0.02301
$HUMID,1673
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.80
$XPDR_PINGS,117
$24V_AH,23.3,55.179
$10V_AH,10.6,45.021
$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,26.950,145.675,419.375,0.000,0.000,24.159,36.235,268.788,29.250,0.000,0.000,15.526,3970.802,11725.286,629.050,3498.992,702.638,0.000,2169.662,0.000,3500.797,0.000,0.467
$DEVICE_MAMPS,184.847,141.895,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1371.266,1513.319,1731.938,535.866,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116658,1977
$CAP_FILE_SIZE,174735,0
$CFSIZE,260165632,231755776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.133,164.1,1
$GPS,020608,045402,6137.685,-2540.771,39,1.2,39,-18.4