version: 66.03
glider: 140
mission: 5
dive: 254
start: 6 2 108 5 2 9
data:
$ID,140
$MISSION,5
$DIVE,254
$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,-17969.234
$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,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
$GPS1,045402,6137.685,-2540.771,39,1.2,39,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.1
$GPS2,050150,6137.653,-2540.868,11,1.4,16,-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,16.1,49222,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.29,-194.7,0.0,0.0,0,88,0.00,0.00,-65.15,0.000,2,0.000,0.000,587,2227,3435
$GC,91,-1.29,-194.7,3.3,-7.1,9,122,12.35,2.70,-9.82,0.000,4,0.185,0.107,2674,826,3880
$GC,361,-1.29,-194.7,33.7,-9.4,55,368,0.00,2.65,0.00,0.000,6,0.000,0.084,2674,2237,3880
$GC,503,-1.29,-194.7,49.4,-11.4,80,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2237,3881
$GC,646,-1.29,-194.7,66.5,-11.7,105,652,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2237,3881
$GC,990,-1.29,-194.7,96.6,-7.5,166,997,0.00,2.72,0.00,0.000,4,0.000,0.098,2674,825,3882
$GC,1021,-1.29,-194.7,98.9,-7.4,171,1028,0.00,2.65,0.00,0.000,6,0.000,0.085,2674,2228,3882
$GC,1367,-1.29,-194.7,128.0,-9.5,232,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3882
$GC,1712,-1.29,-194.7,163.1,-10.8,293,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3882
$GC,2055,-1.29,-194.7,199.5,-10.6,354,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3882
$GC,2400,-1.29,-194.7,233.4,-9.6,415,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2229,3882
$GC,2744,-1.29,-194.7,265.8,-9.2,476,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3882
$GC,3089,-1.29,-194.7,298.1,-9.5,537,3096,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3882
$GC,3433,-1.29,-194.7,331.5,-10.0,598,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3881
$GC,3769,-1.29,-194.7,363.6,-9.7,646,3771,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2228,3882
$GC,4089,-1.29,-194.7,394.1,-9.2,676,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3882
$GC,4407,-1.29,-194.7,423.4,-9.0,706,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3882
$GC,4726,-1.29,-194.7,451.5,-8.9,736,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2228,3882
$GC,5044,-1.29,-194.7,480.3,-9.0,766,5048,0.00,2.80,0.00,0.000,4,0.000,0.114,2674,3647,3881
$GC,5062,-1.29,-194.7,481.8,-8.8,767,5066,0.00,2.70,0.00,0.000,6,0.000,0.088,2674,2222,3881
$GC,5391,-1.29,-194.7,511.3,-9.4,797,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2222,3881
$GC,5716,-1.29,-194.7,541.6,-8.9,828,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2222,3881
$GC,6035,-1.29,-194.7,570.2,-8.8,858,6040,0.00,2.83,0.00,0.000,4,0.000,0.112,2674,3647,3881
$GC,6064,-1.29,-194.7,573.0,-9.8,860,6068,0.00,2.72,0.00,0.000,6,0.000,0.091,2674,2218,3881
$GC,6391,-1.29,-194.7,602.1,-8.9,889,6392,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2219,3881
$GC,6697,-1.29,-194.7,628.3,-8.3,904,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2219,3881
$GC,7008,-1.29,-194.7,653.3,-7.9,919,7012,0.00,2.85,0.00,0.000,4,0.000,0.117,2674,3643,3881
$GC,7041,-1.29,-194.7,656.2,-8.7,920,7048,0.00,2.70,0.00,0.000,6,0.000,0.094,2674,2226,3880
$GC,7356,-1.29,-194.7,680.9,-7.5,936,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2226,3880
$GC,7666,-1.29,-194.7,704.7,-7.6,951,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2226,3880
$GC,7975,-1.29,-194.7,727.7,-7.1,966,7977,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2226,3880
$GC,8285,-1.29,-194.7,751.7,-7.8,981,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2226,3879
$GC,8593,-1.29,-194.7,777.3,-8.3,996,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2226,3879
$GC,8904,-1.29,-194.7,803.5,-8.5,1011,8905,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2226,3879
$GC,9212,-1.29,-194.7,828.2,-8.0,1026,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2226,3879
$GC,9522,-1.29,-194.7,851.9,-7.5,1041,9527,0.00,2.90,0.00,0.000,4,0.000,0.135,2673,822,3878
$GC,9549,-1.29,-194.7,854.2,-8.1,1042,9554,0.00,2.78,0.00,0.000,6,0.000,0.108,2674,2233,3878
$GC,9866,-1.29,-194.7,879.1,-7.9,1057,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2234,3878
$GC,10175,-1.29,-194.7,905.1,-8.5,1072,10179,0.00,2.88,0.00,0.000,4,0.000,0.129,2674,825,3878
$GC,10230,-1.29,-194.7,910.2,-9.0,1074,10237,0.00,2.78,0.00,0.000,6,0.000,0.110,2674,2229,3878
$GC,10548,-1.29,-194.7,937.5,-8.9,1090,10552,0.00,2.88,0.00,0.000,4,0.000,0.128,2674,824,3877
$GC,10587,-1.29,-194.7,941.4,-10.1,1092,10591,0.00,2.75,0.00,0.000,6,0.000,0.111,2674,2215,3877
$GC,10914,-1.29,-194.7,970.4,-8.7,1108,10919,0.00,2.85,0.00,0.000,4,0.000,0.129,2674,821,3877
$GC,10935,-1.29,-194.7,972.6,-9.2,1109,10940,0.00,2.75,0.00,0.000,6,0.000,0.110,2674,2212,3877
$STATE,11130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11130,begin apogee
$GC,11137,-0.35,0.0,990.9,9.3,1119,11307,1.02,0.00,166.32,1.434,6,0.102,0.000,2880,2335,3085
$STATE,11308,end apogee,CONTROL_FINISHED_OK
$STATE,11308,begin climb
$GC,11310,1.29,194.7,998.1,0.0,1127,11479,1.62,0.00,164.52,1.398,6,0.060,0.000,3245,2335,2291
$GC,11788,1.20,194.7,951.4,12.4,1151,11793,0.12,2.97,0.00,0.000,4,0.119,0.136,3225,3738,2288
$GC,11839,1.10,194.7,944.8,12.9,1153,11844,0.12,2.83,0.00,0.000,6,0.120,0.107,3202,2332,2288
$GC,12154,1.10,194.7,911.9,10.5,1168,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2332,2287
$GC,12466,1.10,194.7,878.8,10.5,1183,12471,0.00,2.92,0.00,0.000,4,0.000,0.128,3203,3738,2287
$GC,12515,1.02,194.7,872.9,10.9,1185,12520,0.00,2.78,0.00,0.000,6,0.000,0.104,3203,2340,2287
$GC,12831,1.02,194.7,838.5,11.0,1200,12836,0.00,2.90,0.00,0.000,4,0.000,0.125,3203,3738,2286
$GC,12894,0.95,194.7,831.4,12.5,1203,12899,0.17,2.78,0.00,0.000,6,0.110,0.104,3170,2349,2286
$GC,13222,0.95,194.7,799.5,10.1,1219,13226,0.00,2.95,0.00,0.000,4,0.000,0.133,3170,918,2286
$GC,13261,0.95,194.7,795.3,10.9,1221,13266,0.00,2.85,0.00,0.000,6,0.000,0.108,3170,2357,2286
$GC,13589,0.97,205.6,762.7,9.6,1237,13605,0.00,2.90,10.45,1.218,4,0.000,0.130,3170,3738,2245
$GC,13656,0.97,205.6,755.7,10.1,1239,13660,0.00,2.75,0.00,0.000,6,0.000,0.100,3170,2347,2245
$GC,13977,0.97,205.6,723.3,10.2,1255,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2348,2245
$GC,14286,0.99,227.9,693.4,9.2,1270,14312,0.00,2.95,20.25,1.215,4,0.000,0.120,3170,3735,2155
$GC,14363,0.99,227.9,685.3,10.6,1273,14368,0.00,2.70,0.00,0.000,6,0.000,0.096,3170,2358,2154
$GC,14680,1.02,244.5,655.1,9.4,1288,14700,0.00,0.00,15.40,1.170,6,0.000,0.000,3170,2357,2088
$GC,15008,1.06,278.0,625.2,8.8,1304,15041,0.00,0.00,30.42,1.162,6,0.000,0.000,3170,2358,1951
$GC,15339,1.16,323.7,595.8,8.4,1322,15383,0.20,0.00,40.75,1.138,6,0.057,0.000,3219,2358,1766
$GC,15697,1.16,323.7,555.0,12.0,1356,15698,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2358,1759
$GC,16016,1.16,323.7,517.2,11.8,1386,16018,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2358,1758
$GC,16334,1.16,323.7,479.4,12.0,1416,16335,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2358,1758
$GC,16653,1.16,323.7,441.2,11.9,1446,16658,0.00,2.85,0.00,0.000,4,0.000,0.110,3219,913,1758
$GC,16685,1.16,323.7,437.0,12.8,1448,16693,0.00,2.83,0.00,0.000,6,0.000,0.097,3219,2370,1758
$GC,17012,1.16,323.7,397.5,12.2,1479,17013,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2370,1758
$GC,17331,1.16,323.7,358.4,12.3,1509,17335,0.00,2.85,0.00,0.000,4,0.000,0.107,3219,917,1758
$GC,17359,1.16,323.7,354.6,13.2,1511,17364,0.00,2.78,0.00,0.000,6,0.000,0.094,3219,2358,1758
$GC,17700,1.16,323.7,313.7,13.3,1568,17706,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2359,1758
$GC,18044,1.16,323.7,271.7,12.0,1629,18051,0.00,2.83,0.00,0.000,4,0.000,0.105,3219,916,1758
$GC,18080,1.16,323.7,267.0,11.7,1635,18088,0.00,2.75,0.00,0.000,6,0.000,0.093,3219,2353,1757
$GC,18425,1.16,323.7,224.0,13.0,1696,18432,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2353,1757
$GC,18771,1.16,323.7,181.3,13.4,1757,18777,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2353,1757
$GC,19115,1.16,323.7,139.0,12.8,1818,19122,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2353,1758
$GC,19457,1.16,323.7,98.2,12.0,1879,19464,0.00,2.80,0.00,0.000,4,0.000,0.100,3219,909,1758
$GC,19493,1.16,323.7,93.7,12.4,1885,19500,0.00,2.72,0.00,0.000,6,0.000,0.087,3219,2347,1758
$GC,19838,1.16,323.7,51.8,13.1,1946,19845,0.00,2.70,0.00,0.000,4,0.000,0.104,3219,3737,1757
$GC,19874,1.16,323.7,47.1,12.6,1952,19881,0.00,2.62,0.00,0.000,6,0.000,0.082,3219,2345,1757
$GC,20019,1.16,323.7,29.6,11.6,1977,20026,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2345,1757
$GC,20162,1.16,323.7,13.1,11.1,2002,20169,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,2345,1758
$STATE,20257,end climb,SURFACE_DEPTH_REACHED
$STATE,20258,begin surface coast
$FINISH,0.2,1.027596
$STATE,20274,end surface coast,CONTROL_FINISHED_OK
$STATE,20274,begin surface
$SM_CCo,20355,0.00,0.000,0,0,1753,326.49
$SM_GC,1.12,11.50,0.00,0.00,0.044,0.000,0.000,590,2232,1753,-10.85,-0.06,326.49
$IRIDIUM_FIX,6108.28,-2541.39,260897,232304
$TT8_MAMPS,0.02301
$HUMID,1691
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,105
$24V_AH,23.3,55.373
$10V_AH,10.6,45.193
$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,27.125,112.375,448.125,0.000,0.000,27.704,32.365,257.890,26.250,0.000,0.000,16.414,4044.392,11859.812,665.722,3523.192,711.268,0.000,2183.052,0.000,3538.894,0.000,0.467
$DEVICE_MAMPS,184.847,138.827,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1402.470,1556.161,1781.838,568.997,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120015,2022
$CAP_FILE_SIZE,171910,0
$CFSIZE,260165632,231661568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.133,159.2,1
$GPS,020608,104238,6139.339,-2540.288,39,1.3,39,-18.4