version: 66.03
glider: 140
mission: 5
dive: 255
start: 6 2 108 10 50 52
data:
$ID,140
$MISSION,5
$DIVE,255
$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,-17981.932
$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,11
$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
$GPS1,104238,6139.339,-2540.288,39,1.3,39,-18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.1
$GPS2,105033,6139.298,-2540.394,12,1.8,12,-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,15.5,46197,-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,-194.7,0.0,0.0,0,96,0.00,0.00,-73.07,0.000,2,0.000,0.000,590,2231,3476
$GC,99,-1.29,-194.7,3.5,-7.5,10,129,12.35,2.75,-8.73,0.000,4,0.186,0.108,2671,3646,3881
$GC,159,-1.29,-194.7,13.6,-10.4,19,166,0.00,2.62,0.00,0.000,6,0.000,0.080,2671,2234,3881
$GC,301,-1.29,-194.7,28.2,-10.7,44,308,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3881
$GC,444,-1.29,-194.7,42.7,-10.1,69,451,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3881
$GC,586,-1.29,-194.7,57.3,-10.4,94,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3881
$GC,931,-1.29,-194.7,91.1,-9.1,155,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3882
$GC,1275,-1.29,-194.7,120.7,-8.4,216,1282,0.00,2.72,0.00,0.000,4,0.000,0.101,2671,826,3883
$GC,1295,-1.29,-194.7,122.5,-8.7,219,1302,0.00,2.67,0.00,0.000,6,0.000,0.087,2671,2235,3883
$GC,1640,-1.29,-194.7,153.4,-8.9,280,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3883
$GC,1986,-1.29,-194.7,186.8,-9.9,341,1993,0.00,2.78,0.00,0.000,4,0.000,0.104,2671,821,3882
$GC,2011,-1.29,-194.7,189.4,-9.8,345,2018,0.00,2.67,0.00,0.000,6,0.000,0.089,2671,2232,3883
$GC,2356,-1.29,-194.7,223.3,-9.8,406,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3883
$GC,2701,-1.29,-194.7,257.6,-9.9,467,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3883
$GC,3045,-1.29,-194.7,292.1,-9.9,528,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3883
$GC,3390,-1.29,-194.7,324.3,-9.0,589,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3882
$GC,3732,-1.29,-194.7,355.1,-9.1,645,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3882
$GC,4051,-1.29,-194.7,382.4,-8.3,675,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3883
$GC,4369,-1.29,-194.7,408.2,-7.7,705,4373,0.00,2.78,0.00,0.000,4,0.000,0.113,2671,826,3882
$GC,4400,-1.29,-194.7,410.5,-8.1,707,4404,0.00,2.70,0.00,0.000,6,0.000,0.097,2671,2227,3882
$GC,4728,-1.29,-194.7,436.8,-8.4,737,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2227,3882
$GC,5054,-1.29,-194.7,463.8,-8.6,768,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3882
$GC,5372,-1.29,-194.7,492.2,-9.2,798,5373,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3882
$GC,5691,-1.29,-194.7,521.9,-9.3,828,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,6009,-1.29,-194.7,552.3,-9.3,858,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,6328,-1.29,-194.7,580.8,-8.8,888,6329,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,6654,-1.29,-194.7,609.8,-8.9,914,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,6964,-1.29,-194.7,637.8,-9.3,929,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,7273,-1.29,-194.7,667.1,-9.3,944,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,7582,-1.29,-194.7,695.8,-9.3,959,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,7892,-1.29,-194.7,724.3,-8.9,974,7894,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3881
$GC,8201,-1.29,-194.7,752.1,-8.9,989,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3880
$GC,8511,-1.29,-194.7,780.2,-9.1,1004,8512,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3880
$GC,8819,-1.29,-194.7,808.8,-9.2,1019,8821,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2228,3880
$GC,9129,-1.29,-194.7,837.9,-9.5,1034,9134,0.00,2.90,0.00,0.000,4,0.000,0.132,2671,822,3879
$GC,9172,-1.29,-194.7,842.5,-10.1,1036,9177,0.00,2.78,0.00,0.000,6,0.000,0.110,2671,2230,3879
$GC,9496,-1.29,-194.7,872.8,-9.5,1052,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3879
$GC,9804,-1.29,-194.7,900.8,-8.8,1067,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3879
$GC,10112,-1.29,-194.7,926.1,-8.0,1082,10117,0.00,2.88,0.00,0.000,4,0.000,0.131,2671,827,3879
$GC,10152,-1.29,-194.7,929.3,-8.4,1084,10156,0.00,2.78,0.00,0.000,6,0.000,0.112,2671,2230,3879
$GC,10479,-1.29,-194.7,954.5,-7.6,1100,10484,0.00,2.88,0.00,0.000,4,0.000,0.130,2671,820,3878
$GC,10511,-1.29,-194.7,957.2,-7.8,1101,10518,0.00,2.78,0.00,0.000,6,0.000,0.111,2671,2225,3878
$GC,10828,-1.29,-194.7,980.8,-7.6,1117,10829,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2225,3877
$STATE,10948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10948,begin apogee
$GC,10954,-0.35,0.0,990.4,7.8,1123,11124,1.02,0.00,166.43,1.430,6,0.100,0.000,2879,2336,3085
$STATE,11125,end apogee,CONTROL_FINISHED_OK
$STATE,11125,begin climb
$GC,11127,1.29,194.7,995.3,0.0,1131,11305,1.65,3.05,163.07,1.394,4,0.061,0.133,3240,3736,2290
$GC,11361,1.16,194.7,974.8,14.4,1141,11367,0.15,2.80,0.00,0.000,6,0.117,0.106,3215,2330,2289
$GC,11679,1.11,194.7,937.4,11.9,1156,11680,0.00,0.00,0.00,0.000,6,0.000,0.000,3215,2330,2288
$GC,11987,1.06,194.7,900.4,12.1,1171,11988,0.12,0.00,0.00,0.000,6,0.116,0.000,3193,2330,2287
$GC,12295,1.06,194.7,867.2,10.7,1186,12300,0.00,2.95,0.00,0.000,4,0.000,0.129,3192,3739,2287
$GC,12336,1.00,194.7,862.9,10.7,1188,12340,0.00,2.80,0.00,0.000,6,0.000,0.105,3192,2337,2287
$GC,12662,1.00,194.7,829.1,10.5,1204,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2337,2286
$GC,12972,1.00,194.7,796.7,10.4,1219,12973,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2337,2286
$GC,13283,1.00,194.7,764.3,10.4,1234,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2337,2286
$GC,13591,1.01,200.6,733.1,9.8,1249,13599,0.00,0.00,6.05,1.037,6,0.000,0.000,3192,2337,2267
$GC,13899,1.05,232.7,704.8,8.9,1264,13935,0.00,2.97,28.62,1.223,4,0.000,0.117,3192,3737,2135
$GC,13958,1.07,247.4,699.3,9.5,1266,13979,0.00,2.78,14.10,1.147,6,0.000,0.096,3192,2330,2076
$GC,14299,1.09,261.9,667.1,9.5,1283,14318,0.00,0.00,13.62,1.154,6,0.000,0.000,3192,2330,2017
$GC,14627,1.10,270.1,636.0,9.7,1299,14637,0.00,0.00,8.55,1.083,6,0.000,0.000,3192,2330,1983
$GC,14935,1.10,270.1,604.6,10.4,1314,14936,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2330,1982
$GC,15252,1.10,270.1,570.2,11.0,1341,15253,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2330,1981
$GC,15571,1.10,270.1,534.4,11.2,1371,15576,0.00,2.83,0.00,0.000,4,0.000,0.111,3192,3739,1980
$GC,15604,1.10,270.1,530.3,12.6,1373,15611,0.00,2.70,0.00,0.000,6,0.000,0.090,3192,2336,1980
$GC,15930,1.10,270.1,492.3,11.6,1404,15931,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2335,1980
$GC,16247,1.10,270.1,456.4,11.2,1434,16251,0.00,2.80,0.00,0.000,4,0.000,0.110,3192,917,1981
$GC,16279,1.10,270.1,452.6,10.8,1436,16287,0.00,2.78,0.00,0.000,6,0.000,0.096,3192,2359,1980
$GC,16608,1.10,270.1,416.0,11.5,1467,16613,0.00,2.75,0.00,0.000,4,0.000,0.113,3192,3738,1981
$GC,16637,1.10,270.1,412.2,11.8,1469,16641,0.00,2.70,0.00,0.000,6,0.000,0.087,3192,2332,1980
$GC,16962,1.10,270.1,374.5,11.5,1499,16966,0.00,2.78,0.00,0.000,4,0.000,0.108,3192,915,1981
$GC,16994,1.10,270.1,370.5,12.8,1501,17001,0.00,2.75,0.00,0.000,6,0.000,0.095,3192,2342,1981
$GC,17327,1.10,270.1,334.2,10.8,1545,17333,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2342,1981
$GC,17671,1.10,271.7,298.7,9.9,1606,17678,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2342,1981
$GC,18016,1.10,271.7,262.3,10.8,1667,18022,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2342,1981
$GC,18359,1.11,279.2,226.9,9.7,1728,18374,0.00,2.88,9.20,0.865,4,0.000,0.102,3192,915,1946
$GC,18398,1.11,279.2,223.1,10.1,1734,18405,0.00,2.72,0.00,0.000,6,0.000,0.091,3192,2336,1946
$GC,18742,1.13,296.9,190.6,9.4,1795,18769,0.00,2.85,16.50,0.865,4,0.000,0.107,3193,3732,1873
$GC,18793,1.13,296.9,185.5,10.7,1803,18800,0.00,2.67,0.00,0.000,6,0.000,0.082,3192,2330,1872
$GC,19139,1.18,341.1,152.5,8.5,1864,19185,0.12,2.83,38.08,0.840,4,0.064,0.100,3225,912,1693
$GC,19209,1.18,341.1,144.6,11.9,1875,19216,0.00,2.75,0.00,0.000,6,0.000,0.089,3225,2338,1692
$GC,19553,1.18,341.1,104.3,11.8,1936,19560,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2338,1689
$GC,19898,1.18,341.1,62.6,12.7,1997,19904,0.00,0.00,0.00,0.000,6,0.000,0.000,3225,2338,1688
$GC,20244,1.18,341.1,19.5,12.1,2058,20251,0.00,2.72,0.00,0.000,4,0.000,0.097,3225,918,1688
$GC,20269,1.18,341.1,15.9,12.5,2062,20276,0.00,2.67,0.00,0.000,6,0.000,0.084,3225,2343,1688
$STATE,20388,end climb,SURFACE_DEPTH_REACHED
$STATE,20388,begin surface coast
$FINISH,0.2,1.024413
$STATE,20408,end surface coast,CONTROL_FINISHED_OK
$STATE,20408,begin surface
$SM_CCo,20490,0.00,0.000,0,0,1684,343.42
$SM_GC,0.94,11.50,0.00,0.00,0.041,0.000,0.000,589,2222,1684,-10.84,-0.37,343.42
$IRIDIUM_FIX,6112.75,-2545.32,270897,050506
$TT8_MAMPS,0.02301
$HUMID,1677
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,100
$24V_AH,23.3,55.565
$10V_AH,10.6,45.368
$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,26.925,100.700,464.225,0.000,0.000,31.067,34.437,261.679,25.000,0.000,0.000,12.069,4135.636,11833.637,649.498,3627.151,699.053,0.000,2227.020,0.000,3629.676,0.000,0.467
$DEVICE_MAMPS,185.614,138.060,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1446.676,1584.533,1836.974,583.703,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123146,2086
$CAP_FILE_SIZE,172734,0
$CFSIZE,260165632,231559168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.113,158.8,1
$GPS,020608,163338,6141.188,-2540.008,41,0.9,41,-18.4