version: 66.03
glider: 140
mission: 5
dive: 257
start: 6 2 108 22 16 4
data:
$ID,140
$MISSION,5
$DIVE,257
$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,-18013.594
$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,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
$GPS1,220745,6143.312,-2540.635,36,2.0,43,-18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-57.3
$GPS2,221545,6143.261,-2540.740,15,1.6,15,-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,15.4,38853,-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,-194.7,0.0,0.0,0,104,0.00,0.00,-81.12,0.000,2,0.000,0.000,586,2231,3595
$GC,107,-1.29,-194.7,3.5,-6.0,11,131,12.32,2.83,-5.88,0.000,4,0.184,0.107,2671,3653,3882
$GC,228,-1.29,-194.7,20.6,-10.4,31,235,0.00,2.65,0.00,0.000,6,0.000,0.081,2671,2236,3883
$GC,371,-1.29,-194.7,33.3,-8.8,56,378,0.00,2.72,0.00,0.000,4,0.000,0.098,2671,819,3883
$GC,416,-1.25,-194.7,37.2,-9.5,63,423,0.00,2.65,0.00,0.000,6,0.000,0.083,2671,2228,3883
$GC,558,-1.25,-194.7,50.8,-9.5,88,566,0.00,2.70,0.00,0.000,4,0.000,0.096,2672,825,3883
$GC,590,-1.25,-194.7,53.7,-9.7,93,597,0.00,2.62,0.00,0.000,6,0.000,0.081,2671,2220,3883
$GC,935,-1.25,-194.7,85.8,-9.7,154,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2220,3883
$GC,1279,-1.25,-194.7,120.0,-9.9,215,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3883
$GC,1623,-1.25,-194.7,154.9,-10.0,276,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2220,3884
$GC,1967,-1.25,-194.7,190.5,-10.4,337,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2221,3884
$GC,2312,-1.25,-194.7,225.3,-9.9,398,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2220,3884
$GC,2657,-1.25,-194.7,258.5,-9.4,459,2664,0.00,2.78,0.00,0.000,4,0.000,0.107,2671,3643,3884
$GC,2687,-1.25,-194.7,261.5,-10.0,464,2694,0.00,2.70,0.00,0.000,6,0.000,0.087,2671,2213,3884
$GC,3033,-1.25,-194.7,292.6,-8.6,525,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3884
$GC,3377,-1.25,-194.7,322.2,-8.6,586,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2212,3884
$GC,3726,-1.25,-194.7,353.5,-9.4,645,3731,0.00,2.83,0.00,0.000,4,0.000,0.107,2671,3653,3883
$GC,3748,-1.25,-194.7,355.8,-9.9,646,3756,0.00,2.72,0.00,0.000,6,0.000,0.088,2672,2206,3884
$GC,4077,-1.25,-194.7,386.0,-9.3,677,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2206,3884
$GC,4402,-1.25,-194.7,417.8,-9.7,708,4406,0.00,2.83,0.00,0.000,4,0.000,0.107,2672,3644,3883
$GC,4430,-1.25,-194.7,420.6,-10.3,710,4434,0.00,2.72,0.00,0.000,6,0.000,0.090,2672,2210,3883
$GC,4757,-1.25,-194.7,450.9,-9.0,740,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2211,3883
$GC,5073,-1.25,-194.7,479.6,-8.9,770,5077,0.00,2.83,0.00,0.000,4,0.000,0.110,2671,3644,3883
$GC,5095,-1.25,-194.7,481.7,-9.3,771,5102,0.00,2.72,0.00,0.000,6,0.000,0.090,2671,2209,3883
$GC,5421,-1.25,-194.7,511.0,-9.2,802,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2209,3883
$GC,5740,-1.25,-194.7,539.2,-9.0,832,5741,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2209,3883
$GC,6055,-1.25,-194.7,567.7,-9.0,862,6060,0.00,2.85,0.00,0.000,4,0.000,0.111,2672,3650,3882
$GC,6095,-1.25,-194.7,571.2,-8.8,865,6099,0.00,2.72,0.00,0.000,6,0.000,0.091,2671,2222,3882
$GC,6422,-1.25,-194.7,600.0,-9.0,895,6424,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3883
$GC,6729,-1.25,-194.7,630.0,-10.3,910,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2222,3882
$GC,7039,-1.25,-194.7,660.0,-9.3,925,7044,0.00,2.85,0.00,0.000,4,0.000,0.117,2671,3646,3882
$GC,7072,-1.25,-194.7,663.3,-9.8,926,7079,0.00,2.72,0.00,0.000,6,0.000,0.094,2671,2219,3882
$GC,7388,-1.25,-194.7,691.5,-9.1,942,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,7698,-1.25,-194.7,721.7,-9.8,957,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3882
$GC,8006,-1.25,-194.7,751.5,-9.7,972,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2219,3881
$GC,8316,-1.25,-194.7,780.0,-9.4,987,8321,0.00,2.90,0.00,0.000,4,0.000,0.123,2671,3647,3882
$GC,8342,-1.25,-194.7,782.8,-10.0,988,8347,0.00,2.75,0.00,0.000,6,0.000,0.099,2671,2226,3881
$GC,8660,-1.25,-194.7,812.4,-9.6,1003,8661,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2226,3881
$GC,8968,-1.25,-194.7,843.0,-9.8,1018,8973,0.00,2.90,0.00,0.000,4,0.000,0.127,2671,3647,3880
$GC,8994,-1.25,-194.7,845.8,-10.7,1019,8999,0.00,2.78,0.00,0.000,6,0.000,0.102,2671,2223,3880
$GC,9311,-1.25,-194.7,877.9,-9.9,1034,9312,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2223,3880
$GC,9619,-1.25,-194.7,908.2,-10.1,1049,9624,0.00,2.90,0.00,0.000,4,0.000,0.136,2671,820,3880
$GC,9646,-1.25,-194.7,911.1,-10.9,1050,9650,0.00,2.78,0.00,0.000,6,0.000,0.107,2671,2233,3880
$GC,9962,-1.25,-194.7,943.3,-10.0,1065,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3879
$GC,10271,-1.25,-194.7,973.4,-9.7,1080,10276,0.00,2.88,0.00,0.000,4,0.000,0.130,2671,823,3879
$GC,10315,-1.25,-194.7,978.1,-11.3,1082,10319,0.00,2.78,0.00,0.000,6,0.000,0.111,2670,2223,3879
$STATE,10428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10428,begin apogee
$GC,10434,-0.35,0.0,990.1,10.5,1088,10604,1.02,0.00,166.20,1.425,6,0.102,0.000,2878,2337,3085
$STATE,10605,end apogee,CONTROL_FINISHED_OK
$STATE,10605,begin climb
$GC,10607,1.29,194.7,997.9,0.0,1096,10785,1.62,3.03,162.62,1.389,4,0.060,0.130,3236,3731,2290
$GC,10854,1.17,194.7,980.5,12.2,1107,10859,0.12,2.83,0.00,0.000,6,0.122,0.107,3215,2330,2289
$GC,11181,1.12,194.7,947.2,10.5,1123,11186,0.00,2.95,0.00,0.000,4,0.000,0.136,3215,916,2288
$GC,11203,1.07,194.7,944.6,12.2,1124,11208,0.12,2.80,0.00,0.000,6,0.114,0.107,3193,2328,2288
$GC,11524,1.07,194.7,911.6,10.2,1140,11529,0.00,2.95,0.00,0.000,4,0.000,0.131,3193,3738,2287
$GC,11591,1.01,194.7,904.4,10.8,1143,11595,0.00,2.83,0.00,0.000,6,0.000,0.105,3193,2324,2287
$GC,11913,1.01,196.6,872.8,9.9,1159,11914,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2324,2287
$GC,12221,1.03,207.7,842.3,9.6,1174,12235,0.00,0.00,12.12,1.265,6,0.000,0.000,3193,2324,2237
$GC,12531,1.03,207.7,810.2,10.4,1189,12535,0.00,2.90,0.00,0.000,4,0.000,0.120,3193,3738,2237
$GC,12580,0.97,207.7,804.6,12.0,1191,12585,0.00,2.78,0.00,0.000,6,0.000,0.101,3193,2333,2236
$GC,12896,0.99,218.6,773.3,9.6,1206,12918,0.00,2.95,11.00,1.213,4,0.000,0.121,3193,3739,2192
$GC,12942,0.94,218.6,768.6,10.6,1208,12948,0.15,2.80,0.00,0.000,6,0.109,0.100,3166,2339,2192
$GC,13269,0.97,242.7,738.4,9.2,1224,13297,0.00,2.97,21.88,1.228,4,0.000,0.124,3165,914,2095
$GC,13325,1.03,248.1,732.9,9.8,1226,13337,0.00,2.83,6.35,0.989,6,0.000,0.101,3165,2349,2073
$GC,13665,1.03,248.1,698.2,10.7,1243,13667,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2349,2070
$GC,13975,1.03,248.1,665.9,10.2,1258,13977,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2348,2070
$GC,14287,1.03,252.0,635.3,9.9,1273,14293,0.00,0.00,4.62,0.877,6,0.000,0.000,3165,2349,2057
$GC,14593,1.05,264.9,605.4,9.6,1288,14613,0.10,0.00,12.73,1.118,6,0.072,0.000,3191,2349,2005
$GC,14933,1.05,264.9,570.0,10.4,1317,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2349,2003
$GC,15258,1.05,264.9,535.2,11.5,1348,15259,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2349,2003
$GC,15577,1.05,264.9,499.5,10.9,1378,15581,0.00,2.83,0.00,0.000,4,0.000,0.107,3191,915,2003
$GC,15605,1.05,264.9,496.2,12.2,1380,15609,0.00,2.75,0.00,0.000,6,0.000,0.094,3191,2345,2004
$GC,15931,1.05,264.9,460.3,10.9,1410,15932,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2346,2003
$GC,16249,1.05,264.9,425.6,10.9,1440,16250,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2345,2004
$GC,16567,1.05,264.9,391.9,10.3,1470,16568,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2345,2004
$GC,16886,1.05,264.9,359.3,10.0,1500,16887,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2346,2004
$GC,17217,1.07,277.7,326.6,9.6,1551,17231,0.00,0.00,12.57,0.955,6,0.000,0.000,3191,2345,1952
$GC,17570,1.07,282.4,291.6,9.8,1613,17577,0.00,0.00,5.57,0.790,6,0.000,0.000,3191,2345,1933
$GC,17915,1.14,335.3,259.0,8.2,1674,17968,0.00,2.92,46.08,0.910,4,0.000,0.102,3191,912,1717
$GC,17998,1.23,361.4,251.3,9.1,1687,18028,0.15,2.75,23.12,0.875,6,0.058,0.091,3232,2339,1611
$GC,18366,1.23,361.4,208.4,10.1,1751,18372,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2339,1603
$GC,18711,1.23,361.4,168.0,11.5,1812,18718,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2339,1603
$GC,19056,1.23,361.4,127.5,11.3,1873,19063,0.00,2.78,0.00,0.000,4,0.000,0.100,3232,915,1603
$GC,19087,1.23,361.4,123.6,13.0,1878,19094,0.00,2.70,0.00,0.000,6,0.000,0.087,3232,2339,1602
$GC,19431,1.23,361.4,85.1,10.6,1939,19437,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2339,1602
$GC,19774,1.23,361.4,44.0,10.5,2000,19780,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,2338,1602
$GC,19915,1.23,361.4,27.2,12.7,2025,19923,0.00,2.72,0.00,0.000,4,0.000,0.103,3232,3736,1601
$GC,19952,1.23,361.4,22.4,12.4,2031,19960,0.00,2.67,0.00,0.000,6,0.000,0.081,3232,2316,1601
$GC,20095,1.23,361.4,5.2,12.1,2056,20103,0.00,2.70,0.00,0.000,4,0.000,0.100,3232,913,1601
$STATE,20120,end climb,SURFACE_DEPTH_REACHED
$STATE,20120,begin surface coast
$FINISH,1.0,1.027614
$STATE,20126,end surface coast,CONTROL_FINISHED_OK
$STATE,20126,begin surface
$SM_CCo,20210,0.00,0.000,0,0,1597,365.01
$SM_GC,0.88,11.55,0.00,0.00,0.042,0.000,0.000,589,2240,1597,-10.85,0.14,365.01
$IRIDIUM_FIX,6117.23,-2541.24,270897,161639
$TT8_MAMPS,0.02301
$HUMID,1660
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.80
$XPDR_PINGS,120
$24V_AH,23.3,55.963
$10V_AH,10.6,45.712
$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,27.175,134.325,484.875,0.000,0.000,30.938,31.980,270.148,30.000,0.000,0.000,15.411,4107.971,11529.509,681.798,3649.032,704.045,0.000,2280.615,0.000,3640.259,0.000,0.467
$DEVICE_MAMPS,184.080,135.759,1425.086,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1428.077,1559.504,1819.245,579.086,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122989,2061
$CAP_FILE_SIZE,179191,0
$CFSIZE,260165632,231366656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.094,138.8,1
$GPS,030608,035408,6145.592,-2539.712,39,1.1,39,-18.4