version: 66.03
glider: 140
mission: 5
dive: 258
start: 6 3 108 4 5 3
data:
$ID,140
$MISSION,5
$DIVE,258
$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,-18029.59
$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,10
$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
$GPS1,035408,6145.592,-2539.712,39,1.1,39,-18.4
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-59.3
$GPS2,040444,6145.612,-2539.939,14,1.1,15,-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,13.8,34553,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.29,-194.7,0.0,0.0,0,107,0.00,0.00,-83.07,0.000,2,0.000,0.000,589,2242,3534
$GC,110,-1.29,-194.7,3.2,-5.5,11,141,12.32,2.75,-7.43,0.000,4,0.184,0.108,2672,3644,3881
$GC,216,-1.29,-194.7,18.4,-9.6,28,223,0.00,2.62,0.00,0.000,6,0.000,0.077,2672,2235,3882
$GC,361,-1.29,-194.7,31.3,-8.6,53,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3882
$GC,504,-1.29,-194.7,43.7,-8.7,78,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3882
$GC,647,-1.29,-194.7,54.6,-7.4,103,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2234,3882
$GC,991,-1.29,-194.7,80.8,-8.6,164,998,0.00,2.75,0.00,0.000,4,0.000,0.098,2672,3653,3882
$GC,1033,-1.29,-194.7,84.4,-8.5,171,1040,0.00,2.67,0.00,0.000,6,0.000,0.081,2672,2227,3882
$GC,1379,-1.29,-194.7,115.9,-9.5,232,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2227,3882
$GC,1725,-1.29,-194.7,147.6,-9.3,293,1732,0.00,2.72,0.00,0.000,4,0.000,0.102,2672,819,3882
$GC,1750,-1.29,-194.7,150.1,-9.1,297,1757,0.00,2.67,0.00,0.000,6,0.000,0.088,2672,2230,3883
$GC,2095,-1.29,-194.7,181.7,-9.2,358,2101,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3882
$GC,2441,-1.29,-194.7,214.0,-9.0,419,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3882
$GC,2785,-1.29,-194.7,245.7,-9.6,480,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2230,3882
$GC,3129,-1.29,-194.7,277.4,-8.7,541,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2230,3882
$GC,3473,-1.29,-194.7,306.8,-9.1,602,3480,0.00,2.78,0.00,0.000,4,0.000,0.109,2672,821,3882
$GC,3504,-1.29,-194.7,309.6,-9.1,607,3511,0.00,2.70,0.00,0.000,6,0.000,0.094,2673,2232,3882
$GC,3848,-1.29,-194.7,339.9,-9.1,668,3855,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3882
$GC,4180,-1.29,-194.7,370.8,-9.6,708,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3882
$GC,4499,-1.29,-194.7,402.1,-9.6,738,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3882
$GC,4818,-1.29,-194.7,432.7,-9.7,768,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3882
$GC,5136,-1.29,-194.7,463.7,-9.7,798,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3882
$GC,5455,-1.29,-194.7,493.3,-8.9,828,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2232,3881
$GC,5773,-1.29,-194.7,522.0,-9.0,858,5774,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3881
$GC,6091,-1.29,-194.7,553.6,-10.4,888,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2232,3881
$GC,6410,-1.29,-194.7,586.5,-10.2,918,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2232,3881
$GC,6734,-1.29,-194.7,618.7,-9.9,940,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3881
$GC,7043,-1.29,-194.7,649.2,-9.8,955,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2232,3881
$GC,7352,-1.29,-194.7,678.9,-9.5,970,7353,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3881
$GC,7662,-1.29,-194.7,706.4,-8.4,985,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3880
$GC,7971,-1.29,-194.7,729.1,-7.0,1000,7975,0.00,2.80,0.00,0.000,4,0.000,0.118,2672,3642,3880
$GC,8014,-1.29,-194.7,732.5,-7.5,1002,8019,0.00,2.70,0.00,0.000,6,0.000,0.097,2672,2225,3880
$GC,8336,-1.29,-194.7,756.5,-7.9,1018,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3880
$GC,8646,-1.29,-194.7,783.6,-9.4,1033,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3879
$GC,8954,-1.29,-194.7,811.3,-8.5,1048,8959,0.00,2.88,0.00,0.000,4,0.000,0.123,2672,3644,3879
$GC,9004,-1.29,-194.7,815.7,-9.1,1050,9008,0.00,2.75,0.00,0.000,6,0.000,0.100,2672,2224,3880
$GC,9320,-1.29,-194.7,840.5,-7.7,1065,9321,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3879
$GC,9629,-1.29,-194.7,864.5,-8.1,1080,9630,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3879
$GC,9939,-1.29,-194.7,892.0,-8.8,1095,9943,0.00,2.90,0.00,0.000,4,0.000,0.126,2672,3650,3878
$GC,9971,-1.29,-194.7,895.2,-9.7,1096,9979,0.00,2.78,0.00,0.000,6,0.000,0.104,2672,2226,3878
$GC,10287,-1.29,-194.7,923.4,-8.8,1112,10292,0.00,2.90,0.00,0.000,4,0.000,0.137,2672,825,3878
$GC,10331,-1.29,-194.7,927.5,-9.4,1114,10336,0.00,2.75,0.00,0.000,6,0.000,0.107,2672,2228,3878
$GC,10652,-1.29,-194.7,956.3,-9.0,1130,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3877
$GC,10962,-1.29,-194.7,981.8,-7.7,1145,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2228,3877
$STATE,11083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11083,begin apogee
$GC,11089,-0.35,0.0,991.1,7.6,1151,11259,1.02,0.00,166.20,1.429,6,0.097,0.000,2881,2328,3085
$STATE,11260,end apogee,CONTROL_FINISHED_OK
$STATE,11260,begin climb
$GC,11262,1.29,194.7,995.0,0.0,1159,11440,1.62,3.08,162.75,1.387,4,0.061,0.137,3239,3738,2290
$GC,11518,1.17,194.7,969.4,14.9,1170,11523,0.12,2.83,0.00,0.000,6,0.120,0.106,3218,2332,2289
$GC,11834,1.11,194.7,929.7,12.5,1185,11835,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2332,2288
$GC,12144,1.06,194.7,893.7,11.0,1200,12145,0.15,0.00,0.00,0.000,6,0.114,0.000,3190,2332,2288
$GC,12453,1.08,208.1,864.1,9.5,1215,12475,0.00,3.03,12.68,1.266,4,0.000,0.126,3190,3734,2235
$GC,12509,1.03,208.1,858.2,10.9,1217,12514,0.00,2.80,0.00,0.000,6,0.000,0.104,3190,2333,2235
$GC,12825,1.03,208.1,827.1,10.0,1232,12826,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2333,2235
$GC,13134,1.03,208.1,794.1,10.7,1247,13135,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2334,2234
$GC,13444,1.03,208.1,762.4,10.4,1262,13448,0.00,2.90,0.00,0.000,4,0.000,0.122,3190,3739,2234
$GC,13487,0.99,208.1,757.5,10.7,1264,13492,0.00,2.72,0.00,0.000,6,0.000,0.098,3190,2341,2234
$GC,13809,1.01,226.2,727.4,9.4,1280,13829,0.00,0.00,16.90,1.228,6,0.000,0.000,3190,2342,2161
$GC,14138,1.01,226.2,695.2,10.1,1296,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2341,2160
$GC,14447,1.01,226.2,661.7,10.9,1311,14448,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2342,2160
$GC,14756,1.02,235.9,630.0,9.7,1326,14767,0.00,0.00,9.62,1.124,6,0.000,0.000,3190,2340,2122
$GC,15066,1.06,267.5,601.6,8.9,1341,15097,0.00,0.00,28.42,1.143,6,0.000,0.000,3190,2341,1994
$GC,15415,1.06,267.5,567.8,10.2,1373,15420,0.00,2.85,0.00,0.000,4,0.000,0.115,3190,918,1990
$GC,15455,1.06,267.5,563.3,10.8,1376,15460,0.00,2.78,0.00,0.000,6,0.000,0.097,3190,2344,1990
$GC,15780,1.06,267.5,528.0,10.4,1406,15781,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2344,1990
$GC,16099,1.06,267.5,494.5,10.8,1436,16100,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2344,1989
$GC,16419,1.08,284.9,462.9,9.4,1466,16443,0.00,2.90,15.85,1.041,4,0.000,0.107,3190,911,1922
$GC,16482,1.09,294.6,456.3,9.7,1471,16502,0.00,2.75,10.32,0.969,6,0.000,0.095,3190,2331,1883
$GC,16819,1.09,294.6,421.7,10.6,1503,16820,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2331,1880
$GC,17138,1.09,294.6,389.6,10.0,1533,17139,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2331,1880
$GC,17456,1.09,294.6,353.5,12.2,1563,17457,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2331,1880
$GC,17791,1.09,294.6,313.9,11.5,1620,17798,0.00,2.78,0.00,0.000,4,0.000,0.104,3190,915,1880
$GC,17833,1.14,294.6,308.9,12.6,1627,17840,0.00,2.70,0.00,0.000,6,0.000,0.092,3190,2324,1880
$GC,18178,1.14,294.6,270.9,11.1,1688,18185,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2325,1880
$GC,18523,1.16,314.2,234.2,9.3,1749,18544,0.10,0.00,17.42,0.900,6,0.070,0.000,3217,2325,1804
$GC,18882,1.16,314.2,190.5,11.7,1812,18888,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2325,1802
$GC,19227,1.16,314.2,148.4,11.3,1873,19233,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2325,1801
$GC,19570,1.16,314.2,109.5,11.1,1934,19577,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2325,1801
$GC,19914,1.16,314.2,70.5,12.8,1995,19920,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2325,1801
$GC,20259,1.18,332.8,31.2,9.4,2056,20281,0.00,2.83,16.77,0.772,4,0.000,0.097,3217,917,1727
$GC,20306,1.20,347.9,26.9,9.5,2063,20328,0.00,2.67,14.48,0.724,6,0.000,0.084,3217,2327,1665
$GC,20467,1.20,347.9,9.6,11.2,2090,20475,0.00,2.75,0.00,0.000,4,0.000,0.101,3217,3735,1661
$GC,20498,1.20,347.9,5.1,12.9,2095,20506,0.00,2.70,0.00,0.000,6,0.000,0.079,3217,2303,1661
$STATE,20528,end climb,SURFACE_DEPTH_REACHED
$STATE,20528,begin surface coast
$FINISH,0.2,1.027607
$STATE,20550,end surface coast,CONTROL_FINISHED_OK
$STATE,20550,begin surface
$SM_CCo,20632,0.00,0.000,0,0,1658,349.80
$SM_GC,0.95,11.52,0.00,0.00,0.043,0.000,0.000,592,2230,1658,-10.84,-0.14,349.80
$IRIDIUM_FIX,6121.73,-2536.99,280897,040408
$TT8_MAMPS,0.02301
$HUMID,1675
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,121
$24V_AH,23.3,56.161
$10V_AH,10.6,45.891
$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,26.875,89.550,471.425,0.000,0.000,55.532,114.189,257.566,30.250,0.000,0.000,15.368,4167.285,11967.212,653.976,3650.711,808.704,0.000,2236.314,0.000,3663.302,0.000,0.467
$DEVICE_MAMPS,184.080,138.060,1428.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1458.548,1618.070,1871.116,606.822,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122973,2104
$CAP_FILE_SIZE,174163,0
$CFSIZE,260165632,231272448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.071,131.2,1
$GPS,030608,095008,6148.158,-2539.341,38,1.2,38,-18.4