version: 66.03
glider: 140
mission: 5
dive: 261
start: 6 3 108 21 44 46
data:
$ID,140
$MISSION,5
$DIVE,261
$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,-18073.504
$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,14
$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
$GPS1,213032,6153.139,-2539.496,38,1.6,38,-18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-58.5
$GPS2,214427,6153.110,-2539.668,13,1.3,13,-18.5
$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,10.2,20773,-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,-194.7,0.0,0.0,0,103,0.00,0.00,-79.72,0.000,2,0.000,0.000,589,2225,3533
$GC,106,-1.29,-194.7,3.4,-6.4,11,129,12.32,0.00,-7.18,0.000,6,0.184,0.000,2672,2225,3881
$GC,267,-1.29,-194.7,26.7,-10.7,38,273,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3882
$GC,409,-1.29,-194.7,42.2,-10.5,63,416,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3882
$GC,552,-1.29,-194.7,58.3,-11.6,88,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3882
$GC,896,-1.29,-194.7,104.2,-12.7,149,903,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3882
$GC,1240,-1.29,-194.7,144.6,-10.8,210,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2225,3883
$GC,1585,-1.29,-194.7,181.5,-11.1,271,1592,0.00,2.72,0.00,0.000,4,0.000,0.101,2672,824,3883
$GC,1615,-1.29,-194.7,184.9,-11.0,276,1622,0.00,2.70,0.00,0.000,6,0.000,0.090,2672,2241,3883
$GC,1961,-1.29,-194.7,219.3,-9.1,337,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3882
$GC,2305,-1.29,-194.7,251.8,-9.4,398,2313,0.00,2.78,0.00,0.000,4,0.000,0.105,2672,828,3883
$GC,2330,-1.29,-194.7,254.2,-9.3,402,2338,0.00,2.70,0.00,0.000,6,0.000,0.093,2672,2236,3883
$GC,2676,-1.29,-194.7,285.9,-9.0,463,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3883
$GC,3021,-1.29,-194.7,317.7,-9.0,524,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3883
$GC,3365,-1.29,-194.7,349.7,-9.5,585,3372,0.00,2.80,0.00,0.000,4,0.000,0.110,2672,824,3883
$GC,3391,-1.29,-194.7,352.2,-9.6,588,3395,0.00,2.72,0.00,0.000,6,0.000,0.097,2672,2236,3883
$GC,3717,-1.29,-194.7,382.5,-9.3,618,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3883
$GC,4035,-1.29,-194.7,411.2,-8.6,648,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3882
$GC,4353,-1.29,-194.7,439.0,-8.4,678,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3882
$GC,4672,-1.29,-194.7,466.8,-9.0,708,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3882
$GC,4990,-1.29,-194.7,495.9,-9.2,738,4991,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3881
$GC,5309,-1.29,-194.7,523.4,-8.4,768,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3882
$GC,5627,-1.29,-194.7,551.0,-8.1,798,5628,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3881
$GC,5946,-1.29,-194.7,578.5,-9.2,828,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3881
$GC,6261,-1.29,-194.7,607.6,-9.1,854,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3881
$GC,6571,-1.29,-194.7,634.5,-8.7,869,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2236,3880
$GC,6881,-1.29,-194.7,661.9,-8.8,884,6885,0.00,2.83,0.00,0.000,4,0.000,0.119,2672,830,3881
$GC,6902,-1.29,-194.7,664.0,-9.3,885,6906,0.00,2.72,0.00,0.000,6,0.000,0.103,2672,2230,3881
$GC,7225,-1.29,-194.7,690.9,-8.6,901,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3880
$GC,7533,-1.29,-194.7,717.3,-8.3,916,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2230,3880
$GC,7842,-1.29,-194.7,742.8,-8.1,931,7846,0.00,2.88,0.00,0.000,4,0.000,0.128,2672,3646,3880
$GC,7882,-1.29,-194.7,746.2,-8.8,933,7887,0.00,2.72,0.00,0.000,6,0.000,0.098,2672,2233,3880
$GC,8210,-1.29,-194.7,774.4,-9.2,949,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2233,3880
$GC,8519,-1.29,-194.7,804.7,-9.9,964,8524,0.00,2.88,0.00,0.000,4,0.000,0.124,2672,3650,3879
$GC,8551,-1.29,-194.7,808.3,-10.5,965,8559,0.00,2.72,0.00,0.000,6,0.000,0.100,2672,2242,3879
$GC,8868,-1.29,-194.7,838.2,-9.5,981,8869,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2243,3879
$GC,9176,-1.29,-194.7,866.8,-9.2,996,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3879
$GC,9486,-1.29,-194.7,893.6,-8.3,1011,9487,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3879
$GC,9795,-1.29,-194.7,917.5,-7.3,1026,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3878
$GC,10104,-1.29,-194.7,940.7,-7.7,1041,10105,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3878
$GC,10414,-1.29,-194.7,966.3,-8.6,1056,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2242,3877
$STATE,10679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10679,begin apogee
$GC,10685,-0.35,0.0,990.3,9.1,1069,10856,1.02,0.00,166.95,1.425,6,0.101,0.000,2879,2329,3085
$STATE,10857,end apogee,CONTROL_FINISHED_OK
$STATE,10857,begin climb
$GC,10859,1.29,194.7,997.8,0.0,1077,11038,1.62,3.05,163.02,1.389,4,0.061,0.127,3237,3735,2290
$GC,11093,1.17,194.7,979.9,13.3,1087,11099,0.12,2.83,0.00,0.000,6,0.120,0.109,3216,2329,2289
$GC,11411,1.12,194.7,944.0,11.1,1102,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2329,2288
$GC,11719,1.06,194.7,910.7,10.5,1117,11724,0.12,2.95,0.00,0.000,4,0.115,0.129,3194,3738,2288
$GC,11763,1.01,194.7,905.8,10.5,1119,11768,0.00,2.80,0.00,0.000,6,0.000,0.106,3194,2339,2287
$GC,12085,1.03,215.4,875.6,9.3,1135,12106,0.00,0.00,19.08,1.295,6,0.000,0.000,3194,2339,2205
$GC,12414,1.05,229.7,844.0,9.5,1151,12437,0.00,3.05,13.77,1.248,4,0.000,0.136,3194,918,2148
$GC,12464,1.07,246.2,838.8,9.4,1153,12485,0.00,2.83,15.68,1.230,6,0.000,0.107,3194,2332,2081
$GC,12813,1.07,246.2,802.6,10.1,1170,12818,0.00,2.95,0.00,0.000,4,0.000,0.132,3194,3738,2077
$GC,12863,1.07,246.2,797.1,11.0,1172,12867,0.00,2.78,0.00,0.000,6,0.000,0.100,3194,2333,2077
$GC,13179,1.07,246.2,764.3,10.2,1187,13184,0.00,2.88,0.00,0.000,4,0.000,0.126,3194,918,2077
$GC,13223,1.07,246.2,759.4,10.2,1189,13227,0.00,2.78,0.00,0.000,6,0.000,0.105,3194,2333,2077
$GC,13546,1.07,246.2,725.4,10.4,1205,13551,0.00,2.90,0.00,0.000,4,0.000,0.128,3194,3738,2076
$GC,13578,1.07,246.2,721.5,11.1,1206,13586,0.00,2.75,0.00,0.000,6,0.000,0.097,3194,2331,2077
$GC,13895,1.08,254.5,690.7,9.7,1222,13905,0.00,0.00,8.12,1.117,6,0.000,0.000,3194,2330,2047
$GC,14204,1.08,254.5,658.2,10.6,1237,14208,0.00,2.83,0.00,0.000,4,0.000,0.119,3194,918,2046
$GC,14244,1.08,254.5,653.8,11.2,1239,14249,0.00,2.78,0.00,0.000,6,0.000,0.101,3194,2339,2046
$GC,14572,1.08,254.5,614.4,12.7,1255,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2340,2046
$GC,14887,1.08,254.5,575.8,12.3,1279,14888,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2340,2046
$GC,15207,1.08,254.5,536.3,12.3,1309,15208,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2340,2046
$GC,15523,1.08,254.5,498.1,11.4,1339,15524,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2339,2046
$GC,15842,1.08,254.5,461.6,11.3,1369,15846,0.00,2.80,0.00,0.000,4,0.000,0.108,3194,915,2046
$GC,15885,1.08,254.5,456.2,12.0,1372,15893,0.00,2.75,0.00,0.000,6,0.000,0.097,3194,2337,2046
$GC,16213,1.08,254.5,421.6,10.4,1403,16214,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2338,2046
$GC,16529,1.08,254.5,389.4,10.1,1433,16530,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2338,2046
$GC,16849,1.10,274.5,358.2,9.3,1463,16874,0.00,2.92,18.17,0.980,4,0.000,0.106,3193,915,1966
$GC,16901,1.11,275.3,352.6,10.0,1467,16909,0.00,2.75,0.00,0.000,6,0.000,0.094,3194,2328,1965
$GC,17243,1.13,292.9,319.1,9.4,1525,17263,0.00,0.00,17.25,0.943,6,0.000,0.000,3194,2328,1890
$GC,17600,1.13,292.9,282.9,10.2,1588,17607,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2328,1889
$GC,17945,1.16,320.2,247.7,9.1,1649,17978,0.00,2.85,24.33,0.903,4,0.000,0.102,3194,911,1778
$GC,18002,1.21,320.2,241.7,11.4,1658,18010,0.12,2.72,0.00,0.000,6,0.064,0.091,3227,2326,1777
$GC,18347,1.21,320.2,200.3,12.9,1719,18354,0.00,2.80,0.00,0.000,4,0.000,0.107,3227,3738,1774
$GC,18377,1.21,320.2,196.3,13.7,1724,18385,0.00,2.72,0.00,0.000,6,0.000,0.086,3227,2317,1774
$GC,18723,1.21,320.2,155.1,11.1,1785,18730,0.00,2.72,0.00,0.000,4,0.000,0.104,3227,911,1775
$GC,18765,1.21,320.2,149.9,13.0,1792,18772,0.00,2.67,0.00,0.000,6,0.000,0.089,3227,2323,1775
$GC,19111,1.21,320.2,109.6,11.5,1853,19117,0.00,0.00,0.00,0.000,6,0.000,0.000,3227,2323,1774
$GC,19454,1.21,320.2,65.9,14.9,1914,19462,0.00,2.78,0.00,0.000,4,0.000,0.104,3228,3737,1773
$GC,19497,1.21,320.2,60.1,15.0,1921,19504,0.00,2.70,0.00,0.000,6,0.000,0.083,3227,2321,1773
$GC,19842,1.21,320.2,16.9,10.6,1982,19850,0.00,2.70,0.00,0.000,4,0.000,0.100,3227,911,1774
$GC,19879,1.21,320.2,12.1,12.6,1988,19886,0.00,2.67,0.00,0.000,6,0.000,0.085,3227,2329,1774
$STATE,19970,end climb,SURFACE_DEPTH_REACHED
$STATE,19970,begin surface coast
$FINISH,0.1,1.027673
$STATE,19988,end surface coast,CONTROL_FINISHED_OK
$STATE,19988,begin surface
$SM_CCo,20069,0.00,0.000,0,0,1771,322.08
$SM_GC,0.89,11.52,0.00,0.00,0.042,0.000,0.000,588,2233,1771,-10.84,-0.06,322.08
$IRIDIUM_FIX,6130.75,-2542.90,280897,212140
$TT8_MAMPS,0.022243
$HUMID,1667
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,17.90
$XPDR_PINGS,120
$24V_AH,23.3,56.756
$10V_AH,10.6,46.415
$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,26.875,112.275,446.375,0.000,0.000,59.063,82.783,462.528,30.000,0.000,0.000,13.634,4010.426,11743.551,633.700,3523.217,972.850,0.000,2170.952,0.000,3510.676,0.000,0.467
$DEVICE_MAMPS,184.080,144.963,1425.086,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1391.229,1523.643,1760.979,545.090,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,120084,2007
$CAP_FILE_SIZE,175028,0
$CFSIZE,260165632,230989824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.120,135.2,1
$GPS,040608,032031,6155.224,-2538.737,41,1.0,41,-18.5