version: 66.03
glider: 140
mission: 5
dive: 29
start: 4 10 108 6 22 21
data:
$ID,140
$MISSION,5
$DIVE,29
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,800
$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,250
$T_MISSION,280
$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,0
$FERRY_MAX,0
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,-13732.538
$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
$GPS1,061338,5907.573,-1812.011,30,1.2,30,-13.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-63.9
$GPS2,062203,5907.538,-1812.003,15,1.2,15,-13.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5907.538,-1817.545
$TGT_RADIUS,1852.000
$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,283.1,20000,-14.9,-10.000
$D_GRID,750
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-65.12,0.000,2,0.000,0.000,589,2224,3621
$GC,99,-1.29,-194.7,3.4,-6.8,12,123,12.68,2.75,-5.40,0.000,4,0.196,0.114,2669,3649,3879
$GC,348,-1.29,-194.7,36.5,-8.2,56,355,0.00,2.65,0.00,0.000,6,0.000,0.091,2669,2236,3880
$GC,492,-1.29,-194.7,49.9,-10.3,81,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3880
$GC,633,-1.29,-194.7,64.2,-7.1,106,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,775,-1.29,-194.7,74.8,-7.4,131,781,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,917,-1.29,-194.7,85.8,-8.6,156,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,1059,-1.29,-194.7,97.5,-7.1,181,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,1200,-1.29,-194.7,110.2,-11.4,206,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2235,3880
$GC,1342,-1.29,-194.7,123.0,-9.2,231,1349,0.00,2.72,0.00,0.000,4,0.000,0.106,2669,3650,3880
$GC,1372,-1.29,-194.7,125.9,-9.8,236,1379,0.00,2.65,0.00,0.000,6,0.000,0.092,2669,2238,3880
$GC,1516,-1.29,-194.7,138.8,-9.4,261,1522,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3880
$GC,1657,-1.29,-194.7,151.7,-8.7,286,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3880
$GC,2001,-1.29,-194.7,183.6,-9.4,347,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3880
$GC,2343,-1.29,-194.7,215.0,-9.1,408,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3880
$GC,2687,-1.29,-194.7,246.0,-8.9,469,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3880
$GC,3029,-1.29,-194.7,277.9,-9.4,530,3036,0.00,2.75,0.00,0.000,4,0.000,0.110,2669,3657,3880
$GC,3070,-1.29,-194.7,282.1,-10.1,537,3076,0.00,2.67,0.00,0.000,6,0.000,0.096,2669,2239,3881
$GC,3414,-1.29,-194.7,316.6,-10.1,598,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,3758,-1.29,-194.7,350.6,-9.5,659,3763,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,4100,-1.29,-194.7,384.1,-9.8,720,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3880
$GC,4444,-1.29,-194.7,417.1,-9.4,781,4450,0.00,2.75,0.00,0.000,4,0.000,0.113,2669,3655,3880
$GC,4486,-1.29,-194.7,421.2,-10.0,788,4492,0.00,2.67,0.00,0.000,6,0.000,0.099,2669,2242,3880
$GC,4830,-1.29,-194.7,454.9,-9.7,849,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3880
$GC,5172,-1.29,-194.7,489.4,-9.9,910,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2243,3881
$GC,5514,-1.29,-194.7,523.0,-9.1,971,5520,0.00,2.75,0.00,0.000,4,0.000,0.114,2669,3651,3881
$GC,5550,-1.29,-194.7,526.4,-9.8,977,5556,0.00,2.67,0.00,0.000,6,0.000,0.098,2669,2240,3881
$GC,5893,-1.29,-194.7,558.8,-9.6,1038,5898,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2240,3881
$GC,6235,-1.29,-194.7,590.5,-9.4,1099,6241,0.00,2.75,0.00,0.000,4,0.000,0.115,2669,3648,3880
$GC,6264,-1.29,-194.7,593.3,-9.8,1104,6271,0.00,2.65,0.00,0.000,6,0.000,0.100,2669,2245,3881
$GC,6594,-1.29,-194.7,622.9,-8.9,1141,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,6914,-1.29,-194.7,652.3,-9.4,1171,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,7234,-1.29,-194.7,683.2,-9.9,1201,7239,0.00,2.78,0.00,0.000,4,0.000,0.122,2669,3647,3881
$GC,7261,-1.29,-194.7,686.3,-10.3,1203,7266,0.00,2.67,0.00,0.000,6,0.000,0.104,2668,2251,3881
$GC,7589,-1.29,-194.7,716.8,-9.9,1233,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2252,3880
$GC,7914,-1.29,-194.7,748.2,-9.6,1264,7919,0.00,2.78,0.00,0.000,4,0.000,0.124,2669,3647,3880
$STATE,7933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7933,begin apogee
$GC,7941,-0.35,0.0,750.4,10.0,1265,8108,1.02,0.00,160.73,1.248,6,0.104,0.000,2877,2324,3085
$STATE,8109,end apogee,CONTROL_FINISHED_OK
$STATE,8109,begin climb
$GC,8111,1.29,194.7,757.8,0.0,1282,8280,1.62,2.92,158.75,1.211,4,0.062,0.121,3237,3738,2290
$GC,8338,1.18,194.7,739.6,13.8,1303,8342,0.00,2.78,0.00,0.000,6,0.000,0.104,3236,2328,2288
$GC,8665,1.09,194.7,697.1,12.5,1333,8671,0.17,2.83,0.00,0.000,4,0.109,0.117,3202,3737,2287
$GC,8716,1.03,194.7,690.6,12.0,1337,8721,0.00,2.72,0.00,0.000,6,0.000,0.104,3202,2340,2287
$GC,9042,1.03,194.7,654.8,10.8,1367,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2339,2287
$GC,9359,1.04,199.4,622.3,9.8,1397,9369,0.00,0.00,4.97,0.858,6,0.000,0.000,3202,2340,2271
$GC,9694,1.04,199.4,587.8,10.5,1438,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2340,2271
$GC,10036,1.04,199.4,550.8,10.9,1499,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2340,2271
$GC,10378,1.04,199.4,513.9,10.8,1560,10384,0.00,2.75,0.00,0.000,4,0.000,0.113,3202,3739,2271
$GC,10408,0.98,199.4,510.6,11.5,1565,10415,0.15,2.67,0.00,0.000,6,0.107,0.097,3174,2337,2271
$GC,10752,1.01,221.2,478.2,9.2,1626,10774,0.00,0.00,19.42,1.056,6,0.000,0.000,3174,2338,2183
$GC,11112,1.01,221.2,443.8,10.0,1690,11117,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2338,2181
$GC,11454,1.03,237.8,410.9,9.4,1751,11475,0.00,0.00,15.25,1.000,6,0.000,0.000,3174,2338,2114
$GC,11812,1.04,244.5,375.6,9.8,1815,11823,0.00,0.00,6.88,0.883,6,0.000,0.000,3174,2338,2087
$GC,12161,1.08,278.6,342.9,8.8,1877,12194,0.00,0.00,29.48,0.964,6,0.000,0.000,3174,2338,1949
$GC,12531,1.08,278.6,306.0,10.7,1943,12536,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2337,1944
$GC,12873,1.09,285.5,270.0,9.8,2004,12885,0.10,0.00,6.85,0.828,6,0.072,0.000,3200,2338,1920
$GC,13222,1.09,285.5,230.4,11.6,2066,13228,0.00,2.72,0.00,0.000,4,0.000,0.109,3200,3739,1918
$GC,13245,1.09,285.5,227.5,12.1,2070,13252,0.00,2.65,0.00,0.000,6,0.000,0.092,3200,2339,1918
$GC,13589,1.09,285.5,187.0,11.8,2131,13595,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2340,1918
$GC,13932,1.09,285.5,146.4,11.2,2192,13938,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2340,1918
$GC,14074,1.09,285.5,128.8,12.6,2217,14079,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2340,1918
$GC,14215,1.09,285.5,112.1,11.7,2242,14221,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2340,1918
$GC,14357,1.09,285.5,95.8,11.9,2267,14362,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2340,1918
$GC,14498,1.09,285.5,79.0,11.4,2292,14504,0.00,2.72,0.00,0.000,4,0.000,0.107,3200,3742,1917
$GC,14522,1.09,285.5,76.1,12.3,2296,14528,0.00,2.62,0.00,0.000,6,0.000,0.091,3200,2351,1917
$GC,14665,1.09,285.5,59.2,11.6,2321,14672,0.00,2.75,0.00,0.000,4,0.000,0.108,3200,918,1918
$GC,14689,1.09,285.5,56.4,11.3,2325,14696,0.00,2.67,0.00,0.000,6,0.000,0.094,3200,2341,1917
$GC,14832,1.09,285.5,40.4,12.5,2350,14838,0.00,2.70,0.00,0.000,4,0.000,0.107,3200,3742,1917
$GC,14861,1.09,285.5,36.5,12.9,2355,14868,0.00,2.62,0.00,0.000,6,0.000,0.091,3200,2349,1917
$GC,15005,1.09,285.5,19.1,12.1,2380,15010,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2349,1917
$GC,15146,1.17,351.8,4.3,7.7,2405,15165,0.00,0.00,16.35,0.770,2,0.000,0.000,3201,2349,1844
$STATE,15165,end climb,SURFACE_DEPTH_REACHED
$STATE,15165,begin surface coast
$FINISH,-0.0,1.026171
$STATE,15176,end surface coast,CONTROL_FINISHED_OK
$STATE,15176,begin surface
$SM_CCo,15257,0.00,0.000,0,0,1841,305.15
$SM_GC,0.67,11.52,0.00,0.00,0.044,0.000,0.000,590,2224,1841,-10.84,-0.31,305.15
$IRIDIUM_FIX,5846.12,-1816.81,050797,000049
$TT8_MAMPS,0.02301
$HUMID,1574
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.10
$XPDR_PINGS,125
$24V_AH,23.5,13.872
$10V_AH,10.7,6.861
$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,27.275,81.675,418.675,0.000,0.000,31.157,33.343,285.120,31.250,0.000,0.000,15.376,3598.148,6855.480,564.523,4027.685,683.681,0.000,2317.809,0.000,4032.113,0.000,0.469
$DEVICE_MAMPS,196.352,124.254,1247.909,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1665.667,1813.305,1859.447,1149.999,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,135650,2410
$CAP_FILE_SIZE,177352,0
$CFSIZE,260165632,254251008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100408,103755,5906.660,-1815.451,26,1.2,43,-13.1