version: 66.03
glider: 140
mission: 5
dive: 38
start: 4 11 108 23 52 39
data:
$ID,140
$MISSION,5
$DIVE,38
$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,360
$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,-13870.266
$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
$GPS1,234308,5903.920,-1846.974,42,1.5,42,-13.4
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,1
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-58.3
$GPS2,235221,5903.887,-1847.037,12,1.8,12,-13.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5903.887,-1852.589
$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,283.4,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,111,0.00,0.00,-81.65,0.000,2,0.000,0.000,587,2231,3598
$GC,114,-1.29,-194.7,3.4,-5.8,15,139,12.85,2.80,-5.90,0.000,4,0.201,0.120,2671,3654,3880
$GC,353,-1.29,-194.7,31.0,-8.7,57,359,0.00,2.70,0.00,0.000,6,0.000,0.094,2671,2230,3881
$GC,495,-1.29,-194.7,46.1,-13.6,82,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,638,-1.29,-194.7,65.7,-12.5,107,643,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,779,-1.29,-194.7,83.2,-11.9,132,785,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,920,-1.29,-194.7,101.1,-13.1,157,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3881
$GC,1061,-1.29,-194.7,122.4,-16.1,182,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3881
$GC,1203,-1.29,-194.7,149.6,-19.3,207,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3881
$GC,1344,-1.29,-194.7,171.7,-14.8,232,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2230,3881
$GC,1687,-1.29,-194.7,213.2,-10.5,293,1693,0.00,2.78,0.00,0.000,4,0.000,0.113,2671,3646,3881
$GC,1727,-1.29,-194.7,217.3,-10.3,300,1733,0.00,2.67,0.00,0.000,6,0.000,0.097,2671,2236,3881
$GC,2071,-1.29,-194.7,247.2,-8.3,361,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2236,3881
$GC,2413,-1.29,-194.7,282.9,-9.7,422,2420,0.00,2.80,0.00,0.000,4,0.000,0.121,2671,822,3881
$GC,2443,-1.29,-194.7,286.0,-11.1,427,2449,0.00,2.70,0.00,0.000,6,0.000,0.104,2671,2231,3881
$GC,2786,-1.29,-194.7,319.3,-8.4,488,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3881
$GC,3130,-1.29,-194.7,343.2,-6.0,549,3136,0.00,2.78,0.00,0.000,4,0.000,0.116,2670,3651,3881
$GC,3165,-1.29,-194.7,345.4,-6.3,555,3171,0.00,2.67,0.00,0.000,6,0.000,0.098,2671,2240,3881
$GC,3510,-1.29,-194.7,372.9,-6.8,616,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3881
$GC,3854,-1.29,-194.7,406.3,-9.2,677,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3881
$GC,4197,-1.29,-194.7,438.8,-9.7,738,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3881
$GC,4539,-1.29,-194.7,473.1,-10.3,799,4544,0.00,2.78,0.00,0.000,4,0.000,0.119,2671,3646,3881
$GC,4579,-1.29,-194.7,477.4,-10.8,806,4585,0.00,2.70,0.00,0.000,6,0.000,0.100,2671,2233,3881
$GC,4922,-1.29,-194.7,512.5,-10.4,867,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3881
$GC,5264,-1.29,-194.7,548.4,-10.1,928,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3881
$GC,5608,-1.29,-194.7,583.9,-10.3,989,5614,0.00,2.80,0.00,0.000,4,0.000,0.120,2671,3646,3881
$GC,5648,-1.29,-194.7,588.0,-10.3,996,5655,0.00,2.67,0.00,0.000,6,0.000,0.103,2671,2241,3881
$GC,5986,-1.29,-194.7,620.3,-9.6,1038,5987,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3881
$GC,6306,-1.29,-194.7,650.0,-9.1,1068,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3881
$GC,6624,-1.29,-194.7,680.1,-9.5,1098,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3881
$GC,6943,-1.29,-194.7,709.8,-9.2,1128,6947,0.00,2.83,0.00,0.000,4,0.000,0.127,2671,3648,3881
$GC,6982,-1.29,-194.7,713.6,-9.8,1131,6987,0.00,2.70,0.00,0.000,6,0.000,0.107,2671,2249,3881
$GC,7308,-1.29,-194.7,743.4,-9.0,1161,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2249,3881
$GC,7626,-1.29,-194.7,770.8,-8.2,1191,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2249,3881
$GC,7945,-1.29,-194.7,796.9,-8.3,1221,7950,0.00,2.83,0.00,0.000,4,0.000,0.132,2671,3646,3881
$GC,7977,-1.29,-194.7,800.0,-9.6,1223,7984,0.00,2.70,0.00,0.000,6,0.000,0.109,2671,2252,3880
$GC,8304,-1.29,-194.7,826.5,-7.8,1254,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3881
$GC,8622,-1.29,-194.7,853.5,-8.6,1284,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3881
$GC,8941,-1.29,-194.7,880.7,-8.3,1314,8942,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3880
$GC,9259,-1.29,-194.7,907.5,-8.8,1344,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3880
$GC,9578,-1.29,-194.7,934.8,-8.4,1374,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3879
$GC,9896,-1.29,-194.7,962.2,-8.4,1404,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3879
$GC,10215,-1.29,-194.7,988.3,-8.2,1434,10216,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3878
$STATE,10232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10232,begin apogee
$GC,10238,-0.35,0.0,990.1,8.3,1436,10407,1.00,0.00,164.62,1.427,6,0.102,0.000,2876,2327,3085
$STATE,10407,end apogee,CONTROL_FINISHED_OK
$STATE,10407,begin climb
$GC,10410,1.29,194.7,995.9,0.0,1453,10582,1.65,3.05,162.23,1.390,4,0.064,0.139,3245,3739,2291
$GC,10616,1.16,194.7,978.6,14.7,1473,10623,0.17,2.88,0.00,0.000,6,0.112,0.116,3214,2322,2289
$GC,10941,1.10,194.7,938.8,12.2,1504,10942,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2323,2288
$GC,11260,1.05,194.7,900.2,12.2,1534,11266,0.12,2.95,0.00,0.000,4,0.115,0.134,3192,3742,2287
$GC,11289,0.99,194.7,896.7,11.9,1536,11294,0.00,2.85,0.00,0.000,6,0.000,0.117,3191,2322,2287
$GC,11613,0.99,194.7,862.3,10.3,1566,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2323,2287
$GC,11932,0.99,194.7,829.2,10.6,1596,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2323,2287
$GC,12250,0.99,194.7,796.3,10.4,1626,12255,0.00,2.88,0.00,0.000,4,0.000,0.127,3191,3741,2286
$GC,12278,0.94,194.7,793.2,10.6,1628,12284,0.12,2.78,0.00,0.000,6,0.115,0.110,3168,2334,2286
$GC,12603,0.95,205.8,761.3,9.6,1658,12615,0.00,0.00,10.45,1.203,6,0.000,0.000,3168,2334,2245
$GC,12931,0.96,208.9,728.0,9.9,1689,12941,0.00,0.00,4.25,0.848,6,0.000,0.000,3168,2334,2233
$GC,13261,1.01,248.9,697.8,8.6,1720,13300,0.00,0.00,35.10,1.214,6,0.000,0.000,3168,2334,2070
$GC,13618,1.01,248.9,664.3,10.1,1754,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2334,2067
$GC,13937,1.01,248.9,631.6,10.1,1784,13938,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2334,2067
$GC,14257,1.02,256.1,600.2,9.7,1814,14270,0.00,0.00,7.38,1.024,6,0.000,0.000,3168,2334,2040
$GC,14608,1.03,266.2,566.5,9.7,1876,14625,0.00,2.88,10.15,1.064,4,0.000,0.121,3168,917,1999
$GC,14643,1.09,280.2,563.1,9.5,1882,14666,0.12,2.78,13.77,1.048,6,0.064,0.102,3201,2343,1941
$GC,15004,1.09,280.2,522.6,11.7,1946,15009,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2343,1938
$GC,15346,1.09,280.2,481.4,11.9,2007,15352,0.00,2.83,0.00,0.000,4,0.000,0.117,3201,914,1938
$GC,15369,1.09,280.2,478.6,12.3,2011,15375,0.00,2.72,0.00,0.000,6,0.000,0.099,3201,2340,1938
$GC,15712,1.09,280.2,439.3,10.9,2072,15718,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2340,1938
$GC,16055,1.09,280.2,399.3,12.1,2133,16061,0.00,2.80,0.00,0.000,4,0.000,0.115,3201,916,1938
$GC,16084,1.09,280.2,395.8,12.1,2138,16090,0.00,2.72,0.00,0.000,6,0.000,0.103,3201,2332,1938
$GC,16427,1.09,280.2,354.8,12.7,2199,16432,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2332,1938
$GC,16769,1.09,280.2,313.8,11.8,2260,16775,0.00,2.78,0.00,0.000,4,0.000,0.115,3201,917,1938
$GC,16792,1.09,280.2,310.8,13.1,2264,16798,0.00,2.70,0.00,0.000,6,0.000,0.100,3201,2330,1938
$GC,17136,1.09,280.2,269.0,11.1,2325,17141,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2331,1938
$GC,17478,1.09,280.2,226.2,12.6,2386,17484,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2330,1939
$GC,17821,1.09,280.2,185.6,11.7,2447,17827,0.00,2.78,0.00,0.000,4,0.000,0.114,3201,913,1938
$GC,17845,1.09,280.2,182.7,10.9,2451,17851,0.00,2.67,0.00,0.000,6,0.000,0.097,3201,2325,1938
$GC,18188,1.09,280.2,139.9,12.7,2512,18194,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2325,1938
$GC,18330,1.09,280.2,121.9,13.6,2537,18336,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2325,1938
$GC,18471,1.09,280.2,105.3,12.1,2562,18477,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2325,1939
$GC,18613,1.09,280.2,86.6,12.8,2587,18619,0.00,2.72,0.00,0.000,4,0.000,0.110,3201,916,1939
$GC,18642,1.09,280.2,83.0,12.5,2592,18649,0.00,2.65,0.00,0.000,6,0.000,0.097,3201,2324,1939
$GC,18785,1.09,280.2,67.6,10.6,2617,18790,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2325,1939
$GC,18928,1.09,280.2,51.9,11.3,2642,18934,0.00,2.72,0.00,0.000,4,0.000,0.109,3201,3737,1938
$GC,18952,1.09,280.2,48.8,11.3,2646,18958,0.00,2.67,0.00,0.000,6,0.000,0.091,3201,2316,1938
$GC,19094,1.09,280.2,31.6,12.4,2671,19100,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2316,1938
$GC,19236,1.09,280.2,15.0,12.2,2696,19241,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2316,1938
$STATE,19348,end climb,SURFACE_DEPTH_REACHED
$STATE,19348,begin surface coast
$FINISH,0.1,1.013946
$STATE,19365,end surface coast,CONTROL_FINISHED_OK
$STATE,19365,begin surface
$SM_CCo,19446,0.00,0.000,0,0,1937,281.85
$SM_GC,0.87,11.45,0.00,0.00,0.047,0.000,0.000,593,2229,1937,-10.84,-0.17,281.85
$IRIDIUM_FIX,5841.97,-1856.50,060797,181813
$TT8_MAMPS,0.02301
$HUMID,1595
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,17.40
$XPDR_PINGS,122
$24V_AH,23.4,15.396
$10V_AH,10.7,8.559
$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,27.500,100.050,407.950,0.000,0.000,30.456,31.190,338.320,30.500,0.000,0.000,12.756,4078.375,10084.127,592.585,4429.195,784.751,0.000,2548.003,0.000,4431.356,0.000,0.469
$DEVICE_MAMPS,200.954,162.604,1426.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1880.642,2041.814,1658.410,1084.553,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,154512,2719
$CAP_FILE_SIZE,204435,0
$CFSIZE,260165632,253304832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,051756,5903.649,-1851.924,36,1.7,36,-13.4