version: 66.03
glider: 140
mission: 5
dive: 40
start: 4 12 108 11 15 33
data:
$ID,140
$MISSION,5
$DIVE,40
$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,-13904.6
$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,11
$R_STBD_OVSHOOT,12
$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
$GPS1,110622,5903.795,-1856.583,40,2.4,59,-13.5
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-55.6
$GPS2,111514,5903.750,-1856.646,12,1.8,17,-13.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5903.750,-1902.198
$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,283.5,20000,-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,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,89,0.00,0.00,-59.83,0.000,2,0.000,0.000,594,2223,3459
$GC,92,-1.29,-194.7,3.1,-6.3,11,122,12.73,2.80,-10.07,0.000,4,0.200,0.123,2666,3646,3880
$GC,376,-1.29,-194.7,29.2,-10.0,61,382,0.00,2.67,0.00,0.000,6,0.000,0.094,2666,2236,3880
$GC,518,-1.29,-194.7,42.3,-9.7,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2236,3881
$GC,660,-1.29,-194.7,55.6,-7.7,111,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3881
$GC,802,-1.29,-194.7,70.3,-10.3,136,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2236,3880
$GC,943,-1.29,-194.7,85.6,-10.7,161,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2235,3881
$GC,1084,-1.29,-194.7,100.3,-10.0,186,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2235,3881
$GC,1227,-1.29,-194.7,113.8,-9.3,211,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2235,3881
$GC,1368,-1.29,-194.7,127.5,-9.7,236,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2235,3881
$GC,1510,-1.29,-194.7,141.5,-10.3,261,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2235,3881
$GC,1651,-1.29,-194.7,156.6,-10.6,286,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2234,3881
$GC,1994,-1.29,-194.7,193.1,-10.3,347,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2234,3881
$GC,2336,-1.29,-194.7,226.5,-9.8,408,2342,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2234,3881
$GC,2680,-1.29,-194.7,261.9,-10.8,469,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2233,3881
$GC,3021,-1.29,-194.7,297.4,-10.4,530,3028,0.00,2.80,0.00,0.000,4,0.000,0.119,2666,3649,3881
$GC,3068,-1.29,-194.7,302.3,-10.5,538,3074,0.00,2.72,0.00,0.000,6,0.000,0.100,2666,2219,3881
$GC,3412,-1.29,-194.7,334.2,-8.9,599,3417,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2220,3880
$GC,3755,-1.29,-194.7,364.0,-9.6,660,3761,0.00,2.83,0.00,0.000,4,0.000,0.120,2666,3649,3881
$GC,3785,-1.29,-194.7,366.9,-9.9,665,3791,0.00,2.72,0.00,0.000,6,0.000,0.100,2666,2223,3881
$GC,4128,-1.29,-194.7,398.0,-8.6,726,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2222,3880
$GC,4470,-1.29,-194.7,429.2,-8.8,787,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2223,3881
$GC,4814,-1.29,-194.7,462.9,-9.6,848,4820,0.00,2.83,0.00,0.000,4,0.000,0.122,2666,3649,3881
$GC,4849,-1.29,-194.7,466.6,-10.4,854,4855,0.00,2.75,0.00,0.000,6,0.000,0.103,2666,2214,3881
$GC,5192,-1.29,-194.7,500.4,-10.1,915,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2215,3881
$GC,5535,-1.29,-194.7,532.7,-9.2,976,5542,0.00,2.85,0.00,0.000,4,0.000,0.122,2666,3652,3881
$GC,5582,-1.29,-194.7,537.2,-9.8,984,5588,0.00,2.75,0.00,0.000,6,0.000,0.104,2666,2218,3881
$GC,5926,-1.29,-194.7,568.0,-9.4,1045,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2218,3881
$GC,6269,-1.29,-194.7,598.3,-8.6,1106,6275,0.00,2.85,0.00,0.000,4,0.000,0.124,2667,3647,3881
$GC,6297,-1.29,-194.7,601.1,-9.8,1110,6303,0.00,2.72,0.00,0.000,6,0.000,0.104,2667,2226,3881
$GC,6623,-1.29,-194.7,629.7,-9.2,1141,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2227,3881
$GC,6942,-1.29,-194.7,658.7,-9.3,1171,6946,0.00,2.85,0.00,0.000,4,0.000,0.127,2666,3644,3881
$GC,6997,-1.29,-194.7,664.1,-9.5,1175,7003,0.00,2.72,0.00,0.000,6,0.000,0.107,2666,2235,3881
$GC,7323,-1.29,-194.7,693.0,-8.7,1206,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2236,3881
$GC,7642,-1.29,-194.7,721.4,-9.3,1236,7643,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3880
$GC,7960,-1.29,-194.7,750.3,-9.2,1266,7964,0.00,2.85,0.00,0.000,4,0.000,0.131,2666,3643,3880
$GC,8010,-1.29,-194.7,755.4,-9.6,1270,8015,0.00,2.72,0.00,0.000,6,0.000,0.110,2666,2244,3880
$GC,8337,-1.29,-194.7,786.3,-9.5,1300,8338,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2244,3880
$GC,8655,-1.29,-194.7,815.1,-8.8,1330,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2244,3880
$GC,8974,-1.29,-194.7,842.2,-8.5,1360,8978,0.00,2.85,0.00,0.000,4,0.000,0.135,2666,3642,3879
$GC,9006,-1.29,-194.7,845.3,-9.4,1362,9012,0.00,2.75,0.00,0.000,6,0.000,0.115,2666,2240,3880
$GC,9332,-1.29,-194.7,873.6,-8.5,1393,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2241,3879
$GC,9651,-1.29,-194.7,901.0,-9.2,1423,9655,0.00,2.88,0.00,0.000,4,0.000,0.137,2666,3647,3880
$GC,9694,-1.29,-194.7,905.3,-9.6,1426,9701,0.00,2.75,0.00,0.000,6,0.000,0.118,2666,2254,3879
$GC,10021,-1.29,-194.7,935.5,-9.2,1457,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2255,3879
$GC,10339,-1.29,-194.7,963.0,-8.6,1487,10341,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2255,3878
$STATE,10656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10656,begin apogee
$GC,10662,-0.35,0.0,990.7,8.7,1517,10830,1.02,0.00,164.65,1.427,6,0.104,0.000,2876,2325,3085
$STATE,10831,end apogee,CONTROL_FINISHED_OK
$STATE,10831,begin climb
$GC,10834,1.29,194.7,998.0,0.0,1534,11007,1.65,3.05,162.40,1.389,4,0.065,0.140,3242,3739,2291
$GC,11057,1.17,194.7,979.8,14.0,1555,11064,0.15,2.85,0.00,0.000,6,0.118,0.120,3216,2331,2289
$GC,11382,1.11,194.7,940.5,11.9,1586,11386,0.00,3.03,0.00,0.000,4,0.000,0.150,3216,914,2288
$GC,11415,1.06,194.7,936.5,11.7,1588,11421,0.12,2.83,0.00,0.000,6,0.115,0.119,3194,2324,2288
$GC,11739,1.06,194.7,899.5,11.3,1619,11744,0.00,2.95,0.00,0.000,4,0.000,0.136,3194,3743,2287
$GC,11789,1.00,194.7,893.5,12.0,1623,11794,0.00,2.83,0.00,0.000,6,0.000,0.115,3194,2333,2287
$GC,12114,1.00,194.7,858.6,10.7,1653,12118,0.00,2.95,0.00,0.000,4,0.000,0.140,3194,914,2287
$GC,12141,1.00,194.7,855.7,10.9,1655,12146,0.00,2.85,0.00,0.000,6,0.000,0.118,3194,2339,2287
$GC,12466,1.00,194.7,822.9,10.4,1685,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2340,2287
$GC,12786,1.01,196.0,790.4,10.0,1715,12787,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2339,2286
$GC,13102,1.01,196.0,757.1,10.9,1745,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2339,2285
$GC,13423,1.02,208.9,724.7,9.6,1775,13441,0.00,0.00,12.88,1.216,6,0.000,0.000,3194,2339,2232
$GC,13761,1.02,208.9,689.2,10.5,1807,13765,0.00,2.85,0.00,0.000,4,0.000,0.129,3194,3740,2231
$GC,13789,0.98,208.9,686.0,11.6,1809,13793,0.00,2.78,0.00,0.000,6,0.000,0.108,3194,2328,2231
$GC,14113,0.98,208.9,650.6,10.8,1839,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2329,2231
$GC,14433,0.98,208.9,615.4,11.1,1869,14434,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2329,2231
$GC,14759,0.98,208.9,579.4,11.3,1915,14765,0.00,2.83,0.00,0.000,4,0.000,0.121,3194,3741,2231
$GC,14795,0.93,208.9,575.5,11.7,1921,14801,0.15,2.72,0.00,0.000,6,0.109,0.102,3166,2333,2232
$GC,15139,0.95,226.2,543.0,9.4,1982,15161,0.00,2.90,16.12,1.101,4,0.000,0.123,3166,912,2161
$GC,15185,1.02,249.2,538.6,9.2,1990,15212,0.00,2.80,20.30,1.069,6,0.000,0.107,3166,2340,2069
$GC,15551,1.03,255.7,502.6,9.8,2055,15562,0.00,0.00,6.97,0.952,6,0.000,0.000,3166,2340,2042
$GC,15901,1.05,274.6,469.0,9.3,2117,15923,0.10,0.00,17.27,1.038,6,0.071,0.000,3192,2340,1964
$GC,16261,1.05,274.6,427.5,11.9,2181,16266,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2340,1962
$GC,16603,1.05,274.6,387.7,11.1,2242,16609,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2340,1961
$GC,16946,1.05,274.6,348.4,11.2,2303,16951,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2340,1961
$GC,17288,1.05,274.6,310.4,10.8,2364,17294,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2340,1961
$GC,17631,1.05,274.6,275.0,10.8,2425,17636,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2340,1962
$GC,17973,1.07,285.9,239.2,9.6,2486,17990,0.00,0.00,10.80,0.901,6,0.000,0.000,3192,2341,1918
$GC,18327,1.07,285.9,199.4,10.7,2549,18332,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2340,1916
$GC,18669,1.07,285.9,160.7,10.3,2610,18675,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2341,1917
$GC,19012,1.07,285.9,123.5,11.0,2671,19018,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2341,1917
$GC,19154,1.07,285.9,107.6,10.2,2696,19160,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2341,1917
$GC,19296,1.07,285.9,91.4,11.0,2721,19301,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2340,1916
$GC,19437,1.07,285.9,74.2,13.0,2746,19443,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2341,1916
$GC,19579,1.07,285.9,55.9,13.3,2771,19585,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2340,1917
$GC,19720,1.07,285.9,38.8,11.6,2796,19727,0.00,2.78,0.00,0.000,4,0.000,0.112,3192,912,1916
$GC,19750,1.07,285.9,35.0,12.0,2801,19757,0.00,2.70,0.00,0.000,6,0.000,0.097,3192,2341,1917
$GC,19893,1.12,328.2,19.9,8.5,2826,19939,0.00,2.83,35.88,0.776,4,0.000,0.110,3192,3737,1743
$GC,19951,1.19,381.6,14.9,8.1,2836,20002,0.10,2.67,43.92,0.745,6,0.071,0.093,3219,2341,1529
$STATE,20053,end climb,SURFACE_DEPTH_REACHED
$STATE,20053,begin surface coast
$FINISH,0.5,1.027787
$STATE,20070,end surface coast,CONTROL_FINISHED_OK
$STATE,20070,begin surface
$SM_CCo,20151,0.00,0.000,0,0,1519,384.14
$SM_GC,1.02,11.77,0.00,0.00,0.052,0.000,0.000,590,2233,1519,-10.86,-0.06,384.14
$IRIDIUM_FIX,5837.82,-1856.50,070797,050508
$TT8_MAMPS,0.02301
$HUMID,1554
$INTERNAL_PRESSURE,8.39876
$TCM_TEMP,17.30
$XPDR_PINGS,131
$24V_AH,23.4,15.762
$10V_AH,10.6,8.977
$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,27.800,107.250,491.200,0.000,0.000,30.014,37.741,304.554,32.750,0.000,0.000,17.616,4271.381,10235.186,640.015,4717.191,789.146,0.000,2724.934,0.000,4721.848,0.000,0.468
$DEVICE_MAMPS,200.187,164.138,1427.387,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1974.936,2144.606,1840.124,1189.793,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160828,2857
$CAP_FILE_SIZE,214460,0
$CFSIZE,260165632,253054976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,120408,165238,5903.311,-1900.617,40,1.1,40,-13.5