version: 66.03
glider: 140
mission: 5
dive: 41
start: 4 12 108 17 2 2
data:
$ID,140
$MISSION,5
$DIVE,41
$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,-13937.528
$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,10
$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
$GPS1,165238,5903.311,-1900.617,40,1.1,40,-13.5
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-55.7
$GPS2,170144,5903.278,-1900.576,15,1.2,32,-13.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5903.278,-1906.129
$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,24,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,116,0.00,0.00,-86.88,0.000,2,0.000,0.000,590,2232,3587
$GC,119,-1.29,-194.7,3.3,-5.6,16,144,12.82,2.85,-6.20,0.000,4,0.201,0.122,2670,3647,3881
$GC,359,-1.29,-194.7,34.5,-8.3,58,365,0.00,2.67,0.00,0.000,6,0.000,0.095,2670,2234,3882
$GC,501,-1.29,-194.7,45.6,-8.1,83,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,644,-1.29,-194.7,57.3,-8.2,108,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,786,-1.29,-194.7,69.5,-8.3,133,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3881
$GC,928,-1.29,-194.7,81.3,-8.8,158,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3881
$GC,1069,-1.29,-194.7,94.1,-9.2,183,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3882
$GC,1211,-1.29,-194.7,107.7,-10.0,208,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,1352,-1.29,-194.7,121.3,-9.9,233,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3882
$GC,1495,-1.29,-194.7,135.3,-9.7,258,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,1636,-1.29,-194.7,149.8,-10.5,283,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3881
$GC,1777,-1.29,-194.7,164.0,-10.0,308,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,2121,-1.29,-194.7,197.0,-9.4,369,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,2463,-1.29,-194.7,229.3,-9.4,430,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,2807,-1.29,-194.7,261.8,-9.0,491,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,3149,-1.29,-194.7,294.3,-9.9,552,3155,0.00,2.80,0.00,0.000,4,0.000,0.118,2670,3652,3882
$GC,3184,-1.29,-194.7,297.9,-10.3,558,3190,0.00,2.70,0.00,0.000,6,0.000,0.099,2670,2231,3882
$GC,3528,-1.29,-194.7,330.3,-8.7,619,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3881
$GC,3871,-1.29,-194.7,359.7,-8.2,680,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3882
$GC,4214,-1.29,-194.7,388.9,-8.4,741,4219,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2231,3882
$GC,4557,-1.29,-194.7,419.1,-9.1,802,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3882
$GC,4900,-1.29,-194.7,450.2,-9.8,863,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2231,3881
$GC,5242,-1.29,-194.7,483.4,-9.7,924,5247,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3882
$GC,5585,-1.29,-194.7,516.6,-9.5,985,5591,0.00,2.83,0.00,0.000,4,0.000,0.123,2670,3648,3882
$GC,5625,-1.29,-194.7,520.7,-10.4,992,5632,0.00,2.72,0.00,0.000,6,0.000,0.105,2670,2231,3882
$GC,5969,-1.29,-194.7,553.1,-9.2,1053,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,6312,-1.29,-194.7,582.9,-8.4,1114,6317,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,6649,-1.29,-194.7,609.8,-8.1,1164,6650,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,6968,-1.29,-194.7,635.1,-8.1,1194,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3882
$GC,7286,-1.29,-194.7,660.4,-8.0,1224,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3882
$GC,7605,-1.29,-194.7,686.4,-7.9,1254,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3881
$GC,7923,-1.29,-194.7,712.6,-8.7,1284,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2233,3881
$GC,8242,-1.29,-194.7,739.6,-8.2,1314,8246,0.00,2.88,0.00,0.000,4,0.000,0.133,2670,3646,3881
$GC,8292,-1.29,-194.7,744.0,-9.0,1318,8297,0.00,2.75,0.00,0.000,6,0.000,0.111,2671,2234,3881
$GC,8618,-1.29,-194.7,770.9,-8.4,1348,8619,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3880
$GC,8937,-1.29,-194.7,799.1,-9.2,1378,8938,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3880
$GC,9255,-1.29,-194.7,827.9,-8.9,1408,9260,0.00,2.88,0.00,0.000,4,0.000,0.134,2670,3644,3880
$GC,9294,-1.29,-194.7,831.5,-9.5,1411,9299,0.00,2.75,0.00,0.000,6,0.000,0.115,2670,2244,3879
$GC,9620,-1.29,-194.7,859.4,-8.5,1441,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3880
$GC,9939,-1.29,-194.7,884.6,-7.4,1471,9944,0.00,2.97,0.00,0.000,4,0.000,0.147,2670,818,3880
$GC,9972,-1.29,-194.7,887.3,-8.5,1473,9978,0.00,2.80,0.00,0.000,6,0.000,0.118,2670,2239,3880
$GC,10299,-1.29,-194.7,911.7,-7.6,1504,10304,0.00,2.88,0.00,0.000,4,0.000,0.139,2670,3647,3879
$GC,10339,-1.29,-194.7,915.1,-8.3,1507,10344,0.00,2.75,0.00,0.000,6,0.000,0.115,2670,2246,3879
$GC,10664,-1.29,-194.7,939.5,-7.7,1537,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3879
$STATE,10810,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10810,begin apogee
$GC,10816,-0.35,0.0,950.8,7.8,1551,10984,1.00,0.00,164.57,1.401,6,0.108,0.000,2874,2331,3085
$STATE,10985,end apogee,CONTROL_FINISHED_OK
$STATE,10985,begin climb
$GC,10987,1.29,194.7,956.5,0.0,1568,11162,1.67,3.03,161.50,1.363,4,0.064,0.135,3239,3733,2290
$GC,11224,1.17,194.7,935.7,14.3,1590,11231,0.12,2.85,0.00,0.000,6,0.118,0.119,3217,2325,2290
$GC,11549,1.11,194.7,897.3,12.0,1621,11550,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2324,2288
$GC,11869,1.05,194.7,859.2,12.0,1651,11871,0.15,0.00,0.00,0.000,6,0.114,0.000,3190,2324,2288
$GC,12187,1.05,194.7,825.1,10.6,1681,12188,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2325,2288
$GC,12504,1.05,194.7,791.6,10.6,1711,12509,0.00,2.90,0.00,0.000,4,0.000,0.130,3190,3740,2287
$GC,12532,1.00,194.7,788.4,12.3,1713,12537,0.00,2.83,0.00,0.000,6,0.000,0.114,3190,2319,2288
$GC,12856,1.00,194.7,752.8,10.8,1743,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2320,2287
$GC,13175,1.00,194.7,719.0,11.3,1773,13180,0.00,2.88,0.00,0.000,4,0.000,0.127,3190,3740,2287
$GC,13225,0.95,194.7,712.9,11.5,1777,13231,0.12,2.78,0.00,0.000,6,0.115,0.110,3168,2323,2287
$GC,13550,0.96,199.1,679.9,9.8,1807,13560,0.00,0.00,4.62,0.885,6,0.000,0.000,3168,2324,2273
$GC,13880,0.99,230.4,650.2,8.9,1838,13910,0.00,0.00,28.05,1.188,6,0.000,0.000,3167,2324,2145
$GC,14227,1.01,241.2,617.0,9.6,1871,14239,0.00,0.00,10.32,1.101,6,0.000,0.000,3168,2324,2101
$GC,14564,1.02,255.9,585.4,9.5,1916,14581,0.00,0.00,14.02,1.101,6,0.000,0.000,3168,2325,2041
$GC,14918,1.05,277.3,551.4,9.3,1979,14940,0.00,0.00,19.30,1.096,6,0.000,0.000,3168,2325,1954
$GC,15277,1.10,282.7,516.6,9.8,2043,15289,0.15,0.00,5.95,0.914,6,0.062,0.000,3209,2324,1931
$GC,15627,1.10,282.7,474.9,12.1,2105,15632,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2324,1930
$GC,15969,1.10,282.7,432.4,12.3,2166,15974,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2325,1930
$GC,16311,1.10,282.7,389.2,12.5,2227,16316,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2324,1930
$GC,16653,1.10,282.7,348.3,10.8,2288,16660,0.00,2.80,0.00,0.000,4,0.000,0.114,3209,3745,1930
$GC,16677,1.10,282.7,345.4,13.1,2292,16683,0.00,2.70,0.00,0.000,6,0.000,0.095,3209,2331,1930
$GC,17021,1.10,282.7,305.8,11.2,2353,17027,0.00,2.78,0.00,0.000,4,0.000,0.117,3209,917,1930
$GC,17049,1.10,282.7,302.3,12.7,2358,17056,0.00,2.72,0.00,0.000,6,0.000,0.100,3209,2338,1931
$GC,17393,1.10,282.7,261.6,11.9,2419,17398,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2338,1930
$GC,17735,1.10,282.7,220.4,12.6,2480,17741,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2338,1931
$GC,18078,1.10,282.7,178.8,12.6,2541,18083,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,1931
$GC,18421,1.10,282.7,136.7,12.2,2602,18427,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2338,1931
$GC,18563,1.10,282.7,120.1,12.0,2627,18568,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2338,1931
$GC,18704,1.10,282.7,103.6,11.8,2652,18710,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,1931
$GC,18846,1.10,282.7,86.5,12.6,2677,18851,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2339,1931
$GC,18987,1.10,282.7,68.6,12.9,2702,18994,0.00,2.78,0.00,0.000,4,0.000,0.113,3209,917,1931
$GC,19017,1.10,282.7,64.5,14.0,2707,19024,0.00,2.67,0.00,0.000,6,0.000,0.098,3209,2334,1932
$GC,19159,1.10,282.7,44.6,14.6,2732,19165,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2334,1932
$GC,19302,1.10,282.7,24.3,11.5,2757,19308,0.00,0.00,0.00,0.000,6,0.000,0.000,3209,2334,1931
$GC,19443,1.10,282.7,5.3,12.9,2782,19449,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2334,1931
$STATE,19470,end climb,SURFACE_DEPTH_REACHED
$STATE,19470,begin surface coast
$FINISH,0.4,1.027755
$STATE,19488,end surface coast,CONTROL_FINISHED_OK
$STATE,19488,begin surface
$SM_CCo,19570,0.00,0.000,0,0,1929,283.57
$SM_GC,0.93,11.45,0.00,0.00,0.045,0.000,0.000,591,2226,1929,-10.85,-0.25,283.57
$IRIDIUM_FIX,5841.97,-1929.65,070797,111144
$TT8_MAMPS,0.02301
$HUMID,1587
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.40
$XPDR_PINGS,108
$24V_AH,23.5,15.940
$10V_AH,10.7,9.178
$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,27.500,73.350,408.350,0.000,0.000,31.452,33.325,308.907,27.000,0.000,0.000,32.301,4181.208,9950.359,582.009,4620.916,751.297,0.000,2589.227,0.000,4597.937,0.000,0.469
$DEVICE_MAMPS,200.954,151.099,1400.542,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1930.372,2089.196,1807.719,1170.930,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,157614,2790
$CAP_FILE_SIZE,205497,0
$CFSIZE,260165632,252948480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120408,222931,5902.771,-1904.395,40,1.7,45,-13.5