version: 66.03
glider: 140
mission: 5
dive: 42
start: 4 12 108 22 48 46
data:
$ID,140
$MISSION,5
$DIVE,42
$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,-13974.604
$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,13
$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
$GPS1,222931,5902.771,-1904.395,40,1.7,45,-13.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.4
$GPS2,224829,5902.762,-1904.203,16,4.6,35,-13.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5902.762,-1909.757
$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,26,end surface,CONTROL_FINISHED_OK
$STATE,26,begin dive
$GC,29,-1.29,-194.7,0.0,0.0,0,96,0.00,0.00,-65.00,0.000,2,0.000,0.000,591,2225,3528
$GC,99,-1.29,-194.7,3.4,-6.0,12,129,12.70,2.80,-7.70,0.000,4,0.198,0.119,2667,3639,3881
$GC,276,-1.29,-194.7,24.9,-11.1,43,283,0.00,2.65,0.00,0.000,6,0.000,0.094,2667,2237,3882
$GC,419,-1.29,-194.7,39.3,-10.2,68,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2238,3882
$GC,561,-1.29,-194.7,51.8,-8.0,93,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2239,3882
$GC,703,-1.29,-194.7,64.1,-8.4,118,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2238,3882
$GC,845,-1.29,-194.7,75.6,-9.0,143,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2237,3882
$GC,986,-1.29,-194.7,89.2,-9.9,168,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2237,3882
$GC,1129,-1.29,-194.7,102.9,-9.8,193,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2237,3882
$GC,1270,-1.29,-194.7,116.4,-9.3,218,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2237,3882
$GC,1412,-1.29,-194.7,129.9,-9.4,243,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2237,3882
$GC,1554,-1.29,-194.7,143.3,-9.5,268,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,1695,-1.29,-194.7,156.9,-10.0,293,1700,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3882
$GC,2038,-1.29,-194.7,190.1,-9.5,354,2043,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2236,3882
$GC,2381,-1.29,-194.7,222.5,-9.6,415,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,2724,-1.29,-194.7,255.2,-9.7,476,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,3067,-1.29,-194.7,287.6,-9.3,537,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2235,3882
$GC,3409,-1.29,-194.7,318.8,-9.4,598,3415,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,3752,-1.29,-194.7,350.4,-9.3,659,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,4096,-1.29,-194.7,381.6,-8.9,720,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2235,3882
$GC,4440,-1.29,-194.7,412.7,-8.7,781,4446,0.00,2.80,0.00,0.000,4,0.000,0.121,2667,3649,3882
$GC,4475,-1.29,-194.7,416.0,-9.4,787,4481,0.00,2.67,0.00,0.000,6,0.000,0.100,2667,2247,3882
$GC,4818,-1.29,-194.7,445.9,-8.6,848,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3882
$GC,5162,-1.29,-194.7,475.3,-8.4,909,5167,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3882
$GC,5504,-1.29,-194.7,504.9,-8.3,970,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2248,3882
$GC,5847,-1.29,-194.7,534.3,-9.0,1031,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3882
$GC,6189,-1.29,-194.7,566.2,-9.1,1092,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3882
$GC,6533,-1.29,-194.7,597.5,-8.9,1153,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3882
$GC,6860,-1.29,-194.7,625.6,-8.2,1186,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3882
$GC,7179,-1.29,-194.7,652.3,-8.4,1216,7180,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3882
$GC,7497,-1.29,-194.7,680.9,-8.9,1246,7498,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3881
$GC,7815,-1.29,-194.7,709.8,-9.1,1276,7817,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3881
$GC,8134,-1.29,-194.7,738.7,-8.4,1306,8135,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3881
$GC,8453,-1.29,-194.7,766.0,-8.5,1336,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3881
$GC,8771,-1.29,-194.7,793.2,-8.4,1366,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2248,3881
$GC,9090,-1.29,-194.7,819.8,-8.2,1396,9094,0.00,2.88,0.00,0.000,4,0.000,0.140,2667,3641,3880
$GC,9118,-1.29,-194.7,822.4,-9.0,1398,9122,0.00,2.75,0.00,0.000,6,0.000,0.114,2668,2241,3880
$GC,9444,-1.29,-194.7,851.4,-9.1,1428,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2241,3880
$GC,9762,-1.29,-194.7,881.1,-9.2,1458,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2241,3880
$GC,10081,-1.29,-194.7,909.2,-8.7,1488,10086,0.00,2.90,0.00,0.000,4,0.000,0.140,2667,3649,3879
$GC,10124,-1.29,-194.7,913.4,-9.3,1491,10131,0.00,2.78,0.00,0.000,6,0.000,0.118,2667,2243,3879
$GC,10451,-1.29,-194.7,939.4,-7.9,1522,10452,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3879
$GC,10769,-1.29,-194.7,964.6,-7.9,1552,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2244,3879
$STATE,10808,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10808,begin apogee
$GC,10814,-0.35,0.0,967.9,8.0,1556,10982,1.02,0.00,164.50,1.416,6,0.109,0.000,2875,2328,3085
$STATE,10983,end apogee,CONTROL_FINISHED_OK
$STATE,10983,begin climb
$GC,10985,1.29,194.7,972.9,0.0,1573,11158,1.65,3.05,162.02,1.375,4,0.065,0.139,3243,3739,2291
$GC,11191,1.16,194.7,955.0,15.0,1593,11198,0.15,2.88,0.00,0.000,6,0.116,0.120,3217,2323,2290
$GC,11516,1.10,194.7,914.6,12.2,1624,11517,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2324,2289
$GC,11836,1.04,194.7,876.7,11.6,1654,11841,0.15,2.95,0.00,0.000,4,0.113,0.136,3185,3740,2288
$GC,11876,1.00,194.7,872.1,10.5,1657,11880,0.00,2.85,0.00,0.000,6,0.000,0.118,3185,2328,2288
$GC,12200,1.02,211.6,840.6,9.4,1687,12220,0.00,0.00,15.52,1.266,6,0.000,0.000,3185,2328,2221
$GC,12540,1.02,211.6,806.0,10.5,1719,12541,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2328,2220
$GC,12857,1.02,211.6,773.0,10.3,1749,12862,0.00,2.90,0.00,0.000,4,0.000,0.132,3185,3740,2220
$GC,12889,1.02,211.6,769.2,11.2,1751,12896,0.00,2.83,0.00,0.000,6,0.000,0.114,3185,2324,2220
$GC,13216,1.02,211.6,733.0,10.9,1782,13220,0.00,2.90,0.00,0.000,4,0.000,0.129,3185,3742,2220
$GC,13254,1.02,211.6,728.5,11.3,1785,13259,0.00,2.78,0.00,0.000,6,0.000,0.112,3185,2342,2220
$GC,13579,1.02,211.6,694.2,10.2,1815,13583,0.00,2.90,0.00,0.000,4,0.000,0.133,3185,917,2220
$GC,13611,1.02,211.6,690.7,11.1,1817,13617,0.00,2.83,0.00,0.000,6,0.000,0.112,3185,2352,2220
$GC,13938,1.02,218.1,658.7,9.8,1848,13946,0.00,0.00,6.82,1.045,6,0.000,0.000,3185,2352,2195
$GC,14266,1.03,219.0,626.0,10.0,1879,14267,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2352,2195
$GC,14587,1.04,231.2,593.8,9.6,1914,14603,0.00,0.00,12.90,1.122,6,0.000,0.000,3185,2352,2141
$GC,14941,1.04,231.2,556.1,10.3,1977,14946,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2352,2141
$GC,15283,1.04,231.2,520.0,10.2,2038,15288,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2352,2140
$GC,15625,1.04,231.2,484.0,10.5,2099,15631,0.00,2.85,0.00,0.000,4,0.000,0.120,3185,917,2140
$GC,15665,1.04,231.2,479.7,11.2,2106,15671,0.00,2.78,0.00,0.000,6,0.000,0.107,3185,2348,2141
$GC,16008,1.04,231.2,444.4,10.0,2167,16013,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2348,2141
$GC,16350,1.04,231.2,409.2,10.4,2228,16356,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2348,2141
$GC,16694,1.04,233.5,373.0,9.9,2289,16699,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2348,2141
$GC,17036,1.04,233.5,337.3,10.5,2350,17042,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2348,2141
$GC,17379,1.04,233.5,302.4,10.2,2411,17385,0.00,2.83,0.00,0.000,4,0.000,0.117,3185,914,2141
$GC,17414,1.04,233.5,298.8,10.1,2417,17420,0.00,2.75,0.00,0.000,6,0.000,0.103,3185,2345,2141
$GC,17757,1.04,233.5,263.8,10.8,2478,17763,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2345,2141
$GC,18100,1.04,233.5,228.4,10.2,2539,18106,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2344,2141
$GC,18443,1.04,233.5,194.2,10.2,2600,18449,0.00,2.80,0.00,0.000,4,0.000,0.115,3185,916,2141
$GC,18477,1.04,233.5,190.6,10.3,2606,18484,0.00,2.72,0.00,0.000,6,0.000,0.100,3185,2340,2142
$GC,18822,1.05,239.5,156.6,9.8,2667,18833,0.00,0.00,8.45,0.817,6,0.000,0.000,3185,2341,2108
$GC,19172,1.08,265.6,120.0,9.1,2729,19201,0.00,2.85,22.30,0.838,4,0.000,0.112,3185,914,2001
$GC,19224,1.13,265.6,114.7,10.6,2738,19231,0.00,2.75,0.00,0.000,6,0.000,0.100,3185,2337,2001
$GC,19368,1.16,293.8,100.4,9.0,2763,19397,0.12,0.00,24.20,0.817,6,0.064,0.000,3218,2337,1886
$GC,19532,1.16,293.8,83.0,10.9,2792,19538,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2337,1883
$GC,19674,1.16,293.8,67.9,10.6,2817,19680,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2337,1883
$GC,19816,1.16,293.8,49.6,13.0,2842,19822,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2337,1882
$GC,19957,1.16,293.8,30.4,12.4,2867,19963,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2337,1882
$GC,20099,1.16,293.8,13.9,10.4,2892,20105,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2337,1882
$STATE,20199,end climb,SURFACE_DEPTH_REACHED
$STATE,20199,begin surface coast
$FINISH,0.3,1.027759
$STATE,20213,end surface coast,CONTROL_FINISHED_OK
$STATE,20213,begin surface
$SM_CCo,20294,0.00,0.000,0,0,1878,296.08
$SM_GC,0.93,11.60,0.00,0.00,0.048,0.000,0.000,588,2230,1878,-10.86,-0.14,296.08
$IRIDIUM_FIX,5837.82,-1904.40,070797,222206
$TT8_MAMPS,0.02301
$HUMID,1584
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.40
$XPDR_PINGS,121
$24V_AH,23.5,16.138
$10V_AH,10.7,9.394
$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,27.400,73.825,416.725,0.000,0.000,104.670,215.929,447.825,30.250,0.000,0.000,36.447,4356.408,10471.706,578.907,4810.671,1184.973,0.000,2658.485,0.000,4789.178,0.000,0.468
$DEVICE_MAMPS,197.886,156.468,1415.882,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,2015.185,2187.041,1907.583,1232.555,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,164143,2912
$CAP_FILE_SIZE,217426,0
$CFSIZE,260165632,252817408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,130408,042828,5902.418,-1908.785,33,2.9,52,-13.6