version: 66.03
glider: 140
mission: 5
dive: 51
start: 4 15 108 2 36 51
data:
$ID,140
$MISSION,5
$DIVE,51
$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,315
$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,-14106.71
$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,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
$GPS1,022826,5846.108,-2029.902,38,1.1,38,-14.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-58.5
$GPS2,023633,5846.124,-2030.012,12,1.0,12,-14.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5853.760,-2033.957
$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,329.1,20000,-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,28,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-64.15,0.000,2,0.000,0.000,591,2223,3430
$GC,98,-1.29,-194.7,3.0,-6.2,12,128,12.95,2.75,-10.93,0.000,4,0.205,0.120,2670,827,3880
$GC,381,-1.29,-194.7,31.6,-11.8,62,387,0.00,2.70,0.00,0.000,6,0.000,0.098,2669,2236,3881
$GC,523,-1.29,-194.7,46.2,-9.7,87,530,0.00,2.78,0.00,0.000,4,0.000,0.113,2670,823,3881
$GC,565,-1.29,-194.7,50.3,-9.7,94,571,0.00,2.70,0.00,0.000,6,0.000,0.097,2670,2236,3881
$GC,708,-1.29,-194.7,63.2,-9.2,119,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,850,-1.29,-194.7,76.8,-9.7,144,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,992,-1.29,-194.7,90.7,-9.5,169,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,1134,-1.29,-194.7,104.6,-9.7,194,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,1276,-1.29,-194.7,118.3,-9.7,219,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,1417,-1.29,-194.7,131.7,-9.6,244,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,1559,-1.29,-194.7,144.7,-8.9,269,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,1700,-1.29,-194.7,157.3,-8.7,294,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,2044,-1.29,-194.7,188.2,-9.3,355,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,2386,-1.29,-194.7,219.4,-9.1,416,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,2730,-1.29,-194.7,250.6,-8.8,477,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,3073,-1.29,-194.7,281.8,-9.4,538,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,3416,-1.29,-194.7,313.9,-9.3,599,3421,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,3758,-1.29,-194.7,345.8,-9.3,660,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,4101,-1.29,-194.7,377.8,-9.1,721,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,4444,-1.29,-194.7,408.7,-8.8,782,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,4787,-1.29,-194.7,440.7,-9.6,843,4792,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,5129,-1.29,-194.7,473.5,-9.7,904,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,5472,-1.29,-194.7,505.7,-9.2,965,5477,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,5814,-1.29,-194.7,537.4,-9.2,1026,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,6157,-1.29,-194.7,569.1,-9.1,1087,6163,0.00,2.80,0.00,0.000,4,0.000,0.121,2670,3650,3881
$GC,6186,-1.29,-194.7,571.8,-10.1,1092,6192,0.00,2.70,0.00,0.000,6,0.000,0.100,2670,2235,3881
$GC,6533,-1.29,-194.7,603.0,-9.0,1151,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,6853,-1.29,-194.7,632.0,-9.0,1181,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,7172,-1.29,-194.7,660.7,-8.9,1211,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,7490,-1.29,-194.7,689.1,-8.9,1241,7495,0.00,2.83,0.00,0.000,4,0.000,0.126,2670,3645,3881
$GC,7518,-1.29,-194.7,691.8,-9.9,1243,7523,0.00,2.72,0.00,0.000,6,0.000,0.104,2670,2231,3881
$GC,7844,-1.29,-194.7,720.4,-9.1,1273,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3881
$GC,8163,-1.29,-194.7,747.9,-8.7,1303,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3881
$GC,8481,-1.29,-194.7,776.3,-9.1,1333,8486,0.00,2.85,0.00,0.000,4,0.000,0.128,2670,3648,3881
$GC,8509,-1.29,-194.7,779.0,-9.8,1335,8514,0.00,2.75,0.00,0.000,6,0.000,0.108,2669,2229,3881
$GC,8835,-1.29,-194.7,807.7,-8.9,1365,8836,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,9154,-1.29,-194.7,834.8,-8.3,1395,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,9472,-1.29,-194.7,862.4,-8.7,1425,9477,0.00,2.88,0.00,0.000,4,0.000,0.130,2670,3649,3881
$GC,9516,-1.29,-194.7,866.5,-9.0,1428,9522,0.00,2.75,0.00,0.000,6,0.000,0.110,2670,2237,3881
$GC,9842,-1.29,-194.7,893.5,-8.2,1459,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3881
$GC,10160,-1.29,-194.7,920.1,-8.5,1489,10165,0.00,2.85,0.00,0.000,4,0.000,0.131,2670,3646,3881
$GC,10200,-1.29,-194.7,923.7,-9.2,1492,10204,0.00,2.75,0.00,0.000,6,0.000,0.114,2670,2244,3881
$GC,10524,-1.29,-194.7,951.5,-8.6,1522,10529,0.00,2.83,0.00,0.000,4,0.000,0.130,2670,3645,3881
$GC,10556,-1.29,-194.7,954.5,-9.6,1524,10563,0.00,2.75,0.00,0.000,6,0.000,0.114,2670,2245,3880
$STATE,10804,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10804,begin apogee
$GC,10810,-0.35,0.0,976.1,8.9,1548,10979,1.00,0.00,164.80,1.405,6,0.107,0.000,2874,2332,3085
$STATE,10980,end apogee,CONTROL_FINISHED_OK
$STATE,10980,begin climb
$GC,10982,1.29,194.7,982.9,0.0,1565,11154,1.67,0.00,162.55,1.364,6,0.063,0.000,3240,2332,2290
$GC,11473,1.20,194.7,931.7,12.2,1612,11477,0.00,2.92,0.00,0.000,4,0.000,0.133,3240,3740,2289
$GC,11523,1.08,194.7,925.1,13.2,1616,11528,0.22,2.83,0.00,0.000,6,0.107,0.115,3198,2339,2288
$GC,11847,1.08,194.7,890.5,10.7,1646,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2288
$GC,12167,1.08,194.7,855.4,11.4,1676,12172,0.00,2.88,0.00,0.000,4,0.000,0.129,3198,3744,2287
$GC,12206,1.01,194.7,850.6,11.7,1679,12211,0.00,2.80,0.00,0.000,6,0.000,0.110,3198,2337,2287
$GC,12531,1.01,194.7,812.6,11.8,1709,12532,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2338,2287
$GC,12849,1.01,194.7,775.1,11.6,1739,12850,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2287
$GC,13169,1.01,194.7,737.4,11.7,1769,13171,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2287
$GC,13486,1.01,194.7,700.4,11.7,1799,13488,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2338,2286
$GC,13805,1.01,194.7,662.5,11.9,1829,13806,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2286
$GC,14124,1.01,194.7,625.3,11.7,1859,14125,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2286
$GC,14447,1.01,194.7,588.5,11.2,1898,14452,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2339,2286
$GC,14789,1.01,194.7,550.7,11.4,1959,14794,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2338,2286
$GC,15131,1.01,194.7,512.8,10.9,2020,15138,0.00,2.80,0.00,0.000,4,0.000,0.119,3198,3741,2286
$GC,15166,0.96,194.7,508.7,12.0,2026,15173,0.15,2.70,0.00,0.000,6,0.108,0.099,3170,2342,2286
$GC,15510,0.97,203.6,474.4,9.7,2087,15527,0.00,2.90,8.32,0.979,4,0.000,0.119,3169,919,2254
$GC,15550,0.98,210.4,470.3,9.8,2094,15567,0.00,2.78,7.50,0.946,6,0.000,0.100,3169,2353,2226
$GC,15906,0.98,210.4,434.3,10.0,2157,15911,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2353,2226
$GC,16249,0.98,214.6,399.1,9.9,2218,16259,0.00,0.00,5.32,0.818,6,0.000,0.000,3169,2353,2209
$GC,16597,1.00,226.6,363.3,9.6,2280,16614,0.00,2.90,11.60,0.955,4,0.000,0.115,3170,913,2160
$GC,16637,1.00,226.6,359.0,10.8,2287,16643,0.00,2.80,0.00,0.000,6,0.000,0.100,3170,2358,2160
$GC,16981,1.00,226.6,324.0,10.0,2348,16987,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2358,2159
$GC,17325,1.02,244.4,289.9,9.4,2409,17348,0.00,2.92,15.80,0.930,4,0.000,0.115,3169,913,2087
$GC,17372,1.07,244.4,285.2,10.4,2417,17378,0.10,2.78,0.00,0.000,6,0.069,0.098,3197,2348,2087
$GC,17716,1.07,244.4,246.7,10.8,2478,17722,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2348,2086
$GC,18059,1.07,244.4,207.7,11.0,2539,18065,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2349,2086
$GC,18401,1.07,244.4,168.3,12.9,2600,18407,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2348,2086
$GC,18745,1.10,272.4,131.8,9.0,2661,18773,0.00,0.00,23.80,0.847,6,0.000,0.000,3197,2348,1973
$GC,18912,1.10,272.4,112.2,10.8,2690,18918,0.00,2.83,0.00,0.000,4,0.000,0.113,3197,915,1970
$GC,18954,1.10,272.4,107.6,11.3,2697,18961,0.00,2.72,0.00,0.000,6,0.000,0.097,3197,2338,1971
$GC,19097,1.10,272.4,92.2,14.3,2722,19104,0.00,2.75,0.00,0.000,4,0.000,0.110,3197,3741,1970
$GC,19127,1.10,272.4,88.1,14.2,2727,19133,0.00,2.67,0.00,0.000,6,0.000,0.094,3197,2338,1969
$GC,19269,1.10,272.4,69.9,11.7,2752,19276,0.00,2.78,0.00,0.000,4,0.000,0.113,3197,916,1970
$GC,19304,1.10,272.4,65.7,12.0,2758,19311,0.00,2.70,0.00,0.000,6,0.000,0.096,3197,2336,1970
$GC,19447,1.13,298.4,49.8,9.1,2783,19476,0.00,2.80,22.40,0.792,4,0.000,0.108,3197,3739,1866
$GC,19505,1.13,298.4,43.8,12.1,2793,19512,0.00,2.72,0.00,0.000,6,0.000,0.094,3197,2326,1865
$GC,19648,1.13,298.4,27.0,10.0,2818,19654,0.00,2.75,0.00,0.000,4,0.000,0.110,3197,916,1864
$GC,19683,1.13,298.4,22.4,13.1,2824,19689,0.00,2.67,0.00,0.000,6,0.000,0.094,3197,2330,1864
$GC,19824,1.13,298.4,4.3,14.2,2849,19830,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2331,1864
$STATE,19847,end climb,SURFACE_DEPTH_REACHED
$STATE,19847,begin surface coast
$FINISH,0.3,1.015228
$STATE,19864,end surface coast,CONTROL_FINISHED_OK
$STATE,19864,begin surface
$SM_CCo,19945,0.00,0.000,0,0,1858,300.74
$SM_GC,1.00,11.60,0.00,0.00,0.052,0.000,0.000,595,2224,1858,-10.84,-0.31,300.74
$IRIDIUM_FIX,5825.43,-2020.25,090797,202000
$TT8_MAMPS,0.02301
$HUMID,1584
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.20
$XPDR_PINGS,130
$24V_AH,23.5,17.759
$10V_AH,10.7,11.238
$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,27.700,106.200,422.100,0.000,0.000,26.227,35.692,276.574,32.500,0.000,0.000,12.399,4281.353,10093.783,607.400,4697.542,722.729,0.000,2654.378,0.000,4695.319,0.000,0.468
$DEVICE_MAMPS,204.789,143.429,1405.144,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1974.948,2129.330,1873.221,1205.792,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,160816,2856
$CAP_FILE_SIZE,212455,0
$CFSIZE,260165632,251793408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150408,081032,5847.741,-2036.966,42,0.9,42,-14.2