version: 66.03
glider: 140
mission: 5
dive: 60
start: 4 17 108 5 33 26
data:
$ID,140
$MISSION,5
$DIVE,60
$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,215
$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,-14281.219
$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,9
$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
$GPS1,052407,5929.715,-2127.032,73,1.1,78,-15.0
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-45.6
$GPS2,053308,5929.869,-2127.220,13,1.0,30,-15.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5921.022,-2130.378
$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,230.0,20000,-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,-194.7,0.0,0.0,0,133,0.00,0.00,-103.00,0.000,2,0.000,0.000,591,2227,3729
$GC,136,-1.29,-194.7,3.3,-5.4,19,160,12.60,2.80,-3.03,0.000,4,0.195,0.119,2670,826,3881
$GC,292,-1.29,-194.7,34.5,-18.8,46,298,0.00,2.70,0.00,0.000,6,0.000,0.095,2670,2248,3882
$GC,434,-1.29,-194.7,53.3,-9.2,71,441,0.00,2.70,0.00,0.000,4,0.000,0.106,2670,3644,3883
$GC,481,-1.29,-194.7,59.0,-13.6,79,487,0.00,2.67,0.00,0.000,6,0.000,0.090,2670,2225,3882
$GC,624,-1.29,-194.7,77.7,-8.7,104,630,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2226,3882
$GC,766,-1.29,-194.7,91.2,-9.9,129,772,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,908,-1.29,-194.7,101.7,-7.2,154,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3883
$GC,1050,-1.29,-194.7,115.4,-9.4,179,1056,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3882
$GC,1192,-1.29,-194.7,128.3,-9.1,204,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,1333,-1.29,-194.7,141.4,-9.5,229,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3882
$GC,1475,-1.29,-194.7,153.9,-8.6,254,1481,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3882
$GC,1818,-1.29,-194.7,190.6,-10.4,315,1824,0.00,2.80,0.00,0.000,4,0.000,0.111,2670,3650,3882
$GC,1892,-1.29,-194.7,198.2,-10.1,328,1898,0.00,2.65,0.00,0.000,6,0.000,0.093,2670,2245,3882
$GC,2236,-1.29,-194.7,228.5,-9.0,389,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3882
$GC,2578,-1.29,-194.7,261.2,-9.8,450,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3882
$GC,2922,-1.29,-194.7,295.3,-9.8,511,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,3264,-1.29,-194.7,328.7,-9.6,572,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,3608,-1.29,-194.7,362.0,-9.6,633,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,3950,-1.29,-194.7,395.5,-9.8,694,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,4292,-1.29,-194.7,427.9,-9.6,755,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,4635,-1.29,-194.7,460.4,-9.0,816,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,4978,-1.29,-194.7,491.8,-9.4,877,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3881
$GC,5320,-1.29,-194.7,523.4,-8.8,938,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,5663,-1.29,-194.7,553.7,-8.7,999,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3882
$GC,6005,-1.29,-194.7,583.7,-8.5,1060,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3881
$GC,6346,-1.29,-194.7,613.5,-8.8,1108,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,6666,-1.29,-194.7,640.9,-8.4,1138,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3881
$GC,6984,-1.29,-194.7,667.4,-8.5,1168,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3881
$GC,7303,-1.29,-194.7,693.8,-8.3,1198,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3881
$GC,7621,-1.29,-194.7,719.1,-7.7,1228,7622,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,7940,-1.29,-194.7,744.6,-8.1,1258,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3881
$GC,8258,-1.29,-194.7,772.0,-8.9,1288,8263,0.00,2.90,0.00,0.000,4,0.000,0.135,2670,825,3881
$GC,8291,-1.29,-194.7,775.3,-10.0,1290,8297,0.00,2.80,0.00,0.000,6,0.000,0.115,2670,2242,3881
$GC,8617,-1.29,-194.7,804.5,-8.8,1321,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3880
$GC,8935,-1.29,-194.7,831.4,-8.5,1351,8940,0.00,2.85,0.00,0.000,4,0.000,0.137,2670,3646,3880
$GC,8979,-1.29,-194.7,835.4,-8.6,1354,8985,0.00,2.72,0.00,0.000,6,0.000,0.108,2670,2241,3880
$GC,9305,-1.29,-194.7,862.7,-8.6,1385,9310,0.00,2.95,0.00,0.000,4,0.000,0.140,2670,816,3880
$GC,9360,-1.29,-194.7,867.8,-9.0,1389,9366,0.00,2.83,0.00,0.000,6,0.000,0.119,2670,2238,3880
$GC,9687,-1.29,-194.7,895.0,-8.5,1420,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3880
$GC,10005,-1.29,-194.7,922.4,-8.3,1450,10010,0.00,2.90,0.00,0.000,4,0.000,0.138,2670,3653,3879
$GC,10033,-1.29,-194.7,924.9,-9.2,1452,10037,0.00,2.78,0.00,0.000,6,0.000,0.113,2670,2237,3879
$GC,10357,-1.29,-194.7,951.8,-8.3,1482,10358,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3879
$GC,10678,-1.29,-194.7,978.8,-8.6,1512,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3878
$STATE,10811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10811,begin apogee
$GC,10817,-0.35,0.0,990.5,8.6,1525,10986,1.00,0.00,165.27,1.432,6,0.103,0.000,2874,2336,3085
$STATE,10987,end apogee,CONTROL_FINISHED_OK
$STATE,10987,begin climb
$GC,10990,1.29,194.7,996.7,0.0,1542,11161,1.65,3.05,162.77,1.394,4,0.064,0.140,3243,914,2291
$GC,11175,1.20,194.7,982.1,13.3,1560,11180,0.12,2.90,0.00,0.000,6,0.115,0.120,3222,2334,2290
$GC,11499,1.13,194.7,940.3,12.7,1590,11504,0.00,2.92,0.00,0.000,4,0.000,0.135,3222,3739,2289
$GC,11520,1.04,194.7,937.4,12.9,1591,11527,0.17,2.80,0.00,0.000,6,0.108,0.114,3190,2335,2289
$GC,11845,1.04,194.7,902.8,10.4,1622,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2335,2288
$GC,12165,1.04,194.7,869.2,10.4,1652,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2335,2288
$GC,12482,1.04,194.7,836.8,10.6,1682,12487,0.00,2.90,0.00,0.000,4,0.000,0.134,3189,919,2287
$GC,12543,1.04,194.7,830.1,11.5,1687,12548,0.00,2.83,0.00,0.000,6,0.000,0.117,3189,2337,2287
$GC,12867,1.04,194.7,796.5,10.4,1717,12872,0.00,2.90,0.00,0.000,4,0.000,0.133,3189,3744,2287
$GC,12911,0.99,194.7,791.5,11.1,1720,12917,0.00,2.75,0.00,0.000,6,0.000,0.108,3189,2342,2287
$GC,13237,0.99,194.7,756.8,10.7,1751,13242,0.00,2.90,0.00,0.000,4,0.000,0.133,3190,917,2287
$GC,13276,0.99,194.7,752.4,10.8,1754,13280,0.00,2.80,0.00,0.000,6,0.000,0.112,3190,2337,2287
$GC,13600,1.00,197.4,718.9,9.9,1784,13605,0.00,2.88,0.00,0.000,4,0.000,0.130,3189,3744,2287
$GC,13633,0.95,197.4,715.2,10.7,1786,13640,0.12,2.72,0.00,0.000,6,0.112,0.105,3167,2342,2287
$GC,13958,0.99,234.2,686.3,8.7,1817,13999,0.00,2.95,33.75,1.221,4,0.000,0.125,3167,915,2129
$GC,14034,1.04,234.2,679.1,10.4,1824,14038,0.00,2.80,0.00,0.000,6,0.000,0.107,3167,2333,2129
$GC,14358,1.04,234.2,646.8,10.0,1854,14359,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2333,2127
$GC,14678,1.04,241.0,615.3,9.8,1884,14690,0.00,2.92,6.97,1.022,4,0.000,0.120,3167,919,2102
$GC,14706,1.04,241.0,612.2,10.0,1886,14713,0.00,2.80,0.00,0.000,6,0.000,0.106,3167,2342,2102
$GC,15042,1.07,265.4,579.8,9.2,1935,15070,0.12,3.00,21.95,1.121,4,0.065,0.121,3200,913,2003
$GC,15087,1.07,265.4,574.7,12.2,1943,15093,0.00,2.80,0.00,0.000,6,0.000,0.104,3200,2335,2002
$GC,15430,1.07,265.4,533.7,11.8,2004,15436,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2335,1999
$GC,15774,1.07,265.4,491.8,12.3,2065,15779,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2335,1999
$GC,16116,1.07,265.4,448.8,11.9,2126,16121,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2335,1999
$GC,16458,1.07,265.4,406.7,11.5,2187,16463,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2335,1999
$GC,16802,1.07,265.4,367.6,11.6,2248,16808,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2336,1999
$GC,17145,1.07,265.4,328.0,10.6,2309,17151,0.00,2.80,0.00,0.000,4,0.000,0.114,3200,914,2000
$GC,17164,1.07,265.4,326.1,10.2,2312,17171,0.00,2.72,0.00,0.000,6,0.000,0.100,3200,2334,2000
$GC,17508,1.07,265.4,290.0,13.0,2373,17513,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2334,2000
$GC,17850,1.07,265.4,251.3,11.6,2434,17856,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2334,2000
$GC,18193,1.08,267.4,213.7,9.9,2495,18198,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2334,2000
$GC,18535,1.10,289.0,177.5,9.2,2556,18564,0.00,2.83,20.67,0.881,4,0.000,0.110,3200,3742,1904
$GC,18576,1.13,308.0,173.9,9.3,2563,18599,0.00,2.75,17.15,0.833,6,0.000,0.091,3200,2313,1829
$GC,18937,1.13,308.0,131.5,11.2,2627,18943,0.00,2.72,0.00,0.000,4,0.000,0.110,3200,913,1825
$GC,18962,1.13,308.0,128.5,12.4,2631,18969,0.00,2.67,0.00,0.000,6,0.000,0.094,3200,2318,1825
$GC,19105,1.13,308.0,108.9,13.2,2656,19111,0.00,2.78,0.00,0.000,4,0.000,0.109,3200,3738,1824
$GC,19129,1.13,308.0,104.9,17.4,2660,19135,0.00,2.70,0.00,0.000,6,0.000,0.091,3200,2319,1824
$GC,19272,1.13,308.0,83.9,13.8,2685,19278,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2319,1825
$GC,19414,1.13,308.0,65.0,12.5,2710,19420,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2319,1825
$GC,19556,1.13,308.0,49.7,12.5,2735,19561,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2319,1825
$GC,19697,1.13,308.0,33.0,12.7,2760,19703,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2319,1825
$GC,19839,1.13,308.0,16.0,10.7,2785,19844,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2319,1825
$STATE,19952,end climb,SURFACE_DEPTH_REACHED
$STATE,19952,begin surface coast
$FINISH,0.2,1.016377
$STATE,19968,end surface coast,CONTROL_FINISHED_OK
$STATE,19968,begin surface
$SM_CCo,20049,0.00,0.000,0,0,1820,310.30
$SM_GC,0.94,11.50,0.00,0.00,0.048,0.000,0.000,593,2233,1820,-10.85,-0.06,310.30
$IRIDIUM_FIX,5907.03,-2118.98,110797,232305
$TT8_MAMPS,0.02301
$HUMID,1588
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,17.30
$XPDR_PINGS,136
$24V_AH,23.5,19.424
$10V_AH,10.7,13.095
$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,27.300,113.050,428.550,0.000,0.000,30.642,34.135,305.390,34.000,0.000,0.000,30.306,4216.815,10298.884,636.753,4656.031,750.708,0.000,2680.002,0.000,4619.245,0.000,0.469
$DEVICE_MAMPS,194.818,148.031,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1941.959,2094.488,1744.361,1134.448,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,161061,2808
$CAP_FILE_SIZE,213132,0
$CFSIZE,260165632,250757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,170408,110838,5930.646,-2132.797,28,1.6,28,-15.0