version: 66.03
glider: 140
mission: 5
dive: 84
start: 4 22 108 22 52 27
data:
$ID,140
$MISSION,5
$DIVE,84
$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,390
$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,1
$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,-14655.43
$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,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
$GPS1,224332,5943.331,-2144.353,42,1.1,42,-15.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-64.0
$GPS2,225209,5943.439,-2144.315,12,1.8,12,-15.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,5954.236,-2144.220
$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,16.2,20000,-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,28,-1.29,-194.7,0.0,0.0,0,107,0.00,0.00,-76.03,0.000,2,0.000,0.000,593,2220,3632
$GC,110,-1.29,-194.7,3.3,-6.0,14,135,13.05,2.78,-5.15,0.000,4,0.209,0.112,2671,3644,3880
$GC,306,-1.29,-194.7,27.3,-9.4,48,312,0.00,2.65,0.00,0.000,6,0.000,0.085,2671,2237,3881
$GC,448,-1.29,-194.7,40.7,-9.6,73,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,591,-1.29,-194.7,53.4,-8.4,98,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,732,-1.29,-194.7,67.6,-9.9,123,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,874,-1.29,-194.7,81.4,-7.9,148,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,1016,-1.29,-194.7,93.8,-9.7,173,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,1159,-1.29,-194.7,108.3,-10.1,198,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,1300,-1.29,-194.7,121.9,-10.2,223,1306,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,1442,-1.29,-194.7,135.2,-9.6,248,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,1584,-1.29,-194.7,148.3,-9.5,273,1590,0.00,2.75,0.00,0.000,4,0.000,0.108,2671,824,3881
$GC,1603,-1.29,-194.7,150.2,-9.9,276,1609,0.00,2.67,0.00,0.000,6,0.000,0.091,2671,2237,3881
$GC,1947,-1.29,-194.7,181.7,-9.0,337,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,2289,-1.29,-194.7,212.9,-9.5,398,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,2633,-1.29,-194.7,243.0,-8.5,459,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,2975,-1.29,-194.7,272.8,-9.7,520,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3881
$GC,3319,-1.29,-194.7,305.4,-9.5,581,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3881
$GC,3661,-1.29,-194.7,336.8,-9.6,642,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2237,3881
$GC,4004,-1.29,-194.7,367.6,-8.9,703,4010,0.00,2.78,0.00,0.000,4,0.000,0.114,2671,3647,3882
$GC,4033,-1.29,-194.7,370.3,-9.6,708,4039,0.00,2.67,0.00,0.000,6,0.000,0.093,2671,2235,3881
$GC,4377,-1.29,-194.7,399.0,-8.1,769,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,4721,-1.29,-194.7,427.4,-7.8,830,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3882
$GC,5063,-1.29,-194.7,455.9,-8.7,891,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2235,3881
$GC,5406,-1.29,-194.7,484.1,-8.1,952,5413,0.00,2.78,0.00,0.000,4,0.000,0.114,2670,3644,3881
$GC,5431,-1.29,-194.7,486.2,-8.8,956,5437,0.00,2.67,0.00,0.000,6,0.000,0.094,2671,2233,3881
$GC,5775,-1.29,-194.7,516.2,-8.7,1017,5780,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2234,3880
$GC,6118,-1.29,-194.7,548.0,-9.6,1078,6124,0.00,2.80,0.00,0.000,4,0.000,0.117,2671,3645,3881
$GC,6147,-1.29,-194.7,550.9,-10.4,1083,6153,0.00,2.67,0.00,0.000,6,0.000,0.094,2671,2239,3881
$GC,6490,-1.29,-194.7,582.5,-9.3,1144,6496,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,6825,-1.29,-194.7,614.8,-9.9,1191,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2239,3880
$GC,7145,-1.29,-194.7,645.2,-8.9,1221,7150,0.00,2.83,0.00,0.000,4,0.000,0.122,2671,3647,3880
$GC,7196,-1.29,-194.7,650.2,-9.6,1225,7200,0.00,2.70,0.00,0.000,6,0.000,0.099,2671,2241,3880
$GC,7522,-1.29,-194.7,678.4,-8.5,1255,7523,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,7840,-1.29,-194.7,705.9,-8.7,1285,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2241,3880
$GC,8158,-1.29,-194.7,734.3,-8.6,1315,8162,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,3644,3879
$GC,8186,-1.29,-194.7,736.9,-9.8,1317,8190,0.00,2.70,0.00,0.000,6,0.000,0.104,2672,2247,3879
$GC,8512,-1.29,-194.7,765.2,-8.6,1347,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2247,3878
$GC,8829,-1.29,-194.7,791.7,-8.1,1377,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2248,3878
$GC,9150,-1.29,-194.7,818.0,-8.3,1407,9155,0.00,2.85,0.00,0.000,4,0.000,0.127,2671,3649,3878
$GC,9190,-1.29,-194.7,821.8,-8.9,1410,9194,0.00,2.72,0.00,0.000,6,0.000,0.107,2672,2253,3877
$GC,9516,-1.29,-194.7,850.2,-8.7,1440,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3878
$GC,9833,-1.29,-194.7,878.6,-8.9,1470,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2253,3877
$GC,10153,-1.29,-194.7,907.5,-9.1,1500,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2254,3877
$GC,10472,-1.29,-194.7,936.2,-9.0,1530,10476,0.00,2.85,0.00,0.000,4,0.000,0.133,2671,3643,3876
$GC,10515,-1.29,-194.7,940.6,-9.3,1533,10522,0.00,2.72,0.00,0.000,6,0.000,0.112,2671,2258,3876
$GC,10842,-1.29,-194.7,969.8,-9.0,1564,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2259,3876
$STATE,11061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11061,begin apogee
$GC,11067,-0.35,0.0,990.4,9.5,1585,11235,1.02,0.00,164.85,1.440,6,0.110,0.000,2876,2330,3085
$STATE,11236,end apogee,CONTROL_FINISHED_OK
$STATE,11236,begin climb
$GC,11239,1.29,194.7,998.7,0.0,1602,11407,1.65,0.00,163.15,1.404,6,0.064,0.000,3243,2331,2291
$GC,11724,1.19,194.7,951.5,12.5,1649,11726,0.12,0.00,0.00,0.000,6,0.120,0.000,3222,2330,2288
$GC,12044,1.13,194.7,915.3,11.0,1679,12049,0.00,2.92,0.00,0.000,4,0.000,0.130,3223,3740,2288
$GC,12095,1.03,194.7,909.1,12.1,1683,12100,0.20,2.85,0.00,0.000,6,0.110,0.110,3186,2321,2288
$GC,12419,1.04,203.6,877.2,9.7,1713,12430,0.00,0.00,8.93,1.224,6,0.000,0.000,3186,2322,2254
$GC,12750,1.04,203.6,844.2,10.1,1744,12751,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2322,2253
$GC,13068,1.04,203.6,810.7,10.5,1774,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2322,2253
$GC,13385,1.04,203.6,777.3,10.2,1804,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2322,2252
$GC,13705,1.05,210.6,745.4,9.8,1834,13714,0.00,0.00,7.25,1.128,6,0.000,0.000,3185,2322,2226
$GC,14034,1.05,210.6,711.7,10.7,1865,14039,0.00,2.88,0.00,0.000,4,0.000,0.127,3185,912,2225
$GC,14073,1.05,210.6,707.0,11.2,1868,14077,0.00,2.80,0.00,0.000,6,0.000,0.107,3185,2335,2225
$GC,14398,1.05,210.6,671.4,11.1,1898,14403,0.00,2.88,0.00,0.000,4,0.000,0.127,3185,3740,2225
$GC,14448,1.05,210.6,665.4,11.4,1902,14453,0.00,2.75,0.00,0.000,6,0.000,0.100,3185,2331,2225
$GC,14773,1.05,210.6,631.4,10.1,1932,14774,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2332,2225
$GC,15093,1.05,216.4,599.3,9.8,1962,15104,0.00,0.00,6.57,1.025,6,0.000,0.000,3185,2332,2202
$GC,15442,1.07,231.7,564.5,9.5,2024,15459,0.00,0.00,14.60,1.121,6,0.000,0.000,3185,2332,2140
$GC,15797,1.07,231.7,529.4,10.3,2087,15802,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2332,2138
$GC,16139,1.07,231.7,495.3,10.0,2148,16145,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2332,2139
$GC,16482,1.07,231.7,459.9,10.9,2209,16488,0.00,2.78,0.00,0.000,4,0.000,0.112,3185,919,2139
$GC,16528,1.07,231.7,454.6,10.5,2217,16535,0.00,2.72,0.00,0.000,6,0.000,0.098,3185,2330,2138
$GC,16872,1.09,247.1,417.2,9.5,2278,16894,0.00,2.90,14.23,1.035,4,0.000,0.112,3185,3739,2076
$GC,16923,1.09,247.1,411.7,10.4,2287,16929,0.00,2.72,0.00,0.000,6,0.000,0.091,3185,2322,2075
$GC,17266,1.09,247.1,376.8,10.2,2348,17273,0.00,2.75,0.00,0.000,4,0.000,0.110,3185,915,2075
$GC,17307,1.09,247.1,372.7,10.0,2355,17313,0.00,2.72,0.00,0.000,6,0.000,0.096,3185,2331,2076
$GC,17650,1.16,299.9,340.7,8.2,2416,17705,0.12,2.90,45.35,0.987,4,0.066,0.111,3217,3737,1860
$GC,17734,1.16,299.9,331.3,11.7,2431,17740,0.00,2.72,0.00,0.000,6,0.000,0.090,3217,2326,1858
$GC,18076,1.16,299.9,288.9,12.0,2492,18082,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2327,1856
$GC,18420,1.16,299.9,246.2,13.7,2553,18425,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2327,1856
$GC,18762,1.16,299.9,204.2,11.1,2614,18767,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2327,1855
$GC,19105,1.16,299.9,161.2,12.3,2675,19111,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2327,1855
$GC,19448,1.16,299.9,118.5,13.2,2736,19454,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2327,1855
$GC,19591,1.16,299.9,100.4,11.4,2761,19597,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2327,1855
$GC,19732,1.16,299.9,83.3,12.2,2786,19739,0.00,2.78,0.00,0.000,4,0.000,0.105,3217,3740,1855
$GC,19762,1.16,299.9,79.5,11.7,2791,19769,0.00,2.67,0.00,0.000,6,0.000,0.085,3217,2324,1854
$GC,19904,1.16,299.9,62.1,10.9,2816,19911,0.00,2.70,0.00,0.000,4,0.000,0.102,3217,916,1855
$GC,19930,1.16,299.9,59.0,13.3,2820,19936,0.00,2.67,0.00,0.000,6,0.000,0.087,3217,2338,1855
$GC,20072,1.16,299.9,41.4,11.6,2845,20079,0.00,2.72,0.00,0.000,4,0.000,0.105,3217,3737,1855
$GC,20102,1.16,299.9,37.3,13.1,2850,20109,0.00,2.65,0.00,0.000,6,0.000,0.084,3217,2322,1855
$GC,20245,1.16,299.9,18.9,11.6,2875,20250,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2322,1855
$STATE,20378,end climb,SURFACE_DEPTH_REACHED
$STATE,20378,begin surface coast
$FINISH,0.0,1.027791
$STATE,20396,end surface coast,CONTROL_FINISHED_OK
$STATE,20398,begin surface
$SM_CCo,20479,0.00,0.000,0,0,1852,302.45
$SM_GC,0.87,11.52,0.00,0.00,0.046,0.000,0.000,594,2224,1852,-10.84,-0.31,302.45
$IRIDIUM_FIX,5911.23,-2150.45,170797,171714
$TT8_MAMPS,0.02301
$HUMID,1588
$INTERNAL_PRESSURE,8.40853
$TCM_TEMP,18.10
$XPDR_PINGS,90
$24V_AH,23.4,23.840
$10V_AH,10.7,18.059
$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,27.700,105.325,424.925,0.000,0.000,26.386,32.341,302.250,22.500,0.000,0.000,12.332,4339.392,10481.222,617.118,4736.392,790.664,0.000,2686.328,0.000,4751.030,0.000,0.467
$DEVICE_MAMPS,208.624,151.866,1440.426,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,2009.492,2192.217,1832.296,1189.477,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,163842,2902
$CAP_FILE_SIZE,212431,0
$CFSIZE,260165632,247930880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,230408,043501,5949.659,-2140.552,40,1.3,40,-15.2