version: 66.03
glider: 140
mission: 5
dive: 87
start: 4 23 108 16 38 16
data:
$ID,140
$MISSION,5
$DIVE,87
$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,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,-14718.766
$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
$GPS1,162838,6001.266,-2148.794,27,1.5,27,-15.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-61.3
$GPS2,163759,6001.376,-2148.941,10,2.6,29,-15.4
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6009.012,-2152.742
$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,330.4,20000,-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,-194.7,0.0,0.0,0,100,0.00,0.00,-71.45,0.000,2,0.000,0.000,593,2220,3655
$GC,104,-1.29,-194.7,3.7,-7.9,13,128,13.10,2.72,-4.45,0.000,4,0.211,0.112,2667,820,3880
$GC,135,-0.69,-194.7,12.6,-27.0,18,142,0.73,2.67,0.00,0.000,6,0.110,0.087,2807,2237,3881
$GC,282,-0.93,-194.7,21.7,-7.6,43,289,0.20,2.70,0.00,0.000,4,0.059,0.097,2754,3648,3881
$GC,403,-1.09,-194.7,30.2,-6.6,64,410,0.15,2.72,0.00,0.000,6,0.060,0.084,2713,2184,3881
$GC,548,-1.20,-194.7,40.9,-7.5,89,554,0.00,2.80,0.00,0.000,4,0.000,0.097,2713,3649,3881
$GC,578,-1.29,-194.7,43.4,-7.8,94,585,0.15,2.60,0.00,0.000,6,0.059,0.083,2674,2257,3882
$GC,722,-1.29,-194.7,56.2,-9.3,119,729,0.00,2.75,0.00,0.000,4,0.000,0.103,2673,825,3882
$GC,769,-1.29,-194.7,61.1,-10.3,127,776,0.00,2.70,0.00,0.000,6,0.000,0.086,2674,2263,3882
$GC,912,-1.29,-194.7,74.9,-9.7,152,917,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2263,3881
$GC,1054,-1.29,-194.7,88.7,-9.5,177,1059,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2263,3882
$GC,1195,-1.29,-194.7,102.0,-9.3,202,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2262,3882
$GC,1338,-1.29,-194.7,115.5,-9.5,227,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2263,3882
$GC,1479,-1.29,-194.7,128.7,-9.3,252,1486,0.00,2.80,0.00,0.000,4,0.000,0.106,2674,826,3882
$GC,1515,-1.29,-194.7,132.3,-10.0,258,1521,0.00,2.70,0.00,0.000,6,0.000,0.088,2674,2253,3882
$GC,1657,-1.29,-194.7,145.9,-9.6,283,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2253,3882
$GC,1799,-1.29,-194.7,159.1,-9.0,308,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2253,3882
$GC,2142,-1.29,-194.7,190.2,-9.1,369,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2253,3882
$GC,2485,-1.29,-194.7,222.1,-9.2,430,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2253,3882
$GC,2828,-1.29,-194.7,253.3,-9.0,491,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2253,3882
$GC,3170,-1.29,-194.7,283.1,-8.5,552,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3882
$GC,3514,-1.29,-194.7,313.7,-8.7,613,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2254,3882
$GC,3857,-1.29,-194.7,344.4,-8.6,674,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3882
$GC,4200,-1.29,-194.7,374.6,-8.5,735,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3882
$GC,4543,-1.29,-194.7,405.7,-9.3,796,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3882
$GC,4887,-1.29,-194.7,437.6,-8.8,857,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3882
$GC,5229,-1.29,-194.7,468.4,-9.2,918,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3882
$GC,5571,-1.29,-194.7,498.9,-8.4,979,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2254,3882
$GC,5914,-1.29,-194.7,528.0,-8.6,1040,5920,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3881
$GC,6258,-1.29,-194.7,557.2,-8.4,1101,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3882
$GC,6601,-1.29,-194.7,586.8,-8.8,1162,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3881
$GC,6939,-1.29,-194.7,616.7,-8.8,1206,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3881
$GC,7259,-1.29,-194.7,643.6,-8.2,1236,7260,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3881
$GC,7577,-1.29,-194.7,669.5,-8.0,1266,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3881
$GC,7896,-1.29,-194.7,696.5,-8.8,1296,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3880
$GC,8214,-1.29,-194.7,723.6,-8.6,1326,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2254,3880
$GC,8533,-1.29,-194.7,750.9,-8.7,1356,8538,0.00,2.83,0.00,0.000,4,0.000,0.127,2673,3651,3880
$GC,8562,-1.29,-194.7,753.6,-10.0,1358,8566,0.00,2.72,0.00,0.000,6,0.000,0.104,2674,2244,3880
$GC,8888,-1.29,-194.7,781.8,-9.0,1388,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2242,3879
$GC,9206,-1.29,-194.7,809.3,-8.3,1418,9211,0.00,2.83,0.00,0.000,4,0.000,0.124,2673,3647,3879
$GC,9251,-1.29,-194.7,813.5,-9.6,1421,9257,0.00,2.70,0.00,0.000,6,0.000,0.105,2674,2255,3879
$GC,9577,-1.29,-194.7,840.6,-8.6,1452,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2255,3878
$GC,9896,-1.29,-194.7,868.1,-8.5,1482,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2255,3878
$GC,10214,-1.29,-194.7,894.8,-8.2,1512,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2255,3877
$GC,10533,-1.29,-194.7,920.1,-7.7,1542,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2255,3877
$GC,10851,-1.29,-194.7,946.0,-8.2,1572,10856,0.00,2.83,0.00,0.000,4,0.000,0.130,2673,3644,3877
$GC,10895,-1.29,-194.7,950.0,-9.1,1575,10901,0.00,2.70,0.00,0.000,6,0.000,0.110,2674,2264,3877
$GC,11221,-1.29,-194.7,976.5,-8.1,1606,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2265,3877
$STATE,11387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11387,begin apogee
$GC,11393,-0.35,0.0,990.2,7.9,1622,11561,1.00,0.00,163.90,1.431,6,0.101,0.000,2877,2333,3086
$STATE,11561,end apogee,CONTROL_FINISHED_OK
$STATE,11562,begin climb
$GC,11564,1.29,194.7,996.4,0.0,1639,11736,1.65,0.00,162.52,1.391,6,0.064,0.000,3239,2333,2291
$GC,12054,1.20,194.7,943.6,12.8,1686,12055,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2333,2289
$GC,12374,1.12,194.7,901.7,13.4,1716,12379,0.15,2.92,0.00,0.000,4,0.115,0.127,3208,3742,2288
$GC,12407,1.04,194.7,897.0,12.1,1718,12414,0.12,2.83,0.00,0.000,6,0.119,0.107,3186,2328,2288
$GC,12731,1.04,194.7,863.0,10.3,1749,12733,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2329,2287
$GC,13052,1.04,196.1,830.7,9.9,1779,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2329,2287
$GC,13370,1.04,197.4,798.5,10.0,1809,13371,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2329,2286
$GC,13689,1.04,197.4,765.2,10.7,1839,13694,0.00,2.88,0.00,0.000,4,0.000,0.121,3186,3741,2286
$GC,13728,0.99,197.4,760.6,12.3,1842,13733,0.00,2.78,0.00,0.000,6,0.000,0.105,3186,2339,2286
$GC,14052,0.99,197.4,725.6,10.8,1872,14053,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2339,2286
$GC,14372,1.00,198.4,692.7,10.0,1902,14381,0.00,0.00,4.12,0.838,6,0.000,0.000,3186,2339,2275
$GC,14701,1.02,215.9,661.5,9.4,1933,14723,0.00,2.95,16.48,1.199,4,0.000,0.123,3186,913,2204
$GC,14752,1.03,229.1,656.3,9.5,1938,14774,0.00,2.85,12.82,1.124,6,0.000,0.100,3186,2364,2150
$GC,15092,1.03,229.1,621.4,10.5,1970,15093,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2364,2149
$GC,15416,1.03,229.1,586.0,10.4,2011,15422,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,2364,2148
$GC,15760,1.03,229.1,549.0,10.6,2072,15766,0.00,2.88,0.00,0.000,4,0.000,0.114,3186,913,2148
$GC,15790,1.03,229.1,545.7,10.9,2077,15796,0.00,2.78,0.00,0.000,6,0.000,0.099,3186,2349,2149
$GC,16133,1.03,229.1,509.9,10.9,2138,16139,0.00,2.78,0.00,0.000,4,0.000,0.114,3186,3742,2148
$GC,16161,1.03,229.1,506.7,10.9,2143,16167,0.00,2.70,0.00,0.000,6,0.000,0.094,3186,2345,2148
$GC,16507,1.03,229.1,468.9,10.7,2204,16513,0.00,2.83,0.00,0.000,4,0.000,0.115,3186,916,2149
$GC,16547,1.03,229.1,464.2,11.3,2211,16553,0.00,2.75,0.00,0.000,6,0.000,0.096,3186,2350,2148
$GC,16891,1.04,236.7,428.5,9.7,2272,16904,0.00,2.83,7.57,0.953,4,0.000,0.111,3186,3736,2120
$GC,16927,1.04,236.7,424.5,10.3,2278,16933,0.00,2.67,0.00,0.000,6,0.000,0.091,3186,2350,2120
$GC,17270,1.04,236.7,389.2,10.2,2339,17276,0.00,2.83,0.00,0.000,4,0.000,0.113,3186,915,2120
$GC,17298,1.04,236.7,386.2,11.8,2344,17305,0.00,2.75,0.00,0.000,6,0.000,0.094,3186,2355,2120
$GC,17643,1.04,236.7,350.3,10.3,2405,17648,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2356,2120
$GC,17985,1.06,251.3,315.4,9.5,2466,18002,0.00,0.00,13.82,0.963,6,0.000,0.000,3186,2355,2059
$GC,18340,1.06,251.3,278.7,10.8,2529,18345,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2356,2058
$GC,18682,1.06,251.3,244.1,11.7,2590,18688,0.00,2.80,0.00,0.000,4,0.000,0.107,3186,918,2059
$GC,18711,1.06,251.3,240.9,11.0,2595,18717,0.00,2.72,0.00,0.000,6,0.000,0.090,3186,2353,2059
$GC,19054,1.06,251.3,204.1,10.7,2656,19060,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2353,2059
$GC,19397,1.07,260.7,167.9,9.7,2717,19409,0.00,0.00,9.27,0.851,6,0.000,0.000,3186,2353,2021
$GC,19748,1.09,275.1,131.3,9.5,2779,19765,0.00,0.00,13.25,0.832,6,0.000,0.000,3186,2353,1962
$GC,19904,1.09,275.1,115.1,10.5,2806,19910,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2353,1961
$GC,20046,1.09,275.1,99.9,10.1,2831,20053,0.00,2.78,0.00,0.000,4,0.000,0.103,3186,917,1961
$GC,20076,1.09,275.1,96.7,10.3,2836,20082,0.00,2.67,0.00,0.000,6,0.000,0.086,3186,2343,1961
$GC,20218,1.09,275.1,82.1,10.0,2861,20224,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,1961
$GC,20361,1.09,275.1,67.5,10.9,2886,20367,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,1961
$GC,20502,1.09,275.1,51.9,10.8,2911,20508,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,1961
$GC,20644,1.09,275.1,36.1,11.9,2936,20650,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2343,1961
$GC,20785,1.09,275.1,19.5,10.0,2961,20792,0.00,2.75,0.00,0.000,4,0.000,0.103,3186,917,1961
$GC,20816,1.13,275.1,15.9,11.6,2966,20822,0.00,2.65,0.00,0.000,6,0.000,0.084,3186,2339,1962
$STATE,20939,end climb,SURFACE_DEPTH_REACHED
$STATE,20939,begin surface coast
$FINISH,0.1,1.027767
$STATE,20959,end surface coast,CONTROL_FINISHED_OK
$STATE,20959,begin surface
$SM_CCo,21040,0.00,0.000,0,0,1958,276.45
$SM_GC,0.84,11.35,0.00,0.00,0.044,0.000,0.000,593,2229,1958,-10.84,-0.17,276.45
$IRIDIUM_FIX,5940.92,-2447.71,180797,101006
$TT8_MAMPS,0.02301
$HUMID,1597
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.10
$XPDR_PINGS,93
$24V_AH,23.4,24.377
$10V_AH,10.7,18.700
$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,28.600,105.525,403.775,0.000,0.000,25.891,33.777,320.306,23.250,0.000,0.000,31.953,4499.065,10731.554,597.464,4927.999,810.119,0.000,2737.854,0.000,4903.239,0.000,0.468
$DEVICE_MAMPS,210.925,151.866,1431.222,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,2071.789,2248.756,1944.435,1253.609,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,170337,2991
$CAP_FILE_SIZE,224326,0
$CFSIZE,260165632,247554048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$GPS,230408,223008,6005.625,-2156.482,37,1.0,37,-15.5