version: 66.03
glider: 140
mission: 5
dive: 88
start: 4 23 108 22 39 32
data:
$ID,140
$MISSION,5
$DIVE,88
$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,-14736.278
$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,11
$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
$GPS1,223008,6005.625,-2156.482,37,1.0,37,-15.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-59.2
$GPS2,223914,6005.694,-2156.615,11,1.0,16,-15.5
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6013.331,-2200.407
$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,330.5,20000,-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,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,-70.57,0.000,2,0.000,0.000,593,2229,3609
$GC,103,-1.29,-194.7,3.4,-7.3,13,128,13.15,2.75,-5.57,0.000,4,0.212,0.114,2668,826,3879
$GC,383,-1.29,-194.7,37.6,-9.6,62,389,0.00,2.67,0.00,0.000,6,0.000,0.089,2668,2241,3880
$GC,525,-1.29,-194.7,51.1,-9.5,87,531,0.00,2.75,0.00,0.000,4,0.000,0.102,2668,826,3881
$GC,576,-1.29,-194.7,56.3,-10.1,96,583,0.00,2.67,0.00,0.000,6,0.000,0.088,2668,2244,3880
$GC,920,-1.29,-194.7,89.0,-9.6,157,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,1263,-1.29,-194.7,122.8,-9.9,218,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,1606,-1.29,-194.7,155.1,-9.2,279,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,1949,-1.29,-194.7,187.6,-9.3,340,1955,0.00,2.78,0.00,0.000,4,0.000,0.108,2668,826,3881
$GC,1979,-1.29,-194.7,190.5,-9.7,345,1985,0.00,2.70,0.00,0.000,6,0.000,0.091,2668,2244,3881
$GC,2322,-1.29,-194.7,222.0,-9.0,406,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,2665,-1.29,-194.7,252.9,-9.4,467,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,3007,-1.29,-194.7,285.7,-9.8,528,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,3351,-1.29,-194.7,318.5,-9.1,589,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,3693,-1.29,-194.7,349.0,-8.9,650,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3880
$GC,4020,-1.29,-194.7,378.6,-9.2,682,4021,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,4337,-1.29,-194.7,407.1,-8.6,712,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,4655,-1.29,-194.7,433.5,-8.2,742,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3881
$GC,4974,-1.29,-194.7,459.9,-8.0,772,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3881
$GC,5293,-1.29,-194.7,486.4,-8.4,802,5294,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2244,3881
$GC,5611,-1.29,-194.7,515.0,-9.3,832,5612,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2245,3881
$GC,5931,-1.29,-194.7,543.8,-8.8,862,5936,0.00,2.78,0.00,0.000,4,0.000,0.116,2668,3652,3881
$GC,5959,-1.29,-194.7,546.5,-9.6,864,5964,0.00,2.70,0.00,0.000,6,0.000,0.096,2668,2236,3881
$GC,6286,-1.29,-194.7,573.5,-8.2,894,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,6603,-1.29,-194.7,600.2,-8.4,924,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3881
$GC,6912,-1.29,-194.7,626.5,-8.5,939,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2236,3880
$GC,7221,-1.29,-194.7,653.4,-8.5,954,7226,0.00,2.83,0.00,0.000,4,0.000,0.121,2668,3648,3880
$GC,7248,-1.29,-194.7,655.9,-8.9,955,7252,0.00,2.72,0.00,0.000,6,0.000,0.100,2668,2231,3880
$GC,7564,-1.29,-194.7,681.9,-8.2,970,7568,0.00,2.83,0.00,0.000,4,0.000,0.120,2668,3647,3879
$GC,7596,-1.29,-194.7,684.8,-9.4,971,7602,0.00,2.70,0.00,0.000,6,0.000,0.102,2668,2245,3879
$GC,7912,-1.29,-194.7,709.9,-7.9,987,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2246,3879
$GC,8221,-1.29,-194.7,735.2,-8.3,1002,8226,0.00,2.80,0.00,0.000,4,0.000,0.122,2668,3643,3879
$GC,8248,-1.29,-194.7,737.6,-8.8,1003,8253,0.00,2.70,0.00,0.000,6,0.000,0.102,2668,2247,3879
$GC,8564,-1.29,-194.7,764.3,-8.8,1018,8565,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2247,3878
$GC,8873,-1.29,-194.7,792.0,-8.9,1033,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2248,3878
$GC,9182,-1.29,-194.7,819.5,-8.7,1048,9187,0.00,2.83,0.00,0.000,4,0.000,0.126,2668,3646,3878
$GC,9209,-1.29,-194.7,822.1,-9.8,1049,9214,0.00,2.72,0.00,0.000,6,0.000,0.107,2668,2248,3878
$GC,9525,-1.29,-194.7,848.8,-8.5,1064,9529,0.00,2.83,0.00,0.000,4,0.000,0.125,2668,3649,3877
$GC,9546,-1.29,-194.7,850.7,-8.9,1065,9551,0.00,2.70,0.00,0.000,6,0.000,0.107,2668,2264,3878
$GC,9867,-1.29,-194.7,877.9,-8.6,1081,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2263,3877
$GC,10176,-1.29,-194.7,905.2,-8.9,1096,10177,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2264,3877
$GC,10485,-1.29,-194.7,931.1,-8.1,1111,10486,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2264,3877
$GC,10794,-1.29,-194.7,956.2,-7.9,1126,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2264,3876
$GC,11104,-1.29,-194.7,980.6,-7.8,1141,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2264,3875
$STATE,11225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11225,begin apogee
$GC,11231,-0.35,0.0,990.1,7.7,1147,11400,1.05,0.00,165.15,1.430,6,0.106,0.000,2878,2326,3085
$STATE,11400,end apogee,CONTROL_FINISHED_OK
$STATE,11400,begin climb
$GC,11403,1.29,194.7,995.0,0.0,1155,11570,1.62,0.00,163.45,1.393,6,0.063,0.000,3242,2326,2291
$GC,11880,1.20,194.7,941.5,13.4,1179,11885,0.00,2.95,0.00,0.000,4,0.000,0.130,3242,3741,2289
$GC,11913,1.07,194.7,936.6,14.4,1180,11919,0.25,2.85,0.00,0.000,6,0.109,0.111,3196,2323,2288
$GC,12228,1.07,194.7,902.9,10.4,1196,12229,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2323,2288
$GC,12537,1.07,194.7,868.9,11.2,1211,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2323,2287
$GC,12846,1.07,194.7,833.7,11.3,1226,12847,0.00,0.00,0.00,0.000,6,0.000,0.000,3195,2323,2287
$GC,13155,1.07,194.7,799.1,11.0,1241,13160,0.00,2.90,0.00,0.000,4,0.000,0.123,3195,3741,2287
$GC,13199,1.01,194.7,793.8,11.4,1243,13204,0.00,2.80,0.00,0.000,6,0.000,0.104,3196,2323,2287
$GC,13519,1.01,194.7,757.8,11.3,1259,13520,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2324,2286
$GC,13829,1.01,194.7,724.5,10.9,1274,13833,0.00,2.88,0.00,0.000,4,0.000,0.119,3195,3741,2286
$GC,13861,0.95,194.7,720.8,10.5,1275,13868,0.15,2.75,0.00,0.000,6,0.112,0.102,3168,2339,2286
$GC,14177,0.98,219.2,691.6,9.1,1291,14205,0.00,3.03,21.42,1.234,4,0.000,0.125,3168,914,2191
$GC,14229,1.02,252.7,686.6,8.8,1293,14264,0.00,2.83,30.00,1.195,6,0.000,0.102,3168,2347,2054
$GC,14587,1.02,252.7,650.9,10.1,1311,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2347,2049
$GC,14895,1.02,252.7,619.3,10.3,1326,14899,0.00,2.88,0.00,0.000,4,0.000,0.117,3168,914,2049
$GC,14927,1.07,252.7,615.9,10.9,1327,14934,0.12,2.75,0.00,0.000,6,0.066,0.100,3200,2330,2049
$GC,15247,1.07,252.7,578.6,12.0,1351,15252,0.00,2.83,0.00,0.000,4,0.000,0.116,3200,3740,2048
$GC,15291,1.07,252.7,573.0,13.2,1354,15297,0.00,2.72,0.00,0.000,6,0.000,0.097,3200,2326,2048
$GC,15616,1.07,252.7,535.3,11.7,1385,15617,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2327,2048
$GC,15934,1.07,252.7,497.6,11.8,1415,15938,0.00,2.80,0.00,0.000,4,0.000,0.114,3200,912,2048
$GC,15966,1.07,252.7,493.6,11.9,1417,15972,0.00,2.72,0.00,0.000,6,0.000,0.097,3200,2326,2048
$GC,16292,1.07,252.7,456.0,11.6,1448,16293,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2326,2048
$GC,16610,1.07,252.7,419.5,11.3,1478,16614,0.00,2.80,0.00,0.000,4,0.000,0.111,3199,3742,2048
$GC,16642,1.07,252.7,415.4,11.9,1480,16649,0.00,2.70,0.00,0.000,6,0.000,0.091,3200,2325,2048
$GC,16968,1.07,252.7,378.4,11.0,1511,16969,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2325,2048
$GC,17288,1.07,252.7,342.1,13.1,1547,17294,0.00,2.75,0.00,0.000,4,0.000,0.110,3201,919,2048
$GC,17317,1.07,252.7,338.7,11.8,1552,17324,0.00,2.67,0.00,0.000,6,0.000,0.094,3200,2327,2048
$GC,17661,1.07,252.7,299.5,10.7,1613,17667,0.00,2.75,0.00,0.000,4,0.000,0.107,3200,3738,2048
$GC,17701,1.07,252.7,294.6,11.4,1620,17708,0.00,2.70,0.00,0.000,6,0.000,0.089,3200,2321,2048
$GC,18045,1.07,252.7,255.2,10.3,1681,18050,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2321,2048
$GC,18387,1.07,252.7,217.0,11.0,1742,18392,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2321,2049
$GC,18729,1.07,252.7,179.0,12.6,1803,18734,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2321,2050
$GC,19071,1.07,252.7,140.5,11.5,1864,19077,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2321,2050
$GC,19414,1.07,252.7,101.7,11.7,1925,19419,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2321,2050
$GC,19756,1.07,252.7,63.2,10.4,1986,19763,0.00,2.75,0.00,0.000,4,0.000,0.102,3200,3738,2050
$GC,19786,1.07,252.7,59.9,11.8,1991,19792,0.00,2.67,0.00,0.000,6,0.000,0.084,3200,2315,2050
$GC,20130,1.07,252.7,19.7,11.6,2052,20136,0.00,2.67,0.00,0.000,4,0.000,0.102,3200,917,2051
$GC,20172,1.07,252.7,14.9,11.8,2059,20179,0.00,2.62,0.00,0.000,6,0.000,0.084,3200,2323,2051
$STATE,20278,end climb,SURFACE_DEPTH_REACHED
$STATE,20278,begin surface coast
$FINISH,0.1,1.027770
$STATE,20298,end surface coast,CONTROL_FINISHED_OK
$STATE,20299,begin surface
$SM_CCo,20380,0.00,0.000,0,0,2049,254.13
$SM_GC,1.02,11.50,0.00,0.00,0.049,0.000,0.000,594,2229,2049,-10.84,-0.17,254.13
$IRIDIUM_FIX,5936.65,-2148.88,180797,161659
$TT8_MAMPS,0.02301
$HUMID,1593
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.30
$XPDR_PINGS,67
$24V_AH,23.4,24.552
$10V_AH,10.7,18.845
$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,27.850,116.575,380.025,0.000,0.000,22.380,32.700,322.936,16.750,0.000,0.000,16.887,3230.288,12966.139,571.784,3399.877,724.772,0.000,2109.196,0.000,3385.932,0.000,0.469
$DEVICE_MAMPS,211.692,161.837,1430.455,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1441.665,1553.365,968.712,627.654,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116761,2081
$CAP_FILE_SIZE,177496,0
$CFSIZE,260165632,247529472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,240408,042031,6008.825,-2204.440,39,1.3,44,-15.6