version: 66.03
glider: 140
mission: 5
dive: 89
start: 4 24 108 4 28 21
data:
$ID,140
$MISSION,5
$DIVE,89
$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,-14750.106
$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,12
$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
$GPS1,042031,6008.825,-2204.440,39,1.3,44,-15.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-63.7
$GPS2,042803,6008.850,-2204.594,13,1.2,13,-15.6
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6016.486,-2208.381
$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,330.6,20000,-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,-194.7,0.0,0.0,0,89,0.00,0.00,-60.35,0.000,2,0.000,0.000,594,2229,3457
$GC,92,-1.29,-194.7,3.1,-6.3,11,122,13.02,2.75,-9.60,0.000,4,0.208,0.110,2670,3651,3879
$GC,376,-1.29,-194.7,33.2,-9.8,61,382,0.00,2.65,0.00,0.000,6,0.000,0.085,2670,2235,3881
$GC,518,-1.29,-194.7,46.2,-9.3,86,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,660,-1.29,-194.7,59.1,-9.4,111,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,1003,-1.29,-194.7,91.0,-9.5,172,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2235,3881
$GC,1347,-1.29,-194.7,123.6,-9.4,233,1353,0.00,2.75,0.00,0.000,4,0.000,0.101,2670,3655,3881
$GC,1376,-1.29,-194.7,126.6,-10.1,238,1382,0.00,2.67,0.00,0.000,6,0.000,0.086,2670,2229,3881
$GC,1720,-1.29,-194.7,159.0,-9.3,299,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3881
$GC,2064,-1.29,-194.7,190.0,-9.2,360,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,2407,-1.29,-194.7,221.3,-9.0,421,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2230,3881
$GC,2749,-1.29,-194.7,252.7,-9.1,482,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2229,3881
$GC,3092,-1.29,-194.7,284.9,-9.1,543,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,3436,-1.29,-194.7,317.3,-9.5,604,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3880
$GC,3780,-1.29,-194.7,350.0,-9.2,665,3784,0.00,2.78,0.00,0.000,4,0.000,0.109,2670,3647,3881
$GC,3808,-1.29,-194.7,352.8,-9.8,667,3812,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2231,3881
$GC,4134,-1.29,-194.7,382.9,-9.1,697,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3881
$GC,4451,-1.29,-194.7,412.1,-8.8,727,4452,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2232,3881
$GC,4769,-1.29,-194.7,440.7,-8.7,757,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2232,3881
$GC,5090,-1.29,-194.7,468.5,-8.7,787,5094,0.00,2.78,0.00,0.000,4,0.000,0.111,2671,3651,3881
$GC,5118,-1.29,-194.7,471.1,-9.1,789,5122,0.00,2.70,0.00,0.000,6,0.000,0.093,2670,2228,3881
$GC,5444,-1.29,-194.7,498.8,-8.6,819,5445,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3881
$GC,5763,-1.29,-194.7,526.4,-8.8,849,5767,0.00,2.80,0.00,0.000,4,0.000,0.113,2670,3652,3881
$GC,5802,-1.29,-194.7,530.2,-9.6,852,5806,0.00,2.70,0.00,0.000,6,0.000,0.096,2670,2237,3880
$GC,6128,-1.29,-194.7,559.4,-9.3,882,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,6445,-1.29,-194.7,588.3,-8.8,912,6446,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2238,3880
$GC,6769,-1.29,-194.7,618.0,-9.2,934,6773,0.00,2.78,0.00,0.000,4,0.000,0.117,2671,3644,3880
$GC,6809,-1.29,-194.7,621.7,-9.9,936,6814,0.00,2.70,0.00,0.000,6,0.000,0.099,2670,2237,3880
$GC,7136,-1.29,-194.7,649.9,-8.1,952,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3880
$GC,7445,-1.29,-194.7,675.6,-8.4,967,7446,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3879
$GC,7754,-1.29,-194.7,702.9,-8.9,982,7756,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3879
$GC,8064,-1.29,-194.7,729.9,-8.4,997,8069,0.00,2.83,0.00,0.000,4,0.000,0.122,2670,3644,3879
$GC,8096,-1.29,-194.7,732.7,-8.7,998,8103,0.00,2.70,0.00,0.000,6,0.000,0.103,2670,2241,3879
$GC,8412,-1.29,-194.7,758.5,-8.5,1014,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2242,3879
$GC,8721,-1.29,-194.7,785.2,-8.7,1029,8722,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3878
$GC,9031,-1.29,-194.7,811.5,-8.3,1044,9035,0.00,2.83,0.00,0.000,4,0.000,0.125,2671,3644,3878
$GC,9057,-1.29,-194.7,813.8,-8.7,1045,9062,0.00,2.72,0.00,0.000,6,0.000,0.105,2670,2243,3878
$GC,9373,-1.29,-194.7,839.3,-8.3,1060,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2243,3878
$GC,9682,-1.29,-194.7,865.7,-9.0,1075,9687,0.00,2.83,0.00,0.000,4,0.000,0.125,2670,3645,3878
$GC,9709,-1.29,-194.7,868.2,-9.8,1076,9714,0.00,2.72,0.00,0.000,6,0.000,0.107,2670,2241,3878
$GC,10025,-1.29,-194.7,895.8,-8.7,1091,10026,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3877
$GC,10334,-1.29,-194.7,922.2,-8.4,1106,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3876
$GC,10643,-1.29,-194.7,947.7,-8.1,1121,10648,0.00,2.85,0.00,0.000,4,0.000,0.129,2671,3646,3876
$GC,10675,-1.29,-194.7,950.6,-9.0,1122,10682,0.00,2.75,0.00,0.000,6,0.000,0.110,2670,2240,3876
$GC,10991,-1.29,-194.7,976.4,-8.1,1138,10992,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3876
$STATE,11174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11174,begin apogee
$GC,11180,-0.35,0.0,991.5,8.1,1147,11349,1.05,0.00,165.00,1.436,6,0.107,0.000,2880,2327,3085
$STATE,11349,end apogee,CONTROL_FINISHED_OK
$STATE,11350,begin climb
$GC,11352,1.29,194.7,997.8,0.0,1155,11520,1.62,0.00,162.57,1.398,6,0.062,0.000,3238,2327,2291
$GC,11823,1.20,194.7,947.5,13.4,1178,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2327,2288
$GC,12133,1.12,194.7,906.9,12.9,1193,12138,0.15,2.92,0.00,0.000,4,0.115,0.125,3207,3743,2288
$GC,12172,1.04,194.7,901.8,12.4,1195,12177,0.00,2.83,0.00,0.000,6,0.000,0.109,3206,2334,2288
$GC,12499,1.00,194.7,864.5,11.1,1211,12501,0.15,0.00,0.00,0.000,6,0.113,0.000,3179,2335,2288
$GC,12808,1.01,208.1,834.7,9.5,1226,12822,0.00,0.00,12.60,1.269,6,0.000,0.000,3180,2335,2236
$GC,13117,1.02,214.1,804.6,9.8,1241,13126,0.00,0.00,6.72,1.112,6,0.000,0.000,3179,2335,2212
$GC,13426,1.03,220.9,774.4,9.8,1256,13440,0.00,2.95,7.70,1.144,4,0.000,0.120,3179,3740,2183
$GC,13480,1.03,220.9,768.5,10.1,1258,13485,0.00,2.78,0.00,0.000,6,0.000,0.104,3179,2336,2183
$GC,13796,1.03,220.9,735.5,10.6,1273,13797,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2337,2183
$GC,14105,1.03,220.9,703.6,10.2,1288,14106,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2337,2183
$GC,14414,1.04,224.7,673.0,9.9,1303,14421,0.00,0.00,4.97,0.933,6,0.000,0.000,3180,2336,2168
$GC,14724,1.04,224.7,641.8,10.1,1318,14728,0.00,2.83,0.00,0.000,4,0.000,0.116,3179,3740,2167
$GC,14756,1.04,224.7,638.1,11.0,1319,14762,0.00,2.75,0.00,0.000,6,0.000,0.099,3179,2330,2168
$GC,15072,1.04,224.7,605.6,10.5,1335,15073,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2331,2167
$GC,15388,1.04,224.7,572.8,10.3,1362,15393,0.00,2.83,0.00,0.000,4,0.000,0.113,3179,3742,2168
$GC,15420,1.04,224.7,569.1,10.6,1364,15427,0.00,2.70,0.00,0.000,6,0.000,0.096,3179,2341,2167
$GC,15747,1.04,226.5,535.8,9.9,1395,15748,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2342,2168
$GC,16064,1.04,226.5,502.7,10.3,1425,16065,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2342,2168
$GC,16382,1.04,226.5,470.1,10.1,1455,16384,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2342,2168
$GC,16701,1.04,226.5,437.4,10.3,1485,16705,0.00,2.75,0.00,0.000,4,0.000,0.108,3180,3741,2168
$GC,16733,1.04,226.5,433.9,10.6,1487,16739,0.00,2.65,0.00,0.000,6,0.000,0.090,3180,2352,2168
$GC,17059,1.04,226.5,401.2,10.2,1518,17060,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2352,2169
$GC,17378,1.05,237.3,370.1,9.6,1548,17396,0.00,0.00,12.25,1.001,6,0.000,0.000,3179,2352,2117
$GC,17723,1.06,245.7,335.4,9.7,1593,17739,0.00,2.80,8.55,0.926,4,0.000,0.104,3179,3737,2082
$GC,17763,1.06,245.7,331.2,11.6,1600,17769,0.00,2.65,0.00,0.000,6,0.000,0.087,3180,2350,2082
$GC,18107,1.08,263.5,295.1,9.4,1661,18130,0.00,2.85,16.50,0.940,4,0.000,0.106,3179,918,2009
$GC,18154,1.12,263.5,290.1,11.4,1669,18160,0.12,2.75,0.00,0.000,6,0.064,0.088,3212,2360,2008
$GC,18498,1.12,263.5,247.2,12.9,1730,18503,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2361,2007
$GC,18840,1.12,263.5,204.4,12.0,1791,18845,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2360,2007
$GC,19184,1.12,263.5,162.2,12.0,1852,19189,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2360,2007
$GC,19527,1.12,263.5,119.4,12.4,1913,19532,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2360,2007
$GC,19869,1.12,263.5,77.8,12.1,1974,19875,0.00,2.65,0.00,0.000,4,0.000,0.100,3212,3737,2007
$GC,19898,1.12,263.5,74.2,11.8,1979,19904,0.00,2.60,0.00,0.000,6,0.000,0.083,3212,2348,2007
$GC,20242,1.12,263.5,32.6,12.3,2040,20248,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2349,2008
$GC,20384,1.12,263.5,15.9,12.0,2065,20390,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2348,2008
$STATE,20506,end climb,SURFACE_DEPTH_REACHED
$STATE,20506,begin surface coast
$FINISH,0.1,1.026151
$STATE,20524,end surface coast,CONTROL_FINISHED_OK
$STATE,20524,begin surface
$SM_CCo,20606,0.00,0.000,0,0,2005,264.92
$SM_GC,0.84,11.52,0.00,0.00,0.048,0.000,0.000,594,2235,2005,-10.84,-0.03,264.92
$IRIDIUM_FIX,5945.20,-2153.70,180797,222225
$TT8_MAMPS,0.02301
$HUMID,1614
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,18.20
$XPDR_PINGS,65
$24V_AH,23.4,24.725
$10V_AH,10.7,18.988
$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,27.650,99.650,396.875,0.000,0.000,29.106,36.049,244.728,16.250,0.000,0.000,13.199,3247.472,13180.643,552.913,3431.398,627.015,0.000,2112.913,0.000,3411.776,0.000,0.469
$DEVICE_MAMPS,207.857,146.497,1435.824,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1447.488,1556.730,976.845,631.665,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116759,2090
$CAP_FILE_SIZE,176360,0
$CFSIZE,260165632,247435264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,2,0,0
$GPS,240408,101302,6011.549,-2212.863,39,1.5,40,-15.7