version: 66.03
glider: 140
mission: 5
dive: 90
start: 4 24 108 10 20 33
data:
$ID,140
$MISSION,5
$DIVE,90
$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,350
$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,-14765.743
$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,11
$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
$GPS1,101302,6011.549,-2212.863,39,1.5,40,-15.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-61.9
$GPS2,102015,6011.553,-2213.008,13,1.4,13,-15.7
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6022.188,-2213.935
$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,5.7,20000,-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,-194.7,0.0,0.0,0,95,0.00,0.00,-65.57,0.000,2,0.000,0.000,594,2232,3541
$GC,98,-1.29,-194.7,3.3,-6.3,12,128,13.07,2.78,-7.18,0.000,4,0.209,0.110,2670,3646,3881
$GC,325,-1.29,-194.7,31.3,-9.7,52,331,0.00,2.62,0.00,0.000,6,0.000,0.083,2670,2229,3882
$GC,467,-1.29,-194.7,45.0,-9.3,77,473,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3883
$GC,608,-1.29,-194.7,58.5,-9.1,102,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3883
$GC,951,-1.29,-194.7,91.8,-10.1,163,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3883
$GC,1293,-1.29,-194.7,125.5,-9.8,224,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2229,3882
$GC,1637,-1.29,-194.7,158.0,-9.5,285,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3882
$GC,1979,-1.29,-194.7,189.7,-9.2,346,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3883
$GC,2322,-1.29,-194.7,221.4,-9.0,407,2328,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3883
$GC,2665,-1.29,-194.7,253.3,-9.1,468,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3883
$GC,3009,-1.29,-194.7,283.6,-8.5,529,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2228,3883
$GC,3352,-1.29,-194.7,314.5,-9.3,590,3357,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3883
$GC,3695,-1.29,-194.7,346.2,-8.9,651,3701,0.00,2.78,0.00,0.000,4,0.000,0.109,2669,3646,3882
$GC,3718,-1.29,-194.7,348.5,-9.5,655,3724,0.00,2.65,0.00,0.000,6,0.000,0.089,2670,2235,3883
$GC,4046,-1.29,-194.7,378.5,-9.5,687,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3882
$GC,4365,-1.29,-194.7,408.3,-9.1,717,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3883
$GC,4681,-1.29,-194.7,436.1,-8.7,747,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,5000,-1.29,-194.7,463.1,-8.1,777,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,5318,-1.29,-194.7,489.5,-8.4,807,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,5637,-1.29,-194.7,516.7,-8.6,837,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2234,3882
$GC,5957,-1.29,-194.7,543.9,-8.6,867,5962,0.00,2.78,0.00,0.000,4,0.000,0.113,2670,3647,3882
$GC,5978,-1.29,-194.7,546.1,-8.7,868,5984,0.00,2.67,0.00,0.000,6,0.000,0.094,2670,2237,3882
$GC,6304,-1.29,-194.7,573.9,-8.9,899,6306,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,6631,-1.29,-194.7,604.5,-9.3,928,6636,0.00,2.78,0.00,0.000,4,0.000,0.116,2670,3644,3882
$GC,6664,-1.29,-194.7,607.8,-10.1,929,6670,0.00,2.65,0.00,0.000,6,0.000,0.096,2670,2245,3882
$GC,6981,-1.29,-194.7,637.8,-9.7,945,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3882
$GC,7289,-1.29,-194.7,667.1,-9.1,960,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3881
$GC,7598,-1.29,-194.7,694.7,-9.0,975,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3881
$GC,7908,-1.29,-194.7,722.0,-8.8,990,7909,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2245,3881
$GC,8217,-1.29,-194.7,749.0,-8.7,1005,8221,0.00,2.80,0.00,0.000,4,0.000,0.123,2670,3643,3880
$GC,8249,-1.29,-194.7,752.1,-9.2,1006,8255,0.00,2.70,0.00,0.000,6,0.000,0.101,2670,2239,3880
$GC,8565,-1.29,-194.7,780.4,-9.0,1022,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,8874,-1.29,-194.7,807.6,-8.7,1037,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3880
$GC,9183,-1.29,-194.7,833.5,-8.1,1052,9188,0.00,2.83,0.00,0.000,4,0.000,0.125,2670,3643,3880
$GC,9210,-1.29,-194.7,835.8,-9.0,1053,9215,0.00,2.72,0.00,0.000,6,0.000,0.106,2670,2241,3879
$GC,9526,-1.29,-194.7,860.7,-7.9,1068,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2241,3879
$GC,9835,-1.29,-194.7,885.9,-8.1,1083,9840,0.00,2.83,0.00,0.000,4,0.000,0.127,2670,3642,3879
$GC,9867,-1.29,-194.7,888.8,-8.7,1084,9873,0.00,2.72,0.00,0.000,6,0.000,0.107,2670,2243,3879
$GC,10183,-1.29,-194.7,914.3,-8.2,1100,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2243,3879
$GC,10492,-1.29,-194.7,939.5,-8.1,1115,10497,0.00,2.83,0.00,0.000,4,0.000,0.127,2670,3643,3878
$GC,10525,-1.29,-194.7,942.5,-8.6,1116,10531,0.00,2.72,0.00,0.000,6,0.000,0.110,2670,2254,3878
$GC,10841,-1.29,-194.7,967.5,-7.9,1132,10846,0.00,2.83,0.00,0.000,4,0.000,0.127,2670,3650,3878
$GC,10862,-1.29,-194.7,969.4,-8.5,1133,10867,0.00,2.72,0.00,0.000,6,0.000,0.110,2670,2261,3877
$STATE,11139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11139,begin apogee
$GC,11145,-0.35,0.0,990.9,7.9,1147,11315,1.05,0.00,165.55,1.434,6,0.109,0.000,2878,2333,3085
$STATE,11315,end apogee,CONTROL_FINISHED_OK
$STATE,11315,begin climb
$GC,11318,1.29,194.7,996.6,0.0,1155,11486,1.65,0.00,163.57,1.397,6,0.064,0.000,3244,2333,2291
$GC,11795,1.19,194.7,942.6,14.1,1179,11800,0.12,2.90,0.00,0.000,4,0.121,0.126,3223,3740,2288
$GC,11828,1.09,194.7,937.6,13.5,1180,11835,0.12,2.83,0.00,0.000,6,0.122,0.109,3202,2330,2288
$GC,12143,1.09,194.7,901.4,11.2,1196,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2331,2287
$GC,12453,1.09,194.7,867.2,11.1,1211,12454,0.00,0.00,0.00,0.000,6,0.000,0.000,3202,2330,2287
$GC,12762,1.09,194.7,833.5,10.8,1226,12767,0.00,2.88,0.00,0.000,4,0.000,0.121,3202,3740,2286
$GC,12806,1.02,194.7,828.2,12.2,1228,12811,0.00,2.75,0.00,0.000,6,0.000,0.105,3202,2341,2286
$GC,13127,1.02,194.7,792.4,11.1,1244,13132,0.00,2.85,0.00,0.000,4,0.000,0.122,3202,3739,2286
$GC,13160,0.95,194.7,788.5,11.7,1245,13166,0.17,2.72,0.00,0.000,6,0.115,0.105,3170,2352,2286
$GC,13475,0.97,209.7,758.1,9.5,1261,13496,0.00,3.00,13.52,1.253,4,0.000,0.129,3170,919,2229
$GC,13520,0.98,217.5,753.8,9.7,1263,13534,0.00,2.83,8.35,1.111,6,0.000,0.103,3170,2354,2198
$GC,13851,0.99,223.7,721.5,9.8,1279,13865,0.00,2.90,6.88,1.086,4,0.000,0.121,3170,3740,2172
$GC,13888,0.99,224.1,717.5,10.0,1280,13894,0.00,2.72,0.00,0.000,6,0.000,0.100,3170,2346,2172
$GC,14203,0.99,224.1,684.4,10.5,1296,14208,0.00,2.88,0.00,0.000,4,0.000,0.123,3170,918,2173
$GC,14235,0.99,224.1,680.8,10.7,1297,14242,0.00,2.80,0.00,0.000,6,0.000,0.100,3170,2362,2172
$GC,14551,0.99,224.1,648.6,10.1,1313,14555,0.00,2.78,0.00,0.000,4,0.000,0.120,3170,3740,2172
$GC,14590,0.99,224.1,644.5,11.3,1315,14594,0.00,2.70,0.00,0.000,6,0.000,0.097,3170,2349,2172
$GC,14915,1.00,232.4,612.1,9.7,1331,14926,0.00,0.00,9.20,1.112,6,0.000,0.000,3170,2349,2137
$GC,15232,1.00,232.4,580.6,10.3,1355,15233,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2349,2136
$GC,15552,1.00,237.0,548.2,9.8,1385,15563,0.00,2.80,5.53,0.922,4,0.000,0.110,3170,3741,2118
$GC,15602,1.00,237.0,542.5,10.5,1389,15608,0.00,2.67,0.00,0.000,6,0.000,0.093,3170,2354,2118
$GC,15929,1.02,252.7,511.0,9.5,1420,15947,0.00,0.00,15.07,1.081,6,0.000,0.000,3170,2355,2054
$GC,16269,1.04,270.2,478.4,9.4,1452,16287,0.00,0.00,15.98,1.054,6,0.000,0.000,3170,2355,1983
$GC,16604,1.04,270.2,444.8,10.1,1484,16605,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2355,1980
$GC,16923,1.04,270.2,412.7,10.1,1514,16924,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2355,1980
$GC,17243,1.05,279.5,380.6,9.7,1544,17254,0.00,0.00,9.35,0.968,6,0.000,0.000,3170,2355,1945
$GC,17572,1.12,300.3,347.9,9.3,1576,17594,0.15,0.00,19.40,0.976,6,0.060,0.000,3208,2355,1860
$GC,17932,1.12,300.3,303.5,12.2,1640,17938,0.00,2.80,0.00,0.000,4,0.000,0.107,3208,913,1856
$GC,17961,1.12,300.3,299.7,12.1,1645,17967,0.00,2.78,0.00,0.000,6,0.000,0.090,3208,2376,1856
$GC,18304,1.12,300.3,257.3,12.1,1706,18309,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2377,1856
$GC,18648,1.12,300.3,215.1,13.0,1767,18653,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2376,1856
$GC,18990,1.12,300.3,172.9,12.3,1828,18996,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2376,1856
$GC,19334,1.12,300.3,130.8,12.6,1889,19340,0.00,2.83,0.00,0.000,4,0.000,0.107,3208,913,1856
$GC,19369,1.12,300.3,126.3,14.5,1895,19375,0.00,2.72,0.00,0.000,6,0.000,0.084,3208,2368,1856
$GC,19712,1.12,300.3,84.0,12.3,1956,19718,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2368,1856
$GC,20055,1.12,300.3,42.4,12.9,2017,20061,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2368,1856
$GC,20197,1.12,300.3,25.2,11.0,2042,20203,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,2368,1856
$GC,20339,1.12,300.3,8.1,13.1,2067,20345,0.00,2.78,0.00,0.000,4,0.000,0.098,3208,917,1856
$GC,20380,1.13,304.8,3.4,9.8,2074,20392,0.00,2.67,4.95,0.628,6,0.000,0.084,3209,2347,1841
$STATE,20397,end climb,SURFACE_DEPTH_REACHED
$STATE,20397,begin surface coast
$FINISH,0.1,1.013388
$STATE,20415,end surface coast,CONTROL_FINISHED_OK
$STATE,20415,begin surface
$SM_CCo,20497,0.00,0.000,0,0,1837,306.13
$SM_GC,0.96,11.60,0.00,0.00,0.050,0.000,0.000,596,2226,1837,-10.84,-0.25,306.13
$IRIDIUM_FIX,5945.20,-2203.32,190797,040430
$TT8_MAMPS,0.02301
$HUMID,1596
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,18.20
$XPDR_PINGS,79
$24V_AH,23.4,24.909
$10V_AH,10.7,19.132
$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,27.950,111.400,437.350,0.000,0.000,22.959,32.808,240.362,19.750,0.000,0.000,15.010,3208.743,13038.509,629.053,3385.419,649.823,0.000,2177.014,0.000,3387.962,0.000,0.468
$DEVICE_MAMPS,209.391,147.264,1433.523,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1440.302,1561.756,954.426,621.914,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116641,2080
$CAP_FILE_SIZE,174481,0
$CFSIZE,260165632,247345152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,240408,160345,6014.198,-2216.071,40,2.3,59,-15.7