version: 66.03
glider: 140
mission: 5
dive: 92
start: 4 24 108 22 8 2
data:
$ID,140
$MISSION,5
$DIVE,92
$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,-14834.105
$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
$GPS1,220007,6016.938,-2219.798,45,0.9,45,-15.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.8
$GPS2,220744,6016.923,-2219.919,15,0.9,32,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6027.558,-2220.843
$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,5.8,20000,-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,-65.43,0.000,2,0.000,0.000,595,2226,3603
$GC,98,-1.29,-194.7,3.4,-6.3,12,123,13.15,2.72,-5.70,0.000,4,0.212,0.110,2669,823,3880
$GC,377,-1.29,-194.7,38.0,-10.4,61,384,0.00,2.65,0.00,0.000,6,0.000,0.086,2669,2240,3881
$GC,519,-1.29,-194.7,51.6,-9.4,86,525,0.00,2.72,0.00,0.000,4,0.000,0.099,2669,822,3881
$GC,622,-1.29,-194.7,61.2,-9.5,104,628,0.00,2.65,0.00,0.000,6,0.000,0.085,2669,2242,3881
$GC,966,-1.29,-194.7,94.1,-10.0,165,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3881
$GC,1308,-1.29,-194.7,126.6,-9.3,226,1314,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3881
$GC,1651,-1.29,-194.7,158.4,-9.0,287,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2242,3881
$GC,1994,-1.29,-194.7,189.5,-8.7,348,2001,0.00,2.67,0.00,0.000,4,0.000,0.102,2669,3647,3881
$GC,2025,-1.29,-194.7,192.2,-9.2,353,2031,0.00,2.65,0.00,0.000,6,0.000,0.084,2669,2227,3881
$GC,2368,-1.29,-194.7,223.8,-9.4,414,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3881
$GC,2710,-1.29,-194.7,255.6,-9.3,475,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,3053,-1.29,-194.7,288.2,-9.7,536,3059,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2227,3882
$GC,3397,-1.29,-194.7,320.7,-9.5,597,3403,0.00,2.75,0.00,0.000,4,0.000,0.106,2669,3644,3882
$GC,3431,-1.29,-194.7,324.3,-10.3,603,3438,0.00,2.62,0.00,0.000,6,0.000,0.087,2669,2237,3882
$GC,3771,-1.29,-194.7,357.2,-9.8,657,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,4089,-1.29,-194.7,386.8,-9.0,687,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,4408,-1.29,-194.7,415.9,-9.4,717,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,4726,-1.29,-194.7,446.2,-9.3,747,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,5045,-1.29,-194.7,476.2,-9.7,777,5050,0.00,2.75,0.00,0.000,4,0.000,0.109,2669,3645,3882
$GC,5073,-1.29,-194.7,479.0,-10.2,779,5077,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2228,3881
$GC,5399,-1.29,-194.7,508.7,-8.8,809,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3881
$GC,5716,-1.29,-194.7,536.6,-8.8,839,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3881
$GC,6034,-1.29,-194.7,564.9,-8.7,869,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2229,3881
$GC,6353,-1.29,-194.7,592.3,-8.4,899,6358,0.00,2.78,0.00,0.000,4,0.000,0.112,2669,3642,3881
$GC,6393,-1.29,-194.7,595.7,-9.0,902,6397,0.00,2.67,0.00,0.000,6,0.000,0.093,2669,2229,3881
$GC,6720,-1.29,-194.7,624.1,-8.9,920,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3881
$GC,7030,-1.29,-194.7,651.2,-8.5,935,7031,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2230,3880
$GC,7339,-1.29,-194.7,677.1,-8.2,950,7343,0.00,2.80,0.00,0.000,4,0.000,0.117,2669,3645,3880
$GC,7366,-1.29,-194.7,679.5,-9.1,951,7370,0.00,2.67,0.00,0.000,6,0.000,0.097,2669,2241,3880
$GC,7681,-1.29,-194.7,705.3,-8.3,966,7686,0.00,2.78,0.00,0.000,4,0.000,0.116,2669,3645,3880
$GC,7714,-1.29,-194.7,708.2,-8.9,967,7720,0.00,2.67,0.00,0.000,6,0.000,0.098,2669,2245,3880
$GC,8029,-1.29,-194.7,734.0,-8.4,983,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3880
$GC,8339,-1.29,-194.7,760.3,-8.5,998,8340,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3879
$GC,8648,-1.29,-194.7,786.2,-8.1,1013,8649,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2245,3879
$GC,8957,-1.29,-194.7,811.1,-8.1,1028,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3879
$GC,9267,-1.29,-194.7,835.9,-7.9,1043,9271,0.00,2.83,0.00,0.000,4,0.000,0.124,2669,3648,3879
$GC,9299,-1.29,-194.7,838.8,-8.7,1044,9305,0.00,2.70,0.00,0.000,6,0.000,0.104,2669,2253,3879
$GC,9615,-1.29,-194.7,864.6,-8.3,1060,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3878
$GC,9924,-1.29,-194.7,890.3,-8.2,1075,9929,0.00,2.80,0.00,0.000,4,0.000,0.125,2669,3642,3878
$GC,9964,-1.29,-194.7,893.7,-9.0,1077,9968,0.00,2.67,0.00,0.000,6,0.000,0.106,2669,2266,3878
$GC,10290,-1.29,-194.7,919.2,-7.7,1093,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2267,3877
$GC,10600,-1.29,-194.7,943.1,-7.6,1108,10601,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2267,3877
$GC,10909,-1.29,-194.7,966.7,-7.5,1123,10910,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2267,3876
$STATE,11215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11216,begin apogee
$GC,11222,-0.35,0.0,990.5,7.8,1138,11390,1.05,0.00,164.98,1.436,6,0.106,0.000,2879,2326,3085
$STATE,11391,end apogee,CONTROL_FINISHED_OK
$STATE,11391,begin climb
$GC,11393,1.29,194.7,995.9,0.0,1146,11567,1.65,3.05,162.25,1.395,4,0.064,0.138,3239,918,2291
$GC,11600,1.22,194.7,979.2,14.0,1156,11605,0.00,2.83,0.00,0.000,6,0.000,0.110,3239,2328,2290
$GC,11921,1.13,194.7,937.1,13.0,1172,11927,0.17,2.90,0.00,0.000,4,0.111,0.126,3205,3740,2288
$GC,11961,1.05,194.7,932.2,11.9,1174,11966,0.00,2.83,0.00,0.000,6,0.000,0.107,3205,2327,2289
$GC,12287,1.01,194.7,895.6,11.2,1190,12289,0.12,0.00,0.00,0.000,6,0.117,0.000,3182,2327,2288
$GC,12596,1.02,201.6,864.7,9.8,1205,12605,0.00,0.00,7.10,1.138,6,0.000,0.000,3182,2327,2263
$GC,12905,1.02,201.6,833.2,10.4,1220,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2327,2263
$GC,13215,1.02,201.6,800.6,10.4,1235,13219,0.00,2.88,0.00,0.000,4,0.000,0.121,3182,3740,2262
$GC,13254,0.98,201.6,796.3,11.6,1237,13258,0.00,2.78,0.00,0.000,6,0.000,0.103,3182,2330,2262
$GC,13580,0.99,209.6,763.0,9.7,1253,13590,0.00,0.00,8.50,1.170,6,0.000,0.000,3183,2331,2230
$GC,13889,0.99,209.6,731.4,10.5,1268,13890,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2331,2229
$GC,14198,0.99,209.6,698.6,10.5,1283,14202,0.00,2.85,0.00,0.000,4,0.000,0.122,3183,914,2229
$GC,14237,0.99,209.6,694.2,12.0,1285,14241,0.00,2.78,0.00,0.000,6,0.000,0.100,3182,2346,2229
$GC,14562,0.99,209.6,660.9,10.1,1301,14567,0.00,2.78,0.00,0.000,4,0.000,0.117,3182,3740,2229
$GC,14628,0.99,209.6,653.6,11.6,1304,14633,0.00,2.70,0.00,0.000,6,0.000,0.096,3182,2342,2229
$GC,14949,0.99,209.6,620.8,10.7,1320,14953,0.00,2.83,0.00,0.000,4,0.000,0.115,3182,913,2229
$GC,14988,0.99,209.6,616.4,11.5,1322,14992,0.00,2.78,0.00,0.000,6,0.000,0.096,3182,2358,2229
$GC,15308,0.99,209.6,582.4,10.5,1345,15313,0.00,2.72,0.00,0.000,4,0.000,0.112,3182,3738,2229
$GC,15336,0.99,209.6,579.2,10.5,1347,15341,0.00,2.67,0.00,0.000,6,0.000,0.093,3182,2345,2229
$GC,15662,0.99,209.6,546.2,10.2,1377,15663,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2346,2229
$GC,15981,1.00,219.9,514.8,9.6,1407,15993,0.00,0.00,10.30,1.060,6,0.000,0.000,3182,2346,2188
$GC,16309,1.00,219.9,481.6,10.1,1438,16310,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2346,2187
$GC,16629,1.01,226.2,449.9,9.8,1468,16643,0.00,2.88,7.10,0.945,4,0.000,0.108,3182,918,2162
$GC,16672,1.01,226.2,445.2,10.4,1472,16676,0.00,2.75,0.00,0.000,6,0.000,0.092,3183,2350,2162
$GC,16996,1.01,226.2,411.2,10.5,1502,16997,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2350,2161
$GC,17315,1.01,226.2,377.1,11.1,1532,17316,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2350,2162
$GC,17638,1.01,226.2,342.9,10.7,1567,17643,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2350,2163
$GC,17981,1.01,227.9,306.3,9.9,1628,17987,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2350,2163
$GC,18324,1.01,227.9,271.0,10.4,1689,18330,0.00,2.78,0.00,0.000,4,0.000,0.104,3182,918,2163
$GC,18358,1.01,227.9,267.2,10.1,1695,18365,0.00,2.72,0.00,0.000,6,0.000,0.089,3182,2360,2163
$GC,18702,1.01,227.9,232.3,10.6,1756,18707,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2360,2163
$GC,19045,1.02,231.7,197.6,9.9,1817,19056,0.00,0.00,6.47,0.780,6,0.000,0.000,3182,2360,2140
$GC,19394,1.03,238.4,163.1,9.8,1879,19406,0.00,0.00,7.22,0.801,6,0.000,0.000,3182,2361,2112
$GC,19743,1.03,238.4,128.9,10.2,1941,19749,0.00,2.80,0.00,0.000,4,0.000,0.101,3182,911,2112
$GC,19772,1.03,238.4,125.9,10.5,1946,19778,0.00,2.70,0.00,0.000,6,0.000,0.085,3182,2349,2112
$GC,20116,1.05,254.6,92.2,9.4,2007,20133,0.00,0.00,14.52,0.815,6,0.000,0.000,3182,2348,2046
$GC,20470,1.06,264.5,56.8,9.7,2070,20481,0.00,0.00,9.38,0.774,6,0.000,0.000,3182,2349,2006
$GC,20819,1.06,264.5,20.6,11.6,2132,20825,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2349,2005
$GC,20961,1.10,302.1,7.0,8.7,2157,20995,0.00,0.00,31.95,0.759,6,0.000,0.000,3182,2349,1853
$STATE,21012,end climb,SURFACE_DEPTH_REACHED
$STATE,21012,begin surface coast
$FINISH,0.2,1.027126
$STATE,21034,end surface coast,CONTROL_FINISHED_OK
$STATE,21034,begin surface
$SM_CCo,21115,0.00,0.000,0,0,1845,303.68
$SM_GC,0.97,11.45,0.00,0.00,0.044,0.000,0.000,591,2228,1845,-10.86,-0.17,303.68
$IRIDIUM_FIX,5953.78,-2213.85,190797,161641
$TT8_MAMPS,0.02301
$HUMID,1606
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.30
$XPDR_PINGS,70
$24V_AH,23.4,25.257
$10V_AH,10.7,19.428
$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,27.600,110.625,429.775,0.000,0.000,27.899,31.791,240.830,17.500,0.000,0.000,33.781,3348.636,13422.882,550.508,3613.601,618.588,0.000,2190.974,0.000,3571.089,0.000,0.468
$DEVICE_MAMPS,212.459,154.167,1435.824,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1503.570,1612.811,1023.425,659.683,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,122993,2170
$CAP_FILE_SIZE,180245,0
$CFSIZE,260165632,247136256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250408,040108,6019.748,-2221.415,36,1.6,36,-15.8