version: 66.03
glider: 140
mission: 5
dive: 93
start: 4 25 108 4 9 3
data:
$ID,140
$MISSION,5
$DIVE,93
$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,-14850.351
$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
$GPS1,040108,6019.748,-2221.415,36,1.6,36,-15.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-64.4
$GPS2,040845,6019.776,-2221.494,15,1.5,15,-15.8
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6030.411,-2222.417
$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,-194.7,0.0,0.0,0,101,0.00,0.00,-71.30,0.000,2,0.000,0.000,590,2228,3523
$GC,103,-1.29,-194.7,3.3,-6.4,13,133,13.12,2.78,-7.85,0.000,4,0.210,0.112,2669,824,3881
$GC,387,-1.29,-194.7,35.9,-9.5,63,393,0.00,2.65,0.00,0.000,6,0.000,0.085,2669,2237,3882
$GC,529,-1.29,-194.7,49.4,-9.8,88,536,0.00,2.72,0.00,0.000,4,0.000,0.099,2669,825,3882
$GC,638,-1.29,-194.7,60.3,-10.1,107,644,0.00,2.65,0.00,0.000,6,0.000,0.085,2669,2238,3882
$GC,981,-1.29,-194.7,93.1,-9.5,168,987,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,1325,-1.29,-194.7,125.3,-9.5,229,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,1667,-1.29,-194.7,157.5,-9.1,290,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,2009,-1.29,-194.7,188.4,-8.9,351,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,2354,-1.29,-194.7,219.2,-8.8,412,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,2697,-1.29,-194.7,251.1,-9.3,473,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,3040,-1.29,-194.7,283.5,-9.8,534,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3882
$GC,3382,-1.29,-194.7,316.3,-9.3,595,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2238,3883
$GC,3725,-1.29,-194.7,349.1,-9.7,656,3731,0.00,2.72,0.00,0.000,4,0.000,0.107,2669,3645,3882
$GC,3748,-1.29,-194.7,351.6,-10.2,659,3753,0.00,2.65,0.00,0.000,6,0.000,0.089,2669,2236,3882
$GC,4075,-1.29,-194.7,382.7,-9.5,689,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,4391,-1.29,-194.7,411.9,-9.3,719,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,4710,-1.29,-194.7,440.9,-9.0,749,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,5030,-1.29,-194.7,469.4,-9.1,779,5031,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,5348,-1.29,-194.7,498.6,-9.6,809,5352,0.00,2.75,0.00,0.000,4,0.000,0.109,2669,3644,3882
$GC,5380,-1.29,-194.7,502.1,-10.6,811,5386,0.00,2.65,0.00,0.000,6,0.000,0.091,2669,2236,3882
$GC,5706,-1.29,-194.7,533.1,-9.8,842,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,6023,-1.29,-194.7,563.6,-9.2,872,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,6342,-1.29,-194.7,592.5,-9.0,902,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,6654,-1.29,-194.7,620.4,-8.9,921,6658,0.00,2.78,0.00,0.000,4,0.000,0.114,2669,3646,3881
$GC,6697,-1.29,-194.7,624.5,-9.1,923,6702,0.00,2.67,0.00,0.000,6,0.000,0.094,2669,2236,3881
$GC,7019,-1.29,-194.7,651.3,-8.1,939,7023,0.00,2.78,0.00,0.000,4,0.000,0.111,2669,3650,3882
$GC,7045,-1.29,-194.7,653.7,-8.9,940,7050,0.00,2.67,0.00,0.000,6,0.000,0.095,2669,2246,3882
$GC,7361,-1.29,-194.7,679.3,-8.2,955,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3881
$GC,7670,-1.29,-194.7,704.9,-8.4,970,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3881
$GC,7979,-1.29,-194.7,731.3,-8.4,985,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3881
$GC,8289,-1.29,-194.7,757.7,-8.7,1000,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,8598,-1.29,-194.7,783.4,-8.2,1015,8603,0.00,2.80,0.00,0.000,4,0.000,0.121,2669,3643,3880
$GC,8638,-1.29,-194.7,786.9,-9.3,1017,8642,0.00,2.67,0.00,0.000,6,0.000,0.100,2669,2253,3880
$GC,8964,-1.29,-194.7,814.1,-8.3,1033,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3880
$GC,9274,-1.29,-194.7,840.7,-8.7,1048,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3880
$GC,9583,-1.29,-194.7,867.8,-8.4,1063,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2254,3879
$GC,9892,-1.29,-194.7,893.6,-8.5,1078,9896,0.00,2.83,0.00,0.000,4,0.000,0.127,2669,3649,3879
$GC,9936,-1.29,-194.7,897.5,-9.1,1080,9940,0.00,2.70,0.00,0.000,6,0.000,0.106,2669,2260,3879
$GC,10256,-1.29,-194.7,924.0,-8.4,1096,10257,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2260,3878
$GC,10565,-1.29,-194.7,950.8,-8.6,1111,10570,0.00,2.78,0.00,0.000,4,0.000,0.127,2669,3644,3878
$GC,10587,-1.29,-194.7,952.7,-8.8,1112,10591,0.00,2.70,0.00,0.000,6,0.000,0.108,2669,2256,3878
$GC,10907,-1.29,-194.7,979.6,-8.4,1128,10908,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2257,3877
$STATE,11049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11049,begin apogee
$GC,11055,-0.35,0.0,991.7,8.2,1135,11224,1.08,0.00,165.68,1.432,6,0.113,0.000,2881,2328,3085
$STATE,11225,end apogee,CONTROL_FINISHED_OK
$STATE,11225,begin climb
$GC,11227,1.29,194.7,997.8,0.0,1143,11400,1.62,3.05,162.43,1.394,4,0.064,0.137,3236,916,2290
$GC,11434,1.22,194.7,982.4,12.9,1153,11439,0.00,2.85,0.00,0.000,6,0.000,0.111,3236,2334,2289
$GC,11754,1.14,194.7,941.1,12.9,1169,11760,0.15,2.90,0.00,0.000,4,0.115,0.124,3206,3741,2288
$GC,11794,1.06,194.7,936.1,12.9,1171,11799,0.00,2.83,0.00,0.000,6,0.000,0.106,3205,2328,2288
$GC,12120,1.02,194.7,899.0,11.3,1187,12122,0.12,0.00,0.00,0.000,6,0.115,0.000,3183,2329,2288
$GC,12429,1.02,194.7,867.6,10.2,1202,12430,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2329,2287
$GC,12739,1.03,202.3,836.5,9.7,1217,12748,0.00,0.00,7.65,1.155,6,0.000,0.000,3183,2329,2259
$GC,13048,1.03,206.7,806.5,9.8,1232,13055,0.00,0.00,5.40,1.020,6,0.000,0.000,3183,2329,2242
$GC,13357,1.03,206.7,775.3,10.3,1247,13358,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2329,2241
$GC,13667,1.03,206.7,743.3,10.4,1262,13668,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2329,2241
$GC,13975,1.03,206.7,711.9,10.0,1277,13980,0.00,2.85,0.00,0.000,4,0.000,0.115,3183,3742,2241
$GC,14007,1.03,206.7,708.5,10.5,1278,14014,0.00,2.72,0.00,0.000,6,0.000,0.099,3183,2333,2241
$GC,14323,1.03,206.7,676.7,10.2,1294,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2334,2241
$GC,14632,1.03,206.7,644.3,10.4,1309,14637,0.00,2.83,0.00,0.000,4,0.000,0.119,3184,918,2241
$GC,14687,1.03,206.7,638.1,10.9,1311,14694,0.00,2.72,0.00,0.000,6,0.000,0.097,3183,2333,2241
$GC,15003,1.03,206.7,604.4,10.6,1327,15008,0.00,2.80,0.00,0.000,4,0.000,0.114,3183,3740,2241
$GC,15036,1.03,206.7,600.5,11.4,1328,15042,0.00,2.72,0.00,0.000,6,0.000,0.093,3183,2323,2241
$GC,15362,1.03,206.7,566.0,10.5,1359,15363,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2323,2241
$GC,15679,1.03,206.7,533.1,10.1,1389,15684,0.00,2.75,0.00,0.000,4,0.000,0.112,3183,917,2241
$GC,15711,1.03,206.7,529.5,10.5,1391,15718,0.00,2.70,0.00,0.000,6,0.000,0.094,3183,2332,2241
$GC,16038,1.03,206.7,496.1,10.5,1422,16042,0.00,2.78,0.00,0.000,4,0.000,0.110,3183,3742,2241
$GC,16077,1.03,206.7,491.6,11.8,1425,16081,0.00,2.70,0.00,0.000,6,0.000,0.089,3183,2328,2241
$GC,16403,1.03,206.7,457.5,10.4,1455,16407,0.00,2.75,0.00,0.000,4,0.000,0.110,3183,918,2242
$GC,16441,1.03,206.7,453.3,11.5,1458,16446,0.00,2.70,0.00,0.000,6,0.000,0.092,3183,2334,2242
$GC,16766,1.03,206.7,420.1,10.1,1488,16770,0.00,2.75,0.00,0.000,4,0.000,0.106,3183,3741,2242
$GC,16798,1.04,210.0,416.6,9.9,1490,16808,0.00,2.70,4.68,0.776,6,0.000,0.088,3183,2320,2228
$GC,17128,1.04,210.0,382.5,10.6,1521,17129,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2321,2228
$GC,17446,1.04,210.0,349.1,10.3,1551,17451,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2321,2229
$GC,17789,1.04,215.2,313.4,9.8,1612,17800,0.00,0.00,6.35,0.837,6,0.000,0.000,3183,2321,2206
$GC,18137,1.04,215.2,278.3,10.1,1674,18142,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2321,2206
$GC,18479,1.04,216.2,244.5,10.0,1735,18484,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2321,2206
$GC,18823,1.07,236.8,211.4,9.3,1796,18844,0.00,0.00,19.00,0.893,6,0.000,0.000,3183,2321,2119
$GC,19181,1.07,236.8,175.1,10.2,1860,19187,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2321,2118
$GC,19524,1.08,242.0,140.7,9.8,1921,19536,0.00,0.00,5.88,0.736,6,0.000,0.000,3183,2320,2097
$GC,19874,1.08,247.5,104.6,9.8,1983,19885,0.00,0.00,5.78,0.717,6,0.000,0.000,3183,2321,2076
$GC,20223,1.08,247.5,68.3,10.5,2045,20228,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2321,2076
$GC,20565,1.08,247.5,32.7,10.2,2106,20572,0.00,2.70,0.00,0.000,4,0.000,0.100,3183,917,2076
$GC,20607,1.12,247.5,28.1,12.4,2113,20613,0.00,2.65,0.00,0.000,6,0.000,0.084,3183,2333,2076
$GC,20751,1.14,261.8,13.1,9.5,2138,20768,0.10,0.00,13.52,0.766,6,0.070,0.000,3211,2333,2016
$STATE,20846,end climb,SURFACE_DEPTH_REACHED
$STATE,20846,begin surface coast
$FINISH,0.1,1.027709
$STATE,20866,end surface coast,CONTROL_FINISHED_OK
$STATE,20866,begin surface
$SM_CCo,20947,0.00,0.000,0,0,2013,262.96
$SM_GC,0.88,11.55,0.00,0.00,0.046,0.000,0.000,589,2225,2013,-10.86,-0.28,262.96
$IRIDIUM_FIX,5953.78,-2217.86,190797,222204
$TT8_MAMPS,0.02301
$HUMID,1600
$INTERNAL_PRESSURE,8.44759
$TCM_TEMP,18.20
$XPDR_PINGS,70
$24V_AH,23.4,25.426
$10V_AH,10.7,19.577
$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,27.750,104.800,396.350,0.000,0.000,31.119,32.363,251.864,17.500,0.000,0.000,15.617,3329.502,13295.291,538.242,3573.358,648.801,0.000,2169.920,0.000,3556.949,0.000,0.468
$DEVICE_MAMPS,210.158,148.031,1431.989,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1495.155,1606.343,1019.805,617.211,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123142,2158
$CAP_FILE_SIZE,178552,0
$CFSIZE,260165632,247042048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250408,095926,6023.427,-2221.953,41,1.2,41,-15.9