version: 66.03
glider: 140
mission: 5
dive: 98
start: 4 26 108 9 43 26
data:
$ID,140
$MISSION,5
$DIVE,98
$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,335
$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,-14988.375
$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
$GPS1,093532,6044.188,-2216.406,37,2.0,37,-16.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-62.4
$GPS2,094308,6044.191,-2216.342,13,1.2,13,-16.0
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6053.979,-2218.562
$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,351.0,20000,-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,-65.57,0.000,2,0.000,0.000,594,2233,3550
$GC,98,-1.29,-194.7,3.2,-5.8,12,122,13.12,0.00,-7.03,0.000,6,0.211,0.000,2669,2233,3880
$GC,261,-1.29,-194.7,23.7,-9.4,40,267,0.00,2.72,0.00,0.000,4,0.000,0.099,2669,3646,3881
$GC,291,-1.29,-194.7,26.8,-9.6,45,297,0.00,2.62,0.00,0.000,6,0.000,0.081,2670,2237,3881
$GC,434,-1.29,-194.7,39.5,-9.0,70,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,578,-1.29,-194.7,53.4,-9.3,95,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3881
$GC,920,-1.29,-194.7,87.4,-10.9,156,925,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,1263,-1.29,-194.7,121.2,-9.1,217,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,1605,-1.29,-194.7,150.7,-8.5,278,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2237,3882
$GC,1948,-1.29,-194.7,181.1,-10.0,339,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2237,3882
$GC,2290,-1.29,-194.7,213.3,-9.4,400,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,2634,-1.29,-194.7,245.2,-9.1,461,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,2976,-1.29,-194.7,275.9,-9.0,522,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,3319,-1.29,-194.7,307.5,-8.9,583,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,3661,-1.29,-194.7,337.3,-9.2,644,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2234,3882
$GC,4000,-1.29,-194.7,366.4,-9.0,689,4004,0.00,2.78,0.00,0.000,4,0.000,0.110,2669,3650,3882
$GC,4028,-1.29,-194.7,369.0,-9.5,691,4032,0.00,2.67,0.00,0.000,6,0.000,0.091,2669,2235,3882
$GC,4356,-1.29,-194.7,398.7,-8.8,721,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,4681,-1.29,-194.7,426.6,-8.6,752,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,4999,-1.29,-194.7,453.8,-8.6,782,5001,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,5318,-1.29,-194.7,481.7,-8.5,812,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,5637,-1.29,-194.7,508.3,-8.7,842,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,5955,-1.29,-194.7,537.2,-9.3,872,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,6274,-1.29,-194.7,565.8,-9.2,902,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3882
$GC,6593,-1.29,-194.7,594.8,-8.7,932,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3881
$GC,6914,-1.29,-194.7,620.8,-8.1,951,6915,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3881
$GC,7223,-1.29,-194.7,648.7,-9.5,966,7227,0.00,2.80,0.00,0.000,4,0.000,0.118,2669,3645,3881
$GC,7249,-1.29,-194.7,651.3,-9.8,967,7254,0.00,2.70,0.00,0.000,6,0.000,0.097,2669,2235,3881
$GC,7565,-1.29,-194.7,678.2,-8.3,982,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2236,3881
$GC,7874,-1.29,-194.7,705.9,-9.5,997,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,8184,-1.29,-194.7,735.1,-9.0,1012,8188,0.00,2.83,0.00,0.000,4,0.000,0.120,2669,3644,3880
$GC,8210,-1.29,-194.7,737.7,-9.8,1013,8215,0.00,2.70,0.00,0.000,6,0.000,0.098,2669,2238,3881
$GC,8526,-1.29,-194.7,763.9,-8.1,1028,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2239,3880
$GC,8835,-1.29,-194.7,791.4,-9.4,1043,8840,0.00,2.83,0.00,0.000,4,0.000,0.121,2669,3647,3880
$GC,8868,-1.29,-194.7,794.5,-9.7,1044,8874,0.00,2.70,0.00,0.000,6,0.000,0.102,2669,2246,3880
$GC,9183,-1.29,-194.7,823.5,-9.1,1060,9184,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3880
$GC,9492,-1.29,-194.7,849.8,-8.0,1075,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3880
$GC,9802,-1.29,-194.7,873.6,-7.4,1090,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3879
$GC,10111,-1.29,-194.7,898.8,-8.5,1105,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3879
$GC,10420,-1.29,-194.7,923.8,-7.7,1120,10425,0.00,2.83,0.00,0.000,4,0.000,0.127,2669,3642,3879
$GC,10453,-1.29,-194.7,926.6,-8.4,1121,10459,0.00,2.72,0.00,0.000,6,0.000,0.107,2669,2245,3879
$GC,10768,-1.29,-194.7,950.9,-7.7,1137,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2246,3878
$GC,11078,-1.29,-194.7,974.7,-7.4,1152,11082,0.00,2.83,0.00,0.000,4,0.000,0.127,2669,3643,3877
$GC,11117,-1.29,-194.7,977.8,-8.4,1154,11122,0.00,2.72,0.00,0.000,6,0.000,0.109,2669,2250,3877
$STATE,11275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11275,begin apogee
$GC,11281,-0.35,0.0,990.1,7.6,1162,11451,1.05,0.00,165.93,1.440,6,0.107,0.000,2879,2326,3085
$STATE,11452,end apogee,CONTROL_FINISHED_OK
$STATE,11452,begin climb
$GC,11454,1.29,194.7,995.6,0.0,1170,11622,1.62,0.00,164.10,1.401,6,0.063,0.000,3242,2325,2291
$GC,11931,1.19,194.7,942.7,13.3,1194,11933,0.12,0.00,0.00,0.000,6,0.118,0.000,3221,2325,2288
$GC,12239,1.13,194.7,904.3,12.1,1209,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2326,2288
$GC,12548,1.06,194.7,868.2,11.8,1224,12550,0.15,0.00,0.00,0.000,6,0.114,0.000,3193,2326,2288
$GC,12857,1.06,194.7,835.4,10.3,1239,12858,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2325,2287
$GC,13167,1.06,194.7,802.0,11.0,1254,13168,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2326,2286
$GC,13476,1.06,194.7,769.1,10.1,1269,13477,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2326,2286
$GC,13785,1.06,194.7,736.2,10.4,1284,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2326,2286
$GC,14094,1.06,194.7,703.0,10.7,1299,14095,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2326,2285
$GC,14404,1.06,194.7,670.4,10.5,1314,14408,0.00,2.85,0.00,0.000,4,0.000,0.117,3193,3739,2285
$GC,14447,1.01,194.7,665.5,10.6,1316,14452,0.00,2.75,0.00,0.000,6,0.000,0.097,3193,2319,2285
$GC,14768,1.01,194.7,632.6,10.4,1332,14772,0.00,2.80,0.00,0.000,4,0.000,0.117,3193,913,2285
$GC,14806,1.01,194.7,628.4,10.6,1334,14811,0.00,2.72,0.00,0.000,6,0.000,0.098,3193,2322,2285
$GC,15123,1.01,194.7,596.3,10.1,1351,15124,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2322,2285
$GC,15443,1.01,200.3,564.9,9.8,1381,15452,0.00,0.00,5.60,0.934,6,0.000,0.000,3193,2323,2268
$GC,15773,1.01,200.3,531.5,10.2,1412,15774,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2323,2269
$GC,16090,1.03,211.7,500.4,9.6,1442,16107,0.00,0.00,11.32,1.081,6,0.000,0.000,3193,2323,2221
$GC,16427,1.05,227.2,467.5,9.5,1474,16446,0.00,0.00,14.48,1.052,6,0.000,0.000,3193,2323,2158
$GC,16766,1.06,237.2,435.4,9.7,1506,16778,0.00,0.00,9.95,1.004,6,0.000,0.000,3193,2322,2118
$GC,17094,1.06,237.2,402.0,10.5,1537,17095,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2323,2117
$GC,17411,1.06,237.2,367.5,11.1,1567,17412,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2322,2117
$GC,17738,1.09,261.1,332.4,9.2,1611,17765,0.00,0.00,21.45,0.983,6,0.000,0.000,3193,2323,2019
$GC,18102,1.09,261.1,293.2,10.5,1676,18108,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2323,2016
$GC,18446,1.09,261.1,256.2,10.6,1737,18451,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2323,2016
$GC,18788,1.09,261.1,219.3,11.1,1798,18793,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2323,2016
$GC,19130,1.09,261.1,182.8,10.1,1859,19136,0.00,2.78,0.00,0.000,4,0.000,0.104,3193,3740,2016
$GC,19159,1.09,261.1,179.5,10.6,1864,19166,0.00,2.70,0.00,0.000,6,0.000,0.087,3193,2316,2015
$GC,19503,1.09,261.1,143.9,10.8,1925,19508,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2317,2016
$GC,19845,1.09,261.1,106.7,10.3,1986,19850,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2317,2016
$GC,20188,1.09,261.1,70.2,10.4,2047,20193,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2317,2016
$GC,20531,1.09,261.1,32.7,11.3,2108,20537,0.00,2.78,0.00,0.000,4,0.000,0.102,3193,3740,2016
$GC,20577,1.09,261.1,27.3,11.5,2116,20583,0.00,2.65,0.00,0.000,6,0.000,0.082,3193,2327,2016
$GC,20721,1.09,261.1,11.0,11.4,2141,20727,0.00,2.70,0.00,0.000,4,0.000,0.100,3193,911,2016
$GC,20745,1.09,261.1,8.2,11.3,2145,20751,0.00,2.67,0.00,0.000,6,0.000,0.085,3193,2334,2016
$STATE,20801,end climb,SURFACE_DEPTH_REACHED
$STATE,20801,begin surface coast
$FINISH,0.1,1.027751
$STATE,20825,end surface coast,CONTROL_FINISHED_OK
$STATE,20825,begin surface
$SM_CCo,20906,0.00,0.000,0,0,2014,262.72
$SM_GC,0.92,11.40,0.00,0.00,0.044,0.000,0.000,590,2226,2014,-10.86,-0.25,262.72
$IRIDIUM_FIX,6011.05,-2127.74,210797,030306
$TT8_MAMPS,0.02301
$HUMID,1611
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,17.90
$XPDR_PINGS,42
$24V_AH,23.4,26.270
$10V_AH,10.7,20.303
$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,27.475,66.250,392.825,0.000,0.000,31.134,35.755,248.676,10.500,0.000,0.000,13.958,3322.820,13352.913,561.274,3478.302,628.107,0.000,2110.857,0.000,3459.750,0.000,0.468
$DEVICE_MAMPS,210.925,146.497,1439.659,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1501.026,1596.770,1012.191,611.544,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,123126,2159
$CAP_FILE_SIZE,172569,0
$CFSIZE,260165632,246575104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,260408,153327,6047.802,-2217.322,40,2.8,59,-16.1