version: 66.03
glider: 140
mission: 5
dive: 99
start: 4 26 108 15 41 28
data:
$ID,140
$MISSION,5
$DIVE,99
$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,-15022.61
$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,14
$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
$GPS1,153327,6047.802,-2217.322,40,2.8,59,-16.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-63.8
$GPS2,154111,6047.754,-2217.430,12,2.6,31,-16.1
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6057.542,-2219.646
$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,351.1,20000,-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,26,-1.29,-194.7,0.0,0.0,0,94,0.00,0.00,-64.97,0.000,2,0.000,0.000,590,2226,3533
$GC,97,-1.29,-194.7,3.6,-7.8,12,127,13.15,2.75,-7.25,0.000,4,0.211,0.109,2670,826,3881
$GC,168,-1.25,-194.7,15.3,-10.8,24,174,0.00,2.65,0.00,0.000,6,0.000,0.084,2670,2240,3882
$GC,311,-1.25,-194.7,29.7,-9.8,49,317,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,453,-1.25,-194.7,43.7,-9.5,74,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,595,-1.25,-194.7,57.2,-9.0,99,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,938,-1.25,-194.7,88.6,-9.1,160,944,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,1281,-1.25,-194.7,120.3,-10.1,221,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3882
$GC,1623,-1.25,-194.7,153.1,-8.7,282,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3883
$GC,1966,-1.25,-194.7,185.5,-9.2,343,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3883
$GC,2309,-1.25,-194.7,218.7,-9.6,404,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3883
$GC,2653,-1.25,-194.7,253.2,-10.8,465,2659,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3883
$GC,2996,-1.25,-194.7,287.0,-9.8,526,3001,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3883
$GC,3338,-1.25,-194.7,321.6,-10.3,587,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3883
$GC,3683,-1.25,-194.7,356.1,-9.7,643,3687,0.00,2.72,0.00,0.000,4,0.000,0.107,2670,3644,3883
$GC,3704,-1.25,-194.7,358.3,-9.9,644,3710,0.00,2.65,0.00,0.000,6,0.000,0.089,2670,2239,3883
$GC,4030,-1.25,-194.7,388.9,-9.2,675,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3883
$GC,4348,-1.25,-194.7,417.1,-8.6,705,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2239,3883
$GC,4666,-1.25,-194.7,444.0,-8.3,735,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3883
$GC,4984,-1.25,-194.7,470.7,-8.6,765,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2240,3883
$GC,5303,-1.25,-194.7,499.3,-9.7,795,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3883
$GC,5622,-1.25,-194.7,528.9,-9.1,825,5626,0.00,2.78,0.00,0.000,4,0.000,0.111,2670,3648,3882
$GC,5649,-1.25,-194.7,531.7,-10.2,827,5654,0.00,2.67,0.00,0.000,6,0.000,0.092,2670,2237,3882
$GC,5977,-1.25,-194.7,561.4,-9.3,857,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2238,3882
$GC,6302,-1.25,-194.7,591.7,-9.1,888,6307,0.00,2.78,0.00,0.000,4,0.000,0.113,2670,3647,3882
$GC,6324,-1.25,-194.7,593.8,-9.5,889,6330,0.00,2.67,0.00,0.000,6,0.000,0.093,2670,2241,3882
$GC,6641,-1.25,-194.7,623.3,-9.4,908,6642,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3882
$GC,6950,-1.25,-194.7,653.4,-9.7,923,6955,0.00,2.78,0.00,0.000,4,0.000,0.116,2670,3643,3882
$GC,6977,-1.25,-194.7,656.3,-11.0,924,6981,0.00,2.67,0.00,0.000,6,0.000,0.094,2670,2239,3882
$GC,7293,-1.25,-194.7,685.0,-8.8,939,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3881
$GC,7602,-1.25,-194.7,713.3,-9.1,954,7607,0.00,2.80,0.00,0.000,4,0.000,0.119,2670,3648,3881
$GC,7623,-1.25,-194.7,715.4,-9.3,955,7628,0.00,2.70,0.00,0.000,6,0.000,0.097,2670,2239,3881
$GC,7944,-1.25,-194.7,744.0,-8.7,971,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2240,3881
$GC,8254,-1.25,-194.7,770.9,-8.7,986,8258,0.00,2.83,0.00,0.000,4,0.000,0.121,2670,3649,3881
$GC,8293,-1.25,-194.7,774.5,-9.3,988,8298,0.00,2.70,0.00,0.000,6,0.000,0.100,2670,2246,3881
$GC,8619,-1.25,-194.7,802.5,-8.4,1004,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2247,3881
$GC,8928,-1.25,-194.7,829.5,-8.8,1019,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2246,3881
$GC,9237,-1.25,-194.7,856.1,-8.5,1034,9242,0.00,2.80,0.00,0.000,4,0.000,0.123,2670,3644,3880
$GC,9270,-1.25,-194.7,859.0,-9.1,1035,9276,0.00,2.70,0.00,0.000,6,0.000,0.103,2670,2250,3880
$GC,9586,-1.25,-194.7,885.3,-8.4,1051,9590,0.00,2.80,0.00,0.000,4,0.000,0.123,2670,3642,3880
$GC,9626,-1.25,-194.7,888.9,-9.3,1053,9631,0.00,2.67,0.00,0.000,6,0.000,0.104,2670,2264,3880
$GC,9953,-1.25,-194.7,918.1,-9.2,1069,9954,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2265,3880
$GC,10262,-1.25,-194.7,946.4,-9.2,1084,10263,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2264,3879
$GC,10571,-1.25,-194.7,974.2,-8.8,1099,10575,0.00,2.80,0.00,0.000,4,0.000,0.128,2670,3650,3878
$GC,10598,-1.25,-194.7,976.6,-9.4,1100,10602,0.00,2.72,0.00,0.000,6,0.000,0.107,2670,2257,3878
$STATE,10766,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10766,begin apogee
$GC,10772,-0.35,0.0,991.0,8.5,1108,10942,1.05,0.00,166.15,1.438,6,0.109,0.000,2878,2330,3085
$STATE,10943,end apogee,CONTROL_FINISHED_OK
$STATE,10943,begin climb
$GC,10945,1.29,194.7,997.4,0.0,1116,11119,1.65,2.97,162.65,1.399,4,0.063,0.124,3239,3739,2291
$GC,11158,1.16,194.7,981.0,14.2,1126,11163,0.15,2.83,0.00,0.000,6,0.115,0.106,3214,2326,2289
$GC,11473,1.11,194.7,943.7,11.9,1141,11474,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2326,2288
$GC,11783,1.06,194.7,907.3,11.6,1156,11785,0.12,0.00,0.00,0.000,6,0.116,0.000,3191,2326,2288
$GC,12091,1.06,194.7,874.0,10.9,1171,12092,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2326,2287
$GC,12401,1.06,194.7,839.0,11.5,1186,12405,0.00,2.90,0.00,0.000,4,0.000,0.122,3192,3740,2286
$GC,12440,1.00,194.7,834.2,12.3,1188,12444,0.00,2.78,0.00,0.000,6,0.000,0.103,3191,2338,2286
$GC,12766,1.00,194.7,796.9,11.4,1204,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2339,2286
$GC,13075,1.00,194.7,762.2,10.8,1219,13076,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2339,2286
$GC,13384,1.00,194.7,729.3,10.8,1234,13385,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2339,2285
$GC,13693,1.00,194.7,695.8,10.8,1249,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2338,2285
$GC,14003,1.00,194.7,661.7,10.7,1264,14004,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2338,2285
$GC,14312,1.00,194.7,629.7,10.2,1279,14316,0.00,2.83,0.00,0.000,4,0.000,0.115,3191,3741,2285
$GC,14356,0.95,194.7,624.9,11.2,1281,14361,0.12,2.70,0.00,0.000,6,0.115,0.094,3169,2337,2285
$GC,14678,0.95,194.7,592.4,10.4,1300,14683,0.00,2.80,0.00,0.000,4,0.000,0.114,3169,918,2285
$GC,14718,0.95,194.7,588.0,10.9,1303,14722,0.00,2.75,0.00,0.000,6,0.000,0.097,3169,2346,2285
$GC,15042,0.95,194.7,554.6,10.4,1333,15043,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2346,2285
$GC,15362,0.98,218.2,524.2,9.2,1363,15384,0.00,0.00,20.23,1.118,6,0.000,0.000,3169,2346,2195
$GC,15699,0.99,229.5,492.2,9.6,1395,15711,0.00,0.00,10.95,1.047,6,0.000,0.000,3169,2346,2149
$GC,16028,0.99,229.5,459.6,10.2,1426,16033,0.00,2.80,0.00,0.000,4,0.000,0.107,3168,914,2149
$GC,16061,1.03,229.5,455.8,10.5,1428,16068,0.00,2.75,0.00,0.000,6,0.000,0.094,3169,2347,2149
$GC,16387,1.03,229.5,423.0,10.1,1459,16392,0.00,2.72,0.00,0.000,4,0.000,0.107,3169,3737,2148
$GC,16419,1.03,229.5,419.4,10.8,1461,16426,0.00,2.67,0.00,0.000,6,0.000,0.089,3169,2338,2149
$GC,16748,1.06,247.6,388.7,9.4,1492,16770,0.00,2.90,16.60,1.012,4,0.000,0.107,3169,913,2075
$GC,16798,1.13,264.4,383.7,9.4,1496,16819,0.17,2.75,15.55,0.966,6,0.057,0.091,3213,2347,2007
$GC,17141,1.13,264.4,342.9,11.6,1533,17146,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2347,2004
$GC,17484,1.13,264.4,301.5,11.3,1594,17489,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2348,2003
$GC,17825,1.13,264.4,260.9,10.2,1655,17831,0.00,2.72,0.00,0.000,4,0.000,0.106,3213,3738,2003
$GC,17854,1.09,264.4,257.5,11.8,1660,17861,0.00,2.65,0.00,0.000,6,0.000,0.086,3213,2343,2003
$GC,18199,1.09,264.4,215.7,11.9,1721,18205,0.00,2.75,0.00,0.000,4,0.000,0.104,3213,918,2003
$GC,18233,1.09,264.4,211.2,13.5,1727,18239,0.00,2.70,0.00,0.000,6,0.000,0.088,3213,2345,2003
$GC,18576,1.09,264.4,170.1,11.3,1788,18582,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2345,2003
$GC,18919,1.09,264.4,129.5,11.7,1849,18925,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2346,2003
$GC,19262,1.09,264.4,86.7,11.5,1910,19267,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2345,2003
$GC,19607,1.09,264.4,45.2,12.9,1971,19612,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2346,2003
$GC,19748,1.09,264.4,27.8,12.1,1996,19754,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,2346,2003
$GC,19890,1.09,264.4,11.2,12.8,2021,19895,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2346,2003
$STATE,19961,end climb,SURFACE_DEPTH_REACHED
$STATE,19961,begin surface coast
$FINISH,0.2,1.027874
$STATE,19980,end surface coast,CONTROL_FINISHED_OK
$STATE,19980,begin surface
$SM_CCo,20061,0.00,0.000,0,0,2001,265.91
$SM_GC,0.90,11.52,0.00,0.00,0.048,0.000,0.000,594,2226,2001,-10.84,-0.28,265.91
$IRIDIUM_FIX,6019.75,-2219.94,210797,090935
$TT8_MAMPS,0.02301
$HUMID,1609
$INTERNAL_PRESSURE,8.42806
$TCM_TEMP,18.00
$XPDR_PINGS,59
$24V_AH,23.4,26.441
$10V_AH,10.7,20.444
$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,27.950,105.050,392.125,0.000,0.000,25.128,32.717,245.284,14.750,0.000,0.000,33.605,3171.712,12765.626,542.103,3400.592,625.571,0.000,2102.836,0.000,3363.601,0.000,0.467
$DEVICE_MAMPS,210.925,137.293,1438.125,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1413.817,1509.313,950.031,573.453,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116627,2037
$CAP_FILE_SIZE,174213,0
$CFSIZE,260165632,246484992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,260408,211707,6050.355,-2221.035,38,1.4,43,-16.1