version: 66.03
glider: 140
mission: 5
dive: 102
start: 4 27 108 9 21 20
data:
$ID,140
$MISSION,5
$DIVE,102
$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,280
$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,-15087.378
$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
$GPS1,091331,6055.064,-2227.475,39,1.5,39,-16.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.2
$GPS2,092102,6055.021,-2227.421,11,1.7,16,-16.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,HEADING
$TGT_LATLONG,6056.896,-2232.586
$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,296.2,20000,-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,25,begin dive
$GC,27,-1.29,-194.7,0.0,0.0,0,95,0.00,0.00,-65.15,0.000,2,0.000,0.000,584,2226,3421
$GC,98,-1.29,-194.7,3.1,-6.0,12,128,13.18,2.75,-10.82,0.000,4,0.210,0.111,2670,3645,3880
$GC,264,-1.29,-194.7,22.4,-9.3,41,270,0.00,2.62,0.00,0.000,6,0.000,0.084,2670,2236,3881
$GC,406,-1.29,-194.7,35.8,-9.4,66,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,548,-1.29,-194.7,49.6,-9.5,91,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,689,-1.29,-194.7,62.4,-9.1,116,695,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,1033,-1.29,-194.7,93.4,-9.5,177,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,1375,-1.29,-194.7,124.5,-9.4,238,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,1719,-1.29,-194.7,155.7,-9.1,299,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,2061,-1.29,-194.7,187.0,-8.7,360,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,2405,-1.29,-194.7,218.1,-9.0,421,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,2747,-1.29,-194.7,248.4,-8.2,482,2753,0.00,2.75,0.00,0.000,4,0.000,0.107,2670,3644,3881
$GC,2776,-1.29,-194.7,251.0,-9.3,487,2783,0.00,2.67,0.00,0.000,6,0.000,0.087,2670,2223,3881
$GC,3120,-1.29,-194.7,280.7,-9.3,548,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,3464,-1.29,-194.7,311.4,-8.6,609,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2224,3881
$GC,3807,-1.29,-194.7,341.6,-8.8,670,3813,0.00,2.78,0.00,0.000,4,0.000,0.108,2670,3644,3881
$GC,3836,-1.29,-194.7,344.3,-9.5,675,3842,0.00,2.67,0.00,0.000,6,0.000,0.089,2670,2226,3881
$GC,4164,-1.29,-194.7,374.1,-9.1,711,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,4483,-1.29,-194.7,403.2,-9.1,741,4484,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,4802,-1.29,-194.7,432.5,-9.4,771,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2227,3881
$GC,5121,-1.29,-194.7,463.3,-9.8,801,5125,0.00,2.78,0.00,0.000,4,0.000,0.110,2670,3643,3881
$GC,5159,-1.29,-194.7,467.4,-10.7,804,5164,0.00,2.67,0.00,0.000,6,0.000,0.089,2670,2225,3881
$GC,5487,-1.29,-194.7,498.5,-9.8,834,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,5812,-1.29,-194.7,531.0,-9.8,865,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3881
$GC,6132,-1.29,-194.7,560.8,-9.2,895,6137,0.00,2.80,0.00,0.000,4,0.000,0.111,2670,3651,3880
$GC,6164,-1.29,-194.7,564.2,-9.9,897,6171,0.00,2.67,0.00,0.000,6,0.000,0.091,2670,2235,3880
$GC,6491,-1.29,-194.7,593.6,-8.8,928,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3881
$GC,6811,-1.29,-194.7,622.8,-9.1,947,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3880
$GC,7120,-1.29,-194.7,650.4,-8.9,962,7121,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3880
$GC,7430,-1.29,-194.7,677.0,-8.5,977,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3880
$GC,7739,-1.29,-194.7,702.5,-8.1,992,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2236,3880
$GC,8048,-1.29,-194.7,726.9,-7.8,1007,8053,0.00,2.83,0.00,0.000,4,0.000,0.120,2670,3650,3881
$GC,8075,-1.29,-194.7,729.1,-8.3,1008,8080,0.00,2.70,0.00,0.000,6,0.000,0.096,2670,2232,3880
$GC,8390,-1.29,-194.7,754.4,-8.2,1023,8391,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3880
$GC,8700,-1.29,-194.7,780.0,-8.1,1038,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3880
$GC,9009,-1.29,-194.7,806.4,-8.8,1053,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2233,3880
$GC,9318,-1.29,-194.7,832.8,-8.5,1068,9323,0.00,2.83,0.00,0.000,4,0.000,0.123,2670,3643,3880
$GC,9350,-1.29,-194.7,835.8,-9.5,1069,9357,0.00,2.67,0.00,0.000,6,0.000,0.100,2670,2241,3879
$GC,9666,-1.29,-194.7,863.4,-9.0,1085,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3879
$GC,9975,-1.29,-194.7,890.5,-8.7,1100,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3879
$GC,10285,-1.29,-194.7,916.2,-8.0,1115,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2242,3879
$GC,10594,-1.29,-194.7,940.7,-8.0,1130,10598,0.00,2.85,0.00,0.000,4,0.000,0.127,2670,3650,3878
$GC,10633,-1.29,-194.7,944.0,-9.5,1132,10638,0.00,2.72,0.00,0.000,6,0.000,0.104,2670,2246,3879
$GC,10959,-1.29,-194.7,970.3,-8.1,1148,10960,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2247,3878
$STATE,11224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11224,begin apogee
$GC,11230,-0.35,0.0,990.9,7.5,1161,11399,1.05,0.00,165.50,1.427,6,0.107,0.000,2880,2330,3085
$STATE,11400,end apogee,CONTROL_FINISHED_OK
$STATE,11400,begin climb
$GC,11403,1.29,194.7,995.6,0.0,1169,11570,1.62,0.00,162.90,1.388,6,0.063,0.000,3243,2330,2291
$GC,11879,1.19,194.7,941.0,13.6,1193,11884,0.12,2.92,0.00,0.000,4,0.119,0.127,3222,3739,2288
$GC,11906,1.10,194.7,937.1,13.6,1194,11911,0.12,2.80,0.00,0.000,6,0.116,0.104,3200,2324,2288
$GC,12221,1.10,194.7,899.8,11.6,1209,12223,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2325,2287
$GC,12530,1.10,194.7,864.7,11.1,1224,12532,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2325,2287
$GC,12840,1.10,194.7,829.9,10.7,1239,12845,0.00,2.90,0.00,0.000,4,0.000,0.121,3200,3740,2287
$GC,12867,1.04,194.7,826.8,11.3,1240,12872,0.00,2.78,0.00,0.000,6,0.000,0.102,3200,2333,2287
$GC,13182,1.04,194.7,794.3,10.2,1255,13187,0.00,2.88,0.00,0.000,4,0.000,0.126,3200,916,2286
$GC,13214,1.04,194.7,790.7,11.1,1256,13221,0.00,2.78,0.00,0.000,6,0.000,0.101,3200,2337,2286
$GC,13530,1.04,194.7,757.5,10.9,1272,13531,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2286
$GC,13839,1.04,194.7,722.2,11.5,1287,13840,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2286
$GC,14148,1.04,194.7,688.3,10.9,1302,14149,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2285
$GC,14458,1.04,194.7,654.6,11.0,1317,14459,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2285
$GC,14767,1.04,194.7,620.5,10.9,1332,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2286
$GC,15079,1.04,194.7,586.5,10.8,1352,15080,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2286
$GC,15398,1.04,194.7,552.5,11.0,1382,15399,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2286
$GC,15716,1.04,194.7,518.8,10.4,1412,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2286
$GC,16035,1.04,194.7,485.2,10.5,1442,16036,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2286
$GC,16353,1.04,194.7,451.4,10.7,1472,16354,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2286
$GC,16672,1.04,194.7,417.5,10.8,1502,16673,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2287
$GC,16990,1.04,194.7,383.2,10.8,1532,16992,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2287
$GC,17309,1.04,194.7,349.2,10.7,1562,17314,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2287
$GC,17652,1.04,197.7,314.1,9.9,1623,17657,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2286
$GC,17995,1.06,208.9,279.6,9.6,1684,18012,0.00,0.00,12.50,0.942,6,0.000,0.000,3200,2338,2232
$GC,18349,1.06,208.9,242.6,10.6,1747,18354,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2338,2232
$GC,18691,1.06,208.9,207.9,10.1,1808,18698,0.00,2.75,0.00,0.000,4,0.000,0.107,3200,3740,2232
$GC,18715,1.06,208.9,205.5,11.0,1812,18722,0.00,2.65,0.00,0.000,6,0.000,0.084,3200,2334,2232
$GC,19059,1.07,221.4,170.9,9.6,1873,19075,0.00,0.00,11.52,0.876,6,0.000,0.000,3200,2334,2182
$GC,19413,1.07,221.4,133.9,10.7,1936,19419,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2334,2181
$GC,19756,1.07,221.4,98.1,10.5,1997,19761,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2334,2182
$GC,20098,1.08,226.8,62.2,9.8,2058,20111,0.00,2.78,6.25,0.729,4,0.000,0.103,3200,3740,2159
$GC,20129,1.08,226.8,58.8,11.4,2063,20135,0.00,2.65,0.00,0.000,6,0.000,0.082,3200,2339,2159
$GC,20472,1.08,226.8,21.1,11.3,2124,20479,0.00,2.72,0.00,0.000,4,0.000,0.100,3200,911,2159
$GC,20491,1.08,226.8,18.9,11.1,2127,20498,0.00,2.70,0.00,0.000,6,0.000,0.087,3200,2349,2159
$GC,20635,1.08,226.8,4.8,13.1,2152,20640,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2349,2159
$STATE,20656,end climb,SURFACE_DEPTH_REACHED
$STATE,20656,begin surface coast
$FINISH,0.3,1.027800
$STATE,20674,end surface coast,CONTROL_FINISHED_OK
$STATE,20674,begin surface
$SM_CCo,20756,0.00,0.000,0,0,2157,227.64
$SM_GC,1.23,11.50,0.00,0.00,0.048,0.000,0.000,594,2228,2157,-10.84,-0.23,227.64
$IRIDIUM_FIX,6028.48,-2224.97,220797,030303
$TT8_MAMPS,0.02301
$HUMID,1608
$INTERNAL_PRESSURE,8.43782
$TCM_TEMP,17.80
$XPDR_PINGS,65
$24V_AH,23.4,26.953
$10V_AH,10.7,20.884
$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,27.600,77.525,358.675,0.000,0.000,28.346,35.064,244.946,16.250,0.000,0.000,17.918,3313.760,13214.823,525.276,3487.491,646.101,0.000,2087.216,0.000,3480.573,0.000,0.467
$DEVICE_MAMPS,210.158,146.497,1426.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,Optode,nil,nil,nil,nil
$SENSOR_SECS,1498.188,1604.048,1036.081,627.550,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,33.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,119940,2159
$CAP_FILE_SIZE,173106,0
$CFSIZE,260165632,246206464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,270408,150831,6054.701,-2236.944,40,1.7,40,-16.3